diff options
| author | joshua <joshua@joshuayun.com> | 2023-12-30 23:54:31 -0500 |
|---|---|---|
| committer | joshua <joshua@joshuayun.com> | 2023-12-30 23:54:31 -0500 |
| commit | 86608c6770cf08c138a2bdab5855072f64be09ef (patch) | |
| tree | 494a61b3ef37e76f9235a0d10f5c93d97290a35f /Drivers/CMSIS/DSP/Source/MatrixFunctions | |
| download | sdr-software-86608c6770cf08c138a2bdab5855072f64be09ef.tar.gz | |
Diffstat (limited to 'Drivers/CMSIS/DSP/Source/MatrixFunctions')
27 files changed, 7478 insertions, 0 deletions
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/CMakeLists.txt b/Drivers/CMSIS/DSP/Source/MatrixFunctions/CMakeLists.txt new file mode 100644 index 0000000..41be093 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required (VERSION 3.6)
+
+project(CMSISDSPMatrix)
+
+
+file(GLOB SRC "./*_*.c")
+
+add_library(CMSISDSPMatrix STATIC ${SRC})
+
+configdsp(CMSISDSPMatrix ..)
+
+### Includes
+target_include_directories(CMSISDSPMatrix PUBLIC "${DSP}/../../Include")
+
+
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/MatrixFunctions.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/MatrixFunctions.c new file mode 100644 index 0000000..79d7be2 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/MatrixFunctions.c @@ -0,0 +1,53 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: MatrixFunctions.c
+ * Description: Combination of all matrix function source files.
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.0.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_mat_add_f32.c"
+#include "arm_mat_add_q15.c"
+#include "arm_mat_add_q31.c"
+#include "arm_mat_cmplx_mult_f32.c"
+#include "arm_mat_cmplx_mult_q15.c"
+#include "arm_mat_cmplx_mult_q31.c"
+#include "arm_mat_init_f32.c"
+#include "arm_mat_init_q15.c"
+#include "arm_mat_init_q31.c"
+#include "arm_mat_inverse_f32.c"
+#include "arm_mat_inverse_f64.c"
+#include "arm_mat_mult_f32.c"
+#include "arm_mat_mult_fast_q15.c"
+#include "arm_mat_mult_fast_q31.c"
+#include "arm_mat_mult_q15.c"
+#include "arm_mat_mult_q31.c"
+#include "arm_mat_scale_f32.c"
+#include "arm_mat_scale_q15.c"
+#include "arm_mat_scale_q31.c"
+#include "arm_mat_sub_f32.c"
+#include "arm_mat_sub_q15.c"
+#include "arm_mat_sub_q31.c"
+#include "arm_mat_trans_f32.c"
+#include "arm_mat_trans_q15.c"
+#include "arm_mat_trans_q31.c"
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_f32.c new file mode 100644 index 0000000..7f9ec08 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_f32.c @@ -0,0 +1,232 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_add_f32.c
+ * Description: Floating-point matrix addition
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @defgroup MatrixAdd Matrix Addition
+
+ Adds two matrices.
+ \image html MatrixAddition.gif "Addition of two 3 x 3 matrices"
+
+ The functions check to make sure that
+ <code>pSrcA</code>, <code>pSrcB</code>, and <code>pDst</code> have the same
+ number of rows and columns.
+ */
+
+/**
+ @addtogroup MatrixAdd
+ @{
+ */
+
+
+/**
+ @brief Floating-point matrix addition.
+ @param[in] pSrcA points to first input matrix structure
+ @param[in] pSrcB points to second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+#if defined(ARM_MATH_NEON)
+/*
+
+Neon version is assuming the matrix is small enough.
+So no blocking is used for taking into account cache effects.
+For big matrix, there exist better libraries for Neon.
+
+*/
+arm_status arm_mat_add_f32(
+ const arm_matrix_instance_f32 * pSrcA,
+ const arm_matrix_instance_f32 * pSrcB,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn1 = pSrcA->pData; /* input data matrix pointer A */
+ float32_t *pIn2 = pSrcB->pData; /* input data matrix pointer B */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+
+ float32_t inA1, inA2, inB1, inB2, out1, out2; /* temporary variables */
+
+ uint32_t numSamples; /* total number of elements in the matrix */
+ uint32_t blkCnt; /* loop counters */
+ arm_status status; /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numRows != pSrcB->numRows) ||
+ (pSrcA->numCols != pSrcB->numCols) ||
+ (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif
+ {
+ float32x4_t vec1;
+ float32x4_t vec2;
+ float32x4_t res;
+
+ /* Total number of samples in the input matrix */
+ numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+ blkCnt = numSamples >> 2U;
+
+ /* Compute 4 outputs at a time.
+ ** a second loop below computes the remaining 1 to 3 samples. */
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) + B(m,n) */
+ /* Add and then store the results in the destination buffer. */
+ vec1 = vld1q_f32(pIn1);
+ vec2 = vld1q_f32(pIn2);
+ res = vaddq_f32(vec1, vec2);
+ vst1q_f32(pOut, res);
+
+ /* update pointers to process next samples */
+ pIn1 += 4U;
+ pIn2 += 4U;
+ pOut += 4U;
+ /* Decrement the loop counter */
+ blkCnt--;
+ }
+
+ /* If the numSamples is not a multiple of 4, compute any remaining output samples here.
+ ** No loop unrolling is used. */
+ blkCnt = numSamples % 0x4U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) + B(m,n) */
+ /* Add and then store the results in the destination buffer. */
+ *pOut++ = (*pIn1++) + (*pIn2++);
+
+ /* Decrement the loop counter */
+ blkCnt--;
+ }
+
+ /* set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#else
+arm_status arm_mat_add_f32(
+ const arm_matrix_instance_f32 * pSrcA,
+ const arm_matrix_instance_f32 * pSrcB,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pInA = pSrcA->pData; /* input data matrix pointer A */
+ float32_t *pInB = pSrcB->pData; /* input data matrix pointer B */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+
+ uint32_t numSamples; /* total number of elements in the matrix */
+ uint32_t blkCnt; /* loop counters */
+ arm_status status; /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numRows != pSrcB->numRows) ||
+ (pSrcA->numCols != pSrcB->numCols) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcA->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Total number of samples in input matrix */
+ numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ blkCnt = numSamples >> 2U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) + B(m,n) */
+
+ /* Add and store result in destination buffer. */
+ *pOut++ = *pInA++ + *pInB++;
+
+ *pOut++ = *pInA++ + *pInB++;
+
+ *pOut++ = *pInA++ + *pInB++;
+
+ *pOut++ = *pInA++ + *pInB++;
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ blkCnt = numSamples % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) + B(m,n) */
+
+ /* Add and store result in destination buffer. */
+ *pOut++ = *pInA++ + *pInB++;
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#endif /* #if defined(ARM_MATH_NEON) */
+
+/**
+ @} end of MatrixAdd group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q15.c new file mode 100644 index 0000000..1e892fb --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q15.c @@ -0,0 +1,149 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_add_q15.c
+ * Description: Q15 matrix addition
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixAdd
+ @{
+ */
+
+/**
+ @brief Q15 matrix addition.
+ @param[in] pSrcA points to first input matrix structure
+ @param[in] pSrcB points to second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The function uses saturating arithmetic.
+ Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated.
+ */
+
+arm_status arm_mat_add_q15(
+ const arm_matrix_instance_q15 * pSrcA,
+ const arm_matrix_instance_q15 * pSrcB,
+ arm_matrix_instance_q15 * pDst)
+{
+ q15_t *pInA = pSrcA->pData; /* input data matrix pointer A */
+ q15_t *pInB = pSrcB->pData; /* input data matrix pointer B */
+ q15_t *pOut = pDst->pData; /* output data matrix pointer */
+
+ uint32_t numSamples; /* total number of elements in the matrix */
+ uint32_t blkCnt; /* loop counters */
+ arm_status status; /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numRows != pSrcB->numRows) ||
+ (pSrcA->numCols != pSrcB->numCols) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcA->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Total number of samples in input matrix */
+ numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ blkCnt = numSamples >> 2U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) + B(m,n) */
+
+ /* Add, saturate and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+ write_q15x2_ia (&pOut, __QADD16(read_q15x2_ia (&pInA), read_q15x2_ia (&pInB)));
+
+ write_q15x2_ia (&pOut, __QADD16(read_q15x2_ia (&pInA), read_q15x2_ia (&pInB)));
+#else
+ *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+
+ *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+
+ *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+
+ *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+#endif
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ blkCnt = numSamples % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) + B(m,n) */
+
+ /* Add, saturate and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+ *pOut++ = (q15_t) __QADD16(*pInA++, *pInB++);
+#else
+ *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+#endif
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixAdd group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q31.c new file mode 100644 index 0000000..a9616f3 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q31.c @@ -0,0 +1,139 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_add_q31.c
+ * Description: Q31 matrix addition
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixAdd
+ @{
+ */
+
+/**
+ @brief Q31 matrix addition.
+ @param[in] pSrcA points to first input matrix structure
+ @param[in] pSrcB points to second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The function uses saturating arithmetic.
+ Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated.
+ */
+
+arm_status arm_mat_add_q31(
+ const arm_matrix_instance_q31 * pSrcA,
+ const arm_matrix_instance_q31 * pSrcB,
+ arm_matrix_instance_q31 * pDst)
+{
+ q31_t *pInA = pSrcA->pData; /* input data matrix pointer A */
+ q31_t *pInB = pSrcB->pData; /* input data matrix pointer B */
+ q31_t *pOut = pDst->pData; /* output data matrix pointer */
+
+ uint32_t numSamples; /* total number of elements in the matrix */
+ uint32_t blkCnt; /* loop counters */
+ arm_status status; /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numRows != pSrcB->numRows) ||
+ (pSrcA->numCols != pSrcB->numCols) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcA->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Total number of samples in input matrix */
+ numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ blkCnt = numSamples >> 2U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) + B(m,n) */
+
+ /* Add, saturate and store result in destination buffer. */
+ *pOut++ = __QADD(*pInA++, *pInB++);
+
+ *pOut++ = __QADD(*pInA++, *pInB++);
+
+ *pOut++ = __QADD(*pInA++, *pInB++);
+
+ *pOut++ = __QADD(*pInA++, *pInB++);
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ blkCnt = numSamples % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) + B(m,n) */
+
+ /* Add, saturate and store result in destination buffer. */
+ *pOut++ = __QADD(*pInA++, *pInB++);
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixAdd group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_f32.c new file mode 100644 index 0000000..448122a --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_f32.c @@ -0,0 +1,631 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_cmplx_mult_f32.c
+ * Description: Floating-point matrix multiplication
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @defgroup CmplxMatrixMult Complex Matrix Multiplication
+
+ Complex Matrix multiplication is only defined if the number of columns of the
+ first matrix equals the number of rows of the second matrix.
+ Multiplying an <code>M x N</code> matrix with an <code>N x P</code> matrix results
+ in an <code>M x P</code> matrix.
+ @par
+ When matrix size checking is enabled, the functions check:
+ - that the inner dimensions of <code>pSrcA</code> and <code>pSrcB</code> are equal;
+ - that the size of the output matrix equals the outer dimensions of <code>pSrcA</code> and <code>pSrcB</code>.
+ */
+
+
+/**
+ @addtogroup CmplxMatrixMult
+ @{
+ */
+
+/**
+ @brief Floating-point Complex matrix multiplication.
+ @param[in] pSrcA points to first input complex matrix structure
+ @param[in] pSrcB points to second input complex matrix structure
+ @param[out] pDst points to output complex matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+#if defined(ARM_MATH_NEON)
+arm_status arm_mat_cmplx_mult_f32(
+ const arm_matrix_instance_f32 * pSrcA,
+ const arm_matrix_instance_f32 * pSrcB,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn1 = pSrcA->pData; /* input data matrix pointer A */
+ float32_t *pIn2 = pSrcB->pData; /* input data matrix pointer B */
+ float32_t *pInA = pSrcA->pData; /* input data matrix pointer A */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+ float32_t *px; /* Temporary output data matrix pointer */
+ uint16_t numRowsA = pSrcA->numRows; /* number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* number of columns of input matrix A */
+ float32_t sumReal1, sumImag1; /* accumulator */
+ float32_t a0, b0, c0, d0;
+ float32_t a1, a1B,b1, b1B, c1, d1;
+ float32_t sumReal2, sumImag2; /* accumulator */
+
+
+ float32x4x2_t a0V, a1V;
+ float32x4_t accR0,accI0, accR1,accI1,tempR, tempI;
+ float32x2_t accum = vdup_n_f32(0);
+ float32_t *pIn1B = pSrcA->pData;
+
+ uint16_t col, i = 0U, j, rowCnt, row = numRowsA, colCnt; /* loop counters */
+ arm_status status; /* status of matrix multiplication */
+ float32_t sumReal1B, sumImag1B;
+ float32_t sumReal2B, sumImag2B;
+ float32_t *pxB;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+ {
+
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+
+ rowCnt = row >> 1;
+
+ /* Row loop */
+ while (rowCnt > 0U)
+ {
+ /* Output pointer is set to starting address of the row being processed */
+ px = pOut + 2 * i;
+ pxB = px + 2 * numColsB;
+
+ /* For every row wise process, the column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, the pIn2 pointer is set
+ ** to the starting address of the pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ j = 0U;
+
+ /* Column loop */
+ while (col > 0U)
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sumReal1 = 0.0f;
+ sumImag1 = 0.0f;
+ sumReal1B = 0.0f;
+ sumImag1B = 0.0f;
+
+ sumReal2 = 0.0f;
+ sumImag2 = 0.0f;
+ sumReal2B = 0.0f;
+ sumImag2B = 0.0f;
+
+ /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+ pIn1 = pInA;
+ pIn1B = pIn1 + 2*numColsA;
+
+ accR0 = vdupq_n_f32(0.0);
+ accI0 = vdupq_n_f32(0.0);
+ accR1 = vdupq_n_f32(0.0);
+ accI1 = vdupq_n_f32(0.0);
+
+ /* Compute 4 MACs simultaneously. */
+ colCnt = numColsA >> 2;
+
+ /* Matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* Reading real part of complex matrix A */
+ a0V = vld2q_f32(pIn1); // load & separate real/imag pSrcA (de-interleave 2)
+ a1V = vld2q_f32(pIn1B); // load & separate real/imag pSrcA (de-interleave 2)
+
+ pIn1 += 8;
+ pIn1B += 8;
+
+ tempR[0] = *pIn2;
+ tempI[0] = *(pIn2 + 1U);
+ pIn2 += 2 * numColsB;
+
+ tempR[1] = *pIn2;
+ tempI[1] = *(pIn2 + 1U);
+ pIn2 += 2 * numColsB;
+
+ tempR[2] = *pIn2;
+ tempI[2] = *(pIn2 + 1U);
+ pIn2 += 2 * numColsB;
+
+ tempR[3] = *pIn2;
+ tempI[3] = *(pIn2 + 1U);
+ pIn2 += 2 * numColsB;
+
+ accR0 = vmlaq_f32(accR0,a0V.val[0],tempR);
+ accR0 = vmlsq_f32(accR0,a0V.val[1],tempI);
+
+ accI0 = vmlaq_f32(accI0,a0V.val[1],tempR);
+ accI0 = vmlaq_f32(accI0,a0V.val[0],tempI);
+
+ accR1 = vmlaq_f32(accR1,a1V.val[0],tempR);
+ accR1 = vmlsq_f32(accR1,a1V.val[1],tempI);
+
+ accI1 = vmlaq_f32(accI1,a1V.val[1],tempR);
+ accI1 = vmlaq_f32(accI1,a1V.val[0],tempI);
+
+ /* Decrement the loop count */
+ colCnt--;
+ }
+
+ accum = vpadd_f32(vget_low_f32(accR0), vget_high_f32(accR0));
+ sumReal1 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(accI0), vget_high_f32(accI0));
+ sumImag1 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(accR1), vget_high_f32(accR1));
+ sumReal1B += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(accI1), vget_high_f32(accI1));
+ sumImag1B += accum[0] + accum[1];
+
+ /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
+ ** No loop unrolling is used. */
+ colCnt = numColsA & 3;
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
+ a1 = *pIn1;
+ a1B = *pIn1B;
+
+ c1 = *pIn2;
+
+ b1 = *(pIn1 + 1U);
+ b1B = *(pIn1B + 1U);
+
+ d1 = *(pIn2 + 1U);
+
+ sumReal1 += a1 * c1;
+ sumImag1 += b1 * c1;
+
+ sumReal1B += a1B * c1;
+ sumImag1B += b1B * c1;
+
+ pIn1 += 2U;
+ pIn1B += 2U;
+ pIn2 += 2 * numColsB;
+
+ sumReal2 -= b1 * d1;
+ sumImag2 += a1 * d1;
+
+ sumReal2B -= b1B * d1;
+ sumImag2B += a1B * d1;
+
+ /* Decrement the loop counter */
+ colCnt--;
+ }
+
+ sumReal1 += sumReal2;
+ sumImag1 += sumImag2;
+
+ sumReal1B += sumReal2B;
+ sumImag1B += sumImag2B;
+
+ /* Store the result in the destination buffer */
+ *px++ = sumReal1;
+ *px++ = sumImag1;
+ *pxB++ = sumReal1B;
+ *pxB++ = sumImag1B;
+
+ /* Update the pointer pIn2 to point to the starting address of the next column */
+ j++;
+ pIn2 = pSrcB->pData + 2U * j;
+
+ /* Decrement the column loop counter */
+ col--;
+ }
+
+ /* Update the pointer pInA to point to the starting address of the next 2 row */
+ i = i + 2*numColsB;
+ pInA = pInA + 4 * numColsA;
+
+ /* Decrement the row loop counter */
+ rowCnt--;
+ }
+
+ rowCnt = row & 1;
+ while (rowCnt > 0U)
+ {
+ /* Output pointer is set to starting address of the row being processed */
+ px = pOut + 2 * i;
+
+ /* For every row wise process, the column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, the pIn2 pointer is set
+ ** to the starting address of the pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ j = 0U;
+
+ /* Column loop */
+ while (col > 0U)
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sumReal1 = 0.0f;
+ sumImag1 = 0.0f;
+
+ sumReal2 = 0.0f;
+ sumImag2 = 0.0f;
+
+ /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+ pIn1 = pInA;
+
+ accR0 = vdupq_n_f32(0.0);
+ accI0 = vdupq_n_f32(0.0);
+
+ /* Compute 4 MACs simultaneously. */
+ colCnt = numColsA >> 2;
+
+ /* Matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* Reading real part of complex matrix A */
+ a0V = vld2q_f32(pIn1); // load & separate real/imag pSrcA (de-interleave 2)
+ pIn1 += 8;
+
+ tempR[0] = *pIn2;
+ tempI[0] = *(pIn2 + 1U);
+ pIn2 += 2 * numColsB;
+
+ tempR[1] = *pIn2;
+ tempI[1] = *(pIn2 + 1U);
+ pIn2 += 2 * numColsB;
+
+ tempR[2] = *pIn2;
+ tempI[2] = *(pIn2 + 1U);
+ pIn2 += 2 * numColsB;
+
+ tempR[3] = *pIn2;
+ tempI[3] = *(pIn2 + 1U);
+ pIn2 += 2 * numColsB;
+
+ accR0 = vmlaq_f32(accR0,a0V.val[0],tempR);
+ accR0 = vmlsq_f32(accR0,a0V.val[1],tempI);
+
+ accI0 = vmlaq_f32(accI0,a0V.val[1],tempR);
+ accI0 = vmlaq_f32(accI0,a0V.val[0],tempI);
+
+ /* Decrement the loop count */
+ colCnt--;
+ }
+
+ accum = vpadd_f32(vget_low_f32(accR0), vget_high_f32(accR0));
+ sumReal1 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(accI0), vget_high_f32(accI0));
+ sumImag1 += accum[0] + accum[1];
+
+ /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
+ ** No loop unrolling is used. */
+ colCnt = numColsA & 3;
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
+ a1 = *pIn1;
+ c1 = *pIn2;
+
+ b1 = *(pIn1 + 1U);
+ d1 = *(pIn2 + 1U);
+
+ sumReal1 += a1 * c1;
+ sumImag1 += b1 * c1;
+
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ sumReal2 -= b1 * d1;
+ sumImag2 += a1 * d1;
+
+ /* Decrement the loop counter */
+ colCnt--;
+ }
+
+ sumReal1 += sumReal2;
+ sumImag1 += sumImag2;
+
+ /* Store the result in the destination buffer */
+ *px++ = sumReal1;
+ *px++ = sumImag1;
+
+ /* Update the pointer pIn2 to point to the starting address of the next column */
+ j++;
+ pIn2 = pSrcB->pData + 2U * j;
+
+ /* Decrement the column loop counter */
+ col--;
+
+ }
+
+ /* Update the pointer pInA to point to the starting address of the next row */
+ i = i + numColsB;
+ pInA = pInA + 2 * numColsA;
+
+ /* Decrement the row loop counter */
+ rowCnt--;
+
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#else
+arm_status arm_mat_cmplx_mult_f32(
+ const arm_matrix_instance_f32 * pSrcA,
+ const arm_matrix_instance_f32 * pSrcB,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn1 = pSrcA->pData; /* Input data matrix pointer A */
+ float32_t *pIn2 = pSrcB->pData; /* Input data matrix pointer B */
+ float32_t *pInA = pSrcA->pData; /* Input data matrix pointer A */
+ float32_t *pOut = pDst->pData; /* Output data matrix pointer */
+ float32_t *px; /* Temporary output data matrix pointer */
+ uint16_t numRowsA = pSrcA->numRows; /* Number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* Number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* Number of columns of input matrix A */
+ float32_t sumReal, sumImag; /* Accumulator */
+ float32_t a1, b1, c1, d1;
+ uint32_t col, i = 0U, j, row = numRowsA, colCnt; /* loop counters */
+ arm_status status; /* status of matrix multiplication */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+ float32_t a0, b0, c0, d0;
+#endif
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcB->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ do
+ {
+ /* Output pointer is set to starting address of the row being processed */
+ px = pOut + 2 * i;
+
+ /* For every row wise process, the column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, the pIn2 pointer is set
+ ** to the starting address of the pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ j = 0U;
+
+ /* column loop */
+ do
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sumReal = 0.0f;
+ sumImag = 0.0f;
+
+ /* Initiate pointer pIn1 to point to starting address of column being processed */
+ pIn1 = pInA;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Apply loop unrolling and compute 4 MACs simultaneously. */
+ colCnt = numColsA >> 2U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+
+ /* Reading real part of complex matrix A */
+ a0 = *pIn1;
+
+ /* Reading real part of complex matrix B */
+ c0 = *pIn2;
+
+ /* Reading imaginary part of complex matrix A */
+ b0 = *(pIn1 + 1U);
+
+ /* Reading imaginary part of complex matrix B */
+ d0 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += a0 * c0;
+ sumImag += b0 * c0;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= b0 * d0;
+ sumImag += a0 * d0;
+
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ /* read real and imag values from pSrcA and pSrcB buffer */
+ a1 = *(pIn1 );
+ c1 = *(pIn2 );
+ b1 = *(pIn1 + 1U);
+ d1 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += a1 * c1;
+ sumImag += b1 * c1;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= b1 * d1;
+ sumImag += a1 * d1;
+
+ a0 = *(pIn1 );
+ c0 = *(pIn2 );
+ b0 = *(pIn1 + 1U);
+ d0 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += a0 * c0;
+ sumImag += b0 * c0;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= b0 * d0;
+ sumImag += a0 * d0;
+
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ a1 = *(pIn1 );
+ c1 = *(pIn2 );
+ b1 = *(pIn1 + 1U);
+ d1 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += a1 * c1;
+ sumImag += b1 * c1;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= b1 * d1;
+ sumImag += a1 * d1;
+
+ /* Decrement loop count */
+ colCnt--;
+ }
+
+ /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
+ ** No loop unrolling is used. */
+ colCnt = numColsA % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ colCnt = numColsA;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+ a1 = *(pIn1 );
+ c1 = *(pIn2 );
+ b1 = *(pIn1 + 1U);
+ d1 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += a1 * c1;
+ sumImag += b1 * c1;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= b1 * d1;
+ sumImag += a1 * d1;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Store result in destination buffer */
+ *px++ = sumReal;
+ *px++ = sumImag;
+
+ /* Update pointer pIn2 to point to starting address of next column */
+ j++;
+ pIn2 = pSrcB->pData + 2U * j;
+
+ /* Decrement column loop counter */
+ col--;
+
+ } while (col > 0U);
+
+ /* Update pointer pInA to point to starting address of next row */
+ i = i + numColsB;
+ pInA = pInA + 2 * numColsA;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+#endif /* #if defined(ARM_MATH_NEON) */
+
+/**
+ @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q15.c new file mode 100644 index 0000000..9c417aa --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q15.c @@ -0,0 +1,340 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_cmplx_mat_mult_q15.c
+ * Description: Q15 complex matrix multiplication
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup CmplxMatrixMult
+ @{
+ */
+
+/**
+ @brief Q15 Complex matrix multiplication.
