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Renesas / mbed-dsp-neon

Fork of mbed-dsp. CMSIS-DSP library of supporting NEON

Dependents: mbed-os-example-cmsis_dsp_neon

Fork of mbed-dsp by mbed official

Information

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CMSIS-DSP of supporting NEON

What is this ?

A library for CMSIS-DSP of supporting NEON.
We supported the NEON to CMSIS-DSP Ver1.4.3(CMSIS V4.1) that ARM supplied, has achieved the processing speed improvement.
If you use the mbed-dsp library, you can use to replace this library.
CMSIS-DSP of supporting NEON is provied as a library.

Library Creation environment

CMSIS-DSP library of supporting NEON was created by the following environment.

Compiler
ARMCC Version 5.03
Compile option switch[C Compiler]

   -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -O3 -Otime --cpu=Cortex-A9 --littleend --arm 
   --apcs=/interwork --no_unaligned_access --fpu=vfpv3_fp16 --fpmode=fast --apcs=/hardfp 
   --vectorize --asm

Compile option switch[Assembler]

   --cpreproc --cpu=Cortex-A9 --littleend --arm --apcs=/interwork --no_unaligned_access 
   --fpu=vfpv3_fp16 --fpmode=fast --apcs=/hardfp

Effects of NEON support

In the data which passes to each function, large size will be expected more effective than small size.
Also if the data is a multiple of 16, effect will be expected in every function in the CMSIS-DSP.

NEON対応CMSIS-DSP

概要

NEON対応したCMSIS-DSPのライブラリです。
ARM社提供のCMSIS-DSP Ver1.4.3(CMSIS V4.1)をターゲットにNEON対応を行ない、処理速度向上を実現しております。
mbed-dspライブラリを使用している場合は、本ライブラリに置き換えて使用することができます。
NEON対応したCMSIS-DSPはライブラリで提供します。

ライブラリ作成環境

NEON対応CMSIS-DSPライブラリは、以下の環境で作成しています。

コンパイラ
ARMCC Version 5.03
コンパイルオプションスイッチ[C Compiler]

   -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -O3 -Otime --cpu=Cortex-A9 --littleend --arm 
   --apcs=/interwork --no_unaligned_access --fpu=vfpv3_fp16 --fpmode=fast --apcs=/hardfp 
   --vectorize --asm

コンパイルオプションスイッチ[Assembler]

   --cpreproc --cpu=Cortex-A9 --littleend --arm --apcs=/interwork --no_unaligned_access 
   --fpu=vfpv3_fp16 --fpmode=fast --apcs=/hardfp

NEON対応による効果について

CMSIS-DSP内の各関数へ渡すデータは、小さいサイズよりも大きいサイズの方が効果が見込めます。
また、16の倍数のデータであれば、CMSIS-DSP内のどの関数でも効果が見込めます。

cmsis_dsp/ControllerFunctions/arm_pid_init_q15.c@3:7a284390b0ce, 2013-11-08 (annotated)

Committer:: mbed_official
Date:: Fri Nov 08 13:45:10 2013 +0000
Revision:: 3:7a284390b0ce
Parent:: 2:da51fb522205

Synchronized with git revision e69956aba2f68a2a26ac26b051f8d349deaa1ce8

Who changed what in which revision?

