diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile index 71b49ea5c2..8bcb8d40c1 100644 --- a/.ci/Jenkinsfile-compile +++ b/.ci/Jenkinsfile-compile @@ -17,7 +17,7 @@ pipeline { ] def armhf_builds = [ - target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"], + target: ["beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"], image: docker_images.armhf, archive: false ] @@ -55,18 +55,23 @@ pipeline { "holybro_durandal-v1_default", "holybro_kakutef7_default", "holybro_pix32v5_default", - "intel_aerofc-v1_default", "modalai_fc-v1_default", "mro_ctrl-zero-f7_default", + "mro_ctrl-zero-f7-oem_default", + "mro_ctrl-zero-h7_default", + "mro_ctrl-zero-h7-oem_default", "mro_pixracerpro_default", "mro_x21-777_default", "mro_x21_default", "nxp_fmuk66-e_default", + "nxp_fmuk66-e_rtps", + "nxp_fmuk66-e_socketcan", "nxp_fmuk66-v3_default", "nxp_fmuk66-v3_rtps", "nxp_fmuk66-v3_socketcan", "nxp_fmurt1062-v1_default", "nxp_ucans32k146_default", + "nxp_ucans32k146_canbootloader", "omnibus_f4sd_default", "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", @@ -91,6 +96,7 @@ pipeline { "px4_fmu-v5x_base_phy_DP83848C", "px4_fmu-v5x_default", "px4_fmu-v6u_default", + "px4_fmu-v6u_test", "px4_fmu-v6x_default", "px4_io-v2_default", "spracing_h7extreme_default", diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware index 4071bfece9..e37c83d5a3 100644 --- a/.ci/Jenkinsfile-hardware +++ b/.ci/Jenkinsfile-hardware @@ -258,6 +258,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply @@ -333,6 +334,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply } @@ -407,6 +409,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply @@ -482,6 +485,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply @@ -560,6 +564,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply @@ -635,6 +640,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply } @@ -713,6 +719,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply } @@ -787,6 +794,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply } @@ -941,6 +949,7 @@ pipeline { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply } @@ -1000,10 +1009,12 @@ void statusFTDI() { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"' + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"' + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"' @@ -1019,6 +1030,7 @@ void statusFTDI() { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"' + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"' @@ -1060,6 +1072,7 @@ void statusFTDI() { sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"' + sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"' sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"' // stop logger diff --git a/.github/workflows/compile_linux.yml b/.github/workflows/compile_linux.yml index af3b7f8fc1..d15ecfb463 100644 --- a/.github/workflows/compile_linux.yml +++ b/.github/workflows/compile_linux.yml @@ -15,7 +15,6 @@ jobs: strategy: matrix: config: [ - aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml index f7d9194157..f6f2482cac 100644 --- a/.github/workflows/compile_nuttx.yml +++ b/.github/workflows/compile_nuttx.yml @@ -17,11 +17,13 @@ jobs: config: [ airmind_mindpx-v2_default, ark_can-flow_canbootloader, + ark_can-flow_debug, ark_can-flow_default, av_x-v1_default, bitcraze_crazyflie21_default, bitcraze_crazyflie_default, cuav_can-gps-v1_canbootloader, + cuav_can-gps-v1_debug, cuav_can-gps-v1_default, cuav_nora_default, cuav_x7pro_default, @@ -29,22 +31,29 @@ jobs: cubepilot_cubeorange_default, cubepilot_cubeyellow_console, cubepilot_cubeyellow_default, + cubepilot_io-v2_default, holybro_can-gps-v1_canbootloader, + holybro_can-gps-v1_debug, holybro_can-gps-v1_default, holybro_durandal-v1_default, holybro_kakutef7_default, holybro_pix32v5_default, - intel_aerofc-v1_default, modalai_fc-v1_default, + mro_ctrl-zero-f7-oem_default, mro_ctrl-zero-f7_default, + mro_ctrl-zero-h7-oem_default, + mro_ctrl-zero-h7_default, mro_pixracerpro_default, mro_x21-777_default, mro_x21_default, nxp_fmuk66-e_default, + nxp_fmuk66-e_rtps, + nxp_fmuk66-e_socketcan, nxp_fmuk66-v3_default, nxp_fmuk66-v3_rtps, nxp_fmuk66-v3_socketcan, nxp_fmurt1062-v1_default, + nxp_ucans32k146_canbootloader, nxp_ucans32k146_default, omnibus_f4sd_default, px4_fmu-v2_default, @@ -57,17 +66,20 @@ jobs: px4_fmu-v4_default, px4_fmu-v4pro_default, px4_fmu-v5_ctrlalloc, + px4_fmu-v5_debug, px4_fmu-v5_default, px4_fmu-v5_fixedwing, px4_fmu-v5_multicopter, px4_fmu-v5_optimized, px4_fmu-v5_rover, px4_fmu-v5_rtps, + px4_fmu-v5_stackcheck, px4_fmu-v5_uavcanv0periph, px4_fmu-v5_uavcanv1, px4_fmu-v5x_base_phy_DP83848C, px4_fmu-v5x_default, px4_fmu-v6u_default, + px4_fmu-v6u_test, px4_fmu-v6x_default, px4_io-v2_default, spracing_h7extreme_default, diff --git a/.github/workflows/deploy_all.yml b/.github/workflows/deploy_all.yml new file mode 100644 index 0000000000..51a7a859bb --- /dev/null +++ b/.github/workflows/deploy_all.yml @@ -0,0 +1,77 @@ +name: Deploy metadata for all targets + +on: + push: + branches: + - 'master' + - 'release/*' + - 'pr-metadata-test' + +jobs: + enumerate_targets: + runs-on: ubuntu-latest + outputs: + matrix: ${{ steps.set-matrix.outputs.matrix }} + steps: + - uses: actions/checkout@v1 + with: + token: ${{secrets.ACCESS_TOKEN}} + - id: set-matrix + run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)" + build: + runs-on: ubuntu-latest + needs: enumerate_targets + strategy: + matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}} + container: px4io/px4-dev-${{ matrix.container }}:2021-02-04 + steps: + - uses: actions/checkout@v1 + with: + token: ${{secrets.ACCESS_TOKEN}} + + - name: Prepare ccache timestamp + id: ccache_cache_timestamp + shell: cmake -P {0} + run: | + string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) + message("::set-output name=timestamp::${current_date}") + - name: ccache cache files + uses: actions/cache@v2 + with: + path: ~/.ccache + key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} + restore-keys: ${{matrix.target}}-ccache- + - name: setup ccache + run: | + mkdir -p ~/.ccache + echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf + echo "compression = true" >> ~/.ccache/ccache.conf + echo "compression_level = 5" >> ~/.ccache/ccache.conf + echo "max_size = 100M" >> ~/.ccache/ccache.conf + ccache -s + ccache -z + + - name: make ${{matrix.target}} + run: make ${{matrix.target}} + - name: ccache post-run + run: ccache -s + + - name: parameter metadata + run: | + make ${{matrix.target}} ver_gen + ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV + cd build/${{ matrix.target }} + mkdir _metadata || true + cp parameters.* _metadata + + - uses: jakejarvis/s3-sync-action@master + with: + args: --acl public-read + env: + AWS_S3_BUCKET: 'px4-travis' + AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }} + AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }} + AWS_REGION: 'us-west-1' + SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/' + DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/' + diff --git a/.github/workflows/metadata.yml b/.github/workflows/metadata.yml index d73eff4ae0..0c022860f1 100644 --- a/.github/workflows/metadata.yml +++ b/.github/workflows/metadata.yml @@ -4,9 +4,8 @@ on: push: branches: - 'master' - pull_request: - branches: - - '*' + - 'release/*' + - 'pr-metadata-test' jobs: @@ -51,9 +50,18 @@ jobs: - name: parameter metadata run: | make parameters_metadata - cd build/px4_sitl_default/docs - ls -ls * - # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/ + ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV + + - uses: jakejarvis/s3-sync-action@master + with: + args: --acl public-read + env: + AWS_S3_BUCKET: 'px4-travis' + AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }} + AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }} + AWS_REGION: 'us-west-1' + SOURCE_DIR: 'build/px4_sitl_default/docs/' + DEST_DIR: 'Firmware/${{ env.version }}/_general/' uorb_graph: runs-on: ubuntu-latest diff --git a/.gitmodules b/.gitmodules index 8338c4fa2d..482fd774ce 100644 --- a/.gitmodules +++ b/.gitmodules @@ -51,9 +51,6 @@ [submodule "Tools/jsbsim_bridge"] path = Tools/jsbsim_bridge url = https://github.com/PX4/px4-jsbsim-bridge.git -[submodule "src/examples/gyro_fft/CMSIS_5"] - path = src/examples/gyro_fft/CMSIS_5 - url = https://github.com/ARM-software/CMSIS_5.git [submodule "src/drivers/uavcan_v1/libcanard"] path = src/drivers/uavcan_v1/libcanard url = https://github.com/UAVCAN/libcanard.git diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index 308ed68f50..ebb9850906 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -111,16 +111,21 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: emlid_navio2_default + holybro_can-gps-v1_canbootloader: + short: holybro_can-gps-v1_canbootloader + buildType: MinSizeRel + settings: + CONFIG: holybro_can-gps-v1_canbootloader + holybro_can-gps-v1_default: + short: holybro_can-gps-v1_default + buildType: MinSizeRel + settings: + CONFIG: holybro_can-gps-v1_default holybro_durandal-v1_default: short: holybro_durandal-v1 buildType: MinSizeRel settings: CONFIG: holybro_durandal-v1_default - intel_aerofc-v1_default: - short: intel_aerofc-v1 - buildType: MinSizeRel - settings: - CONFIG: intel_aerofc-v1_default modalai_fc-v1_default: short: modalai_fc-v1 buildType: MinSizeRel diff --git a/.vscode/settings.json b/.vscode/settings.json index 5ded130f74..f8ce7d827b 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -27,7 +27,6 @@ "cSpell.showStatus": false, "cSpell.words": [ "acro", - "rattitude", "nuttx", "esc" ], diff --git a/CMakeLists.txt b/CMakeLists.txt index d0a54d987a..91de839b42 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -113,7 +113,7 @@ include(px4_parse_function_args) include(px4_git) execute_process( - COMMAND git describe --always --tags + COMMAND git describe --exclude ext/* --always --tags OUTPUT_VARIABLE PX4_GIT_TAG OUTPUT_STRIP_TRAILING_WHITESPACE WORKING_DIRECTORY ${PX4_SOURCE_DIR} @@ -454,3 +454,10 @@ add_custom_target(size WORKING_DIRECTORY ${PX4_BINARY_DIR} USES_TERMINAL ) + +# install python requirements using configured python +add_custom_target(install_python_requirements + COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt + DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt + USES_TERMINAL +) diff --git a/Jenkinsfile b/Jenkinsfile index c7c3f119e1..4cdc252ff6 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -110,8 +110,8 @@ pipeline { sh 'make distclean' sh 'make parameters_metadata' dir('build/px4_sitl_default/docs') { - archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz') - stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters' + archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz') + stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters' } } post { @@ -342,7 +342,7 @@ pipeline { withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') { s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/') s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/') - s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/') + s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/') } } when { diff --git a/Makefile b/Makefile index 31ea4aa4ad..99e8657960 100644 --- a/Makefile +++ b/Makefile @@ -174,6 +174,8 @@ define cmake-build @$(call cmake-cache-check) @# make sure to start from scratch when switching from GNU Make to Ninja @if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi + @# make sure to start from scratch if ninja build file is missing + @if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi @# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary @if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \ mkdir -p $(BUILD_DIR) \ @@ -268,7 +270,6 @@ px4fmu_firmware: \ misc_qgc_extra_firmware: \ check_nxp_fmuk66-v3_default \ check_nxp_fmurt1062-v1_default \ - check_intel_aerofc-v1_default \ check_mro_x21_default \ check_bitcraze_crazyflie_default \ check_bitcraze_crazyflie21_default \ @@ -302,7 +303,6 @@ check_%: @echo uorb_graphs: - @./Tools/uorb_graph/create_from_startupscript.sh @./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full @$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph @$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph @@ -318,7 +318,7 @@ coverity_scan: px4_sitl_default .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen parameters_metadata: - @$(MAKE) --no-print-directory px4_sitl_default metadata_parameters + @$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen airframe_metadata: @$(MAKE) --no-print-directory px4_sitl_default metadata_airframes diff --git a/README.md b/README.md index 33552e8834..1675604d2b 100644 --- a/README.md +++ b/README.md @@ -8,26 +8,30 @@ This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones. +PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box. + * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE)) * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)): - * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter) - * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane) - * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol) - * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc) + * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/) + * [Fixed wing](https://docs.px4.io/master/en/frames_plane/) + * [VTOL](https://docs.px4.io/master/en/frames_vtol/) + * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/) + * [Rover](https://docs.px4.io/master/en/frames_rover/) + * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc) * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases) -## PX4 Users +## Building a PX4 based drone, rover, boat or robot The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help! -## PX4 Developers +## Changing code and contributing -This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle. +This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle. -Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/). +Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/). See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help! @@ -69,10 +73,8 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co * [Daniel Agar](https://github.com/dagar) * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22) * [Paul Riseborough](https://github.com/priseborough) - * Vision based navigation - * [Julian Kent](https://github.com/jkflying) - * Obstacle Avoidance - * [Martina Rivizzigno](https://github.com/mrivi) + * Vision based navigation and Obstacle Avoidance + * [Markus Achtelik](https://github.com/markusachtelik) * RTPS/ROS2 Interface * [Nuno Marques](https://github.com/TSC21) @@ -80,27 +82,36 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and ## Supported Hardware -This repository contains code supporting these boards: - * FMUv2 - * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html) - * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html) - * FMUv3 +This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards. + +### Pixhawk Standard Boards + * FMUv6X and FMUv6U (STM32H7, 2021) + * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021 + * FMUv5 and FMUv5X (STM32F7, 2019/20) + * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html) + * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html) + * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html) + * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html) + * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html) + * FMUv4 (STM32F4, 2015) + * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html) + * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html) + * FMUv3 (STM32F4, 2014) * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html) * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html) * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html) - * FMUv4 - * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html) - * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html) - * FMUv5 (ARM Cortex M7) - * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html) - * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html) - * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html) - * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html) + * FMUv2 (STM32F4, 2013) + * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html) + * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html) + +### Manufacturer and Community supported + * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html) + * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html) + * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html) * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf) * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf) * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html) * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html) - * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html) * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html) * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html) diff --git a/ROMFS/CMakeLists.txt b/ROMFS/CMakeLists.txt index b7fcfb3044..3b1c1fd496 100644 --- a/ROMFS/CMakeLists.txt +++ b/ROMFS/CMakeLists.txt @@ -31,11 +31,12 @@ # ############################################################################ -message(STATUS "ROMFS: ${config_romfs_root}") - set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}) set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc) +file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir}) +message(STATUS "ROMFS: ${romfs_path_relative}") + set_property(GLOBAL PROPERTY PX4_ROMFS_FILES) set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES) @@ -81,6 +82,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja) if (px4_constrained_flash_build) set(added_arguments --constrained-flash) endif() +if(PX4_ETHERNET) + set(added_arguments ${added_arguments} --ethernet) +endif() # create list of relative romfs file names set(romfs_copy_files_relative) foreach(romfs_file IN LISTS romfs_copy_files) @@ -146,15 +150,53 @@ if(config_io_board) copy_px4io_bin ${fw_io_bin} ) + file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin}) + message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin") endif() -if(config_build_bootloader) + +# board bootloader (built or included) +if(TARGET copy_bootloader_bin) + + if(board_bootloader_firmware) + file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware}) + message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin") + else() + file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin}) + message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin") + endif() + list(APPEND extras_dependencies copy_bootloader_bin ${bootloader_bin} ) endif() + +# optional board architecture defaults +set(board_arch_rc_file "rc.board_arch_defaults") +if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}") + file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}) + message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}") + + add_custom_command( + OUTPUT + ${romfs_gen_root_dir}/init.d/${board_arch_rc_file} + ${board_arch_rc_file}.stamp + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file} + COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp + DEPENDS + ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} + romfs_copy.stamp + COMMENT "ROMFS: copying ${board_arch_rc_file}" + ) + + list(APPEND extras_dependencies + ${board_arch_rc_file}.stamp + ) +endif() + + set(OPTIONAL_BOARD_RC) list(APPEND OPTIONAL_BOARD_RC rc.board_defaults @@ -166,7 +208,8 @@ list(APPEND OPTIONAL_BOARD_RC foreach(board_rc_file ${OPTIONAL_BOARD_RC}) if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}") - message(STATUS "ROMFS: Adding ${board_rc_file}") + file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file}) + message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}") add_custom_command( OUTPUT @@ -194,7 +237,7 @@ if(config_uavcan_peripheral_firmware) foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware}) # include the px4io binary in ROMFS - message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}") + message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/") ExternalProject_Add(build_${uavcan_peripheral_config} SOURCE_DIR ${CMAKE_SOURCE_DIR} DOWNLOAD_COMMAND "" diff --git a/ROMFS/cannode/init.d/rcS b/ROMFS/cannode/init.d/rcS index f6c5a44d47..fea50019df 100644 --- a/ROMFS/cannode/init.d/rcS +++ b/ROMFS/cannode/init.d/rcS @@ -30,14 +30,16 @@ sercon # ver all -# -# Set the parameter file if mtd starts successfully. -# -if mtd start +if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params then set PARAM_FILE /fs/mtd_params fi +if mft query -q -k MTD -s MTD_PARAMETERS -v /dev/eeeprom0 +then + set PARAM_FILE /dev/eeeprom0 +fi + # # Load parameters. # @@ -47,6 +49,17 @@ then param reset_all fi +# +# Optional board architecture defaults: rc.board_arch_defaults +# +set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults +if [ -f $BOARD_ARCH_RC_DEFAULTS ] +then + echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}" + . $BOARD_ARCH_RC_DEFAULTS +fi +unset BOARD_ARCH_RC_DEFAULTS + # # Optional board defaults: rc.board_defaults # @@ -63,15 +76,6 @@ unset BOARD_RC_DEFAULTS # rgbled start -X -q rgbled_ncp5623c start -X -q -rgbled_pwm start - -if param greater -s LIGHT_EN_BLINKM 0 -then - if blinkm start -X - then - blinkm systemstate - fi -fi # # board sensors: rc.sensors diff --git a/ROMFS/px4fmu_common/extras/README.txt b/ROMFS/px4fmu_common/extras/README.txt deleted file mode 100644 index 4f7639784d..0000000000 --- a/ROMFS/px4fmu_common/extras/README.txt +++ /dev/null @@ -1,5 +0,0 @@ -px4fmuv3_bl.bin: Bootloader binary of the PX4 Bootloader - (https://github.com/PX4/Bootloader) - based on commit 184b813699a9cfd6f43a5a21556a06b4372baf5f - for the target px4fmuv3_bl - diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar new file mode 100644 index 0000000000..28d7c43127 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar @@ -0,0 +1,14 @@ +#!/bin/sh +# +# @name 3DR Iris Quadrotor SITL (foggy_lidar) +# +# @type Quadrotor Wide +# + +. ${R}etc/init.d-posix/airframes/10016_iris + +if [ $AUTOCNF = yes ] +then + param set EKF2_RNG_AID 1 + param set EKF2_RNG_A_HMAX 10 +fi diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post index 240f5d3740..64b8ce8b19 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post @@ -1,2 +1,2 @@ # shellcheck disable=SC2154 -mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK +mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop new file mode 100644 index 0000000000..8dcb6fd262 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop @@ -0,0 +1,61 @@ +#!/bin/sh +# +# @name Standard VTOL +# +# @type Standard VTOL +# + +. ${R}etc/init.d/rc.vtol_defaults + +if [ $AUTOCNF = yes ] +then + param set FW_L1_PERIOD 12 + param set FW_MAN_P_MAX 30 + param set FW_PR_FF 0.2 + param set FW_PR_I 0.4 + param set FW_PR_P 0.9 + param set FW_PSP_OFF 2 + param set FW_P_LIM_MAX 32 + param set FW_P_LIM_MIN -15 + param set FW_RR_FF 0.1 + param set FW_RR_P 0.3 + param set FW_THR_CRUISE 0.25 + param set FW_THR_MAX 0.6 + param set FW_THR_MIN 0.05 + param set FW_T_ALT_TC 2 + param set FW_T_CLMB_MAX 8 + param set FW_T_HRATE_FF 0.5 + param set FW_T_SINK_MAX 2.7 + param set FW_T_SINK_MIN 2.2 + param set FW_T_TAS_TC 2 + + param set MC_ROLLRATE_P 0.3 + param set MC_YAW_P 1.6 + + param set MIS_TAKEOFF_ALT 10 + + param set MPC_ACC_HOR_MAX 2 + param set MPC_XY_P 0.8 + param set MPC_XY_VEL_P_ACC 3 + param set MPC_XY_VEL_I_ACC 4 + param set MPC_XY_VEL_D_ACC 0.1 + + param set NAV_ACC_RAD 5 + param set NAV_LOITER_RAD 80 + + param set VT_FWD_THRUST_EN 4 + param set VT_F_TRANS_THR 0.75 + param set VT_MOT_ID 1234 + param set VT_FW_MOT_OFFID 1234 + param set VT_B_TRANS_DUR 8 + param set VT_TYPE 2 + + param set RC_MAP_AUX1 8 + param set RC_MAP_AUX2 9 + param set RC_MAP_AUX3 10 +fi + +set MAV_TYPE 22 + +set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix +set MIXER custom diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post new file mode 100644 index 0000000000..262b86cc69 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop.post @@ -0,0 +1 @@ +mixer append /dev/pwm_output0 etc/mixers-sitl/package_drop.aux.mix diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 index 72ebb6da13..fa7d78da31 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 @@ -38,7 +38,6 @@ then param set NAV_LOITER_RAD 100 param set RWTO_TKOFF 1 - param set MAV_BROADCAST 1 param set FW_ARSP_SCALE_EN 0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480 index 1666c0bd44..790df52935 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480 @@ -9,11 +9,11 @@ if [ $AUTOCNF = yes ] then - param set MC_PITCHRATE_P 0.1000 + param set MC_PITCHRATE_P 0.0800 param set MC_PITCHRATE_I 0.0400 param set MC_PITCHRATE_D 0.0010 param set MC_PITCH_P 9.0 - param set MC_ROLLRATE_P 0.1000 + param set MC_ROLLRATE_P 0.0800 param set MC_ROLLRATE_I 0.0400 param set MC_ROLLRATE_D 0.0010 param set MC_ROLL_P 9.0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post index 80264373dc..0af01438b7 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post @@ -1,7 +1,7 @@ mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix -mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 +mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p # shellcheck disable=SC2154 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post index 80264373dc..0af01438b7 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post @@ -1,7 +1,7 @@ mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix -mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 +mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p # shellcheck disable=SC2154 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index ca1ab02c07..6cef7670ce 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -34,6 +34,7 @@ px4_add_romfs_files( 10016_iris 10017_iris_ctrlalloc + 10018_iris_foggy_lidar 10020_if750a 10030_px4vision 1010_iris_opt_flow @@ -64,6 +65,8 @@ px4_add_romfs_files( 1040_standard_vtol 1041_tailsitter 1042_tiltrotor + 1043_standard_vtol_drop + 1043_standard_vtol_drop.post 1060_rover 1061_r1_rover 1062_tf-r1 diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index 7b535701ae..19fea1a602 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -21,6 +21,7 @@ fi # initialize script variables set AUX_MODE none +set AUX_BANK2 none set IO_PRESENT no set MAV_TYPE none set MIXER none @@ -97,7 +98,7 @@ then set AUTOCNF yes # Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID - param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID + param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* fi # multi-instance setup @@ -117,49 +118,51 @@ if [ $AUTOCNF = yes ] then param set SYS_AUTOSTART $REQUESTED_AUTOSTART - param set BAT_N_CELLS 4 - - param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION - param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION - param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION + param set CAL_ACC0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION param set CAL_GYRO0_ID 1310988 # 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION + param set CAL_ACC1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION param set CAL_GYRO1_ID 1310996 # 1310996: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION + param set CAL_ACC2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION + param set CAL_MAG0_ID 197388 param set CAL_MAG1_ID 197644 - param set CBRK_AIRSPD_CHK 0 - param set CBRK_SUPPLY_CHK 894281 - - # Don't require RC calibration and configuration - param set COM_RC_IN_MODE 1 - - # Speedup SITL startup - param set EKF2_REQ_GPS_H 0.5 - - # Multi-EKF - param set EKF2_MULTI_IMU 3 - param set SENS_IMU_MODE 0 - param set EKF2_MULTI_MAG 2 - param set SENS_MAG_MODE 0 - - # By default log from boot until first disarm. - param set SDLOG_MODE 1 - # enable default, estimator replay and vision/avoidance logging profiles - param set SDLOG_PROFILE 131 - param set SDLOG_DIRS_MAX 7 - param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set SENS_DPRES_OFF 0.001 - param set SYS_RESTART_TYPE 2 - param set TRIG_INTERFACE 3 + param set SYS_RESTART_TYPE 2 fi -param set COM_CPU_MAX -1 # disable check, no CPU load reported on posix yet +param set-default BAT_N_CELLS 4 -# Simulator IMU data provided at 250 Hz -param set IMU_INTEG_RATE 250 +param set-default CBRK_AIRSPD_CHK 0 +param set-default CBRK_SUPPLY_CHK 894281 + +# disable check, no CPU load reported on posix yet +param set-default COM_CPU_MAX -1 + +# Don't require RC calibration and configuration +param set-default COM_RC_IN_MODE 1 + +# Speedup SITL startup +param set-default EKF2_REQ_GPS_H 0.5 + +# Multi-EKF +param set-default EKF2_MULTI_IMU 3 +param set-default SENS_IMU_MODE 0 +param set-default EKF2_MULTI_MAG 2 +param set-default SENS_MAG_MODE 0 + +param set-default IMU_GYRO_FFT_EN 1 + +# By default log from boot until first disarm. +param set-default SDLOG_MODE 1 +# enable default, estimator replay and vision/avoidance logging profiles +param set-default SDLOG_PROFILE 131 +param set-default SDLOG_DIRS_MAX 7 + +param set-default TRIG_INTERFACE 3 # Adapt timeout parameters if simulation runs faster or slower than realtime. if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then @@ -174,6 +177,10 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc) echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER" param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER + + COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc) + echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER" + param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER fi # Autostart ID @@ -206,11 +213,28 @@ then param set SYS_AUTOCONFIG 0 fi +# Simulator IMU data provided at 250 Hz +param set IMU_INTEG_RATE 250 + dataman start # only start the simulator if not in replay mode, as both control the lockstep time if ! replay tryapplyparams then - simulator start -c $simulator_tcp_port + # Check if PX4_SIM_HOSTNAME environment variable is empty + # If empty check if PX4_SIM_HOST_ADDR environment variable is empty + # If both are empty use localhost for simulator + if [ -z "${PX4_SIM_HOSTNAME}" ]; then + if [ -z "${PX4_SIM_HOST_ADDR}" ]; then + echo "PX4 SIM HOST: localhost" + simulator start -c $simulator_tcp_port + else + echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR" + simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port + fi + else + echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME" + simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port + fi fi load_mon start battery_simulator start @@ -232,6 +256,16 @@ then camera_feedback start fi +if param compare -s IMU_GYRO_FFT_EN 1 +then + gyro_fft start +fi + +if param compare -s IMU_GYRO_CAL_EN 1 +then + gyro_calibration start +fi + # Configure vehicle type specific parameters. # Note: rc.vehicle_setup is the entry point for rc.interface, # rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps. @@ -241,7 +275,7 @@ fi if [ -e etc/init.d-posix/rc.mavlink_override ] then echo "Running non-default mavlink config rc.mavlink_override" - sh etc/init.d-posix/rc.mavlink_override + . ${R}etc/init.d-posix/rc.mavlink_override else # GCS link mavlink start -x -u $udp_gcs_port_local -r 4000000 -f diff --git a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil index 94f8389c63..0b7aa78871 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil @@ -47,4 +47,13 @@ param set-default RWTO_TKOFF 1 param set SYS_HITL 1 +# disable some checks to allow to fly +# - with usb +param set-default CBRK_USB_CHK 197848 +# - without real battery +param set-default CBRK_SUPPLY_CHK 894281 +# - without safety switch +param set-default COM_PREARM_MODE 0 +param set-default CBRK_IO_SAFETY 22027 + set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery index 73ba807362..a33707b682 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery +++ b/ROMFS/px4fmu_common/init.d/airframes/10015_tbs_discovery @@ -20,7 +20,6 @@ # @maintainer Lorenz Meier # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris index 3ea6fa74d9..ea593e825b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris +++ b/ROMFS/px4fmu_common/init.d/airframes/10016_3dr_iris @@ -18,7 +18,6 @@ # @maintainer Lorenz Meier # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d index 26378a7321..1d7e3e268c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d +++ b/ROMFS/px4fmu_common/init.d/airframes/10017_steadidrone_qu4d @@ -20,7 +20,6 @@ # @maintainer Lorenz Meier # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance index f586eb8600..05b39e571e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance +++ b/ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance @@ -20,7 +20,6 @@ # @maintainer Simon Wilks # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil index 49802c243b..3cf60a0f98 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil @@ -14,3 +14,12 @@ set MIXER quad_x set PWM_OUT 1234 param set SYS_HITL 1 + +# disable some checks to allow to fly +# - with usb +param set-default CBRK_USB_CHK 197848 +# - without real battery +param set-default CBRK_SUPPLY_CHK 894281 +# - without safety switch +param set-default COM_PREARM_MODE 0 +param set-default CBRK_IO_SAFETY 22027 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil index 3eef8aa909..0eb7b40ff2 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -8,7 +8,6 @@ # @maintainer Roman Bapst # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # @@ -67,6 +66,15 @@ param set-default VT_TYPE 2 param set SYS_HITL 1 +# disable some checks to allow to fly +# - with usb +param set-default CBRK_USB_CHK 197848 +# - without real battery +param set-default CBRK_SUPPLY_CHK 894281 +# - without safety switch +param set-default COM_PREARM_MODE 0 +param set-default CBRK_IO_SAFETY 22027 + set MAV_TYPE 22 set MIXER standard_vtol_hitl diff --git a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox index 438c384be5..b36f11ef34 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox +++ b/ROMFS/px4fmu_common/init.d/airframes/11001_hexa_cox @@ -18,7 +18,6 @@ # # @maintainer Lorenz Meier # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil index 4ea669c6ec..9011987384 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil @@ -17,3 +17,12 @@ set PWM_OUT 1234 # set SYS_HITL to 2 to start the SIH and avoid sensors startup param set SYS_HITL 2 + +# disable some checks to allow to fly: +# - with usb +param set-default CBRK_USB_CHK 197848 +# - without real battery +param set-default CBRK_SUPPLY_CHK 894281 +# - without safety switch +param set-default COM_PREARM_MODE 0 +param set-default CBRK_IO_SAFETY 22027 diff --git a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox index 8992cc4d58..5fc70fdfd3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox +++ b/ROMFS/px4fmu_common/init.d/airframes/12001_octo_cox @@ -16,7 +16,6 @@ # # @maintainer Lorenz Meier # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik index 1fc7adc9bd..e91e70e8d6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik +++ b/ROMFS/px4fmu_common/init.d/airframes/12002_steadidrone_mavrik @@ -17,7 +17,6 @@ # @maintainer Simon Wilks # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard index f86e82d6d5..6029d176ff 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard +++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard @@ -18,7 +18,6 @@ # @output AUX5 Throttle # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol index 14c5371ec9..30b8c7111f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol @@ -13,7 +13,6 @@ # @maintainer Roman Bapst # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 index d382ee5f03..8660126b12 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 +++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 @@ -18,7 +18,6 @@ # @output AUX4 Gear # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter index 0b8630b70e..ea700ce084 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter @@ -8,7 +8,6 @@ # @maintainer Roman Bapst # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter index 7b2adfc439..fdf9a3daf8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter @@ -17,7 +17,6 @@ # @maintainer Roman Bapst # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad index 99c3cfcf09..03151f1426 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad +++ b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad @@ -18,7 +18,6 @@ # @output AUX5 Throttle # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta index 26989b44db..b50ab35cbe 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta +++ b/ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta @@ -16,7 +16,6 @@ # @output AUX3 Motor # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad index 98e0f6e7a9..62ad1e71a3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad +++ b/ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad @@ -8,7 +8,6 @@ # @maintainer Sander Smeets # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger index 560fca0126..a04b06f68a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger +++ b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger @@ -8,7 +8,6 @@ # @maintainer Sander Smeets # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger index e90c3d5af0..47f0c98f41 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger +++ b/ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger @@ -8,7 +8,6 @@ # @maintainer Andreas Antener # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13010_claire b/ROMFS/px4fmu_common/init.d/airframes/13010_claire index 0af795d0a1..c9ef139257 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13010_claire +++ b/ROMFS/px4fmu_common/init.d/airframes/13010_claire @@ -8,7 +8,6 @@ # @maintainer Samay Siga # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence index f05c37c9ac..8c833c0c28 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence +++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence @@ -17,7 +17,6 @@ # @output MAIN8 Elevon left # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad index 6128f71c38..01a91748d9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad @@ -17,7 +17,6 @@ # @output MAIN8 Pusher reverse channel # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index 0ce948f52d..12d48b0ef3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -17,7 +17,6 @@ # @output MAIN8 motor 4 # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # @@ -27,48 +26,48 @@ param set-default BAT_N_CELLS 6 -param set-default FW_AIRSPD_MAX 30 -param set-default FW_AIRSPD_MIN 19 -param set-default FW_AIRSPD_TRIM 23 +param set-default FW_AIRSPD_MAX 30 +param set-default FW_AIRSPD_MIN 19 +param set-default FW_AIRSPD_TRIM 23 param set-default FW_L1_R_SLEW_MAX 40 param set-default FW_LND_EARLYCFG 1 -param set-default FW_MAN_P_MAX 30 -param set-default FW_PR_I 0.1 -param set-default FW_PSP_OFF 3 +param set-default FW_MAN_P_MAX 30 +param set-default FW_PR_I 0.1 +param set-default FW_PSP_OFF 3 param set-default FW_P_LIM_MAX 18 param set-default FW_P_LIM_MIN -25 -param set-default FW_RLL_TO_YAW_FF 0.1 -param set-default FW_RR_I 0.1 -param set-default FW_RR_P 0.08 +param set-default FW_RLL_TO_YAW_FF 0.1 +param set-default FW_RR_I 0.1 +param set-default FW_RR_P 0.08 param set-default FW_R_LIM 45 -param set-default FW_R_RMAX 50 +param set-default FW_R_RMAX 50 param set-default FW_THR_CRUISE 0.65 param set-default FW_THR_MIN 0.3 param set-default FW_THR_SLEW_MAX 0.6 param set-default FW_T_HRATE_FF 0 -param set-default FW_T_SINK_MAX 15 -param set-default FW_T_SINK_MIN 3 -param set-default FW_YR_I 0.1 -param set-default FW_YR_P 0.15 +param set-default FW_T_SINK_MAX 15 +param set-default FW_T_SINK_MIN 3 +param set-default FW_YR_I 0.1 +param set-default FW_YR_P 0.15 param set-default IMU_GYRO_CUTOFF 40 param set-default IMU_DGYRO_CUTOFF 15 -param set-default MC_PITCHRATE_I 0.2 +param set-default MC_PITCHRATE_I 0.2 param set-default MC_PITCHRATE_MAX 60 -param set-default MC_ROLLRATE_I 0.2 +param set-default MC_ROLLRATE_I 0.2 param set-default MC_ROLLRATE_MAX 60 param set-default MC_YAWRATE_I 0.15 param set-default MC_YAWRATE_MAX 40 param set-default MC_YAWRATE_P 0.3 -param set-default MIS_TAKEOFF_ALT 30 +param set-default MIS_TAKEOFF_ALT 30 -param set-default MPC_ACC_DOWN_MAX 2 -param set-default MPC_ACC_HOR_MAX 2 -param set-default MPC_ACC_UP_MAX 3 +param set-default MPC_ACC_DOWN_MAX 2 +param set-default MPC_ACC_HOR_MAX 2 +param set-default MPC_ACC_UP_MAX 3 param set-default MC_AIRMODE 1 -param set-default MPC_JERK_AUTO 4 +param set-default MPC_JERK_AUTO 4 param set-default MPC_LAND_SPEED 1 param set-default MPC_MAN_TILT_MAX 25 param set-default MPC_MAN_Y_MAX 40 @@ -77,7 +76,7 @@ param set-default MPC_SPOOLUP_TIME 1.5 param set-default MPC_THR_HOVER 0.45 param set-default MPC_TILTMAX_AIR 25 param set-default MPC_TKO_RAMP_T 1.8 -param set-default MPC_TKO_SPEED 1 +param set-default MPC_TKO_SPEED 1 param set-default MPC_VEL_MANUAL 3 param set-default MPC_XY_CRUISE 3 param set-default MPC_XY_VEL_MAX 3.5 @@ -85,7 +84,7 @@ param set-default MPC_YAWRAUTO_MAX 40 param set-default MPC_Z_VEL_MAX_DN 1.5 param set-default MPC_Z_VEL_MAX_UP 2 -param set-default NAV_ACC_RAD 3 +param set-default NAV_ACC_RAD 3 param set-default PWM_MAIN_DIS3 1000 param set-default PWM_MAIN_MIN3 1120 @@ -113,3 +112,4 @@ set MIXER babyshark set MIXER_AUX pass set PWM_OUT 5678 +set PWM_AUX_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard deleted file mode 100644 index 63fe83aee6..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/13015_generic_vtol_standard +++ /dev/null @@ -1,58 +0,0 @@ -#!/bin/sh -# -# @name Generic Quadplane VTOL (PWM14) -# -# @type Standard VTOL -# @class VTOL -# -# @maintainer -# -# @output MAIN1 motor 1 -# @output MAIN2 motor 2 -# @output MAIN3 motor 3 -# @output MAIN4 motor 4 -# @output MAIN5 Aileron 1 -# @output MAIN6 Aileron 2 -# @output MAIN7 Elevator -# @output MAIN8 Rudder -# @output MAIN9 Pusher motor -# -# @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.vtol_defaults - - -param set-default PWM_MAIN_RATE 400 - -param set-default PWM_MAIN_MIN1 1100 -param set-default PWM_MAIN_MIN2 1100 -param set-default PWM_MAIN_MIN3 1100 -param set-default PWM_MAIN_MIN4 1100 - -param set-default PWM_MAIN_MAX1 1900 -param set-default PWM_MAIN_MAX2 1900 -param set-default PWM_MAIN_MAX3 1900 -param set-default PWM_MAIN_MAX4 1900 - -param set-default PWM_MAIN_DIS1 900 -param set-default PWM_MAIN_DIS2 900 -param set-default PWM_MAIN_DIS3 900 -param set-default PWM_MAIN_DIS4 900 -param set-default PWM_MAIN_DIS5 1500 -param set-default PWM_MAIN_DIS6 1500 -param set-default PWM_MAIN_DIS7 1500 -param set-default PWM_MAIN_DIS8 1500 -param set-default PWM_MAIN_DIS9 900 - -param set-default VT_TYPE 2 -param set-default VT_MOT_ID 1234 -param set-default VT_FW_MOT_OFFID 1234 -set MAV_TYPE 22 - -set MIXER quad_x_vtol_AAERT -set MIXER_AUX none - -set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor new file mode 100644 index 0000000000..e6595c74ff --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor @@ -0,0 +1,41 @@ +#!