numRows,
52 | * numCols, and pData fields
53 | * of the matrix data structure.
54 | */
55 |
56 | /**
57 | * @addtogroup MatrixInit
58 | * @{
59 | */
60 |
61 | /**
62 | * @brief Floating-point matrix initialization.
63 | * @param[in,out] *S points to an instance of the floating-point matrix structure.
64 | * @param[in] nRows number of rows in the matrix.
65 | * @param[in] nColumns number of columns in the matrix.
66 | * @param[in] *pData points to the matrix data array.
67 | * @return none
68 | */
69 |
70 | void arm_mat_init_f32(
71 | arm_matrix_instance_f32 * S,
72 | uint16_t nRows,
73 | uint16_t nColumns,
74 | float32_t * pData)
75 | {
76 | /* Assign Number of Rows */
77 | S->numRows = nRows;
78 |
79 | /* Assign Number of Columns */
80 | S->numCols = nColumns;
81 |
82 | /* Assign Data pointer */
83 | S->pData = pData;
84 | }
85 |
86 | /**
87 | * @} end of MatrixInit group
88 | */
89 |
--------------------------------------------------------------------------------
/mcu-code/Drivers/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c:
--------------------------------------------------------------------------------
1 | /* ----------------------------------------------------------------------
2 | * Copyright (C) 2010-2014 ARM Limited. All rights reserved.
3 | *
4 | * $Date: 19. March 2015
5 | * $Revision: V.1.4.5
6 | *
7 | * Project: CMSIS DSP Library
8 | * Title: arm_pid_init_f32.c
9 | *
10 | * Description: Floating-point PID Control initialization function
11 | *
12 | *
13 | * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
14 | *
15 | * Redistribution and use in source and binary forms, with or without
16 | * modification, are permitted provided that the following conditions
17 | * are met:
18 | * - Redistributions of source code must retain the above copyright
19 | * notice, this list of conditions and the following disclaimer.
20 | * - Redistributions in binary form must reproduce the above copyright
21 | * notice, this list of conditions and the following disclaimer in
22 | * the documentation and/or other materials provided with the
23 | * distribution.
24 | * - Neither the name of ARM LIMITED nor the names of its contributors
25 | * may be used to endorse or promote products derived from this
26 | * software without specific prior written permission.
27 | *
28 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
29 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
30 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
31 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
32 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
33 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
34 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
35 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
36 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
37 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
38 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
39 | * POSSIBILITY OF SUCH DAMAGE.
40 | * ------------------------------------------------------------------- */
41 |
42 | #include "arm_math.h"
43 |
44 | /**
45 | * @addtogroup PID
46 | * @{
47 | */
48 |
49 | /**
50 | * @brief Initialization function for the floating-point PID Control.
51 | * @param[in,out] *S points to an instance of the PID structure.
52 | * @param[in] resetStateFlag flag to reset the state. 0 = no change in state & 1 = reset the state.
53 | * @return none.
54 | * \par Description:
55 | * \par
56 | * The resetStateFlag specifies whether to set state to zero or not. \n
57 | * The function computes the structure fields: A0, A1 A2
58 | * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
59 | * also sets the state variables to all zeros.
60 | */
61 |
62 | void arm_pid_init_f32(
63 | arm_pid_instance_f32 * S,
64 | int32_t resetStateFlag)
65 | {
66 |
67 | /* Derived coefficient A0 */
68 | S->A0 = S->Kp + S->Ki + S->Kd;
69 |
70 | /* Derived coefficient A1 */
71 | S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
72 |
73 | /* Derived coefficient A2 */
74 | S->A2 = S->Kd;
75 |
76 | /* Check whether state needs reset or not */
77 | if(resetStateFlag)
78 | {
79 | /* Clear the state buffer. The size will be always 3 samples */
80 | memset(S->state, 0, 3u * sizeof(float32_t));
81 | }
82 |
83 | }
84 |
85 | /**
86 | * @} end of PID group
87 | */
88 |
--------------------------------------------------------------------------------
/mcu-code/Drivers/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c:
--------------------------------------------------------------------------------
1 | /* ----------------------------------------------------------------------
2 | * Copyright (C) 2010-2014 ARM Limited. All rights reserved.
3 | *
4 | * $Date: 19. March 2015
5 | * $Revision: V.1.4.5
6 | *
7 | * Project: CMSIS DSP Library
8 | * Title: arm_sin_q31.c
9 | *
10 | * Description: Fast sine calculation for Q31 values.
11 | *
12 | * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
13 | *
14 | * Redistribution and use in source and binary forms, with or without
15 | * modification, are permitted provided that the following conditions
16 | * are met:
17 | * - Redistributions of source code must retain the above copyright
18 | * notice, this list of conditions and the following disclaimer.
19 | * - Redistributions in binary form must reproduce the above copyright
20 | * notice, this list of conditions and the following disclaimer in
21 | * the documentation and/or other materials provided with the
22 | * distribution.
23 | * - Neither the name of ARM LIMITED nor the names of its contributors
24 | * may be used to endorse or promote products derived from this
25 | * software without specific prior written permission.
26 | *
27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
28 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
29 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
30 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
31 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
32 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
33 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
34 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
35 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
36 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
37 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
38 | * POSSIBILITY OF SUCH DAMAGE.
39 | * -------------------------------------------------------------------- */
40 |
41 | #include "arm_math.h"
42 | #include "arm_common_tables.h"
43 |
44 | /**
45 | * @ingroup groupFastMath
46 | */
47 |
48 | /**
49 | * @addtogroup sin
50 | * @{
51 | */
52 |
53 | /**
54 | * @brief Fast approximation to the trigonometric sine function for Q31 data.
