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150 lines
3.9 KiB
C
150 lines
3.9 KiB
C
/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_quaternion_product_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 groupQuaternionMath
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*/
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/**
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@defgroup QuatProd Quaternion Product
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Compute the product of quaternions.
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*/
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/**
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@ingroup QuatProd
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*/
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/**
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@defgroup QuatProdVect Elementwise Quaternion Product
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Compute the elementwise product of quaternions.
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*/
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/**
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@addtogroup QuatProdVect
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@{
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*/
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/**
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@brief Floating-point elementwise product two quaternions.
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@param[in] qa first array of quaternions
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@param[in] qb second array of quaternions
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@param[out] qr elementwise product of quaternions
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@param[in] nbQuaternions number of quaternions in the array
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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_f32(const float32_t *qa,
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const float32_t *qb,
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float32_t *qr,
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uint32_t nbQuaternions)
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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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while (nbQuaternions > 0U)
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{
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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(qb);
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/*
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* vcmul(r, [a1, a2, a1, a2], [b1, b2, b3, b4], 0)
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*/
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vecAcc = vcmulq(vecTmpA, vecTmpB);
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/*
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* vcmla(r, [a1, a2, a1, a2], [b1, b2, b3, b4], 90)
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*/
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vecAcc = vcmlaq_rot90(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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/*
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* build [-b4, -b3, b2, b1]
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*/
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vecTmpB = vecTmpB * vecSignA;
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/*
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* vcmla(r, [a4, a3, a4, a3], [-b4, -b3, b2, b1], 270)
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*/
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vecAcc = vcmlaq_rot270(vecAcc, vecTmpA, vecTmpB);
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/*
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* vcmla(r, [a4, a3, a4, a3], [-b4, -b3, b2, b1], 0)
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*/
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vecAcc = vcmlaq(vecAcc, vecTmpA, vecTmpB);
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/*
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* store accumulator
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*/
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vst1q_f32(qr, vecAcc);
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/* move to next quaternion */
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qa += 4;
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qb += 4;
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qr += 4;
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nbQuaternions--;
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}
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}
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#else
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void arm_quaternion_product_f32(const float32_t *qa,
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const float32_t *qb,
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float32_t *qr,
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uint32_t nbQuaternions)
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{
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uint32_t i;
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for(i=0; i < nbQuaternions; i++)
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{
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arm_quaternion_product_single_f32(qa, qb, qr);
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qa += 4;
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qb += 4;
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qr += 4;
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}
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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 QuatProdVect group
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*/
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