/bin/sh +# +# @name Generic Quadplane VTOL Tiltrotor +# +# @type VTOL Tiltrotor +# @class VTOL +# +# @maintainer +# +# @output MAIN1 motor 1 +# @output MAIN2 motor 2 +# @output MAIN3 motor 3 +# @output MAIN4 motor 4 +# @output AUX1 Motor tilt front left +# @output AUX2 Motor tilt front right +# @output AUX3 Motor tilt rear left +# @output AUX4 Motor tilt rear right +# @output AUX5 Aileron left +# @output AUX6 Aileron right +# @output AUX7 Elevator +# @output AUX8 Rudder +# +# @board px4_fmu-v2 exclude +# @board bitcraze_crazyflie exclude +# + +. ${R}etc/init.d/rc.vtol_defaults + + +param set-default PWM_MAIN_RATE 400 + +param set-default VT_IDLE_PWM_MC 1100 +param set-default VT_TYPE 1 +param set-default VT_MOT_ID 1234 +param set-default VT_FW_MOT_OFFID 24 +set MAV_TYPE 21 + +set MIXER quad_x +set MIXER_AUX vtol_TTTTAAER + +set PWM_OUT 1234 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo index ab2308d820..6daf766136 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo +++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo @@ -20,7 +20,6 @@ # @output AUX5 Throttle # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter index aa9c0fec6b..23ea7fb2c9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter @@ -13,7 +13,6 @@ # @maintainer Roman Bapst # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+ index 6a772e4a06..eb02d83734 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+ +++ b/ROMFS/px4fmu_common/init.d/airframes/14001_tri_y_yaw+ @@ -12,7 +12,6 @@ # # @maintainer Trent Lukaczyk # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw- b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw- index 262aea2ab9..ad36ed08c0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw- +++ b/ROMFS/px4fmu_common/init.d/airframes/14002_tri_y_yaw- @@ -12,7 +12,6 @@ # # @maintainer Trent Lukaczyk # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli index a4e556c142..3113c8cc41 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli +++ b/ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli @@ -13,7 +13,6 @@ # @maintainer Emmanuel Roussel # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter index c1207b2435..0367a747a8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter +++ b/ROMFS/px4fmu_common/init.d/airframes/16001_helicopter @@ -14,7 +14,6 @@ # @output MAIN5 tail-rotor servo # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 index d9549b664e..048f4bb1be 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 +++ b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 @@ -20,7 +20,6 @@ # @maintainer ThunderFly s.r.o., Roman Dvorak # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 index 2056f7b74a..975001bc1a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 +++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 @@ -15,7 +15,6 @@ # @maintainer ThunderFly s.r.o., Roman Dvorak # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 index de417958c7..e2ad00c809 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 +++ b/ROMFS/px4fmu_common/init.d/airframes/18001_TF-B1 @@ -10,7 +10,6 @@ # @maintainer ThunderFly s.r.o. # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane index 1a2ad26d52..8274472503 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane +++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane @@ -18,7 +18,6 @@ # # @maintainer Lorenz Meier # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/2105_maja b/ROMFS/px4fmu_common/init.d/airframes/2105_maja index 43a666c5ff..eda8c12d64 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2105_maja +++ b/ROMFS/px4fmu_common/init.d/airframes/2105_maja @@ -20,7 +20,6 @@ # @maintainer Andreas Antener # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross index cf25f2fe5d..7639f0b2d2 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross +++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross @@ -20,7 +20,6 @@ # # @maintainer Andreas Antener # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon index 6bdf132ccb..1f4825048f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon +++ b/ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon @@ -21,7 +21,6 @@ # @maintainer Friedrich Beckmann # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox index f4a5b53d36..37f1a8bc95 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox +++ b/ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox @@ -22,7 +22,6 @@ # @maintainer Ian McNanie # @maintainer William Peale # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship index 9326c9c0db..a040702c07 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship +++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship @@ -10,7 +10,6 @@ # @output MAIN4 tail thruster # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing index 00c75fef9a..4b5ee877d6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing +++ b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing @@ -15,7 +15,6 @@ # # @maintainer # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer index 571783c9b6..d902b960eb 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer +++ b/ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer @@ -16,7 +16,6 @@ # @maintainer Simon Wilks # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom index 87b4504d99..0b2a594768 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/airframes/3031_phantom @@ -18,7 +18,6 @@ # @maintainer Simon Wilks # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 index 577710bded..8ea3dc7d3a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 +++ b/ROMFS/px4fmu_common/init.d/airframes/3032_skywalker_x5 @@ -16,7 +16,6 @@ # @maintainer Julian Oes # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing index 2e4a7f58ef..ddb33dbfd5 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/airframes/3033_wingwing @@ -18,7 +18,6 @@ # @maintainer Lorenz Meier # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames index ab9a1caa88..d28edc165e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames +++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames @@ -21,11 +21,8 @@ set MIXER quad_x set PWM_OUT 1234 - - param set-default IMU_GYRO_CUTOFF 40 param set-default IMU_DGYRO_CUTOFF 20 -param set-default IMU_GYRO_RATEMAX 400 param set-default MC_ROLLRATE_P 0.18 param set-default MC_ROLLRATE_I 0.15 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb index 69f834c6a6..a708e32d4d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb +++ b/ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb @@ -13,7 +13,6 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo index 55af8d5485..96f78e8e1a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo +++ b/ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo @@ -13,7 +13,6 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad index e7e76f024d..405627f40a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad +++ b/ROMFS/px4fmu_common/init.d/airframes/4031_3dr_quad @@ -8,7 +8,6 @@ # @maintainer Lorenz Meier # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper index 058c338a55..bf6bd46aa6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4040_reaper +++ b/ROMFS/px4fmu_common/init.d/airframes/4040_reaper @@ -15,7 +15,6 @@ # @maintainer Blankered # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x index a971b9f468..beb21c2937 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x +++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x @@ -18,7 +18,6 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 index 05a729616e..0837d6f783 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4050_generic_250 @@ -7,7 +7,6 @@ # # @maintainer Lorenz Meier # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq index 5361c80358..40230bb59b 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq +++ b/ROMFS/px4fmu_common/init.d/airframes/4051_s250aq @@ -17,7 +17,6 @@ # @maintainer Lorenz Meier # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 index 92cecf6e35..df5fa21481 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 @@ -10,7 +10,6 @@ # @maintainer Beat Kueng # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 index 5ab7497021..41a287c4c3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 +++ b/ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2 @@ -8,7 +8,6 @@ # @maintainer Beat Kueng # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # @@ -17,8 +16,6 @@ set MIXER quad_x set PWM_OUT 1234 -set PARAM_DEFAULTS_VER 2 - param set-default BAT_N_CELLS 4 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 index 9e426e3010..7ea158a44a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 +++ b/ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100 @@ -8,7 +8,6 @@ # @maintainer James Goppert # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc b/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc deleted file mode 100644 index ca2ec641c1..0000000000 --- a/ROMFS/px4fmu_common/init.d/airframes/4070_aerofc +++ /dev/null @@ -1,81 +0,0 @@ -#!/bin/sh -# -# @name Intel Aero Ready to Fly Drone -# -# @type Quadrotor x -# @class Copter -# -# @maintainer Beat Kueng -# -# @board px4_fmu-v2 exclude -# @board px4_fmu-v3 exclude -# @board px4_fmu-v4 exclude -# @board px4_fmu-v4pro exclude -# @board px4_fmu-v5 exclude -# @board px4_fmu-v5x exclude -# @board bitcraze_crazyflie exclude -# - -. ${R}etc/init.d/rc.mc_defaults - -# -# Load default params for this platform -# - -# Set all params here, then disable autoconfig -param set-default EKF2_GPS_POS_X -0.06 -param set-default EKF2_GPS_POS_Z -0.1 -param set-default EKF2_MIN_OBS_DT 50 - -param set-default EKF2_BARO_GATE 10 -param set-default EKF2_BARO_NOISE 5 -param set-default EKF2_ACC_NOISE 0.7 - -param set-default LNDMC_Z_VEL_MAX 2 - -param set-default MC_ROLL_P 8 -param set-default MC_ROLLRATE_P 0.13 -param set-default MC_ROLLRATE_I 0.07 -param set-default MC_ROLLRATE_D 0.0012 -param set-default MC_ROLLRATE_MAX 360 -param set-default MC_PITCH_P 8 -param set-default MC_PITCHRATE_P 0.13 -param set-default MC_PITCHRATE_I 0.07 -param set-default MC_PITCHRATE_D 0.0012 -param set-default MC_PITCHRATE_MAX 360 -param set-default MC_YAW_P 4 -param set-default MC_YAWRATE_P 0.12 -param set-default MC_YAWRATE_I 0.05 -param set-default MC_YAWRATE_D 0 - -param set-default MPC_LAND_SPEED 0.7 -param set-default MPC_MANTHR_MIN 0.04 -param set-default MPC_THR_HOVER 0.5 -param set-default MPC_THR_MAX 0.94 -param set-default MPC_THR_MIN 0.1 -param set-default MPC_XY_CRUISE 8 -param set-default MPC_XY_P 1.5 -param set-default MPC_XY_VEL_P_ACC 3 -param set-default MPC_Z_P 1.5 -param set-default MPC_Z_VEL_P_ACC 16 -param set-default MPC_Z_VEL_I_ACC 3 -param set-default MPC_Z_VEL_MAX_DN 4 -param set-default MPC_Z_VEL_MAX_UP 5 - -# TELEM2 config -param set-default MAV_1_CONFIG 102 -param set-default MAV_1_RATE 80000 -param set-default MAV_1_FORWARD 1 -param set-default SER_TEL2_BAUD 921600 - -if ! param greater SYS_HITL 0 -then - tap_esc start -d /dev/ttyS0 -n 4 - usleep 300000 - - set OUTPUT_MODE tap_esc -fi - -set MIXER quad_x -set USE_IO no - diff --git a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo index ae7c1ea5ca..eb3e0a680f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo +++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo @@ -17,8 +17,8 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude +# @board cuav_x7pro exclude # set VEHICLE_TYPE mc @@ -112,10 +112,12 @@ param set-default NAV_RCL_ACT 6 # TELEM1 ttyS1 - Wifi module param set-default MAV_0_CONFIG 101 param set-default MAV_0_RATE 0 -param set-default MAV_0_MODE 2 # onboard +# onboard +param set-default MAV_0_MODE 2 param set-default SER_TEL1_BAUD 921600 # TELEM2 ttyS2 - Sub 1-Ghz param set-default MAV_1_CONFIG 102 -param set-default MAV_1_MODE 0 # normal +# normal +param set-default MAV_1_MODE 0 param set-default SER_TEL2_BAUD 57600 diff --git a/ROMFS/px4fmu_common/init.d/airframes/4072_draco b/ROMFS/px4fmu_common/init.d/airframes/4072_draco index 975d0c545c..18afd3735f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4072_draco +++ b/ROMFS/px4fmu_common/init.d/airframes/4072_draco @@ -17,7 +17,6 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s index 56f9d390c1..3d9a7c34d4 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s +++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s @@ -15,7 +15,8 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude +# @board bitcraze_crazyflie exclude +# @board cuav_x7pro exclude # # @maintainer Hyon Lim # @@ -120,12 +121,14 @@ param set-default NAV_RCL_ACT 6 # TELEM1 ttyS1 - Wifi module param set-default MAV_0_CONFIG 101 param set-default MAV_0_RATE 0 -param set-default MAV_0_MODE 2 # onboard +# onboard +param set-default MAV_0_MODE 2 param set-default SER_TEL1_BAUD 921600 # TELEM2 ttyS2 - Sub 1-Ghz param set-default MAV_1_CONFIG 102 -param set-default MAV_1_MODE 0 # normal +# normal +param set-default MAV_1_MODE 0 param set-default SER_TEL2_BAUD 57600 # DSHOT diff --git a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 index 70f970b294..9576fd24be 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 +++ b/ROMFS/px4fmu_common/init.d/airframes/4080_zmr250 @@ -8,7 +8,6 @@ # @maintainer Anton Matosov # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind index 4448cf6cab..a51335b8fa 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind +++ b/ROMFS/px4fmu_common/init.d/airframes/4090_nanomind @@ -12,7 +12,6 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor index be39aab46f..3fd3f11d74 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor +++ b/ROMFS/px4fmu_common/init.d/airframes/4100_tiltquadrotor @@ -19,7 +19,6 @@ # @maintainer Ricardo Marques # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal index efe879ff2e..117d4037aa 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal +++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal @@ -17,7 +17,6 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 index 1e9d6273e8..91a5ef23f0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 +++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4 @@ -8,7 +8,6 @@ # @maintainer Oleg Kalachev # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie index b912c8ded3..da3c4bfac0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie +++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie @@ -13,7 +13,6 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # . ${R}etc/init.d/rc.mc_defaults diff --git a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 index fa1b748195..67fb4406ce 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 +++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21 @@ -13,15 +13,16 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # . ${R}etc/init.d/rc.mc_defaults set MIXER quad_x_cw set PWM_OUT 1234 -param set-default SYS_MC_EST_GROUP 3 +param set-default SYS_MC_EST_GROUP 2 param set-default SYS_HAS_MAG 0 +param set-default EKF2_AID_MASK 2 +param set-default EKF2_MAG_TYPE 5 param set-default BAT_N_CELLS 1 param set-default BAT1_N_CELLS 1 @@ -59,7 +60,7 @@ param set-default MPC_MAX_FLOW_HGT 3 param set-default NAV_RCL_ACT 3 param set-default PWM_MAIN_DISARM 0 -param set-default PWM_MAIN_MIN 0 +param set-default PWM_MAIN_MIN 20 param set-default PWM_MAIN_MAX 255 # Run the motors at 328.125 kHz (recommended) diff --git a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle index 2e40df0ff3..41242a98c5 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle +++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle @@ -10,7 +10,6 @@ # # @maintainer # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover index c36e815517..f4999452c3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover +++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover @@ -7,15 +7,12 @@ # @type Rover # @class Rover # -# @board px4_fmu-v2 exclude -# # @output MAIN0 Speed of left wheels # @output MAIN1 Speed of right wheels # # @maintainer Timothy Scott # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx index 73fdffb03c..fd6f195605 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx +++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx @@ -15,7 +15,6 @@ # @maintainer Katrin Moritz # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ index b282d5fdd2..5e5df33a4c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/5001_quad_+ @@ -19,7 +19,6 @@ # # @maintainer Lorenz Meier # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic index 33ec6cb100..705d185a6a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic +++ b/ROMFS/px4fmu_common/init.d/airframes/60000_uuv_generic @@ -8,7 +8,6 @@ # @maintainer # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus index 13ec47f8f4..360d700fd6 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus +++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus @@ -8,7 +8,6 @@ # @maintainer Daniel Duecker # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy index 5b2509de47..69384284be 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy +++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy @@ -17,7 +17,6 @@ # @maintainer Thies Lennart Alff # # @board px4_fmu-v2 exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x index 7c1e9b7b96..893bb991c9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x +++ b/ROMFS/px4fmu_common/init.d/airframes/6001_hexa_x @@ -18,7 +18,6 @@ # # @maintainer Lorenz Meier # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r index f36c9fcef1..1eefccbfb1 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r +++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r @@ -22,7 +22,6 @@ # @board px4_fmu-v4pro exclude # @board px4_fmu-v5 exclude # @board px4_fmu-v5x exclude -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # @@ -123,7 +122,7 @@ param set-default BAT_V_DIV 10.133 # TELEM1 ttyS1 param set-default MAV_0_CONFIG 101 -param set-default MAV_0_MODE 0 # onboard +param set-default MAV_0_MODE 0 param set-default MAV_0_FORWARD 1 param set-default SER_TEL1_BAUD 57600 diff --git a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ index c8ab1e2d13..8f9e6f7cf9 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/7001_hexa_+ @@ -18,7 +18,6 @@ # # @maintainer Lorenz Meier # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x index 17bf17dda6..e69776f314 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x +++ b/ROMFS/px4fmu_common/init.d/airframes/8001_octo_x @@ -20,7 +20,6 @@ # # @maintainer Lorenz Meier # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ index bd9b48a74e..b61a1f95b0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ +++ b/ROMFS/px4fmu_common/init.d/airframes/9001_octo_+ @@ -20,7 +20,6 @@ # # @maintainer Lorenz Meier # -# @board intel_aerofc-v1 exclude # @board bitcraze_crazyflie exclude # diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index 384c167605..10fcab755e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -81,7 +81,6 @@ px4_add_romfs_files( 4052_holybro_qav250 4053_holybro_kopis2 4060_dji_matrice_100 - 4070_aerofc 4071_ifo 4072_draco 4073_ifo-s @@ -138,7 +137,7 @@ px4_add_romfs_files( 13012_convergence 13013_deltaquad 13014_vtol_babyshark - 13015_generic_vtol_standard + 13030_generic_vtol_quad_tiltrotor 13050_generic_vtol_octo 13200_generic_vtol_tailsitter diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index be788effa1..3bbcda9746 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/ROMFS/px4fmu_common/init.d/rc.interface @@ -30,9 +30,9 @@ then fi # USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled -if [ $USE_IO = no ] +if [ $USE_IO = no -a $AUX_BANK2 = none ] then - set MIXER_AUX none + set AUX_MODE none fi # @@ -144,14 +144,10 @@ then set OUTPUT_DEV /dev/uavcan/esc fi - if [ $OUTPUT_MODE = tap_esc ] - then - set OUTPUT_DEV /dev/tap_esc - fi - if mixer load ${OUTPUT_DEV} ${MIXER_FILE} then echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}" + else echo "ERROR [init] Failed loading mixer: ${MIXER_FILE}" tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR @@ -183,6 +179,7 @@ then if [ $MIXER_AUX_FILE != none ] then + # Start the output module if $OUTPUT_CMD mode_${AUX_MODE} then # Append aux mixer to main device. @@ -204,6 +201,7 @@ then echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}" fi else + echo "INFO [init] setting PWM_AUX_OUT none" set PWM_AUX_OUT none fi else @@ -228,6 +226,36 @@ then fi fi +if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ] +then + # + # Load aux mixer. + # + if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ] + then + set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix + else + + if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ] + then + set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix + fi + fi + + if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE} + then + echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}" + + # Set PWM_AUX output frequency. + if [ $PWM_AUX_RATE != none ] + then + pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV} + fi + else + echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}" + fi +fi + if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ] then if [ $PWM_OUT != none ] diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 404ea6a138..86fc1e0421 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -4,12 +4,6 @@ # NOTE: Script variables are declared/initialized/unset in the rcS script. # -if param greater -s UAVCAN_ENABLE 1 -then - # Reduce logger buffer to free up some RAM for UAVCAN servers. - set LOGGER_BUF 6 -fi - ############################################################################### # End Setup for board specific configurations. # ############################################################################### diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 06ba384f6d..7a9fc56414 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -7,6 +7,8 @@ set VEHICLE_TYPE mc +param set-default IMU_GYRO_RATEMAX 800 + param set-default NAV_ACC_RAD 2 param set-default RTL_RETURN_ALT 30 diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 75f739e80a..8247025f8d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -5,7 +5,7 @@ # NOTE: Script variables are declared/initialized/unset in the rcS script. # -if ! ver hwcmp AEROFC_V1 OMNIBUS_F4SD +if ! ver hwcmp OMNIBUS_F4SD then if ! ver hwcmp BITCRAZE_CRAZYFLIE then @@ -108,6 +108,12 @@ then vl53l1x start -X fi +# ADIS16448 spi external IMU +if param compare -s SENS_EN_ADIS164X 1 +then + adis16448 -S start +fi + # probe for optional external I2C devices if param compare SENS_EXT_I2C_PRB 1 then @@ -124,26 +130,25 @@ then # differential pressure sensors if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ] then - if param compare CBRK_AIRSPD_CHK 0 + # Always try to start the airspeed sensors + # even if their usage might be disabled + sdp3x_airspeed start -X -q + sdp3x_airspeed start -X -a 0x22 -q + + # Pixhawk 2.1 has a MS5611 on I2C which gets wrongly + # detected as MS5525 because the chip manufacturer was so + # clever to assign the same I2C address and skip a WHO_AM_I + # register. + if [ $BOARD_FMUV3 = 21 ] then - sdp3x_airspeed start -X -q - sdp3x_airspeed start -X -a 0x22 -q - - # Pixhawk 2.1 has a MS5611 on I2C which gets wrongly - # detected as MS5525 because the chip manufacturer was so - # clever to assign the same I2C address and skip a WHO_AM_I - # register. - if [ $BOARD_FMUV3 = 21 ] - then - ms5525_airspeed start -X -b 2 -q - else - ms5525_airspeed start -X -q - fi - - ms4525_airspeed start -X -q - - ets_airspeed start -X -q + ms5525_airspeed start -X -b 2 -q + else + ms5525_airspeed start -X -q fi + + ms4525_airspeed start -X -q + + ets_airspeed start -X -q fi fi diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 2830440e79..fd584941e6 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -7,9 +7,6 @@ set VEHICLE_TYPE vtol -# to minimize cpu usage on older boards limit inner loop to 400 Hz -param set-default IMU_GYRO_RATEMAX 400 - param set-default MIS_TAKEOFF_ALT 20 param set-default MIS_YAW_TMT 10 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 3c49fee229..38af11804b 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -23,7 +23,6 @@ set +e set R / set AUTOCNF no set AUX_MODE pwm -set DATAMAN_OPT "" set FCONFIG /fs/microsd/etc/config.txt set FEXTRAS /fs/microsd/etc/extras.txt set FMU_MODE pwm @@ -52,12 +51,6 @@ set STARTUP_TUNE 1 set USE_IO no set VEHICLE_TYPE none -# Airframe parameter versioning: airframe maintainers can set this in the -# airframe startup script, and then increase it by one whenever an airframe -# parameter is updated - it will ensure that these parameters will be updated -# when the firmware is flashed. -set PARAM_DEFAULTS_VER 1 - # # Mount the procfs. # @@ -172,15 +165,22 @@ else # if param greater SYS_AUTOCONFIG 0 then - if param compare SYS_AUTOCONFIG 1 - then - # Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID - param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER - fi - + # Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID + param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* set AUTOCNF yes fi + # + # Optional board architecture defaults: rc.board_arch_defaults + # + set BOARD_ARCH_RC_DEFAULTS ${R}etc/init.d/rc.board_arch_defaults + if [ -f $BOARD_ARCH_RC_DEFAULTS ] + then + echo "Board architecture defaults: ${BOARD_ARCH_RC_DEFAULTS}" + . $BOARD_ARCH_RC_DEFAULTS + fi + unset BOARD_ARCH_RC_DEFAULTS + # # Optional board defaults: rc.board_defaults # @@ -211,7 +211,7 @@ else # Waypoint storage. # REBOOTWORK this needs to start in parallel. # - dataman start $DATAMAN_OPT + dataman start # # Start the socket communication send_event handler. @@ -229,14 +229,6 @@ else rgbled start -X -q rgbled_ncp5623c start -X -q - if param greater -s LIGHT_EN_BLINKM 0 - then - if blinkm start -X - then - blinkm systemstate - fi - fi - # # Set parameters and env variables for selected AUTOSTART. # @@ -427,6 +419,11 @@ else fi fi + if param greater -s UAVCAN_V1_ENABLE 0 + then + uavcan_v1 start + fi + # # Optional board mavlink streams: rc.board_mavlink # @@ -501,6 +498,11 @@ else gyro_fft start fi + if param compare -s IMU_GYRO_CAL_EN 1 + then + gyro_calibration start + fi + # # Optional board supplied extras: rc.board_extras # @@ -534,13 +536,20 @@ else . ${R}etc/init.d/rc.autostart.post fi - if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER} + # + # Bootloader upgrade + # + if param compare -s SYS_BL_UPDATE 1 then - echo "Switched to different parameter version. Resetting parameters." - param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER} - param set SYS_AUTOCONFIG 2 - param save - reboot + if [ -f "/etc/extras/bootloader.bin" ] + then + param set SYS_BL_UPDATE 0 + param save + echo "bootloader update..." + bl_update "/etc/extras/bootloader.bin" + echo "bootloader update done, rebooting" + reboot + fi fi # @@ -554,7 +563,6 @@ fi unset R unset AUTOCNF unset AUX_MODE -unset DATAMAN_OPT unset FCONFIG unset FEXTRAS unset FMU_MODE @@ -568,7 +576,6 @@ unset MIXER unset MIXER_AUX unset MIXER_FILE unset OUTPUT_MODE -unset PARAM_DEFAULTS_VER unset PARAM_FILE unset PWM_AUX_OUT unset PWM_AUX_RATE diff --git a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt index eadfa7003b..eaab17db6d 100644 --- a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt +++ b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt @@ -35,6 +35,7 @@ px4_add_romfs_files( autogyro_sitl.main.mix boat_sitl.main.mix delta_wing_sitl.main.mix + package_drop.aux.mix plane_sitl.main.mix quad_x_vtol.main.mix rover_ackermann_sitl.main.mix diff --git a/ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix b/ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix new file mode 100644 index 0000000000..9e0b87924e --- /dev/null +++ b/ROMFS/px4fmu_common/mixers-sitl/package_drop.aux.mix @@ -0,0 +1,12 @@ + +# Roll channel for mount +M: 1 +S: 3 5 10000 10000 0 -10000 10000 + +# Pitch channel for mount +M: 1 +S: 3 6 10000 10000 0 -10000 10000 + +# Yaw channel for mount +M: 1 +S: 3 7 10000 10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt index e60dc9b260..a6dfd68247 100644 --- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt +++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt @@ -90,6 +90,7 @@ px4_add_romfs_files( Viper.main.mix vtol_AAERT.aux.mix vtol_AAVVT.aux.mix + vtol_TTTTAAER.aux.mix vtol_convergence.main.mix vtol_delta.aux.mix vtol_tailsitter_duo.main.mix diff --git a/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix new file mode 100644 index 0000000000..27403d016b --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/vtol_TTTTAAER.aux.mix @@ -0,0 +1,39 @@ +# Generic quadplane tiltrotor servo mixer + +# Tilt mechanism servo mixer +--------------------------- +# front left up:2000 down:1000 +M: 1 +S: 1 4 0 -20000 10000 -10000 10000 + +# front right up:1000 down:2000 +M: 1 +S: 1 4 0 20000 -10000 -10000 10000 + +# rear left up:2000 down:1000 +M: 1 +S: 1 4 0 -20000 10000 -10000 10000 + +# rear right up:1000 down:2000 +M: 1 +S: 1 4 0 20000 -10000 -10000 10000 + + +# Aileron mixer +# --------------------------------- +M: 1 +S: 1 0 10000 10000 0 -10000 10000 + +M: 1 +S: 1 0 10000 10000 0 -10000 10000 + + +# Elevator mixer +# ------------ +M: 1 +S: 1 1 -10000 -10000 0 -10000 10000 + +# Rudder mixer +# ------------ +M: 1 +S: 1 2 10000 10000 0 -10000 10000 diff --git a/Tools/HIL/run_tests.py b/Tools/HIL/run_tests.py index 5a4ffc4a87..3f1c6076fc 100755 --- a/Tools/HIL/run_tests.py +++ b/Tools/HIL/run_tests.py @@ -103,12 +103,6 @@ class TestHardwareMethods(unittest.TestCase): def test_bson(self): self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson")) - def test_commander(self): - self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "commander")) - - def test_controllib(self): - self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib")) - # def test_dataman(self): # self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman")) @@ -172,9 +166,6 @@ class TestHardwareMethods(unittest.TestCase): def test_time(self): self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time")) - def test_uorb(self): - self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb")) - def test_versioning(self): self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning")) diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh index 408fca1556..ba3557aea0 100755 --- a/Tools/astyle/files_to_check_code_style.sh +++ b/Tools/astyle/files_to_check_code_style.sh @@ -18,7 +18,7 @@ exec find boards msg src platforms test \ -path src/lib/ecl -prune -o \ -path src/lib/matrix -prune -o \ -path src/lib/parameters/uthash -prune -o \ - -path src/examples/gyro_fft/CMSIS_5 -prune -o \ + -path src/modules/gyro_fft/CMSIS_5 -prune -o \ -path src/modules/micrortps_bridge/micro-CDR -prune -o \ -path src/modules/micrortps_bridge/microRTPS_client -prune -o \ -path test/mavsdk_tests/catch2 -prune -o \ diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh index ea6dc52aeb..949df471eb 100755 --- a/Tools/docker_run.sh +++ b/Tools/docker_run.sh @@ -5,8 +5,8 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then if [[ $@ =~ .*px4_fmu.* ]]; then # nuttx-px4fmu-v{1,2,3,4,5} PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04" - elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then - # aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default + elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then + # beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04" elif [[ $@ =~ .*pilotpi.arm64 ]]; then # scumaker_pilotpi_arm64 @@ -14,8 +14,8 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then # eagle, excelsior PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01" - elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then - # aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default + elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then + # posix_rpi_cross, posix_bebop_default PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04" elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then # clang tools diff --git a/Tools/gazebo_sitl_multiple_run.sh b/Tools/gazebo_sitl_multiple_run.sh index 14a189fe5c..dd051f28a4 100755 --- a/Tools/gazebo_sitl_multiple_run.sh +++ b/Tools/gazebo_sitl_multiple_run.sh @@ -15,6 +15,10 @@ function cleanup() { function spawn_model() { MODEL=$1 N=$2 #Instance Number + X=$3 + Y=$4 + X=${X:=0.0} + Y=${Y:=$((3*${N}))} SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480") if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]]; @@ -33,9 +37,9 @@ function spawn_model() { ../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log & python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf - echo "Spawning ${MODEL}_${N}" + echo "Spawning ${MODEL}_${N} at ${X} ${Y}" - gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x 0.0 -y $((3*${N})) -z 0.0 + gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0 popd &>/dev/null @@ -48,7 +52,7 @@ then exit 1 fi -while getopts n:m:w:s:t: option +while getopts n:m:w:s:t:l: option do case "${option}" in @@ -57,13 +61,15 @@ do w) WORLD=${OPTARG};; s) SCRIPT=${OPTARG};; t) TARGET=${OPTARG};; + l) LABEL=_${OPTARG};; esac done num_vehicles=${NUM_VEHICLES:=3} world=${WORLD:=empty} target=${TARGET:=px4_sitl_default} -export PX4_SIM_MODEL=${VEHICLE_MODEL:=iris} +vehicle_model=${VEHICLE_MODEL:="iris"} +export PX4_SIM_MODEL=${vehicle_model}${LABEL} echo ${SCRIPT} SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" @@ -93,15 +99,17 @@ if [ -z ${SCRIPT} ]; then fi while [ $n -lt $num_vehicles ]; do - spawn_model ${PX4_SIM_MODEL} $n + spawn_model ${vehicle_model} $n n=$(($n + 1)) done else IFS=, for target in ${SCRIPT}; do target="$(echo "$target" | tr -d ' ')" #Remove spaces - target_vehicle="${target%:*}" - target_number="${target#*:}" + target_vehicle=$(echo $target | cut -f1 -d:) + target_number=$(echo $target | cut -f2 -d:) + target_x=$(echo $target | cut -f3 -d:) + target_y=$(echo $target | cut -f4 -d:) if [ $n -gt 255 ] then @@ -111,7 +119,7 @@ else m=0 while [ $m -lt ${target_number} ]; do - spawn_model ${target_vehicle} $n + spawn_model ${target_vehicle} $n $target_x $target_y m=$(($m + 1)) n=$(($n + 1)) done diff --git a/Tools/generate_board_targets_json.py b/Tools/generate_board_targets_json.py new file mode 100755 index 0000000000..5dec7727dc --- /dev/null +++ b/Tools/generate_board_targets_json.py @@ -0,0 +1,96 @@ +#!/usr/bin/env python3 +""" Script to generate a JSON config with all build targets (for CI) """ + +import argparse +import os +import sys +import json +import re + +source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..') + +parser = argparse.ArgumentParser(description='Generate build targets') + +parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', + help='Verbose Output') +parser.add_argument('-p', '--pretty', dest='pretty', action='store_true', + help='Pretty output instead of a single line') + +args = parser.parse_args() +verbose = args.verbose + +build_configs = [] +excluded_manufacturers = ['atlflight'] +excluded_platforms = ['qurt'] +excluded_labels = [ + 'stackcheck', + 'nolockstep', 'replay', 'test', + 'uavcanv1' # TODO: fix and enable + ] + +def process_target(cmake_file, target_name): + ret = None + is_board_def = False + platform = None + toolchain = None + for line in open(cmake_file, 'r'): + if 'px4_add_board' in line: + is_board_def = True + if not is_board_def: + continue + + re_platform = re.search('PLATFORM\s+([^\s]+)', line) + if re_platform: platform = re_platform.group(1) + + re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line) + if re_toolchain: toolchain = re_toolchain.group(1) + + if is_board_def: + assert platform, f"PLATFORM not found in {cmake_file}" + + if platform not in excluded_platforms: + # get the container based on the platform and toolchain + container = platform + if platform == 'posix': + container = 'base-focal' + if toolchain: + if toolchain.startswith('aarch64'): + container = 'aarch64' + elif toolchain == 'arm-linux-gnueabihf': + container = 'armhf' + else: + if verbose: print(f'possibly unmatched toolchain: {toolchain}') + elif platform == 'nuttx': + container = 'nuttx-focal' + + ret = {'target': target_name, 'container': container} + return ret + +for manufacturer in os.scandir(os.path.join(source_dir, 'boards')): + if not manufacturer.is_dir(): + continue + if manufacturer.name in excluded_manufacturers: + if verbose: print(f'excluding manufacturer {manufacturer.name}') + continue + + for board in os.scandir(manufacturer.path): + if not board.is_dir(): + continue + for files in os.scandir(board.path): + if files.is_file() and files.name.endswith('.cmake'): + label = files.name[:-6] + target_name = manufacturer.name + '_' + board.name + '_' + label + if label in excluded_labels: + if verbose: print(f'excluding label {label} ({target_name})') + continue + target = process_target(files.path, target_name) + if target is not None: + build_configs.append(target) + + +github_action_config = { 'include': build_configs } +extra_args = {} +if args.pretty: + extra_args['indent'] = 2 +print(json.dumps(github_action_config, **extra_args)) + diff --git a/Tools/process_sensor_caldata.py b/Tools/process_sensor_caldata.py index 32acf61dd6..561ef29278 100755 --- a/Tools/process_sensor_caldata.py +++ b/Tools/process_sensor_caldata.py @@ -1099,7 +1099,7 @@ if num_baros >= 2: baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample) # baro 2 vs temperature - plt.figure(9,figsize=(20,13)) + plt.figure(10,figsize=(20,13)) # draw plots plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b') @@ -1157,7 +1157,7 @@ if num_baros >= 3: baro_2_x_resample = fit_coef_baro_2_x(temp_rel_resample) # baro 2 vs temperature - plt.figure(10,figsize=(20,13)) + plt.figure(11,figsize=(20,13)) # draw plots plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b') @@ -1210,7 +1210,7 @@ if num_baros >= 4: baro_3_x_resample = fit_coef_baro_3_x(temp_rel_resample) # baro 3 vs temperature - plt.figure(11,figsize=(20,13)) + plt.figure(12,figsize=(20,13)) # draw plots plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b') diff --git a/Tools/px4.py b/Tools/px4.py index 8e09c5079e..4136758873 100755 --- a/Tools/px4.py +++ b/Tools/px4.py @@ -65,7 +65,7 @@ def get_version(): if os.path.isdir(os.path.join(px4_dir, '.git')): # If inside a clone PX4 Firmware repository, get version from "git describe" - cmd = 'git describe --abbrev=0 --tags' + cmd = 'git describe --exclude ext/* --abbrev=0 --tags' try: version = subprocess.check_output( cmd, cwd=px4_dir, shell=True).decode().strip() diff --git a/Tools/px_mkfw.py b/Tools/px_mkfw.py index 3484576150..3f005f7d42 100755 --- a/Tools/px_mkfw.py +++ b/Tools/px_mkfw.py @@ -99,13 +99,13 @@ if args.summary != None: if args.description != None: desc['description'] = str(args.description) if args.git_identity != None: - cmd = "git --git-dir '{:}/.git' describe --always --tags".format(args.git_identity) + cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity) p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout - desc['git_identity'] = str(p.read().strip()) + desc['git_identity'] = p.read().strip().decode('utf-8') p.close() cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity) p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout - desc['git_hash'] = str(p.read().strip()) + desc['git_hash'] = p.read().strip().decode('utf-8') p.close() if args.parameter_xml != None: f = open(args.parameter_xml, "rb") diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py index 31d9de20d3..46b9eff80f 100644 --- a/Tools/px_romfs_pruner.py +++ b/Tools/px_romfs_pruner.py @@ -61,6 +61,8 @@ def main(): help="Board architecture for this run") args = parser.parse_args() + err_count = 0 + # go through temp folder for (root, dirs, files) in os.walk(args.folder): for file in files: @@ -90,8 +92,17 @@ def main(): # read file line by line pruned_content = "" board_excluded = False + with io.open(file_path, "r", newline=None) as f: for line in f: + # abort if spurious tabs are found + if re.search(r"[a-zA-Z0-9]+\t.+", line): + file_local = re.sub(args.folder, '', file_path) + print("ERROR: Spurious TAB character in file " + file_local) + print("Line: " + line) + err_count += 1 + + # find excluded boards if re.search(r'\b{0} exclude\b'.format(args.board), line): board_excluded = True # handle mixer files differently than startup files @@ -116,6 +127,9 @@ def main(): else: os.remove(file_path) + if (err_count > 0): + exit(1) + if __name__ == '__main__': main() diff --git a/Tools/serial/generate_config.py b/Tools/serial/generate_config.py index 368d158f3e..27003b904b 100755 --- a/Tools/serial/generate_config.py +++ b/Tools/serial/generate_config.py @@ -36,6 +36,7 @@ except ImportError as e: # with QGC (parameter metadata) serial_ports = { # index 0 means disabled + # index 1000 means ethernet condiguration # Generic # "URT1": { @@ -155,6 +156,8 @@ parser.add_argument('--rc-dir', type=str, action='store', help='ROMFS output directory', default=None) parser.add_argument('--params-file', type=str, action='store', help='Parameter output file', default=None) +parser.add_argument('--ethernet', action='store_true', + help='Ethernet support') parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', help='Verbose Output') @@ -169,6 +172,7 @@ serial_params_output_file = args.params_file serial_params_template = 'serial_params.c.jinja' generate_for_all_ports = args.all_ports constrained_flash = args.constrained_flash +ethernet_supported = args.ethernet if generate_for_all_ports: board_ports = [(key, "") for key in serial_ports] @@ -184,7 +188,16 @@ if rc_serial_output_dir is None and serial_params_output_file is None: # parse the YAML files serial_commands = [] +ethernet_configuration = [] additional_params = "" +additional_ethernet_params = "" + +if ethernet_supported: + ethernet_configuration.append({ + 'tag': "ETH", + 'label': "Ethernet", + 'index': 1000 + }) def parse_yaml_serial_config(yaml_config): """ parse the serial_config section from the yaml config file """ @@ -211,6 +224,80 @@ def parse_yaml_parameters_config(yaml_config): param_group = parameters_section.get('group', None) for param_name in definitions: param = definitions[param_name] + if 'ethernet' in param: + continue + num_instances = param.get('num_instances', 1) + instance_start = param.get('instance_start', 0) # offset + + # get the type and extract all tags + tags = '@group {:}'.format(param_group) + if param['type'] == 'enum': + param_type = 'INT32' + for key in param['values']: + tags += '\n * @value {:} {:}'.format(key, param['values'][key]) + elif param['type'] == 'boolean': + param_type = 'INT32' + tags += '\n * @boolean' + elif param['type'] == 'int32': + param_type = 'INT32' + elif param['type'] == 'float': + param_type = 'FLOAT' + else: + raise Exception("unknown param type {:}".format(param['type'])) + + for tag in ['decimal', 'increment', 'category', 'volatile', 'bit', + 'min', 'max', 'unit', 'reboot_required']: + if tag in param: + tags += '\n * @{:} {:}'.format(tag, param[tag]) + + for i in range(num_instances): + # default value + default_value = 0 + if 'default' in param: + # default can be a list of num_instances or a single value + if type(param['default']) == list: + assert len(param['default']) == num_instances + default_value = param['default'][i] + else: + default_value = param['default'] + + if type(default_value) == bool: + default_value = int(default_value) + + # output the existing C-style format + ret += ''' +/** + * {short_descr} + * + * {long_descr} + * + * {tags} + */ +PARAM_DEFINE_{param_type}({name}, {default_value}); +'''.format(short_descr=param['description']['short'].replace("\n", "\n * "), + long_descr=param['description']['long'].replace("\n", "\n * "), + tags=tags, + param_type=param_type, + name=param_name, + default_value=default_value, + ).replace('${i}', str(i+instance_start)) + return ret + +def parse_yaml_ethernet_parameters_config(yaml_config): + """ parse the parameters section from the yaml config file """ + if 'parameters' not in yaml_config: + return '' + parameters_section_list = yaml_config['parameters'] + for parameters_section in parameters_section_list: + if 'definitions' not in parameters_section: + return '' + definitions = parameters_section['definitions'] + ret = '' + param_group = parameters_section.get('group', None) + for param_name in definitions: + param = definitions[param_name] + if 'ethernet' not in param: + continue num_instances = param.get('num_instances', 1) instance_start = param.get('instance_start', 0) # offset @@ -276,6 +363,8 @@ for yaml_file in args.config_files: # TODO: additional params should be parsed in a separate script additional_params += parse_yaml_parameters_config(yaml_config) + if ethernet_supported: + additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config) except yaml.YAMLError as exc: print(exc) @@ -339,7 +428,8 @@ for serial_command in serial_commands: 'port_param_name': port_param_name, 'default_port': default_port, 'param_group': port_config['group'], - 'description_extended': port_config.get('description_extended', '') + 'description_extended': port_config.get('description_extended', ''), + 'ethernet_config': serial_command.get('ethernet', 'none') }) if verbose: @@ -372,6 +462,7 @@ if rc_serial_output_dir is not None: template = jinja_env.get_template(rc_serial_port_template) with open(rc_serial_port_output_file, 'w') as fid: fid.write(template.render(serial_devices=serial_devices, + ethernet_configuration=ethernet_configuration, constrained_flash=constrained_flash)) # parameter definitions @@ -380,6 +471,8 @@ if serial_params_output_file is not None: template = jinja_env.get_template(serial_params_template) with open(serial_params_output_file, 'w') as fid: fid.write(template.render(serial_devices=serial_devices, + ethernet_configuration=ethernet_configuration, commands=commands, serial_ports=serial_ports, - additional_definitions=additional_params)) + additional_definitions=additional_params, + additional_ethernet_definitions=additional_ethernet_params)) diff --git a/Tools/serial/rc.serial_port.jinja b/Tools/serial/rc.serial_port.jinja index 1abcb8f81a..c3f7c9651e 100644 --- a/Tools/serial/rc.serial_port.jinja +++ b/Tools/serial/rc.serial_port.jinja @@ -17,3 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then fi {% endfor %} +{% for config in ethernet_configuration -%} +if param compare "$PRT" {{ config.index }}; then + set SERIAL_DEV ethernet +fi + +{% endfor %} diff --git a/Tools/serial/serial_params.c.jinja b/Tools/serial/serial_params.c.jinja index f92bc5568f..4bed33a2c9 100644 --- a/Tools/serial/serial_params.c.jinja +++ b/Tools/serial/serial_params.c.jinja @@ -58,6 +58,10 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba {%- for serial_device in serial_devices %} * @value {{ serial_device.index }} {{ serial_device.label }} {%- endfor %} +{%- if command.ethernet_config != "none" %} +{%- for config in ethernet_configuration %} + * @value {{ config.index }} {{ config.label }} +{%- endfor %}{% endif %} * @group {{ command.param_group }} * @reboot_required true */ @@ -68,3 +72,5 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }}); {{ additional_definitions }} +{{ additional_ethernet_definitions }} + diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh index dadeb33f98..933c77c46d 100755 --- a/Tools/setup/ubuntu.sh +++ b/Tools/setup/ubuntu.sh @@ -13,6 +13,7 @@ INSTALL_NUTTX="true" INSTALL_SIM="true" +INSTALL_ARCH=`uname -m` # Parse arguments for arg in "$@" @@ -149,7 +150,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then else echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}"; - wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \ + wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \ sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/; # add arm-none-eabi-gcc to user's PATH diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo index bebb9a95f0..3e5fed04d8 160000 --- a/Tools/sitl_gazebo +++ b/Tools/sitl_gazebo @@ -1 +1 @@ -Subproject commit bebb9a95f0b61bf9e4c3de345fab70985c1329b3 +Subproject commit 3e5fed04d8e574b10e17e446d2938346bc6152ca diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh index 4118a807de..9f36364ab2 100755 --- a/Tools/sitl_run.sh +++ b/Tools/sitl_run.sh @@ -49,6 +49,13 @@ else verbose="" fi +# Disable follow mode +if [[ "$PX4_NO_FOLLOW_MODE" != "1" ]]; then + follow_mode="--gui-client-plugin libgazebo_user_camera_plugin.so" +else + follow_mode="" +fi + if [ "$program" == "jmavsim" ]; then jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'` if [ -n "$jmavsim_pid" ]; then @@ -163,7 +170,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then # gzserver needs to be running to avoid a race. Since the launch # is putting it into the background we need to avoid it by backing off sleep 3 - nice -n 20 gzclient --verbose --gui-client-plugin libgazebo_user_camera_plugin.so & + nice -n 20 gzclient --verbose $follow_mode & GUI_PID=$! fi else diff --git a/Tools/uorb_graph/.gitignore b/Tools/uorb_graph/.gitignore index d69d1a4252..92d70396b6 100644 --- a/Tools/uorb_graph/.gitignore +++ b/Tools/uorb_graph/.gitignore @@ -1,2 +1,4 @@ *.json +*.fv +*.fv.pdf diff --git a/Tools/uorb_graph/create.py b/Tools/uorb_graph/create.py index 2b0ee14062..844e4df3d7 100755 --- a/Tools/uorb_graph/create.py +++ b/Tools/uorb_graph/create.py @@ -3,12 +3,14 @@ from __future__ import print_function import argparse -import os import codecs -import re import colorsys import json +import logging +import os +import re import sys +from typing import Optional, Set, Tuple parser = argparse.ArgumentParser( @@ -20,13 +22,18 @@ parser.add_argument('-s', '--src-path', action='append', parser.add_argument('-e', '--exclude-path', action='append', help='Excluded path(s), can be specified multiple times', default=[]) +parser.add_argument('--merge-depends', action='store_true', + help='Merge library topics inte the modules that depend on them.') +parser.add_argument('-v','--verbosity', action='count', + help='increase output verbosity; primarily for debugging; repeat for more detail', + default=0) parser.add_argument('-f', '--file', metavar='file', action='store', help='output file name prefix', default='graph') parser.add_argument('-o', '--output', metavar='output', action='store', help='output format (json or graphviz)', default='json') -parser.add_argument('--use-topic-union', action='store_true', +parser.add_argument('-u','--use-topic-union', action='store_true', help=''' Use the union of all publication and subscription topics (useful for complete graphs or only few/single module(s)). The default is to use the intersection @@ -36,14 +43,9 @@ parser.add_argument('-m', '--modules', action='store', 'MAIN, e.g. from a startup script)', default='') -args = parser.parse_args() - - -g_debug = False -def dbg_print(string): - if g_debug: - print(string) +logging.basicConfig(level=logging.WARNING,format='%(message)s') +log = logging.getLogger() def get_N_colors(N, s=0.8, v=0.9): """ get N distinct colors as a list of hex strings """ @@ -59,7 +61,10 @@ class PubSub(object): """ Collects either publication or subscription information for nodes (modules and topics) & edges """ - def __init__(self, is_publication, topic_blacklist, orb_pub_sub_regexes, special_cases): + # special value to signal an ambiguous was found -- don't record this topic, and stop processing. + AMBIGUOUS_SITE_TOPIC = "AMBIGUOUS" + + def __init__(self, name, topic_blacklist, regexes): """ :param is_publication: if True, publications, False for subscriptions @@ -68,192 +73,195 @@ class PubSub(object): (e.g. orb_subscribe). They need to have 2 captures, the second one is the one capturing ORB_ID( """ - self._module_pubsubs = {} # key = module name, value = set of topic names - self._special_cases = special_cases - self._special_cases_matched = None + self._name = name self._topic_blacklist = topic_blacklist - self._orb_pub_sub_regexes = orb_pub_sub_regexes - if is_publication: - self._method = 'Publication' - else: - self._method = 'Subscription' + self._regexes = set([ re.compile(regex) for regex in regexes]) - def reset(self): - self._special_cases_matched = [False]*len(self._special_cases) - - def filter_modules(self, module_whitelist): - remove = [k for k in self._module_pubsubs if k not in module_whitelist] - for k in remove: del self._module_pubsubs[k] - - - def check_if_match_found(self, modules): - """ check if all special cases got a match (if not, it means the source - code got changed) - """ - for i, (module_match, file_match_re, src_match_re, _) in enumerate(self._special_cases): - if module_match in modules and src_match_re is not None: - if not self._special_cases_matched[i]: - raise Exception('Module '+module_match+ - ': no match for '+self._method+' special case'+ - src_match_re.pattern+'. The case needs to be updated') - - - def extract(self, file_name, src_str, module, orb_id_vehicle_attitude_controls_topic): + def match(self, source_line: str) -> str: """ Extract subscribed/published topics from a source string :param src_str: string of C/C++ code with comments and whitespace removed + :return: if any topic was found, returned as a str. On error, raise on exception. On ambiguous line, return `AMBIGUOUS_SITE_TOPIC`. Otherwise, return `None` """ - orb_pubsub_matches = [] - for regex in self._orb_pub_sub_regexes: - orb_pubsub_matches += re.findall(regex, src_str) + for regex in self._regexes: + # just the matches for this particular pattern: + match = regex.search(source_line) - orb_id = 'ORB_ID(' + if match is None: + continue - for _, match in orb_pubsub_matches: - if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case - match = orb_id+orb_id_vehicle_attitude_controls_topic + # # all regexes should contain 2 capture groups (or else this code block crashes) + route_group, topic_group = match.groups() + + log.debug(" ####:{}: {}, {}".format( self._name, route_group, topic_group)) + + # # TODO: handle this case... but not sure where, yet + # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case + # match = orb_id+orb_id_vehicle_attitude_controls_topic # match has the form: '[ORB_ID(]' - if match.startswith(orb_id): - topic_name = match[len(orb_id):] - self._add_topic(topic_name, file_name, module) + if route_group: + if route_group == 'ORB_ID': + log.debug(" >>> Found ORB_ID topic: " + topic_group + " w/regex: " + str(regex.pattern)) + return self._filter_topic(topic_group) + elif route_group == '[': + if not topic_group: + log.debug(" !! found an ambiguous site => return an empty set") + return PubSub.AMBIGUOUS_SITE_TOPIC + else: + raise SyntaxError('!!! Encountered regex case: `route_group` contains unrecognized value!: '+ route_group+' (::'+str(regex.pattern)+')\n' + + " ("+ route_group+', '+topic_group +")\n" + + " " + source_line) + elif route_group.empty() and topic_group.empty(): + log.debug('!!! Found ambiguous site, without `ORB_ID` or topic (::'+str(regex.pattern)) + return PubSub.AMBIGUOUS_SITE_TOPIC + else: - ignore_found = False - for module_match, file_match_re, _, ignore_re in self._special_cases: - if module == module_match: - if file_match_re.search(file_name): - if ignore_re.search(match): - ignore_found = True - if not ignore_found: - # If we land here, we need to add another special case - raise Exception(self._method+' w/o ORB_ID(): '+match+' in ' - +file_name+' ('+module+'). You need to add another special case.') + raise SyntaxError(" !!! unhandled case: unknown-variant: "+route_group+", " + topic_group + " ....from regex: " + str(regex.pattern)) - # handle special cases - for i, (module_match, file_match_re, src_match_re, _) in enumerate(self._special_cases): - if src_match_re is None: - continue - if module == module_match: - if file_match_re.search(file_name): - matches = src_match_re.findall(src_str) - for match in matches: - # match has the form: '[ORB_ID(]' - if match.startswith(orb_id): - topic_name = match[len(orb_id):] - dbg_print('Found '+self._method+' for special case in ' - +module+': '+topic_name) - self._add_topic(topic_name, file_name, module) - self._special_cases_matched[i] = True - else: - # this is not fatal, as it could be a method delaration/definition - dbg_print('Special case '+self._method+' w/o ORB_ID(): ' - +match+' in '+file_name+' ('+module+')') + return None - def _add_topic(self, topic_name, file_name, module): - """ add a subscription/publication for a module - """ + def _filter_topic(self, topic_name: str) -> str: + """ add topic to set, unless the topic is ignored """ if topic_name in self._topic_blacklist: - dbg_print('ignoring blacklisted topic '+topic_name) - return + log.debug(" XX Ignoring blacklisted topic " + topic_name) + return None + else: + return topic_name - if module is None: - if not file_name.endswith('hott/messages.cpp'): # hott has a special module structure. just ignore it - print('Warning: found '+self._method+' without associated module: ' - +topic_name+' in '+file_name) - return +class Publications(PubSub): + """ Collects topic publication information for scopes """ - if not module in self._module_pubsubs: - self._module_pubsubs[module] = set() - self._module_pubsubs[module].add(topic_name) + def __init__(self, topic_blacklist, regexes): + super().