55 | * @param[in] x Scaled input value in radians.
56 | * @return sin(x).
57 | *
58 | * The Q31 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi). */
59 |
60 | q31_t arm_sin_q31(
61 | q31_t x)
62 | {
63 | q31_t sinVal; /* Temporary variables for input, output */
64 | int32_t index; /* Index variables */
65 | q31_t a, b; /* Four nearest output values */
66 | q31_t fract; /* Temporary values for fractional values */
67 |
68 | /* Calculate the nearest index */
69 | index = (uint32_t)x >> FAST_MATH_Q31_SHIFT;
70 |
71 | /* Calculation of fractional value */
72 | fract = (x - (index << FAST_MATH_Q31_SHIFT)) << 9;
73 |
74 | /* Read two nearest values of input value from the sin table */
75 | a = sinTable_q31[index];
76 | b = sinTable_q31[index+1];
77 |
78 | /* Linear interpolation process */
79 | sinVal = (q63_t)(0x80000000-fract)*a >> 32;
80 | sinVal = (q31_t)((((q63_t)sinVal << 32) + ((q63_t)fract*b)) >> 32);
81 |
82 | return sinVal << 1;
83 | }
84 |
85 | /**
86 | * @} end of sin group
87 | */
88 |
--------------------------------------------------------------------------------
/mcu-code/Drivers/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c:
--------------------------------------------------------------------------------
1 | /* ----------------------------------------------------------------------
2 | * Copyright (C) 2010-2014 ARM Limited. All rights reserved.
3 | *
4 | * $Date: 19. March 2015
5 | * $Revision: V.1.4.5
6 | *
7 | * Project: CMSIS DSP Library
8 | * Title: arm_sin_q15.c
9 | *
10 | * Description: Fast sine calculation for Q15 values.
11 | *
12 | * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
13 | *
14 | * Redistribution and use in source and binary forms, with or without
15 | * modification, are permitted provided that the following conditions
16 | * are met:
17 | * - Redistributions of source code must retain the above copyright
18 | * notice, this list of conditions and the following disclaimer.
19 | * - Redistributions in binary form must reproduce the above copyright
20 | * notice, this list of conditions and the following disclaimer in
21 | * the documentation and/or other materials provided with the
22 | * distribution.
23 | * - Neither the name of ARM LIMITED nor the names of its contributors
24 | * may be used to endorse or promote products derived from this
25 | * software without specific prior written permission.
26 | *
27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
28 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
29 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
30 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
31 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
32 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
33 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
34 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
35 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
36 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
37 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
38 | * POSSIBILITY OF SUCH DAMAGE.
39 | * -------------------------------------------------------------------- */
40 |
41 | #include "arm_math.h"
42 | #include "arm_common_tables.h"
43 |
44 | /**
45 | * @ingroup groupFastMath
46 | */
47 |
48 | /**
49 | * @addtogroup sin
50 | * @{
51 | */
52 |
53 | /**
54 | * @brief Fast approximation to the trigonometric sine function for Q15 data.
55 | * @param[in] x Scaled input value in radians.
56 | * @return sin(x).
57 | *
58 | * The Q15 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi).
59 | */
60 |
61 | q15_t arm_sin_q15(
62 | q15_t x)
63 | {
64 | q15_t sinVal; /* Temporary variables for input, output */
65 | int32_t index; /* Index variables */
66 | q15_t a, b; /* Four nearest output values */
67 | q15_t fract; /* Temporary values for fractional values */
68 |
69 | /* Calculate the nearest index */
70 | index = (uint32_t)x >> FAST_MATH_Q15_SHIFT;
71 |
72 | /* Calculation of fractional value */
73 | fract = (x - (index << FAST_MATH_Q15_SHIFT)) << 9;
74 |
75 | /* Read two nearest values of input value from the sin table */
76 | a = sinTable_q15[index];
77 | b = sinTable_q15[index+1];
78 |
79 | /* Linear interpolation process */
80 | sinVal = (q31_t)(0x8000-fract)*a >> 16;
81 | sinVal = (q15_t)((((q31_t)sinVal << 16) + ((q31_t)fract*b)) >> 16);
82 |
83 | return sinVal << 1;
84 | }
85 |
86 | /**
87 | * @} end of sin group
88 | */
89 |
--------------------------------------------------------------------------------
/mcu-code/Drivers/STM32F1xx_HAL_Driver/Inc/stm32_assert_template.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32_assert.h
4 | * @author MCD Application Team
5 | * @version V1.1.1
6 | * @date 12-May-2017
7 | * @brief STM32 assert template file.
8 | * This file should be copied to the application folder and renamed
9 | * to stm32_assert.h.
10 | ******************************************************************************
11 | * @attention
12 | *
13 | * pCoeffs points to the array of filter coefficients stored in time reversed order:
62 | *
63 | * {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}
64 | *
65 | * \par
66 | * pState points to the array of state variables.
67 | * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_q7().
68 | */
69 |
70 | void arm_fir_init_q7(
71 | arm_fir_instance_q7 * S,
72 | uint16_t numTaps,
73 | q7_t * pCoeffs,
74 | q7_t * pState,
75 | uint32_t blockSize)
76 | {
77 |
78 | /* Assign filter taps */
79 | S->numTaps = numTaps;
80 |
81 | /* Assign coefficient pointer */
82 | S->pCoeffs = pCoeffs;
83 |
84 | /* Clear the state buffer. The size is always (blockSize + numTaps - 1) */
85 | memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q7_t));
86 |
87 | /* Assign state pointer */
88 | S->pState = pState;
89 |
90 | }
91 |
92 | /**
93 | * @} end of FIR group
94 | */
95 |
--------------------------------------------------------------------------------