+ @param[in] pSrcA points to first input complex matrix structure
+ @param[in] pSrcB points to second input complex matrix structure
+ @param[out] pDst points to output complex matrix structure
+ @param[in] pScratch points to an array for storing intermediate results
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Conditions for optimum performance
+ Input, output and state buffers should be aligned by 32-bit
+
+ @par Scaling and Overflow Behavior
+ The function is implemented using an internal 64-bit accumulator. The inputs to the
+ multiplications are in 1.15 format and multiplications yield a 2.30 result.
+ The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.
+ This approach provides 33 guard bits and there is no risk of overflow. The 34.30 result is then
+ truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.
+ */
+
+arm_status arm_mat_cmplx_mult_q15(
+ const arm_matrix_instance_q15 * pSrcA,
+ const arm_matrix_instance_q15 * pSrcB,
+ arm_matrix_instance_q15 * pDst,
+ q15_t * pScratch)
+{
+ q15_t *pSrcBT = pScratch; /* input data matrix pointer for transpose */
+ q15_t *pInA = pSrcA->pData; /* input data matrix pointer A of Q15 type */
+ q15_t *pInB = pSrcB->pData; /* input data matrix pointer B of Q15 type */
+ q15_t *px; /* Temporary output data matrix pointer */
+ uint16_t numRowsA = pSrcA->numRows; /* number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* number of columns of input matrix A */
+ uint16_t numRowsB = pSrcB->numRows; /* number of rows of input matrix A */
+ q63_t sumReal, sumImag; /* accumulator */
+ uint32_t col, i = 0U, row = numRowsB, colCnt; /* Loop counters */
+ arm_status status; /* Status of matrix multiplication */
+
+#if defined (ARM_MATH_DSP)
+ q31_t prod1, prod2;
+ q31_t pSourceA, pSourceB;
+#else
+ q15_t a, b, c, d;
+#endif /* #if defined (ARM_MATH_DSP) */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcB->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Matrix transpose */
+ do
+ {
+ /* The pointer px is set to starting address of column being processed */
+ px = pSrcBT + i;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Apply loop unrolling and exchange the columns with row elements */
+ col = numColsB >> 2;
+
+ /* First part of the processing with loop unrolling. Compute 4 outputs at a time.
+ a second loop below computes the remaining 1 to 3 samples. */
+ while (col > 0U)
+ {
+ /* Read two elements from row */
+ write_q15x2 (px, read_q15x2_ia (&pInB));
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB * 2;
+
+ /* Read two elements from row */
+ write_q15x2 (px, read_q15x2_ia (&pInB));
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB * 2;
+
+ /* Read two elements from row */
+ write_q15x2 (px, read_q15x2_ia (&pInB));
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB * 2;
+
+ /* Read two elements from row */
+ write_q15x2 (px, read_q15x2_ia (&pInB));
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB * 2;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.
+ ** No loop unrolling is used. */
+ col = numColsB % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ col = numColsB;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (col > 0U)
+ {
+ /* Read two elements from row */
+ write_q15x2 (px, read_q15x2_ia (&pInB));
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB * 2;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ i = i + 2U;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+ /* Reset variables for usage in following multiplication process */
+ row = numRowsA;
+ i = 0U;
+ px = pDst->pData;
+
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ do
+ {
+ /* For every row wise process, column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, pIn2 pointer is set to starting address of transposed pSrcB data */
+ pInB = pSrcBT;
+
+ /* column loop */
+ do
+ {
+ /* Set variable sum, that acts as accumulator, to zero */
+ sumReal = 0;
+ sumImag = 0;
+
+ /* Initiate pointer pInA to point to starting address of column being processed */
+ pInA = pSrcA->pData + i * 2;
+
+ /* Apply loop unrolling and compute 2 MACs simultaneously. */
+ colCnt = numColsA >> 1U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+#if defined (ARM_MATH_DSP)
+
+ /* read real and imag values from pSrcA and pSrcB buffer */
+ pSourceA = read_q15x2_ia ((q15_t **) &pInA);
+ pSourceB = read_q15x2_ia ((q15_t **) &pInB);
+
+ /* Multiply and Accumlates */
+#ifdef ARM_MATH_BIG_ENDIAN
+ prod1 = -__SMUSD(pSourceA, pSourceB);
+#else
+ prod1 = __SMUSD(pSourceA, pSourceB);
+#endif
+ prod2 = __SMUADX(pSourceA, pSourceB);
+ sumReal += (q63_t) prod1;
+ sumImag += (q63_t) prod2;
+
+ /* read real and imag values from pSrcA and pSrcB buffer */
+ pSourceA = read_q15x2_ia ((q15_t **) &pInA);
+ pSourceB = read_q15x2_ia ((q15_t **) &pInB);
+
+ /* Multiply and Accumlates */
+#ifdef ARM_MATH_BIG_ENDIAN
+ prod1 = -__SMUSD(pSourceA, pSourceB);
+#else
+ prod1 = __SMUSD(pSourceA, pSourceB);
+#endif
+ prod2 = __SMUADX(pSourceA, pSourceB);
+ sumReal += (q63_t) prod1;
+ sumImag += (q63_t) prod2;
+
+#else /* #if defined (ARM_MATH_DSP) */
+
+ /* read real and imag values from pSrcA buffer */
+ a = *pInA;
+ b = *(pInA + 1U);
+ /* read real and imag values from pSrcB buffer */
+ c = *pInB;
+ d = *(pInB + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += (q31_t) a *c;
+ sumImag += (q31_t) a *d;
+ sumReal -= (q31_t) b *d;
+ sumImag += (q31_t) b *c;
+
+ /* read next real and imag values from pSrcA buffer */
+ a = *(pInA + 2U);
+ b = *(pInA + 3U);
+ /* read next real and imag values from pSrcB buffer */
+ c = *(pInB + 2U);
+ d = *(pInB + 3U);
+
+ /* update pointer */
+ pInA += 4U;
+
+ /* Multiply and Accumlates */
+ sumReal += (q31_t) a * c;
+ sumImag += (q31_t) a * d;
+ sumReal -= (q31_t) b * d;
+ sumImag += (q31_t) b * c;
+ /* update pointer */
+ pInB += 4U;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* process odd column samples */
+ if ((numColsA & 0x1U) > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+#if defined (ARM_MATH_DSP)
+ /* read real and imag values from pSrcA and pSrcB buffer */
+ pSourceA = read_q15x2_ia ((q15_t **) &pInA);
+ pSourceB = read_q15x2_ia ((q15_t **) &pInB);
+
+ /* Multiply and Accumlates */
+#ifdef ARM_MATH_BIG_ENDIAN
+ prod1 = -__SMUSD(pSourceA, pSourceB);
+#else
+ prod1 = __SMUSD(pSourceA, pSourceB);
+#endif
+ prod2 = __SMUADX(pSourceA, pSourceB);
+ sumReal += (q63_t) prod1;
+ sumImag += (q63_t) prod2;
+
+#else /* #if defined (ARM_MATH_DSP) */
+
+ /* read real and imag values from pSrcA and pSrcB buffer */
+ a = *pInA++;
+ b = *pInA++;
+ c = *pInB++;
+ d = *pInB++;
+
+ /* Multiply and Accumlates */
+ sumReal += (q31_t) a * c;
+ sumImag += (q31_t) a * d;
+ sumReal -= (q31_t) b * d;
+ sumImag += (q31_t) b * c;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ }
+
+ /* Saturate and store result in destination buffer */
+ *px++ = (q15_t) (__SSAT(sumReal >> 15, 16));
+ *px++ = (q15_t) (__SSAT(sumImag >> 15, 16));
+
+ /* Decrement column loop counter */
+ col--;
+
+ } while (col > 0U);
+
+ i = i + numColsA;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q31.c new file mode 100644 index 0000000..0060fcb --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q31.c @@ -0,0 +1,283 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_cmplx_mult_q31.c
+ * Description: Floating-point matrix multiplication
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup CmplxMatrixMult
+ @{
+ */
+
+/**
+ @brief Q31 Complex matrix multiplication.
+ @param[in] pSrcA points to first input complex matrix structure
+ @param[in] pSrcB points to second input complex matrix structure
+ @param[out] pDst points to output complex matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The function is implemented using an internal 64-bit accumulator.
+ The accumulator has a 2.62 format and maintains full precision of the intermediate
+ multiplication results but provides only a single guard bit. There is no saturation
+ on intermediate additions. Thus, if the accumulator overflows it wraps around and
+ distorts the result. The input signals should be scaled down to avoid intermediate
+ overflows. The input is thus scaled down by log2(numColsA) bits
+ to avoid overflows, as a total of numColsA additions are performed internally.
+ The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
+ */
+
+arm_status arm_mat_cmplx_mult_q31(
+ const arm_matrix_instance_q31 * pSrcA,
+ const arm_matrix_instance_q31 * pSrcB,
+ arm_matrix_instance_q31 * pDst)
+{
+ q31_t *pIn1 = pSrcA->pData; /* Input data matrix pointer A */
+ q31_t *pIn2 = pSrcB->pData; /* Input data matrix pointer B */
+ q31_t *pInA = pSrcA->pData; /* Input data matrix pointer A */
+ q31_t *pOut = pDst->pData; /* Output data matrix pointer */
+ q31_t *px; /* Temporary output data matrix pointer */
+ uint16_t numRowsA = pSrcA->numRows; /* Number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* Number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* Number of columns of input matrix A */
+ q63_t sumReal, sumImag; /* Accumulator */
+ q31_t a1, b1, c1, d1;
+ uint32_t col, i = 0U, j, row = numRowsA, colCnt; /* loop counters */
+ arm_status status; /* status of matrix multiplication */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+ q31_t a0, b0, c0, d0;
+#endif
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcB->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ do
+ {
+ /* Output pointer is set to starting address of the row being processed */
+ px = pOut + 2 * i;
+
+ /* For every row wise process, the column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, the pIn2 pointer is set
+ ** to the starting address of the pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ j = 0U;
+
+ /* column loop */
+ do
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sumReal = 0.0;
+ sumImag = 0.0;
+
+ /* Initiate pointer pIn1 to point to starting address of column being processed */
+ pIn1 = pInA;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Apply loop unrolling and compute 4 MACs simultaneously. */
+ colCnt = numColsA >> 2U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+
+ /* Reading real part of complex matrix A */
+ a0 = *pIn1;
+
+ /* Reading real part of complex matrix B */
+ c0 = *pIn2;
+
+ /* Reading imaginary part of complex matrix A */
+ b0 = *(pIn1 + 1U);
+
+ /* Reading imaginary part of complex matrix B */
+ d0 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += (q63_t) a0 * c0;
+ sumImag += (q63_t) b0 * c0;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= (q63_t) b0 * d0;
+ sumImag += (q63_t) a0 * d0;
+
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ /* read real and imag values from pSrcA and pSrcB buffer */
+ a1 = *(pIn1 );
+ c1 = *(pIn2 );
+ b1 = *(pIn1 + 1U);
+ d1 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += (q63_t) a1 * c1;
+ sumImag += (q63_t) b1 * c1;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= (q63_t) b1 * d1;
+ sumImag += (q63_t) a1 * d1;
+
+ a0 = *(pIn1 );
+ c0 = *(pIn2 );
+ b0 = *(pIn1 + 1U);
+ d0 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += (q63_t) a0 * c0;
+ sumImag += (q63_t) b0 * c0;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= (q63_t) b0 * d0;
+ sumImag += (q63_t) a0 * d0;
+
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ a1 = *(pIn1 );
+ c1 = *(pIn2 );
+ b1 = *(pIn1 + 1U);
+ d1 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += (q63_t) a1 * c1;
+ sumImag += (q63_t) b1 * c1;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= (q63_t) b1 * d1;
+ sumImag += (q63_t) a1 * d1;
+
+ /* Decrement loop count */
+ colCnt--;
+ }
+
+ /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
+ ** No loop unrolling is used. */
+ colCnt = numColsA % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ colCnt = numColsA;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+ a1 = *(pIn1 );
+ c1 = *(pIn2 );
+ b1 = *(pIn1 + 1U);
+ d1 = *(pIn2 + 1U);
+
+ /* Multiply and Accumlates */
+ sumReal += (q63_t) a1 * c1;
+ sumImag += (q63_t) b1 * c1;
+
+ /* update pointers */
+ pIn1 += 2U;
+ pIn2 += 2 * numColsB;
+
+ /* Multiply and Accumlates */
+ sumReal -= (q63_t) b1 * d1;
+ sumImag += (q63_t) a1 * d1;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Store result in destination buffer */
+ *px++ = (q31_t) clip_q63_to_q31(sumReal >> 31);
+ *px++ = (q31_t) clip_q63_to_q31(sumImag >> 31);
+
+ /* Update pointer pIn2 to point to starting address of next column */
+ j++;
+ pIn2 = pSrcB->pData + 2U * j;
+
+ /* Decrement column loop counter */
+ col--;
+
+ } while (col > 0U);
+
+ /* Update pointer pInA to point to starting address of next row */
+ i = i + numColsB;
+ pInA = pInA + 2 * numColsA;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_f32.c new file mode 100644 index 0000000..5fcd121 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_f32.c @@ -0,0 +1,76 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_init_f32.c
+ * Description: Floating-point matrix initialization
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @defgroup MatrixInit Matrix Initialization
+
+ Initializes the underlying matrix data structure.
+ The functions set the <code>numRows</code>,
+ <code>numCols</code>, and <code>pData</code> fields
+ of the matrix data structure.
+ */
+
+/**
+ @addtogroup MatrixInit
+ @{
+ */
+
+/**
+ @brief Floating-point matrix initialization.
+ @param[in,out] S points to an instance of the floating-point matrix structure
+ @param[in] nRows number of rows in the matrix
+ @param[in] nColumns number of columns in the matrix
+ @param[in] pData points to the matrix data array
+ @return none
+ */
+
+void arm_mat_init_f32(
+ arm_matrix_instance_f32 * S,
+ uint16_t nRows,
+ uint16_t nColumns,
+ float32_t * pData)
+{
+ /* Assign Number of Rows */
+ S->numRows = nRows;
+
+ /* Assign Number of Columns */
+ S->numCols = nColumns;
+
+ /* Assign Data pointer */
+ S->pData = pData;
+}
+
+/**
+ @} end of MatrixInit group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q15.c new file mode 100644 index 0000000..28d8d65 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q15.c @@ -0,0 +1,67 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_init_q15.c
+ * Description: Q15 matrix initialization
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixInit
+ @{
+ */
+
+/**
+ @brief Q15 matrix initialization.