__init__('PUB', topic_blacklist, regexes) - def get_topics(self, modules): - """ get the set of topics - :param modules: list of modules to take into account - """ - topics = set() - for module in modules: - if module in self._module_pubsubs: - topics |= self._module_pubsubs[module] - return topics +class Subscriptions(PubSub): + """ Collects topic subscription information for scopes """ + + def __init__(self, topic_blacklist, regexes): + super().__init__('SUB', topic_blacklist, regexes) + + +class Ambiguities(PubSub): + """ Collects topic information that cannot be classified """ + + def __init__(self, topic_blacklist, regexes): + super().__init__('AMB', topic_blacklist, regexes) + + +class Scope(object): + """ Defines a scope to add dependencies or topics to """ + def __init__(self, typename, name): + self.publications = set() + self.subscriptions = set() + self.dependencies = set() + self.ambiguities = set() + self._name = name + self._typename = typename + + def add_dependency(self, dependency_name: str): + if isinstance( dependency_name, str): + self.dependencies.add(dependency_name) + + def is_empty(self): + return (0 == len(self.publications)) and (0==len(self.subscriptions)) @property - def pubsubs(self): - """ get dict of all publication/subscriptions (key=modules, value=set of - topic names""" - return self._module_pubsubs + def name(self): + return self._name + def reduce_ambiguities(self) -> Set[str]: + self.ambiguities = self.ambiguities - self.subscriptions - self.publications + return self.dependencies + + @property + def typename(self): + return self._typename + + # define these so we can hash these classes in dicts and sets + def __hash__(self): + return self._name.__hash__() + + def __eq__(self, other): + if isinstance(other, str): + return self._name == other + else: + return self._name == other._name + +class LibraryScope(Scope): + def __init__(self, name): + super().__init__('Library',name) + +class ModuleScope(Scope): + def __init__(self, name): + super().__init__('Module',name) class Graph(object): """ Collects Node and Edge information by parsing the source tree """ - def __init__(self, module_whitelist=[], topic_blacklist=[]): - self._current_module = [] # stack with current module (they can be nested) - self._all_modules = set() # set of all found modules - self._comment_remove_pattern = re.compile( - r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"', - re.DOTALL | re.MULTILINE) + def __init__(self, **kwargs): + """ + :kwargs: + - scope_whitelist + - scope_blacklist + - topic_blacklist + """ + self._whitespace_pattern = re.compile(r'\s+') - self._module_whitelist = module_whitelist - self._excluded_paths = [] + + self._scope_blacklist = set(kwargs.get('scope_blacklist',set())) + self._scope_whitelist = set(kwargs.get('scope_whitelist',set())) + + self._path_blacklist = [] + + self._topic_blacklist = set(kwargs.get('topic_blacklist',set())) self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0' - self._orb_id_vehicle_attitude_controls_re = \ - re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)') + self._orb_id_vehicle_attitude_controls_re = re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)') - self._module_subscriptions = {} # key = module name, value = set of topic names - self._module_publications = {} # key = module name, value = set of topic names + self._warnings = [] # list of all ambiguous scan sites - self._modules = set() # all modules - self._topics = set() # all topics + self._current_scope = [] # stack with current module (they can be nested) + + self._found_modules = {} # dict of all found modules + self._found_libraries = {} # dict of all found modules + + self._print_nodes = set() # combination of libraries + modules + self._print_topics = set() # all topics self._topic_colors = {} # key = topic, value = color (html string) - # handle special cases - # format: list of tuples with 4 entries: - # - module name to match (module MAIN) - # - regex for file name(s) to match within the module (matched against the full path) - # - regex to extract the topic name: the match must be ORB_ID( - # Note: whitespace is removed from source code, so it does not need to be - # accounted for in the regex. - # If this is None, it will just be ignored - # - regex to ignore matches in the form orb_[subscribe|advertise]( - # (the expectation is that the previous matching ORB_ID() will be passed - # to this, so that we can ignore it) - special_cases_sub = [ - ('listener', r'.*', None, r'^(id)$'), - ('logger', r'.*', None, r'^(topic|sub\.metadata|_polling_topic_meta)$'), + # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace + # note: the regexes should 2 capture groups '()' to correctly register with downstream code + capture_cases_sub = [r"orb_subscribe\w*\((ORB_ID)(?:\(|::)(\w+)", + r"orb_copy\((ORB_ID)(?:\(|::)(\w+)", + r"Subscription\w*(?:<[^>]+>|)\w*(?:\[[^]]+\]|)[\{\(](ORB_ID)(?:\(|::)(\w+)", + r"SubscriptionCallbackWorkItem\w+\{this,(ORB_ID)(?:\(|::)(\w+)", + ] + self._subscriptions = Subscriptions( self._topic_blacklist, capture_cases_sub) - ('tap_esc', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'), - ('snapdragon_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'), - ('linux_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'), - ] - special_cases_sub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d)) - for a,b,c,d in special_cases_sub] + # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace + # note: the regexes should 2 capture groups '()' to correctly register with downstream code + capture_cases_pub = [r"orb_advertise(?:_multi|_queue|_multi_queue|)\((ORB_ID)(?:\(|::)(\w+)", + r"orb_publish(?:_auto|)\((ORB_ID)(?:\(|::)(\w+)", + r"Publication\w*<\w+>\w+(?:\[[^]]+\]|)[\(\{]*(ORB_ID)(?:\(|::)(\w+)", + ] + self._publications = Publications( self._topic_blacklist, capture_cases_pub) - self._subscriptions = PubSub(False, topic_blacklist, - [r"\borb_subscribe(_multi|)\b\(([^,)]+)"], - special_cases_sub) + # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace + # note: the regexes should 2 capture groups '()' to correctly register with downstream code + capture_cases_ambiguous = [ r"Publication\w*(?:\<\w+\>|)\w+(\[)()", + r"Subscription\w*(?:\<\w+\>|)\w+(\[)()", + r"(ORB_ID)(?:\(|::)(\w+)", + ] + self._ambiguities = Ambiguities( self._topic_blacklist, capture_cases_ambiguous) - - special_cases_pub = [ - ('replay', r'Replay\.cpp$', None, r'^sub\.orb_meta$'), - - ('uavcan', r'sensors/.*\.cpp$', None, r'^_orb_topic$'), - ] - special_cases_pub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d)) - for a,b,c,d in special_cases_pub] - self._publications = PubSub(True, topic_blacklist, - [r"\borb_advertise(_multi|_queue|_multi_queue|)\b\(([^,)]+)", - r"\borb_publish_auto()\b\(([^,)]+)"], - special_cases_pub) - - - def _get_current_module(self): - if len(self._current_module) == 0: + def _get_current_scope(self): + if len(self._current_scope) == 0: return None - return self._current_module[-1] + return self._current_scope[-1] - def build(self, src_path_list, excluded_paths=[], use_topic_pubsub_union=True): + def build(self, src_path_list, **kwargs): """ parse the source tree & extract pub/sub information. :param use_topic_pubsub_union: if true, use all topics that have a publisher or subscriber. If false, use only topics with at least one @@ -262,71 +270,137 @@ class Graph(object): fill in self._module_subsciptions & self._module_publications """ - self._subscriptions.reset() - self._publications.reset() - self._excluded_paths = [os.path.normpath(p) for p in excluded_paths] + self._path_blacklist = set([ os.path.normpath(p) for p in kwargs.get('path_blacklist',[]) ]) + for path in src_path_list: - self._build_recursive(path) + log.info("## Add src path: " + path ) + self._build_recursive(path, **kwargs) - # filter by whitelist - if len(self._module_whitelist) > 0: - self._subscriptions.filter_modules(self._module_whitelist) - self._publications.filter_modules(self._module_whitelist) + # Summarize the found counts: (all topics are defined in 'dependency' library) + log.info('### Summary: Total Scanned:') + log.info(' Library Count: '+str(len(self._found_libraries))) + log.info(' Module Count: '+str(len(self._found_modules))) + log.info(' Warning Count: '+str(len(self._warnings))) - # modules & topics sets - self._modules = set(list(self._publications.pubsubs.keys()) + - list(self._subscriptions.pubsubs.keys())) - print('number of modules: '+str(len(self._modules))) - self._topics = self._get_topics(use_topic_pubsub_union=use_topic_pubsub_union) - print('number of topics: '+str(len(self._topics))) + if kwargs['merge_depends']: + graph.merge_depends() + + # filter all scopes, topics into only the scopes + topics to output + self._generate_print_lists(use_topic_pubsub_union=kwargs['use_topic_pubsub_union'], merge_depends=kwargs['merge_depends']) + + # Summarize the found counts: + log.info('### Summary (in-scope):') + log.info(' Scope Count: '+str(len(self._print_scopes))) + log.info(' Ambiguous Topics: '+str(len(self._print_ambiguities))) + log.info(' Linked Topics: '+str(len(self._print_topics))) + log.info(' Warnings: '+str(len(self._warnings))) + + if 0 < len(self._warnings): + # print out the list of warning-sites: + log.info('## Warning Sites:') + for w in self._warnings: + scope_name = 'no-scope' + if None is not w[0]: + scope_name = w[0].name + # warnings tuple contains: (current_scope, file_name, line_number, line) + log.info(" -['{}']:{:<64s}:{} = {}".format(scope_name, w[1].lstrip('/.'), w[2], w[3] )) # initialize colors - color_list = get_N_colors(len(self._topics), 0.7, 0.85) + color_list = get_N_colors(len(self._print_topics), 0.7, 0.85) self._topic_colors = {} - for i, topic in enumerate(self._topics): + for i, topic in enumerate(self._print_topics): self._topic_colors[topic] = color_list[i] - # validate that all special rules got used - self._subscriptions.check_if_match_found(self._all_modules) - self._publications.check_if_match_found(self._all_modules) + def _generate_print_lists(self, use_topic_pubsub_union, merge_depends): + """ generate the set of scopes (modules + libraries) and topics to print to output """ + subscribed_topics = set() + published_topics = set() + ambiguous_topics = set() - def _get_topics(self, use_topic_pubsub_union=True): - """ get the set of topics - """ - subscribed_topics = self._subscriptions.get_topics(self._modules) - published_topics = self._publications.get_topics(self._modules) + # gather all found scopes: + all_scopes = { **self._found_libraries, **self._found_modules } + + if 0 == len(self._scope_whitelist): + select_scopes = self._found_modules + else: + select_scopes = {} + for scope_name in self._scope_whitelist: + if scope_name in all_scopes: + select_scopes[scope_name] = all_scopes[scope_name] + if not isinstance(select_scopes, dict) or 0 == len(select_scopes): + log.error("!! No requested modules not found -- exiting.") + sys.exit(0) + + log.debug('### Condensing found topics: scope -> total') + for name,scope in select_scopes.items(): + log.debug(' # Scope: '+ name ) + + log.debug(' ## Subs: ' + str(len(scope.subscriptions))) + for topic in sorted(scope.subscriptions): + log.debug(' - ' + topic) + subscribed_topics.add(topic) + + log.debug(' ## Pubs: ' + str(len(scope.publications))) + for topic in sorted(scope.publications): + log.debug(' - ' + topic ) + published_topics.add(topic) + + scope.reduce_ambiguities() + + log.debug(' ## Ambiguities: ' + str(len(scope.ambiguities))) + for topic in sorted(scope.ambiguities): + log.debug(' - ' + topic ) + ambiguous_topics.add(topic) + + # filter modules iff they have at least a subscription or a publication + scopes_with_topic = {} + for name,scope in select_scopes.items(): + if not scope.is_empty(): + scopes_with_topic[name] = scope + + self._print_ambiguities = ambiguous_topics if use_topic_pubsub_union: - return subscribed_topics | published_topics - return subscribed_topics & published_topics + self._print_topics = subscribed_topics | published_topics + self._print_scopes = scopes_with_topic + else: + self._print_topics = subscribed_topics & published_topics - def _build_recursive(self, path): + # cull scopes to only those that pub or sub to a topic that has both + intersect_scopes = {} + for name,scope in scopes_with_topic.items(): + all_scope_topics = scope.publications | scope.subscriptions + for topic in all_scope_topics: + if topic in self._print_topics: + intersect_scopes[scope.name] = scope + break + self._print_scopes = intersect_scopes - if os.path.normpath(path) in self._excluded_paths: - dbg_print('ignoring excluded path '+path) + + def _build_recursive(self, path, **kwargs): + if os.path.normpath(path) in self._path_blacklist: + log.debug('ignoring excluded path '+path) return entries = os.listdir(path) - # check if entering a new module + # check if entering a new scope cmake_file = 'CMakeLists.txt' - new_module = False + new_scope = False if cmake_file in entries: - new_module = self._extract_module_name(os.path.join(path, cmake_file)) + new_scope = self._extract_build_information(os.path.join(path, cmake_file), **kwargs) # iterate directories recursively for entry in entries: file_name = os.path.join(path, entry) if os.path.isdir(file_name): - self._build_recursive(file_name) + self._build_recursive(file_name, **kwargs) # iterate source files - # Note: we could skip the entries if we're not in a module, but we don't - # so that we get appropriate error messages to know where we miss subs - # or pubs + # Note: Skip all entries if we're not in a scope -- both finding known pubs/subs and emitting warnings for entry in entries: file_name = os.path.join(path, entry) if os.path.isfile(file_name): @@ -334,33 +408,71 @@ class Graph(object): if ext in ['.cpp', '.c', '.h', '.hpp']: self._process_source_file(file_name) - - if new_module: - self._current_module.pop() + if new_scope: + self._current_scope.pop() - def _extract_module_name(self, file_name): - """ extract the module name from a CMakeLists.txt file and store - in self._current_module if there is any """ + def _extract_build_information(self, file_name, **kwargs): + """ extract the module or library name from a CMakeLists.txt file and store + in self._current_scope if there is any + Also records dependencies, if any are specified. + """ + datafile = open(file_name) found_module_def = False + found_module_depends = False + found_library_def = False for line in datafile: if 'px4_add_module' in line: # must contain 'px4_add_module' found_module_def = True + elif 'px4_add_library' in line: # must contain 'px4_add_module' + tokens = line.split('(') + if 1 < len(tokens): + found_library_def = True + library_name = tokens[1].split()[0].strip().rstrip(')') + library_scope = LibraryScope(library_name) + self._current_scope.append(library_scope) + self._found_libraries[library_name] = library_scope + if self._in_scope(): + log.debug(' >> found library: ' + library_name) + + # we can return early because we have no further information to collect from libraries + return True + elif found_module_def and 'DEPENDS' in line.upper(): + found_module_depends = True + elif found_module_depends: + # two tabs is a *sketchy* heuristic -- spacing isn't guaranteed by cmake; + # ... but the hard-tabs *is* specified by PX4 coding standards, so it's likely to be consistent + if line.startswith('\t\t'): + depends = [dep.strip() for dep in line.split()] + for name in depends: + self._current_scope[-1].add_dependency(name) + if kwargs['merge_depends']: + if (0 < len(self._scope_whitelist)) and self._current_scope[-1].name in self._scope_whitelist: + # if we whitelist a module with dependencies, whitelist the dependencies, too + self._scope_whitelist.add(name) + + else: + found_module_depends = False ## done with the 'DEPENDS' section. words = line.split() # get the definition of MAIN if found_module_def and 'MAIN' in words and len(words) >= 2: - self._current_module.append(words[1]) - self._all_modules.add(words[1]) - dbg_print('Found module name: '+words[1]) - return True - return False + module_name = words[1] + module_scope = ModuleScope(module_name) + self._current_scope.append(module_scope) + self._found_modules[module_name] = module_scope + if self._in_scope(): + log.debug(' >> Found module name: ' + module_scope.name) + + return (found_library_def or found_module_def) def _process_source_file(self, file_name): """ extract information from a single source file """ + log.debug( " >> extracting topics from file: " + file_name ) + with codecs.open(file_name, 'r', 'utf-8') as f: try: content = f.read() @@ -369,83 +481,102 @@ class Graph(object): return - current_module = self._get_current_module() - if current_module == 'uorb_tests': # skip this - return - if current_module == 'uorb': + current_scope = self._get_current_scope() + if current_scope: + if current_scope.name in self._scope_blacklist: + return + elif current_scope.name == 'uorb_tests': # skip this + return + elif current_scope.name == 'uorb': - # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define - matches = self._orb_id_vehicle_attitude_controls_re.findall(content) - for match in matches: - if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic: - # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic - raise Exception( - 'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS ' - 'is '+match+' but expected ORB_ID('+ - self._orb_id_vehicle_attitude_controls_topic) + # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define + matches = self._orb_id_vehicle_attitude_controls_re.findall(content) + for match in matches: + if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic: + # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic + raise Exception( + 'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS ' + 'is '+match+' but expected ORB_ID('+ + self._orb_id_vehicle_attitude_controls_topic) - return # skip uorb module for the rest + return # skip uorb module for the rest + line_number = 0 + for full_line in content.splitlines(): + line_number += 1 + short_line = re.sub(self._whitespace_pattern, '', full_line) - if content.lower().find('orb_') != -1: # approximative filter to quickly - # discard files we're not interested in - # (speedup the parsing) - src = self._comment_remover(content) - src = re.sub(self._whitespace_pattern, '', src) # remove all whitespace + topic = self._publications.match(short_line) + if topic: + if current_scope: + current_scope.publications.add(topic) + continue + else: + raise AssertionError("Encountered Publication topic outside of any scope! " + file_name + " Aborting!") + topic = self._subscriptions.match(short_line) + if topic: + if current_scope: + current_scope.subscriptions.add(topic) + continue + else: + raise AssertionError("Encountered Subscription topic outside of any scope! " + file_name + " Aborting!") - # subscriptions - self._subscriptions.extract(file_name, src, current_module, - self._orb_id_vehicle_attitude_controls_topic) + topic = self._ambiguities.match(short_line) + if topic: + if current_scope: + if topic != PubSub.AMBIGUOUS_SITE_TOPIC: + current_scope.ambiguities.add(topic) + self._warnings.append((current_scope, file_name, line_number, full_line)) + continue + else: + raise AssertionError("Encountered Ambiguous topic outside of any scope! " + file_name + " Aborting!") - # publications - self._publications.extract(file_name, src, current_module, - self._orb_id_vehicle_attitude_controls_topic) + def _in_scope(self, scope_name = None): + if 0 < len(self._current_scope): + if None is scope_name: + scope_name = self._current_scope[-1].name + if scope_name in self._scope_whitelist: + return True - # TODO: handle Publication & Subscription template classes + return False + def merge_depends(self): + log.info('### Merge Depends:') + for modname,module in self._found_modules.items(): + if modname in self._scope_whitelist or 0==len(self._scope_whitelist): + for depname in module.dependencies: + if depname in self._found_libraries: + dep = self._found_libraries[depname] + # copy topics from library to depending library + for topic in dep.publications: + module.publications.add(topic) + for topic in dep.subscriptions: + module.subscriptions.add(topic) + for topic in dep.ambiguities: + module.ambiguities - def _comment_remover(self, text): - """ remove C++ & C style comments. - Source: https://stackoverflow.com/a/241506 """ - def replacer(match): - s = match.group(0) - if s.startswith('/'): - return " " # note: a space and not an empty string - else: - return s - return re.sub(self._comment_remove_pattern, replacer, text) + # omit all libraries -- they've already been merged into their respective dependees + self._scope_whitelist = set([ str(s) for s in self._scope_whitelist if s not in self._found_libraries]) @property - def modules(self): + def output_scopes(self): """ get the set of all modules """ - return self._modules + return self._print_scopes @property - def topics(self): + def output_topics(self): """ get set set of all topics """ - return self._topics + return self._print_topics @property def topic_colors(self): """ get a dict of all topic colors with key=topic, value=color """ return self._topic_colors - @property - def module_subscriptions(self): - """ get a dict of all subscriptions with key=module name, value=set(topic names) """ - return self._subscriptions.pubsubs - - @property - def module_publications(self): - """ get a dict of all publications with key=module name, value=set(topic names) """ - return self._publications.pubsubs - - - class OutputGraphviz(object): """ write graph using Graphviz """ @@ -466,44 +597,40 @@ class OutputGraphviz(object): ratio = 1 # aspect ratio - modules = self._graph.modules - topics = self._graph.topics + output_topics = self._graph.output_topics + output_scopes = self._graph.output_scopes topic_colors = self._graph.topic_colors - module_publications = self._graph.module_publications - module_subscriptions = self._graph.module_subscriptions graph_attr={'splines': 'true', 'ratio': str(ratio), 'overlap': 'false'} graph_attr['sep'] = '"+15,15"' # increase spacing between nodes graph = Digraph(comment='autogenerated graph with graphviz using uorb_graph.py', engine=engine, graph_attr=graph_attr) - - # nodes - for module in modules: - graph.node('m_'+module, module, shape='box', fontcolor='#ffffff', + # scopes: modules + log.info(' > Writing scopes') + for name,_ in output_scopes.items(): + graph.node('m_'+name, name, shape='box', fontcolor='#ffffff', style='filled', color='#666666', fontsize='16') - for topic in topics: + log.info(' > Writing topics') + for topic in output_topics: graph.node('t_'+topic, topic, shape='ellipse', fontcolor='#ffffff', style='filled', color=topic_colors[topic]) - # edges + log.info(' > Writing publish edges') if show_publications: - for module in modules: - if module in module_publications: - for topic in module_publications[module]: - if topic in topics: - graph.edge('m_'+module, 't_'+topic, - color=topic_colors[topic], style='dashed') + for scope_name,scope in output_scopes.items(): + for topic in scope.publications: + if topic in output_topics: + graph.edge('m_'+scope_name, 't_'+topic, color=topic_colors[topic], style='dashed') + log.info(' > Writing subscribe edges') if show_subscriptions: - for module in modules: - if module in module_subscriptions: - for topic in module_subscriptions[module]: - if topic in topics: - graph.edge('t_'+topic, 'm_'+module, - color=topic_colors[topic]) + for scope_name,scope in output_scopes.items(): + for topic in scope.subscriptions: + if topic in output_topics: + graph.edge('t_'+topic, 'm_'+scope_name, color=topic_colors[topic]) graph.render(file_name, view=False) @@ -518,11 +645,9 @@ class OutputJSON(object): print('Writing to '+file_name) - modules = self._graph.modules - topics = self._graph.topics + output_topics = self._graph.output_topics + output_scopes = self._graph.output_scopes topic_colors = self._graph.topic_colors - module_publications = self._graph.module_publications - module_subscriptions = self._graph.module_subscriptions data = {} nodes = [] @@ -531,16 +656,16 @@ class OutputJSON(object): # (sort by length, such that short names are last. The rendering order # will be the same, so that in case of an overlap, the shorter label # will be on top) - for module in sorted(modules, key=len, reverse=True): + for scope_tuple in sorted(output_scopes.items(), key=(lambda st: len(st[0])), reverse=True): node = {} - node['id'] = 'm_'+module - node['name'] = module - node['type'] = 'module' + node['id'] = 'm_'+scope_tuple[0] + node['name'] = scope_tuple[0] + node['type'] = scope_tuple[1].typename node['color'] = '#666666' # TODO: add url to open module documentation? nodes.append(node) - for topic in sorted(topics, key=len, reverse=True): + for topic in sorted(output_topics, key=len, reverse=True): node = {} node['id'] = 't_'+topic node['name'] = topic @@ -555,28 +680,27 @@ class OutputJSON(object): edges = [] - # edges - for module in modules: - if module in module_publications: - for topic in module_publications[module]: - if topic in topics: - edge = {} - edge['source'] = 'm_'+module - edge['target'] = 't_'+topic - edge['color'] = topic_colors[topic] - edge['style'] = 'dashed' - edges.append(edge) - for module in modules: - if module in module_subscriptions: - for topic in module_subscriptions[module]: - if topic in topics: - edge = {} - edge['source'] = 't_'+topic - edge['target'] = 'm_'+module - edge['color'] = topic_colors[topic] - edge['style'] = 'normal' - edges.append(edge) + # edges + for name,scope in output_scopes.items(): + for topic in scope.publications: + if topic in output_topics: + edge = {} + edge['source'] = 'm_'+name + edge['target'] = 't_'+topic + edge['color'] = topic_colors[topic] + edge['style'] = 'dashed' + edges.append(edge) + + for name,scope in output_scopes.items(): + for topic in scope.subscriptions: + if topic in output_topics: + edge = {} + edge['source'] = 't_'+topic + edge['target'] = 'm_'+name + edge['color'] = topic_colors[topic] + edge['style'] = 'normal' + edges.append(edge) data['links'] = edges @@ -584,41 +708,76 @@ class OutputJSON(object): json.dump(data, outfile) # add indent=2 for readable formatting +if "__main__" == __name__: -# ignore topics that are subscribed/published by many topics, but are not really -# useful to show in the graph -topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ] -print('Excluded topics: '+str(topic_blacklist)) + args = parser.parse_args() -if len(args.modules) == 0: - module_whitelist = [] -else: - module_whitelist = [ m.strip() for m in args.modules.split(',')] + if 0 < args.verbosity: + if 1 == args.verbosity: + log.setLevel(logging.INFO) + print("set log level to INFO") + else: # implicity 1< + log.setLevel(logging.DEBUG) + print("set log level to DEBUG") -graph = Graph(module_whitelist=module_whitelist, topic_blacklist=topic_blacklist) -if len(args.src_path) == 0: - args.src_path = ['src'] -graph.build(args.src_path, args.exclude_path, use_topic_pubsub_union=args.use_topic_union) + # ignore topics that are subscribed/published by many topics, but are not really + # useful to show in the graph + topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ] + print('Excluded topics: '+str(topic_blacklist)) + if len(args.modules) == 0: + scope_whitelist = [] + else: + scope_whitelist = [ m.strip() for m in args.modules.split(',')] + scope_whitelist = set(scope_whitelist) -if args.output == 'json': - output_json = OutputJSON(graph) - output_json.write(args.file+'.json') + graph = Graph(scope_whitelist=scope_whitelist, topic_blacklist=topic_blacklist) -elif args.output == 'graphviz': - try: - from graphviz import Digraph - except ImportError as e: - print("Failed to import graphviz: " + e) - print("") - print("You may need to install it with:") - print(" pip3 install --user graphviz") - print("") - sys.exit(1) - output_graphviz = OutputGraphviz(graph) - engine='fdp' # use neato or fdp - output_graphviz.write(args.file+'.fv', engine=engine) - output_graphviz.write(args.file+'_subs.fv', show_publications=False, engine=engine) - output_graphviz.write(args.file+'_pubs.fv', show_subscriptions=False, engine=engine) -else: - print('Error: unknown output format '+args.output) + # if no source paths are supplied, guess that we're in the project root, and apply it to the entire 'src/' tree + if len(args.src_path) == 0: + args.src_path = ['src'] + + # transcribe only the source paths that actually exist: + source_paths = [] + for path in args.src_path: + if os.path.exists(path): + source_paths.append(path) + else: + log.warn("Could not find path: " + path) + + if 0 == len(source_paths): + print("!! None of the source directories were valid -- Exiting.") + sys.exit(-1) + + # ignore certain paths + path_blacklist = ['src/lib/parameters/'] + if 0 < len(args.exclude_path): + path_blacklist = args.exclude_path + if path_blacklist: + print('Excluded Path: '+str(path_blacklist)) + + graph.build(source_paths, path_blacklist=path_blacklist, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends) + + if args.output == 'json': + output_json = OutputJSON(graph) + output_json.write(args.file+'.json') + + elif args.output in ('graphviz','gv'): + try: + from graphviz import Digraph + except ImportError as e: + print("Failed to import graphviz: " + str(e)) + print("") + print("You may need to install it with:") + print(" pip3 install --user graphviz") + print("") + sys.exit(1) + output_graphviz = OutputGraphviz(graph) + engine='fdp' # use neato or fdp + output_graphviz.write(args.file+'.fv', engine=engine) + output_graphviz.write(args.file+'_subs.fv', show_publications=False, engine=engine) + output_graphviz.write(args.file+'_pubs.fv', show_subscriptions=False, engine=engine) + elif args.output == 'none': + pass + else: + print('Error: unknown output format '+args.output) diff --git a/Tools/uorb_graph/create_from_startupscript.sh b/Tools/uorb_graph/create_from_startupscript.sh deleted file mode 100755 index c0bd7e70da..0000000000 --- a/Tools/uorb_graph/create_from_startupscript.sh +++ /dev/null @@ -1,13 +0,0 @@ -#! /bin/bash -# create the graph from a posix (e.g. SITL) startup script - -SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" - -startup_file="$SCRIPT_DIR"/../../posix-configs/SITL/init/ekf2/typhoon_h480 -[ -n "$1" ] && startup_file=$1 -# get the modules as comma-separated list -modules=$(cat "$startup_file"|cut -f1 -d' '|sort|uniq|tr '\n' ,) - -cd "$SCRIPT_DIR/../.." -"$SCRIPT_DIR"/create.py --src-path src -m "$modules" -f "$SCRIPT_DIR/graph_runtime_sitl" - diff --git a/boards/aerotenna/ocpoc/adc/adc.cpp b/boards/aerotenna/ocpoc/adc/adc.cpp deleted file mode 100644 index f35c583607..0000000000 --- a/boards/aerotenna/ocpoc/adc/adc.cpp +++ /dev/null @@ -1,103 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -#include - -#include - -#include -#include -#include - -#define ADC_SYSFS_PATH "/sys/bus/iio/devices/iio:device0" -#define ADC_MAX_CHAN 9 -int _channels_fd[ADC_MAX_CHAN]; - -int px4_arch_adc_init(uint32_t base_address) -{ - for (int i = 0; i < ADC_MAX_CHAN; i++) { - _channels_fd[i] = -1; - } - - return 0; -} - -void px4_arch_adc_uninit(uint32_t base_address) -{ - for (int i = 0; i < ADC_MAX_CHAN; i++) { - ::close(_channels_fd[i]); - _channels_fd[i] = -1; - } -} - -uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel) -{ - if (channel > ADC_MAX_CHAN) { - PX4_ERR("channel %d out of range: %d", channel, ADC_MAX_CHAN); - return UINT32_MAX; // error - } - - // open channel if necessary - if (_channels_fd[channel] == -1) { - // ADC_SYSFS_PATH - char channel_path[strlen(ADC_SYSFS_PATH) + 20] {}; - - if (sprintf(channel_path, "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) { - PX4_ERR("adc channel: %d\n", channel); - return UINT32_MAX; // error - } - - _channels_fd[channel] = ::open(channel_path, O_RDONLY); - } - - char buffer[10] {}; - - if (::pread(_channels_fd[channel], buffer, sizeof(buffer), 0) < 0) { - PX4_ERR("read channel %d failed", channel); - return UINT32_MAX; // error - } - - return atoi(buffer); -} - -float px4_arch_adc_reference_v() -{ - return BOARD_ADC_POS_REF_V; -} - -uint32_t px4_arch_adc_dn_fullcount() -{ - return 1 << 12; // 12 bit ADC -} diff --git a/boards/aerotenna/ocpoc/src/board_config.h b/boards/aerotenna/ocpoc/src/board_config.h deleted file mode 100644 index 04ab1b03dd..0000000000 --- a/boards/aerotenna/ocpoc/src/board_config.h +++ /dev/null @@ -1,61 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2017 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file board_config.h - * - * Aerotenna Ocpoc internal definitions - */ - -#pragma once - -#define BOARD_OVERRIDE_UUID "OCPOC00000000000" // must be of length 16 -#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_OCPOC - -#define BOARD_BATTERY1_V_DIV (10.177939394f) - -#define BOARD_MAX_LEDS 1 // Number of external LED's this board has - -#define PX4_NUMBER_I2C_BUSES 4 - -#define PX4_I2C_BUS_LED 1 - -// ADC channels: -#define ADC_CHANNELS (1 << 8) - -#define ADC_BATTERY_VOLTAGE_CHANNEL 8 -#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1)) - - -#include -#include diff --git a/boards/aerotenna/ocpoc/src/spi.cpp b/boards/aerotenna/ocpoc/src/spi.cpp deleted file mode 100644 index 219d30ec6f..0000000000 --- a/boards/aerotenna/ocpoc/src/spi.cpp +++ /dev/null @@ -1,42 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include - -constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { - initSPIBus(1, { - initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, 0), - initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 1), - }), -}; diff --git a/boards/airmind/mindpx-v2/bootloader/airmind_mindpx-v2_bootloader.bin b/boards/airmind/mindpx-v2/bootloader/airmind_mindpx-v2_bootloader.bin new file mode 100644 index 0000000000..591d039060 Binary files /dev/null and b/boards/airmind/mindpx-v2/bootloader/airmind_mindpx-v2_bootloader.bin differ diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake index 7fab0bc386..5ef2da1abb 100644 --- a/boards/airmind/mindpx-v2/default.cmake +++ b/boards/airmind/mindpx-v2/default.cmake @@ -15,6 +15,7 @@ px4_add_board( TEL1:/dev/ttyS1 TEL2:/dev/ttyS2 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -31,13 +32,12 @@ px4_add_board( imu/invensense/mpu6000 imu/invensense/mpu6500 irlock - lights/blinkm - lights/rgbled - #lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_input @@ -45,7 +45,7 @@ px4_add_board( pwm_out rc_input roboclaw - tap_esc + rpm telemetry # all available telemetry drivers test_ppm tone_alarm @@ -58,10 +58,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -72,12 +75,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -85,6 +91,7 @@ px4_add_board( #dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -100,6 +107,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -111,6 +119,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/airmind/mindpx-v2/init/rc.board_defaults b/boards/airmind/mindpx-v2/init/rc.board_defaults deleted file mode 100644 index 82e1fb82a5..0000000000 --- a/boards/airmind/mindpx-v2/init/rc.board_defaults +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh -# -# Airmind Mindpx-v2 specific board defaults -#------------------------------------------------------------------------------ - -# Disable safety switch by default -param set-default CBRK_IO_SAFETY 22027 diff --git a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig index fe55ba529b..19093de3c6 100644 --- a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig +++ b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig @@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/ark/can-flow/debug.cmake b/boards/ark/can-flow/debug.cmake new file mode 100644 index 0000000000..ddcb65e867 --- /dev/null +++ b/boards/ark/can-flow/debug.cmake @@ -0,0 +1,33 @@ +include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity) + +px4_add_board( + PLATFORM nuttx + VENDOR ark + MODEL can-flow + LABEL debug + TOOLCHAIN arm-none-eabi + ARCHITECTURE cortex-m4 + CONSTRAINED_MEMORY + ROMFSROOT cannode + UAVCAN_INTERFACES 1 + DRIVERS + bootloaders + imu/bosch/bmi088 + optical_flow/paw3902 + uavcannode + MODULES + #ekf2 + load_mon + #sensors + SYSTEMCMDS + mft + mtd + param + perf + reboot + system_time + top + topic_listener + ver + work_queue +) diff --git a/boards/ark/can-flow/default.cmake b/boards/ark/can-flow/default.cmake index eaaa5120de..7ac68b3f10 100644 --- a/boards/ark/can-flow/default.cmake +++ b/boards/ark/can-flow/default.cmake @@ -7,6 +7,7 @@ px4_add_board( LABEL default TOOLCHAIN arm-none-eabi ARCHITECTURE cortex-m4 + CONSTRAINED_FLASH CONSTRAINED_MEMORY ROMFSROOT cannode UAVCAN_INTERFACES 1 @@ -17,14 +18,17 @@ px4_add_board( uavcannode MODULES #ekf2 - load_mon + #load_mon #sensors SYSTEMCMDS + mft + mtd param - perf - reboot - top - topic_listener - ver - work_queue + #perf + #reboot + #system_time + #top + #topic_listener + #ver + #work_queue ) diff --git a/boards/ark/can-flow/init/rc.board_sensors b/boards/ark/can-flow/init/rc.board_sensors index 230012da7d..7750a31898 100644 --- a/boards/ark/can-flow/init/rc.board_sensors +++ b/boards/ark/can-flow/init/rc.board_sensors @@ -4,6 +4,6 @@ #------------------------------------------------------------------------------ # Internal SPI -paw3902 -s start -bmi088 -A -s -R 0 start -bmi088 -G -s -R 0 start +paw3902 -s start -Y 90 +bmi088 -A -s -R 4 start +bmi088 -G -s -R 4 start diff --git a/boards/ark/can-flow/nuttx-config/nsh/defconfig b/boards/ark/can-flow/nuttx-config/nsh/defconfig index 942264c754..de632fc595 100644 --- a/boards/ark/can-flow/nuttx-config/nsh/defconfig +++ b/boards/ark/can-flow/nuttx-config/nsh/defconfig @@ -81,6 +81,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/ark/can-flow/src/CMakeLists.txt b/boards/ark/can-flow/src/CMakeLists.txt index 97375e699b..0a0d160823 100644 --- a/boards/ark/can-flow/src/CMakeLists.txt +++ b/boards/ark/can-flow/src/CMakeLists.txt @@ -51,12 +51,14 @@ else() can.c i2c.cpp init.c + led.c spi.cpp ) target_link_libraries(drivers_board PRIVATE arch_spi + drivers__led # drv_led_start nuttx_arch nuttx_drivers px4_layer diff --git a/boards/ark/can-flow/src/board_config.h b/boards/ark/can-flow/src/board_config.h index 28a50bbc11..44424aeae7 100644 --- a/boards/ark/can-flow/src/board_config.h +++ b/boards/ark/can-flow/src/board_config.h @@ -53,8 +53,12 @@ #define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI) /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ -#define GPIO_LED_RED /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3) -#define GPIO_LED_BLUE /* PA8 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) +#define GPIO_nLED_RED /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3) +#define GPIO_nLED_BLUE /* PA8 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) + +#define BOARD_HAS_CONTROL_STATUS_LEDS 1 +#define BOARD_OVERLOAD_LED LED_RED +#define BOARD_ARMED_STATE_LED LED_BLUE #define FLASH_BASED_PARAMS diff --git a/boards/ark/can-flow/src/boot.c b/boards/ark/can-flow/src/boot.c index 676f541048..a0716b9dcb 100644 --- a/boards/ark/can-flow/src/boot.c +++ b/boards/ark/can-flow/src/boot.c @@ -49,6 +49,12 @@ #include +__BEGIN_DECLS +extern void led_init(void); +extern void bootloader_led_on(int led); +extern void bootloader_led_off(int led); +__END_DECLS + /************************************************************************************ * Name: stm32_boardinitialize * @@ -69,6 +75,8 @@ __EXPORT void stm32_boardinitialize(void) putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); + led_init(); + #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO) stm32_configgpio(GPIO_GETNODEINFO_JUMPER); #endif @@ -76,7 +84,7 @@ __EXPORT void stm32_boardinitialize(void) } /************************************************************************************ - * Name: stm32_boarddeinitialize + * Name: board_deinitialize * * Description: * This function is called by the bootloader code prior to booting @@ -84,7 +92,7 @@ __EXPORT void stm32_boardinitialize(void) * ************************************************************************************/ -void