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108 lines
3.1 KiB
C
108 lines
3.1 KiB
C
/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_quaternion_product_single_f32.c
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* Description: Floating-point quaternion product
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*
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* $Date: 23 April 2021
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* $Revision: V1.9.0
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*
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* Target Processor: Cortex-M and Cortex-A cores
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* -------------------------------------------------------------------- */
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/*
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* Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "dsp/quaternion_math_functions.h"
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#include <math.h>
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/**
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@ingroup QuatProd
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*/
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/**
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@defgroup QuatProdSingle Quaternion Product
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Compute the product of two quaternions.
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*/
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/**
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@addtogroup QuatProdSingle
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@{
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*/
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/**
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@brief Floating-point product of two quaternions.
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@param[in] qa first quaternion
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@param[in] qb second quaternion
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@param[out] qr product of two quaternions
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@return none
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*/
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#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
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#include "arm_helium_utils.h"
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void arm_quaternion_product_single_f32(const float32_t *qa,
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const float32_t *qb,
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float32_t *qr)
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{
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static uint32_t patternA[4] = { 0, 1, 0, 1 };
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static uint32_t patternB[4] = { 3, 2, 3, 2 };
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static uint32_t patternC[4] = { 3, 2, 1, 0 };
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static float32_t signA[4] = { -1, -1, 1, 1 };
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uint32x4_t vecA = vld1q_u32(patternA);
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uint32x4_t vecB = vld1q_u32(patternB);
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uint32x4_t vecC = vld1q_u32(patternC);
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f32x4_t vecSignA = vld1q_f32(signA);
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f32x4_t vecTmpA, vecTmpB, vecAcc;
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vecTmpA = vldrwq_gather_shifted_offset_f32(qa, vecA);
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vecTmpB = vld1q_f32(qb);
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vecAcc = vcmulq_f32(vecTmpA, vecTmpB);
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vecAcc = vcmlaq_rot90_f32(vecAcc, vecTmpA, vecTmpB);
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vecTmpA = vldrwq_gather_shifted_offset_f32(qa, vecB);
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vecTmpB = vldrwq_gather_shifted_offset_f32(qb, vecC);
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vecTmpB = vecTmpB * vecSignA;
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vecAcc = vcmlaq_rot270_f32(vecAcc, vecTmpA, vecTmpB);
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vecAcc = vcmlaq_f32(vecAcc, vecTmpA, vecTmpB);
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vst1q_f32(qr, vecAcc);
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}
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#else
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void arm_quaternion_product_single_f32(const float32_t *qa,
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const float32_t *qb,
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float32_t *qr)
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{
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qr[0] = qa[0] * qb[0] - qa[1] * qb[1] - qa[2] * qb[2] - qa[3] * qb[3];
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qr[1] = qa[0] * qb[1] + qa[1] * qb[0] + qa[2] * qb[3] - qa[3] * qb[2];
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qr[2] = qa[0] * qb[2] + qa[2] * qb[0] + qa[3] * qb[1] - qa[1] * qb[3];
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qr[3] = qa[0] * qb[3] + qa[3] * qb[0] + qa[1] * qb[2] - qa[2] * qb[1];
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}
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#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
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/**
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@} end of QuatProdSingle group
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*/
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