+ @param[in,out] S points to an instance of the floating-point matrix structure
+ @param[in] nRows number of rows in the matrix
+ @param[in] nColumns number of columns in the matrix
+ @param[in] pData points to the matrix data array
+ @return none
+ */
+
+void arm_mat_init_q15(
+ arm_matrix_instance_q15 * S,
+ uint16_t nRows,
+ uint16_t nColumns,
+ q15_t * pData)
+{
+ /* Assign Number of Rows */
+ S->numRows = nRows;
+
+ /* Assign Number of Columns */
+ S->numCols = nColumns;
+
+ /* Assign Data pointer */
+ S->pData = pData;
+}
+
+/**
+ @} end of MatrixInit group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q31.c new file mode 100644 index 0000000..b691ede --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q31.c @@ -0,0 +1,72 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_init_q31.c
+ * Description: Q31 matrix initialization
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @defgroup MatrixInit Matrix Initialization
+
+ */
+
+/**
+ @addtogroup MatrixInit
+ @{
+ */
+
+/**
+ @brief Q31 matrix initialization.
+ @param[in,out] S points to an instance of the Q31 matrix structure
+ @param[in] nRows number of rows in the matrix
+ @param[in] nColumns number of columns in the matrix
+ @param[in] pData points to the matrix data array
+ @return none
+ */
+
+void arm_mat_init_q31(
+ arm_matrix_instance_q31 * S,
+ uint16_t nRows,
+ uint16_t nColumns,
+ q31_t * pData)
+{
+ /* Assign Number of Rows */
+ S->numRows = nRows;
+
+ /* Assign Number of Columns */
+ S->numCols = nColumns;
+
+ /* Assign Data pointer */
+ S->pData = pData;
+}
+
+/**
+ @} end of MatrixInit group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f32.c new file mode 100644 index 0000000..df84b4d --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f32.c @@ -0,0 +1,1127 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_inverse_f32.c
+ * Description: Floating-point matrix inverse
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @defgroup MatrixInv Matrix Inverse
+
+ Computes the inverse of a matrix.
+
+ The inverse is defined only if the input matrix is square and non-singular (the determinant is non-zero).
+ The function checks that the input and output matrices are square and of the same size.
+
+ Matrix inversion is numerically sensitive and the CMSIS DSP library only supports matrix
+ inversion of floating-point matrices.
+
+ @par Algorithm
+ The Gauss-Jordan method is used to find the inverse.
+ The algorithm performs a sequence of elementary row-operations until it
+ reduces the input matrix to an identity matrix. Applying the same sequence
+ of elementary row-operations to an identity matrix yields the inverse matrix.
+ If the input matrix is singular, then the algorithm terminates and returns error status
+ <code>ARM_MATH_SINGULAR</code>.
+ \image html MatrixInverse.gif "Matrix Inverse of a 3 x 3 matrix using Gauss-Jordan Method"
+ */
+
+/**
+ @addtogroup MatrixInv
+ @{
+ */
+
+/**
+ @brief Floating-point matrix inverse.
+ @param[in] pSrc points to input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ - \ref ARM_MATH_SINGULAR : Input matrix is found to be singular (non-invertible)
+ */
+#if defined(ARM_MATH_NEON)
+arm_status arm_mat_inverse_f32(
+ const arm_matrix_instance_f32 * pSrc,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn = pSrc->pData; /* input data matrix pointer */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+ float32_t *pInT1, *pInT2; /* Temporary input data matrix pointer */
+ float32_t *pOutT1, *pOutT2; /* Temporary output data matrix pointer */
+ float32_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst; /* Temporary input and output data matrix pointer */
+ uint32_t numRows = pSrc->numRows; /* Number of rows in the matrix */
+ uint32_t numCols = pSrc->numCols; /* Number of Cols in the matrix */
+
+ float32_t maxC; /* maximum value in the column */
+
+ float32_t Xchg, in = 0.0f, in1; /* Temporary input values */
+ uint32_t i, rowCnt, flag = 0U, j, loopCnt, k, l; /* loop counters */
+ arm_status status; /* status of matrix inverse */
+ float32x4_t vec1;
+ float32x4_t vec2;
+ float32x4_t tmpV;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
+ || (pSrc->numRows != pDst->numRows))
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /*--------------------------------------------------------------------------------------------------------------
+ * Matrix Inverse can be solved using elementary row operations.
+ *
+ * Gauss-Jordan Method:
+ *
+ * 1. First combine the identity matrix and the input matrix separated by a bar to form an
+ * augmented matrix as follows:
+ * _ _ _ _
+ * | a11 a12 | 1 0 | | X11 X12 |
+ * | | | = | |
+ * |_ a21 a22 | 0 1 _| |_ X21 X21 _|
+ *
+ * 2. In our implementation, pDst Matrix is used as identity matrix.
+ *
+ * 3. Begin with the first row. Let i = 1.
+ *
+ * 4. Check to see if the pivot for column i is the greatest of the column.
+ * The pivot is the element of the main diagonal that is on the current row.
+ * For instance, if working with row i, then the pivot element is aii.
+ * If the pivot is not the most significant of the columns, exchange that row with a row
+ * below it that does contain the most significant value in column i. If the most
+ * significant value of the column is zero, then an inverse to that matrix does not exist.
+ * The most significant value of the column is the absolute maximum.
+ *
+ * 5. Divide every element of row i by the pivot.
+ *
+ * 6. For every row below and row i, replace that row with the sum of that row and
+ * a multiple of row i so that each new element in column i below row i is zero.
+ *
+ * 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+ * for every element below and above the main diagonal.
+ *
+ * 8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).
+ * Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).
+ *----------------------------------------------------------------------------------------------------------------*/
+
+ /* Working pointer for destination matrix */
+ pOutT1 = pOut;
+
+ /* Loop over the number of rows */
+ rowCnt = numRows;
+
+ /* Making the destination matrix as identity matrix */
+ while (rowCnt > 0U)
+ {
+ /* Writing all zeroes in lower triangle of the destination matrix */
+ j = numRows - rowCnt;
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0f;
+ j--;
+ }
+
+ /* Writing all ones in the diagonal of the destination matrix */
+ *pOutT1++ = 1.0f;
+
+ /* Writing all zeroes in upper triangle of the destination matrix */
+ j = rowCnt - 1U;
+
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0f;
+ j--;
+ }
+
+ /* Decrement the loop counter */
+ rowCnt--;
+ }
+
+ /* Loop over the number of columns of the input matrix.
+ All the elements in each column are processed by the row operations */
+ loopCnt = numCols;
+
+ /* Index modifier to navigate through the columns */
+ l = 0U;
+
+ while (loopCnt > 0U)
+ {
+ /* Check if the pivot element is zero..
+ * If it is zero then interchange the row with non zero row below.
+ * If there is no non zero element to replace in the rows below,
+ * then the matrix is Singular. */
+
+ /* Working pointer for the input matrix that points
+ * to the pivot element of the particular row */
+ pInT1 = pIn + (l * numCols);
+
+ /* Working pointer for the destination matrix that points
+ * to the pivot element of the particular row */
+ pOutT1 = pOut + (l * numCols);
+
+ /* Temporary variable to hold the pivot value */
+ in = *pInT1;
+
+ /* Grab the most significant value from column l */
+ maxC = 0;
+
+ for (i = l; i < numRows; i++)
+ {
+ maxC = *pInT1 > 0 ? (*pInT1 > maxC ? *pInT1 : maxC) : (-*pInT1 > maxC ? -*pInT1 : maxC);
+ pInT1 += numCols;
+ }
+
+ /* Update the status if the matrix is singular */
+ if (maxC == 0.0f)
+ {
+ return ARM_MATH_SINGULAR;
+ }
+
+ /* Restore pInT1 */
+ pInT1 = pIn;
+
+ /* Destination pointer modifier */
+ k = 1U;
+
+ /* Check if the pivot element is the most significant of the column */
+ if ( (in > 0.0f ? in : -in) != maxC)
+ {
+ /* Loop over the number rows present below */
+ i = numRows - (l + 1U);
+
+ while (i > 0U)
+ {
+ /* Update the input and destination pointers */
+ pInT2 = pInT1 + (numCols * l);
+ pOutT2 = pOutT1 + (numCols * k);
+
+ /* Look for the most significant element to
+ * replace in the rows below */
+ if ((*pInT2 > 0.0f ? *pInT2: -*pInT2) == maxC)
+ {
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ j = numCols - l;
+
+ while (j > 0U)
+ {
+ /* Exchange the row elements of the input matrix */
+ Xchg = *pInT2;
+ *pInT2++ = *pInT1;
+ *pInT1++ = Xchg;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Loop over number of columns of the destination matrix */
+ j = numCols;
+
+ while (j > 0U)
+ {
+ /* Exchange the row elements of the destination matrix */
+ Xchg = *pOutT2;
+ *pOutT2++ = *pOutT1;
+ *pOutT1++ = Xchg;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Flag to indicate whether exchange is done or not */
+ flag = 1U;
+
+ /* Break after exchange is done */
+ break;
+ }
+
+ /* Update the destination pointer modifier */
+ k++;
+
+ /* Decrement the loop counter */
+ i--;
+ }
+ }
+
+ /* Update the status if the matrix is singular */
+ if ((flag != 1U) && (in == 0.0f))
+ {
+ return ARM_MATH_SINGULAR;
+ }
+
+ /* Points to the pivot row of input and destination matrices */
+ pPivotRowIn = pIn + (l * numCols);
+ pPivotRowDst = pOut + (l * numCols);
+
+ /* Temporary pointers to the pivot row pointers */
+ pInT1 = pPivotRowIn;
+ pInT2 = pPivotRowDst;
+
+ /* Pivot element of the row */
+ in = *pPivotRowIn;
+ tmpV = vdupq_n_f32(1.0/in);
+
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ j = (numCols - l) >> 2;
+
+ while (j > 0U)
+ {
+ /* Divide each element of the row of the input matrix
+ * by the pivot element */
+ vec1 = vld1q_f32(pInT1);
+
+ vec1 = vmulq_f32(vec1, tmpV);
+ vst1q_f32(pInT1, vec1);
+ pInT1 += 4;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Tail */
+ j = (numCols - l) & 3;
+
+ while (j > 0U)
+ {
+ /* Divide each element of the row of the input matrix
+ * by the pivot element */
+ in1 = *pInT1;
+ *pInT1++ = in1 / in;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Loop over number of columns of the destination matrix */
+ j = numCols >> 2;
+
+ while (j > 0U)
+ {
+ /* Divide each element of the row of the destination matrix
+ * by the pivot element */
+ vec1 = vld1q_f32(pInT2);
+
+ vec1 = vmulq_f32(vec1, tmpV);
+ vst1q_f32(pInT2, vec1);
+ pInT2 += 4;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Tail */
+ j = numCols & 3;
+
+ while (j > 0U)
+ {
+ /* Divide each element of the row of the destination matrix
+ * by the pivot element */
+ in1 = *pInT2;
+ *pInT2++ = in1 / in;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Replace the rows with the sum of that row and a multiple of row i
+ * so that each new element in column i above row i is zero.*/
+
+ /* Temporary pointers for input and destination matrices */
+ pInT1 = pIn;
+ pInT2 = pOut;
+
+ /* index used to check for pivot element */
+ i = 0U;
+
+ /* Loop over number of rows */
+ /* to be replaced by the sum of that row and a multiple of row i */
+ k = numRows;
+
+ while (k > 0U)
+ {
+ /* Check for the pivot element */
+ if (i == l)
+ {
+ /* If the processing element is the pivot element,
+ only the columns to the right are to be processed */
+ pInT1 += numCols - l;
+
+ pInT2 += numCols;
+ }
+ else
+ {
+ /* Element of the reference row */
+ in = *pInT1;
+ tmpV = vdupq_n_f32(in);
+
+ /* Working pointers for input and destination pivot rows */
+ pPRT_in = pPivotRowIn;
+ pPRT_pDst = pPivotRowDst;
+
+ /* Loop over the number of columns to the right of the pivot element,
+ to replace the elements in the input matrix */
+ j = (numCols - l) >> 2;
+
+ while (j > 0U)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ vec1 = vld1q_f32(pInT1);
+ vec2 = vld1q_f32(pPRT_in);
+ vec1 = vmlsq_f32(vec1, tmpV, vec2);
+ vst1q_f32(pInT1, vec1);
+ pPRT_in += 4;
+ pInT1 += 4;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Tail */
+ j = (numCols - l) & 3;
+
+ while (j > 0U)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ in1 = *pInT1;
+ *pInT1++ = in1 - (in * *pPRT_in++);
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Loop over the number of columns to
+ replace the elements in the destination matrix */
+ j = numCols >> 2;
+
+ while (j > 0U)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ vec1 = vld1q_f32(pInT2);
+ vec2 = vld1q_f32(pPRT_pDst);
+ vec1 = vmlsq_f32(vec1, tmpV, vec2);
+ vst1q_f32(pInT2, vec1);
+ pPRT_pDst += 4;
+ pInT2 += 4;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Tail */
+ j = numCols & 3;
+
+ while (j > 0U)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ in1 = *pInT2;
+ *pInT2++ = in1 - (in * *pPRT_pDst++);
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ }
+
+ /* Increment the temporary input pointer */
+ pInT1 = pInT1 + l;
+
+ /* Decrement the loop counter */
+ k--;
+
+ /* Increment the pivot index */
+ i++;
+ }
+
+ /* Increment the input pointer */
+ pIn++;
+
+ /* Decrement the loop counter */
+ loopCnt--;
+
+ /* Increment the index modifier */
+ l++;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+
+ if ((flag != 1U) && (in == 0.0f))
+ {
+ pIn = pSrc->pData;
+ for (i = 0; i < numRows * numCols; i++)
+ {
+ if (pIn[i] != 0.0f)
+ break;
+ }
+
+ if (i == numRows * numCols)
+ status = ARM_MATH_SINGULAR;
+ }
+ }
+ /* Return to application */
+ return (status);
+}
+#else
+arm_status arm_mat_inverse_f32(
+ const arm_matrix_instance_f32 * pSrc,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn = pSrc->pData; /* input data matrix pointer */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+ float32_t *pInT1, *pInT2; /* Temporary input data matrix pointer */
+ float32_t *pOutT1, *pOutT2; /* Temporary output data matrix pointer */
+ float32_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst; /* Temporary input and output data matrix pointer */
+ uint32_t numRows = pSrc->numRows; /* Number of rows in the matrix */
+ uint32_t numCols = pSrc->numCols; /* Number of Cols in the matrix */
+
+#if defined (ARM_MATH_DSP)
+ float32_t maxC; /* maximum value in the column */
+
+ float32_t Xchg, in = 0.0f, in1; /* Temporary input values */
+ uint32_t i, rowCnt, flag = 0U, j, loopCnt, k, l; /* loop counters */
+ arm_status status; /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pSrc->numCols) ||
+ (pDst->numRows != pDst->numCols) ||
+ (pSrc->numRows != pDst->numRows) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+
+ /*--------------------------------------------------------------------------------------------------------------
+ * Matrix Inverse can be solved using elementary row operations.
+ *
+ * Gauss-Jordan Method:
+ *
+ * 1. First combine the identity matrix and the input matrix separated by a bar to form an
+ * augmented matrix as follows:
+ * _ _ _ _
+ * | a11 a12 | 1 0 | | X11 X12 |
+ * | | | = | |
+ * |_ a21 a22 | 0 1 _| |_ X21 X21 _|
+ *
+ * 2. In our implementation, pDst Matrix is used as identity matrix.
+ *
+ * 3. Begin with the first row. Let i = 1.
+ *
+ * 4. Check to see if the pivot for column i is the greatest of the column.
+ * The pivot is the element of the main diagonal that is on the current row.
+ * For instance, if working with row i, then the pivot element is aii.
+ * If the pivot is not the most significant of the columns, exchange that row with a row
+ * below it that does contain the most significant value in column i. If the most
+ * significant value of the column is zero, then an inverse to that matrix does not exist.
+ * The most significant value of the column is the absolute maximum.
+ *
+ * 5. Divide every element of row i by the pivot.
+ *
+ * 6. For every row below and row i, replace that row with the sum of that row and
+ * a multiple of row i so that each new element in column i below row i is zero.
+ *
+ * 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+ * for every element below and above the main diagonal.
+ *
+ * 8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).
+ * Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).
+ *----------------------------------------------------------------------------------------------------------------*/
+
+ /* Working pointer for destination matrix */
+ pOutT1 = pOut;
+
+ /* Loop over the number of rows */
+ rowCnt = numRows;
+
+ /* Making the destination matrix as identity matrix */
+ while (rowCnt > 0U)
+ {
+ /* Writing all zeroes in lower triangle of the destination matrix */
+ j = numRows - rowCnt;
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0f;
+ j--;
+ }
+
+ /* Writing all ones in the diagonal of the destination matrix */
+ *pOutT1++ = 1.0f;
+
+ /* Writing all zeroes in upper triangle of the destination matrix */
+ j = rowCnt - 1U;
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0f;
+ j--;
+ }
+
+ /* Decrement loop counter */
+ rowCnt--;
+ }
+
+ /* Loop over the number of columns of the input matrix.
+ All the elements in each column are processed by the row operations */
+ loopCnt = numCols;
+
+ /* Index modifier to navigate through the columns */
+ l = 0U;
+
+ while (loopCnt > 0U)
+ {
+ /* Check if the pivot element is zero..
+ * If it is zero then interchange the row with non zero row below.