stm32_boarddeinitialize(void) +void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); } @@ -152,48 +160,27 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) * None * ****************************************************************************/ -// #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)} - -// typedef begin_packed_struct struct led_t { -// uint8_t red; -// uint8_t green; -// uint8_t blue; -// uint8_t hz; -// } end_packed_struct led_t; - -// static const led_t i2l[] = { - -// led(0, off, 0, 0, 0, 0), -// led(1, reset, 128, 128, 128, 30), -// led(2, autobaud_start, 0, 128, 0, 1), -// led(3, autobaud_end, 0, 128, 0, 2), -// led(4, allocation_start, 0, 0, 64, 2), -// led(5, allocation_end, 0, 128, 64, 3), -// led(6, fw_update_start, 32, 128, 64, 3), -// led(7, fw_update_erase_fail, 32, 128, 32, 3), -// led(8, fw_update_invalid_response, 64, 0, 0, 1), -// led(9, fw_update_timeout, 64, 0, 0, 2), -// led(a, fw_update_invalid_crc, 64, 0, 0, 4), -// led(b, jump_to_app, 0, 128, 0, 10), - -// }; - void board_indicate(uiindication_t indication) { - // switch(indication) { - // case off: - // led_off(GPIO_nLED_RED); - // led_off(GPIO_nLED_BLUE); - // break; - // case reset: - // led_on(GPIO_nLED_RED); - // led_on(GPIO_nLED_BLUE); - // break; - // case jump_to_app: - // led_on(GPIO_nLED_RED); - // led_off(GPIO_nLED_BLUE); - // break; - // default: - // break; - // } + if (indication == off) { + bootloader_led_off(GPIO_nLED_RED); + bootloader_led_off(GPIO_nLED_BLUE); + + } else if (indication == fw_update_start) { + bootloader_led_on(GPIO_nLED_RED); + bootloader_led_on(GPIO_nLED_BLUE); + + } else if ((indication == fw_update_erase_fail) || (indication == fw_update_invalid_response) + || (indication == fw_update_timeout) || (indication == fw_update_invalid_crc)) { + bootloader_led_on(GPIO_nLED_RED); + bootloader_led_off(GPIO_nLED_BLUE); + + } else if (indication == allocation_start) { + bootloader_led_on(GPIO_nLED_RED); + bootloader_led_off(GPIO_nLED_BLUE); + + } else { + bootloader_led_off(GPIO_nLED_RED); + bootloader_led_on(GPIO_nLED_BLUE); + } } diff --git a/boards/ark/can-flow/src/boot_config.h b/boards/ark/can-flow/src/boot_config.h index bef0d6275f..eab3c76c6c 100644 --- a/boards/ark/can-flow/src/boot_config.h +++ b/boards/ark/can-flow/src/boot_config.h @@ -122,12 +122,7 @@ /* If this board uses big flash that have large sectors */ -#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \ - defined(CONFIG_STM32_FLASH_CONFIG_F) || \ - defined(CONFIG_STM32_FLASH_CONFIG_G) || \ - defined(CONFIG_STM32_FLASH_CONFIG_I) #define OPT_USE_YIELD -#endif /* Bootloader Option***************************************************************** * diff --git a/boards/ark/can-flow/src/init.c b/boards/ark/can-flow/src/init.c index 6254761a39..501c13d29d 100644 --- a/boards/ark/can-flow/src/init.c +++ b/boards/ark/can-flow/src/init.c @@ -69,6 +69,12 @@ # include #endif +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + /************************************************************************************ * Name: stm32_boardinitialize * @@ -121,6 +127,9 @@ __EXPORT int board_app_initialize(uintptr_t arg) { px4_platform_init(); + // Configure LEDs. + board_autoled_initialize(); + #if defined(FLASH_BASED_PARAMS) static sector_descriptor_t params_sector_map[] = { {2, 16 * 1024, 0x08008000}, @@ -138,7 +147,14 @@ __EXPORT int board_app_initialize(uintptr_t arg) #endif // FLASH_BASED_PARAMS - //px4_platform_configure(); + /* initial LED state */ + drv_led_start(); + led_off(LED_RED); + led_on(LED_BLUE); + + /* Configure the HW based on the manifest */ + + px4_platform_configure(); return OK; } diff --git a/boards/ark/can-flow/src/led.c b/boards/ark/can-flow/src/led.c index 19c72d8705..aa47edac93 100644 --- a/boards/ark/can-flow/src/led.c +++ b/boards/ark/can-flow/src/led.c @@ -55,14 +55,17 @@ */ __BEGIN_DECLS extern void led_init(void); +extern void bootloader_led_on(int led); +extern void bootloader_led_off(int led); extern void led_on(int led); extern void led_off(int led); extern void led_toggle(int led); __END_DECLS +# define xlat(p) (p) static uint32_t g_ledmap[] = { - GPIO_LED_RED, - GPIO_LED_BLUE, + GPIO_nLED_BLUE, + GPIO_nLED_RED, }; __EXPORT void led_init(void) @@ -70,10 +73,21 @@ __EXPORT void led_init(void) /* Configure LED GPIOs for output */ for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) { stm32_configgpio(g_ledmap[l]); - stm32_gpiowrite(g_ledmap[l], true); } } +__EXPORT void bootloader_led_on(int led) +{ + /* Pull Down to switch on */ + stm32_gpiowrite(led, false); +} + +__EXPORT void bootloader_led_off(int led) +{ + /* Pull Up to switch on */ + stm32_gpiowrite(led, true); +} + static void phy_set_led(int led, bool state) { /* Pull Down to switch on */ @@ -82,21 +96,20 @@ static void phy_set_led(int led, bool state) static bool phy_get_led(int led) { - return !stm32_gpioread(g_ledmap[led]); } __EXPORT void led_on(int led) { - phy_set_led(led, true); + phy_set_led(xlat(led), true); } __EXPORT void led_off(int led) { - phy_set_led(led, false); + phy_set_led(xlat(led), false); } __EXPORT void led_toggle(int led) { - phy_set_led(led, !phy_get_led(led)); + phy_set_led(xlat(led), !phy_get_led(xlat(led))); } diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake index 6b8d4ff453..41295d615d 100644 --- a/boards/atlflight/eagle/default.cmake +++ b/boards/atlflight/eagle/default.cmake @@ -67,6 +67,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator #load_mon diff --git a/boards/atlflight/eagle/qurt.cmake b/boards/atlflight/eagle/qurt.cmake index c7993cc03e..1c9a1d3c61 100644 --- a/boards/atlflight/eagle/qurt.cmake +++ b/boards/atlflight/eagle/qurt.cmake @@ -49,7 +49,6 @@ px4_add_board( imu/invensense/mpu9250 #magnetometer/hmc5883 qshell/qurt - snapdragon_pwm_out spektrum_rc MODULES airspeed_selector @@ -59,6 +58,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator local_position_estimator diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake index 25dbf2f533..2f7ef433b9 100644 --- a/boards/atlflight/excelsior/default.cmake +++ b/boards/atlflight/excelsior/default.cmake @@ -66,6 +66,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator #load_mon diff --git a/boards/atlflight/excelsior/qurt.cmake b/boards/atlflight/excelsior/qurt.cmake index be8ecd5b7b..668b69414b 100644 --- a/boards/atlflight/excelsior/qurt.cmake +++ b/boards/atlflight/excelsior/qurt.cmake @@ -49,7 +49,6 @@ px4_add_board( imu/invensense/mpu9250 magnetometer/hmc5883 qshell/qurt - snapdragon_pwm_out spektrum_rc MODULES airspeed_selector @@ -59,6 +58,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator local_position_estimator diff --git a/boards/av/x-v1/bootloader/av_x-v1_bootloader.bin b/boards/av/x-v1/bootloader/av_x-v1_bootloader.bin new file mode 100644 index 0000000000..69bb5cee57 Binary files /dev/null and b/boards/av/x-v1/bootloader/av_x-v1_bootloader.bin differ diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake index 717d7e7964..b417292274 100644 --- a/boards/av/x-v1/default.cmake +++ b/boards/av/x-v1/default.cmake @@ -9,6 +9,7 @@ px4_add_board( ROMFSROOT px4fmu_common TESTING UAVCAN_INTERFACES 2 + ETHERNET SERIAL_PORTS GPS1:/dev/ttyS6 TEL1:/dev/ttyS0 @@ -16,6 +17,7 @@ px4_add_board( TEL3:/dev/ttyS2 TEL4:/dev/ttyS3 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -25,18 +27,16 @@ px4_add_board( distance_sensor # all available distance sensor drivers #dshot gps - #heater #imu # all available imu drivers imu/adis16477 imu/adis16497 irlock - lights/blinkm - #lights/rgbled - #lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter #pwm_input @@ -44,7 +44,7 @@ px4_add_board( pwm_out rc_input roboclaw - tap_esc + rpm telemetry # all available telemetry drivers test_ppm #tone_alarm @@ -57,10 +57,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -71,19 +74,23 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS - #bl_update + bl_update dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -91,12 +98,14 @@ px4_add_board( motor_ramp motor_test nshterm + netman param perf pwm reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -107,6 +116,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/av/x-v1/init/rc.board_defaults b/boards/av/x-v1/init/rc.board_defaults index 1fdf1ecb34..661ad24816 100644 --- a/boards/av/x-v1/init/rc.board_defaults +++ b/boards/av/x-v1/init/rc.board_defaults @@ -1,13 +1,7 @@ #!/bin/sh # -# av_x1-v1 specific board init +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable param set-default CBRK_SUPPLY_CHK 894281 - -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - -set LOGGER_BUF 64 diff --git a/boards/av/x-v1/init/rc.board_mavlink b/boards/av/x-v1/init/rc.board_mavlink index d7ea448203..339d1141fa 100644 --- a/boards/av/x-v1/init/rc.board_mavlink +++ b/boards/av/x-v1/init/rc.board_mavlink @@ -11,4 +11,4 @@ mavlink stream -d /dev/ttyS5 -s LOCAL_POSITION_NED -r 50 # AV-X: start MAVLink UDP port 14570 -mavlink start -x -u 14570 +mavlink start -x -u 14570 -p diff --git a/boards/av/x-v1/nuttx-config/nsh/defconfig b/boards/av/x-v1/nuttx-config/nsh/defconfig index 7cdbee4412..a978f73a1c 100644 --- a/boards/av/x-v1/nuttx-config/nsh/defconfig +++ b/boards/av/x-v1/nuttx-config/nsh/defconfig @@ -14,12 +14,10 @@ # CONFIG_MMCSD_SPI is not set # CONFIG_NSH_DISABLEBG is not set # CONFIG_NSH_DISABLESCRIPT is not set -# CONFIG_NSH_DISABLE_ADDROUTE is not set # CONFIG_NSH_DISABLE_ARP is not set # CONFIG_NSH_DISABLE_BASENAME is not set # CONFIG_NSH_DISABLE_CMP is not set # CONFIG_NSH_DISABLE_DD is not set -# CONFIG_NSH_DISABLE_DELROUTE is not set # CONFIG_NSH_DISABLE_DF is not set # CONFIG_NSH_DISABLE_DIRNAME is not set # CONFIG_NSH_DISABLE_EXEC is not set @@ -32,7 +30,6 @@ # CONFIG_NSH_DISABLE_MKRD is not set # CONFIG_NSH_DISABLE_PRINTF is not set # CONFIG_NSH_DISABLE_PUT is not set -# CONFIG_NSH_DISABLE_ROUTE is not set # CONFIG_NSH_DISABLE_SEMICOLON is not set # CONFIG_NSH_DISABLE_TIME is not set # CONFIG_NSH_DISABLE_UNAME is not set @@ -74,15 +71,13 @@ CONFIG_FAT_LCNAMES=y CONFIG_FAT_LFN=y CONFIG_FAT_LFN_ALIAS_HASH=y CONFIG_FDCLONE_STDIO=y +CONFIG_FSUTILS_IPCFG=y CONFIG_FS_BINFS=y CONFIG_FS_CROMFS=y CONFIG_FS_FAT=y CONFIG_FS_FATTIME=y CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y -CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y -CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y -CONFIG_FS_PROCFS_EXCLUDE_USAGE=y +CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y CONFIG_FS_PROCFS_REGISTER=y CONFIG_FS_ROMFS=y CONFIG_GRAN=y @@ -108,12 +103,18 @@ CONFIG_NETDB_DNSCLIENT=y CONFIG_NETDB_DNSCLIENT_ENTRIES=8 CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y +CONFIG_NETINIT_DHCPC=y +CONFIG_NETINIT_DNS=y +CONFIG_NETINIT_DNSIPADDR=0XC0A800FE +CONFIG_NETINIT_DRIPADDR=0XC0A800FE +CONFIG_NETINIT_THREAD=y +CONFIG_NETINIT_THREAD_PRIORITY=49 CONFIG_NETUTILS_TELNETD=y CONFIG_NET_ARP_IPIN=y CONFIG_NET_ARP_SEND=y CONFIG_NET_BROADCAST=y CONFIG_NET_ICMP=y -CONFIG_NET_ROUTE=y +CONFIG_NET_ICMP_SOCKET=y CONFIG_NET_SOCKOPTS=y CONFIG_NET_SOLINGER=y CONFIG_NET_TCP=y @@ -121,6 +122,7 @@ CONFIG_NET_TCPBACKLOG=y CONFIG_NET_TCP_WRITE_BUFFERS=y CONFIG_NET_UDP=y CONFIG_NET_UDP_CHECKSUMS=y +CONFIG_NET_UDP_WRITE_BUFFERS=y CONFIG_NFILE_DESCRIPTORS=12 CONFIG_NSH_ARCHINIT=y CONFIG_NSH_ARCHROMFS=y @@ -128,9 +130,10 @@ CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y CONFIG_NSH_CROMFSETC=y +CONFIG_NSH_DISABLE_MB=y +CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_LINELEN=128 -CONFIG_NSH_LOGIN_PASSWORD="px4" -CONFIG_NSH_LOGIN_USERNAME="px4" CONFIG_NSH_MAXARGUMENTS=15 CONFIG_NSH_NESTDEPTH=8 CONFIG_NSH_QUOTE=y @@ -195,6 +198,7 @@ CONFIG_STM32F7_PHYSR_10FD=0x14 CONFIG_STM32F7_PHYSR_10HD=0x4 CONFIG_STM32F7_PHYSR_ALTCONFIG=y CONFIG_STM32F7_PHYSR_ALTMODE=0x1C +CONFIG_STM32F7_PROGMEM=y CONFIG_STM32F7_PWR=y CONFIG_STM32F7_RTC=y CONFIG_STM32F7_RTC_HSECLOCK=y @@ -229,6 +233,7 @@ CONFIG_STM32F7_USART_INVERT=y CONFIG_STM32F7_USART_SINGLEWIRE=y CONFIG_STM32F7_USART_SWAP=y CONFIG_STM32F7_WWDG=y +CONFIG_SYSTEM_DHCPC_RENEW=y CONFIG_SYSTEM_NSH=y CONFIG_SYSTEM_PING=y CONFIG_TASK_NAME_SIZE=24 diff --git a/boards/beaglebone/blue/default.cmake b/boards/beaglebone/blue/default.cmake index cdcd011127..7343cb3e2f 100644 --- a/boards/beaglebone/blue/default.cmake +++ b/boards/beaglebone/blue/default.cmake @@ -14,6 +14,7 @@ px4_add_board( TOOLCHAIN arm-linux-gnueabihf TESTING DRIVERS + adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/bmp280 @@ -24,6 +25,7 @@ px4_add_board( distance_sensor # all available distance sensor drivers gps #imu # all available imu drivers + imu/analog_devices/adis16448 imu/invensense/mpu9250 linux_pwm_out #magnetometer # all available magnetometer drivers @@ -39,10 +41,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -61,6 +66,8 @@ px4_add_board( sih #simulator temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -69,12 +76,14 @@ px4_add_board( led_control mixer motor_ramp + motor_test param perf pwm sd_bench - shutdown + #serial_test system_time + shutdown tests # tests and test runner #top topic_listener @@ -83,8 +92,10 @@ px4_add_board( ver work_queue EXAMPLES - fake_gps dyn_hello # dynamically loading modules example + fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello #hwtest # Hardware test diff --git a/boards/beaglebone/blue/src/CMakeLists.txt b/boards/beaglebone/blue/src/CMakeLists.txt index dfcc348664..6c3896ed4d 100644 --- a/boards/beaglebone/blue/src/CMakeLists.txt +++ b/boards/beaglebone/blue/src/CMakeLists.txt @@ -32,6 +32,7 @@ ############################################################################ px4_add_library(drivers_board + board_pwm_out.cpp i2c.cpp init.cpp spi.cpp diff --git a/src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp b/boards/beaglebone/blue/src/board_pwm_out.cpp similarity index 94% rename from src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp rename to boards/beaglebone/blue/src/board_pwm_out.cpp index b1641c02e2..5b728ddfbc 100644 --- a/src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp +++ b/boards/beaglebone/blue/src/board_pwm_out.cpp @@ -30,7 +30,10 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ -#ifdef CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE + +#ifndef MODULE_NAME +#define MODULE_NAME "bbblue_pwm_out" +#endif #include #include @@ -39,9 +42,9 @@ #include #include -#include "bbblue_pwm_rc.h" +#include "board_pwm_out.h" -using namespace linux_pwm_out; +using namespace pwm_out; BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs) { @@ -79,4 +82,3 @@ int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs) return ret; } -#endif // CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE diff --git a/src/drivers/linux_pwm_out/bbblue_pwm_rc.h b/boards/beaglebone/blue/src/board_pwm_out.h similarity index 95% rename from src/drivers/linux_pwm_out/bbblue_pwm_rc.h rename to boards/beaglebone/blue/src/board_pwm_out.h index df6e91b3de..46d130d42b 100644 --- a/src/drivers/linux_pwm_out/bbblue_pwm_rc.h +++ b/boards/beaglebone/blue/src/board_pwm_out.h @@ -33,9 +33,11 @@ #pragma once -#include "common.h" +#include -namespace linux_pwm_out +#define BOARD_PWM_OUT_IMPL BBBlueRcPWMOut + +namespace pwm_out { /** diff --git a/boards/bitcraze/crazyflie/bootloader/bitcraze_crazyflie_bootloader.bin b/boards/bitcraze/crazyflie/bootloader/bitcraze_crazyflie_bootloader.bin new file mode 100644 index 0000000000..954ef6e896 Binary files /dev/null and b/boards/bitcraze/crazyflie/bootloader/bitcraze_crazyflie_bootloader.bin differ diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake index 23caa2cd31..7547c13ee1 100644 --- a/boards/bitcraze/crazyflie/default.cmake +++ b/boards/bitcraze/crazyflie/default.cmake @@ -14,8 +14,8 @@ px4_add_board( barometer/lps25h distance_sensor/vl53l0x gps - magnetometer/akm/ak8963 imu/invensense/mpu9250 + magnetometer/akm/ak8963 optical_flow/pmw3901 pwm_out MODULES @@ -26,6 +26,7 @@ px4_add_board( ekf2 events flight_mode_manager + gyro_fft land_detector #landing_target_estimator load_mon @@ -44,7 +45,7 @@ px4_add_board( #bl_update dmesg dumpfile - esc_calib + #esc_calib hardfault_log i2cdetect led_control diff --git a/boards/bitcraze/crazyflie/init/rc.board_defaults b/boards/bitcraze/crazyflie/init/rc.board_defaults index a6e185fce0..7eb60550b6 100644 --- a/boards/bitcraze/crazyflie/init/rc.board_defaults +++ b/boards/bitcraze/crazyflie/init/rc.board_defaults @@ -1,10 +1,11 @@ #!/bin/sh # -# Bitcraze Crazyflie specific board sensors init +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable param set-default CBRK_SUPPLY_CHK 894281 + param set-default SYS_AUTOSTART 4900 # don't probe external I2C diff --git a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig index 97038da8db..5995b5a0c8 100644 --- a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig +++ b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig @@ -97,6 +97,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_FATDEVNO=0 CONFIG_NSH_LINELEN=128 diff --git a/boards/bitcraze/crazyflie21/bootloader/bitcraze_crazyflie21_bootloader.bin b/boards/bitcraze/crazyflie21/bootloader/bitcraze_crazyflie21_bootloader.bin new file mode 100644 index 0000000000..c4542ff195 Binary files /dev/null and b/boards/bitcraze/crazyflie21/bootloader/bitcraze_crazyflie21_bootloader.bin differ diff --git a/boards/bitcraze/crazyflie21/default.cmake b/boards/bitcraze/crazyflie21/default.cmake index 3ce93a5b89..bddc80c825 100644 --- a/boards/bitcraze/crazyflie21/default.cmake +++ b/boards/bitcraze/crazyflie21/default.cmake @@ -11,12 +11,12 @@ px4_add_board( ROMFSROOT px4fmu_common CONSTRAINED_FLASH DRIVERS + barometer/bmp388 distance_sensor/vl53l1x gps + imu/bosch/bmi088/bmi088_i2c optical_flow/pmw3901 pwm_out - imu/bosch/bmi088/bmi088_i2c - barometer/bmp388 MODULES attitude_estimator_q #camera_feedback @@ -24,6 +24,8 @@ px4_add_board( dataman ekf2 events + flight_mode_manager + #gyro_fft land_detector landing_target_estimator load_mon @@ -39,10 +41,10 @@ px4_add_board( sensors #temperature_compensation SYSTEMCMDS - bl_update + #bl_update dmesg dumpfile - esc_calib + #esc_calib hardfault_log i2cdetect led_control diff --git a/boards/bitcraze/crazyflie21/init/rc.board_defaults b/boards/bitcraze/crazyflie21/init/rc.board_defaults index a3db1fcefb..a1cd8b6a52 100644 --- a/boards/bitcraze/crazyflie21/init/rc.board_defaults +++ b/boards/bitcraze/crazyflie21/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# Bitcraze Crazyflie specific board sensors init +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable diff --git a/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig b/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig index 43e3346bba..4bc2b274c8 100644 --- a/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig +++ b/boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig @@ -96,6 +96,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_FATDEVNO=0 CONFIG_NSH_LINELEN=128 diff --git a/boards/bitcraze/crazyflie21/src/spi.cpp b/boards/bitcraze/crazyflie21/src/spi.cpp index 8cee5d6ab3..e9beabbdb3 100644 --- a/boards/bitcraze/crazyflie21/src/spi.cpp +++ b/boards/bitcraze/crazyflie21/src/spi.cpp @@ -49,15 +49,14 @@ #include #include "board_config.h" - #include #include #include constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}), initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortC, GPIO::Pin12}), + initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}), initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin5}), }), }; diff --git a/boards/cuav/can-gps-v1/debug.cmake b/boards/cuav/can-gps-v1/debug.cmake index dd8613a8f4..90687e12f3 100644 --- a/boards/cuav/can-gps-v1/debug.cmake +++ b/boards/cuav/can-gps-v1/debug.cmake @@ -1,22 +1,5 @@ +include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity) - -# UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) -add_definitions( - -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} - -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} -) - -set(uavcanblid_hw_version_major 1) -set(uavcanblid_hw_version_minor 0) -set(uavcanblid_name "\"org.cuav.can-gps-v1\"") - -add_definitions( - -DHW_UAVCAN_NAME=${uavcanblid_name} - -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} - -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} -) add_definitions(-DUSE_S_RGB_LED_DMA) px4_add_board( @@ -26,6 +9,7 @@ px4_add_board( LABEL debug TOOLCHAIN arm-none-eabi ARCHITECTURE cortex-m4 + CONSTRAINED_MEMORY ROMFSROOT cannode UAVCAN_INTERFACES 1 DRIVERS @@ -48,6 +32,7 @@ px4_add_board( top topic_listener tune_control + uorb ver work_queue ) diff --git a/boards/cuav/can-gps-v1/default.cmake b/boards/cuav/can-gps-v1/default.cmake index ac89746511..6f1eb8c488 100644 --- a/boards/cuav/can-gps-v1/default.cmake +++ b/boards/cuav/can-gps-v1/default.cmake @@ -22,17 +22,17 @@ px4_add_board( tone_alarm uavcannode MODULES - load_mon + #load_mon SYSTEMCMDS - i2cdetect - led_control + #i2cdetect + #led_control param - perf - reboot - top - topic_listener - tune_control - uorb - ver - work_queue + #perf + #reboot + #top + #topic_listener + #tune_control + #uorb + #ver + #work_queue ) diff --git a/boards/cuav/can-gps-v1/init/rc.board_defaults b/boards/cuav/can-gps-v1/init/rc.board_defaults index e5e2c570d2..68ad0d5163 100644 --- a/boards/cuav/can-gps-v1/init/rc.board_defaults +++ b/boards/cuav/can-gps-v1/init/rc.board_defaults @@ -3,12 +3,8 @@ # board specific defaults #------------------------------------------------------------------------------ -if [ $AUTOCNF = yes ] -then - -fi +param set-default CBRK_IO_SAFETY 0 neopixel start safety_button start tone_alarm start - diff --git a/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig b/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig index 07587454f6..9a8302a9b1 100644 --- a/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig +++ b/boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig @@ -81,6 +81,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/cuav/can-gps-v1/src/boot.c b/boards/cuav/can-gps-v1/src/boot.c index 55ef75e136..ba0042be9f 100644 --- a/boards/cuav/can-gps-v1/src/boot.c +++ b/boards/cuav/can-gps-v1/src/boot.c @@ -76,7 +76,7 @@ __EXPORT void stm32_boardinitialize(void) } /************************************************************************************ - * Name: stm32_boarddeinitialize + * Name: board_deinitialize * * Description: * This function is called by the bootloader code prior to booting @@ -84,7 +84,7 @@ __EXPORT void stm32_boardinitialize(void) * ************************************************************************************/ -void stm32_boarddeinitialize(void) +void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); } diff --git a/boards/cuav/can-gps-v1/src/boot_config.h b/boards/cuav/can-gps-v1/src/boot_config.h index 39ef06d0b2..0015ca4e36 100644 --- a/boards/cuav/can-gps-v1/src/boot_config.h +++ b/boards/cuav/can-gps-v1/src/boot_config.h @@ -123,12 +123,7 @@ /* If this board uses big flash that have large sectors */ -#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \ - defined(CONFIG_STM32_FLASH_CONFIG_F) || \ - defined(CONFIG_STM32_FLASH_CONFIG_G) || \ - defined(CONFIG_STM32_FLASH_CONFIG_I) #define OPT_USE_YIELD -#endif /* Bootloader Option***************************************************************** * diff --git a/boards/cuav/nora/default.cmake b/boards/cuav/nora/default.cmake index 585b2fba9e..f0b9361a16 100644 --- a/boards/cuav/nora/default.cmake +++ b/boards/cuav/nora/default.cmake @@ -19,6 +19,7 @@ px4_add_board( # CONSOLE: /dev/ttyS4 # RC: /dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -30,26 +31,26 @@ px4_add_board( gps heater #imu # all available imu drivers + imu/analog_devices/adis16448 imu/bosch/bmi088 imu/invensense/icm20649 imu/invensense/icm20689 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -62,10 +63,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -76,12 +80,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -89,6 +96,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -104,6 +112,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -115,13 +124,15 @@ px4_add_board( work_queue EXAMPLES fake_gps - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/cuav/nora/init/rc.board_defaults b/boards/cuav/nora/init/rc.board_defaults index 41fd9c03eb..7491c4b0da 100644 --- a/boards/cuav/nora/init/rc.board_defaults +++ b/boards/cuav/nora/init/rc.board_defaults @@ -3,25 +3,6 @@ # board specific defaults #------------------------------------------------------------------------------ -# -# Bootloader upgrade -# -set BL_FILE /etc/extras/cuav_nora_bootloader.bin -if [ -f $BL_FILE ] -then - if param compare SYS_BL_UPDATE 1 - then - param set SYS_BL_UPDATE 0 - param save - echo "BL update..." - bl_update $BL_FILE - echo "BL update done" - reboot - fi -fi -unset BL_FILE - - param set-default BAT_V_DIV 18 param set-default BAT1_V_DIV 18 param set-default BAT2_V_DIV 18 @@ -30,19 +11,8 @@ param set-default BAT_A_PER_V 24 param set-default BAT1_A_PER_V 24 param set-default BAT2_A_PER_V 24 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - # Enable IMU thermal control param set-default SENS_EN_THERMAL 1 -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - rgbled_pwm start safety_button start diff --git a/boards/cuav/nora/init/rc.board_mavlink b/boards/cuav/nora/init/rc.board_mavlink index 30150e1f30..75c5256651 100644 --- a/boards/cuav/nora/init/rc.board_mavlink +++ b/boards/cuav/nora/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific specific board MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/cuav/nora/init/rc.board_sensors b/boards/cuav/nora/init/rc.board_sensors index fd626eb54a..05375d625c 100644 --- a/boards/cuav/nora/init/rc.board_sensors +++ b/boards/cuav/nora/init/rc.board_sensors @@ -16,7 +16,7 @@ bmi088 -s -b 4 -G -R 2 start ms5611 -s -b 4 start # SPI6 -#icm20649 -s -b 6 -R 2 start # TODO: not started by default until NuttX SPI6 BDMA is fixed +icm20649 -s -b 6 -R 2 start ms5611 -s -b 6 start # External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer) diff --git a/boards/cuav/nora/nuttx-config/bootloader/defconfig b/boards/cuav/nora/nuttx-config/bootloader/defconfig index b5f3f4bdf4..8dfb24534c 100644 --- a/boards/cuav/nora/nuttx-config/bootloader/defconfig +++ b/boards/cuav/nora/nuttx-config/bootloader/defconfig @@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y CONFIG_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=5 CONFIG_PREALLOC_TIMERS=50 CONFIG_PTHREAD_STACK_MIN=512 diff --git a/boards/cuav/nora/nuttx-config/include/board.h b/boards/cuav/nora/nuttx-config/include/board.h index 3c1208f617..6d78671f81 100644 --- a/boards/cuav/nora/nuttx-config/include/board.h +++ b/boards/cuav/nora/nuttx-config/include/board.h @@ -60,7 +60,7 @@ #define STM32_HSI_FREQUENCY 16000000ul #define STM32_LSI_FREQUENCY 32000 #define STM32_HSE_FREQUENCY STM32_BOARD_XTAL -#define STM32_LSE_FREQUENCY 32768 +#define STM32_LSE_FREQUENCY 0 /* Main PLL Configuration. * diff --git a/boards/cuav/nora/nuttx-config/nsh/defconfig b/boards/cuav/nora/nuttx-config/nsh/defconfig index 049c485b1c..0bfe981554 100644 --- a/boards/cuav/nora/nuttx-config/nsh/defconfig +++ b/boards/cuav/nora/nuttx-config/nsh/defconfig @@ -88,7 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y @@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -139,7 +140,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_MODE=y +CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_NNESTPRIO=8 CONFIG_SEM_PREALLOCHOLDERS=0 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -154,14 +155,14 @@ CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y CONFIG_STM32H7_I2C2=y @@ -172,6 +173,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 CONFIG_STM32H7_OTGFS=y CONFIG_STM32H7_PROGMEM=y CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y CONFIG_STM32H7_RTC_MAGIC_REG=1 CONFIG_STM32H7_SAVE_CRASHDUMP=y CONFIG_STM32H7_SDMMC1=y @@ -186,6 +188,8 @@ CONFIG_STM32H7_SPI4_DMA=y CONFIG_STM32H7_SPI4_DMA_BUFFER=1024 CONFIG_STM32H7_SPI5=y CONFIG_STM32H7_SPI6=y +CONFIG_STM32H7_SPI6_DMA=y +CONFIG_STM32H7_SPI6_DMA_BUFFER=1024 CONFIG_STM32H7_SPI_DMA=y CONFIG_STM32H7_SPI_DMATHRESHOLD=8 CONFIG_STM32H7_TIM12=y diff --git a/boards/cuav/nora/nuttx-config/scripts/script.ld b/boards/cuav/nora/nuttx-config/scripts/script.ld index 50794d3329..025930da82 100644 --- a/boards/cuav/nora/nuttx-config/scripts/script.ld +++ b/boards/cuav/nora/nuttx-config/scripts/script.ld @@ -199,11 +199,13 @@ SECTIONS /* Emit the the D3 power domain section for locating BDMA data */ - .sram4 (NOLOAD) : + .sram4_reserve (NOLOAD) : { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); } > SRAM4 - /* Stabs debugging sections. */ .stab 0 : { *(.stab) } .stabstr 0 : { *(.stabstr) } diff --git a/boards/cuav/nora/src/bootloader_main.c b/boards/cuav/nora/src/bootloader_main.c index 537b9df053..0a481dcc19 100644 --- a/boards/cuav/nora/src/bootloader_main.c +++ b/boards/cuav/nora/src/bootloader_main.c @@ -48,7 +48,6 @@ #include "arm_internal.h" #include - extern int sercon_main(int c, char **argv); __EXPORT void board_on_reset(int status) {} diff --git a/boards/cuav/x7pro/default.cmake b/boards/cuav/x7pro/default.cmake index a16f4e8e28..81266db729 100644 --- a/boards/cuav/x7pro/default.cmake +++ b/boards/cuav/x7pro/default.cmake @@ -19,6 +19,7 @@ px4_add_board( # CONSOLE: /dev/ttyS4 # RC: /dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -30,29 +31,26 @@ px4_add_board( gps heater #imu # all available imu drivers - imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 + imu/analog_devices/adis16470 imu/bosch/bmi088 imu/invensense/icm20649 imu/invensense/icm20689 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -65,10 +63,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -79,12 +80,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -92,6 +96,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -107,6 +112,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -118,13 +124,15 @@ px4_add_board( work_queue EXAMPLES fake_gps - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/cuav/x7pro/init/rc.board_defaults b/boards/cuav/x7pro/init/rc.board_defaults index 855fb150f4..bc7bbe1ec2 100644 --- a/boards/cuav/x7pro/init/rc.board_defaults +++ b/boards/cuav/x7pro/init/rc.board_defaults @@ -1,26 +1,10 @@ #!/bin/sh # -# CUAV X7Pro specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# -# Bootloader upgrade -# -set BL_FILE /etc/extras/cuav_x7pro_bootloader.bin -if [ -f $BL_FILE ] -then - if param compare SYS_BL_UPDATE 1 - then - param set SYS_BL_UPDATE 0 - param save - echo "BL update..." - bl_update $BL_FILE - echo "BL update done" - reboot - fi -fi -unset BL_FILE - +# Enables the 2nd bank of mixers +set AUX_BANK2 yes param set-default BAT_V_DIV 18 param set-default BAT1_V_DIV 18 @@ -30,19 +14,10 @@ param set-default BAT_A_PER_V 24 param set-default BAT1_A_PER_V 24 param set-default BAT2_A_PER_V 24 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - # Enable IMU thermal control param set-default SENS_EN_THERMAL 1 -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 +param set-default IMU_GYRO_FFT_EN 1 rgbled_pwm start safety_button start diff --git a/boards/cuav/x7pro/init/rc.board_mavlink b/boards/cuav/x7pro/init/rc.board_mavlink index 30150e1f30..75c5256651 100644 --- a/boards/cuav/x7pro/init/rc.board_mavlink +++ b/boards/cuav/x7pro/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific specific board MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/cuav/x7pro/init/rc.board_sensors b/boards/cuav/x7pro/init/rc.board_sensors index 8248a1ad8c..e212013286 100644 --- a/boards/cuav/x7pro/init/rc.board_sensors +++ b/boards/cuav/x7pro/init/rc.board_sensors @@ -5,8 +5,10 @@ board_adc start # SPI1 -#adis16470 -s start -icm20689 -s -b 1 -R 2 start +if ! icm20689 -s -b 1 -R 2 start +then + adis16470 -s -b 1 -R 2 start +fi # SPI2 rm3100 -s -b 2 start diff --git a/boards/cuav/x7pro/nuttx-config/bootloader/defconfig b/boards/cuav/x7pro/nuttx-config/bootloader/defconfig index 471f3b4220..f5d83bcba0 100644 --- a/boards/cuav/x7pro/nuttx-config/bootloader/defconfig +++ b/boards/cuav/x7pro/nuttx-config/bootloader/defconfig @@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y CONFIG_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=5 CONFIG_PREALLOC_TIMERS=50 CONFIG_PTHREAD_STACK_MIN=512 diff --git a/boards/cuav/x7pro/nuttx-config/include/board.h b/boards/cuav/x7pro/nuttx-config/include/board.h index 3c1208f617..ad4b16fbd5 100644 --- a/boards/cuav/x7pro/nuttx-config/include/board.h +++ b/boards/cuav/x7pro/nuttx-config/include/board.h @@ -60,7 +60,7 @@ #define STM32_HSI_FREQUENCY 16000000ul #define STM32_LSI_FREQUENCY 32000 #define STM32_HSE_FREQUENCY STM32_BOARD_XTAL -#define STM32_LSE_FREQUENCY 32768 +#define STM32_LSE_FREQUENCY 0 /* Main PLL Configuration. * @@ -250,25 +250,27 @@ #define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ /* SPI */ -#define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */ -#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ -#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ +#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz)) -#define GPIO_SPI2_SCK GPIO_SPI2_SCK_6 /* PI1 */ -#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ -#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ +#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */ +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ -#define GPIO_SPI4_SCK GPIO_SPI4_SCK_2 /* PE2 */ -#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ -#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */ +#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1 */ +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_4 /* PI3 */ -#define GPIO_SPI5_SCK GPIO_SPI5_SCK_1 /* PF7 */ -#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ -#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ +#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */ +#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE13 */ +#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */ -#define GPIO_SPI6_SCK GPIO_SPI6_SCK_1 /* PG13 */ -#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ -#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */ +#define GPIO_SPI5_SCK ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7 */ +#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ +#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ + +#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */ +#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ +#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_2 /* PA7 */ /* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ diff --git a/boards/cuav/x7pro/nuttx-config/nsh/defconfig b/boards/cuav/x7pro/nuttx-config/nsh/defconfig index cb591e76a0..d513338736 100644 --- a/boards/cuav/x7pro/nuttx-config/nsh/defconfig +++ b/boards/cuav/x7pro/nuttx-config/nsh/defconfig @@ -88,7 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y @@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -139,7 +140,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_MODE=y +CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_NNESTPRIO=8 CONFIG_SEM_PREALLOCHOLDERS=0 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -154,14 +155,14 @@ CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y CONFIG_STM32H7_I2C2=y @@ -172,6 +173,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 CONFIG_STM32H7_OTGFS=y CONFIG_STM32H7_PROGMEM=y CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_HSECLOCK=y CONFIG_STM32H7_RTC_MAGIC_REG=1 CONFIG_STM32H7_SAVE_CRASHDUMP=y CONFIG_STM32H7_SDMMC1=y @@ -186,6 +188,8 @@ CONFIG_STM32H7_SPI4_DMA=y CONFIG_STM32H7_SPI4_DMA_BUFFER=1024 CONFIG_STM32H7_SPI5=y CONFIG_STM32H7_SPI6=y +CONFIG_STM32H7_SPI6_DMA=y +CONFIG_STM32H7_SPI6_DMA_BUFFER=1024 CONFIG_STM32H7_SPI_DMA=y CONFIG_STM32H7_SPI_DMATHRESHOLD=8 CONFIG_STM32H7_TIM12=y diff --git a/boards/cuav/x7pro/nuttx-config/scripts/script.ld b/boards/cuav/x7pro/nuttx-config/scripts/script.ld index 50794d3329..025930da82 100644 --- a/boards/cuav/x7pro/nuttx-config/scripts/script.ld +++ b/boards/cuav/x7pro/nuttx-config/scripts/script.ld @@ -199,11 +199,13 @@ SECTIONS /* Emit the the D3 power domain section for locating BDMA data */ - .sram4 (NOLOAD) : + .sram4_reserve (NOLOAD) : { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); } > SRAM4 - /* Stabs debugging sections. */ .stab 0 : { *(.stab) } .stabstr 0 : { *(.stabstr) } diff --git a/boards/cuav/x7pro/src/board_config.h b/boards/cuav/x7pro/src/board_config.h index 351fb09548..2ffd6ef0ee 100644 --- a/boards/cuav/x7pro/src/board_config.h +++ b/boards/cuav/x7pro/src/board_config.h @@ -34,7 +34,7 @@ /** * @file board_config.h * - * CUAV X7Pro internal definitions + * Board internal definitions */ #pragma once diff --git a/boards/cuav/x7pro/src/spi.cpp b/boards/cuav/x7pro/src/spi.cpp index ef4ad00832..5bef1b6012 100644 --- a/boards/cuav/x7pro/src/spi.cpp +++ b/boards/cuav/x7pro/src/spi.cpp @@ -37,7 +37,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470 + initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}), }, {GPIO::PortE, GPIO::Pin3}), initSPIBus(SPI::Bus::SPI2, { diff --git a/boards/cubepilot/cubeorange/console.cmake b/boards/cubepilot/cubeorange/console.cmake index baddd1a3b9..98afef8eed 100644 --- a/boards/cubepilot/cubeorange/console.cmake +++ b/boards/cubepilot/cubeorange/console.cmake @@ -19,6 +19,7 @@ px4_add_board( # CONSOLE:/dev/ttyS4 GPS2:/dev/ttyS5 DRIVERS + #adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -30,20 +31,16 @@ px4_add_board( gps #heater #imu # all available imu drivers - imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/invensense/icm20602 imu/invensense/icm20649 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + #pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim @@ -51,14 +48,13 @@ px4_add_board( px4io roboclaw rpm - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm uavcan MODULES airspeed_selector - attitude_estimator_q + #attitude_estimator_q battery_status camera_feedback commander @@ -69,10 +65,12 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon - local_position_estimator + #local_position_estimator logger mavlink mc_att_control @@ -82,10 +80,12 @@ px4_add_board( #micrortps_bridge navigator rc_update - rover_pos_control + #rover_pos_control sensors - sih - temperature_compensation + #sih + #temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -109,6 +109,8 @@ px4_add_board( reboot reflect sd_bench + #serial_test + system_time tests # tests and test runner top topic_listener @@ -119,14 +121,15 @@ px4_add_board( work_queue EXAMPLES fake_gps - fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/cubepilot/cubeorange/default.cmake b/boards/cubepilot/cubeorange/default.cmake index 2c7f66b911..95916fae13 100644 --- a/boards/cubepilot/cubeorange/default.cmake +++ b/boards/cubepilot/cubeorange/default.cmake @@ -19,6 +19,7 @@ px4_add_board( TEL3:/dev/ttyS4 GPS2:/dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -31,19 +32,16 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/invensense/icm20602 imu/invensense/icm20649 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim @@ -51,9 +49,8 @@ px4_add_board( px4io roboclaw rpm - tap_esc telemetry # all available telemetry drivers - test_ppm + #test_ppm tone_alarm uavcan MODULES @@ -69,6 +66,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -86,6 +85,8 @@ px4_add_board( sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -109,7 +110,9 @@ px4_add_board( reboot reflect sd_bench - tests # tests and test runner + #serial_test + system_time + #tests # tests and test runner top topic_listener tune_control @@ -119,14 +122,15 @@ px4_add_board( work_queue EXAMPLES fake_gps - fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/cubepilot/cubeorange/init/rc.board_defaults b/boards/cubepilot/cubeorange/init/rc.board_defaults index f697cafd89..d5e3382247 100644 --- a/boards/cubepilot/cubeorange/init/rc.board_defaults +++ b/boards/cubepilot/cubeorange/init/rc.board_defaults @@ -1,26 +1,8 @@ #!