User	Revision	Line number	New contents of line
emilmont	1:fdd22bb7aa52	1	/* ----------------------------------------------------------------------
mbed_official	3:7a284390b0ce	2	* Copyright (C) 2010-2013 ARM Limited. All rights reserved.
emilmont	1:fdd22bb7aa52	3	*
mbed_official	3:7a284390b0ce	4	* $Date: 17. January 2013
mbed_official	3:7a284390b0ce	5	* $Revision: V1.4.1
emilmont	1:fdd22bb7aa52	6	*
emilmont	2:da51fb522205	7	* Project: CMSIS DSP Library
emilmont	2:da51fb522205	8	* Title: arm_pid_init_q15.c
emilmont	1:fdd22bb7aa52	9	*
emilmont	2:da51fb522205	10	* Description: Q15 PID Control initialization function
emilmont	1:fdd22bb7aa52	11	*
emilmont	1:fdd22bb7aa52	12	* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
emilmont	1:fdd22bb7aa52	13	*
mbed_official	3:7a284390b0ce	14	* Redistribution and use in source and binary forms, with or without
mbed_official	3:7a284390b0ce	15	* modification, are permitted provided that the following conditions
mbed_official	3:7a284390b0ce	16	* are met:
mbed_official	3:7a284390b0ce	17	* - Redistributions of source code must retain the above copyright
mbed_official	3:7a284390b0ce	18	* notice, this list of conditions and the following disclaimer.
mbed_official	3:7a284390b0ce	19	* - Redistributions in binary form must reproduce the above copyright
mbed_official	3:7a284390b0ce	20	* notice, this list of conditions and the following disclaimer in
mbed_official	3:7a284390b0ce	21	* the documentation and/or other materials provided with the
mbed_official	3:7a284390b0ce	22	* distribution.
mbed_official	3:7a284390b0ce	23	* - Neither the name of ARM LIMITED nor the names of its contributors
mbed_official	3:7a284390b0ce	24	* may be used to endorse or promote products derived from this
mbed_official	3:7a284390b0ce	25	* software without specific prior written permission.
mbed_official	3:7a284390b0ce	26	*
mbed_official	3:7a284390b0ce	27	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
mbed_official	3:7a284390b0ce	28	* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
mbed_official	3:7a284390b0ce	29	* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
mbed_official	3:7a284390b0ce	30	* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
mbed_official	3:7a284390b0ce	31	* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
mbed_official	3:7a284390b0ce	32	* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
mbed_official	3:7a284390b0ce	33	* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
mbed_official	3:7a284390b0ce	34	* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
mbed_official	3:7a284390b0ce	35	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
mbed_official	3:7a284390b0ce	36	* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
mbed_official	3:7a284390b0ce	37	* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official	3:7a284390b0ce	38	* POSSIBILITY OF SUCH DAMAGE.
emilmont	1:fdd22bb7aa52	39	* -------------------------------------------------------------------- */
emilmont	1:fdd22bb7aa52	40
emilmont	1:fdd22bb7aa52	41	#include "arm_math.h"
emilmont	1:fdd22bb7aa52	42
emilmont	1:fdd22bb7aa52	43	/**
emilmont	1:fdd22bb7aa52	44	* @addtogroup PID
emilmont	1:fdd22bb7aa52	45	* @{
emilmont	1:fdd22bb7aa52	46	*/
emilmont	1:fdd22bb7aa52	47
emilmont	1:fdd22bb7aa52	48	/**
emilmont	1:fdd22bb7aa52	49	* @details
emilmont	1:fdd22bb7aa52	50	* @param[in,out] *S points to an instance of the Q15 PID structure.
emilmont	1:fdd22bb7aa52	51	* @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state.
emilmont	1:fdd22bb7aa52	52	* @return none.