+ * If there is no non zero element to replace in the rows below,
+ * then the matrix is Singular. */
+
+ /* Working pointer for the input matrix that points
+ * to the pivot element of the particular row */
+ pInT1 = pIn + (l * numCols);
+
+ /* Working pointer for the destination matrix that points
+ * to the pivot element of the particular row */
+ pOutT1 = pOut + (l * numCols);
+
+ /* Temporary variable to hold the pivot value */
+ in = *pInT1;
+
+ /* Grab the most significant value from column l */
+ maxC = 0;
+ for (i = l; i < numRows; i++)
+ {
+ maxC = *pInT1 > 0 ? (*pInT1 > maxC ? *pInT1 : maxC) : (-*pInT1 > maxC ? -*pInT1 : maxC);
+ pInT1 += numCols;
+ }
+
+ /* Update the status if the matrix is singular */
+ if (maxC == 0.0f)
+ {
+ return ARM_MATH_SINGULAR;
+ }
+
+ /* Restore pInT1 */
+ pInT1 = pIn;
+
+ /* Destination pointer modifier */
+ k = 1U;
+
+ /* Check if the pivot element is the most significant of the column */
+ if ( (in > 0.0f ? in : -in) != maxC)
+ {
+ /* Loop over the number rows present below */
+ i = numRows - (l + 1U);
+
+ while (i > 0U)
+ {
+ /* Update the input and destination pointers */
+ pInT2 = pInT1 + (numCols * l);
+ pOutT2 = pOutT1 + (numCols * k);
+
+ /* Look for the most significant element to
+ * replace in the rows below */
+ if ((*pInT2 > 0.0f ? *pInT2: -*pInT2) == maxC)
+ {
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ j = numCols - l;
+
+ while (j > 0U)
+ {
+ /* Exchange the row elements of the input matrix */
+ Xchg = *pInT2;
+ *pInT2++ = *pInT1;
+ *pInT1++ = Xchg;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Loop over number of columns of the destination matrix */
+ j = numCols;
+
+ while (j > 0U)
+ {
+ /* Exchange the row elements of the destination matrix */
+ Xchg = *pOutT2;
+ *pOutT2++ = *pOutT1;
+ *pOutT1++ = Xchg;
+
+ /* Decrement loop counter */
+ j--;
+ }
+
+ /* Flag to indicate whether exchange is done or not */
+ flag = 1U;
+
+ /* Break after exchange is done */
+ break;
+ }
+
+ /* Update the destination pointer modifier */
+ k++;
+
+ /* Decrement loop counter */
+ i--;
+ }
+ }
+
+ /* Update the status if the matrix is singular */
+ if ((flag != 1U) && (in == 0.0f))
+ {
+ return ARM_MATH_SINGULAR;
+ }
+
+ /* Points to the pivot row of input and destination matrices */
+ pPivotRowIn = pIn + (l * numCols);
+ pPivotRowDst = pOut + (l * numCols);
+
+ /* Temporary pointers to the pivot row pointers */
+ pInT1 = pPivotRowIn;
+ pInT2 = pPivotRowDst;
+
+ /* Pivot element of the row */
+ in = *pPivotRowIn;
+
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ j = (numCols - l);
+
+ while (j > 0U)
+ {
+ /* Divide each element of the row of the input matrix
+ * by the pivot element */
+ in1 = *pInT1;
+ *pInT1++ = in1 / in;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Loop over number of columns of the destination matrix */
+ j = numCols;
+
+ while (j > 0U)
+ {
+ /* Divide each element of the row of the destination matrix
+ * by the pivot element */
+ in1 = *pInT2;
+ *pInT2++ = in1 / in;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Replace the rows with the sum of that row and a multiple of row i
+ * so that each new element in column i above row i is zero.*/
+
+ /* Temporary pointers for input and destination matrices */
+ pInT1 = pIn;
+ pInT2 = pOut;
+
+ /* index used to check for pivot element */
+ i = 0U;
+
+ /* Loop over number of rows */
+ /* to be replaced by the sum of that row and a multiple of row i */
+ k = numRows;
+
+ while (k > 0U)
+ {
+ /* Check for the pivot element */
+ if (i == l)
+ {
+ /* If the processing element is the pivot element,
+ only the columns to the right are to be processed */
+ pInT1 += numCols - l;
+
+ pInT2 += numCols;
+ }
+ else
+ {
+ /* Element of the reference row */
+ in = *pInT1;
+
+ /* Working pointers for input and destination pivot rows */
+ pPRT_in = pPivotRowIn;
+ pPRT_pDst = pPivotRowDst;
+
+ /* Loop over the number of columns to the right of the pivot element,
+ to replace the elements in the input matrix */
+ j = (numCols - l);
+
+ while (j > 0U)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ in1 = *pInT1;
+ *pInT1++ = in1 - (in * *pPRT_in++);
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Loop over the number of columns to
+ replace the elements in the destination matrix */
+ j = numCols;
+
+ while (j > 0U)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ in1 = *pInT2;
+ *pInT2++ = in1 - (in * *pPRT_pDst++);
+
+ /* Decrement loop counter */
+ j--;
+ }
+
+ }
+
+ /* Increment temporary input pointer */
+ pInT1 = pInT1 + l;
+
+ /* Decrement loop counter */
+ k--;
+
+ /* Increment pivot index */
+ i++;
+ }
+
+ /* Increment the input pointer */
+ pIn++;
+
+ /* Decrement the loop counter */
+ loopCnt--;
+
+ /* Increment the index modifier */
+ l++;
+ }
+
+
+#else
+
+ float32_t Xchg, in = 0.0f; /* Temporary input values */
+ uint32_t i, rowCnt, flag = 0U, j, loopCnt, k, l; /* loop counters */
+ arm_status status; /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pSrc->numCols) ||
+ (pDst->numRows != pDst->numCols) ||
+ (pSrc->numRows != pDst->numRows) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+
+ /*--------------------------------------------------------------------------------------------------------------
+ * Matrix Inverse can be solved using elementary row operations.
+ *
+ * Gauss-Jordan Method:
+ *
+ * 1. First combine the identity matrix and the input matrix separated by a bar to form an
+ * augmented matrix as follows:
+ * _ _ _ _ _ _ _ _
+ * | | a11 a12 | | | 1 0 | | | X11 X12 |
+ * | | | | | | | = | |
+ * |_ |_ a21 a22 _| | |_0 1 _| _| |_ X21 X21 _|
+ *
+ * 2. In our implementation, pDst Matrix is used as identity matrix.
+ *
+ * 3. Begin with the first row. Let i = 1.
+ *
+ * 4. Check to see if the pivot for row i is zero.
+ * The pivot is the element of the main diagonal that is on the current row.
+ * For instance, if working with row i, then the pivot element is aii.
+ * If the pivot is zero, exchange that row with a row below it that does not
+ * contain a zero in column i. If this is not possible, then an inverse
+ * to that matrix does not exist.
+ *
+ * 5. Divide every element of row i by the pivot.
+ *
+ * 6. For every row below and row i, replace that row with the sum of that row and
+ * a multiple of row i so that each new element in column i below row i is zero.
+ *
+ * 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+ * for every element below and above the main diagonal.
+ *
+ * 8. Now an identical matrix is formed to the left of the bar(input matrix, src).
+ * Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).
+ *----------------------------------------------------------------------------------------------------------------*/
+
+ /* Working pointer for destination matrix */
+ pOutT1 = pOut;
+
+ /* Loop over the number of rows */
+ rowCnt = numRows;
+
+ /* Making the destination matrix as identity matrix */
+ while (rowCnt > 0U)
+ {
+ /* Writing all zeroes in lower triangle of the destination matrix */
+ j = numRows - rowCnt;
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0f;
+ j--;
+ }
+
+ /* Writing all ones in the diagonal of the destination matrix */
+ *pOutT1++ = 1.0f;
+
+ /* Writing all zeroes in upper triangle of the destination matrix */
+ j = rowCnt - 1U;
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0f;
+ j--;
+ }
+
+ /* Decrement loop counter */
+ rowCnt--;
+ }
+
+ /* Loop over the number of columns of the input matrix.
+ All the elements in each column are processed by the row operations */
+ loopCnt = numCols;
+
+ /* Index modifier to navigate through the columns */
+ l = 0U;
+
+ while (loopCnt > 0U)
+ {
+ /* Check if the pivot element is zero..
+ * If it is zero then interchange the row with non zero row below.
+ * If there is no non zero element to replace in the rows below,
+ * then the matrix is Singular. */
+
+ /* Working pointer for the input matrix that points
+ * to the pivot element of the particular row */
+ pInT1 = pIn + (l * numCols);
+
+ /* Working pointer for the destination matrix that points
+ * to the pivot element of the particular row */
+ pOutT1 = pOut + (l * numCols);
+
+ /* Temporary variable to hold the pivot value */
+ in = *pInT1;
+
+ /* Destination pointer modifier */
+ k = 1U;
+
+ /* Check if the pivot element is zero */
+ if (*pInT1 == 0.0f)
+ {
+ /* Loop over the number rows present below */
+ for (i = (l + 1U); i < numRows; i++)
+ {
+ /* Update the input and destination pointers */
+ pInT2 = pInT1 + (numCols * l);
+ pOutT2 = pOutT1 + (numCols * k);
+
+ /* Check if there is a non zero pivot element to
+ * replace in the rows below */
+ if (*pInT2 != 0.0f)
+ {
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ for (j = 0U; j < (numCols - l); j++)
+ {
+ /* Exchange the row elements of the input matrix */
+ Xchg = *pInT2;
+ *pInT2++ = *pInT1;
+ *pInT1++ = Xchg;
+ }
+
+ for (j = 0U; j < numCols; j++)
+ {
+ Xchg = *pOutT2;
+ *pOutT2++ = *pOutT1;
+ *pOutT1++ = Xchg;
+ }
+
+ /* Flag to indicate whether exchange is done or not */
+ flag = 1U;
+
+ /* Break after exchange is done */
+ break;
+ }
+
+ /* Update the destination pointer modifier */
+ k++;
+ }
+ }
+
+ /* Update the status if the matrix is singular */
+ if ((flag != 1U) && (in == 0.0f))
+ {
+ return ARM_MATH_SINGULAR;
+ }
+
+ /* Points to the pivot row of input and destination matrices */
+ pPivotRowIn = pIn + (l * numCols);
+ pPivotRowDst = pOut + (l * numCols);
+
+ /* Temporary pointers to the pivot row pointers */
+ pInT1 = pPivotRowIn;
+ pOutT1 = pPivotRowDst;
+
+ /* Pivot element of the row */
+ in = *(pIn + (l * numCols));
+
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ for (j = 0U; j < (numCols - l); j++)
+ {
+ /* Divide each element of the row of the input matrix
+ * by the pivot element */
+ *pInT1 = *pInT1 / in;
+ pInT1++;
+ }
+ for (j = 0U; j < numCols; j++)
+ {
+ /* Divide each element of the row of the destination matrix
+ * by the pivot element */
+ *pOutT1 = *pOutT1 / in;
+ pOutT1++;
+ }
+
+ /* Replace the rows with the sum of that row and a multiple of row i
+ * so that each new element in column i above row i is zero.*/
+
+ /* Temporary pointers for input and destination matrices */
+ pInT1 = pIn;
+ pOutT1 = pOut;
+
+ for (i = 0U; i < numRows; i++)
+ {
+ /* Check for the pivot element */
+ if (i == l)
+ {
+ /* If the processing element is the pivot element,
+ only the columns to the right are to be processed */
+ pInT1 += numCols - l;
+ pOutT1 += numCols;
+ }
+ else
+ {
+ /* Element of the reference row */
+ in = *pInT1;
+
+ /* Working pointers for input and destination pivot rows */
+ pPRT_in = pPivotRowIn;
+ pPRT_pDst = pPivotRowDst;
+
+ /* Loop over the number of columns to the right of the pivot element,
+ to replace the elements in the input matrix */
+ for (j = 0U; j < (numCols - l); j++)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ *pInT1 = *pInT1 - (in * *pPRT_in++);
+ pInT1++;
+ }
+
+ /* Loop over the number of columns to
+ replace the elements in the destination matrix */
+ for (j = 0U; j < numCols; j++)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ *pOutT1 = *pOutT1 - (in * *pPRT_pDst++);
+ pOutT1++;
+ }
+
+ }
+
+ /* Increment temporary input pointer */
+ pInT1 = pInT1 + l;
+ }
+
+ /* Increment the input pointer */
+ pIn++;
+
+ /* Decrement the loop counter */
+ loopCnt--;
+
+ /* Increment the index modifier */
+ l++;
+ }
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+
+ if ((flag != 1U) && (in == 0.0f))
+ {
+ pIn = pSrc->pData;
+ for (i = 0; i < numRows * numCols; i++)
+ {
+ if (pIn[i] != 0.0f)
+ break;
+ }
+
+ if (i == numRows * numCols)
+ status = ARM_MATH_SINGULAR;
+ }
+ }
+
+ /* Return to application */
+ return (status);
+}
+#endif /* #if defined(ARM_MATH_NEON) */
+
+/**
+ @} end of MatrixInv group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f64.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f64.c new file mode 100644 index 0000000..17390c8 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f64.c @@ -0,0 +1,673 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_inverse_f64.c
+ * Description: Floating-point matrix inverse
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+
+/**
+ @addtogroup MatrixInv
+ @{
+ */
+
+/**
+ @brief Floating-point (64 bit) matrix inverse.
+ @param[in] pSrc points to input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ - \ref ARM_MATH_SINGULAR : Input matrix is found to be singular (non-invertible)
+ */
+
+arm_status arm_mat_inverse_f64(
+ const arm_matrix_instance_f64 * pSrc,
+ arm_matrix_instance_f64 * pDst)
+{
+ float64_t *pIn = pSrc->pData; /* input data matrix pointer */
+ float64_t *pOut = pDst->pData; /* output data matrix pointer */
+ float64_t *pInT1, *pInT2; /* Temporary input data matrix pointer */
+ float64_t *pOutT1, *pOutT2; /* Temporary output data matrix pointer */
+ float64_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst; /* Temporary input and output data matrix pointer */
+ uint32_t numRows = pSrc->numRows; /* Number of rows in the matrix */
+ uint32_t numCols = pSrc->numCols; /* Number of Cols in the matrix */
+
+#if defined (ARM_MATH_DSP)
+ float64_t maxC; /* maximum value in the column */
+
+ float64_t Xchg, in = 0.0, in1; /* Temporary input values */
+ uint32_t i, rowCnt, flag = 0U, j, loopCnt, k, l; /* loop counters */
+ arm_status status; /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pSrc->numCols) ||
+ (pDst->numRows != pDst->numCols) ||
+ (pSrc->numRows != pDst->numRows) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+
+ /*--------------------------------------------------------------------------------------------------------------
+ * Matrix Inverse can be solved using elementary row operations.
+ *
+ * Gauss-Jordan Method:
+ *
+ * 1. First combine the identity matrix and the input matrix separated by a bar to form an
+ * augmented matrix as follows:
+ * _ _ _ _
+ * | a11 a12 | 1 0 | | X11 X12 |
+ * | | | = | |
+ * |_ a21 a22 | 0 1 _| |_ X21 X21 _|
+ *
+ * 2. In our implementation, pDst Matrix is used as identity matrix.
+ *
+ * 3. Begin with the first row. Let i = 1.
+ *
+ * 4. Check to see if the pivot for column i is the greatest of the column.
+ * The pivot is the element of the main diagonal that is on the current row.
+ * For instance, if working with row i, then the pivot element is aii.
+ * If the pivot is not the most significant of the columns, exchange that row with a row
+ * below it that does contain the most significant value in column i. If the most
+ * significant value of the column is zero, then an inverse to that matrix does not exist.
+ * The most significant value of the column is the absolute maximum.
+ *
+ * 5. Divide every element of row i by the pivot.
+ *
+ * 6. For every row below and row i, replace that row with the sum of that row and
+ * a multiple of row i so that each new element in column i below row i is zero.
+ *
+ * 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+ * for every element below and above the main diagonal.
+ *
+ * 8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).
+ * Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).
+ *----------------------------------------------------------------------------------------------------------------*/
+
+ /* Working pointer for destination matrix */
+ pOutT1 = pOut;
+
+ /* Loop over the number of rows */
+ rowCnt = numRows;
+
+ /* Making the destination matrix as identity matrix */
+ while (rowCnt > 0U)
+ {
+ /* Writing all zeroes in lower triangle of the destination matrix */
+ j = numRows - rowCnt;
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0;
+ j--;
+ }
+
+ /* Writing all ones in the diagonal of the destination matrix */
+ *pOutT1++ = 1.0;
+
+ /* Writing all zeroes in upper triangle of the destination matrix */
+ j = rowCnt - 1U;
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0;
+ j--;
+ }
+
+ /* Decrement loop counter */
+ rowCnt--;
+ }
+
+ /* Loop over the number of columns of the input matrix.
+ All the elements in each column are processed by the row operations */
+ loopCnt = numCols;
+
+ /* Index modifier to navigate through the columns */
+ l = 0U;
+
+ while (loopCnt > 0U)
+ {
+ /* Check if the pivot element is zero..
+ * If it is zero then interchange the row with non zero row below.
+ * If there is no non zero element to replace in the rows below,
+ * then the matrix is Singular. */
+
+ /* Working pointer for the input matrix that points
+ * to the pivot element of the particular row */
+ pInT1 = pIn + (l * numCols);
+
+ /* Working pointer for the destination matrix that points
+ * to the pivot element of the particular row */
+ pOutT1 = pOut + (l * numCols);
+
+ /* Temporary variable to hold the pivot value */
+ in = *pInT1;
+
+ /* Grab the most significant value from column l */
+ maxC = 0;
+ for (i = l; i < numRows; i++)
+ {
+ maxC = *pInT1 > 0 ? (*pInT1 > maxC ? *pInT1 : maxC) : (-*pInT1 > maxC ? -*pInT1 : maxC);
+ pInT1 += numCols;
+ }
+
+ /* Update the status if the matrix is singular */
+ if (maxC == 0.0)
+ {
+ return ARM_MATH_SINGULAR;
+ }
+
+ /* Restore pInT1 */
+ pInT1 = pIn;
+
+ /* Destination pointer modifier */
+ k = 1U;
+
+ /* Check if the pivot element is the most significant of the column */
+ if ( (in > 0.0 ? in : -in) != maxC)
+ {
+ /* Loop over the number rows present below */
+ i = numRows - (l + 1U);
+
+ while (i > 0U)
+ {
+ /* Update the input and destination pointers */
+ pInT2 = pInT1 + (numCols * l);
+ pOutT2 = pOutT1 + (numCols * k);
+
+ /* Look for the most significant element to
+ * replace in the rows below */
+ if ((*pInT2 > 0.0 ? *pInT2: -*pInT2) == maxC)
+ {
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ j = numCols - l;
+
+ while (j > 0U)
+ {
+ /* Exchange the row elements of the input matrix */
+ Xchg = *pInT2;
+ *pInT2++ = *pInT1;
+ *pInT1++ = Xchg;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Loop over number of columns of the destination matrix */
+ j = numCols;
+
+ while (j > 0U)
+ {
+ /* Exchange the row elements of the destination matrix */
+ Xchg = *pOutT2;
+ *pOutT2++ = *pOutT1;
+ *pOutT1++ = Xchg;
+
+ /* Decrement loop counter */
+ j--;
+ }
+
+ /* Flag to indicate whether exchange is done or not */
+ flag = 1U;
+
+ /* Break after exchange is done */
+ break;
+ }
+
+ /* Update the destination pointer modifier */
+ k++;
+
+ /* Decrement loop counter */
+ i--;
+ }
+ }
+
+ /* Update the status if the matrix is singular */
+ if ((flag != 1U) && (in == 0.0))
+ {
+ return ARM_MATH_SINGULAR;
+ }
+
+ /* Points to the pivot row of input and destination matrices */
+ pPivotRowIn = pIn + (l * numCols);
+ pPivotRowDst = pOut + (l * numCols);
+
+ /* Temporary pointers to the pivot row pointers */
+ pInT1 = pPivotRowIn;
+ pInT2 = pPivotRowDst;
+
+ /* Pivot element of the row */
+ in = *pPivotRowIn;
+
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ j = (numCols - l);
+
+ while (j > 0U)
+ {
+ /* Divide each element of the row of the input matrix
+ * by the pivot element */
+ in1 = *pInT1;
+ *pInT1++ = in1 / in;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Loop over number of columns of the destination matrix */
+ j = numCols;
+
+ while (j > 0U)
+ {
+ /* Divide each element of the row of the destination matrix
+ * by the pivot element */
+ in1 = *pInT2;
+ *pInT2++ = in1 / in;
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Replace the rows with the sum of that row and a multiple of row i
+ * so that each new element in column i above row i is zero.*/
+
+ /* Temporary pointers for input and destination matrices */
+ pInT1 = pIn;
+ pInT2 = pOut;
+
+ /* index used to check for pivot element */
+ i = 0U;
+
+ /* Loop over number of rows */
+ /* to be replaced by the sum of that row and a multiple of row i */
+ k = numRows;
+
+ while (k > 0U)
+ {
+ /* Check for the pivot element */
+ if (i == l)
+ {
+ /* If the processing element is the pivot element,
+ only the columns to the right are to be processed */
+ pInT1 += numCols - l;
+
+ pInT2 += numCols;
+ }
+ else
+ {
+ /* Element of the reference row */
+ in = *pInT1;
+
+ /* Working pointers for input and destination pivot rows */
+ pPRT_in = pPivotRowIn;
+ pPRT_pDst = pPivotRowDst;
+
+ /* Loop over the number of columns to the right of the pivot element,
+ to replace the elements in the input matrix */
+ j = (numCols - l);
+
+ while (j > 0U)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ in1 = *pInT1;
+ *pInT1++ = in1 - (in * *pPRT_in++);
+
+ /* Decrement the loop counter */
+ j--;
+ }
+
+ /* Loop over the number of columns to
+ replace the elements in the destination matrix */
+ j = numCols;
+
+ while (j > 0U)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ in1 = *pInT2;
+ *pInT2++ = in1 - (in * *pPRT_pDst++);
+
+ /* Decrement loop counter */
+ j--;
+ }
+
+ }
+
+ /* Increment temporary input pointer */
+ pInT1 = pInT1 + l;
+
+ /* Decrement loop counter */
+ k--;
+
+ /* Increment pivot index */
+ i++;
+ }
+
+ /* Increment the input pointer */
+ pIn++;
+
+ /* Decrement the loop counter */
+ loopCnt--;
+
+ /* Increment the index modifier */
+ l++;
+ }
+
+
+#else
+
+ float64_t Xchg, in = 0.0; /* Temporary input values */
+ uint32_t i, rowCnt, flag = 0U, j, loopCnt, k, l; /* loop counters */
+ arm_status status; /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pSrc->numCols) ||
+ (pDst->numRows != pDst->numCols) ||
+ (pSrc->numRows != pDst->numRows) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+
+ /*--------------------------------------------------------------------------------------------------------------
+ * Matrix Inverse can be solved using elementary row operations.