/bin/sh # -# Board specific defaults +# board specific defaults #------------------------------------------------------------------------------ -# -# Bootloader upgrade -# -set BL_FILE /etc/extras/cubepilot_cubeorange_bootloader.bin -if [ -f $BL_FILE ] -then - if param compare SYS_BL_UPDATE 1 - then - param set SYS_BL_UPDATE 0 - param save - echo "BL update..." - bl_update $BL_FILE - echo "BL update done" - reboot - fi -fi -unset BL_FILE - param set-default BAT_V_DIV 10.1 param set-default BAT1_V_DIV 10.1 @@ -30,17 +12,7 @@ param set-default BAT_A_PER_V 17 param set-default BAT1_A_PER_V 17 param set-default BAT2_A_PER_V 17 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - # Disable IMU thermal control param set-default SENS_EN_THERMAL 0 -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 set IOFW "/etc/extras/cubepilot_io-v2_default.bin" diff --git a/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig b/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig index c86f936ca5..236fc23435 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig +++ b/boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig @@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y CONFIG_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=5 CONFIG_PREALLOC_TIMERS=50 CONFIG_PTHREAD_STACK_MIN=512 diff --git a/boards/cubepilot/cubeorange/nuttx-config/console/defconfig b/boards/cubepilot/cubeorange/nuttx-config/console/defconfig index 1401c709e4..3bd7d720c3 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/console/defconfig +++ b/boards/cubepilot/cubeorange/nuttx-config/console/defconfig @@ -58,7 +58,6 @@ CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 -CONFIG_DISABLE_MQUEUE=y CONFIG_EXPERIMENTAL=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -89,7 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y @@ -107,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -140,7 +140,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_MODE=y +CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_NNESTPRIO=8 CONFIG_SEM_PREALLOCHOLDERS=0 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -155,14 +155,13 @@ CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y CONFIG_STM32H7_I2C2=y @@ -203,7 +202,6 @@ CONFIG_SYSTEM_CDCACM=y CONFIG_SYSTEM_NSH=y CONFIG_TASK_NAME_SIZE=24 CONFIG_TTY_SIGINT=y -CONFIG_TTY_SIGINT_CHAR=0x03 CONFIG_TTY_SIGSTP=y CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 @@ -234,3 +232,4 @@ CONFIG_USBDEV_MAXPOWER=500 CONFIG_USEC_PER_TICK=1000 CONFIG_USERMAIN_STACKSIZE=2944 CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_WATCHDOG=y diff --git a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig index 81b06012f2..07d469f5a0 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig +++ b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig @@ -59,7 +59,6 @@ CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 -CONFIG_DISABLE_MQUEUE=y CONFIG_EXPERIMENTAL=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -90,7 +89,7 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y @@ -108,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -141,7 +141,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_MODE=y +CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_NNESTPRIO=8 CONFIG_SEM_PREALLOCHOLDERS=0 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -156,14 +156,13 @@ CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y CONFIG_STM32H7_I2C2=y @@ -234,3 +233,4 @@ CONFIG_USBDEV_MAXPOWER=500 CONFIG_USEC_PER_TICK=1000 CONFIG_USERMAIN_STACKSIZE=2944 CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_WATCHDOG=y diff --git a/boards/cubepilot/cubeorange/nuttx-config/scripts/script.ld b/boards/cubepilot/cubeorange/nuttx-config/scripts/script.ld index ac32f0afc8..f408f6c2e9 100644 --- a/boards/cubepilot/cubeorange/nuttx-config/scripts/script.ld +++ b/boards/cubepilot/cubeorange/nuttx-config/scripts/script.ld @@ -198,6 +198,15 @@ SECTIONS _ebss = ABSOLUTE(.); } > AXI_SRAM + /* Emit the the D3 power domain section for locating BDMA data */ + + .sram4_reserve (NOLOAD) : + { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); + } > SRAM4 + /* Stabs debugging sections. */ .stab 0 : { *(.stab) } .stabstr 0 : { *(.stabstr) } diff --git a/boards/cubepilot/cubeyellow/console.cmake b/boards/cubepilot/cubeyellow/console.cmake index 8437416762..adf01aeae2 100644 --- a/boards/cubepilot/cubeyellow/console.cmake +++ b/boards/cubepilot/cubeyellow/console.cmake @@ -18,6 +18,7 @@ px4_add_board( # CONSOLE:/dev/ttyS4 GPS2:/dev/ttyS5 DRIVERS + #adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -29,20 +30,16 @@ px4_add_board( gps #heater #imu # all available imu drivers - imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/invensense/icm20602 imu/invensense/icm20649 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + #pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim @@ -50,14 +47,13 @@ px4_add_board( px4io roboclaw rpm - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm uavcan MODULES airspeed_selector - attitude_estimator_q + #attitude_estimator_q battery_status camera_feedback commander @@ -68,10 +64,12 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon - local_position_estimator + #local_position_estimator logger mavlink mc_att_control @@ -81,10 +79,12 @@ px4_add_board( #micrortps_bridge navigator rc_update - rover_pos_control + #rover_pos_control sensors - sih - temperature_compensation + #sih + #temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -108,6 +108,8 @@ px4_add_board( reboot reflect sd_bench + #serial_test + system_time tests # tests and test runner top topic_listener @@ -118,14 +120,15 @@ px4_add_board( work_queue EXAMPLES fake_gps - fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/cubepilot/cubeyellow/default.cmake b/boards/cubepilot/cubeyellow/default.cmake index bae4a05b0c..b0ef13753d 100644 --- a/boards/cubepilot/cubeyellow/default.cmake +++ b/boards/cubepilot/cubeyellow/default.cmake @@ -18,6 +18,7 @@ px4_add_board( TEL3:/dev/ttyS4 GPS2:/dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -30,19 +31,16 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/invensense/icm20602 imu/invensense/icm20649 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim @@ -50,9 +48,8 @@ px4_add_board( px4io roboclaw rpm - tap_esc telemetry # all available telemetry drivers - test_ppm + #test_ppm tone_alarm uavcan MODULES @@ -68,6 +65,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -85,6 +84,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -108,7 +109,9 @@ px4_add_board( reboot reflect sd_bench - tests # tests and test runner + #serial_test + system_time + #tests # tests and test runner top topic_listener tune_control @@ -118,14 +121,15 @@ px4_add_board( work_queue EXAMPLES fake_gps - fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/cubepilot/cubeyellow/init/rc.board_defaults b/boards/cubepilot/cubeyellow/init/rc.board_defaults index e5cf535699..d5e3382247 100644 --- a/boards/cubepilot/cubeyellow/init/rc.board_defaults +++ b/boards/cubepilot/cubeyellow/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific defaults +# board specific defaults #------------------------------------------------------------------------------ @@ -12,15 +12,7 @@ param set-default BAT_A_PER_V 17 param set-default BAT1_A_PER_V 17 param set-default BAT2_A_PER_V 17 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - # Disable IMU thermal control param set-default SENS_EN_THERMAL 0 -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 set IOFW "/etc/extras/cubepilot_io-v2_default.bin" diff --git a/boards/cubepilot/cubeyellow/nuttx-config/console/defconfig b/boards/cubepilot/cubeyellow/nuttx-config/console/defconfig index 5a6a93e127..5ced55a278 100644 --- a/boards/cubepilot/cubeyellow/nuttx-config/console/defconfig +++ b/boards/cubepilot/cubeyellow/nuttx-config/console/defconfig @@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig b/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig index 32607f0538..217c7ad314 100644 --- a/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig +++ b/boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig @@ -107,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/cubepilot/io-v2/bootloader/cubepilot_io-v2_bootloader.bin b/boards/cubepilot/io-v2/bootloader/cubepilot_io-v2_bootloader.bin new file mode 100644 index 0000000000..235c65c934 Binary files /dev/null and b/boards/cubepilot/io-v2/bootloader/cubepilot_io-v2_bootloader.bin differ diff --git a/boards/emlid/navio2/default.cmake b/boards/emlid/navio2/default.cmake index ee0d6c30a4..6e401d6c64 100644 --- a/boards/emlid/navio2/default.cmake +++ b/boards/emlid/navio2/default.cmake @@ -12,6 +12,7 @@ px4_add_board( TOOLCHAIN arm-linux-gnueabihf TESTING DRIVERS + adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/ms5611 @@ -22,6 +23,7 @@ px4_add_board( distance_sensor # all available distance sensor drivers gps #imu # all available imu drivers + imu/analog_devices/adis16448 imu/invensense/mpu9250 imu/st/lsm9ds1 linux_pwm_out @@ -39,10 +41,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -61,6 +66,8 @@ px4_add_board( sih #simulator temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -69,10 +76,12 @@ px4_add_board( led_control mixer motor_ramp + motor_test param perf pwm sd_bench + #serial_test system_time shutdown tests # tests and test runner @@ -85,6 +94,8 @@ px4_add_board( EXAMPLES dyn_hello # dynamically loading modules example fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello #hwtest # Hardware test diff --git a/boards/emlid/navio2/src/CMakeLists.txt b/boards/emlid/navio2/src/CMakeLists.txt index 42ca05a19b..e3ddbe4dd7 100644 --- a/boards/emlid/navio2/src/CMakeLists.txt +++ b/boards/emlid/navio2/src/CMakeLists.txt @@ -32,6 +32,7 @@ ############################################################################ add_library(drivers_board + board_pwm_out.cpp i2c.cpp spi.cpp ) diff --git a/src/drivers/linux_pwm_out/navio_sysfs.cpp b/boards/emlid/navio2/src/board_pwm_out.cpp similarity index 94% rename from src/drivers/linux_pwm_out/navio_sysfs.cpp rename to boards/emlid/navio2/src/board_pwm_out.cpp index 2a9b4e130e..bd6d7a6dc7 100644 --- a/src/drivers/linux_pwm_out/navio_sysfs.cpp +++ b/boards/emlid/navio2/src/board_pwm_out.cpp @@ -30,18 +30,22 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ +#ifndef MODULE_NAME +#define MODULE_NAME "navio_sysfs_pwm_out" +#endif -#include "navio_sysfs.h" +#include "board_pwm_out.h" #include #include #include #include -using namespace linux_pwm_out; +using namespace pwm_out; -NavioSysfsPWMOut::NavioSysfsPWMOut(const char *device, int max_num_outputs) - : _device(device) +const char NavioSysfsPWMOut::_device[] = "/sys/class/pwm/pwmchip0"; + +NavioSysfsPWMOut::NavioSysfsPWMOut(int max_num_outputs) { if (max_num_outputs > MAX_NUM_PWM) { PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM); diff --git a/src/drivers/linux_pwm_out/navio_sysfs.h b/boards/emlid/navio2/src/board_pwm_out.h similarity index 92% rename from src/drivers/linux_pwm_out/navio_sysfs.h rename to boards/emlid/navio2/src/board_pwm_out.h index 17b5e9c234..66de6ff9fb 100644 --- a/src/drivers/linux_pwm_out/navio_sysfs.h +++ b/boards/emlid/navio2/src/board_pwm_out.h @@ -33,9 +33,11 @@ #pragma once -#include "common.h" +#include -namespace linux_pwm_out +#define BOARD_PWM_OUT_IMPL NavioSysfsPWMOut + +namespace pwm_out { /** @@ -45,7 +47,7 @@ namespace linux_pwm_out class NavioSysfsPWMOut : public PWMOutBase { public: - NavioSysfsPWMOut(const char *device, int max_num_outputs); + NavioSysfsPWMOut(int max_num_outputs); virtual ~NavioSysfsPWMOut(); int init() override; @@ -61,7 +63,7 @@ private: int _pwm_fd[MAX_NUM_PWM]; int _pwm_num; - const char *_device; + static const char _device[]; }; } diff --git a/boards/holybro/can-gps-v1/debug.cmake b/boards/holybro/can-gps-v1/debug.cmake new file mode 100644 index 0000000000..7e1ced9e31 --- /dev/null +++ b/boards/holybro/can-gps-v1/debug.cmake @@ -0,0 +1,37 @@ +include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity) + +px4_add_board( + PLATFORM nuttx + VENDOR holybro + MODEL can-gps-v1 + LABEL debug + TOOLCHAIN arm-none-eabi + ARCHITECTURE cortex-m4 + CONSTRAINED_MEMORY + CONSTRAINED_FLASH + ROMFSROOT cannode + UAVCAN_INTERFACES 2 + DRIVERS + adc/board_adc + barometer/bmp388 + bootloaders + gps + imu/bosch/bmi088 + lights/rgbled_ncp5623c + magnetometer/bosch/bmm150 + uavcannode + MODULES + #ekf2 + load_mon + sensors + SYSTEMCMDS + i2cdetect + param + perf + reboot + top + #topic_listener + uorb + ver + work_queue +) diff --git a/boards/holybro/can-gps-v1/default.cmake b/boards/holybro/can-gps-v1/default.cmake index 69ad84971b..2ec355f30e 100644 --- a/boards/holybro/can-gps-v1/default.cmake +++ b/boards/holybro/can-gps-v1/default.cmake @@ -8,6 +8,7 @@ px4_add_board( TOOLCHAIN arm-none-eabi ARCHITECTURE cortex-m4 CONSTRAINED_MEMORY + CONSTRAINED_FLASH ROMFSROOT cannode UAVCAN_INTERFACES 2 DRIVERS @@ -20,14 +21,15 @@ px4_add_board( magnetometer/bosch/bmm150 uavcannode MODULES - load_mon + #ekf2 + sensors SYSTEMCMDS - i2cdetect + #i2cdetect param - perf - reboot - top - topic_listener - ver - work_queue + #perf + #top + #topic_listener + #uorb + #ver + #work_queue ) diff --git a/boards/holybro/can-gps-v1/init/rc.board_defaults b/boards/holybro/can-gps-v1/init/rc.board_defaults index 35be49d5b9..3882c0a242 100644 --- a/boards/holybro/can-gps-v1/init/rc.board_defaults +++ b/boards/holybro/can-gps-v1/init/rc.board_defaults @@ -3,4 +3,4 @@ # board specific defaults #------------------------------------------------------------------------------ -rgbled_ncp5623c -I -b 1 -a 0x39 start +rgbled_ncp5623c -I -b 1 -a 0x39 start diff --git a/boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig b/boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig index 0277e44d3d..31f71e8355 100644 --- a/boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig +++ b/boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig @@ -86,6 +86,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/holybro/can-gps-v1/src/boot.c b/boards/holybro/can-gps-v1/src/boot.c index 132f91d573..4dc967f8f3 100644 --- a/boards/holybro/can-gps-v1/src/boot.c +++ b/boards/holybro/can-gps-v1/src/boot.c @@ -80,7 +80,7 @@ __EXPORT void stm32_boardinitialize(void) } /************************************************************************************ - * Name: stm32_boarddeinitialize + * Name: board_deinitialize * * Description: * This function is called by the bootloader code prior to booting @@ -88,7 +88,7 @@ __EXPORT void stm32_boardinitialize(void) * ************************************************************************************/ -void stm32_boarddeinitialize(void) +void board_deinitialize(void) { putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR); } diff --git a/boards/holybro/can-gps-v1/src/boot_config.h b/boards/holybro/can-gps-v1/src/boot_config.h index 6f939ae4d9..f0d1748718 100644 --- a/boards/holybro/can-gps-v1/src/boot_config.h +++ b/boards/holybro/can-gps-v1/src/boot_config.h @@ -122,13 +122,7 @@ #define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t))) /* If this board uses big flash that have large sectors */ - -#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \ - defined(CONFIG_STM32_FLASH_CONFIG_F) || \ - defined(CONFIG_STM32_FLASH_CONFIG_G) || \ - defined(CONFIG_STM32_FLASH_CONFIG_I) #define OPT_USE_YIELD -#endif /* Bootloader Option***************************************************************** * diff --git a/boards/holybro/durandal-v1/default.cmake b/boards/holybro/durandal-v1/default.cmake index eba0412b43..8c12a1e8cf 100644 --- a/boards/holybro/durandal-v1/default.cmake +++ b/boards/holybro/durandal-v1/default.cmake @@ -10,7 +10,7 @@ px4_add_board( BUILD_BOOTLOADER IO px4_io-v2_default TESTING -# UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN + UAVCAN_INTERFACES 2 SERIAL_PORTS GPS1:/dev/ttyS0 TEL1:/dev/ttyS1 @@ -18,6 +18,7 @@ px4_add_board( TEL3:/dev/ttyS4 TEL4:/dev/ttyS3 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -30,31 +31,26 @@ px4_add_board( heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20689 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers #osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter -# pwm_input - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate -# all arch dependant code there pwm_out_sim pwm_out px4io roboclaw - tap_esc + rpm telemetry # all available telemetry drivers test_ppm tone_alarm -# uavcan - No H7 or FD can support in UAVCAN yet + uavcan MODULES airspeed_selector attitude_estimator_q @@ -63,10 +59,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -77,12 +76,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -90,6 +92,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -105,8 +108,9 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time - tests # tests and test runner +# tests # tests and test runner top topic_listener tune_control @@ -116,6 +120,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/holybro/durandal-v1/init/rc.board_defaults b/boards/holybro/durandal-v1/init/rc.board_defaults index 7dddf07bf4..08a6b82a3d 100644 --- a/boards/holybro/durandal-v1/init/rc.board_defaults +++ b/boards/holybro/durandal-v1/init/rc.board_defaults @@ -3,36 +3,5 @@ # Holybro Durandal V1 specific board defaults #------------------------------------------------------------------------------ - -# -# Bootloader upgrade -# -set BL_FILE /etc/extras/holybro_durandal-v1_bootloader.bin -if [ -f $BL_FILE ] -then - if param compare SYS_BL_UPDATE 1 - then - param set SYS_BL_UPDATE 0 - param save - echo "BL update..." - bl_update $BL_FILE - echo "BL update done" - reboot - fi -fi -unset BL_FILE - - -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - # Enable IMU thermal control param set-default SENS_EN_THERMAL 1 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 diff --git a/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig b/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig index c1aa5183b7..4bb3bd9a61 100644 --- a/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig +++ b/boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig @@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y CONFIG_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=5 CONFIG_PREALLOC_TIMERS=50 CONFIG_PTHREAD_STACK_MIN=512 diff --git a/boards/holybro/durandal-v1/nuttx-config/include/board.h b/boards/holybro/durandal-v1/nuttx-config/include/board.h index 0519b0a1b0..2a475b7b49 100644 --- a/boards/holybro/durandal-v1/nuttx-config/include/board.h +++ b/boards/holybro/durandal-v1/nuttx-config/include/board.h @@ -250,6 +250,12 @@ #define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +/* FDCAN 1 2 clock source */ + +#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + /* FLASH wait states * * ------------ ---------- ----------- diff --git a/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig b/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig index 17470801c3..6fea488144 100644 --- a/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig +++ b/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig @@ -89,7 +89,7 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y @@ -107,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -138,7 +139,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_MODE=y +CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_NNESTPRIO=8 CONFIG_SEM_PREALLOCHOLDERS=0 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -153,14 +154,14 @@ CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y CONFIG_STM32H7_I2C2=y @@ -171,6 +172,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 CONFIG_STM32H7_OTGFS=y CONFIG_STM32H7_PROGMEM=y CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y CONFIG_STM32H7_RTC_MAGIC_REG=1 CONFIG_STM32H7_SAVE_CRASHDUMP=y CONFIG_STM32H7_SDMMC1=y diff --git a/boards/holybro/durandal-v1/nuttx-config/scripts/script.ld b/boards/holybro/durandal-v1/nuttx-config/scripts/script.ld index ba9ca72bcb..580f63f0a6 100644 --- a/boards/holybro/durandal-v1/nuttx-config/scripts/script.ld +++ b/boards/holybro/durandal-v1/nuttx-config/scripts/script.ld @@ -199,8 +199,11 @@ SECTIONS /* Emit the the D3 power domain section for locating BDMA data */ - .sram4 (NOLOAD) : + .sram4_reserve (NOLOAD) : { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); } > sram4 /* Stabs debugging sections. */ diff --git a/boards/holybro/kakutef7/bootloader/holybro_kakutef7_bootloader.bin b/boards/holybro/kakutef7/bootloader/holybro_kakutef7_bootloader.bin new file mode 100644 index 0000000000..6948aec707 Binary files /dev/null and b/boards/holybro/kakutef7/bootloader/holybro_kakutef7_bootloader.bin differ diff --git a/boards/holybro/kakutef7/default.cmake b/boards/holybro/kakutef7/default.cmake index 0e76f42608..612716f270 100644 --- a/boards/holybro/kakutef7/default.cmake +++ b/boards/holybro/kakutef7/default.cmake @@ -7,7 +7,6 @@ px4_add_board( TOOLCHAIN arm-none-eabi ARCHITECTURE cortex-m7 ROMFSROOT px4fmu_common - CONSTRAINED_FLASH SERIAL_PORTS TEL1:/dev/ttyS0 # UART1 TEL2:/dev/ttyS1 # UART2 @@ -22,13 +21,15 @@ px4_add_board( gps imu/invensense/icm20689 imu/invensense/mpu6000 - magnetometer - optical_flow/px4flow + #magnetometer + magnetometer/isentek/ist8310 + #optical_flow/px4flow osd - pwm_out_sim + #pwm_out_sim pwm_out rc_input - telemetry + #telemetry + telemetry/frsky_telemetry tone_alarm MODULES attitude_estimator_q @@ -38,6 +39,8 @@ px4_add_board( #ekf2 events flight_mode_manager + gyro_calibration + #gyro_fft land_detector load_mon #local_position_estimator @@ -54,26 +57,26 @@ px4_add_board( SYSTEMCMDS bl_update dmesg - dumpfile - esc_calib + #dumpfile + #esc_calib hardfault_log - i2cdetect - led_control + #i2cdetect + #led_control mixer #motor_ramp - motor_test - nshterm + #motor_test + #nshterm param perf pwm reboot - reflect - sd_bench + #reflect + #sd_bench top - topic_listener - tune_control - uorb - usb_connected + #topic_listener + #tune_control + #uorb + #usb_connected ver work_queue ) diff --git a/boards/holybro/kakutef7/init/rc.board_defaults b/boards/holybro/kakutef7/init/rc.board_defaults index 3fc24b2e0a..ca65d4cf35 100644 --- a/boards/holybro/kakutef7/init/rc.board_defaults +++ b/boards/holybro/kakutef7/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# KakuteF7 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable diff --git a/boards/holybro/kakutef7/nuttx-config/nsh/defconfig b/boards/holybro/kakutef7/nuttx-config/nsh/defconfig index 0e1754d532..04934b66a2 100644 --- a/boards/holybro/kakutef7/nuttx-config/nsh/defconfig +++ b/boards/holybro/kakutef7/nuttx-config/nsh/defconfig @@ -107,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_PSSTACKUSAGE=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 diff --git a/boards/holybro/pix32v5/bootloader/holybro_pix32v5_bootloader.bin b/boards/holybro/pix32v5/bootloader/holybro_pix32v5_bootloader.bin new file mode 100644 index 0000000000..76d4bf5367 Binary files /dev/null and b/boards/holybro/pix32v5/bootloader/holybro_pix32v5_bootloader.bin differ diff --git a/boards/holybro/pix32v5/default.cmake b/boards/holybro/pix32v5/default.cmake index 625c6cc5e4..233f7d620e 100644 --- a/boards/holybro/pix32v5/default.cmake +++ b/boards/holybro/pix32v5/default.cmake @@ -17,6 +17,7 @@ px4_add_board( TEL3:/dev/ttyS4 TEL4:/dev/ttyS3 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -29,21 +30,17 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_input @@ -54,7 +51,6 @@ px4_add_board( roboclaw rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -72,6 +68,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -89,6 +87,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -112,6 +112,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -123,6 +124,7 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello diff --git a/boards/holybro/pix32v5/init/rc.board_defaults b/boards/holybro/pix32v5/init/rc.board_defaults index 47fd0057ba..3b99b63eb3 100644 --- a/boards/holybro/pix32v5/init/rc.board_defaults +++ b/boards/holybro/pix32v5/init/rc.board_defaults @@ -1,18 +1,7 @@ #!/bin/sh # -# PX4 FMUv5 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 2 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 2 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - rgbled_pwm start safety_button start diff --git a/boards/holybro/pix32v5/nuttx-config/nsh/defconfig b/boards/holybro/pix32v5/nuttx-config/nsh/defconfig index b49a6e67ce..d934bc3d2a 100644 --- a/boards/holybro/pix32v5/nuttx-config/nsh/defconfig +++ b/boards/holybro/pix32v5/nuttx-config/nsh/defconfig @@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.cpp b/boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.cpp deleted file mode 100644 index 7c184d2fa2..0000000000 --- a/boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.cpp +++ /dev/null @@ -1,133 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2016 Intel Corporation. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "AEROFC_ADC.hpp" - -using namespace time_literals; - -AEROFC_ADC::AEROFC_ADC(I2CSPIBusOption bus_option, int bus_number, int bus_frequency) : - I2C(DRV_ADC_DEVTYPE_AEROFC, MODULE_NAME, bus_number, SLAVE_ADDR, bus_frequency), - I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus_number), - _sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")) -{ -} - -AEROFC_ADC::~AEROFC_ADC() -{ - perf_free(_sample_perf); -} - -int AEROFC_ADC::init() -{ - int ret = I2C::init(); - - if (ret != PX4_OK) { - return ret; - } - - ScheduleOnInterval(100_ms); // 10 Hz - - return PX4_OK; -} - -int AEROFC_ADC::probe() -{ - uint8_t buffer[2]; - int ret; - - _retries = 3; - - /* Enable ADC */ - buffer[0] = ADC_ENABLE_REG; - buffer[1] = 0x01; - ret = transfer(buffer, 2, NULL, 0); - - if (ret != PX4_OK) { - goto error; - } - - usleep(10000); - - /* Read ADC value */ - buffer[0] = ADC_CHANNEL_REG; - ret = transfer(buffer, 1, buffer, 2); - - if (ret != PX4_OK) { - goto error; - } - - return PX4_OK; - -error: - return -EIO; -} - -void AEROFC_ADC::RunImpl() -{ - /* - * https://github.com/intel-aero/intel-aero-fpga/blob/master/aero_sample/adc/adc.html - * https://github.com/intel-aero/meta-intel-aero/wiki/95-(References)-FPGA - * https://github.com/intel-aero/intel-aero-fpga/blob/master/aero_rtf_kit/RTL/adc.v - */ - perf_begin(_sample_perf); - - uint8_t buffer[10] {}; - buffer[0] = ADC_CHANNEL_REG; - int ret = transfer(buffer, 1, buffer, sizeof(buffer)); - - if (ret != PX4_OK) { - PX4_ERR("Error reading sample"); - return; - } - - adc_report_s adc_report{}; - adc_report.device_id = get_device_id(); - adc_report.timestamp = hrt_absolute_time(); - adc_report.v_ref = 3.0f; - adc_report.resolution = 1 << 12; - - unsigned i; - - for (i = 0; i < MAX_CHANNEL; ++i) { - adc_report.channel_id[i] = i; - adc_report.raw_data[i] = (buffer[i * 2] | (buffer[i * 2 + 1] << 8)); - } - - for (; i < PX4_MAX_ADC_CHANNELS; ++i) { // set unused channel id to -1 - adc_report.channel_id[i] = -1; - } - - _to_adc_report.publish(adc_report); - - perf_end(_sample_perf); -} diff --git a/boards/intel/aerofc-v1/aerofc_adc/CMakeLists.txt b/boards/intel/aerofc-v1/aerofc_adc/CMakeLists.txt deleted file mode 100644 index 1c31ee9e35..0000000000 --- a/boards/intel/aerofc-v1/aerofc_adc/CMakeLists.txt +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (C) 2016 Intel Corporation. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ -px4_add_module( - MODULE aerofc_adc - MAIN aerofc_adc - SRCS - aerofc_adc_main.cpp - AEROFC_ADC.cpp - AEROFC_ADC.hpp - DEPENDS - drivers__device - px4_work_queue - ) diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake deleted file mode 100644 index 86fb32f8bf..0000000000 --- a/boards/intel/aerofc-v1/default.cmake +++ /dev/null @@ -1,105 +0,0 @@ - -px4_add_board( - PLATFORM nuttx - VENDOR intel - MODEL aerofc-v1 - LABEL default - TOOLCHAIN arm-none-eabi - ARCHITECTURE cortex-m4 - CONSTRAINED_MEMORY - ROMFSROOT px4fmu_common - CONSTRAINED_FLASH - SERIAL_PORTS - GPS1:/dev/ttyS5 - TEL1:/dev/ttyS3 - TEL2:/dev/ttyS1 - DRIVERS - barometer/ms5611 - #camera_trigger - #differential_pressure # all available differential pressure drivers - distance_sensor - gps - imu/invensense/mpu9250 - #irlock - #magnetometer # all available magnetometer drivers - magnetometer/hmc5883 - magnetometer/isentek/ist8310 - #optical_flow/px4flow - #protocol_splitter - pwm_out_sim - pwm_out - rc_input - tap_esc - #telemetry # all available telemetry drivers - #uavcan - MODULES - #airspeed_selector - #attitude_estimator_q - battery_status - #camera_feedback - commander - dataman - ekf2 - events - flight_mode_manager - #fw_att_control - #fw_pos_control_l1 - land_detector - landing_target_estimator - load_mon - #local_position_estimator - logger - mavlink - mc_att_control - mc_hover_thrust_estimator - mc_pos_control - mc_rate_control - #micrortps_bridge - navigator - rc_update - #rover_pos_control - sensors - #sih - #temperature_compensation - vmount - #vtol_att_control - SYSTEMCMDS - bl_update - #dmesg - dumpfile - esc_calib - hardfault_log - i2cdetect - led_control - mft - mixer - motor_ramp - motor_test - mtd - nshterm - param - perf - pwm - reboot - reflect - sd_bench - system_time - #tests # tests and test runner - top - #topic_listener - tune_control - uorb - ver - work_queue - EXAMPLES - #fake_gps - #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - #hello - #hwtest # Hardware test - #matlab_csv_serial - #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - #rover_steering_control # Rover example app - #uuv_example_app - #work_item - ) diff --git a/boards/intel/aerofc-v1/firmware.prototype b/boards/intel/aerofc-v1/firmware.prototype deleted file mode 100644 index a236a21af9..0000000000 --- a/boards/intel/aerofc-v1/firmware.prototype +++ /dev/null @@ -1,13 +0,0 @@ -{ - "board_id": 65, - "magic": "PX4FWv1", - "description": "Firmware for the Intel Aero FC board", - "image": "", - "build_time": 0, - "summary": "AEROFCv1", - "version": "0.1", - "image_size": 0, - "image_maxsize": 999424, - "git_identity": "", - "board_revision": 0 -} diff --git a/boards/intel/aerofc-v1/init/rc.board_defaults b/boards/intel/aerofc-v1/init/rc.board_defaults deleted file mode 100644 index ba3caec54f..0000000000 --- a/boards/intel/aerofc-v1/init/rc.board_defaults +++ /dev/null @@ -1,12 +0,0 @@ -#!/bin/sh -# -# intel aero specific board defaults -#------------------------------------------------------------------------------ - -# system_power unavailable -param set-default CBRK_SUPPLY_CHK 894281 - -param set-default SYS_AUTOSTART 4070 - -set DATAMAN_OPT -i -set LOGGER_ARGS "-m mavlink" diff --git a/boards/intel/aerofc-v1/init/rc.board_sensors b/boards/intel/aerofc-v1/init/rc.board_sensors deleted file mode 100644 index 653757b35d..0000000000 --- a/boards/intel/aerofc-v1/init/rc.board_sensors +++ /dev/null @@ -1,23 +0,0 @@ -#!/bin/sh -# -# intel aero specific board sensors init -#------------------------------------------------------------------------------ - -aerofc_adc -I start - -if ! ms5611 -T 5607 start -then - ms5611 start -fi - -mpu9250 -s -R 0 start - -ist8310 -I -R 14 start - -ll40ls start -X - -# Internal SPI (auto detect ms5611 or ms5607) -if ! ms5611 -T 5607 -s start -then - ms5611 -s start -fi diff --git a/boards/intel/aerofc-v1/nuttx-config/Kconfig b/boards/intel/aerofc-v1/nuttx-config/Kconfig deleted file mode 100644 index be9173f45c..0000000000 --- a/boards/intel/aerofc-v1/nuttx-config/Kconfig +++ /dev/null @@ -1,22 +0,0 @@ -# -# For a description of the syntax of this configuration file, -# see misc/tools/kconfig-language.txt. -# - -if ARCH_BOARD_AEROFC_V1 - -config BOARD_HAS_PROBES - bool "Board provides GPIO or other Hardware for signaling to timing analyze." - default y - ---help--- - This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers. - -config BOARD_USE_PROBES - bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers" - default n - depends on BOARD_HAS_PROBES - - ---help--- - Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers. - -endif diff --git a/boards/intel/aerofc-v1/nuttx-config/include/board.h b/boards/intel/aerofc-v1/nuttx-config/include/board.h deleted file mode 100644 index 967d62f7ac..0000000000 --- a/boards/intel/aerofc-v1/nuttx-config/include/board.h +++ /dev/null @@ -1,385 +0,0 @@ -/************************************************************************************ - * configs/aerofc-v1/include/board.h - * include/arch/board/board.h - * - * Copyright (C) 2012-2016 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ************************************************************************************/ - -#pragma once - -/************************************************************************************ - * Included Files - ************************************************************************************/ -#include "board_dma_map.h" - -#include - -#ifndef __ASSEMBLY__ -# include -#endif - -#include "stm32_rcc.h" -#include "stm32.h" - -/************************************************************************************ - * Definitions - ************************************************************************************/ - -/* Clocking *************************************************************************/ -/* The TAP V1 uses a 16MHz crystal connected to the HSE. - * - * This is the canonical configuration: - * System Clock source : PLL (HSE) - * SYSCLK(Hz) : 168000000 Determined by PLL configuration - * HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE) - * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE) - * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1) - * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2) - * HSE Frequency(Hz) : 16000000 (STM32_BOARD_XTAL) - * PLLM : 8 (STM32_PLLCFG_PLLM) - * PLLN : 168 (STM32_PLLCFG_PLLN) - * PLLP : 2 (STM32_PLLCFG_PLLP) - * PLLQ : 7 (STM32_PLLCFG_PLLQ) - * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK - * Flash Latency(WS) : 5 - * Prefetch Buffer : OFF - * Instruction cache : ON - * Data cache : ON - * Require 48MHz for USB OTG FS, : Enabled - * SDIO and RNG clock - */ - -/* HSI - 16 MHz RC factory-trimmed - * LSI - 32 KHz RC - * HSE - On-board crystal frequency is 16MHz - * LSE - not installed - */ - -#define STM32_BOARD_XTAL 16000000ul - -#define STM32_HSI_FREQUENCY 16000000ul -#define STM32_LSI_FREQUENCY 32000 -#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL - -/* Main PLL Configuration. - * - * PLL source is HSE - * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN - * = (16,000,000 / 8) * 168 - * = 336,000,000 - * SYSCLK = PLL_VCO / PLLP - * = 336,000,000 / 2 = 168,000,000 - * USB OTG FS, SDIO and RNG Clock - * = PLL_VCO / PLLQ - * = 336,000,000 / 7 - * = 48,000,000 - */ - -#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8) -#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(168) -#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 -#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7) - -#define STM32_SYSCLK_FREQUENCY 168000000ul - -/* AHB clock (HCLK) is SYSCLK (168MHz) */ - -#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ -#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY -#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ - -/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */ - -#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ -#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) - -/* Timers driven from APB1 will be twice PCLK1 */ - -#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) -#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) - -/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */ - -#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ -#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) - -/* Timers driven from APB2 will be twice PCLK2 */ - -#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY) -#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY) - -/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx - * otherwise frequency is 2xAPBx. - * Note: TIM1,8-11 are on APB2, others on APB1 - */ - -#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN -#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN -#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN -#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN -#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN -#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN -#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN -#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN -#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN -#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN -#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN -#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN -#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN -#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN - -/* LED definitions ******************************************************************/ -/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any - * way. The following definitions are used to access individual LEDs. - */ - -/* LED index values for use with stm32_setled() */ -#define BOARD_LED1 0 -#define BOARD_LED2 1 -#define BOARD_NLEDS 2 - -#define BOARD_LED_BLUE BOARD_LED1 -#define BOARD_LED_RED BOARD_LED2 - -/* LED bits for use with stm32_setleds() */ - -#define BOARD_LED1_BIT (1 << BOARD_LED1) -#define BOARD_LED2_BIT (1 << BOARD_LED2) - -/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board - * the aerofc-v1. The following definitions describe how NuttX controls - * the LEDs: - */ - -#define LED_STARTED 0 /* BLUE */ -#define LED_HEAPALLOCATE 1 /* LED2 */ -#define LED_IRQSENABLED 2 /* BLUE */ -#define LED_STACKCREATED 3 /* BLUE + RED */ -#define LED_INIRQ 4 /* BLUE */ -#define LED_SIGNAL 5 /* RED */ -#define LED_ASSERTION 6 /* BLUE + RED */ -#define LED_PANIC 7 /* BLUE + RED */ - -/* Alternate function pin selections ************************************************/ - -/* - * USARTs and UARTs - * - * - * Peripheral Port Signal Name CONN - * USART1_TX PB6 GPS_USART1_TX JP1-15,16 - * USART1_RX PB7 GPS_USART1_RX JP1-13,14 - * USART2_TX PA2 GB_USART2_TX JP2-19,20 - * USART2_RX PA3 GB_USART2_RX JP2-21,22 - * USART3_TX PC10 RF2_USART3_TX J3-2 - * USART3_RX PC11 RF2_USART3_RX J3-1 - * USART6_TX PC6 RF_USART6_TX JP2-15,16 - * USART6_RX PC7 RF_USART6_RX JP2-17,18 -*/ - -// ESC -#define GPIO_USART1_TX GPIO_USART1_TX_2 -#define GPIO_USART1_RX GPIO_USART1_RX_2 - -// Companion -#define GPIO_USART2_TX GPIO_USART2_TX_1 -#define GPIO_USART2_RX GPIO_USART2_RX_1 -#define GPIO_USART2_CTS 0 // unused -#define GPIO_USART2_RTS 0 // unused - -// GPS -#define GPIO_UART7_TX GPIO_UART7_TX_1 -#define GPIO_UART7_RX GPIO_UART7_RX_1 -#define GPIO_UART7_CTS 0 // unused -#define GPIO_UART7_RTS 0 // unused - -// RC -#define GPIO_UART4_TX GPIO_UART4_TX_1 -#define GPIO_UART4_RX GPIO_UART4_RX_1 -#define GPIO_UART4_CTS 0 // unused -#define GPIO_UART4_RTS 0 // unused - -// Mavlink -// UART5 - -// Serial console -#define GPIO_USART6_TX GPIO_USART6_TX_1 -#define GPIO_USART6_RX GPIO_USART6_RX_1 - -/* - * I2C - * - * Peripheral Port Signal Name CONN - * I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507 - * I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507 - * I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32 - * I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30 - * I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28 - * I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26 - * - * The optional _GPIO configurations allow the I2C driver to manually - * reset the bus to clear stuck slaves. They match the pin configuration, - * but are normally-high GPIOs. - */ -#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 -#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 - -#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 -#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 - -#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1 -#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 - -/* - * SPI - * - * Peripheral Port Signal Name CONN - * SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS - * TBD - * - */ - -#define GPIO_SPI1_NSS (GPIO_SPI1_NSS_2 | GPIO_SPEED_50MHz) -#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1 | GPIO_SPEED_50MHz) -#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1 | GPIO_SPEED_50MHz) -#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1 | GPIO_SPEED_50MHz) - -/* The following Pin Mapping is just for completeness */ -/* - * JTAG - * - * We will only enable SW-DP, JTAG-DP will be disabled - * - * Function Port Signal Name CONN - * SWDIO PA13 DAT J10-3,J7 - * SWCLK PA14 CLK J10-4,J8 - * - */ - -/* - * BOOT - * - * Function Port Signal Name CONN - * BOOT0 NA BOOT0 GND via 10 K - * BOOT1 PB2 BOOT1 V3.3 - 10 K - * - * As jumpered the device can only boot from FLASH. - * - * It can be booted to: - * - * SRAM if BOOT0 is pulled High with 1K. - * System memory if: - * BOOT0 is pulled High with 1K and - * BOOT1 is pulled Low with 1K -*/ - -/* - * Timer PWM - * - * Peripheral Port Signal Name CONN - * TIM3_CH1 PA6 LED_R JP2-23,24 - * TIM3_CH2 PA7 LED_G JP2-25,26 - * TIM3_CH3 PB0 LED_B JP2-27,28 - * TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22 - */ - -/* - * GPIO - * - * Port Signal Name CONN - * PA4 POWER JP1-23, - Must be held High to run w/o USB - * PB4 TEMP_CONT J2-2,11,14,23 - Gyro Heater - * PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105 - * PC1 KEY_AD JP1-31,32 - Low when Power button is depressed - * PC2 SD_SW SD-9 SW - Card Present - * PC3 PCON_RADIO JP1-29,30 - * PC13 S2 U8-9 74HCT151 - * PC14 S1 U8-10 74HCT151 - * PC15 S0 U8-11 74HCT151 - */ - -/* - * USB - * - * Port Signal Name CONN - * PA9 OTG_FS_VBUS J1-1 - * PA10 OTG_FS_ID J1-4 - * PA11 OTG_FS_DM J1-2 - * PA12 OTG_FS_DP J1-3 - */ - -/* - * UNUSED PINS - In an idle world - these would have been tied to pads to - * facilitate debugging probs. - * Port - * PA15 - * PB3 - * PB5 - * PC8 -*/ - -/* Board provides GPIO or other Hardware for signaling to timing analyzer */ - -#if defined(CONFIG_BOARD_USE_PROBES) -# define PROBE_N(n) (1<<((n)-1)) -# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) -# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3) -# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5) -# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8) - -# define PROBE_INIT(mask) \ - do { \ - if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ - if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ - if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ - if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ - } while(0) - -# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) -# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) -#else -# define PROBE_INIT(mask) -# define PROBE(n,s) -# define PROBE_MARK(n) -#endif - diff --git a/boards/intel/aerofc-v1/nuttx-config/include/board_dma_map.h b/boards/intel/aerofc-v1/nuttx-config/include/board_dma_map.h deleted file mode 100644 index 1d1f0e09dd..0000000000 --- a/boards/intel/aerofc-v1/nuttx-config/include/board_dma_map.h +++ /dev/null @@ -1,91 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -/* -| DMA1 | Stream 0 | Stream 1 | Stream 2 | Stream 3 | Stream 4 | Stream 5 | Stream 6 | Stream 7 | -|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------| -| Channel 0 | SPI3_RX_1 | - | SPI3_RX_2 | SPI2_RX | SPI2_TX | SPI3_TX_1 | - | SPI3_TX_2 | -| Channel 1 | I2C1_RX | - | TIM7_UP_1 | - | TIM7_UP_2 | I2C1_RX_1 | I2C1_TX | I2C1_TX_1 | -| Channel 2 | TIM4_CH1 | - | I2C4_RX | TIM4_CH2 | - | I2C4_RX | TIM4_UP | TIM4_CH3 | -| Channel 3 | - | TIM2_UP_1 | I2C3_RX_1 | I2C2_EXT_RX | I2C3_TX | TIM2_CH1 | TIM2_CH2 | TIM2_UP_2 | -| | | TIM2_CH3 | | | | | TIM2_CH4_1 | TIM2_CH4_2 | -| Channel 4 | UART5_RX | USART3_RX | UART4_RX | USART3_TX_1 | UART4_TX | USART2_RX | USART2_TX | UART5_TX | -| Channel 5 | UART8_TX | UART7_TX | TIM3_CH4 | UART7_RX | TIM3_CH1 | TIM3_CH2 | UART8_RX | TIM3_CH3 | -| | | | TIM3_UP | | TIM3_TRIG | | | | -| Channel 6 | TIM5_CH3 | TIM5_CH4_1 | TIM5_CH1 | TIM5_CH4_2 | TIM5_CH2 | - | TIM5_UP_2 | - | -| | TIM5_UP_1 | TIM5_TRIG_1 | | TIM5_TRIG_2 | | | | | -| Channel 7 | - | TIM6_UP | I2C2_RX | I2C2_RX_1 | USART3_TX_2 | DAC1 | DAC2 | I2C2_TX | -| | | | | | | | | | -| Usage | | | | | | | | | - - -| DMA2 | Stream 0 | Stream 1 | Stream 2 | Stream 3 | Stream 4 | Stream 5 | Stream 6 | Stream 7 | -|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------| -| Channel 0 | ADC1_1 | SAI1_A | TIM8_CH1_1 | SAI1_A_1 | ADC1_2 | SAI1_B_1 | TIM1_CH1_1 | - | -| | | | TIM8_CH2_1 | | | | TIM1_CH2_1 | | -| | | | TIM8_CH3_1 | | | | TIM1_CH3_1 | | -| Channel 1 | - | DCMI_1 | ADC2_1 | ADC2_2 | SAI1_B | SPI6_TX | SPI6_RX | DCMI_2 | -| Channel 2 | ADC3_1 | ADC3_2 | - | SPI5_RX_1 | SPI5_TX_1 | CRYP_OUT | CRYP_IN | HASH_IN | -| Channel 3 | SPI1_RX_1 | - | SPI1_RX_2 | SPI1_TX_1 | - | SPI1_TX_2 | - | QUADSPI | -| Channel 4 | SPI4_RX_1 | SPI4_TX_1 | USART1_RX_1 | SDIO | - | USART1_RX_2 | SDIO | USART1_TX | -| Channel 5 | - | USART6_RX_1 | USART6_RX_2 | SPI4_RX_2 | SPI4_TX_2 | - | USART6_TX_1 | USART6_TX_2 | -| Channel 6 | TIM1_TRIG_1 | TIM1_CH1_2 | TIM1_CH2_2 | TIM1_CH1 | TIM1_CH4 | TIM1_UP | TIM1_CH3_2 | - | -| | | | | | TIM1_TRIG_2 | | | | -| | | | | | TIM1_COM | | | | -| Channel 7 | - | TIM8_UP | TIM8_CH1_2 | TIM8_CH2_2 | TIM8_CH3_2 | SPI5_RX_2 | SPI5_TX_2 | TIM8_CH4 | -| | | | | | | | | TIM8_TRIG | -| | | | | | | | | TIM8_COM | -| | | | | | | | | | -| Usage | SPI1_RX_1 | USART6_RX_1 | USART1_RX_1 | SPI1_TX_1 | | | | | - */ - -// DMA1 Channel/Stream Selections -//--------------------------------------------//---------------------------//---------------- -// DMAMAP_UART5_RX // DMA1, Stream 0, Channel 4 -// AVAILABLE // DMA1, Stream 1 -// DMAMAP_UART4_RX // DMA1, Stream 2, Channel 4 -// DMAMAP_UART7_RX // DMA1, Stream 3, Channel 5 -// AVAILABLE // DMA1, Stream 4 -// DMAMAP_USART2_RX // DMA1, Stream 5, Channel 4 - - -// DMA2 Channel/Stream Selections -//--------------------------------------------//---------------------------//---------------- -#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1 // DMA2, Stream 0, Channel 3 (SPI sensors RX) -#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4 (CONSOLE) -#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4 -#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 3, Channel 3 (SPI sensors TX) -// AVAILABLE // DMA2, Stream 4 -// AVAILABLE // DMA2, Stream 5 diff --git a/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig b/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig deleted file mode 100644 index 08a325f04a..0000000000 --- a/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig +++ /dev/null @@ -1,197 +0,0 @@ -# -# This file is autogenerated: PLEASE DO NOT EDIT IT. -# -# You can use "make menuconfig" to make any modifications to the installed .config file. -# You can then do "make savedefconfig" to generate a new defconfig file that includes your -# modifications. -# -# CONFIG_DISABLE_ENVIRON is not set -# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set -# CONFIG_FSUTILS_MKFATFS is not set -# CONFIG_NSH_DISABLEBG is not set -# CONFIG_NSH_DISABLESCRIPT is not set -# CONFIG_NSH_DISABLE_DF is not set -# CONFIG_NSH_DISABLE_EXEC is not set -# CONFIG_NSH_DISABLE_EXIT is not set -# CONFIG_NSH_DISABLE_GET is not set -# CONFIG_NSH_DISABLE_ITEF is not set -# CONFIG_NSH_DISABLE_LOOPS is not set -# CONFIG_NSH_DISABLE_SEMICOLON is not set -# CONFIG_NSH_DISABLE_TIME is not set -# CONFIG_STM32_CCMEXCLUDE is not set -CONFIG_ARCH="arm" -CONFIG_ARCH_BOARD_CUSTOM=y -CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" -CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y -CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" -CONFIG_ARCH_CHIP="stm32" -CONFIG_ARCH_CHIP_STM32=y -CONFIG_ARCH_CHIP_STM32F429V=y -CONFIG_ARCH_INTERRUPTSTACK=512 -CONFIG_ARCH_STACKDUMP=y -CONFIG_ARMV7M_MEMCPY=y -CONFIG_ARMV7M_USEBASEPRI=y -CONFIG_BOARDCTL_RESET=y -CONFIG_BOARD_LOOPSPERMSEC=16717 -CONFIG_BOARD_RESET_ON_ASSERT=2 -CONFIG_BUILTIN=y -CONFIG_C99_BOOL8=y -CONFIG_CLOCK_MONOTONIC=y -CONFIG_DEBUG_FULLOPT=y -CONFIG_DEBUG_HARDFAULT_ALERT=y -CONFIG_DEBUG_SYMBOLS=y -CONFIG_DEFAULT_SMALL=y -CONFIG_DEV_FIFO_SIZE=0 -CONFIG_DEV_PIPE_MAXSIZE=1024 -CONFIG_DEV_PIPE_SIZE=70 -CONFIG_FAT_LCNAMES=y -CONFIG_FAT_LFN=y -CONFIG_FAT_LFN_ALIAS_HASH=y -CONFIG_FDCLONE_STDIO=y -CONFIG_FS_BINFS=y -CONFIG_FS_CROMFS=y -CONFIG_FS_FAT=y -CONFIG_FS_FATTIME=y -CONFIG_FS_PROCFS=y -CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y -CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y -CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y -CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y -CONFIG_FS_PROCFS_EXCLUDE_USAGE=y -CONFIG_FS_PROCFS_REGISTER=y -CONFIG_FS_ROMFS=y -CONFIG_GRAN=y -CONFIG_GRAN_INTR=y -CONFIG_HAVE_CXX=y -CONFIG_HAVE_CXXINITIALIZE=y -CONFIG_I2C=y -CONFIG_I2C_RESET=y -CONFIG_IDLETHREAD_STACKSIZE=750 -CONFIG_LIBC_FLOATINGPOINT=y -CONFIG_LIBC_LONG_LONG=y -CONFIG_LIBC_STRERROR=y -CONFIG_MEMSET_64BIT=y -CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=2 -CONFIG_MTD=y -CONFIG_MTD_BYTE_WRITE=y -CONFIG_MTD_PARTITION=y -CONFIG_NFILE_DESCRIPTORS=12 -CONFIG_NSH_ARCHINIT=y -CONFIG_NSH_ARCHROMFS=y -CONFIG_NSH_ARGCAT=y -CONFIG_NSH_BUILTIN_APPS=y -CONFIG_NSH_CMDPARMS=y -CONFIG_NSH_CROMFSETC=y -CONFIG_NSH_DISABLE_IFCONFIG=y -CONFIG_NSH_DISABLE_IFUPDOWN=y -CONFIG_NSH_DISABLE_MB=y -CONFIG_NSH_DISABLE_MH=y -CONFIG_NSH_DISABLE_TELNETD=y -CONFIG_NSH_LINELEN=128 -CONFIG_NSH_MAXARGUMENTS=15 -CONFIG_NSH_NESTDEPTH=8 -CONFIG_NSH_QUOTE=y -CONFIG_NSH_ROMFSETC=y -CONFIG_NSH_ROMFSSECTSIZE=128 -CONFIG_NSH_STRERROR=y -CONFIG_NSH_VARS=y -CONFIG_PIPES=y -CONFIG_PREALLOC_TIMERS=50 -CONFIG_PRIORITY_INHERITANCE=y -CONFIG_PTHREAD_MUTEX_ROBUST=y -CONFIG_PTHREAD_STACK_MIN=512 -CONFIG_RAM_SIZE=262144 -CONFIG_RAM_START=0x20000000 -CONFIG_RAW_BINARY=y -CONFIG_RTC_DATETIME=y -CONFIG_SCHED_ATEXIT=y -CONFIG_SCHED_HPWORK=y -CONFIG_SCHED_HPWORKPRIORITY=249 -CONFIG_SCHED_HPWORKSTACKSIZE=1280 -CONFIG_SCHED_INSTRUMENTATION=y -CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y -CONFIG_SCHED_LPWORK=y -CONFIG_SCHED_LPWORKPRIORITY=50 -CONFIG_SCHED_LPWORKSTACKSIZE=1632 -CONFIG_SCHED_WAITPID=y -CONFIG_SDCLONE_DISABLE=y -CONFIG_SEM_NNESTPRIO=8 -CONFIG_SEM_PREALLOCHOLDERS=0 -CONFIG_SERIAL_TERMIOS=y -CONFIG_SIG_DEFAULT=y -CONFIG_SIG_SIGALRM_ACTION=y -CONFIG_SIG_SIGUSR1_ACTION=y -CONFIG_SIG_SIGUSR2_ACTION=y -CONFIG_SIG_SIGWORK=4 -CONFIG_STACK_COLORATION=y -CONFIG_START_DAY=30 -CONFIG_START_MONTH=11 -CONFIG_STDIO_BUFFER_SIZE=32 -CONFIG_STM32_BBSRAM_FILES=5 -CONFIG_STM32_BKPSRAM=y -CONFIG_STM32_CCMDATARAM=y -CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y -CONFIG_STM32_DMA1=y -CONFIG_STM32_DMA2=y -CONFIG_STM32_FLASH_CONFIG_I=y -CONFIG_STM32_FLASH_WORKAROUND_DATA_CACHE_CORRUPTION_ON_RWW=y -CONFIG_STM32_FLOWCONTROL_BROKEN=y -CONFIG_STM32_I2C1=y -CONFIG_STM32_I2C2=y -CONFIG_STM32_I2C3=y -CONFIG_STM32_I2CTIMEOMS=10 -CONFIG_STM32_I2CTIMEOTICKS=10 -CONFIG_STM32_JTAG_SW_ENABLE=y -CONFIG_STM32_OTGFS=y -CONFIG_STM32_PWR=y -CONFIG_STM32_RTC=y -CONFIG_STM32_RTC_HSECLOCK=y -CONFIG_STM32_RTC_MAGIC_REG=1 -CONFIG_STM32_SERIALBRK_BSDCOMPAT=y -CONFIG_STM32_SERIAL_DISABLE_REORDERING=y -CONFIG_STM32_SPI1=y -CONFIG_STM32_SPI1_DMA=y -CONFIG_STM32_SPI1_DMA_BUFFER=1024 -CONFIG_STM32_SPI_DMA=y -CONFIG_STM32_SPI_DMATHRESHOLD=8 -CONFIG_STM32_TIM10=y -CONFIG_STM32_TIM11=y -CONFIG_STM32_TIM1=y -CONFIG_STM32_TIM8=y -CONFIG_STM32_TIM9=y -CONFIG_STM32_UART4=y -CONFIG_STM32_UART5=y -CONFIG_STM32_UART7=y -CONFIG_STM32_USART1=y -CONFIG_STM32_USART2=y -CONFIG_STM32_USART6=y -CONFIG_STM32_USART_BREAKS=y -CONFIG_STM32_USART_SINGLEWIRE=y -CONFIG_STM32_WWDG=y -CONFIG_SYSTEM_NSH=y -CONFIG_TASK_NAME_SIZE=24 -CONFIG_UART4_BAUD=57600 -CONFIG_UART4_RXBUFSIZE=300 -CONFIG_UART4_RXDMA=y -CONFIG_UART4_TXBUFSIZE=300 -CONFIG_UART5_RXDMA=y -CONFIG_UART7_BAUD=57600 -CONFIG_UART7_RXBUFSIZE=300 -CONFIG_UART7_RXDMA=y -CONFIG_UART7_TXBUFSIZE=300 -CONFIG_USART1_RXBUFSIZE=600 -CONFIG_USART1_RXDMA=y -CONFIG_USART1_TXBUFSIZE=2500 -CONFIG_USART2_BAUD=57600 -CONFIG_USART2_RXBUFSIZE=600 -CONFIG_USART2_RXDMA=y -CONFIG_USART2_TXBUFSIZE=1100 -CONFIG_USART6_BAUD=57600 -CONFIG_USART6_RXBUFSIZE=300 -CONFIG_USART6_RXDMA=y -CONFIG_USART6_SERIAL_CONSOLE=y -CONFIG_USART6_TXBUFSIZE=300 -CONFIG_USEC_PER_TICK=1000 -CONFIG_USERMAIN_STACKSIZE=2944 -CONFIG_USER_ENTRYPOINT="nsh_main" diff --git a/boards/intel/aerofc-v1/nuttx-config/scripts/script.ld b/boards/intel/aerofc-v1/nuttx-config/scripts/script.ld deleted file mode 100644 index 41f3e87f83..0000000000 --- a/boards/intel/aerofc-v1/nuttx-config/scripts/script.ld +++ /dev/null @@ -1,139 +0,0 @@ -/**************************************************************************** - * configs/aerofc-v1/scripts/ld.script - * - * Copyright (C) 2011 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and - * 192Kb of SRAM. SRAM is split up into three blocks: - * - * 1) 112Kb of SRAM beginning at address 0x2000:0000 - * 2) 16Kb of SRAM beginning at address 0x2001:c000 - * 3) 64Kb of CCM SRAM beginning at address 0x1000:0000 - * - * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 - * where the code expects to begin execution by jumping to the entry point in - * the 0x0800:0000 address range. - * - * The first 16 KiB of flash is reserved for the bootloader. - * Paramater storage will use the next 2 16KiB Sectors. - */ - -MEMORY -{ - flash (rx) : ORIGIN = 0x0800C000, LENGTH = 976K - sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K - ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K -} - -OUTPUT_ARCH(arm) - -ENTRY(__start) /* treat __start as the anchor for dead code stripping */ -EXTERN(_vectors) /* force the vectors to be included in the output */ - -/* - * Ensure that abort() is present in the final object. The exception handling - * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). - */ -EXTERN(abort) -EXTERN(board_get_manifest) - -SECTIONS -{ - .text : { - _stext = ABSOLUTE(.); - *(.vectors) - *(.text .text.