emilmont	1:fdd22bb7aa52	53	* \par Description:
emilmont	1:fdd22bb7aa52	54	* \par
emilmont	1:fdd22bb7aa52	55	* The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
emilmont	1:fdd22bb7aa52	56	* The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
emilmont	1:fdd22bb7aa52	57	* using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
emilmont	1:fdd22bb7aa52	58	* also sets the state variables to all zeros.
emilmont	1:fdd22bb7aa52	59	*/
emilmont	1:fdd22bb7aa52	60
emilmont	1:fdd22bb7aa52	61	void arm_pid_init_q15(
emilmont	1:fdd22bb7aa52	62	arm_pid_instance_q15 * S,
emilmont	1:fdd22bb7aa52	63	int32_t resetStateFlag)
emilmont	1:fdd22bb7aa52	64	{
emilmont	1:fdd22bb7aa52	65
mbed_official	3:7a284390b0ce	66	#ifndef ARM_MATH_CM0_FAMILY
emilmont	1:fdd22bb7aa52	67
emilmont	1:fdd22bb7aa52	68	/* Run the below code for Cortex-M4 and Cortex-M3 */
emilmont	1:fdd22bb7aa52	69
emilmont	1:fdd22bb7aa52	70	/* Derived coefficient A0 */
emilmont	1:fdd22bb7aa52	71	S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
emilmont	1:fdd22bb7aa52	72
emilmont	1:fdd22bb7aa52	73	/* Derived coefficients and pack into A1 */
emilmont	1:fdd22bb7aa52	74
emilmont	1:fdd22bb7aa52	75	#ifndef ARM_MATH_BIG_ENDIAN
emilmont	1:fdd22bb7aa52	76
emilmont	1:fdd22bb7aa52	77	S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
emilmont	1:fdd22bb7aa52	78
emilmont	1:fdd22bb7aa52	79	#else
emilmont	1:fdd22bb7aa52	80
emilmont	1:fdd22bb7aa52	81	S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
emilmont	1:fdd22bb7aa52	82
emilmont	1:fdd22bb7aa52	83	#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
emilmont	1:fdd22bb7aa52	84
emilmont	1:fdd22bb7aa52	85	/* Check whether state needs reset or not */
emilmont	1:fdd22bb7aa52	86	if(resetStateFlag)
emilmont	1:fdd22bb7aa52	87	{
emilmont	1:fdd22bb7aa52	88	/* Clear the state buffer. The size will be always 3 samples */
emilmont	1:fdd22bb7aa52	89	memset(S->state, 0, 3u * sizeof(q15_t));
emilmont	1:fdd22bb7aa52	90	}
emilmont	1:fdd22bb7aa52	91
emilmont	1:fdd22bb7aa52	92	#else
emilmont	1:fdd22bb7aa52	93
emilmont	1:fdd22bb7aa52	94	/* Run the below code for Cortex-M0 */
emilmont	1:fdd22bb7aa52	95
emilmont	1:fdd22bb7aa52	96	q31_t temp; /to store the sum /
emilmont	1:fdd22bb7aa52	97
emilmont	1:fdd22bb7aa52	98	/* Derived coefficient A0 */
emilmont	1:fdd22bb7aa52	99	temp = S->Kp + S->Ki + S->Kd;
emilmont	1:fdd22bb7aa52	100	S->A0 = (q15_t) __SSAT(temp, 16);
emilmont	1:fdd22bb7aa52	101
emilmont	1:fdd22bb7aa52	102	/* Derived coefficients and pack into A1 */
emilmont	1:fdd22bb7aa52	103	temp = -(S->Kd + S->Kd + S->Kp);
emilmont	1:fdd22bb7aa52	104	S->A1 = (q15_t) __SSAT(temp, 16);
emilmont	1:fdd22bb7aa52	105	S->A2 = S->Kd;
emilmont	1:fdd22bb7aa52	106
emilmont	1:fdd22bb7aa52	107
emilmont	1:fdd22bb7aa52	108
emilmont	1:fdd22bb7aa52	109	/* Check whether state needs reset or not */
emilmont	1:fdd22bb7aa52	110	if(resetStateFlag)
emilmont	1:fdd22bb7aa52	111	{
emilmont	1:fdd22bb7aa52	112	/* Clear the state buffer. The size will be always 3 samples */
emilmont	1:fdd22bb7aa52	113	memset(S->state, 0, 3u * sizeof(q15_t));
emilmont	1:fdd22bb7aa52	114	}
emilmont	1:fdd22bb7aa52	115
mbed_official	3:7a284390b0ce	116	#endif /* #ifndef ARM_MATH_CM0_FAMILY */
emilmont	1:fdd22bb7aa52	117
emilmont	1:fdd22bb7aa52	118	}
emilmont	1:fdd22bb7aa52	119
emilmont	1:fdd22bb7aa52	120	/**
emilmont	1:fdd22bb7aa52	121	* @} end of PID group
emilmont	1:fdd22bb7aa52	122	*/

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Type:	Library
Created:	23 Jun 2015
Imports:	13
Forks:	0
Commits:	6
Dependents:	1
Dependencies:	0
Followers:	58