+ *
+ * Gauss-Jordan Method:
+ *
+ * 1. First combine the identity matrix and the input matrix separated by a bar to form an
+ * augmented matrix as follows:
+ * _ _ _ _ _ _ _ _
+ * | | a11 a12 | | | 1 0 | | | X11 X12 |
+ * | | | | | | | = | |
+ * |_ |_ a21 a22 _| | |_0 1 _| _| |_ X21 X21 _|
+ *
+ * 2. In our implementation, pDst Matrix is used as identity matrix.
+ *
+ * 3. Begin with the first row. Let i = 1.
+ *
+ * 4. Check to see if the pivot for row i is zero.
+ * The pivot is the element of the main diagonal that is on the current row.
+ * For instance, if working with row i, then the pivot element is aii.
+ * If the pivot is zero, exchange that row with a row below it that does not
+ * contain a zero in column i. If this is not possible, then an inverse
+ * to that matrix does not exist.
+ *
+ * 5. Divide every element of row i by the pivot.
+ *
+ * 6. For every row below and row i, replace that row with the sum of that row and
+ * a multiple of row i so that each new element in column i below row i is zero.
+ *
+ * 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+ * for every element below and above the main diagonal.
+ *
+ * 8. Now an identical matrix is formed to the left of the bar(input matrix, src).
+ * Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).
+ *----------------------------------------------------------------------------------------------------------------*/
+
+ /* Working pointer for destination matrix */
+ pOutT1 = pOut;
+
+ /* Loop over the number of rows */
+ rowCnt = numRows;
+
+ /* Making the destination matrix as identity matrix */
+ while (rowCnt > 0U)
+ {
+ /* Writing all zeroes in lower triangle of the destination matrix */
+ j = numRows - rowCnt;
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0;
+ j--;
+ }
+
+ /* Writing all ones in the diagonal of the destination matrix */
+ *pOutT1++ = 1.0;
+
+ /* Writing all zeroes in upper triangle of the destination matrix */
+ j = rowCnt - 1U;
+ while (j > 0U)
+ {
+ *pOutT1++ = 0.0;
+ j--;
+ }
+
+ /* Decrement loop counter */
+ rowCnt--;
+ }
+
+ /* Loop over the number of columns of the input matrix.
+ All the elements in each column are processed by the row operations */
+ loopCnt = numCols;
+
+ /* Index modifier to navigate through the columns */
+ l = 0U;
+
+ while (loopCnt > 0U)
+ {
+ /* Check if the pivot element is zero..
+ * If it is zero then interchange the row with non zero row below.
+ * If there is no non zero element to replace in the rows below,
+ * then the matrix is Singular. */
+
+ /* Working pointer for the input matrix that points
+ * to the pivot element of the particular row */
+ pInT1 = pIn + (l * numCols);
+
+ /* Working pointer for the destination matrix that points
+ * to the pivot element of the particular row */
+ pOutT1 = pOut + (l * numCols);
+
+ /* Temporary variable to hold the pivot value */
+ in = *pInT1;
+
+ /* Destination pointer modifier */
+ k = 1U;
+
+ /* Check if the pivot element is zero */
+ if (*pInT1 == 0.0)
+ {
+ /* Loop over the number rows present below */
+ for (i = (l + 1U); i < numRows; i++)
+ {
+ /* Update the input and destination pointers */
+ pInT2 = pInT1 + (numCols * l);
+ pOutT2 = pOutT1 + (numCols * k);
+
+ /* Check if there is a non zero pivot element to
+ * replace in the rows below */
+ if (*pInT2 != 0.0)
+ {
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ for (j = 0U; j < (numCols - l); j++)
+ {
+ /* Exchange the row elements of the input matrix */
+ Xchg = *pInT2;
+ *pInT2++ = *pInT1;
+ *pInT1++ = Xchg;
+ }
+
+ for (j = 0U; j < numCols; j++)
+ {
+ Xchg = *pOutT2;
+ *pOutT2++ = *pOutT1;
+ *pOutT1++ = Xchg;
+ }
+
+ /* Flag to indicate whether exchange is done or not */
+ flag = 1U;
+
+ /* Break after exchange is done */
+ break;
+ }
+
+ /* Update the destination pointer modifier */
+ k++;
+ }
+ }
+
+ /* Update the status if the matrix is singular */
+ if ((flag != 1U) && (in == 0.0))
+ {
+ return ARM_MATH_SINGULAR;
+ }
+
+ /* Points to the pivot row of input and destination matrices */
+ pPivotRowIn = pIn + (l * numCols);
+ pPivotRowDst = pOut + (l * numCols);
+
+ /* Temporary pointers to the pivot row pointers */
+ pInT1 = pPivotRowIn;
+ pOutT1 = pPivotRowDst;
+
+ /* Pivot element of the row */
+ in = *(pIn + (l * numCols));
+
+ /* Loop over number of columns
+ * to the right of the pilot element */
+ for (j = 0U; j < (numCols - l); j++)
+ {
+ /* Divide each element of the row of the input matrix
+ * by the pivot element */
+ *pInT1 = *pInT1 / in;
+ pInT1++;
+ }
+ for (j = 0U; j < numCols; j++)
+ {
+ /* Divide each element of the row of the destination matrix
+ * by the pivot element */
+ *pOutT1 = *pOutT1 / in;
+ pOutT1++;
+ }
+
+ /* Replace the rows with the sum of that row and a multiple of row i
+ * so that each new element in column i above row i is zero.*/
+
+ /* Temporary pointers for input and destination matrices */
+ pInT1 = pIn;
+ pOutT1 = pOut;
+
+ for (i = 0U; i < numRows; i++)
+ {
+ /* Check for the pivot element */
+ if (i == l)
+ {
+ /* If the processing element is the pivot element,
+ only the columns to the right are to be processed */
+ pInT1 += numCols - l;
+ pOutT1 += numCols;
+ }
+ else
+ {
+ /* Element of the reference row */
+ in = *pInT1;
+
+ /* Working pointers for input and destination pivot rows */
+ pPRT_in = pPivotRowIn;
+ pPRT_pDst = pPivotRowDst;
+
+ /* Loop over the number of columns to the right of the pivot element,
+ to replace the elements in the input matrix */
+ for (j = 0U; j < (numCols - l); j++)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ *pInT1 = *pInT1 - (in * *pPRT_in++);
+ pInT1++;
+ }
+
+ /* Loop over the number of columns to
+ replace the elements in the destination matrix */
+ for (j = 0U; j < numCols; j++)
+ {
+ /* Replace the element by the sum of that row
+ and a multiple of the reference row */
+ *pOutT1 = *pOutT1 - (in * *pPRT_pDst++);
+ pOutT1++;
+ }
+
+ }
+
+ /* Increment temporary input pointer */
+ pInT1 = pInT1 + l;
+ }
+
+ /* Increment the input pointer */
+ pIn++;
+
+ /* Decrement the loop counter */
+ loopCnt--;
+
+ /* Increment the index modifier */
+ l++;
+ }
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+
+ if ((flag != 1U) && (in == 0.0))
+ {
+ pIn = pSrc->pData;
+ for (i = 0; i < numRows * numCols; i++)
+ {
+ if (pIn[i] != 0.0)
+ break;
+ }
+
+ if (i == numRows * numCols)
+ status = ARM_MATH_SINGULAR;
+ }
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixInv group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c new file mode 100644 index 0000000..35517d6 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c @@ -0,0 +1,534 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_mult_f32.c
+ * Description: Floating-point matrix multiplication
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ * @ingroup groupMatrix
+ */
+
+/**
+ * @defgroup MatrixMult Matrix Multiplication
+ *
+ * Multiplies two matrices.
+ *
+ * \image html MatrixMultiplication.gif "Multiplication of two 3 x 3 matrices"
+
+ * Matrix multiplication is only defined if the number of columns of the
+ * first matrix equals the number of rows of the second matrix.
+ * Multiplying an <code>M x N</code> matrix with an <code>N x P</code> matrix results
+ * in an <code>M x P</code> matrix.
+ * When matrix size checking is enabled, the functions check: (1) that the inner dimensions of
+ * <code>pSrcA</code> and <code>pSrcB</code> are equal; and (2) that the size of the output
+ * matrix equals the outer dimensions of <code>pSrcA</code> and <code>pSrcB</code>.
+ */
+
+
+/**
+ * @addtogroup MatrixMult
+ * @{
+ */
+
+/**
+ * @brief Floating-point matrix multiplication.
+ * @param[in] *pSrcA points to the first input matrix structure
+ * @param[in] *pSrcB points to the second input matrix structure
+ * @param[out] *pDst points to output matrix structure
+ * @return The function returns either
+ * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.
+ */
+#if defined(ARM_MATH_NEON)
+
+#define GROUPOFROWS 8
+
+arm_status arm_mat_mult_f32(
+ const arm_matrix_instance_f32 * pSrcA,
+ const arm_matrix_instance_f32 * pSrcB,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn1 = pSrcA->pData; /* input data matrix pointer A */
+ float32_t *pIn2 = pSrcB->pData; /* input data matrix pointer B */
+ float32_t *pInA = pSrcA->pData; /* input data matrix pointer A */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+ float32_t *px; /* Temporary output data matrix pointer */
+ float32_t sum; /* Accumulator */
+ uint16_t numRowsA = pSrcA->numRows; /* number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* number of columns of input matrix A */
+
+
+ float32_t in1, in2, in3, in4;
+ uint16_t col, i = 0U, j, row = numRowsA, rowCnt, colCnt; /* loop counters */
+ arm_status status; /* status of matrix multiplication */
+
+ float32x4_t a0V, a1V, a2V, a3V, a4V, a5V, a6V, a7V;
+ float32x4_t acc0,acc1,acc2,acc3,acc4,acc5,acc6,acc7,temp;
+ float32x2_t accum = vdup_n_f32(0);
+ float32_t *pIn1B = pSrcA->pData;
+ float32_t *pIn1C = pSrcA->pData;
+ float32_t *pIn1D = pSrcA->pData;
+ float32_t *pIn1E = pSrcA->pData;
+ float32_t *pIn1F = pSrcA->pData;
+ float32_t *pIn1G = pSrcA->pData;
+ float32_t *pIn1H = pSrcA->pData;
+
+ float32_t *pxB,*pxC, *pxD, *pxE, *pxF, *pxG, *pxH; /* Temporary output data matrix pointer */
+ float32_t sum0,sum1, sum2,sum3, sum4, sum5 , sum6, sum7;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+ {
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* Row loop */
+ rowCnt = row >> 3;
+
+ while(rowCnt > 0)
+ {
+ /* Output pointer is set to starting address of the row being processed */
+ px = pOut + GROUPOFROWS*i;
+ pxB = px + numColsB;
+ pxC = px + 2*numColsB;
+ pxD = px + 3*numColsB;
+ pxE = px + 4*numColsB;
+ pxF = px + 5*numColsB;
+ pxG = px + 6*numColsB;
+ pxH = px + 7*numColsB;
+
+ /* For every row wise process, the column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, the pIn2 pointer is set
+ ** to the starting address of the pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ j = 0U;
+
+ /* Column loop */
+ do
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sum0 = 0.0f;
+ sum1 = 0.0f;
+ sum2 = 0.0f;
+ sum3 = 0.0f;
+ sum4 = 0.0f;
+ sum5 = 0.0f;
+ sum6 = 0.0f;
+ sum7 = 0.0f;
+
+ /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+ pIn1 = pInA;
+ pIn1B = pIn1 + numColsA;
+ pIn1C = pIn1 + 2*numColsA;
+ pIn1D = pIn1 + 3*numColsA;
+ pIn1E = pIn1 + 4*numColsA;
+ pIn1F = pIn1 + 5*numColsA;
+ pIn1G = pIn1 + 6*numColsA;
+ pIn1H = pIn1 + 7*numColsA;
+
+ acc0 = vdupq_n_f32(0.0);
+ acc1 = vdupq_n_f32(0.0);
+ acc2 = vdupq_n_f32(0.0);
+ acc3 = vdupq_n_f32(0.0);
+ acc4 = vdupq_n_f32(0.0);
+ acc5 = vdupq_n_f32(0.0);
+ acc6 = vdupq_n_f32(0.0);
+ acc7 = vdupq_n_f32(0.0);
+
+ /* Compute 4 MACs simultaneously. */
+ colCnt = numColsA >> 2U;
+
+ /* Matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
+ a0V = vld1q_f32(pIn1);
+ a1V = vld1q_f32(pIn1B);
+ a2V = vld1q_f32(pIn1C);
+ a3V = vld1q_f32(pIn1D);
+ a4V = vld1q_f32(pIn1E);
+ a5V = vld1q_f32(pIn1F);
+ a6V = vld1q_f32(pIn1G);
+ a7V = vld1q_f32(pIn1H);
+
+ pIn1 += 4;
+ pIn1B += 4;
+ pIn1C += 4;
+ pIn1D += 4;
+ pIn1E += 4;
+ pIn1F += 4;
+ pIn1G += 4;
+ pIn1H += 4;
+
+ temp[0] = *pIn2;
+ pIn2 += numColsB;
+ temp[1] = *pIn2;
+ pIn2 += numColsB;
+ temp[2] = *pIn2;
+ pIn2 += numColsB;
+ temp[3] = *pIn2;
+ pIn2 += numColsB;
+
+ acc0 = vmlaq_f32(acc0,a0V,temp);
+ acc1 = vmlaq_f32(acc1,a1V,temp);
+ acc2 = vmlaq_f32(acc2,a2V,temp);
+ acc3 = vmlaq_f32(acc3,a3V,temp);
+ acc4 = vmlaq_f32(acc4,a4V,temp);
+ acc5 = vmlaq_f32(acc5,a5V,temp);
+ acc6 = vmlaq_f32(acc6,a6V,temp);
+ acc7 = vmlaq_f32(acc7,a7V,temp);
+
+ /* Decrement the loop count */
+ colCnt--;
+ }
+
+ accum = vpadd_f32(vget_low_f32(acc0), vget_high_f32(acc0));
+ sum0 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(acc1), vget_high_f32(acc1));
+ sum1 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(acc2), vget_high_f32(acc2));
+ sum2 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(acc3), vget_high_f32(acc3));
+ sum3 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(acc4), vget_high_f32(acc4));
+ sum4 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(acc5), vget_high_f32(acc5));
+ sum5 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(acc6), vget_high_f32(acc6));
+ sum6 += accum[0] + accum[1];
+
+ accum = vpadd_f32(vget_low_f32(acc7), vget_high_f32(acc7));
+ sum7 += accum[0] + accum[1];
+
+ /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
+ ** No loop unrolling is used. */
+ colCnt = numColsA & 3;
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
+ sum0 += *pIn1++ * (*pIn2);
+ sum1 += *pIn1B++ * (*pIn2);
+ sum2 += *pIn1C++ * (*pIn2);
+ sum3 += *pIn1D++ * (*pIn2);
+ sum4 += *pIn1E++ * (*pIn2);
+ sum5 += *pIn1F++ * (*pIn2);
+ sum6 += *pIn1G++ * (*pIn2);
+ sum7 += *pIn1H++ * (*pIn2);
+ pIn2 += numColsB;
+
+ /* Decrement the loop counter */
+ colCnt--;
+ }
+
+ /* Store the result in the destination buffer */
+ *px++ = sum0;
+ *pxB++ = sum1;
+ *pxC++ = sum2;
+ *pxD++ = sum3;
+ *pxE++ = sum4;
+ *pxF++ = sum5;
+ *pxG++ = sum6;
+ *pxH++ = sum7;
+
+ /* Update the pointer pIn2 to point to the starting address of the next column */
+ j++;
+ pIn2 = pSrcB->pData + j;
+
+ /* Decrement the column loop counter */
+ col--;
+
+ } while (col > 0U);
+
+ /* Update the pointer pInA to point to the starting address of the next row */
+ i = i + numColsB;
+ pInA = pInA + GROUPOFROWS*numColsA;
+
+ /* Decrement the row loop counter */
+ rowCnt--;
+ }
+
+ /*
+
+ i was the index of a group of rows computed by previous loop.
+ Now i is the index of a row since below code is computing row per row
+ and no more group of row per group of rows.
+
+ */
+
+ i = GROUPOFROWS*i;
+ rowCnt = row & 7;
+
+ while(rowCnt > 0)
+ {
+ /* Output pointer is set to starting address of the row being processed */
+ px = pOut + i;
+
+ /* For every row wise process, the column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, the pIn2 pointer is set
+ ** to the starting address of the pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ j = 0U;
+
+ /* Column loop */
+ do
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sum = 0.0f;
+
+ /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+ pIn1 = pInA;
+
+ acc0 = vdupq_n_f32(0.0);
+
+ /* Compute 4 MACs simultaneously. */
+ colCnt = numColsA >> 2U;
+
+ /* Matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
+ a0V = vld1q_f32(pIn1); // load & separate real/imag pSrcA (de-interleave 2)
+ pIn1 += 4;
+
+ temp[0] = *pIn2;
+ pIn2 += numColsB;
+ temp[1] = *pIn2;
+ pIn2 += numColsB;
+ temp[2] = *pIn2;
+ pIn2 += numColsB;
+ temp[3] = *pIn2;
+ pIn2 += numColsB;
+
+ acc0 = vmlaq_f32(acc0,a0V,temp);
+
+ /* Decrement the loop count */
+ colCnt--;
+ }
+
+ accum = vpadd_f32(vget_low_f32(acc0), vget_high_f32(acc0));
+ sum += accum[0] + accum[1];
+
+ /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
+ ** No loop unrolling is used. */
+ colCnt = numColsA % 0x4U;
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
+ sum += *pIn1++ * (*pIn2);
+ pIn2 += numColsB;
+
+ /* Decrement the loop counter */
+ colCnt--;
+ }
+
+ /* Store the result in the destination buffer */
+ *px++ = sum;
+
+ /* Update the pointer pIn2 to point to the starting address of the next column */
+ j++;
+ pIn2 = pSrcB->pData + j;
+
+ /* Decrement the column loop counter */
+ col--;
+
+ } while (col > 0U);
+
+
+ /* Update the pointer pInA to point to the starting address of the next row */
+ i = i + numColsB;
+ pInA = pInA + numColsA;
+
+ /* Decrement the row loop counter */
+ rowCnt--;
+
+ }
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#else
+arm_status arm_mat_mult_f32(
+ const arm_matrix_instance_f32 * pSrcA,
+ const arm_matrix_instance_f32 * pSrcB,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn1 = pSrcA->pData; /* Input data matrix pointer A */
+ float32_t *pIn2 = pSrcB->pData; /* Input data matrix pointer B */
+ float32_t *pInA = pSrcA->pData; /* Input data matrix pointer A */
+ float32_t *pInB = pSrcB->pData; /* Input data matrix pointer B */
+ float32_t *pOut = pDst->pData; /* Output data matrix pointer */
+ float32_t *px; /* Temporary output data matrix pointer */
+ float32_t sum; /* Accumulator */
+ uint16_t numRowsA = pSrcA->numRows; /* Number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* Number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* Number of columns of input matrix A */
+ uint32_t col, i = 0U, row = numRowsA, colCnt; /* Loop counters */
+ arm_status status; /* Status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcB->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ do
+ {
+ /* Output pointer is set to starting address of row being processed */
+ px = pOut + i;
+
+ /* For every row wise process, column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, pIn2 pointer is set to starting address of pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ /* column loop */
+ do
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sum = 0.0f;
+
+ /* Initialize pointer pIn1 to point to starting address of column being processed */
+ pIn1 = pInA;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 MACs at a time. */
+ colCnt = numColsA >> 2U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ /* Perform the multiply-accumulates */
+ sum += *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ sum += *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ sum += *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ sum += *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining MACs */
+ colCnt = numColsA % 0x4U;
+
+#else
+
+ /* Initialize cntCnt with number of columns */
+ colCnt = numColsA;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ /* Perform the multiply-accumulates */
+ sum += *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Store result in destination buffer */
+ *px++ = sum;
+
+ /* Decrement column loop counter */
+ col--;
+
+ /* Update pointer pIn2 to point to starting address of next column */
+ pIn2 = pInB + (numColsB - col);
+
+ } while (col > 0U);
+
+ /* Update pointer pInA to point to starting address of next row */
+ i = i + numColsB;
+ pInA = pInA + numColsA;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+#endif /* #if defined(ARM_MATH_NEON) */
+
+/**
+ * @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q15.c new file mode 100644 index 0000000..384974e --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q15.c @@ -0,0 +1,483 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_mult_fast_q15.c
+ * Description: Q15 matrix multiplication (fast variant)
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixMult
+ @{
+ */
+
+/**
+ @brief Q15 matrix multiplication (fast variant).