*) - *(.fixup) - *(.gnu.warning) - *(.rodata .rodata.*) - *(.gnu.linkonce.t.*) - *(.got) - *(.gcc_except_table) - *(.gnu.linkonce.r.*) - _etext = ABSOLUTE(.); - - } > flash - - /* - * Init functions (static constructors and the like) - */ - .init_section : { - _sinit = ABSOLUTE(.); - KEEP(*(.init_array .init_array.*)) - _einit = ABSOLUTE(.); - } > flash - - - .ARM.extab : { - *(.ARM.extab*) - } > flash - - __exidx_start = ABSOLUTE(.); - .ARM.exidx : { - *(.ARM.exidx*) - } > flash - __exidx_end = ABSOLUTE(.); - - _eronly = ABSOLUTE(.); - - .data : { - _sdata = ABSOLUTE(.); - *(.data .data.*) - *(.gnu.linkonce.d.*) - CONSTRUCTORS - _edata = ABSOLUTE(.); - } > sram AT > flash - - .bss : { - _sbss = ABSOLUTE(.); - *(.bss .bss.*) - *(.gnu.linkonce.b.*) - *(COMMON) - . = ALIGN(4); - _ebss = ABSOLUTE(.); - } > sram - - /* Stabs debugging sections. */ - .stab 0 : { *(.stab) } - .stabstr 0 : { *(.stabstr) } - .stab.excl 0 : { *(.stab.excl) } - .stab.exclstr 0 : { *(.stab.exclstr) } - .stab.index 0 : { *(.stab.index) } - .stab.indexstr 0 : { *(.stab.indexstr) } - .comment 0 : { *(.comment) } - .debug_abbrev 0 : { *(.debug_abbrev) } - .debug_info 0 : { *(.debug_info) } - .debug_line 0 : { *(.debug_line) } - .debug_pubnames 0 : { *(.debug_pubnames) } - .debug_aranges 0 : { *(.debug_aranges) } -} diff --git a/boards/intel/aerofc-v1/scripts/aero_upload.sh b/boards/intel/aerofc-v1/scripts/aero_upload.sh deleted file mode 100755 index d63e27f302..0000000000 --- a/boards/intel/aerofc-v1/scripts/aero_upload.sh +++ /dev/null @@ -1,74 +0,0 @@ -#!/bin/bash -############################################################################ -# -# Copyright (C) 2016 Intel Corporation. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -set -e - -USER=${AERO_USER:-root} -HOSTNAME=${AERO_HOSTNAME:-intel-aero.local} -SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]})) - -target=$USER@$HOSTNAME -firmware=$1 -px_uploader=${SCRIPT_DIR}/px_uploader.py - -echo "Copying files to Aero board ($target)..." -scp $firmware $px_uploader $target: - -ssh $target /bin/bash < -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -add_library(drivers_board - i2c.cpp - init.c - led.c - mtd.cpp - spi.cpp - timer_config.cpp -) -target_link_libraries(drivers_board - PRIVATE - arch_spi - drivers__led # drv_led_start - px4_layer - modules__dataman # dm_flash_sector_description_set # TODO: fix this -) diff --git a/boards/intel/aerofc-v1/src/board_config.h b/boards/intel/aerofc-v1/src/board_config.h deleted file mode 100644 index ea265027ce..0000000000 --- a/boards/intel/aerofc-v1/src/board_config.h +++ /dev/null @@ -1,168 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file board_config.h - * - * @author David Sidrane - * @author Lorenz Meier - * - * AEROFC_V1 internal definitions - */ - -#pragma once - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include -#include -#include - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ -/* Configuration ************************************************************************************/ - -/* PX4FMU GPIOs ***********************************************************************************/ -/* LEDs */ -#define GPIO_LED0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9) -#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10) -#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11) -#define GPIO_LED3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12) - -#define BOARD_HAS_CONTROL_STATUS_LEDS 1 -#define BOARD_OVERLOAD_LED LED_RED -#define BOARD_ARMED_LED LED_BLUE -#define BOARD_ARMED_STATE_LED LED_GREEN - -#define GPIO_VDD_5V_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN13) - -#define GPIO_FORCE_BOOTLOADER (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN11|GPIO_EXTI) - -#define PX4_I2C_BUS_MTD 3 - -/* - * STM32 ADC channels - * - * These are the channel numbers of the ADCs of the microcontroller that can - * be used by the PX4 Firmware in the adc driver - */ -#define ADC_CHANNELS 0 - -/* - * ADC channels: these use the ADC block implemented in the FPGA. There are 5 - * channels in the FPGA, but only 1 is phisically connected, that's dedicated - * for voltage reading. - */ -#define ADC_BATTERY_VOLTAGE_CHANNEL 1 -#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1)) - -/* - * Define Battery 1 Voltage Divider, using default for A/V - */ -#define BOARD_BATTERY1_V_DIV (9.0f) - -#define DIRECT_PWM_OUTPUT_CHANNELS 1 -#define BOARD_HAS_PWM 0 - -/* - * USB OTG FS - */ - -/* - * RC Serial port - */ -#define RC_SERIAL_PORT "/dev/ttyS2" /* No HW invert support */ -/* - * High-resolution timer - */ -#define HRT_TIMER 3 /* use timer3 for the HRT */ -#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel */ - -#define FLASH_BASED_PARAMS -#define FLASH_BASED_DATAMAN - -/* - * ESCs do not respond - */ -#define BOARD_TAP_ESC_MODE 1 - -#define MEMORY_CONSTRAINED_SYSTEM - -#define BOARD_CRASHDUMP_RESET_ONLY - -__BEGIN_DECLS - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - -#ifndef __ASSEMBLY__ - -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. - * - ****************************************************************************************************/ - -extern void stm32_spiinitialize(void); - -#define board_peripheral_reset(ms) - -/************************************************************************************ - * Name: board_sdio_initialize - * - * Description: - * Called to configure SDIO. - * - ************************************************************************************/ - -extern int board_sdio_initialize(void); - -#include - -#endif /* __ASSEMBLY__ */ - -__END_DECLS diff --git a/boards/intel/aerofc-v1/src/init.c b/boards/intel/aerofc-v1/src/init.c deleted file mode 100644 index 4033b8d62f..0000000000 --- a/boards/intel/aerofc-v1/src/init.c +++ /dev/null @@ -1,227 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file aerofc-v1_init.c - * - * aerofc-specific early startup code. This file implements the - * board_app_initialize() function that is called early by nsh during startup. - * - * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialization. - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include -#include -#include -#include -#include - -#include -#include - -#include "board_config.h" -#include "stm32_uart.h" - -#include - -#include -#include - -#include - -#include -#include - -# if defined(FLASH_BASED_PARAMS) -# include -#endif - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -/* - * Ideally we'd be able to get these from arm_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -__END_DECLS - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -static int _bootloader_force_pin_callback(int irq, void *context, void *args) -{ - if (stm32_gpioread(GPIO_FORCE_BOOTLOADER)) { - board_reset(0); - } - - return 0; -} - -/**************************************************************************** - * Protected Functions - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the initialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ - -__EXPORT void stm32_boardinitialize(void) -{ - stm32_configgpio(GPIO_FORCE_BOOTLOADER); - _bootloader_force_pin_callback(0, NULL, NULL); - - /* configure LEDs */ - board_autoled_initialize(); - - /* turn sensors on */ - stm32_configgpio(GPIO_VDD_5V_SENSORS_EN); - - /* configure SPI interfaces */ - stm32_spiinitialize(); - -} - -/**************************************************************************** - * Name: board_app_initialize - * - * Description: - * Perform architecture specific initialization - * - ****************************************************************************/ - -__EXPORT int board_app_initialize(uintptr_t arg) -{ - int result; - - /* the interruption subsystem is not initialized when stm32_boardinitialize() is called */ - stm32_gpiosetevent(GPIO_FORCE_BOOTLOADER, true, false, false, _bootloader_force_pin_callback, NULL); - - px4_platform_init(); - - /* set up the serial DMA polling */ - static struct hrt_call serial_dma_call; - struct timespec ts; - - /* - * Poll at 1ms intervals for received bytes that have not triggered - * a DMA event. - */ - ts.tv_sec = 0; - ts.tv_nsec = 1000000; - - hrt_call_every(&serial_dma_call, - ts_to_abstime(&ts), - ts_to_abstime(&ts), - (hrt_callout)stm32_serial_dma_poll, - NULL); - - - /* initial LED state */ - drv_led_start(); - led_off(LED_AMBER); - led_off(LED_BLUE); - - /* - * Bootloader(sector 0): - * start: 0x08000000, len: 16K, end: 0x08003E80 - * - * FlashFS(sector 1 and 2): - * start: 0x08004000, len: 32K, end: 0x0800BFFF - * - * Firmware(sector 3 to 11): - * start: 0x0800C000, len: 976K, end: 0x080FFFFF - * - * Dataman(sector 23): - * start: 0x081E0000, len: 128K, end: 0x08200000 - * - * First 1MB memory bank complete assigned. - * Second 1MB memory bank is mostly empty. - */ - -#if defined(FLASH_BASED_PARAMS) - static sector_descriptor_t params_sector_map[] = { - {1, 16 * 1024, 0x08004000}, - {2, 16 * 1024, 0x08008000}, - {0, 0, 0}, - }; - - /* Initialize the flashfs layer to use heap allocated memory */ - result = parameter_flashfs_init(params_sector_map, NULL, 0); - - if (result != OK) { - syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); - led_on(LED_AMBER); - return -ENODEV; - } - -#endif - -#if defined(FLASH_BASED_DATAMAN) - static dm_sector_descriptor_t dm_sector_map = {23, 128 * 1024, 0x081E0000}; - dm_flash_sector_description_set(&dm_sector_map); -#endif - - /* Configure the HW based on the manifest */ - - px4_platform_configure(); - - return OK; -} diff --git a/boards/intel/aerofc-v1/src/spi.cpp b/boards/intel/aerofc-v1/src/spi.cpp deleted file mode 100644 index f90caac916..0000000000 --- a/boards/intel/aerofc-v1/src/spi.cpp +++ /dev/null @@ -1,45 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include -#include - -constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { - initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortA, GPIO::Pin4}), - }), -}; - -static constexpr bool unused = validateSPIConfig(px4_spi_buses); diff --git a/boards/intel/aerofc-v1/src/timer_config.cpp b/boards/intel/aerofc-v1/src/timer_config.cpp deleted file mode 100644 index b4e7278c10..0000000000 --- a/boards/intel/aerofc-v1/src/timer_config.cpp +++ /dev/null @@ -1,49 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -// Invalidate all timers (base == 0): we don't have any -constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { }; - -// Invalidate all channels (timer_channel == 0): we don't have any -constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { }; - -constexpr io_timers_channel_mapping_t io_timers_channel_mapping = { }; - -// Invalidate all timers (base == 0): we don't have any -constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = { }; - -// Invalidate all channels (timer_channel == 0): we don't have any -constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = { }; diff --git a/boards/modalai/fc-v1/bootloader/modalai_fc-v1_bootloader.bin b/boards/modalai/fc-v1/bootloader/modalai_fc-v1_bootloader.bin new file mode 100644 index 0000000000..ab1887aedd Binary files /dev/null and b/boards/modalai/fc-v1/bootloader/modalai_fc-v1_bootloader.bin differ diff --git a/boards/modalai/fc-v1/default.cmake b/boards/modalai/fc-v1/default.cmake index 1cba5226b5..11e27489be 100644 --- a/boards/modalai/fc-v1/default.cmake +++ b/boards/modalai/fc-v1/default.cmake @@ -15,6 +15,7 @@ px4_add_board( TEL2:/dev/ttyS4 # UART5 / J1 TEL3:/dev/ttyS1 # USART2 / J4 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -28,13 +29,12 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/icm42688p irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 power_monitor/voxlpm #protocol_splitter @@ -43,8 +43,8 @@ px4_add_board( pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm #tone_alarm @@ -61,6 +61,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -71,12 +73,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -84,6 +89,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -99,6 +105,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -110,6 +117,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/modalai/fc-v1/init/rc.board_defaults b/boards/modalai/fc-v1/init/rc.board_defaults index 22338fde80..d78d536d25 100644 --- a/boards/modalai/fc-v1/init/rc.board_defaults +++ b/boards/modalai/fc-v1/init/rc.board_defaults @@ -1,7 +1,6 @@ #!/bin/sh # -# ModalAI FC-v1 specific board defaults -# Maintainer: travis@modalai.com +# board specific defaults #------------------------------------------------------------------------------ # @@ -24,12 +23,6 @@ # V110 - J1011 pin 5 param set-default CBRK_IO_SAFETY 22027 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - -param set-default UAVCAN_ENABLE 2 - # # Stand Alone configuration # @@ -48,9 +41,12 @@ then if param compare MAV_1_CONFIG 0 then echo "V106 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode" - param set-default MAV_1_CONFIG 102 # TELEM2 - param set-default MAV_1_MODE 2 # Onboard - param set-default SER_TEL2_BAUD 921600 # VIO data + # TELEM2 + param set-default MAV_1_CONFIG 102 + # Onboard + param set-default MAV_1_MODE 2 + # VIO data + param set-default SER_TEL2_BAUD 921600 fi fi @@ -58,9 +54,12 @@ then if [ $AUTOCNF = yes ] then echo "V106 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode" - param set-default MAV_1_CONFIG 102 # TELEM2 - param set-default MAV_1_MODE 2 # Onboard - param set-default SER_TEL2_BAUD 921600 # VIO data + # TELEM2 + param set-default MAV_1_CONFIG 102 + # Onboard + param set-default MAV_1_MODE 2 + # VIO data + param set-default SER_TEL2_BAUD 921600 fi fi @@ -81,9 +80,11 @@ then then if ! param compare MAV_1_CONFIG 102 then - echo "V110 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode" - param set-default MAV_1_CONFIG 102 # TELEM2 - param set-default MAV_1_MODE 2 # Onboard + echo "V110 - Default configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode" + # TELEM2 + param set-default MAV_1_CONFIG 102 + # Onboard + param set-default MAV_1_MODE 2 param set-default SER_TEL2_BAUD 921600 fi fi @@ -92,12 +93,13 @@ then if [ $AUTOCNF = yes ] then echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode" - param set-default MAV_1_CONFIG 102 # TELEM2 - param set-default MAV_1_MODE 2 # Onboard + # TELEM2 + param set-default MAV_1_CONFIG 102 + # Onboard + param set-default MAV_1_MODE 2 param set-default SER_TEL2_BAUD 921600 fi fi -set LOGGER_BUF 64 safety_button start diff --git a/boards/modalai/fc-v1/nuttx-config/nsh/defconfig b/boards/modalai/fc-v1/nuttx-config/nsh/defconfig index ef73eb19bd..02b0b7ff0c 100644 --- a/boards/modalai/fc-v1/nuttx-config/nsh/defconfig +++ b/boards/modalai/fc-v1/nuttx-config/nsh/defconfig @@ -105,6 +105,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/mro/ctrl-zero-f7-oem/default.cmake b/boards/mro/ctrl-zero-f7-oem/default.cmake index 609f544966..90193cf71a 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.cmake +++ b/boards/mro/ctrl-zero-f7-oem/default.cmake @@ -17,6 +17,7 @@ px4_add_board( TEL3:/dev/ttyS4 #FRSKY:/dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/dps310 @@ -25,7 +26,7 @@ px4_add_board( camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers - #dshot + dshot gps #heater #imu # all available imu drivers @@ -33,13 +34,12 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter #pwm_input @@ -47,8 +47,8 @@ px4_add_board( pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -61,10 +61,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -82,6 +85,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -89,6 +94,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -104,6 +110,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -115,6 +122,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/mro/ctrl-zero-f7-oem/init/rc.board_defaults b/boards/mro/ctrl-zero-f7-oem/init/rc.board_defaults index 73371f9d92..9c542a7730 100644 --- a/boards/mro/ctrl-zero-f7-oem/init/rc.board_defaults +++ b/boards/mro/ctrl-zero-f7-oem/init/rc.board_defaults @@ -1,19 +1,6 @@ #!/bin/sh # -# mRo Control Zero specific board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - # Multi-EKF - param set EKF2_MULTI_IMU 3 - param set SENS_IMU_MODE 0 - - param set UAVCAN_ENABLE 2 -fi - -set LOGGER_BUF 64 -set MIXER_AUX none - safety_button start diff --git a/boards/mro/ctrl-zero-f7-oem/nuttx-config/include/board.h b/boards/mro/ctrl-zero-f7-oem/nuttx-config/include/board.h index 51260395e5..4f7dfd37c3 100644 --- a/boards/mro/ctrl-zero-f7-oem/nuttx-config/include/board.h +++ b/boards/mro/ctrl-zero-f7-oem/nuttx-config/include/board.h @@ -296,5 +296,5 @@ #define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */ #define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ -#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ -#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4 /* PB6 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_5 /* PB7 */ diff --git a/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig index 2cc405eb3f..abf7771a99 100644 --- a/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig @@ -105,6 +105,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/mro/ctrl-zero-f7-oem/src/board_config.h b/boards/mro/ctrl-zero-f7-oem/src/board_config.h index ea3efff8a7..1d86505b72 100644 --- a/boards/mro/ctrl-zero-f7-oem/src/board_config.h +++ b/boards/mro/ctrl-zero-f7-oem/src/board_config.h @@ -191,9 +191,9 @@ GPIO_CAN1_TX, \ GPIO_CAN1_RX, \ GPIO_CAN2_TX, \ - GPIO_CAN2_RX, \ + GPIO_CAN2_RX, \ GPIO_CAN1_SILENT_S0, \ - GPIO_CAN2_SILENT_S0, \ + GPIO_CAN2_SILENT_S0, \ GPIO_nPOWER_IN_A, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ GPIO_TONE_ALARM_IDLE, \ diff --git a/boards/mro/ctrl-zero-f7-oem/src/i2c.cpp b/boards/mro/ctrl-zero-f7-oem/src/i2c.cpp index de6742ac58..1b8927c699 100644 --- a/boards/mro/ctrl-zero-f7-oem/src/i2c.cpp +++ b/boards/mro/ctrl-zero-f7-oem/src/i2c.cpp @@ -35,6 +35,6 @@ constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { initI2CBusExternal(1), - initI2CBusInternal(3), + initI2CBusExternal(3), initI2CBusExternal(4), }; diff --git a/boards/mro/ctrl-zero-f7/default.cmake b/boards/mro/ctrl-zero-f7/default.cmake index cae28037a6..ec1abbd7ad 100644 --- a/boards/mro/ctrl-zero-f7/default.cmake +++ b/boards/mro/ctrl-zero-f7/default.cmake @@ -17,6 +17,7 @@ px4_add_board( #CONSOLE:/dev/ttyS4 #FRSKY:/dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/dps310 @@ -25,7 +26,7 @@ px4_add_board( camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers - #dshot + dshot gps #heater #imu # all available imu drivers @@ -33,13 +34,12 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter #pwm_input @@ -47,8 +47,8 @@ px4_add_board( pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -61,10 +61,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -82,6 +85,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -89,6 +94,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -104,6 +110,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -115,6 +122,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/mro/ctrl-zero-f7/init/rc.board_defaults b/boards/mro/ctrl-zero-f7/init/rc.board_defaults index 1bf534d976..9c542a7730 100644 --- a/boards/mro/ctrl-zero-f7/init/rc.board_defaults +++ b/boards/mro/ctrl-zero-f7/init/rc.board_defaults @@ -1,16 +1,6 @@ #!/bin/sh # -# mRo Control Zero specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 -set MIXER_AUX none - safety_button start diff --git a/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig index 6a15a872d0..a0015c3dc8 100644 --- a/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig @@ -27,7 +27,7 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32f7" -CONFIG_ARCH_CHIP_STM32F777NI=y +CONFIG_ARCH_CHIP_STM32F777II=y CONFIG_ARCH_CHIP_STM32F7=y CONFIG_ARCH_INTERRUPTSTACK=512 CONFIG_ARCH_STACKDUMP=y @@ -105,6 +105,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/mro/ctrl-zero-h7-oem/default.cmake b/boards/mro/ctrl-zero-h7-oem/default.cmake index 16e89bafca..3fd744d53a 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.cmake +++ b/boards/mro/ctrl-zero-h7-oem/default.cmake @@ -8,7 +8,6 @@ px4_add_board( ARCHITECTURE cortex-m7 ROMFSROOT px4fmu_common BUILD_BOOTLOADER - TESTING UAVCAN_INTERFACES 2 SERIAL_PORTS TEL1:/dev/ttyS0 @@ -18,6 +17,7 @@ px4_add_board( TEL3:/dev/ttyS4 #FRSKY:/dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/dps310 @@ -33,26 +33,20 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - mkblctrl optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter - #pwm_input pwm_out_sim pwm_out rc_input roboclaw rpm - #safety_button TODO - tap_esc telemetry # all available telemetry drivers - test_ppm tone_alarm uavcan MODULES @@ -68,6 +62,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -85,6 +81,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -108,23 +106,27 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time - tests # tests and test runner + #tests # tests and test runner top topic_listener tune_control + uorb usb_connected ver work_queue EXAMPLES - fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + fake_gps + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/mro/ctrl-zero-h7-oem/init/rc.board_defaults b/boards/mro/ctrl-zero-h7-oem/init/rc.board_defaults index 98136ea19e..0e211f3539 100644 --- a/boards/mro/ctrl-zero-h7-oem/init/rc.board_defaults +++ b/boards/mro/ctrl-zero-h7-oem/init/rc.board_defaults @@ -3,40 +3,11 @@ # board specific defaults #------------------------------------------------------------------------------ -# -# Bootloader upgrade -# -set BL_FILE /etc/extras/mro_ctrl-zero-h7_bootloader.bin -if [ -f $BL_FILE ] -then - if param compare SYS_BL_UPDATE 1 - then - param set SYS_BL_UPDATE 0 - param save - echo "BL update..." - bl_update $BL_FILE - echo "BL update done" - reboot - fi -fi -unset BL_FILE - - param set-default BAT_V_DIV 10.1 param set-default BAT1_V_DIV 10.1 param set-default BAT_A_PER_V 24 param set-default BAT1_A_PER_V 24 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 safety_button start diff --git a/boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink b/boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink index 08fed10e71..75c5256651 100644 --- a/boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink +++ b/boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/bootloader/defconfig b/boards/mro/ctrl-zero-h7-oem/nuttx-config/bootloader/defconfig index 2f526b433c..faf0f8608e 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/bootloader/defconfig +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/bootloader/defconfig @@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y CONFIG_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=5 CONFIG_PREALLOC_TIMERS=50 CONFIG_PTHREAD_STACK_MIN=512 diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h index 3d4a5c880f..2e7a6a031f 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h @@ -187,6 +187,7 @@ * Note: look at Table 54 in ST Manual */ #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C123 clock source */ +#define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* I2C4 clock source */ #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */ #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI45 clock source */ #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* SPI6 clock source */ @@ -274,5 +275,5 @@ #define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */ #define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ -#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ -#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4 /* PB6 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4 /* PB7 */ diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig index 6fd0a5591c..932842c900 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig @@ -90,7 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y @@ -108,6 +108,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -141,7 +142,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_MODE=y +CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_NNESTPRIO=8 CONFIG_SEM_PREALLOCHOLDERS=0 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -156,14 +157,14 @@ CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y CONFIG_STM32H7_I2C3=y @@ -216,8 +217,8 @@ CONFIG_UART7_RXBUFSIZE=600 CONFIG_UART7_TXBUFSIZE=1500 CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 -CONFIG_UART8_TXBUFSIZE=1500 CONFIG_UART8_SERIAL_CONSOLE=y +CONFIG_UART8_TXBUFSIZE=1500 CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/script.ld b/boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/script.ld index c63b08f931..50f6307bc5 100644 --- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/script.ld +++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/script.ld @@ -199,8 +199,12 @@ SECTIONS } > AXI_SRAM /* Emit the the D3 power domain section for locating BDMA data */ - .SRAM4 (NOLOAD) : + + .sram4_reserve (NOLOAD) : { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); } > SRAM4 diff --git a/boards/mro/ctrl-zero-h7-oem/src/i2c.cpp b/boards/mro/ctrl-zero-h7-oem/src/i2c.cpp index de6742ac58..1b8927c699 100644 --- a/boards/mro/ctrl-zero-h7-oem/src/i2c.cpp +++ b/boards/mro/ctrl-zero-h7-oem/src/i2c.cpp @@ -35,6 +35,6 @@ constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { initI2CBusExternal(1), - initI2CBusInternal(3), + initI2CBusExternal(3), initI2CBusExternal(4), }; diff --git a/boards/mro/ctrl-zero-h7/default.cmake b/boards/mro/ctrl-zero-h7/default.cmake index 0f6c9ae959..9cf2c0eb01 100644 --- a/boards/mro/ctrl-zero-h7/default.cmake +++ b/boards/mro/ctrl-zero-h7/default.cmake @@ -8,7 +8,6 @@ px4_add_board( ARCHITECTURE cortex-m7 ROMFSROOT px4fmu_common BUILD_BOOTLOADER - TESTING UAVCAN_INTERFACES 1 SERIAL_PORTS TEL1:/dev/ttyS0 @@ -18,6 +17,7 @@ px4_add_board( TEL3:/dev/ttyS4 #FRSKY:/dev/ttyS5 DRIVERS + adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/dps310 @@ -33,26 +33,20 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - mkblctrl optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter - #pwm_input pwm_out_sim pwm_out rc_input roboclaw rpm - #safety_button TODO - tap_esc telemetry # all available telemetry drivers - test_ppm tone_alarm uavcan MODULES @@ -68,6 +62,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -85,6 +81,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -108,23 +106,27 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time - tests # tests and test runner + #tests # tests and test runner top topic_listener tune_control + uorb usb_connected ver work_queue EXAMPLES - fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + fake_gps + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/mro/ctrl-zero-h7/firmware.prototype b/boards/mro/ctrl-zero-h7/firmware.prototype index 4afdcf7ef2..41d94b396b 100644 --- a/boards/mro/ctrl-zero-h7/firmware.prototype +++ b/boards/mro/ctrl-zero-h7/firmware.prototype @@ -1,5 +1,5 @@ { - "board_id": 1024, + "board_id": 1023, "magic": "mRo-ctrl-zero-h7", "description": "Firmware for the mRo-ctrl-zero-h7 board", "image": "", diff --git a/boards/mro/ctrl-zero-h7/init/rc.board_defaults b/boards/mro/ctrl-zero-h7/init/rc.board_defaults index 98136ea19e..0e211f3539 100644 --- a/boards/mro/ctrl-zero-h7/init/rc.board_defaults +++ b/boards/mro/ctrl-zero-h7/init/rc.board_defaults @@ -3,40 +3,11 @@ # board specific defaults #------------------------------------------------------------------------------ -# -# Bootloader upgrade -# -set BL_FILE /etc/extras/mro_ctrl-zero-h7_bootloader.bin -if [ -f $BL_FILE ] -then - if param compare SYS_BL_UPDATE 1 - then - param set SYS_BL_UPDATE 0 - param save - echo "BL update..." - bl_update $BL_FILE - echo "BL update done" - reboot - fi -fi -unset BL_FILE - - param set-default BAT_V_DIV 10.1 param set-default BAT1_V_DIV 10.1 param set-default BAT_A_PER_V 24 param set-default BAT1_A_PER_V 24 -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 safety_button start diff --git a/boards/mro/ctrl-zero-h7/init/rc.board_mavlink b/boards/mro/ctrl-zero-h7/init/rc.board_mavlink index 08fed10e71..75c5256651 100644 --- a/boards/mro/ctrl-zero-h7/init/rc.board_mavlink +++ b/boards/mro/ctrl-zero-h7/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig b/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig index 6eb96642e4..271291fd95 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig +++ b/boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig @@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y CONFIG_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=5 CONFIG_PREALLOC_TIMERS=50 CONFIG_PTHREAD_STACK_MIN=512 diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig index e266eb4b70..24c1c3f98e 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig @@ -44,7 +44,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2 CONFIG_BUILTIN=y CONFIG_C99_BOOL8=y CONFIG_CDCACM=y -CONFIG_CDCACM_PRODUCTID=0x1024 +CONFIG_CDCACM_PRODUCTID=0x1023 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7" CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=12000 @@ -90,7 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y @@ -108,6 +108,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -141,7 +142,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_MODE=y +CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_NNESTPRIO=8 CONFIG_SEM_PREALLOCHOLDERS=0 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -156,14 +157,13 @@ CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y CONFIG_STM32H7_I2C_DYNTIMEO=y @@ -214,8 +214,8 @@ CONFIG_UART7_RXBUFSIZE=600 CONFIG_UART7_TXBUFSIZE=1500 CONFIG_UART8_BAUD=57600 CONFIG_UART8_RXBUFSIZE=600 -CONFIG_UART8_TXBUFSIZE=1500 CONFIG_UART8_SERIAL_CONSOLE=y +CONFIG_UART8_TXBUFSIZE=1500 CONFIG_USART2_BAUD=57600 CONFIG_USART2_IFLOWCONTROL=y CONFIG_USART2_OFLOWCONTROL=y diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/scripts/script.ld b/boards/mro/ctrl-zero-h7/nuttx-config/scripts/script.ld index c63b08f931..076ff3dcee 100644 --- a/boards/mro/ctrl-zero-h7/nuttx-config/scripts/script.ld +++ b/boards/mro/ctrl-zero-h7/nuttx-config/scripts/script.ld @@ -199,8 +199,11 @@ SECTIONS } > AXI_SRAM /* Emit the the D3 power domain section for locating BDMA data */ - .SRAM4 (NOLOAD) : + .sram4_reserve (NOLOAD) : { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); } > SRAM4 diff --git a/boards/mro/pixracerpro/default.cmake b/boards/mro/pixracerpro/default.cmake index f65c1b6c82..9546250857 100644 --- a/boards/mro/pixracerpro/default.cmake +++ b/boards/mro/pixracerpro/default.cmake @@ -8,16 +8,17 @@ px4_add_board( ARCHITECTURE cortex-m7 ROMFSROOT px4fmu_common BUILD_BOOTLOADER - TESTING UAVCAN_INTERFACES 2 SERIAL_PORTS - TEL1:/dev/ttyS0 - TEL2:/dev/ttyS1 - GPS1:/dev/ttyS2 - #RC:/dev/ttyS3 - #CONSOLE:/dev/ttyS4 - #FRSKY:/dev/ttyS5 + #SPARE:/dev/ttyS0 + TEL1:/dev/ttyS1 + TEL2:/dev/ttyS2 + GPS1:/dev/ttyS3 + #RC:/dev/ttyS4 + #CONSOLE:/dev/ttyS5 + #FRSKY:/dev/ttyS6 DRIVERS + adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/dps310 @@ -33,24 +34,20 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/icm20948 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter - #pwm_input pwm_out_sim pwm_out rc_input roboclaw rpm - tap_esc telemetry # all available telemetry drivers - test_ppm tone_alarm uavcan MODULES @@ -66,6 +63,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -83,6 +82,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -94,6 +95,7 @@ px4_add_board( hardfault_log i2cdetect led_control + mft mixer motor_ramp motor_test @@ -105,8 +107,9 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time - tests # tests and test runner + #tests # tests and test runner top topic_listener tune_control @@ -116,14 +119,15 @@ px4_add_board( work_queue EXAMPLES fake_gps - fake_magnetometer - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/mro/pixracerpro/init/rc.board_defaults b/boards/mro/pixracerpro/init/rc.board_defaults index 71f4c01d76..6f1b54fa02 100644 --- a/boards/mro/pixracerpro/init/rc.board_defaults +++ b/boards/mro/pixracerpro/init/rc.board_defaults @@ -1,41 +1,10 @@ #!/bin/sh # -# Board specific defaults +# board specific defaults #------------------------------------------------------------------------------ -# -# Bootloader upgrade -# -set BL_FILE /etc/extras/mro_pixracerpro_bootloader.bin -if [ -f $BL_FILE ] -then - if param compare SYS_BL_UPDATE 1 - then - param set SYS_BL_UPDATE 0 - param save - echo "BL update..." - bl_update $BL_FILE - echo "BL update done" - reboot - fi -fi -unset BL_FILE - - param set-default BAT_V_DIV 10.1 param set-default BAT1_V_DIV 10.1 param set-default BAT_A_PER_V 17 param set-default BAT1_A_PER_V 17 - -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 -set MIXER_AUX none diff --git a/boards/mro/pixracerpro/init/rc.board_extras b/boards/mro/pixracerpro/init/rc.board_extras new file mode 100644 index 0000000000..ccf9223a5b --- /dev/null +++ b/boards/mro/pixracerpro/init/rc.board_extras @@ -0,0 +1,10 @@ +#!/bin/sh +# +# board specific extras init +#------------------------------------------------------------------------------ + +# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already +if param compare TEL_FRSKY_CONFIG 0 +then + frsky_telemetry start -d /dev/ttyS6 -t 15 +fi diff --git a/boards/mro/pixracerpro/init/rc.board_mavlink b/boards/mro/pixracerpro/init/rc.board_mavlink index 08fed10e71..75c5256651 100644 --- a/boards/mro/pixracerpro/init/rc.board_mavlink +++ b/boards/mro/pixracerpro/init/rc.board_mavlink @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific MAVLink startup script. +# board specific MAVLink startup script. #------------------------------------------------------------------------------ # Start MAVLink on the USB port diff --git a/boards/mro/pixracerpro/init/rc.board_sensors b/boards/mro/pixracerpro/init/rc.board_sensors index bb25512841..111e3eb044 100644 --- a/boards/mro/pixracerpro/init/rc.board_sensors +++ b/boards/mro/pixracerpro/init/rc.board_sensors @@ -1,6 +1,6 @@ #!/bin/sh # -# Board specific sensors init +# board specific sensors init #------------------------------------------------------------------------------ board_adc start diff --git a/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig b/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig index c1fadaf531..380fc3f10c 100644 --- a/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig +++ b/boards/mro/pixracerpro/nuttx-config/bootloader/defconfig @@ -25,7 +25,7 @@ CONFIG_ARMV7M_USEBASEPRI=y CONFIG_BOARDCTL_RESET=y CONFIG_BOARD_INITTHREAD_PRIORITY=254 CONFIG_BOARD_LATE_INITIALIZE=y -CONFIG_BOARD_LOOPSPERMSEC=22114 +CONFIG_BOARD_LOOPSPERMSEC=95150 CONFIG_BOARD_RESET_ON_ASSERT=2 CONFIG_C99_BOOL8=y CONFIG_CDCACM=y @@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y CONFIG_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=5 CONFIG_PREALLOC_TIMERS=50 CONFIG_PTHREAD_STACK_MIN=512 diff --git a/boards/mro/pixracerpro/nuttx-config/include/board.h b/boards/mro/pixracerpro/nuttx-config/include/board.h index 9cda26cb73..2377d529f4 100644 --- a/boards/mro/pixracerpro/nuttx-config/include/board.h +++ b/boards/mro/pixracerpro/nuttx-config/include/board.h @@ -237,8 +237,8 @@ #define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */ #define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */ -//#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */ -//#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ +#define GPIO_USART6_TX 0 /* USART6 is RX-only */ +#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ #define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ #define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ @@ -252,7 +252,7 @@ #define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */ #define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ -#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ +#define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ /* SPI */ diff --git a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig index d020ae771b..5ecc9462bc 100644 --- a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig +++ b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig @@ -53,13 +53,11 @@ CONFIG_CDCACM_VENDORSTR="mRo" CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y -CONFIG_DEBUG_MEMFAULT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEFAULT_SMALL=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 -CONFIG_DISABLE_MQUEUE=y CONFIG_EXPERIMENTAL=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -90,7 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y @@ -108,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -141,7 +140,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y CONFIG_SDCLONE_DISABLE=y -CONFIG_SDMMC1_SDIO_MODE=y +CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_NNESTPRIO=8 CONFIG_SEM_PREALLOCHOLDERS=0 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y @@ -156,14 +155,14 @@ CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y CONFIG_STM32H7_I2C_DYNTIMEO=y @@ -198,6 +197,7 @@ CONFIG_STM32H7_UART8=y CONFIG_STM32H7_USART1=y CONFIG_STM32H7_USART2=y CONFIG_STM32H7_USART3=y +CONFIG_STM32H7_USART6=y CONFIG_STM32H7_USART_BREAKS=y CONFIG_STM32H7_USART_INVERT=y CONFIG_STM32H7_USART_SINGLEWIRE=y @@ -227,9 +227,12 @@ CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=600 CONFIG_USART3_TXBUFSIZE=3000 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_RXBUFSIZE=600 CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 CONFIG_USEC_PER_TICK=1000 CONFIG_USERMAIN_STACKSIZE=2944 CONFIG_USER_ENTRYPOINT="nsh_main" +CONFIG_WATCHDOG=y diff --git a/boards/mro/pixracerpro/nuttx-config/scripts/bootloader_script.ld b/boards/mro/pixracerpro/nuttx-config/scripts/bootloader_script.ld index 234b8c70d2..0b9772c878 100644 --- a/boards/mro/pixracerpro/nuttx-config/scripts/bootloader_script.ld +++ b/boards/mro/pixracerpro/nuttx-config/scripts/bootloader_script.ld @@ -196,11 +196,6 @@ SECTIONS _ebss = ABSOLUTE(.); } > AXI_SRAM - /* Emit the the D3 power domain section for locating BDMA data */ - .SRAM4 (NOLOAD) : - { - } > SRAM4 - /* Stabs debugging sections. */ .stab 0 : { *(.stab) } .stabstr 0 : { *(.stabstr) } @@ -214,13 +209,4 @@ SECTIONS .debug_line 0 : { *(.debug_line) } .debug_pubnames 0 : { *(.debug_pubnames) } .debug_aranges 0 : { *(.debug_aranges) } - - .ramfunc : { - _sramfuncs = .; - *(.ramfunc .ramfunc.*) - . = ALIGN(4); - _eramfuncs = .; - } > ITCM_RAM AT > FLASH - - _framfuncs = LOADADDR(.ramfunc); } diff --git a/boards/mro/pixracerpro/nuttx-config/scripts/script.ld b/boards/mro/pixracerpro/nuttx-config/scripts/script.ld index 77c46f01a3..68343681c0 100644 --- a/boards/mro/pixracerpro/nuttx-config/scripts/script.ld +++ b/boards/mro/pixracerpro/nuttx-config/scripts/script.ld @@ -167,6 +167,7 @@ SECTIONS _einit = ABSOLUTE(.); } > FLASH + .ARM.extab : { *(.ARM.extab*) } > FLASH @@ -197,8 +198,12 @@ SECTIONS } > AXI_SRAM /* Emit the the D3 power domain section for locating BDMA data */ - .SRAM4 (NOLOAD) : + + .sram4_reserve (NOLOAD) : { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); } > SRAM4 /* Stabs debugging sections. */ @@ -214,13 +219,4 @@ SECTIONS .debug_line 0 : { *(.debug_line) } .debug_pubnames 0 : { *(.debug_pubnames) } .debug_aranges 0 : { *(.debug_aranges) } - - .ramfunc : { - _sramfuncs = .; - *(.ramfunc .ramfunc.*) - . = ALIGN(4); - _eramfuncs = .; - } > ITCM_RAM AT > FLASH - - _framfuncs = LOADADDR(.ramfunc); } diff --git a/boards/mro/pixracerpro/src/board_config.h b/boards/mro/pixracerpro/src/board_config.h index 28d730206f..797e0a4953 100644 --- a/boards/mro/pixracerpro/src/board_config.h +++ b/boards/mro/pixracerpro/src/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -58,19 +58,19 @@ /* PA2 */ GPIO_ADC12_INP14, \ /* PA3 */ GPIO_ADC12_INP15, \ /* PA4 */ GPIO_ADC12_INP18, \ - /* PC1 */ GPIO_ADC123_INN10 + /* PC1 */ GPIO_ADC123_INP11 -/* Define Channel numbers must match above GPIO pin */ -#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */ -#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */ -#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */ -#define ADC_RSSI_IN_CHANNEL 10 /* PC1 */ +/* Define Channel numbers must match above GPIO pins */ +#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */ +#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */ +#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */ +#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */ #define ADC_CHANNELS \ ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ (1 << ADC_SCALED_V5_CHANNEL) | \ - (1 << ADC_RSSI_IN_CHANNEL)) + (1 << ADC_RC_RSSI_CHANNEL)) /* HW has to large of R termination on ADC todo:change when HW value is chosen */ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) @@ -108,7 +108,7 @@ #define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 /* USB OTG FS */ -#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) +#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_OPENDRAIN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 3 /* use timer3 for the HRT */ @@ -118,7 +118,8 @@ #define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 /* RC Serial port */ -#define RC_SERIAL_PORT "/dev/ttyS3" +#define RC_SERIAL_PORT "/dev/ttyS4" +#define RC_SERIAL_SINGLEWIRE #define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) @@ -143,12 +144,11 @@ */ #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) #define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED -#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */ #define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) #define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS #define BOARD_NUM_IO_TIMERS 3 -#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5}; +#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; #define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */ #define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */ #define BOARD_ENABLE_CONSOLE_BUFFER diff --git a/boards/mro/x21-777/default.cmake b/boards/mro/x21-777/default.cmake index b375d33cf0..2916133564 100644 --- a/boards/mro/x21-777/default.cmake +++ b/boards/mro/x21-777/default.cmake @@ -16,9 +16,10 @@ px4_add_board( TEL2:/dev/ttyS2 GPS1:/dev/ttyS3 # PX4IO:/dev/ttyS4 - # CONSOLE:/dev/tty5 + # CONSOLE:/dev/ttyS5 # OSD:/dev/tty6 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -33,13 +34,12 @@ px4_add_board( imu/invensense/icm20608g imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_input @@ -48,7 +48,6 @@ px4_add_board( px4io roboclaw rpm - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -66,6 +65,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -83,6 +84,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -106,6 +109,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -117,6 +121,7 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello diff --git a/boards/mro/x21-777/nuttx-config/nsh/defconfig b/boards/mro/x21-777/nuttx-config/nsh/defconfig index f09e985f7a..d4bf10cadb 100644 --- a/boards/mro/x21-777/nuttx-config/nsh/defconfig +++ b/boards/mro/x21-777/nuttx-config/nsh/defconfig @@ -105,6 +105,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/mro/x21/bootloader/mro_x21_bootloader.bin b/boards/mro/x21/bootloader/mro_x21_bootloader.bin new file mode 100644 index 0000000000..d21a0484a6 Binary files /dev/null and b/boards/mro/x21/bootloader/mro_x21_bootloader.bin differ diff --git a/boards/mro/x21/default.cmake b/boards/mro/x21/default.cmake index 3206bc224d..86b3b23322 100644 --- a/boards/mro/x21/default.cmake +++ b/boards/mro/x21/default.cmake @@ -12,10 +12,15 @@ px4_add_board( TESTING UAVCAN_INTERFACES 1 SERIAL_PORTS - GPS1:/dev/ttyS3 + # IO DEBUG:/dev/ttyS0 TEL1:/dev/ttyS1 TEL2:/dev/ttyS2 + GPS1:/dev/ttyS3 + # PX4IO:/dev/ttyS4 + # CONSOLE:/dev/ttyS5 + # OSD:/dev/tty6 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -23,30 +28,27 @@ px4_add_board( camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers - #dshot + dshot gps - #heater #imu # all available imu drivers imu/invensense/icm20602 imu/invensense/icm20608g imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - #lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 - #power_monitor/ina226 + pca9685_pwm_out + power_monitor/ina226 #protocol_splitter pwm_input pwm_out_sim pwm_out px4io roboclaw - tap_esc + rpm telemetry # all available telemetry drivers test_ppm tone_alarm @@ -59,10 +61,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -80,6 +85,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -87,6 +94,7 @@ px4_add_board( #dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -102,6 +110,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -113,6 +122,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/mro/x21/init/rc.board_defaults b/boards/mro/x21/init/rc.board_defaults deleted file mode 100644 index 7643610b24..0000000000 --- a/boards/mro/x21/init/rc.board_defaults +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh -# -# mRo x21 specific board defaults -#------------------------------------------------------------------------------ - -# to minimize cpu usage on older boards limit inner loop to 400 Hz by default -param set-default IMU_GYRO_RATEMAX 400 diff --git a/boards/mro/x21/init/rc.board_sensors b/boards/mro/x21/init/rc.board_sensors index 22ccc1b52d..402b84792a 100644 --- a/boards/mro/x21/init/rc.board_sensors +++ b/boards/mro/x21/init/rc.board_sensors @@ -1,18 +1,11 @@ #!/bin/sh # -# mRo x21 specific board sensors init +# Board specific sensors init #------------------------------------------------------------------------------ - board_adc start -# Internal SPI bus ICM-20608-G -icm20608g -s -R 8 start - -# Internal SPI bus ICM-20602 -icm20602 -s -R 8 start - -# Internal SPI bus mpu9250 -mpu9250 -s -R 8 start - -# Internal SPI -ms5611 -s start +# SPI1 +ms5611 -s -b 1 start +icm20608g -s -b 1 -R 8 start +icm20602 -s -b 1 -R 8 start +mpu9250 -s -b 1 -R 8 -M start diff --git a/boards/mro/x21/nuttx-config/nsh/defconfig b/boards/mro/x21/nuttx-config/nsh/defconfig index b927ff5d58..d68e067851 100644 --- a/boards/mro/x21/nuttx-config/nsh/defconfig +++ b/boards/mro/x21/nuttx-config/nsh/defconfig @@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/nxp/fmuk66-e/bootloader/nxp_fmuk66-e_bootloader.bin b/boards/nxp/fmuk66-e/bootloader/nxp_fmuk66-e_bootloader.bin new file mode 100644 index 0000000000..9193278497 Binary files /dev/null and b/boards/nxp/fmuk66-e/bootloader/nxp_fmuk66-e_bootloader.bin differ diff --git a/boards/nxp/fmuk66-e/default.cmake b/boards/nxp/fmuk66-e/default.cmake index 4f0a2faf86..2182ed226a 100644 --- a/boards/nxp/fmuk66-e/default.cmake +++ b/boards/nxp/fmuk66-e/default.cmake @@ -15,6 +15,7 @@ px4_add_board( TEL1:/dev/ttyS4 TEL2:/dev/ttyS1 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers barometer/mpl3115a2 @@ -25,28 +26,25 @@ px4_add_board( distance_sensor # all available distance sensor drivers distance_sensor/srf05 # Specific driver gps - #heater #imu # all available imu drivers imu/bosch/bmi088 imu/invensense/icm42688p irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers #test_ppm # NOT Portable YET tone_alarm @@ -59,10 +57,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -73,20 +74,23 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS - bl_update + #bl_update #dmesg dumpfile esc_calib - #hardfault_log # Needs bbsrm + #gpio i2cdetect led_control mft @@ -101,6 +105,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -112,6 +117,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/nxp/fmuk66-e/init/rc.board_defaults b/boards/nxp/fmuk66-e/init/rc.board_defaults index b304023452..3b99b63eb3 100644 --- a/boards/nxp/fmuk66-e/init/rc.board_defaults +++ b/boards/nxp/fmuk66-e/init/rc.board_defaults @@ -1,13 +1,7 @@ #!