init

2025-10-14 19:38:23 -05:00
commit d86bd19ed2
1456 changed files with 1054347 additions and 0 deletions
--- a/Drivers/CMSIS/DSP/Source/QuaternionMathFunctions/arm_quaternion_inverse_f32.c
+++ b/Drivers/CMSIS/DSP/Source/QuaternionMathFunctions/arm_quaternion_inverse_f32.c
@@ -0,0 +1,114 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_quaternion_inverse_f32.c
+ * Description:  Floating-point quaternion inverse
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 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 "dsp/quaternion_math_functions.h"
+#include <math.h>
+
+/**
+  @ingroup groupQuaternionMath
+ */
+
+/**
+  @defgroup QuatInverse Quaternion Inverse
+
+  Compute the inverse of a quaternion.
+ */
+
+/**
+  @addtogroup QuatInverse
+  @{
+ */
+
+/**
+  @brief         Floating-point quaternion inverse.
+  @param[in]     pInputQuaternions            points to the input vector of quaternions
+  @param[out]    pInverseQuaternions          points to the output vector of inverse quaternions
+  @param[in]     nbQuaternions                number of quaternions in each vector
+  @return        none
+ */
+
+
+#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+void arm_quaternion_inverse_f32(const float32_t *pInputQuaternions, 
+  float32_t *pInverseQuaternions,
+  uint32_t nbQuaternions)
+{
+   f32x4_t vec1,vec2;
+   float32_t squaredSum;
+
+   for(uint32_t i=0; i < nbQuaternions; i++)
+   {
+     
+      vec1 = vld1q(pInputQuaternions);
+      vec2 = vmulq(vec1,vec1);
+      squaredSum = vecAddAcrossF32Mve(vec2);
+      
+
+      vec1 = vmulq_n_f32(vec1, 1.0f / squaredSum);
+      vec1 = vsetq_lane_f32(-vgetq_lane(vec1, 0),vec1,0);
+      vec1 = vnegq_f32(vec1);
+
+      vst1q(pInverseQuaternions, vec1);
+
+
+      pInputQuaternions   += 4;
+      pInverseQuaternions += 4;
+
+   }
+}
+
+#else
+void arm_quaternion_inverse_f32(const float32_t *pInputQuaternions, 
+  float32_t *pInverseQuaternions,
+  uint32_t nbQuaternions)
+{
+   float32_t temp;
+
+   uint32_t i;
+   for(i=0; i < nbQuaternions; i++)
+   {
+
+      temp = SQ(pInputQuaternions[4 * i + 0]) +
+             SQ(pInputQuaternions[4 * i + 1]) +
+             SQ(pInputQuaternions[4 * i + 2]) +
+             SQ(pInputQuaternions[4 * i + 3]);
+
+      pInverseQuaternions[4 * i + 0] = pInputQuaternions[4 * i + 0] / temp;
+      pInverseQuaternions[4 * i + 1] = -pInputQuaternions[4 * i + 1] / temp;
+      pInverseQuaternions[4 * i + 2] = -pInputQuaternions[4 * i + 2] / temp;
+      pInverseQuaternions[4 * i + 3] = -pInputQuaternions[4 * i + 3] / temp;
+   }
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of QuatInverse group
+ */