+ @param[in] pSrcA points to the first input matrix structure
+ @param[in] pSrcB points to the second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @param[in] pState points to the array for storing intermediate results
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The difference between the function \ref arm_mat_mult_q15() and this fast variant is that
+ the fast variant use a 32-bit rather than a 64-bit accumulator.
+ The result of each 1.15 x 1.15 multiplication is truncated to
+ 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30
+ format. Finally, the accumulator is saturated and converted to a 1.15 result.
+ @par
+ The fast version has the same overflow behavior as the standard version but provides
+ less precision since it discards the low 16 bits of each multiplication result.
+ In order to avoid overflows completely the input signals must be scaled down.
+ Scale down one of the input matrices by log2(numColsA) bits to avoid overflows,
+ as a total of numColsA additions are computed internally for each output element.
+ @remark
+ Refer to \ref arm_mat_mult_q15() for a slower implementation of this function
+ which uses 64-bit accumulation to provide higher precision.
+ */
+
+arm_status arm_mat_mult_fast_q15(
+ const arm_matrix_instance_q15 * pSrcA,
+ const arm_matrix_instance_q15 * pSrcB,
+ arm_matrix_instance_q15 * pDst,
+ q15_t * pState)
+{
+ q31_t sum; /* Accumulator */
+ q15_t *pSrcBT = pState; /* Input data matrix pointer for transpose */
+ q15_t *pInA = pSrcA->pData; /* Input data matrix pointer A of Q15 type */
+ q15_t *pInB = pSrcB->pData; /* Input data matrix pointer B of Q15 type */
+ q15_t *px; /* Temporary output data matrix pointer */
+ uint16_t numRowsA = pSrcA->numRows; /* Number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* Number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* Number of columns of input matrix A */
+ uint16_t numRowsB = pSrcB->numRows; /* Number of rows of input matrix A */
+ uint32_t col, i = 0U, row = numRowsB, colCnt; /* Loop counters */
+ arm_status status; /* Status of matrix multiplication */
+
+#if defined (ARM_MATH_DSP)
+ q31_t in; /* Temporary variable to hold the input value */
+ q31_t inA1, inB1, inA2, inB2;
+ q31_t sum2, sum3, sum4;
+ q15_t *pInA2, *pInB2, *px2;
+ uint32_t j = 0;
+#else
+ q15_t in; /* Temporary variable to hold the input value */
+ q15_t inA1, inB1, inA2, inB2;
+#endif /* #if defined (ARM_MATH_DSP) */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcB->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Matrix transpose */
+ do
+ {
+ /* The pointer px is set to starting address of column being processed */
+ px = pSrcBT + i;
+
+ /* Apply loop unrolling and exchange columns with row elements */
+ col = numColsB >> 2U;
+
+ /* First part of the processing with loop unrolling. Compute 4 outputs at a time.
+ ** a second loop below computes the remaining 1 to 3 samples. */
+ while (col > 0U)
+ {
+
+#if defined (ARM_MATH_DSP)
+
+ /* Read two elements from row */
+ in = read_q15x2_ia ((q15_t **) &pInB);
+
+ /* Unpack and store one element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+ *px = (q15_t) in;
+#else
+ *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB;
+
+ /* Unpack and store second element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+ *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+ *px = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB;
+
+ in = read_q15x2_ia ((q15_t **) &pInB);
+#ifndef ARM_MATH_BIG_ENDIAN
+ *px = (q15_t) in;
+#else
+ *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+ px += numRowsB;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+ *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+ *px = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+ px += numRowsB;
+
+#else /* #if defined (ARM_MATH_DSP) */
+
+ /* Read one element from row */
+ in = *pInB++;
+
+ /* Store one element in destination */
+ *px = in;
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB;
+
+ in = *pInB++;
+ *px = in;
+ px += numRowsB;
+
+ in = *pInB++;
+ *px = in;
+ px += numRowsB;
+
+ in = *pInB++;
+ *px = in;
+ px += numRowsB;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.
+ ** No loop unrolling is used. */
+ col = numColsB % 0x4U;
+
+ while (col > 0U)
+ {
+ /* Read and store input element in destination */
+ *px = *pInB++;
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ i++;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+ /* Reset variables for usage in following multiplication process */
+ row = numRowsA;
+ i = 0U;
+ px = pDst->pData;
+
+#if defined (ARM_MATH_DSP)
+ /* Process two rows from matrix A at a time and output two rows at a time */
+ row = row >> 1U;
+ px2 = px + numColsB;
+#endif
+
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ while (row > 0U)
+ {
+ /* For every row wise process, column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, pIn2 pointer is set to starting address of transposed pSrcB data */
+ pInB = pSrcBT;
+
+#if defined (ARM_MATH_DSP)
+ /* Process two (transposed) columns from matrix B at a time */
+ col = col >> 1U;
+ j = 0;
+#endif
+
+ /* column loop */
+ while (col > 0U)
+ {
+ /* Set variable sum, that acts as accumulator, to zero */
+ sum = 0;
+
+ /* Initiate pointer pInA to point to starting address of column being processed */
+ pInA = pSrcA->pData + i;
+
+#if defined (ARM_MATH_DSP)
+ sum2 = 0;
+ sum3 = 0;
+ sum4 = 0;
+ pInB = pSrcBT + j;
+ pInA2 = pInA + numColsA;
+ pInB2 = pInB + numRowsB;
+
+ /* Read in two elements at once - alows dual MAC instruction */
+ colCnt = numColsA >> 1U;
+#else
+ colCnt = numColsA >> 2U;
+#endif
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+#if defined (ARM_MATH_DSP)
+ /* read real and imag values from pSrcA and pSrcB buffer */
+ inA1 = read_q15x2_ia ((q15_t **) &pInA);
+ inB1 = read_q15x2_ia ((q15_t **) &pInB);
+
+ inA2 = read_q15x2_ia ((q15_t **) &pInA2);
+ inB2 = read_q15x2_ia ((q15_t **) &pInB2);
+
+ /* Multiply and Accumlates */
+ sum = __SMLAD(inA1, inB1, sum);
+ sum2 = __SMLAD(inA1, inB2, sum2);
+ sum3 = __SMLAD(inA2, inB1, sum3);
+ sum4 = __SMLAD(inA2, inB2, sum4);
+#else
+ /* read real and imag values from pSrcA and pSrcB buffer */
+ inA1 = *pInA++;
+ inB1 = *pInB++;
+ /* Multiply and Accumlates */
+ sum += inA1 * inB1;
+
+ inA2 = *pInA++;
+ inB2 = *pInB++;
+ sum += inA2 * inB2;
+
+ inA1 = *pInA++;
+ inB1 = *pInB++;
+ sum += inA1 * inB1;
+
+ inA2 = *pInA++;
+ inB2 = *pInB++;
+ sum += inA2 * inB2;
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* process odd column samples */
+#if defined (ARM_MATH_DSP)
+ if (numColsA & 1U) {
+ inA1 = *pInA++;
+ inB1 = *pInB++;
+ inA2 = *pInA2++;
+ inB2 = *pInB2++;
+ sum += inA1 * inB1;
+ sum2 += inA1 * inB2;
+ sum3 += inA2 * inB1;
+ sum4 += inA2 * inB2;
+ }
+#else
+ colCnt = numColsA % 0x4U;
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+ sum += (q31_t) *pInA++ * *pInB++;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* Saturate and store result in destination buffer */
+ *px++ = (q15_t) (sum >> 15);
+
+#if defined (ARM_MATH_DSP)
+ *px++ = (q15_t) (sum2 >> 15);
+ *px2++ = (q15_t) (sum3 >> 15);
+ *px2++ = (q15_t) (sum4 >> 15);
+ j += numRowsB * 2;
+#endif
+
+ /* Decrement column loop counter */
+ col--;
+
+ }
+
+ i = i + numColsA;
+
+#if defined (ARM_MATH_DSP)
+ i = i + numColsA;
+ px = px2 + (numColsB & 1U);
+ px2 = px + numColsB;
+#endif
+
+ /* Decrement row loop counter */
+ row--;
+
+ }
+
+ /* Compute any remaining odd row/column below */
+
+#if defined (ARM_MATH_DSP)
+
+ /* Compute remaining output column */
+ if (numColsB & 1U) {
+
+ /* Avoid redundant computation of last element */
+ row = numRowsA & (~0x1);
+
+ /* Point to remaining unfilled column in output matrix */
+ px = pDst->pData + numColsB-1;
+ pInA = pSrcA->pData;
+
+ /* row loop */
+ while (row > 0)
+ {
+
+ /* point to last column in matrix B */
+ pInB = pSrcBT + numRowsB * (numColsB-1);
+
+ /* Set variable sum, that acts as accumulator, to zero */
+ sum = 0;
+
+ /* Compute 4 columns at once */
+ colCnt = numColsA >> 2U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ inA1 = read_q15x2_ia ((q15_t **) &pInA);
+ inA2 = read_q15x2_ia ((q15_t **) &pInA);
+ inB1 = read_q15x2_ia ((q15_t **) &pInB);
+ inB2 = read_q15x2_ia ((q15_t **) &pInB);
+
+ sum = __SMLAD(inA1, inB1, sum);
+ sum = __SMLAD(inA2, inB2, sum);
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ colCnt = numColsA & 3U;
+ while (colCnt > 0U) {
+ sum += (q31_t) (*pInA++) * (*pInB++);
+ colCnt--;
+ }
+
+ /* Store result in destination buffer */
+ *px = (q15_t) (sum >> 15);
+ px += numColsB;
+
+ /* Decrement row loop counter */
+ row--;
+ }
+ }
+
+ /* Compute remaining output row */
+ if (numRowsA & 1U) {
+
+ /* point to last row in output matrix */
+ px = pDst->pData + (numColsB) * (numRowsA-1);
+
+ pInB = pSrcBT;
+ col = numColsB;
+ i = 0U;
+
+ /* col loop */
+ while (col > 0)
+ {
+ /* point to last row in matrix A */
+ pInA = pSrcA->pData + (numRowsA-1) * numColsA;
+
+ /* Set variable sum, that acts as accumulator, to zero */
+ sum = 0;
+
+ /* Compute 4 columns at once */
+ colCnt = numColsA >> 2U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ inA1 = read_q15x2_ia ((q15_t **) &pInA);
+ inA2 = read_q15x2_ia ((q15_t **) &pInA);
+ inB1 = read_q15x2_ia ((q15_t **) &pInB);
+ inB2 = read_q15x2_ia ((q15_t **) &pInB);
+
+ sum = __SMLAD(inA1, inB1, sum);
+ sum = __SMLAD(inA2, inB2, sum);
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ colCnt = numColsA % 4U;
+ while (colCnt > 0U) {
+ sum += (q31_t) (*pInA++) * (*pInB++);
+
+ colCnt--;
+ }
+
+ /* Store result in destination buffer */
+ *px++ = (q15_t) (sum >> 15);
+
+ /* Decrement column loop counter */
+ col--;
+ }
+ }
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q31.c new file mode 100644 index 0000000..0d753f7 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q31.c @@ -0,0 +1,374 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_mult_fast_q31.c
+ * Description: Q31 matrix multiplication (fast variant)
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixMult
+ @{
+ */
+
+/**
+ @brief Q31 matrix multiplication (fast variant).
+ @param[in] pSrcA points to the first input matrix structure
+ @param[in] pSrcB points to the second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The difference between the function \ref arm_mat_mult_q31() and this fast variant is that
+ the fast variant use a 32-bit rather than a 64-bit accumulator.
+ The result of each 1.31 x 1.31 multiplication is truncated to
+ 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30
+ format. Finally, the accumulator is saturated and converted to a 1.31 result.
+ @par
+ The fast version has the same overflow behavior as the standard version but provides
+ less precision since it discards the low 32 bits of each multiplication result.
+ In order to avoid overflows completely the input signals must be scaled down.
+ Scale down one of the input matrices by log2(numColsA) bits to avoid overflows,
+ as a total of numColsA additions are computed internally for each output element.
+ @remark
+ Refer to \ref arm_mat_mult_q31() for a slower implementation of this function
+ which uses 64-bit accumulation to provide higher precision.
+ */
+
+arm_status arm_mat_mult_fast_q31(
+ const arm_matrix_instance_q31 * pSrcA,
+ const arm_matrix_instance_q31 * pSrcB,
+ arm_matrix_instance_q31 * pDst)
+{
+ q31_t *pInA = pSrcA->pData; /* Input data matrix pointer A */
+ q31_t *pInB = pSrcB->pData; /* Input data matrix pointer B */
+ q31_t *pInA2;
+ q31_t *px; /* Temporary output data matrix pointer */
+ q31_t *px2;
+ q31_t sum1, sum2, sum3, sum4; /* Accumulator */
+ q31_t inA1, inA2, inB1, inB2;
+ uint16_t numRowsA = pSrcA->numRows; /* Number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* Number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* Number of columns of input matrix A */
+ uint32_t col, i = 0U, j, row = numRowsA, colCnt; /* Loop counters */
+ arm_status status; /* Status of matrix multiplication */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcB->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ px = pDst->pData;
+
+ row = row >> 1U;
+ px2 = px + numColsB;
+
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ while (row > 0U)
+ {
+ /* For every row wise process, column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, pIn2 pointer is set to starting address of pSrcB data */
+ pInB = pSrcB->pData;
+
+ j = 0U;
+
+ col = col >> 1U;
+
+ /* column loop */
+ while (col > 0U)
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sum1 = 0;
+ sum2 = 0;
+ sum3 = 0;
+ sum4 = 0;
+
+ /* Initiate data pointers */
+ pInA = pSrcA->pData + i;
+ pInB = pSrcB->pData + j;
+ pInA2 = pInA + numColsA;
+
+ colCnt = numColsA;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ inA1 = *pInA++;
+ inB1 = pInB[0];
+ inA2 = *pInA2++;
+ inB2 = pInB[1];
+ pInB += numColsB;
+
+#if defined (ARM_MATH_DSP)
+ sum1 = __SMMLA(inA1, inB1, sum1);
+ sum2 = __SMMLA(inA1, inB2, sum2);
+ sum3 = __SMMLA(inA2, inB1, sum3);
+ sum4 = __SMMLA(inA2, inB2, sum4);
+#else
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA1 * inB1)) >> 32);
+ sum2 = (q31_t) ((((q63_t) sum2 << 32) + ((q63_t) inA1 * inB2)) >> 32);
+ sum3 = (q31_t) ((((q63_t) sum3 << 32) + ((q63_t) inA2 * inB1)) >> 32);
+ sum4 = (q31_t) ((((q63_t) sum4 << 32) + ((q63_t) inA2 * inB2)) >> 32);
+#endif
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Convert the result from 2.30 to 1.31 format and store in destination buffer */
+ *px++ = sum1 << 1;
+ *px++ = sum2 << 1;
+ *px2++ = sum3 << 1;
+ *px2++ = sum4 << 1;
+
+ j += 2;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ i = i + (numColsA << 1U);
+ px = px2 + (numColsB & 1U);
+ px2 = px + numColsB;
+
+ /* Decrement row loop counter */
+ row--;
+ }
+
+ /* Compute any remaining odd row/column below */
+
+ /* Compute remaining output column */
+ if (numColsB & 1U) {
+
+ /* Avoid redundant computation of last element */
+ row = numRowsA & (~1U);
+
+ /* Point to remaining unfilled column in output matrix */
+ px = pDst->pData + numColsB-1;
+ pInA = pSrcA->pData;
+
+ /* row loop */
+ while (row > 0)
+ {
+
+ /* point to last column in matrix B */
+ pInB = pSrcB->pData + numColsB-1;
+
+ /* Set variable sum1, that acts as accumulator, to zero */
+ sum1 = 0;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 columns at a time. */
+ colCnt = numColsA >> 2U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+#if defined (ARM_MATH_DSP)
+ sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+ pInB += numColsB;
+
+#if defined (ARM_MATH_DSP)
+ sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+ pInB += numColsB;
+
+#if defined (ARM_MATH_DSP)
+ sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+ pInB += numColsB;
+
+#if defined (ARM_MATH_DSP)
+ sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+ pInB += numColsB;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining column */
+ colCnt = numColsA % 4U;
+
+#else
+
+ /* Initialize colCnt with number of columns */
+ colCnt = numColsA;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (colCnt > 0U) {
+#if defined (ARM_MATH_DSP)
+ sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+ pInB += numColsB;
+
+ colCnt--;
+ }
+
+ /* Convert the result from 2.30 to 1.31 format and store in destination buffer */
+ *px = sum1 << 1;
+ px += numColsB;
+
+ /* Decrement row loop counter */
+ row--;
+ }
+ }
+
+ /* Compute remaining output row */
+ if (numRowsA & 1U) {
+
+ /* point to last row in output matrix */
+ px = pDst->pData + (numColsB) * (numRowsA-1);
+
+ col = numColsB;
+ i = 0U;
+
+ /* col loop */
+ while (col > 0)
+ {
+
+ /* point to last row in matrix A */
+ pInA = pSrcA->pData + (numRowsA-1) * numColsA;
+ pInB = pSrcB->pData + i;
+
+ /* Set variable sum1, that acts as accumulator, to zero */
+ sum1 = 0;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 columns at a time. */
+ colCnt = numColsA >> 2U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ inA1 = *pInA++;
+ inA2 = *pInA++;
+ inB1 = *pInB;
+ pInB += numColsB;
+ inB2 = *pInB;
+ pInB += numColsB;
+#if defined (ARM_MATH_DSP)
+ sum1 = __SMMLA(inA1, inB1, sum1);
+ sum1 = __SMMLA(inA2, inB2, sum1);
+#else
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA1 * inB1)) >> 32);
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA2 * inB2)) >> 32);
+#endif
+
+ inA1 = *pInA++;
+ inA2 = *pInA++;
+ inB1 = *pInB;
+ pInB += numColsB;
+ inB2 = *pInB;
+ pInB += numColsB;
+#if defined (ARM_MATH_DSP)
+ sum1 = __SMMLA(inA1, inB1, sum1);
+ sum1 = __SMMLA(inA2, inB2, sum1);
+#else
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA1 * inB1)) >> 32);
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA2 * inB2)) >> 32);
+#endif
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining column */
+ colCnt = numColsA % 4U;
+
+#else
+
+ /* Initialize colCnt with number of columns */
+ colCnt = numColsA;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (colCnt > 0U) {
+#if defined (ARM_MATH_DSP)
+ sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+ sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+ pInB += numColsB;
+
+ colCnt--;
+ }
+
+ /* Saturate and store the result in the destination buffer */
+ *px++ = sum1 << 1;
+ i++;
+
+ /* Decrement col loop counter */
+ col--;
+ }
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q15.c new file mode 100644 index 0000000..4a3bde8 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q15.c @@ -0,0 +1,357 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_mult_q15.c
+ * Description: Q15 matrix multiplication
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixMult
+ @{
+ */
+
+/**
+ @brief Q15 matrix multiplication.