/bin/sh # -# NXP fmuk66-e specific board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - -fi - rgbled_pwm start safety_button start diff --git a/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig b/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig index f6f9859ade..4d3167c360 100644 --- a/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig +++ b/boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig @@ -34,13 +34,12 @@ CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=8000 CONFIG_CDCACM_VENDORID=0x1FC9 CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS" +CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_SIZE=70 -CONFIG_DISABLE_MQUEUE=y -CONFIG_DISABLE_POSIX_TIMERS=y CONFIG_ETH0_PHY_TJA1100=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y @@ -111,6 +110,7 @@ CONFIG_LPUART0_SERIAL_CONSOLE=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y +CONFIG_MMCSD_MULTIBLOCK_DISABLE=y CONFIG_MMCSD_SDIO=y CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y @@ -146,6 +146,7 @@ CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y CONFIG_NSH_DISABLE_MKFIFO=y CONFIG_NSH_DISABLE_MKRD=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_PUT=y CONFIG_NSH_DISABLE_REBOOT=y CONFIG_NSH_DISABLE_TELNETD=y diff --git a/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig b/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig index d7aebf3d92..5bc4634a57 100644 --- a/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig +++ b/boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig @@ -145,6 +145,7 @@ CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y CONFIG_NSH_DISABLE_MKFIFO=y CONFIG_NSH_DISABLE_MKRD=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_PUT=y CONFIG_NSH_DISABLE_REBOOT=y CONFIG_NSH_DISABLE_TELNETD=y diff --git a/boards/aerotenna/ocpoc/default.cmake b/boards/nxp/fmuk66-e/rtps.cmake similarity index 53% rename from boards/aerotenna/ocpoc/default.cmake rename to boards/nxp/fmuk66-e/rtps.cmake index 0a8ec6719d..06ddac7182 100644 --- a/boards/aerotenna/ocpoc/default.cmake +++ b/boards/nxp/fmuk66-e/rtps.cmake @@ -1,41 +1,54 @@ -add_definitions( - -D__PX4_LINUX -) px4_add_board( - VENDOR aerotenna - MODEL ocpoc - LABEL default - PLATFORM posix - ARCHITECTURE cortex-a9 + PLATFORM nuttx + VENDOR nxp + MODEL fmuk66-e + LABEL rtps + TOOLCHAIN arm-none-eabi + ARCHITECTURE cortex-m4 + CONSTRAINED_MEMORY ROMFSROOT px4fmu_common - TOOLCHAIN arm-linux-gnueabihf TESTING + UAVCAN_INTERFACES 2 SERIAL_PORTS - GPS1:/dev/ttyS3 # GPS/Compass #1 (OcPoC Port 6) - GPS2:/dev/ttyS7 # GPS/Compass #2 (OcPoC Port 7) - GPS3:/dev/ttyS1 # GPS/Compass #3 (OcPoC Port 9) - TEL1:/dev/ttyPS1 # Radio Telemetry (OcPoC Port 4) - TEL2:/dev/ttyS6 # uLanding Radar Altimeter (OcPoC Port 8) - TEL3:/dev/ttyS2 # (OcPoC Port 2) - TEL4:/dev/ttyS0 # uSharp-Patch (OcPoC Port 5) + GPS1:/dev/ttyS3 + TEL1:/dev/ttyS4 + TEL2:/dev/ttyS1 DRIVERS - #barometer # all available barometer drivers - barometer/ms5611 + adc/ads1115 + adc/board_adc + barometer # all available barometer drivers + barometer/mpl3115a2 batt_smbus camera_capture camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers + distance_sensor/srf05 # Specific driver gps - imu/invensense/mpu9250 - lights/rgbled - linux_pwm_out - #magnetometer # all available magnetometer drivers - magnetometer/hmc5883 + #imu # all available imu drivers + imu/bosch/bmi088 + imu/invensense/icm42688p + irlock + lights # all available light drivers + lights/rgbled_pwm + magnetometer # all available magnetometer drivers + optical_flow # all available optical flow drivers + osd + pca9685 + pca9685_pwm_out + power_monitor/ina226 + #protocol_splitter pwm_out_sim + pwm_out rc_input - #telemetry # all available telemetry drivers + roboclaw + rpm + safety_button + telemetry # all available telemetry drivers + #test_ppm # NOT Portable YET + tone_alarm + uavcan MODULES airspeed_selector attitude_estimator_q @@ -44,10 +57,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -58,41 +74,58 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control - #micrortps_bridge + micrortps_bridge navigator rc_update rover_pos_control sensors sih - #simulator temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS + #bl_update + #dmesg + dumpfile esc_calib + #gpio + i2cdetect led_control + mft mixer motor_ramp + motor_test + mtd + nshterm param perf pwm + reboot + reflect sd_bench + serial_test system_time - shutdown tests # tests and test runner - #top + top topic_listener tune_control uorb + usb_connected ver work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello - #hwtest # Hardware test + hwtest # Hardware test #matlab_csv_serial px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html rover_steering_control # Rover example app + uuv_example_app + work_item ) diff --git a/boards/nxp/fmuk66-e/socketcan.cmake b/boards/nxp/fmuk66-e/socketcan.cmake index 5c8758adfb..7ede05dd02 100644 --- a/boards/nxp/fmuk66-e/socketcan.cmake +++ b/boards/nxp/fmuk66-e/socketcan.cmake @@ -15,6 +15,7 @@ px4_add_board( TEL1:/dev/ttyS4 TEL2:/dev/ttyS1 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers barometer/mpl3115a2 @@ -23,29 +24,27 @@ px4_add_board( camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers + distance_sensor/srf05 # Specific driver gps - #heater #imu # all available imu drivers imu/bosch/bmi088 imu/invensense/icm42688p irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers #test_ppm # NOT Portable YET tone_alarm @@ -58,10 +57,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -72,20 +74,23 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS - bl_update + #bl_update #dmesg dumpfile esc_calib - #hardfault_log # Needs bbsrm + #gpio i2cdetect led_control mft @@ -100,6 +105,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -111,6 +117,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/nxp/fmuk66-v3/bootloader/nxp_fmuk66-v3_bootloader.bin b/boards/nxp/fmuk66-v3/bootloader/nxp_fmuk66-v3_bootloader.bin new file mode 100644 index 0000000000..e97ecced3a Binary files /dev/null and b/boards/nxp/fmuk66-v3/bootloader/nxp_fmuk66-v3_bootloader.bin differ diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake index 3c5ab8ad67..8ad8201f1b 100644 --- a/boards/nxp/fmuk66-v3/default.cmake +++ b/boards/nxp/fmuk66-v3/default.cmake @@ -15,6 +15,7 @@ px4_add_board( TEL1:/dev/ttyS4 TEL2:/dev/ttyS1 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers barometer/mpl3115a2 @@ -25,30 +26,26 @@ px4_add_board( distance_sensor # all available distance sensor drivers distance_sensor/srf05 # Specific driver gps - #heater #imu # all available imu drivers imu/fxas21002c imu/fxos8701cq irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers - #test_ppm # NOT Portable YET tone_alarm uavcan MODULES @@ -59,10 +56,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -73,20 +73,23 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS - bl_update + #bl_update #dmesg dumpfile esc_calib - #hardfault_log # Needs bbsrm + #gpio i2cdetect led_control mft @@ -101,6 +104,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -112,6 +116,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/nxp/fmuk66-v3/init/rc.board_defaults b/boards/nxp/fmuk66-v3/init/rc.board_defaults index 1345753002..750f120673 100644 --- a/boards/nxp/fmuk66-v3/init/rc.board_defaults +++ b/boards/nxp/fmuk66-v3/init/rc.board_defaults @@ -1,14 +1,8 @@ #!/bin/sh # -# NXP fmuk66-v3 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - -fi - rgbled_pwm start safety_button start diff --git a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig index 43f1679122..5bbf313271 100644 --- a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig +++ b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig @@ -33,6 +33,7 @@ CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=8000 CONFIG_CDCACM_VENDORID=0x1FC9 CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS" +CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_SYMBOLS=y @@ -110,6 +111,7 @@ CONFIG_LPUART0_SERIAL_CONSOLE=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y +CONFIG_MMCSD_MULTIBLOCK_DISABLE=y CONFIG_MMCSD_SDIO=y CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y @@ -145,6 +147,7 @@ CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y CONFIG_NSH_DISABLE_MKFIFO=y CONFIG_NSH_DISABLE_MKRD=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_PUT=y CONFIG_NSH_DISABLE_REBOOT=y CONFIG_NSH_DISABLE_TELNETD=y diff --git a/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig b/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig index b0c32dd6a4..5ea5fda9b9 100644 --- a/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig +++ b/boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig @@ -144,6 +144,7 @@ CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y CONFIG_NSH_DISABLE_MKFIFO=y CONFIG_NSH_DISABLE_MKRD=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_PUT=y CONFIG_NSH_DISABLE_REBOOT=y CONFIG_NSH_DISABLE_TELNETD=y diff --git a/boards/nxp/fmuk66-v3/rtps.cmake b/boards/nxp/fmuk66-v3/rtps.cmake index 47dd4d9b4b..3ca15b7956 100644 --- a/boards/nxp/fmuk66-v3/rtps.cmake +++ b/boards/nxp/fmuk66-v3/rtps.cmake @@ -15,6 +15,7 @@ px4_add_board( TEL1:/dev/ttyS4 TEL2:/dev/ttyS1 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers barometer/mpl3115a2 @@ -23,31 +24,28 @@ px4_add_board( camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers + distance_sensor/srf05 # Specific driver gps - #heater #imu # all available imu drivers imu/fxas21002c imu/fxos8701cq irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers - #test_ppm # NOT Portable YET tone_alarm uavcan MODULES @@ -58,10 +56,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -79,14 +80,16 @@ px4_add_board( sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS - bl_update + #bl_update #dmesg dumpfile esc_calib - #hardfault_log # Needs bbsrm + #gpio i2cdetect led_control mft @@ -101,6 +104,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -112,6 +116,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/nxp/fmuk66-v3/socketcan.cmake b/boards/nxp/fmuk66-v3/socketcan.cmake index 396da8efe8..f49551b4b1 100644 --- a/boards/nxp/fmuk66-v3/socketcan.cmake +++ b/boards/nxp/fmuk66-v3/socketcan.cmake @@ -15,6 +15,7 @@ px4_add_board( TEL1:/dev/ttyS4 TEL2:/dev/ttyS1 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers barometer/mpl3115a2 @@ -23,31 +24,28 @@ px4_add_board( camera_trigger differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers + distance_sensor/srf05 # Specific driver gps - #heater #imu # all available imu drivers imu/fxas21002c imu/fxos8701cq irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers - #test_ppm # NOT Portable YET tone_alarm uavcan_v1 MODULES @@ -58,10 +56,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -72,20 +73,23 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update rover_pos_control sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS - bl_update + #bl_update #dmesg dumpfile esc_calib - #hardfault_log # Needs bbsrm + #gpio i2cdetect led_control mft @@ -100,6 +104,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -111,6 +116,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/nxp/fmurt1062-v1/default.cmake b/boards/nxp/fmurt1062-v1/default.cmake index 0dd342b85b..a2b8cdead9 100644 --- a/boards/nxp/fmurt1062-v1/default.cmake +++ b/boards/nxp/fmurt1062-v1/default.cmake @@ -14,50 +14,55 @@ px4_add_board( TEL1:/dev/ttyS2 TEL2:/dev/ttyS3 GPS2:/dev/ttyS4 - DRIVERS + #adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture camera_trigger + #differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers -# dshot not ported + #dshot # not ported gps - #imu/analog_devices/adis16448 - #imu/adis16477 - #imu/adis16497 #imu # all available imu drivers imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver - irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + #irlock + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers - optical_flow # all available optical flow drivers -# pwm_input - not ptorable + #optical_flow # all available optical flow drivers + #osd + #pca9685 + #pca9685_pwm_out + #power_monitor/ina226 + #protocol_splitter pwm_out_sim pwm_out rc_input - roboclaw + #roboclaw + #rpm safety_button - tap_esc telemetry # all available telemetry drivers tone_alarm -# uavcan + #uavcan MODULES + #airspeed_selector attitude_estimator_q battery_status camera_feedback commander dataman ekf2 + #esc_battery events flight_mode_manager + #fw_att_control + #fw_pos_control_l1 + #gyro_calibration + #gyro_fft land_detector landing_target_estimator load_mon @@ -68,24 +73,30 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update + #rover_pos_control sensors - sih - temperature_compensation - #vmount + #sih + #temperature_compensation + #uuv_att_control + #uuv_pos_control + vmount + #vtol_att_control SYSTEMCMDS -# bl_update + #bl_update # not ported dmesg dumpfile esc_calib - #hardfault_log # Needs bbsrm + #gpio + #hardfault_log # not ported i2cdetect led_control + mft mixer motor_ramp motor_test - mft mtd nshterm param @@ -94,6 +105,7 @@ px4_add_board( reboot reflect sd_bench + #serial_test system_time top topic_listener @@ -102,14 +114,17 @@ px4_add_board( usb_connected ver work_queue - serial_test EXAMPLES -## fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control -# hello -# hwtest # Hardware test + #fake_gps + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial -# px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html -# px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html -# rover_steering_control # Rover example app -# uuv_example_app + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/nxp/fmurt1062-v1/init/rc.board_defaults b/boards/nxp/fmurt1062-v1/init/rc.board_defaults index 1c2544dba8..3b99b63eb3 100644 --- a/boards/nxp/fmurt1062-v1/init/rc.board_defaults +++ b/boards/nxp/fmurt1062-v1/init/rc.board_defaults @@ -1,15 +1,7 @@ #!/bin/sh # -# PX4 FMUv5 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - -fi - -set LOGGER_BUF 64 - rgbled_pwm start safety_button start diff --git a/boards/nxp/ucans32k146/canbootloader.cmake b/boards/nxp/ucans32k146/canbootloader.cmake new file mode 100644 index 0000000000..00b17e04af --- /dev/null +++ b/boards/nxp/ucans32k146/canbootloader.cmake @@ -0,0 +1,13 @@ +include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity) + +px4_add_board( + PLATFORM nuttx + VENDOR nxp + MODEL ucans32k146 + LABEL canbootloader + TOOLCHAIN arm-none-eabi + ARCHITECTURE cortex-m4 + CONSTRAINED_MEMORY + DRIVERS + bootloaders +) diff --git a/boards/nxp/ucans32k146/default.cmake b/boards/nxp/ucans32k146/default.cmake index a432db26e4..c9c9006493 100644 --- a/boards/nxp/ucans32k146/default.cmake +++ b/boards/nxp/ucans32k146/default.cmake @@ -1,22 +1,4 @@ - - -# UAVCAN boot loadable Module ID -set(uavcanblid_sw_version_major 0) -set(uavcanblid_sw_version_minor 1) -add_definitions( - -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} - -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} -) - -set(uavcanblid_hw_version_major 1) -set(uavcanblid_hw_version_minor 0) -set(uavcanblid_name "\"org.nxp.ucans32k146\"") - -add_definitions( - -DHW_UAVCAN_NAME=${uavcanblid_name} - -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} - -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} -) +include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity) px4_add_board( PLATFORM nuttx @@ -33,7 +15,7 @@ px4_add_board( DRIVERS #adc/board_adc #barometer # all available barometer drivers - #bootloaders + bootloaders #differential_pressure # all available differential pressure drivers #distance_sensor # all available distance sensor drivers #dshot @@ -63,10 +45,12 @@ px4_add_board( i2cdetect led_control mixer + mtd + mft #motor_ramp #motor_test #nshterm - #param + param #perf pwm reboot diff --git a/boards/nxp/ucans32k146/firmware.prototype b/boards/nxp/ucans32k146/firmware.prototype index 0cc07b63b6..cda441cea2 100644 --- a/boards/nxp/ucans32k146/firmware.prototype +++ b/boards/nxp/ucans32k146/firmware.prototype @@ -1,5 +1,5 @@ { - "board_id": 10000, + "board_id": 34, "magic": "PX4FWv1", "description": "Firmware for the ucans32k146 board", "image": "", diff --git a/boards/nxp/ucans32k146/init/rc.board_defaults b/boards/nxp/ucans32k146/init/rc.board_defaults index 02e94dee80..5bccf6aa10 100644 --- a/boards/nxp/ucans32k146/init/rc.board_defaults +++ b/boards/nxp/ucans32k146/init/rc.board_defaults @@ -1,12 +1,6 @@ #!/bin/sh # -# board defaults +# board specific defaults #------------------------------------------------------------------------------ - -if [ $AUTOCNF = yes ] -then - -fi - pwm_out mode_pwm1 start diff --git a/boards/nxp/ucans32k146/nuttx-config/canbootloader/defconfig b/boards/nxp/ucans32k146/nuttx-config/canbootloader/defconfig new file mode 100644 index 0000000000..05f02bf57e --- /dev/null +++ b/boards/nxp/ucans32k146/nuttx-config/canbootloader/defconfig @@ -0,0 +1,73 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_ARCH_LOWPUTC is not set +# CONFIG_DEV_CONSOLE is not set +# CONFIG_SERIAL is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD_CUSTOM=y +CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config" +CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y +CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" +CONFIG_ARCH_CHIP="s32k1xx" +CONFIG_ARCH_CHIP_S32K146=y +CONFIG_ARCH_CHIP_S32K14X=y +CONFIG_ARCH_CHIP_S32K1XX=y +CONFIG_ARCH_INTERRUPTSTACK=4096 +CONFIG_ARCH_SIZET_LONG=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_BINFMT_DISABLE=y +CONFIG_BOARDCTL_RESET=y +CONFIG_BOARD_LOOPSPERMSEC=3997 +CONFIG_C99_BOOL8=y +CONFIG_CLOCK_MONOTONIC=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_HARDFAULT_ALERT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DISABLE_MOUNTPOINT=y +CONFIG_DISABLE_MQUEUE=y +CONFIG_DISABLE_PTHREAD=y +CONFIG_EXPERIMENTAL=y +CONFIG_FDCLONE_DISABLE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=4096 +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_STRERROR=y +CONFIG_LIB_BOARDCTL=y +CONFIG_MAX_TASKS=0 +CONFIG_NAME_MAX=0 +CONFIG_NUNGET_CHARS=0 +CONFIG_NXFONTS_DISABLE_16BPP=y +CONFIG_NXFONTS_DISABLE_1BPP=y +CONFIG_NXFONTS_DISABLE_24BPP=y +CONFIG_NXFONTS_DISABLE_2BPP=y +CONFIG_NXFONTS_DISABLE_32BPP=y +CONFIG_NXFONTS_DISABLE_4BPP=y +CONFIG_NXFONTS_DISABLE_8BPP=y +CONFIG_PREALLOC_TIMERS=0 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_RAM_SIZE=126976 +CONFIG_RAM_START=0x1fff0000 +CONFIG_RAW_BINARY=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SIG_DEFAULT=y +CONFIG_SIG_SIGALRM_ACTION=y +CONFIG_SIG_SIGUSR1_ACTION=y +CONFIG_SIG_SIGUSR2_ACTION=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=30 +CONFIG_START_MONTH=11 +CONFIG_STDIO_DISABLE_BUFFERING=y +CONFIG_SYSLOG_DEFAULT=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_USEC_PER_TICK=1000 +CONFIG_USERMAIN_STACKSIZE=4096 diff --git a/boards/nxp/ucans32k146/nuttx-config/nsh/defconfig b/boards/nxp/ucans32k146/nuttx-config/nsh/defconfig index ce82511e11..3bbed38e52 100644 --- a/boards/nxp/ucans32k146/nuttx-config/nsh/defconfig +++ b/boards/nxp/ucans32k146/nuttx-config/nsh/defconfig @@ -54,6 +54,9 @@ CONFIG_LPUART1_SERIAL_CONSOLE=y CONFIG_LPUART1_TXBUFSIZE=128 CONFIG_MAX_TASKS=16 CONFIG_MOTOROLA_SREC=y +CONFIG_MTD=y +CONFIG_MTD_PARTITION=y +CONFIG_MTD_PARTITION_NAMES=y CONFIG_NET=y CONFIG_NETDEV_IFINDEX=y CONFIG_NET_CAN=y @@ -80,8 +83,7 @@ CONFIG_RAM_START=0x1fff0000 CONFIG_RAW_BINARY=y CONFIG_RR_INTERVAL=200 CONFIG_RTC=y -# CONFIG_RTC_FREQUENCY=32768 -# CONFIG_RTC_HIRES=y +CONFIG_S32K1XX_EEEPROM=y CONFIG_S32K1XX_FLEXCAN0=y CONFIG_S32K1XX_FLEXCAN1=y CONFIG_S32K1XX_LPI2C0=y diff --git a/boards/nxp/ucans32k146/nuttx-config/scripts/canbootloader_script.ld b/boards/nxp/ucans32k146/nuttx-config/scripts/canbootloader_script.ld new file mode 100644 index 0000000000..fa8026102b --- /dev/null +++ b/boards/nxp/ucans32k146/nuttx-config/scripts/canbootloader_script.ld @@ -0,0 +1,158 @@ +/**************************************************************************** + * nuttx-config/scripts/canbootloader_script.ld + * + * Copyright (C) 2021 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The S32K146 has 1Mb of FLASH beginning at address 0x0000:0000 and + * 124Kb of SRAM beginning at address 0x1fff:0000 (plus 4Kb of FlexRAM) + * + * The on-chip RAM is split in two regions: SRAM_L and SRAM_U. The RAM is + * implemented such that the SRAM_L and SRAM_U ranges form a contiguous + * block in the memory map + * + * SRAM_L 1fff0000 - 1fffffff 64Kb + * SRAM_U 20000000 - 2000efff 60Kb + */ + +/* 6 4Kib Sectors 24 Kib for the bootloader + * paramater storace is in eeprom (dflash) + */ + +MEMORY +{ + vflash (rx) : ORIGIN = 0x00000000, LENGTH = 1K + pflash (rx) : ORIGIN = 0x00000400, LENGTH = 16 + pflash1 (rx) : ORIGIN = 0x00000410, LENGTH = 24K-(1K + 16) + dflash (rx) : ORIGIN = 0x10000000, LENGTH = 64K + sram (rwx) : ORIGIN = 0x1fff0000, LENGTH = 124K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +EXTERN(g_flashcfg) +ENTRY(_stext) + +SECTIONS +{ + .vectors : + { + _stext = ABSOLUTE(.); + *(.vectors) + } > vflash + + .flashcfg : + { + *(.flashcfg) + } > pflash + + .text : + { + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + } > pflash1 + + .init_section : + { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > pflash1 + + .ARM.extab : + { + *(.ARM.extab*) + } >pflash1 + + .ARM.exidx : + { + __exidx_start = ABSOLUTE(.); + *(.ARM.exidx*) + __exidx_end = ABSOLUTE(.); + } >pflash1 + + .data : + { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + . = ALIGN(4); + _edata = ABSOLUTE(.); + } > sram AT > pflash1 + + _eronly = LOADADDR(.data); + + .ramfunc ALIGN(4): + { + _sramfuncs = ABSOLUTE(.); + *(.ramfunc .ramfunc.*) + _eramfuncs = ABSOLUTE(.); + } > sram AT > pflash1 + + _framfuncs = LOADADDR(.ramfunc); + + .bss : + { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/nxp/ucans32k146/nuttx-config/scripts/script.ld b/boards/nxp/ucans32k146/nuttx-config/scripts/script.ld index 983a2ea994..b259606424 100644 --- a/boards/nxp/ucans32k146/nuttx-config/scripts/script.ld +++ b/boards/nxp/ucans32k146/nuttx-config/scripts/script.ld @@ -44,17 +44,24 @@ * SRAM_U 20000000 - 2000efff 60Kb */ +/* 6 4Kib Sectors 24 Kib for the bootloader + * paramater storace is in eeprom (dflash) + */ + MEMORY { - vflash (rx) : ORIGIN = 0x00000000, LENGTH = 1K - pflash (rx) : ORIGIN = 0x00000400, LENGTH = 16 - dflash (rx) : ORIGIN = 0x00000410, LENGTH = 1023K-16 - sram (rwx) : ORIGIN = 0x1fff0000, LENGTH = 124K + vflash (rx) : ORIGIN = 0x00006000, LENGTH = 1K + pflash (rx) : ORIGIN = 0x00006400, LENGTH = 16 + pflash1 (rx) : ORIGIN = 0x00006410, LENGTH = 1024K-(24K + 1K + 16) + dflash (rx) : ORIGIN = 0x10000000, LENGTH = 64K + sram (rwx) : ORIGIN = 0x1fff0000, LENGTH = 124K } OUTPUT_ARCH(arm) EXTERN(_vectors) EXTERN(g_flashcfg) +EXTERN(board_get_manifest) + ENTRY(_stext) SECTIONS @@ -62,7 +69,7 @@ SECTIONS .vectors : { _stext = ABSOLUTE(.); - *(.vectors) + KEEP(*(.vectors)) } > vflash .flashcfg : @@ -72,6 +79,15 @@ SECTIONS .text : { + . = ALIGN(8); + /* + * This section positions the app_descriptor_t used + * by the make_can_boot_descriptor.py tool to set + * the application image's descriptor so that the + * uavcan bootloader has the ability to validate the + * image crc, size etc + */ + KEEP(*(.app_descriptor)) *(.text .text.*) *(.fixup) *(.gnu.warning) @@ -83,27 +99,29 @@ SECTIONS *(.gcc_except_table) *(.gnu.linkonce.r.*) _etext = ABSOLUTE(.); - - } > dflash + . = ALIGN(8); + FILL(0xff) + . += 8; + } > pflash1 = 0xff .init_section : { _sinit = ABSOLUTE(.); KEEP(*(.init_array .init_array.*)) _einit = ABSOLUTE(.); - } > dflash + } > pflash1 .ARM.extab : { *(.ARM.extab*) - } >dflash + } >pflash1 .ARM.exidx : { __exidx_start = ABSOLUTE(.); *(.ARM.exidx*) __exidx_end = ABSOLUTE(.); - } >dflash + } >pflash1 .data : { @@ -113,7 +131,10 @@ SECTIONS CONSTRUCTORS . = ALIGN(4); _edata = ABSOLUTE(.); - } > sram AT > dflash + . = ALIGN(8); + FILL(0xff) + . += 8; + } > sram AT > pflash1 = 0xff _eronly = LOADADDR(.data); @@ -122,7 +143,10 @@ SECTIONS _sramfuncs = ABSOLUTE(.); *(.ramfunc .ramfunc.*) _eramfuncs = ABSOLUTE(.); - } > sram AT > dflash + . = ALIGN(8); + FILL(0xff) + . += 8; + } > sram AT > pflash1 = 0xff _framfuncs = LOADADDR(.ramfunc); diff --git a/boards/nxp/ucans32k146/src/CMakeLists.txt b/boards/nxp/ucans32k146/src/CMakeLists.txt index 39a63bc6ec..4a19e54f51 100644 --- a/boards/nxp/ucans32k146/src/CMakeLists.txt +++ b/boards/nxp/ucans32k146/src/CMakeLists.txt @@ -30,26 +30,49 @@ # POSSIBILITY OF SUCH DAMAGE. # ############################################################################ +if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader") -add_library(drivers_board - autoleds.c - boot.c - bringup.c - buttons.c - clockconfig.c - # i2c.cpp # TODO - init.c - periphclocks.c - spi.c - timer_config.cpp - userleds.c -) - -target_link_libraries(drivers_board - PRIVATE - nuttx_arch # sdio - nuttx_drivers # sdio - drivers__led # drv_led_start - px4_layer - arch_io_pins + add_library(drivers_board + can_boot.c + led.cpp + clockconfig.c + periphclocks.c + timer_config.cpp ) + + target_link_libraries(drivers_board + PRIVATE + nuttx_arch + nuttx_drivers + canbootloader + arch_io_pins + arch_led_pwm + ) + target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader) + +else() + + add_library(drivers_board + autoleds.c + boot.c + bringup.c + buttons.c + clockconfig.c + # i2c.cpp # TODO + init.c + mtd.cpp + periphclocks.c + spi.c + timer_config.cpp + userleds.c + ) + + target_link_libraries(drivers_board + PRIVATE + nuttx_arch # sdio + nuttx_drivers # sdio + drivers__led # drv_led_start + px4_layer + arch_io_pins + ) +endif() diff --git a/boards/nxp/ucans32k146/src/boot_config.h b/boards/nxp/ucans32k146/src/boot_config.h new file mode 100644 index 0000000000..06b7077783 --- /dev/null +++ b/boards/nxp/ucans32k146/src/boot_config.h @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file boot_config.h + * + * bootloader definitions that configures the behavior and options + * of the Boot loader + * This file is relies on the parent folder's boot_config.h file and defines + * different usages of the hardware for bootloading + */ + +#pragma once + + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +/* Bring in the board_config.h definitions + * todo:make this be pulled in from a targed's build + * files in nuttx*/ + +#include "board_config.h" +#include "uavcan.h" +#include + +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define OPT_PREFERRED_NODE_ID ANY_NODE_ID + +//todo:wrap OPT_x in in ifdefs for command line definitions +#define OPT_TBOOT_MS 5000 +#define OPT_NODE_STATUS_RATE_MS 800 +#define OPT_NODE_INFO_RATE_MS 50 +#define OPT_BL_NUMBER_TIMERS 7 +#undef S_RGB_LED_DMA // use the poled one +/* + * This Option set is set to 1 ensure a provider of firmware has an + * opportunity update the node's firmware. + * This Option is the default policy and can be overridden by + * a jumper + * When this Policy is set, the node will ignore tboot and + * wait indefinitely for a GetNodeInfo request before booting. + * + * OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow + * the polarity of the jumper to be True Active + * + * wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO + * Jumper + * yes 1 0 x + * yes 1 1 Active + * no 1 1 Not Active + * no 0 0 X + * yes 0 1 Active + * no 0 1 Not Active + * + */ +#define OPT_WAIT_FOR_GETNODEINFO 0 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1 +#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0 + +#define OPT_ENABLE_WD 1 + +#define OPT_RESTART_TIMEOUT_MS 20000 + +/* Reserved for the Booloader */ +#define OPT_BOOTLOADER_SIZE_IN_K (24 * 1024) + +/* Reserved for the application out of the total + * system flash minus the BOOTLOADER_SIZE_IN_K + */ +#define OPT_APPLICATION_RESERVER_IN_K (0) + +#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K +#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K)) + + +#define FLASH_BASE 0 +#define FLASH_SIZE (1024*1024) + +#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET) +#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET) +#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t))) +#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t))) +#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t))) + +#define OPT_USE_YIELD +#define OPT_LATER_FLAHSED_WORDS 2 + +/* Bootloader Option***************************************************************** + * + */ +#define GPIO_GETNODEINFO_JUMPER (PIN_PTC14) diff --git a/boards/nxp/ucans32k146/src/bringup.c b/boards/nxp/ucans32k146/src/bringup.c index b972c42f35..ba381b25af 100644 --- a/boards/nxp/ucans32k146/src/bringup.c +++ b/boards/nxp/ucans32k146/src/bringup.c @@ -57,6 +57,10 @@ # include "s32k1xx_lpi2c.h" #endif +#ifdef CONFIG_S32K1XX_EEEPROM +# include "s32k1xx_eeeprom.h" +#endif + #include "board_config.h" /**************************************************************************** @@ -114,6 +118,12 @@ int s32k1xx_bringup(void) #endif +#ifdef CONFIG_S32K1XX_EEEPROM + /* Register EEEPROM block device */ + + s32k1xx_eeeprom_register(0, 4096); +#endif + #ifdef CONFIG_S32K1XX_LPSPI /* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak * function s32k1xx_spidev_initialize() has been brought into the link. @@ -141,6 +151,5 @@ int s32k1xx_bringup(void) #endif #endif - return ret; } diff --git a/boards/nxp/ucans32k146/src/can_boot.c b/boards/nxp/ucans32k146/src/can_boot.c new file mode 100644 index 0000000000..b9213bb901 --- /dev/null +++ b/boards/nxp/ucans32k146/src/can_boot.c @@ -0,0 +1,214 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include "boot_config.h" +#include "board.h" +#include "led.h" + +#include +#include +#include + +#include + +#include "s32k1xx_periphclocks.h" +#include "s32k1xx_flexcan.h" + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void s32k1xx_board_initialize(void) +{ + struct peripheral_clock_config_s c; + c.clkname = FLEXCAN0_CLK, + c.clkgate = true, + // CAN clocking + s32k1xx_periphclocks(1, &c); + // Can GPIO + s32k1xx_pinconfig(PIN_CAN0_TX); + s32k1xx_pinconfig(PIN_CAN0_RX); + s32k1xx_pinconfig(PIN_CAN0_ENABLE | GPIO_OUTPUT_ZERO); + //s32k1xx_gpiowrite +#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO) + s32k1xx_pinconfig(GPIO_GETNODEINFO_JUMPER); +#endif + ucans32k_timer_initialize(); +} + +/************************************************************************************ + * Name: board_deinitialize + * + * Description: + * This function is called by the bootloader code prior to booting + * the application. Is should place the HW into an benign initialized state. + * + ************************************************************************************/ + +void board_deinitialize(void) +{ + uint32_t regval = getreg32(S32K1XX_CAN0_MCR); + regval |= CAN_MCR_MDIS; + putreg32(regval, S32K1XX_CAN0_MCR); + + + do { + regval = getreg32(S32K1XX_CAN0_MCR); + up_udelay(10); + } while ((regval & CAN_MCR_LPMACK) == 0); + + + s32k1xx_pinconfig(PIN_CAN0_ENABLE | GPIO_OUTPUT_ONE); +} + +/**************************************************************************** + * Name: board_get_product_name + * + * Description: + * Called to retrieve the product name. The returned value is a assumed + * to be written to a pascal style string that will be length prefixed + * and not null terminated + * + * Input Parameters: + * product_name - A pointer to a buffer to write the name. + * maxlen - The maximum number of charter that can be written + * + * Returned Value: + * The length of characters written to the buffer. + * + ****************************************************************************/ + +uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen) +{ + DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME)); + memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME)); + return UAVCAN_STRLEN(HW_UAVCAN_NAME); +} + +/**************************************************************************** + * Name: board_get_hardware_version + * + * Description: + * Called to retrieve the hardware version information. The function + * will first initialize the the callers struct to all zeros. + * + * Input Parameters: + * hw_version - A pointer to a uavcan_hardwareversion_t. + * + * Returned Value: + * Length of the unique_id + * + ****************************************************************************/ + +size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version) +{ + memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t)); + + hw_version->major = HW_VERSION_MAJOR; + hw_version->minor = HW_VERSION_MINOR; + + return board_get_mfguid(*(mfguid_t *) hw_version->unique_id); +} + +/**************************************************************************** + * Name: board_indicate + * + * Description: + * Provides User feedback to indicate the state of the bootloader + * on board specific hardware. + * + * Input Parameters: + * indication - A member of the uiindication_t + * + * Returned Value: + * None + * + ****************************************************************************/ +#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)} + +typedef begin_packed_struct struct led_t { + uint16_t red : 5; + uint16_t green : 6; + uint16_t blue : 5; + uint8_t hz; +} end_packed_struct led_t; + +static const led_t i2l[] = { + + led(0, off, 0, 0, 0, 0), + led(1, reset, 10, 63, 31, 255), + led(2, autobaud_start, 0, 63, 0, 1), + led(3, autobaud_end, 0, 63, 0, 2), + led(4, allocation_start, 0, 0, 31, 2), + led(5, allocation_end, 0, 63, 31, 3), + led(6, fw_update_start, 15, 63, 31, 3), + led(7, fw_update_erase_fail, 15, 63, 15, 3), + led(8, fw_update_invalid_response, 31, 0, 0, 1), + led(9, fw_update_timeout, 31, 0, 0, 2), + led(a, fw_update_invalid_crc, 31, 0, 0, 4), + led(b, jump_to_app, 0, 63, 0, 10), + +}; + +void board_indicate(uiindication_t indication) +{ + rgb_led(i2l[indication].red << 3, + i2l[indication].green << 2, + i2l[indication].blue << 3, + i2l[indication].hz); +} + +#include + +// Stubs +void watchdog_init(void) +{ + +} +void watchdog_pet(void) +{ + +} diff --git a/platforms/nuttx/src/canbootloader/include/px4_micro_hal.h b/boards/nxp/ucans32k146/src/led.cpp similarity index 54% rename from platforms/nuttx/src/canbootloader/include/px4_micro_hal.h rename to boards/nxp/ucans32k146/src/led.cpp index a2046b0de2..6349946dcc 100644 --- a/platforms/nuttx/src/canbootloader/include/px4_micro_hal.h +++ b/boards/nxp/ucans32k146/src/led.cpp @@ -1,6 +1,7 @@ /**************************************************************************** * - * Copyright (c) 2016 PX4 Development Team. All rights reserved. + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * Author: David Sidrane * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -30,27 +31,64 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ -#pragma once -/* - * This file is a shim to bridge to nuttx_v3 - */ - -__BEGIN_DECLS - -# define PX4_CPU_UUID_BYTE_LENGTH 12 -# define PX4_CPU_UUID_WORD32_LENGTH (PX4_CPU_UUID_BYTE_LENGTH/sizeof(uint32_t)) - -/* The mfguid will be an array of bytes with - * MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1 - * - * It will be converted to a string with the MSD on left and LSD on the right most position. - */ -# define PX4_CPU_MFGUID_BYTE_LENGTH PX4_CPU_UUID_BYTE_LENGTH - -/* Separator nnn:nnn:nnnn 2 char per byte term */ -# define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1) -# define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1) +#include +#include +#include #include -__END_DECLS +#include "led.h" +#include + +#include + +#include "s32k1xx_pin.h" +#include "hardware/s32k1xx_ftm.h" + +#define REG(offset) (*(volatile uint32_t *)(S32K1XX_FTM0_BASE + (offset))) + +#define rSC() REG(S32K1XX_FTM_SC_OFFSET) +#define rCNT() REG(S32K1XX_FTM_CNT_OFFSET) +#define rMOD() REG(S32K1XX_FTM_MOD_OFFSET) + +#define FTM_SRC_CLOCK_FREQ 8000000 +#define LED_PWM_FREQ 1000000 + +extern int led_pwm_servo_set(unsigned channel, uint8_t value); +extern int led_pwm_servo_init(void); + +void rgb_led(int r, int g, int b, int freqs) +{ + long fosc = FTM_SRC_CLOCK_FREQ; + long prescale = 128; + long p1s = fosc / prescale; + long p0p5s = p1s / 2; + long p = freqs == 0 ? p1s : p1s / freqs; + + static bool once = false; + + if (!once) { + once = true; + led_pwm_servo_init(); + } + + irqstate_t flags = px4_enter_critical_section(); + uint32_t save = rSC(); + rSC() = save & ~(FTM_SC_CLKS_MASK); + rMOD() = p; + rSC() = save | FTP_SC_PS_DIV128; + px4_leave_critical_section(flags); + + p = freqs == 0 ? p1s + 1 : p0p5s / freqs; + + led_pwm_servo_set(0, r * p); + led_pwm_servo_set(1, g * p); + led_pwm_servo_set(2, b * p); + + if (freqs == 0) { + rSC() |= FTM_SC_CLKS_DIS; + + } else { + rSC() &= ~FTM_SC_CLKS_DIS; + } +} diff --git a/boards/aerotenna/ocpoc/include/px4_arch/adc.h b/boards/nxp/ucans32k146/src/led.h similarity index 90% rename from boards/aerotenna/ocpoc/include/px4_arch/adc.h rename to boards/nxp/ucans32k146/src/led.h index c72e7bd571..4b9bee6365 100644 --- a/boards/aerotenna/ocpoc/include/px4_arch/adc.h +++ b/boards/nxp/ucans32k146/src/led.h @@ -1,6 +1,7 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * Author: David Sidrane * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,8 +32,6 @@ * ****************************************************************************/ -#pragma once - -#define SYSTEM_ADC_BASE 0 // not used - -#define px4_arch_adc_temp_sensor_mask() (0) +__BEGIN_DECLS +void rgb_led(int r, int g, int b, int freqs); +__END_DECLS diff --git a/boards/intel/aerofc-v1/src/mtd.cpp b/boards/nxp/ucans32k146/src/mtd.cpp similarity index 82% rename from boards/intel/aerofc-v1/src/mtd.cpp rename to boards/nxp/ucans32k146/src/mtd.cpp index 769a084a2b..3f18a4cc02 100644 --- a/boards/intel/aerofc-v1/src/mtd.cpp +++ b/boards/nxp/ucans32k146/src/mtd.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * Copyright (C) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,35 +33,29 @@ #include #include -// KiB BS nB -static const px4_mft_device_t i2c3 = { // 24AA64FT on Base 8K 32 X 256 - .bus_type = px4_mft_device_t::I2C, - .devid = PX4_MK_I2C_DEVID(3, 0x50) +// KiB BS nB +static const px4_mft_device_t eerom = { // Emulated EEPROB 4K + .bus_type = px4_mft_device_t::ONCHIP, }; -static const px4_mtd_entry_t fmu_eeprom = { - .device = &i2c3, - .npart = 2, +static const px4_mtd_entry_t fmum_eeprom = { + .device = &eerom, + .npart = 1, .partd = { { .type = MTD_PARAMETERS, - .path = "/fs/mtd_params", - .nblocks = 128 - }, - { - .type = MTD_WAYPOINTS, - .path = "/fs/mtd_waypoints", - .nblocks = 128 - + .path = "/dev/eeeprom0", + .nblocks = 1 } }, }; + static const px4_mtd_manifest_t board_mtd_config = { .nconfigs = 1, .entries = { - &fmu_eeprom, + &fmum_eeprom } }; diff --git a/boards/nxp/ucans32k146/uavcan_board_identity b/boards/nxp/ucans32k146/uavcan_board_identity new file mode 100644 index 0000000000..bf6272170f --- /dev/null +++ b/boards/nxp/ucans32k146/uavcan_board_identity @@ -0,0 +1,17 @@ +# UAVCAN boot loadable Module ID +set(uavcanblid_sw_version_major 0) +set(uavcanblid_sw_version_minor 1) +add_definitions( + -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} + -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} +) + +set(uavcanblid_hw_version_major 0) +set(uavcanblid_hw_version_minor 34) +set(uavcanblid_name "\"org.nxp.ucans32k146\"") + +add_definitions( + -DHW_UAVCAN_NAME=${uavcanblid_name} + -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} + -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} +) diff --git a/boards/omnibus/f4sd/bootloader/omnibus_f4sd_bootloader.bin b/boards/omnibus/f4sd/bootloader/omnibus_f4sd_bootloader.bin new file mode 100644 index 0000000000..be73a7f0ed Binary files /dev/null and b/boards/omnibus/f4sd/bootloader/omnibus_f4sd_bootloader.bin differ diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake index a5a98cfb36..fc7d0cf3f5 100644 --- a/boards/omnibus/f4sd/default.cmake +++ b/boards/omnibus/f4sd/default.cmake @@ -3,6 +3,7 @@ px4_add_board( PLATFORM nuttx VENDOR omnibus MODEL f4sd + LABEL default TOOLCHAIN arm-none-eabi ARCHITECTURE cortex-m4 CONSTRAINED_MEMORY @@ -24,18 +25,16 @@ px4_add_board( imu/invensense/icm20602 imu/invensense/mpu6000 #irlock - #lights/blinkm lights/rgbled #magnetometer # all available magnetometer drivers magnetometer/hmc5883 - optical_flow/px4flow + #optical_flow # all available optical flow drivers osd #pca9685 #pwm_input #pwm_out_sim pwm_out rc_input - #tap_esc #telemetry # all available telemetry drivers telemetry/frsky_telemetry #test_ppm @@ -47,10 +46,13 @@ px4_add_board( commander dataman ekf2 + #esc_battery events flight_mode_manager #fw_att_control #fw_pos_control_l1 + gyro_calibration + #gyro_fft land_detector #landing_target_estimator load_mon @@ -61,12 +63,15 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update #rover_pos_control sensors #sih #temperature_compensation + #uuv_att_control + #uuv_pos_control #vmount #vtol_att_control SYSTEMCMDS @@ -74,6 +79,7 @@ px4_add_board( dmesg dumpfile esc_calib + #gpio hardfault_log i2cdetect led_control @@ -89,6 +95,8 @@ px4_add_board( reboot reflect sd_bench + #serial_test + #system_time #tests # tests and test runner top #topic_listener @@ -99,6 +107,8 @@ px4_add_board( work_queue EXAMPLES #fake_gps + #fake_gyro + #fake_magnetometer #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control #hello #hwtest # Hardware test diff --git a/boards/omnibus/f4sd/init/rc.board_defaults b/boards/omnibus/f4sd/init/rc.board_defaults index ca88eae463..97bbcd6ee6 100644 --- a/boards/omnibus/f4sd/init/rc.board_defaults +++ b/boards/omnibus/f4sd/init/rc.board_defaults @@ -1,18 +1,11 @@ #!/bin/sh # -# Omnibus F4SD specific board defaults +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable param set-default CBRK_SUPPLY_CHK 894281 -# transition from LPE+Q to Q estimator (2019-06-05) -if param compare SYS_MC_EST_GROUP 1 -then - param set SYS_MC_EST_GROUP 3 -fi - - # Disable safety switch by default param set-default CBRK_IO_SAFETY 22027 diff --git a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig index 724c32ffbe..cc162bbbda 100644 --- a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig +++ b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig @@ -82,6 +82,7 @@ CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y CONFIG_NSH_DISABLE_MKFIFO=y CONFIG_NSH_DISABLE_MKRD=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_PUT=y CONFIG_NSH_DISABLE_REBOOT=y CONFIG_NSH_DISABLE_TELNETD=y diff --git a/boards/px4/fmu-v2/bootloader/px4_fmu-v2_bootloader.bin b/boards/px4/fmu-v2/bootloader/px4_fmu-v2_bootloader.bin new file mode 100644 index 0000000000..75e1e3a6b8 Binary files /dev/null and b/boards/px4/fmu-v2/bootloader/px4_fmu-v2_bootloader.bin differ diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake index 82fbc75c50..652547ca34 100644 --- a/boards/px4/fmu-v2/default.cmake +++ b/boards/px4/fmu-v2/default.cmake @@ -8,7 +8,6 @@ px4_add_board( ARCHITECTURE cortex-m4 CONSTRAINED_MEMORY ROMFSROOT px4fmu_common - BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin IO px4_io-v2_default #TESTING #UAVCAN_INTERFACES 2 @@ -35,25 +34,21 @@ px4_add_board( #heater #imu # all available imu drivers #imu/analog_devices/adis16448 - #imu/adis16477 - #imu/adis16497 imu/l3gd20 imu/lsm303d #imu/invensense/icm20608g #imu/invensense/icm20948 imu/invensense/mpu6000 #imu/invensense/mpu9250 - #imu/mpu6000 # legacy mpu6000 - #iridiumsbd #irlock - #lights/blinkm + #lights # all available light drivers lights/rgbled #magnetometer # all available magnetometer drivers magnetometer/hmc5883 #optical_flow # all available optical flow drivers - #optical_flow/px4flow #osd #pca9685 + #pca9685_pwm_out #power_monitor/ina226 #protocol_splitter #pwm_input @@ -61,7 +56,7 @@ px4_add_board( pwm_out px4io #roboclaw - #tap_esc + #rpm #telemetry # all available telemetry drivers #test_ppm tone_alarm @@ -79,6 +74,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + #gyro_fft land_detector #landing_target_estimator load_mon @@ -96,6 +93,8 @@ px4_add_board( sensors #sih #temperature_compensation + #uuv_att_control + #uuv_pos_control #vmount #vtol_att_control SYSTEMCMDS @@ -103,6 +102,7 @@ px4_add_board( #dmesg #dumpfile #esc_calib + #gpio hardfault_log #i2cdetect #led_control @@ -118,7 +118,8 @@ px4_add_board( reboot #reflect #sd_bench - #shutdown + #serial_test + #system_time #tests # tests and test runner top #topic_listener @@ -129,6 +130,8 @@ px4_add_board( #work_queue EXAMPLES #fake_gps + #fake_gyro + #fake_magnetometer #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control #hello #hwtest # Hardware test diff --git a/boards/px4/fmu-v2/fixedwing.cmake b/boards/px4/fmu-v2/fixedwing.cmake index d0656e3880..e46b4510fc 100644 --- a/boards/px4/fmu-v2/fixedwing.cmake +++ b/boards/px4/fmu-v2/fixedwing.cmake @@ -52,6 +52,8 @@ px4_add_board( #events fw_att_control fw_pos_control_l1 + gyro_calibration + #gyro_fft land_detector load_mon logger diff --git a/boards/px4/fmu-v2/init/rc.board_defaults b/boards/px4/fmu-v2/init/rc.board_defaults deleted file mode 100644 index ab4deb04cf..0000000000 --- a/boards/px4/fmu-v2/init/rc.board_defaults +++ /dev/null @@ -1,26 +0,0 @@ -#!