+ @param[in] pSrcA points to the first input matrix structure
+ @param[in] pSrcB points to the second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @param[in] pState points to the array for storing intermediate results (Unused)
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The function is implemented using an internal 64-bit accumulator. The inputs to the
+ multiplications are in 1.15 format and multiplications yield a 2.30 result.
+ The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.
+ This approach provides 33 guard bits and there is no risk of overflow.
+ The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits
+ and then saturated to 1.15 format.
+ @par
+ Refer to \ref arm_mat_mult_fast_q15() for a faster but less precise version of this function.
+ */
+
+arm_status arm_mat_mult_q15(
+ const arm_matrix_instance_q15 * pSrcA,
+ const arm_matrix_instance_q15 * pSrcB,
+ arm_matrix_instance_q15 * pDst,
+ q15_t * pState)
+{
+ q63_t sum; /* Accumulator */
+
+#if defined (ARM_MATH_DSP) /* != CM0 */
+
+ q15_t *pSrcBT = pState; /* Input data matrix pointer for transpose */
+ q15_t *pInA = pSrcA->pData; /* Input data matrix pointer A of Q15 type */
+ q15_t *pInB = pSrcB->pData; /* Input data matrix pointer B of Q15 type */
+ q15_t *px; /* Temporary output data matrix pointer */
+ uint16_t numRowsA = pSrcA->numRows; /* Number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* Number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* Number of columns of input matrix A */
+ uint16_t numRowsB = pSrcB->numRows; /* Number of rows of input matrix A */
+ uint32_t col, i = 0U, row = numRowsB, colCnt; /* Loop counters */
+ arm_status status; /* Status of matrix multiplication */
+
+ q31_t in; /* Temporary variable to hold the input value */
+ q31_t inA1, inB1, inA2, inB2;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcB->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Matrix transpose */
+ do
+ {
+ /* The pointer px is set to starting address of column being processed */
+ px = pSrcBT + i;
+
+ /* Apply loop unrolling and exchange columns with row elements */
+ col = numColsB >> 2U;
+
+ /* First part of the processing with loop unrolling. Compute 4 outputs at a time.
+ ** a second loop below computes the remaining 1 to 3 samples. */
+ while (col > 0U)
+ {
+ /* Read two elements from row */
+ in = read_q15x2_ia ((q15_t **) &pInB);
+
+ /* Unpack and store one element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+ *px = (q15_t) in;
+#else
+ *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB;
+
+ /* Unpack and store second element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+ *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+ *px = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB;
+
+ /* Read two elements from row */
+ in = read_q15x2_ia ((q15_t **) &pInB);
+
+ /* Unpack and store one element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+ *px = (q15_t) in;
+#else
+ *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+ px += numRowsB;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+ *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+ *px = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+ px += numRowsB;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.
+ ** No loop unrolling is used. */
+ col = numColsB % 0x4U;
+
+ while (col > 0U)
+ {
+ /* Read and store input element in destination */
+ *px = *pInB++;
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += numRowsB;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ i++;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+ /* Reset variables for usage in following multiplication process */
+ row = numRowsA;
+ i = 0U;
+ px = pDst->pData;
+
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ do
+ {
+ /* For every row wise process, column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, pIn2 pointer is set to starting address of transposed pSrcB data */
+ pInB = pSrcBT;
+
+ /* column loop */
+ do
+ {
+ /* Set variable sum, that acts as accumulator, to zero */
+ sum = 0;
+
+ /* Initiate pointer pInA to point to starting address of column being processed */
+ pInA = pSrcA->pData + i;
+
+ /* Apply loop unrolling and compute 2 MACs simultaneously. */
+ colCnt = numColsA >> 2U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ /* read real and imag values from pSrcA and pSrcB buffer */
+ inA1 = read_q15x2_ia ((q15_t **) &pInA);
+ inB1 = read_q15x2_ia ((q15_t **) &pInB);
+
+ inA2 = read_q15x2_ia ((q15_t **) &pInA);
+ inB2 = read_q15x2_ia ((q15_t **) &pInB);
+
+ /* Multiply and Accumlates */
+ sum = __SMLALD(inA1, inB1, sum);
+ sum = __SMLALD(inA2, inB2, sum);
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* process remaining column samples */
+ colCnt = numColsA % 0x4U;
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+ sum += *pInA++ * *pInB++;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Saturate and store result in destination buffer */
+ *px = (q15_t) (__SSAT((sum >> 15), 16));
+ px++;
+
+ /* Decrement column loop counter */
+ col--;
+
+ } while (col > 0U);
+
+ i = i + numColsA;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+#else /* #if defined (ARM_MATH_DSP) */
+
+ q15_t *pIn1 = pSrcA->pData; /* Input data matrix pointer A */
+ q15_t *pIn2 = pSrcB->pData; /* Input data matrix pointer B */
+ q15_t *pInA = pSrcA->pData; /* Input data matrix pointer A of Q15 type */
+ q15_t *pInB = pSrcB->pData; /* Input data matrix pointer B of Q15 type */
+ q15_t *pOut = pDst->pData; /* Output data matrix pointer */
+ q15_t *px; /* Temporary output data matrix pointer */
+ uint16_t numColsB = pSrcB->numCols; /* Number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* Number of columns of input matrix A */
+ uint16_t numRowsA = pSrcA->numRows; /* Number of rows of input matrix A */
+ uint32_t col, i = 0U, row = numRowsA, colCnt; /* Loop counters */
+ arm_status status; /* Status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcB->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ do
+ {
+ /* Output pointer is set to starting address of the row being processed */
+ px = pOut + i;
+
+ /* For every row wise process, column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, pIn2 pointer is set to starting address of pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ /* column loop */
+ do
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sum = 0;
+
+ /* Initiate pointer pIn1 to point to starting address of pSrcA */
+ pIn1 = pInA;
+
+ /* Matrix A columns number of MAC operations are to be performed */
+ colCnt = numColsA;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ /* Perform multiply-accumulates */
+ sum += (q31_t) * pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Convert result from 34.30 to 1.15 format and store saturated value in destination buffer */
+
+ /* Saturate and store result in destination buffer */
+ *px++ = (q15_t) __SSAT((sum >> 15), 16);
+
+ /* Decrement column loop counter */
+ col--;
+
+ /* Update pointer pIn2 to point to starting address of next column */
+ pIn2 = pInB + (numColsB - col);
+
+ } while (col > 0U);
+
+ /* Update pointer pSrcA to point to starting address of next row */
+ i = i + numColsB;
+ pInA = pInA + numColsA;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q31.c new file mode 100644 index 0000000..88c8791 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q31.c @@ -0,0 +1,196 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_mult_q31.c
+ * Description: Q31 matrix multiplication
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixMult
+ @{
+ */
+
+/**
+ @brief Q31 matrix multiplication.
+ @param[in] pSrcA points to the first input matrix structure
+ @param[in] pSrcB points to the second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The function is implemented using an internal 64-bit accumulator.
+ The accumulator has a 2.62 format and maintains full precision of the intermediate
+ multiplication results but provides only a single guard bit. There is no saturation
+ on intermediate additions. Thus, if the accumulator overflows it wraps around and
+ distorts the result. The input signals should be scaled down to avoid intermediate
+ overflows. The input is thus scaled down by log2(numColsA) bits
+ to avoid overflows, as a total of numColsA additions are performed internally.
+ The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
+ @remark
+ Refer to \ref arm_mat_mult_fast_q31() for a faster but less precise implementation of this function.
+ */
+
+arm_status arm_mat_mult_q31(
+ const arm_matrix_instance_q31 * pSrcA,
+ const arm_matrix_instance_q31 * pSrcB,
+ arm_matrix_instance_q31 * pDst)
+{
+ q31_t *pIn1 = pSrcA->pData; /* Input data matrix pointer A */
+ q31_t *pIn2 = pSrcB->pData; /* Input data matrix pointer B */
+ q31_t *pInA = pSrcA->pData; /* Input data matrix pointer A */
+ q31_t *pInB = pSrcB->pData; /* Input data matrix pointer B */
+ q31_t *pOut = pDst->pData; /* Output data matrix pointer */
+ q31_t *px; /* Temporary output data matrix pointer */
+ q63_t sum; /* Accumulator */
+ uint16_t numRowsA = pSrcA->numRows; /* Number of rows of input matrix A */
+ uint16_t numColsB = pSrcB->numCols; /* Number of columns of input matrix B */
+ uint16_t numColsA = pSrcA->numCols; /* Number of columns of input matrix A */
+ uint32_t col, i = 0U, row = numRowsA, colCnt; /* Loop counters */
+ arm_status status; /* Status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numCols != pSrcB->numRows) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcB->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+ /* row loop */
+ do
+ {
+ /* Output pointer is set to starting address of row being processed */
+ px = pOut + i;
+
+ /* For every row wise process, column loop counter is to be initiated */
+ col = numColsB;
+
+ /* For every row wise process, pIn2 pointer is set to starting address of pSrcB data */
+ pIn2 = pSrcB->pData;
+
+ /* column loop */
+ do
+ {
+ /* Set the variable sum, that acts as accumulator, to zero */
+ sum = 0;
+
+ /* Initialize pointer pIn1 to point to starting address of column being processed */
+ pIn1 = pInA;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 MACs at a time. */
+ colCnt = numColsA >> 2U;
+
+ /* matrix multiplication */
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ /* Perform the multiply-accumulates */
+ sum += (q63_t) *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ sum += (q63_t) *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ sum += (q63_t) *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ sum += (q63_t) *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining MACs */
+ colCnt = numColsA % 0x4U;
+
+#else
+
+ /* Initialize cntCnt with number of columns */
+ colCnt = numColsA;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (colCnt > 0U)
+ {
+ /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+ /* Perform the multiply-accumulates */
+ sum += (q63_t) *pIn1++ * *pIn2;
+ pIn2 += numColsB;
+
+ /* Decrement loop counter */
+ colCnt--;
+ }
+
+ /* Convert result from 2.62 to 1.31 format and store in destination buffer */
+ *px++ = (q31_t) (sum >> 31);
+
+ /* Decrement column loop counter */
+ col--;
+
+ /* Update pointer pIn2 to point to starting address of next column */
+ pIn2 = pInB + (numColsB - col);
+
+ } while (col > 0U);
+
+ /* Update pointer pInA to point to starting address of next row */
+ i = i + numColsB;
+ pInA = pInA + numColsA;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U);
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f32.c new file mode 100644 index 0000000..91c56b1 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f32.c @@ -0,0 +1,221 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_scale_f32.c
+ * Description: Multiplies a floating-point matrix by a scalar
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @defgroup MatrixScale Matrix Scale
+
+ Multiplies a matrix by a scalar. This is accomplished by multiplying each element in the
+ matrix by the scalar. For example:
+ \image html MatrixScale.gif "Matrix Scaling of a 3 x 3 matrix"
+
+ The function checks to make sure that the input and output matrices are of the same size.
+
+ In the fixed-point Q15 and Q31 functions, <code>scale</code> is represented by
+ a fractional multiplication <code>scaleFract</code> and an arithmetic shift <code>shift</code>.
+ The shift allows the gain of the scaling operation to exceed 1.0.
+ The overall scale factor applied to the fixed-point data is
+ <pre>
+ scale = scaleFract * 2^shift.
+ </pre>
+ */
+
+/**
+ @addtogroup MatrixScale
+ @{
+ */
+
+/**
+ @brief Floating-point matrix scaling.
+ @param[in] pSrc points to input matrix
+ @param[in] scale scale factor to be applied
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+#if defined(ARM_MATH_NEON_EXPERIMENTAL)
+arm_status arm_mat_scale_f32(
+ const arm_matrix_instance_f32 * pSrc,
+ float32_t scale,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn = pSrc->pData; /* input data matrix pointer */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+ uint32_t numSamples; /* total number of elements in the matrix */
+ uint32_t blkCnt; /* loop counters */
+ arm_status status; /* status of matrix scaling */
+
+
+ float32_t in1, in2, in3, in4; /* temporary variables */
+ float32_t out1, out2, out3, out4; /* temporary variables */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+ {
+ float32x4_t vec1;
+ float32x4_t res;
+
+ /* Total number of samples in the input matrix */
+ numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+ blkCnt = numSamples >> 2;
+
+ /* Compute 4 outputs at a time.
+ ** a second loop below computes the remaining 1 to 3 samples. */
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) * scale */
+ /* Scaling and results are stored in the destination buffer. */
+ vec1 = vld1q_f32(pIn);
+ res = vmulq_f32(vec1, vdupq_n_f32(scale));
+ vst1q_f32(pOut, res);
+
+ /* update pointers to process next sampels */
+ pIn += 4U;
+ pOut += 4U;
+
+ /* Decrement the numSamples loop counter */
+ blkCnt--;
+ }
+
+ /* If the numSamples is not a multiple of 4, compute any remaining output samples here.
+ ** No loop unrolling is used. */
+ blkCnt = numSamples % 0x4U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) * scale */
+ /* The results are stored in the destination buffer. */
+ *pOut++ = (*pIn++) * scale;
+
+ /* Decrement the loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#else
+arm_status arm_mat_scale_f32(
+ const arm_matrix_instance_f32 * pSrc,
+ float32_t scale,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn = pSrc->pData; /* Input data matrix pointer */
+ float32_t *pOut = pDst->pData; /* Output data matrix pointer */
+ uint32_t numSamples; /* Total number of elements in the matrix */
+ uint32_t blkCnt; /* Loop counters */
+ arm_status status; /* Status of matrix scaling */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pDst->numRows) ||
+ (pSrc->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Total number of samples in input matrix */
+ numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ blkCnt = numSamples >> 2U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) * scale */
+
+ /* Scale and store result in destination buffer. */
+ *pOut++ = (*pIn++) * scale;
+ *pOut++ = (*pIn++) * scale;
+ *pOut++ = (*pIn++) * scale;
+ *pOut++ = (*pIn++) * scale;
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ blkCnt = numSamples % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) * scale */
+
+ /* Scale and store result in destination buffer. */
+ *pOut++ = (*pIn++) * scale;
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#endif /* #if defined(ARM_MATH_NEON) */
+
+/**
+ @} end of MatrixScale group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q15.c new file mode 100644 index 0000000..7956670 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q15.c @@ -0,0 +1,170 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_scale_q15.c
+ * Description: Multiplies a Q15 matrix by a scalar
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixScale
+ @{
+ */
+
+/**
+ @brief Q15 matrix scaling.
+ @param[in] pSrc points to input matrix
+ @param[in] scaleFract fractional portion of the scale factor
+ @param[in] shift number of bits to shift the result by
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.15 format.
+ These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.
+ */
+
+arm_status arm_mat_scale_q15(
+ const arm_matrix_instance_q15 * pSrc,
+ q15_t scaleFract,
+ int32_t shift,
+ arm_matrix_instance_q15 * pDst)
+{
+ q15_t *pIn = pSrc->pData; /* Input data matrix pointer */
+ q15_t *pOut = pDst->pData; /* Output data matrix pointer */
+ uint32_t numSamples; /* Total number of elements in the matrix */
+ uint32_t blkCnt; /* Loop counter */
+ arm_status status; /* Status of matrix scaling */
+ int32_t kShift = 15 - shift; /* Total shift to apply after scaling */
+
+#if defined (ARM_MATH_LOOPUNROLL) && defined (ARM_MATH_DSP)
+ q31_t inA1, inA2;
+ q31_t out1, out2, out3, out4; /* Temporary output variables */
+ q15_t in1, in2, in3, in4; /* Temporary input variables */
+#endif
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pDst->numRows) ||
+ (pSrc->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Total number of samples in input matrix */
+ numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ blkCnt = numSamples >> 2U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) * k */
+
+#if defined (ARM_MATH_DSP)
+ /* read 2 times 2 samples at a time from source */
+ inA1 = read_q15x2_ia ((q15_t **) &pIn);
+ inA2 = read_q15x2_ia ((q15_t **) &pIn);
+
+ /* Scale inputs and store result in temporary variables
+ * in single cycle by packing the outputs */
+ out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract);
+ out2 = (q31_t) ((q15_t) (inA1 ) * scaleFract);
+ out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract);
+ out4 = (q31_t) ((q15_t) (inA2 ) * scaleFract);
+
+ /* apply shifting */
+ out1 = out1 >> kShift;
+ out2 = out2 >> kShift;
+ out3 = out3 >> kShift;
+ out4 = out4 >> kShift;
+
+ /* saturate the output */
+ in1 = (q15_t) (__SSAT(out1, 16));
+ in2 = (q15_t) (__SSAT(out2, 16));
+ in3 = (q15_t) (__SSAT(out3, 16));
+ in4 = (q15_t) (__SSAT(out4, 16));
+
+ /* store result to destination */
+ write_q15x2_ia (&pOut, __PKHBT(in2, in1, 16));
+ write_q15x2_ia (&pOut, __PKHBT(in4, in3, 16));
+
+#else
+ *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+ *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+ *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+ *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+#endif
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ blkCnt = numSamples % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) * k */
+
+ /* Scale, saturate and store result in destination buffer. */
+ *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixScale group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q31.c new file mode 100644 index 0000000..7f2fe8b --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q31.c @@ -0,0 +1,164 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_scale_q31.c
+ * Description: Multiplies a Q31 matrix by a scalar
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixScale
+ @{
+ */
+
+/**
+ @brief Q31 matrix scaling.
+ @param[in] pSrc points to input matrix
+ @param[in] scaleFract fractional portion of the scale factor
+ @param[in] shift number of bits to shift the result by
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.31 format.
+ These are multiplied to yield a 2.62 intermediate result which is shifted with saturation to 1.31 format.
+ */
+
+arm_status arm_mat_scale_q31(
+ const arm_matrix_instance_q31 * pSrc,
+ q31_t scaleFract,
+ int32_t shift,
+ arm_matrix_instance_q31 * pDst)
+{
+ q31_t *pIn = pSrc->pData; /* Input data matrix pointer */
+ q31_t *pOut = pDst->pData; /* Output data matrix pointer */
+ uint32_t numSamples; /* Total number of elements in the matrix */
+ uint32_t blkCnt; /* Loop counter */
+ arm_status status; /* Status of matrix scaling */
+ int32_t kShift = shift + 1; /* Shift to apply after scaling */
+ q31_t in, out; /* Temporary variabels */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pDst->numRows) ||
+ (pSrc->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Total number of samples in input matrix */
+ numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ blkCnt = numSamples >> 2U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) * k */
+
+ /* Scale, saturate and store result in destination buffer. */
+ in = *pIn++; /* read four inputs from source */
+ in = ((q63_t) in * scaleFract) >> 32; /* multiply input with scaler value */
+ out = in << kShift; /* apply shifting */
+ if (in != (out >> kShift)) /* saturate the results. */
+ out = 0x7FFFFFFF ^ (in >> 31);
+ *pOut++ = out; /* Store result destination */
+
+ in = *pIn++;
+ in = ((q63_t) in * scaleFract) >> 32;
+ out = in << kShift;
+ if (in != (out >> kShift))
+ out = 0x7FFFFFFF ^ (in >> 31);
+ *pOut++ = out;
+
+ in = *pIn++;
+ in = ((q63_t) in * scaleFract) >> 32;
+ out = in << kShift;
+ if (in != (out >> kShift))
+ out = 0x7FFFFFFF ^ (in >> 31);
+ *pOut++ = out;
+
+ in = *pIn++;
+ in = ((q63_t) in * scaleFract) >> 32;
+ out = in << kShift;
+ if (in != (out >> kShift))
+ out = 0x7FFFFFFF ^ (in >> 31);
+ *pOut++ = out;
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ blkCnt = numSamples % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) * k */
+
+ /* Scale, saturate and store result in destination buffer. */
+ in = *pIn++;
+ in = ((q63_t) in * scaleFract) >> 32;
+ out = in << kShift;
+ if (in != (out >> kShift))
+ out = 0x7FFFFFFF ^ (in >> 31);
+ *pOut++ = out;
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixScale group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f32.c new file mode 100644 index 0000000..4f812a6 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f32.c @@ -0,0 +1,226 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_sub_f32.c
+ * Description: Floating-point matrix subtraction
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @defgroup MatrixSub Matrix Subtraction
+
+ Subtract two matrices.
+ \image html MatrixSubtraction.gif "Subraction of two 3 x 3 matrices"
+
+ The functions check to make sure that
+ <code>pSrcA</code>, <code>pSrcB</code>, and <code>pDst</code> have the same
+ number of rows and columns.
+ */
+
+/**
+ @addtogroup MatrixSub
+ @{
+ */
+
+/**
+ @brief Floating-point matrix subtraction.
+ @param[in] pSrcA points to the first input matrix structure
+ @param[in] pSrcB points to the second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+
+#if defined(ARM_MATH_NEON)
+arm_status arm_mat_sub_f32(
+ const arm_matrix_instance_f32 * pSrcA,
+ const arm_matrix_instance_f32 * pSrcB,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn1 = pSrcA->pData; /* input data matrix pointer A */
+ float32_t *pIn2 = pSrcB->pData; /* input data matrix pointer B */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+
+
+ float32_t inA1, inA2, inB1, inB2, out1, out2; /* temporary variables */
+
+
+ uint32_t numSamples; /* total number of elements in the matrix */
+ uint32_t blkCnt; /* loop counters */
+ arm_status status; /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numRows != pSrcB->numRows) ||
+ (pSrcA->numCols != pSrcB->numCols) ||
+ (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+ {
+ float32x4_t vec1;
+ float32x4_t vec2;
+ float32x4_t res;
+
+ /* Total number of samples in the input matrix */
+ numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+ blkCnt = numSamples >> 2U;
+
+ /* Compute 4 outputs at a time.
+ ** a second loop below computes the remaining 1 to 3 samples. */
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) - B(m,n) */
+ /* Subtract and then store the results in the destination buffer. */
+ /* Read values from source A */
+ vec1 = vld1q_f32(pIn1);
+ vec2 = vld1q_f32(pIn2);
+ res = vsubq_f32(vec1, vec2);
+ vst1q_f32(pOut, res);
+
+ /* Update pointers to process next samples */
+ pIn1 += 4U;
+ pIn2 += 4U;
+ pOut += 4U;
+
+ /* Decrement the loop counter */
+ blkCnt--;
+ }
+
+ /* If the numSamples is not a multiple of 4, compute any remaining output samples here.
+ ** No loop unrolling is used. */
+ blkCnt = numSamples % 0x4U;
+
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) - B(m,n) */
+ /* Subtract and then store the results in the destination buffer. */
+ *pOut++ = (*pIn1++) - (*pIn2++);
+
+ /* Decrement the loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#else
+arm_status arm_mat_sub_f32(
+ const arm_matrix_instance_f32 * pSrcA,
+ const arm_matrix_instance_f32 * pSrcB,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pInA = pSrcA->pData; /* input data matrix pointer A */
+ float32_t *pInB = pSrcB->pData; /* input data matrix pointer B */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+
+ uint32_t numSamples; /* total number of elements in the matrix */
+ uint32_t blkCnt; /* loop counters */
+ arm_status status; /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numRows != pSrcB->numRows) ||
+ (pSrcA->numCols != pSrcB->numCols) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcA->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Total number of samples in input matrix */
+ numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ blkCnt = numSamples >> 2U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) - B(m,n) */
+
+ /* Subtract and store result in destination buffer. */
+ *pOut++ = (*pInA++) - (*pInB++);
+ *pOut++ = (*pInA++) - (*pInB++);
+ *pOut++ = (*pInA++) - (*pInB++);
+ *pOut++ = (*pInA++) - (*pInB++);
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ blkCnt = numSamples % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) - B(m,n) */
+
+ /* Subtract and store result in destination buffer. */
+ *pOut++ = (*pInA++) - (*pInB++);
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#endif /* #if defined(ARM_MATH_NEON) */
+/**
+ @} end of MatrixSub group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q15.c new file mode 100644 index 0000000..37496ea --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q15.c @@ -0,0 +1,144 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_sub_q15.c
+ * Description: Q15 Matrix subtraction
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixSub
+ @{
+ */
+
+/**
+ @brief Q15 matrix subtraction.
+ @param[in] pSrcA points to the first input matrix structure
+ @param[in] pSrcB points to the second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The function uses saturating arithmetic.
+ Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated.
+ */
+
+arm_status arm_mat_sub_q15(
+ const arm_matrix_instance_q15 * pSrcA,
+ const arm_matrix_instance_q15 * pSrcB,
+ arm_matrix_instance_q15 * pDst)
+{
+ q15_t *pInA = pSrcA->pData; /* input data matrix pointer A */
+ q15_t *pInB = pSrcB->pData; /* input data matrix pointer B */
+ q15_t *pOut = pDst->pData; /* output data matrix pointer */
+
+ uint32_t numSamples; /* total number of elements in the matrix */
+ uint32_t blkCnt; /* loop counters */
+ arm_status status; /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numRows != pSrcB->numRows) ||
+ (pSrcA->numCols != pSrcB->numCols) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcA->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Total number of samples in input matrix */
+ numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ blkCnt = numSamples >> 2U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) - B(m,n) */
+
+ /* Subtract, Saturate and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+ write_q15x2_ia (&pOut, __QSUB16(read_q15x2_ia ((q15_t **) &pInA), read_q15x2_ia ((q15_t **) &pInB)));
+ write_q15x2_ia (&pOut, __QSUB16(read_q15x2_ia ((q15_t **) &pInA), read_q15x2_ia ((q15_t **) &pInB)));
+#else
+ *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+ *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+ *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+ *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+#endif
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ blkCnt = numSamples % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) - B(m,n) */
+
+ /* Subtract and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+ *pOut++ = (q15_t) __QSUB16(*pInA++, *pInB++);
+#else
+ *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+#endif
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixSub group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q31.c new file mode 100644 index 0000000..8a5e693 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q31.c @@ -0,0 +1,139 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_sub_q31.c
+ * Description: Q31 matrix subtraction
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixSub
+ @{
+ */
+
+/**
+ @brief Q31 matrix subtraction.
+ @param[in] pSrcA points to the first input matrix structure
+ @param[in] pSrcB points to the second input matrix structure
+ @param[out] pDst points to output matrix structure
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+ @par Scaling and Overflow Behavior
+ The function uses saturating arithmetic.
+ Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated.
+ */
+
+arm_status arm_mat_sub_q31(
+ const arm_matrix_instance_q31 * pSrcA,
+ const arm_matrix_instance_q31 * pSrcB,
+ arm_matrix_instance_q31 * pDst)
+{
+ q31_t *pInA = pSrcA->pData; /* input data matrix pointer A */
+ q31_t *pInB = pSrcB->pData; /* input data matrix pointer B */
+ q31_t *pOut = pDst->pData; /* output data matrix pointer */
+
+ uint32_t numSamples; /* total number of elements in the matrix */
+ uint32_t blkCnt; /* loop counters */
+ arm_status status; /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrcA->numRows != pSrcB->numRows) ||
+ (pSrcA->numCols != pSrcB->numCols) ||
+ (pSrcA->numRows != pDst->numRows) ||
+ (pSrcA->numCols != pDst->numCols) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Total number of samples in input matrix */
+ numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ blkCnt = numSamples >> 2U;
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) - B(m,n) */
+
+ /* Subtract, saturate and then store the results in the destination buffer. */
+ *pOut++ = __QSUB(*pInA++, *pInB++);
+
+ *pOut++ = __QSUB(*pInA++, *pInB++);
+
+ *pOut++ = __QSUB(*pInA++, *pInB++);
+
+ *pOut++ = __QSUB(*pInA++, *pInB++);
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ blkCnt = numSamples % 0x4U;
+
+#else
+
+ /* Initialize blkCnt with number of samples */
+ blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (blkCnt > 0U)
+ {
+ /* C(m,n) = A(m,n) - B(m,n) */
+
+ /* Subtract, saturate and store result in destination buffer. */
+ *pOut++ = __QSUB(*pInA++, *pInB++);
+
+ /* Decrement loop counter */
+ blkCnt--;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixSub group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f32.c new file mode 100644 index 0000000..f002949 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f32.c @@ -0,0 +1,284 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_trans_f32.c
+ * Description: Floating-point matrix transpose
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @defgroup MatrixTrans Matrix Transpose
+
+ Tranposes a matrix.
+
+ Transposing an <code>M x N</code> matrix flips it around the center diagonal and results in an <code>N x M</code> matrix.
+ \image html MatrixTranspose.gif "Transpose of a 3 x 3 matrix"
+ */
+
+/**
+ @addtogroup MatrixTrans
+ @{
+ */
+
+/**
+ @brief Floating-point matrix transpose.
+ @param[in] pSrc points to input matrix
+ @param[out] pDst points to output matrix
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+
+#if defined(ARM_MATH_NEON)
+
+arm_status arm_mat_trans_f32(
+ const arm_matrix_instance_f32 * pSrc,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn = pSrc->pData; /* input data matrix pointer */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+ float32_t *px; /* Temporary output data matrix pointer */
+ uint16_t nRows = pSrc->numRows; /* number of rows */
+ uint16_t nColumns = pSrc->numCols; /* number of columns */
+
+ uint16_t blkCnt, rowCnt, i = 0U, row = nRows; /* loop counters */
+ arm_status status; /* status of matrix transpose */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Matrix transpose by exchanging the rows with columns */
+ /* Row loop */
+ rowCnt = row >> 2;
+ while (rowCnt > 0U)
+ {
+ float32x4_t row0V,row1V,row2V,row3V;
+ float32x4x2_t ra0,ra1,rb0,rb1;
+
+ blkCnt = nColumns >> 2;
+
+ /* The pointer px is set to starting address of the column being processed */
+ px = pOut + i;
+
+ /* Compute 4 outputs at a time.
+ ** a second loop below computes the remaining 1 to 3 samples. */
+ while (blkCnt > 0U) /* Column loop */
+ {
+ row0V = vld1q_f32(pIn);
+ row1V = vld1q_f32(pIn + 1 * nColumns);
+ row2V = vld1q_f32(pIn + 2 * nColumns);
+ row3V = vld1q_f32(pIn + 3 * nColumns);
+ pIn += 4;
+
+ ra0 = vzipq_f32(row0V,row2V);
+ ra1 = vzipq_f32(row1V,row3V);
+
+ rb0 = vzipq_f32(ra0.val[0],ra1.val[0]);
+ rb1 = vzipq_f32(ra0.val[1],ra1.val[1]);
+
+ vst1q_f32(px,rb0.val[0]);
+ px += nRows;
+
+ vst1q_f32(px,rb0.val[1]);
+ px += nRows;
+
+ vst1q_f32(px,rb1.val[0]);
+ px += nRows;
+
+ vst1q_f32(px,rb1.val[1]);
+ px += nRows;
+
+ /* Decrement the column loop counter */
+ blkCnt--;
+ }
+
+ /* Perform matrix transpose for last 3 samples here. */
+ blkCnt = nColumns % 0x4U;
+
+ while (blkCnt > 0U)
+ {
+ /* Read and store the input element in the destination */
+ *px++ = *pIn;
+ *px++ = *(pIn + 1 * nColumns);
+ *px++ = *(pIn + 2 * nColumns);
+ *px++ = *(pIn + 3 * nColumns);
+
+ px += (nRows - 4);
+ pIn++;
+
+ /* Decrement the column loop counter */
+ blkCnt--;
+ }
+
+ i += 4;
+ pIn += 3 * nColumns;
+
+ /* Decrement the row loop counter */
+ rowCnt--;
+
+ } /* Row loop end */
+
+ rowCnt = row & 3;
+ while (rowCnt > 0U)
+ {
+ blkCnt = nColumns ;
+ /* The pointer px is set to starting address of the column being processed */
+ px = pOut + i;
+
+ while (blkCnt > 0U)
+ {
+ /* Read and store the input element in the destination */
+ *px = *pIn++;
+
+ /* Update the pointer px to point to the next row of the transposed matrix */
+ px += nRows;
+
+ /* Decrement the column loop counter */
+ blkCnt--;
+ }
+ i++;
+ rowCnt -- ;
+ }
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#else
+arm_status arm_mat_trans_f32(
+ const arm_matrix_instance_f32 * pSrc,
+ arm_matrix_instance_f32 * pDst)
+{
+ float32_t *pIn = pSrc->pData; /* input data matrix pointer */
+ float32_t *pOut = pDst->pData; /* output data matrix pointer */
+ float32_t *px; /* Temporary output data matrix pointer */
+ uint16_t nRows = pSrc->numRows; /* number of rows */
+ uint16_t nCols = pSrc->numCols; /* number of columns */
+ uint32_t col, row = nRows, i = 0U; /* Loop counters */
+ arm_status status; /* status of matrix transpose */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pDst->numCols) ||
+ (pSrc->numCols != pDst->numRows) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Matrix transpose by exchanging the rows with columns */
+ /* row loop */
+ do
+ {
+ /* Pointer px is set to starting address of column being processed */
+ px = pOut + i;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ col = nCols >> 2U;
+
+ while (col > 0U) /* column loop */
+ {
+ /* Read and store input element in destination */
+ *px = *pIn++;
+ /* Update pointer px to point to next row of transposed matrix */
+ px += nRows;
+
+ *px = *pIn++;
+ px += nRows;
+
+ *px = *pIn++;
+ px += nRows;
+
+ *px = *pIn++;
+ px += nRows;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ col = nCols % 0x4U;
+
+#else
+
+ /* Initialize col with number of samples */
+ col = nCols;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (col > 0U)
+ {
+ /* Read and store input element in destination */
+ *px = *pIn++;
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += nRows;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ i++;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U); /* row loop end */
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+#endif /* #if defined(ARM_MATH_NEON) */
+
+/**
+ * @} end of MatrixTrans group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q15.c new file mode 100644 index 0000000..3774e83 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q15.c @@ -0,0 +1,182 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_trans_q15.c
+ * Description: Q15 matrix transpose
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixTrans
+ @{
+ */
+
+/**
+ @brief Q15 matrix transpose.
+ @param[in] pSrc points to input matrix
+ @param[out] pDst points to output matrix
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+
+arm_status arm_mat_trans_q15(
+ const arm_matrix_instance_q15 * pSrc,
+ arm_matrix_instance_q15 * pDst)
+{
+ q15_t *pIn = pSrc->pData; /* input data matrix pointer */
+ q15_t *pOut = pDst->pData; /* output data matrix pointer */
+ uint16_t nRows = pSrc->numRows; /* number of rows */
+ uint16_t nCols = pSrc->numCols; /* number of columns */
+ uint32_t col, row = nRows, i = 0U; /* Loop counters */
+ arm_status status; /* status of matrix transpose */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+ q31_t in; /* variable to hold temporary output */
+#endif
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pDst->numCols) ||
+ (pSrc->numCols != pDst->numRows) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Matrix transpose by exchanging the rows with columns */
+ /* row loop */
+ do
+ {
+ /* Pointer pOut is set to starting address of column being processed */
+ pOut = pDst->pData + i;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ col = nCols >> 2U;
+
+ while (col > 0U) /* column loop */
+ {
+ /* Read two elements from row */
+ in = read_q15x2_ia ((q15_t **) &pIn);
+
+ /* Unpack and store one element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+ *pOut = (q15_t) in;
+#else
+ *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+ /* Update pointer pOut to point to next row of transposed matrix */
+ pOut += nRows;
+
+ /* Unpack and store second element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+ *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+ *pOut = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+ /* Update pointer pOut to point to next row of transposed matrix */
+ pOut += nRows;
+
+ /* Read two elements from row */
+ in = read_q15x2_ia ((q15_t **) &pIn);
+
+ /* Unpack and store one element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+ *pOut = (q15_t) in;
+#else
+ *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+ /* Update pointer pOut to point to next row of transposed matrix */
+ pOut += nRows;
+
+ /* Unpack and store second element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+ *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+ *pOut = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+ /* Update pointer pOut to point to next row of transposed matrix */
+ pOut += nRows;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ col = nCols % 0x4U;
+
+#else
+
+ /* Initialize col with number of samples */
+ col = nCols;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (col > 0U)
+ {
+ /* Read and store input element in destination */
+ *pOut = *pIn++;
+
+ /* Update pointer pOut to point to next row of transposed matrix */
+ pOut += nRows;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ i++;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U); /* row loop end */
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixTrans group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q31.c new file mode 100644 index 0000000..d6efd59 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q31.c @@ -0,0 +1,146 @@ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_mat_trans_q31.c
+ * Description: Q31 matrix transpose
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+/**
+ @ingroup groupMatrix
+ */
+
+/**
+ @addtogroup MatrixTrans
+ @{
+ */
+
+/**
+ @brief Q31 matrix transpose.
+ @param[in] pSrc points to input matrix
+ @param[out] pDst points to output matrix
+ @return execution status
+ - \ref ARM_MATH_SUCCESS : Operation successful
+ - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+
+arm_status arm_mat_trans_q31(
+ const arm_matrix_instance_q31 * pSrc,
+ arm_matrix_instance_q31 * pDst)
+{
+ q31_t *pIn = pSrc->pData; /* input data matrix pointer */
+ q31_t *pOut = pDst->pData; /* output data matrix pointer */
+ q31_t *px; /* Temporary output data matrix pointer */
+ uint16_t nRows = pSrc->numRows; /* number of rows */
+ uint16_t nCols = pSrc->numCols; /* number of columns */
+ uint32_t col, row = nRows, i = 0U; /* Loop counters */
+ arm_status status; /* status of matrix transpose */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+ /* Check for matrix mismatch condition */
+ if ((pSrc->numRows != pDst->numCols) ||
+ (pSrc->numCols != pDst->numRows) )
+ {
+ /* Set status as ARM_MATH_SIZE_MISMATCH */
+ status = ARM_MATH_SIZE_MISMATCH;
+ }
+ else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+ {
+ /* Matrix transpose by exchanging the rows with columns */
+ /* row loop */
+ do
+ {
+ /* Pointer px is set to starting address of column being processed */
+ px = pOut + i;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+ /* Loop unrolling: Compute 4 outputs at a time */
+ col = nCols >> 2U;
+
+ while (col > 0U) /* column loop */
+ {
+ /* Read and store input element in destination */
+ *px = *pIn++;
+ /* Update pointer px to point to next row of transposed matrix */
+ px += nRows;
+
+ *px = *pIn++;
+ px += nRows;
+
+ *px = *pIn++;
+ px += nRows;
+
+ *px = *pIn++;
+ px += nRows;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ /* Loop unrolling: Compute remaining outputs */
+ col = nCols % 0x4U;
+
+#else
+
+ /* Initialize col with number of samples */
+ col = nCols;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+ while (col > 0U)
+ {
+ /* Read and store input element in destination */
+ *px = *pIn++;
+
+ /* Update pointer px to point to next row of transposed matrix */
+ px += nRows;
+
+ /* Decrement column loop counter */
+ col--;
+ }
+
+ i++;
+
+ /* Decrement row loop counter */
+ row--;
+
+ } while (row > 0U); /* row loop end */
+
+ /* Set status as ARM_MATH_SUCCESS */
+ status = ARM_MATH_SUCCESS;
+ }
+
+ /* Return to application */
+ return (status);
+}
+
+/**
+ @} end of MatrixTrans group
+ */
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