/bin/sh -# -# PX4 FMUv2 specific board defaults -#------------------------------------------------------------------------------ - - -# -# Bootloader upgrade -# -set BL_FILE /etc/extras/px4fmuv3_bl.bin -if [ -f $BL_FILE ] -then - if param compare SYS_BL_UPDATE 1 - then - param set SYS_BL_UPDATE 0 - param save - echo "BL update..." - bl_update $BL_FILE - echo "BL update done" - reboot - fi -fi -unset BL_FILE - -# to minimize cpu usage on older boards limit inner loop to 400 Hz by default -param set-default IMU_GYRO_RATEMAX 400 diff --git a/boards/px4/fmu-v2/multicopter.cmake b/boards/px4/fmu-v2/multicopter.cmake index 7d99cd65f3..f6b8011e20 100644 --- a/boards/px4/fmu-v2/multicopter.cmake +++ b/boards/px4/fmu-v2/multicopter.cmake @@ -26,7 +26,7 @@ px4_add_board( gps imu/l3gd20 imu/lsm303d - imu/mpu6000 + imu/invensense/mpu6000 #imu/invensense/mpu9250 irlock lights/rgbled @@ -43,6 +43,8 @@ px4_add_board( dataman ekf2 flight_mode_manager + gyro_calibration + #gyro_fft #events land_detector landing_target_estimator diff --git a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig index 4b9890a553..d0487d27ba 100644 --- a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig @@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_PSSTACKUSAGE=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake index 78c1430cbc..579b867d94 100644 --- a/boards/px4/fmu-v2/test.cmake +++ b/boards/px4/fmu-v2/test.cmake @@ -42,7 +42,6 @@ px4_add_board( #imu/invensense/mpu9250 #iridiumsbd #irlock - #lights/blinkm lights/rgbled #magnetometer # all available magnetometer drivers magnetometer/hmc5883 @@ -56,7 +55,6 @@ px4_add_board( pwm_out px4io #roboclaw - #tap_esc #telemetry # all available telemetry drivers #test_ppm tone_alarm diff --git a/boards/px4/fmu-v3/bootloader/px4_fmu-v3_bootloader.bin b/boards/px4/fmu-v3/bootloader/px4_fmu-v3_bootloader.bin new file mode 100644 index 0000000000..75e1e3a6b8 Binary files /dev/null and b/boards/px4/fmu-v3/bootloader/px4_fmu-v3_bootloader.bin differ diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake index ab565a9bce..7a6c719a88 100644 --- a/boards/px4/fmu-v3/default.cmake +++ b/boards/px4/fmu-v3/default.cmake @@ -1,6 +1,4 @@ -# FMUv3 is FMUv2 with access to the full 2MB flash - px4_add_board( PLATFORM nuttx VENDOR px4 @@ -19,8 +17,8 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS6 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -32,8 +30,6 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/l3gd20 imu/lsm303d imu/invensense/icm20608g @@ -41,13 +37,10 @@ px4_add_board( imu/invensense/mpu6000 imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 pca9685_pwm_out #power_monitor/ina226 @@ -57,7 +50,7 @@ px4_add_board( pwm_out px4io roboclaw - tap_esc + rpm telemetry # all available telemetry drivers test_ppm tone_alarm @@ -75,6 +68,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -92,6 +87,8 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -115,6 +112,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -126,6 +124,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/px4/fmu-v3/init/rc.board_defaults b/boards/px4/fmu-v3/init/rc.board_defaults deleted file mode 100644 index d683544d53..0000000000 --- a/boards/px4/fmu-v3/init/rc.board_defaults +++ /dev/null @@ -1,26 +0,0 @@ -#!/bin/sh -# -# PX4 FMUv3 specific board defaults -#------------------------------------------------------------------------------ - - -# -# Bootloader upgrade -# -set BL_FILE /etc/extras/px4fmuv3_bl.bin -if [ -f $BL_FILE ] -then - if param compare SYS_BL_UPDATE 1 - then - param set SYS_BL_UPDATE 0 - param save - echo "BL update..." - bl_update $BL_FILE - echo "BL update done" - reboot - fi -fi -unset BL_FILE - -# to minimize cpu usage on older boards limit inner loop to 400 Hz by default -param set-default IMU_GYRO_RATEMAX 400 diff --git a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig index 1016ccb99a..73c428d934 100644 --- a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig @@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin b/boards/px4/fmu-v4/bootloader/px4_fmu-v4_bootloader.bin old mode 100755 new mode 100644 similarity index 55% rename from ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin rename to boards/px4/fmu-v4/bootloader/px4_fmu-v4_bootloader.bin index 196af2c249..2092568461 Binary files a/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin and b/boards/px4/fmu-v4/bootloader/px4_fmu-v4_bootloader.bin differ diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake index d8f30be794..09fe3655bc 100644 --- a/boards/px4/fmu-v4/default.cmake +++ b/boards/px4/fmu-v4/default.cmake @@ -15,10 +15,9 @@ px4_add_board( TEL1:/dev/ttyS1 TEL2:/dev/ttyS2 WIFI:/dev/ttyS0 - DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -30,30 +29,25 @@ px4_add_board( heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/invensense/icm20602 imu/invensense/icm20608g - imu/invensense/icm40609d - imu/invensense/mpu6500 imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 pca9685_pwm_out + power_monitor/ina226 #protocol_splitter pwm_input pwm_out_sim pwm_out rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -71,6 +65,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -113,6 +109,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -127,7 +124,6 @@ px4_add_board( fake_gyro fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - gyro_fft hello hwtest # Hardware test #matlab_csv_serial diff --git a/boards/px4/fmu-v4/init/rc.board_defaults b/boards/px4/fmu-v4/init/rc.board_defaults index b11850f4f9..d08737ebc2 100644 --- a/boards/px4/fmu-v4/init/rc.board_defaults +++ b/boards/px4/fmu-v4/init/rc.board_defaults @@ -1,21 +1,15 @@ #!/bin/sh # -# PX4 FMUv4 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -if [ $AUTOCNF = yes ] +# start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe. +if ! param compare SYS_AUTOSTART 4250 then - # Disable safety switch by default - param set-default CBRK_IO_SAFETY 22027 - - # start MAVLink on Wifi (ESP8266 port). Except for the TealOne airframe. - if ! param compare SYS_AUTOSTART 4250 - then - param set-default MAV_2_CONFIG 301 - param set-default MAV_2_RATE 20000 - param set-default SER_WIFI_BAUD 921600 - fi + param set-default MAV_2_CONFIG 301 + param set-default MAV_2_RATE 20000 + param set-default SER_WIFI_BAUD 921600 fi if param compare SER_WIFI_BAUD 1 @@ -30,5 +24,5 @@ then fi fi -safety_button start +safety_button start diff --git a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig index d135e4dd34..a060e8ab22 100644 --- a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig @@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/px4/fmu-v4pro/bootloader/px4_fmu-v4pro_bootloader.bin b/boards/px4/fmu-v4pro/bootloader/px4_fmu-v4pro_bootloader.bin new file mode 100644 index 0000000000..0cd3e09ef2 Binary files /dev/null and b/boards/px4/fmu-v4pro/bootloader/px4_fmu-v4pro_bootloader.bin differ diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake index cbb50d0808..8921963c77 100644 --- a/boards/px4/fmu-v4pro/default.cmake +++ b/boards/px4/fmu-v4pro/default.cmake @@ -18,8 +18,8 @@ px4_add_board( TEL3:/dev/ttyS0 TEL4:/dev/ttyS6 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -30,27 +30,25 @@ px4_add_board( gps #heater #imu # all available imu drivers + imu/analog_devices/adis16448 imu/invensense/icm20602 imu/invensense/icm20608g imu/invensense/mpu9250 irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers - #optical_flow # all available optical flow drivers - optical_flow/px4flow - #osd + optical_flow # all available optical flow drivers + osd pca9685 pca9685_pwm_out - power_monitor/ina226 + #power_monitor/ina226 #protocol_splitter pwm_input pwm_out_sim pwm_out px4io roboclaw - tap_esc + rpm telemetry # all available telemetry drivers test_ppm tone_alarm @@ -68,6 +66,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -94,6 +94,7 @@ px4_add_board( #dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -120,6 +121,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/px4/fmu-v4pro/init/rc.board_defaults b/boards/px4/fmu-v4pro/init/rc.board_defaults index 2771f37326..f881b43a5c 100644 --- a/boards/px4/fmu-v4pro/init/rc.board_defaults +++ b/boards/px4/fmu-v4pro/init/rc.board_defaults @@ -1,13 +1,10 @@ #!/bin/sh # -# PX4 FMUv4pro specific board defaults +# board specific defaults #------------------------------------------------------------------------------ # Multi-EKF -param set-default EKF2_MULTI_IMU 3 +param set-default EKF2_MULTI_IMU 2 param set-default SENS_IMU_MODE 0 -param set-default UAVCAN_ENABLE 2 - - set LOGGER_BUF 64 diff --git a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig index 8cf6f743e1..792aefb75c 100644 --- a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig @@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/px4/fmu-v5/bootloader/px4_fmu-v5_bootloader.bin b/boards/px4/fmu-v5/bootloader/px4_fmu-v5_bootloader.bin new file mode 100644 index 0000000000..f5adff96ee Binary files /dev/null and b/boards/px4/fmu-v5/bootloader/px4_fmu-v5_bootloader.bin differ diff --git a/boards/px4/fmu-v5/ctrlalloc.cmake b/boards/px4/fmu-v5/ctrlalloc.cmake index db5923eb3a..50380155ee 100644 --- a/boards/px4/fmu-v5/ctrlalloc.cmake +++ b/boards/px4/fmu-v5/ctrlalloc.cmake @@ -16,8 +16,8 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS3 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -29,20 +29,15 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 pca9685_pwm_out power_monitor/ina226 @@ -55,7 +50,6 @@ px4_add_board( roboclaw rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -75,6 +69,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -117,6 +113,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -131,7 +128,6 @@ px4_add_board( fake_gyro fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - gyro_fft hello hwtest # Hardware test #matlab_csv_serial diff --git a/boards/px4/fmu-v5/debug.cmake b/boards/px4/fmu-v5/debug.cmake index e74ab83236..f6e8ebcd52 100644 --- a/boards/px4/fmu-v5/debug.cmake +++ b/boards/px4/fmu-v5/debug.cmake @@ -17,6 +17,7 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS3 DRIVERS + #adc/ads1115 adc/board_adc #barometer # all available barometer drivers barometer/ms5611 @@ -29,33 +30,27 @@ px4_add_board( gps #heater #imu # all available imu drivers - #imu/analog_devices/adis16448 - #imu/adis16477 - #imu/adis16497 #imu/bosch/bmi055 #imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver #irlock - #lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers #osd #pca9685 + #pca9685_pwm_out #power_monitor/ina226 #protocol_splitter - pwm_input + #pwm_input pwm_out_sim pwm_out px4io rc_input #roboclaw - rpm + #rpm safety_button - #tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -73,6 +68,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + #gyro_fft land_detector #landing_target_estimator load_mon @@ -90,6 +87,8 @@ px4_add_board( sensors #sih #temperature_compensation + #uuv_att_control + #uuv_pos_control #vmount vtol_att_control SYSTEMCMDS @@ -113,6 +112,7 @@ px4_add_board( reboot reflect sd_bench + #serial_test system_time tests # tests and test runner top @@ -124,6 +124,7 @@ px4_add_board( work_queue EXAMPLES #fake_gps + #fake_gyro #fake_magnetometer #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control #hello diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake index c2dcd651ab..abc1cef9c6 100644 --- a/boards/px4/fmu-v5/default.cmake +++ b/boards/px4/fmu-v5/default.cmake @@ -16,8 +16,8 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS3 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -29,20 +29,15 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 pca9685_pwm_out power_monitor/ina226 @@ -55,7 +50,6 @@ px4_add_board( roboclaw rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -73,6 +67,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -115,6 +111,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -129,7 +126,6 @@ px4_add_board( fake_gyro fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - gyro_fft hello hwtest # Hardware test #matlab_csv_serial diff --git a/boards/px4/fmu-v5/fixedwing.cmake b/boards/px4/fmu-v5/fixedwing.cmake index 8c333bcb4b..c1f354fb5b 100644 --- a/boards/px4/fmu-v5/fixedwing.cmake +++ b/boards/px4/fmu-v5/fixedwing.cmake @@ -23,23 +23,28 @@ px4_add_board( differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers gps - imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 + #heater #imu # all available imu drivers + imu/analog_devices/adis16448 imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers + optical_flow # all available optical flow drivers + osd + pca9685 + pca9685_pwm_out + power_monitor/ina226 + #protocol_splitter pwm_input pwm_out_sim pwm_out px4io rc_input + roboclaw + rpm safety_button telemetry # all available telemetry drivers tone_alarm @@ -51,9 +56,12 @@ px4_add_board( commander dataman ekf2 + esc_battery events fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector load_mon logger @@ -68,6 +76,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -83,6 +92,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time top topic_listener diff --git a/boards/px4/fmu-v5/init/rc.board_defaults b/boards/px4/fmu-v5/init/rc.board_defaults index 5d24859549..98a8edb101 100644 --- a/boards/px4/fmu-v5/init/rc.board_defaults +++ b/boards/px4/fmu-v5/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# PX4 FMUv5 specific board defaults +# board specific defaults #------------------------------------------------------------------------------ @@ -18,10 +18,5 @@ else param set-default SENS_MAG_MODE 0 fi -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - rgbled_pwm start safety_button start diff --git a/boards/px4/fmu-v5/multicopter.cmake b/boards/px4/fmu-v5/multicopter.cmake index ba85501855..64bbdf2b84 100644 --- a/boards/px4/fmu-v5/multicopter.cmake +++ b/boards/px4/fmu-v5/multicopter.cmake @@ -24,29 +24,30 @@ px4_add_board( distance_sensor # all available distance sensor drivers dshot gps - imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 + #heater #imu # all available imu drivers + imu/analog_devices/adis16448 imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers + osd + pca9685 + pca9685_pwm_out + power_monitor/ina226 + #protocol_splitter pwm_input pwm_out_sim pwm_out px4io rc_input roboclaw + rpm safety_button - tap_esc telemetry # all available telemetry drivers tone_alarm uavcan @@ -57,8 +58,11 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -80,6 +84,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -95,6 +100,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time top topic_listener diff --git a/boards/px4/fmu-v5/nuttx-config/debug/defconfig b/boards/px4/fmu-v5/nuttx-config/debug/defconfig index 8b6e3e8fa7..03c4291a56 100644 --- a/boards/px4/fmu-v5/nuttx-config/debug/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/debug/defconfig @@ -150,6 +150,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig index 202dcbbff1..eb14169b5f 100644 --- a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig @@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -170,7 +171,7 @@ CONFIG_STM32F7_OTGFS=y CONFIG_STM32F7_PROGMEM=y CONFIG_STM32F7_PWR=y CONFIG_STM32F7_RTC=y -CONFIG_STM32F7_RTC_HSECLOCK=y +CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y CONFIG_STM32F7_RTC_MAGIC_REG=1 CONFIG_STM32F7_SAVE_CRASHDUMP=y CONFIG_STM32F7_SDMMC1=y diff --git a/boards/px4/fmu-v5/nuttx-config/optimized/defconfig b/boards/px4/fmu-v5/nuttx-config/optimized/defconfig index 464e7dc6bf..2b34648326 100644 --- a/boards/px4/fmu-v5/nuttx-config/optimized/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/optimized/defconfig @@ -107,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig index 8aee4c4679..0d0002efcf 100644 --- a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig @@ -107,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/px4/fmu-v5/nuttx-config/uavcanv1/defconfig b/boards/px4/fmu-v5/nuttx-config/uavcanv1/defconfig index a16fa32699..ddcdb2b52a 100644 --- a/boards/px4/fmu-v5/nuttx-config/uavcanv1/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/uavcanv1/defconfig @@ -36,7 +36,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y CONFIG_ARMV7M_DCACHE=y CONFIG_ARMV7M_DTCM=y CONFIG_ARMV7M_ICACHE=y -CONFIG_ARMV7M_LAZYFPU=y CONFIG_ARMV7M_MEMCPY=y CONFIG_ARMV7M_USEBASEPRI=y CONFIG_BOARDCTL_RESET=y @@ -109,6 +108,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/boards/px4/fmu-v5/optimized.cmake b/boards/px4/fmu-v5/optimized.cmake index c63b47973c..554320c4c5 100644 --- a/boards/px4/fmu-v5/optimized.cmake +++ b/boards/px4/fmu-v5/optimized.cmake @@ -20,6 +20,7 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS3 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -29,27 +30,30 @@ px4_add_board( distance_sensor # all available distance sensor drivers dshot gps + #heater #imu # all available imu drivers imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver irlock - #lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers #lights/rgbled_pwm #magnetometer # all available magnetometer drivers magnetometer/isentek/ist8310 optical_flow # all available optical flow drivers - #pwm_input + #osd + #pca9685 + #pca9685_pwm_out + #power_monitor/ina226 + #protocol_splitter + pwm_input pwm_out_sim pwm_out px4io rc_input #roboclaw + #rpm safety_button - #tap_esc #telemetry # all available telemetry drivers test_ppm tone_alarm @@ -62,10 +66,13 @@ px4_add_board( commander dataman ekf2 + #esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + #gyro_fft land_detector #landing_target_estimator load_mon @@ -84,6 +91,7 @@ px4_add_board( #sih temperature_compensation #uuv_att_control + #uuv_pos_control #vmount vtol_att_control SYSTEMCMDS @@ -91,6 +99,7 @@ px4_add_board( dmesg dumpfile #esc_calib + #gpio hardfault_log i2cdetect led_control @@ -106,6 +115,7 @@ px4_add_board( reboot reflect sd_bench + #serial_test system_time tests # tests and test runner top diff --git a/boards/px4/fmu-v5/rover.cmake b/boards/px4/fmu-v5/rover.cmake index 331e5fc07c..78758ae351 100644 --- a/boards/px4/fmu-v5/rover.cmake +++ b/boards/px4/fmu-v5/rover.cmake @@ -23,12 +23,9 @@ px4_add_board( distance_sensor # all available distance sensor drivers gps imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver lights/rgbled lights/rgbled_ncp5623c lights/rgbled_pwm diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake index 37c253aead..280510bcb4 100644 --- a/boards/px4/fmu-v5/rtps.cmake +++ b/boards/px4/fmu-v5/rtps.cmake @@ -28,16 +28,11 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers @@ -53,7 +48,6 @@ px4_add_board( roboclaw rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -70,6 +64,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake index 387c142a51..49afc15565 100644 --- a/boards/px4/fmu-v5/stackcheck.cmake +++ b/boards/px4/fmu-v5/stackcheck.cmake @@ -35,11 +35,8 @@ px4_add_board( #imu/bosch/bmi055 #imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver #irlock - #lights/blinkm - lights/rgbled - #lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers @@ -55,7 +52,6 @@ px4_add_board( #roboclaw #rpm safety_button - #tap_esc telemetry # all available telemetry drivers #test_ppm tone_alarm @@ -73,6 +69,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector #landing_target_estimator load_mon diff --git a/boards/px4/fmu-v5/uavcanv0periph.cmake b/boards/px4/fmu-v5/uavcanv0periph.cmake index 2459f85ac6..f943c6a97c 100644 --- a/boards/px4/fmu-v5/uavcanv0periph.cmake +++ b/boards/px4/fmu-v5/uavcanv0periph.cmake @@ -36,11 +36,8 @@ px4_add_board( imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver #irlock - #lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers @@ -57,7 +54,6 @@ px4_add_board( #roboclaw #rpm safety_button - #tap_esc telemetry # all available telemetry drivers #test_ppm tone_alarm @@ -75,6 +71,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + #gyro_fft land_detector landing_target_estimator load_mon @@ -130,7 +128,6 @@ px4_add_board( #fake_gyro #fake_magnetometer #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - #gyro_fft #hello #hwtest # Hardware test #matlab_csv_serial diff --git a/boards/px4/fmu-v5/uavcanv1.cmake b/boards/px4/fmu-v5/uavcanv1.cmake index 765326d8f1..619fae5e90 100644 --- a/boards/px4/fmu-v5/uavcanv1.cmake +++ b/boards/px4/fmu-v5/uavcanv1.cmake @@ -16,8 +16,8 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS3 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -29,16 +29,11 @@ px4_add_board( #heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 - #imu/mpu6000 # legacy icm20602/icm20689 driver irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers lights/rgbled_pwm magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers @@ -55,7 +50,6 @@ px4_add_board( roboclaw rpm safety_button - tap_esc telemetry # all available telemetry drivers #test_ppm tone_alarm @@ -74,6 +68,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -116,6 +112,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time #tests # tests and test runner top @@ -130,7 +127,6 @@ px4_add_board( #fake_gyro #fake_magnetometer #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - #gyro_fft #hello #hwtest # Hardware test #matlab_csv_serial diff --git a/boards/px4/fmu-v5x/base_phy_DP83848C.cmake b/boards/px4/fmu-v5x/base_phy_DP83848C.cmake index 9c7ac206ac..c653a92969 100644 --- a/boards/px4/fmu-v5x/base_phy_DP83848C.cmake +++ b/boards/px4/fmu-v5x/base_phy_DP83848C.cmake @@ -10,6 +10,7 @@ px4_add_board( IO px4_io-v2_default TESTING UAVCAN_INTERFACES 2 + ETHERNET SERIAL_PORTS GPS1:/dev/ttyS0 TEL1:/dev/ttyS6 @@ -17,6 +18,7 @@ px4_add_board( TEL3:/dev/ttyS1 GPS2:/dev/ttyS7 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -26,22 +28,19 @@ px4_add_board( distance_sensor # all available distance sensor drivers dshot gps - #heater + heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20602 imu/invensense/icm42688p irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_input @@ -52,7 +51,6 @@ px4_add_board( roboclaw rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -64,10 +62,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -85,6 +86,8 @@ px4_add_board( sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -102,12 +105,14 @@ px4_add_board( motor_test mtd nshterm + netman param perf pwm reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -117,9 +122,10 @@ px4_add_board( usb_connected ver work_queue - serial_test EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/px4/fmu-v5x/bootloader/px4_fmu-v5x_bootloader.bin b/boards/px4/fmu-v5x/bootloader/px4_fmu-v5x_bootloader.bin new file mode 100644 index 0000000000..6a9cba4c8e Binary files /dev/null and b/boards/px4/fmu-v5x/bootloader/px4_fmu-v5x_bootloader.bin differ diff --git a/boards/px4/fmu-v5x/default.cmake b/boards/px4/fmu-v5x/default.cmake index 58cc476cfb..06a0e5349d 100644 --- a/boards/px4/fmu-v5x/default.cmake +++ b/boards/px4/fmu-v5x/default.cmake @@ -10,6 +10,7 @@ px4_add_board( IO px4_io-v2_default TESTING UAVCAN_INTERFACES 2 + ETHERNET SERIAL_PORTS GPS1:/dev/ttyS0 TEL1:/dev/ttyS6 @@ -17,8 +18,8 @@ px4_add_board( TEL3:/dev/ttyS1 GPS2:/dev/ttyS7 DRIVERS - adc/board_adc adc/ads1115 + adc/board_adc barometer # all available barometer drivers batt_smbus camera_capture @@ -27,21 +28,17 @@ px4_add_board( distance_sensor # all available distance sensor drivers dshot gps - #heater + heater #imu # all available imu drivers imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi088 imu/invensense/icm20602 imu/invensense/icm42688p irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 pca9685_pwm_out power_monitor/ina226 @@ -54,7 +51,6 @@ px4_add_board( roboclaw rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm @@ -71,6 +67,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -88,6 +86,8 @@ px4_add_board( sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -112,6 +112,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time tests # tests and test runner top @@ -123,6 +124,8 @@ px4_add_board( work_queue EXAMPLES fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello hwtest # Hardware test diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults index 88e273b039..9c542a7730 100644 --- a/boards/px4/fmu-v5x/init/rc.board_defaults +++ b/boards/px4/fmu-v5x/init/rc.board_defaults @@ -1,15 +1,6 @@ #!/bin/sh # -# PX4 FMUv5X specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - safety_button start diff --git a/boards/px4/fmu-v5x/init/rc.board_mavlink b/boards/px4/fmu-v5x/init/rc.board_mavlink index 4da9b1f0ad..07ed2047b4 100644 --- a/boards/px4/fmu-v5x/init/rc.board_mavlink +++ b/boards/px4/fmu-v5x/init/rc.board_mavlink @@ -6,7 +6,7 @@ if ver hwtypecmp V5Xa0 V5X91 V5Xa1 then # Start MAVLink on the UART connected to the mission computer -mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard -x -z +mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z else # Start MAVLink on the USB port mavlink start -d /dev/ttyACM0 diff --git a/boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig b/boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig index 1f44b9f095..840922f5e3 100644 --- a/boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig +++ b/boards/px4/fmu-v5x/nuttx-config/base_phy_DP83848C/defconfig @@ -65,6 +65,7 @@ CONFIG_FAT_LCNAMES=y CONFIG_FAT_LFN=y CONFIG_FAT_LFN_ALIAS_HASH=y CONFIG_FDCLONE_STDIO=y +CONFIG_FSUTILS_IPCFG=y CONFIG_FS_BINFS=y CONFIG_FS_CROMFS=y CONFIG_FS_FAT=y @@ -82,6 +83,9 @@ CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 +CONFIG_IPCFG_BINARY=y +CONFIG_IPCFG_CHARDEV=y +CONFIG_IPCFG_PATH="/fs/mtd_net" CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y @@ -101,8 +105,11 @@ CONFIG_NETDB_DNSCLIENT=y CONFIG_NETDB_DNSCLIENT_ENTRIES=8 CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y +CONFIG_NETINIT_DHCPC=y +CONFIG_NETINIT_DNS=y +CONFIG_NETINIT_DNSIPADDR=0XC0A800FE CONFIG_NETINIT_DRIPADDR=0XC0A800FE -CONFIG_NETINIT_IPADDR=0XC0A8007B +CONFIG_NETINIT_MONITOR=y CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 CONFIG_NETUTILS_TELNETD=y @@ -118,6 +125,7 @@ CONFIG_NET_TCPBACKLOG=y CONFIG_NET_TCP_WRITE_BUFFERS=y CONFIG_NET_UDP=y CONFIG_NET_UDP_CHECKSUMS=y +CONFIG_NET_UDP_WRITE_BUFFERS=y CONFIG_NFILE_DESCRIPTORS=12 CONFIG_NSH_ARCHINIT=y CONFIG_NSH_ARCHROMFS=y @@ -127,6 +135,7 @@ CONFIG_NSH_CMDPARMS=y CONFIG_NSH_CROMFSETC=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 CONFIG_NSH_NESTDEPTH=8 @@ -190,14 +199,17 @@ CONFIG_STM32F7_I2C4=y CONFIG_STM32F7_I2C_DYNTIMEO=y CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10 CONFIG_STM32F7_OTGFS=y -CONFIG_STM32F7_PHYSR=16 -CONFIG_STM32F7_PHYSR_100MBPS=0x0 -CONFIG_STM32F7_PHYSR_FULLDUPLEX=0x04 -CONFIG_STM32F7_PHYSR_MODE=0x04 -CONFIG_STM32F7_PHYSR_SPEED=0x2 +CONFIG_STM32F7_PHYADDR=0 +CONFIG_STM32F7_PHYSR=31 +CONFIG_STM32F7_PHYSR_100MBPS=0x8 +CONFIG_STM32F7_PHYSR_FULLDUPLEX=0x10 +CONFIG_STM32F7_PHYSR_MODE=0x10 +CONFIG_STM32F7_PHYSR_SPEED=0x8 +CONFIG_STM32F7_PHY_POLLING=y CONFIG_STM32F7_PROGMEM=y CONFIG_STM32F7_PWR=y CONFIG_STM32F7_RTC=y +CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y CONFIG_STM32F7_RTC_MAGIC_REG=1 CONFIG_STM32F7_SAVE_CRASHDUMP=y CONFIG_STM32F7_SDMMC2=y @@ -235,6 +247,7 @@ CONFIG_STM32F7_USART_SINGLEWIRE=y CONFIG_STM32F7_USART_SWAP=y CONFIG_STM32F7_WWDG=y CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_DHCPC_RENEW=y CONFIG_SYSTEM_NSH=y CONFIG_SYSTEM_PING=y CONFIG_TASK_NAME_SIZE=24 diff --git a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig index 1ef345f1e0..9566fef037 100644 --- a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig @@ -135,6 +135,7 @@ CONFIG_NSH_CMDPARMS=y CONFIG_NSH_CROMFSETC=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 CONFIG_NSH_NESTDEPTH=8 @@ -208,8 +209,7 @@ CONFIG_STM32F7_PHY_POLLING=y CONFIG_STM32F7_PROGMEM=y CONFIG_STM32F7_PWR=y CONFIG_STM32F7_RTC=y -CONFIG_STM32F7_RTC_LSECLOCK_RUN_DRV_CAPABILITY=3 -CONFIG_STM32F7_RTC_LSECLOCK_START_DRV_CAPABILITY=3 +CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y CONFIG_STM32F7_RTC_MAGIC_REG=1 CONFIG_STM32F7_SAVE_CRASHDUMP=y CONFIG_STM32F7_SDMMC2=y diff --git a/boards/px4/fmu-v6u/default.cmake b/boards/px4/fmu-v6u/default.cmake index 7e23ff4459..9f5ddbba66 100644 --- a/boards/px4/fmu-v6u/default.cmake +++ b/boards/px4/fmu-v6u/default.cmake @@ -8,7 +8,6 @@ px4_add_board( ARCHITECTURE cortex-m7 ROMFSROOT px4fmu_common BUILD_BOOTLOADER - TESTING UAVCAN_INTERFACES 1 SERIAL_PORTS GPS1:/dev/ttyS0 @@ -17,6 +16,7 @@ px4_add_board( TEL3:/dev/ttyS1 GPS2:/dev/ttyS7 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -28,35 +28,25 @@ px4_add_board( gps heater #imu # all available imu drivers - imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi088 - imu/invensense/icm20649 imu/invensense/icm20602 imu/invensense/icm42605 - imu/invensense/icm42688p irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter -# pwm_input - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate -# all arch dependant code there pwm_out_sim pwm_out rc_input roboclaw rpm safety_button - tap_esc telemetry # all available telemetry drivers - test_ppm tone_alarm uavcan MODULES @@ -72,6 +62,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -89,6 +81,8 @@ px4_add_board( sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -96,6 +90,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -111,8 +106,9 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time - tests # tests and test runner + #tests # tests and test runner top topic_listener tune_control @@ -120,16 +116,17 @@ px4_add_board( usb_connected ver work_queue - serial_test EXAMPLES fake_gps - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/px4/fmu-v6u/init/rc.board_defaults b/boards/px4/fmu-v6u/init/rc.board_defaults index 055a18f9b1..9c542a7730 100644 --- a/boards/px4/fmu-v6u/init/rc.board_defaults +++ b/boards/px4/fmu-v6u/init/rc.board_defaults @@ -1,17 +1,6 @@ #!/bin/sh # -# PX4 FMUv6U specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - safety_button start diff --git a/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig index f03be1440f..71b63bb5b0 100644 --- a/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig +++ b/boards/px4/fmu-v6u/nuttx-config/bootloader/defconfig @@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y CONFIG_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=5 CONFIG_PREALLOC_TIMERS=50 CONFIG_PTHREAD_STACK_MIN=512 diff --git a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig index d0664b7f6e..9fb11bf7c0 100644 --- a/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6u/nuttx-config/nsh/defconfig @@ -92,14 +92,14 @@ CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y CONFIG_MM_IOB=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y CONFIG_MTD_PROGMEM=y CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 CONFIG_NFILE_DESCRIPTORS=12 -CONFIG_NFILE_STREAMS=8 CONFIG_NSH_ARCHINIT=y CONFIG_NSH_ARCHROMFS=y CONFIG_NSH_ARGCAT=y @@ -108,6 +108,7 @@ CONFIG_NSH_CMDPARMS=y CONFIG_NSH_CROMFSETC=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 CONFIG_NSH_NESTDEPTH=8 @@ -156,12 +157,11 @@ CONFIG_STM32H7_ADC1=y CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_FLASH_OVERRIDE_I=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y @@ -173,6 +173,7 @@ CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 CONFIG_STM32H7_OTGFS=y CONFIG_STM32H7_PROGMEM=y CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y CONFIG_STM32H7_RTC_MAGIC_REG=1 CONFIG_STM32H7_SAVE_CRASHDUMP=y CONFIG_STM32H7_SDMMC2=y diff --git a/boards/px4/fmu-v6u/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6u/nuttx-config/scripts/script.ld index 225983ecd9..18b6c69cd8 100644 --- a/boards/px4/fmu-v6u/nuttx-config/scripts/script.ld +++ b/boards/px4/fmu-v6u/nuttx-config/scripts/script.ld @@ -200,10 +200,14 @@ SECTIONS /* Emit the the D3 power domain section for locating BDMA data */ - .sram4 (NOLOAD) : + .sram4_reserve (NOLOAD) : { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); } > sram4 + /* Stabs debugging sections. */ .stab 0 : { *(.stab) } .stabstr 0 : { *(.stabstr) } diff --git a/boards/px4/fmu-v6u/test.cmake b/boards/px4/fmu-v6u/test.cmake new file mode 100644 index 0000000000..1b76b330ff --- /dev/null +++ b/boards/px4/fmu-v6u/test.cmake @@ -0,0 +1,135 @@ + +px4_add_board( + PLATFORM nuttx + VENDOR px4 + MODEL fmu-v6u + LABEL test + TOOLCHAIN arm-none-eabi + ARCHITECTURE cortex-m7 + ROMFSROOT px4fmu_common + BUILD_BOOTLOADER + TESTING + UAVCAN_INTERFACES 1 + SERIAL_PORTS + GPS1:/dev/ttyS0 + TEL1:/dev/ttyS6 + TEL2:/dev/ttyS4 + TEL3:/dev/ttyS1 + GPS2:/dev/ttyS7 + DRIVERS + adc/ads1115 + adc/board_adc + barometer # all available barometer drivers + batt_smbus + camera_capture + camera_trigger + differential_pressure # all available differential pressure drivers + distance_sensor # all available distance sensor drivers + dshot + gps + heater + #imu # all available imu drivers + imu/bosch/bmi088 + imu/invensense/icm20602 + imu/invensense/icm42605 + irlock + lights # all available light drivers + magnetometer # all available magnetometer drivers + optical_flow # all available optical flow drivers + osd + pca9685 + pca9685_pwm_out + power_monitor/ina226 + #protocol_splitter + #pwm_input - Need to create arch/stm32 arch/stm32h7 + pwm_out_sim + pwm_out + rc_input + roboclaw + rpm + safety_button + telemetry # all available telemetry drivers + test_ppm + tone_alarm + uavcan + MODULES + airspeed_selector + #attitude_estimator_q + battery_status + camera_feedback + commander + dataman + ekf2 + esc_battery + events + flight_mode_manager + fw_att_control + fw_pos_control_l1 + gyro_calibration + gyro_fft + land_detector + landing_target_estimator + load_mon + #local_position_estimator + logger + mavlink + mc_att_control + mc_hover_thrust_estimator + mc_pos_control + mc_rate_control + #micrortps_bridge + navigator + rc_update + rover_pos_control + sensors + sih + temperature_compensation + #uuv_att_control + #uuv_pos_control + vmount + vtol_att_control + SYSTEMCMDS + bl_update + dmesg + dumpfile + esc_calib + gpio + hardfault_log + i2cdetect + led_control + mft + mixer + motor_ramp + motor_test + mtd + nshterm + param + perf + pwm + reboot + reflect + sd_bench + serial_test + system_time + tests # tests and test runner + top + topic_listener + tune_control + uorb + usb_connected + ver + work_queue + EXAMPLES + fake_gps + fake_gyro + fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test + #matlab_csv_serial + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item + ) diff --git a/boards/px4/fmu-v6x/default.cmake b/boards/px4/fmu-v6x/default.cmake index 9afa6612de..3fa8ac3295 100644 --- a/boards/px4/fmu-v6x/default.cmake +++ b/boards/px4/fmu-v6x/default.cmake @@ -10,7 +10,9 @@ px4_add_board( BUILD_BOOTLOADER IO px4_io-v2_default TESTING -# UAVCAN_INTERFACES 2 - No H7 or FD can support in UAVCAN + UAVCAN_INTERFACES 2 + UAVCAN_TIMER_OVERRIDE 2 + ETHERNET SERIAL_PORTS GPS1:/dev/ttyS0 TEL1:/dev/ttyS6 @@ -18,6 +20,7 @@ px4_add_board( TEL3:/dev/ttyS1 GPS2:/dev/ttyS7 DRIVERS + adc/ads1115 adc/board_adc barometer # all available barometer drivers batt_smbus @@ -29,23 +32,19 @@ px4_add_board( gps heater #imu # all available imu drivers - imu/analog_devices/adis16448 - imu/adis16477 - imu/adis16497 imu/bosch/bmi088 + imu/invensense/icm20602 imu/invensense/icm20649 + imu/invensense/icm42688p irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers - #osd + osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter -# pwm_input - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate -# all arch dependant code there pwm_out_sim pwm_out px4io @@ -53,11 +52,10 @@ px4_add_board( roboclaw rpm safety_button - tap_esc telemetry # all available telemetry drivers test_ppm tone_alarm -# uavcan - No H7 or FD can support in UAVCAN yet + uavcan MODULES airspeed_selector attitude_estimator_q @@ -70,6 +68,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -87,6 +87,8 @@ px4_add_board( sensors sih temperature_compensation + #uuv_att_control + #uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -94,6 +96,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -103,14 +106,16 @@ px4_add_board( motor_test mtd nshterm + netman param perf pwm reboot reflect sd_bench + serial_test system_time - tests # tests and test runner +# tests # tests and test runner top topic_listener tune_control @@ -118,16 +123,17 @@ px4_add_board( usb_connected ver work_queue - serial_test EXAMPLES fake_gps - fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control - hello - hwtest # Hardware test + #fake_gyro + #fake_magnetometer + #fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + #hello + #hwtest # Hardware test #matlab_csv_serial - px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html - px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html - rover_steering_control # Rover example app - uuv_example_app - work_item + #px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html + #px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html + #rover_steering_control # Rover example app + #uuv_example_app + #work_item ) diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults index f5e857c2f3..9c542a7730 100644 --- a/boards/px4/fmu-v6x/init/rc.board_defaults +++ b/boards/px4/fmu-v6x/init/rc.board_defaults @@ -1,17 +1,6 @@ #!/bin/sh # -# PX4 FMUv6X specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Multi-EKF -param set-default EKF2_MULTI_IMU 3 -param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 3 -param set-default SENS_MAG_MODE 0 - -param set-default UAVCAN_ENABLE 2 - - -set LOGGER_BUF 64 - safety_button start diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors index 18f6c2b5e2..4285cab679 100644 --- a/boards/px4/fmu-v6x/init/rc.board_sensors +++ b/boards/px4/fmu-v6x/init/rc.board_sensors @@ -16,7 +16,7 @@ bmi088 -G -R 4 -s start icm42688p -R 6 -s start # Internal SPI bus ICM-20649 (hard-mounted) -icm20649 -R 2 -s start +icm20649 -R 14 -s start # Internal magnetometer on I2c bmm150 -I start diff --git a/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig index 29127e6c9a..51719a40eb 100644 --- a/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig +++ b/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig @@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y CONFIG_MAX_TASKS=8 CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=5 CONFIG_PREALLOC_TIMERS=50 CONFIG_PTHREAD_STACK_MIN=512 diff --git a/boards/px4/fmu-v6x/nuttx-config/include/board.h b/boards/px4/fmu-v6x/nuttx-config/include/board.h index 22dc767156..38ce2f9d50 100644 --- a/boards/px4/fmu-v6x/nuttx-config/include/board.h +++ b/boards/px4/fmu-v6x/nuttx-config/include/board.h @@ -250,6 +250,12 @@ #define STM32_RCC_D3CCIPR_ADCSEL RCC_D3CCIPR_ADCSEL_PLL2 +/* FDCAN 1 2 clock source */ + +#define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ + +#define STM32_FDCANCLK STM32_HSE_FREQUENCY + /* FLASH wait states * * ------------ ---------- ----------- diff --git a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig index ef63a04261..a6a3f7c6a4 100644 --- a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig @@ -66,6 +66,7 @@ CONFIG_FAT_LCNAMES=y CONFIG_FAT_LFN=y CONFIG_FAT_LFN_ALIAS_HASH=y CONFIG_FDCLONE_STDIO=y +CONFIG_FSUTILS_IPCFG=y CONFIG_FS_BINFS=y CONFIG_FS_CROMFS=y CONFIG_FS_FAT=y @@ -83,6 +84,9 @@ CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 CONFIG_IOB_NBUFFERS=24 CONFIG_IOB_THROTTLE=0 +CONFIG_IPCFG_BINARY=y +CONFIG_IPCFG_CHARDEV=y +CONFIG_IPCFG_PATH="/fs/mtd_net" CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y CONFIG_LIBC_STRERROR=y @@ -92,19 +96,22 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 +CONFIG_MM_REGIONS=4 CONFIG_MTD=y CONFIG_MTD_BYTE_WRITE=y CONFIG_MTD_PARTITION=y CONFIG_MTD_PROGMEM=y CONFIG_MTD_RAMTRON=y +CONFIG_NAME_MAX=40 CONFIG_NET=y CONFIG_NETDB_DNSCLIENT=y CONFIG_NETDB_DNSCLIENT_ENTRIES=8 CONFIG_NETDB_DNSSERVER_NOADDR=y CONFIG_NETDEV_PHY_IOCTL=y +CONFIG_NETINIT_DHCPC=y +CONFIG_NETINIT_DNS=y +CONFIG_NETINIT_DNSIPADDR=0XC0A800FE CONFIG_NETINIT_DRIPADDR=0XC0A800FE -CONFIG_NETINIT_IPADDR=0XC0A8007B CONFIG_NETINIT_THREAD=y CONFIG_NETINIT_THREAD_PRIORITY=49 CONFIG_NETUTILS_TELNETD=y @@ -120,6 +127,7 @@ CONFIG_NET_TCPBACKLOG=y CONFIG_NET_TCP_WRITE_BUFFERS=y CONFIG_NET_UDP=y CONFIG_NET_UDP_CHECKSUMS=y +CONFIG_NET_UDP_WRITE_BUFFERS=y CONFIG_NFILE_DESCRIPTORS=12 CONFIG_NSH_ARCHINIT=y CONFIG_NSH_ARCHROMFS=y @@ -129,6 +137,7 @@ CONFIG_NSH_CMDPARMS=y CONFIG_NSH_CROMFSETC=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 CONFIG_NSH_NESTDEPTH=8 @@ -149,6 +158,8 @@ CONFIG_RAMTRON_WRITEWAIT=y CONFIG_RAM_SIZE=245760 CONFIG_RAM_START=0x20010000 CONFIG_RAW_BINARY=y +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_READLINE_TABCOMPLETION=y CONFIG_RTC_DATETIME=y CONFIG_SCHED_ATEXIT=y CONFIG_SCHED_HPWORK=y @@ -179,12 +190,11 @@ CONFIG_STM32H7_ADC1=y CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 +CONFIG_STM32H7_BDMA=y CONFIG_STM32H7_BKPSRAM=y CONFIG_STM32H7_DMA1=y CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y -CONFIG_STM32H7_DTCMEXCLUDE=y -CONFIG_STM32H7_DTCM_PROCFS=y CONFIG_STM32H7_ETHMAC=y CONFIG_STM32H7_FLASH_OVERRIDE_I=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y @@ -202,6 +212,7 @@ CONFIG_STM32H7_PHYSR_MODE=0x10 CONFIG_STM32H7_PHYSR_SPEED=0x8 CONFIG_STM32H7_PROGMEM=y CONFIG_STM32H7_RTC=y +CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y CONFIG_STM32H7_RTC_MAGIC_REG=1 CONFIG_STM32H7_SAVE_CRASHDUMP=y CONFIG_STM32H7_SDMMC2=y @@ -239,6 +250,7 @@ CONFIG_STM32H7_USART_INVERT=y CONFIG_STM32H7_USART_SINGLEWIRE=y CONFIG_STM32H7_USART_SWAP=y CONFIG_SYSTEM_CDCACM=y +CONFIG_SYSTEM_DHCPC_RENEW=y CONFIG_SYSTEM_NSH=y CONFIG_SYSTEM_PING=y CONFIG_TASK_NAME_SIZE=24 diff --git a/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld index eb5c80485f..66bd6130c2 100644 --- a/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld +++ b/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld @@ -200,8 +200,11 @@ SECTIONS /* Emit the the D3 power domain section for locating BDMA data */ - .sram4 (NOLOAD) : + .sram4_reserve (NOLOAD) : { + *(.sram4) + . = ALIGN(4); + _sram4_heap_start = ABSOLUTE(.); } > sram4 /* Stabs debugging sections. */ diff --git a/boards/px4/io-v2/bootloader/px4_io-v2_bootloader.bin b/boards/px4/io-v2/bootloader/px4_io-v2_bootloader.bin new file mode 100644 index 0000000000..235c65c934 Binary files /dev/null and b/boards/px4/io-v2/bootloader/px4_io-v2_bootloader.bin differ diff --git a/boards/px4/raspberrypi/default.cmake b/boards/px4/raspberrypi/default.cmake index 36d812f838..b029484c34 100644 --- a/boards/px4/raspberrypi/default.cmake +++ b/boards/px4/raspberrypi/default.cmake @@ -23,7 +23,6 @@ px4_add_board( gps #imu # all available imu drivers imu/invensense/mpu9250 - linux_pwm_out #magnetometer # all available magnetometer drivers magnetometer/hmc5883 pca9685_pwm_out @@ -39,10 +38,13 @@ px4_add_board( commander dataman ekf2 + esc_battery events flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -58,9 +60,11 @@ px4_add_board( rc_update rover_pos_control sensors - temperature_compensation sih #simulator + temperature_compensation + uuv_att_control + uuv_pos_control vmount vtol_att_control SYSTEMCMDS @@ -69,10 +73,12 @@ px4_add_board( led_control mixer motor_ramp + motor_test param perf pwm sd_bench + #serial_test system_time shutdown tests # tests and test runner @@ -83,8 +89,10 @@ px4_add_board( ver work_queue EXAMPLES - fake_gps dyn_hello # dynamically loading modules example + fake_gps + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello #hwtest # Hardware test diff --git a/boards/px4/sitl/ctrlalloc.cmake b/boards/px4/sitl/ctrlalloc.cmake index 9922036c8e..876ad06dcb 100644 --- a/boards/px4/sitl/ctrlalloc.cmake +++ b/boards/px4/sitl/ctrlalloc.cmake @@ -37,6 +37,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake index 217b262699..d2221a0cdf 100644 --- a/boards/px4/sitl/default.cmake +++ b/boards/px4/sitl/default.cmake @@ -7,6 +7,7 @@ px4_add_board( LABEL default EMBEDDED_METADATA parameters TESTING + ETHERNET DRIVERS #barometer # all available barometer drivers #batt_smbus @@ -35,6 +36,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -86,6 +89,7 @@ px4_add_board( EXAMPLES dyn_hello # dynamically loading modules example fake_gps + fake_gyro fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello diff --git a/boards/px4/sitl/nolockstep.cmake b/boards/px4/sitl/nolockstep.cmake index 3c45559194..83e40ed7b6 100644 --- a/boards/px4/sitl/nolockstep.cmake +++ b/boards/px4/sitl/nolockstep.cmake @@ -35,6 +35,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake index 9f043c589f..63eb8e398b 100644 --- a/boards/px4/sitl/rtps.cmake +++ b/boards/px4/sitl/rtps.cmake @@ -35,6 +35,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake index 5205f770df..c228cba95c 100644 --- a/boards/px4/sitl/test.cmake +++ b/boards/px4/sitl/test.cmake @@ -14,6 +14,7 @@ px4_add_board( camera_trigger #differential_pressure # all available differential pressure drivers #distance_sensor # all available distance sensor drivers + distance_sensor/lightware_laser_serial gps #imu # all available imu drivers #magnetometer # all available magnetometer drivers @@ -35,6 +36,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon diff --git a/boards/scumaker/pilotpi/arm64.cmake b/boards/scumaker/pilotpi/arm64.cmake index 3684b2990f..e19df827f4 100644 --- a/boards/scumaker/pilotpi/arm64.cmake +++ b/boards/scumaker/pilotpi/arm64.cmake @@ -44,6 +44,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon diff --git a/boards/scumaker/pilotpi/default.cmake b/boards/scumaker/pilotpi/default.cmake index 4dcd5bed6b..de0486cf20 100644 --- a/boards/scumaker/pilotpi/default.cmake +++ b/boards/scumaker/pilotpi/default.cmake @@ -44,6 +44,8 @@ px4_add_board( flight_mode_manager fw_att_control fw_pos_control_l1 + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon diff --git a/boards/spracing/h7extreme/default.cmake b/boards/spracing/h7extreme/default.cmake index e82de24a40..5de213e2b7 100644 --- a/boards/spracing/h7extreme/default.cmake +++ b/boards/spracing/h7extreme/default.cmake @@ -18,7 +18,7 @@ px4_add_board( #batt_smbus camera_capture camera_trigger - differential_pressure # all available differential pressure drivers + #differential_pressure # all available differential pressure drivers distance_sensor # all available distance sensor drivers dshot gps @@ -28,13 +28,11 @@ px4_add_board( #imu/adis16477 #imu/adis16497 #imu/bmi088 - imu/mpu6000 + imu/invensense/mpu6000 imu/invensense/icm20602 #imu/mpu9250 #irlock - lights/blinkm - lights/rgbled - lights/rgbled_ncp5623c + lights # all available light drivers magnetometer # all available magnetometer drivers optical_flow # all available optical flow drivers osd @@ -46,7 +44,6 @@ px4_add_board( pwm_out_sim pwm_out #roboclaw - #tap_esc rc_input telemetry # all available telemetry drivers #test_ppm @@ -79,7 +76,7 @@ px4_add_board( #rover_pos_control sensors #sih - temperature_compensation + #temperature_compensation vmount #vtol_att_control SYSTEMCMDS diff --git a/boards/spracing/h7extreme/init/rc.board_defaults b/boards/spracing/h7extreme/init/rc.board_defaults index b3a7308d44..1d809acc3e 100644 --- a/boards/spracing/h7extreme/init/rc.board_defaults +++ b/boards/spracing/h7extreme/init/rc.board_defaults @@ -1,6 +1,6 @@ #!/bin/sh # -# SP Racing H7 EXTREME specific board defaults +# board specific defaults #------------------------------------------------------------------------------ # system_power unavailable @@ -9,9 +9,6 @@ param set-default CBRK_SUPPLY_CHK 894281 # Select the Generic 250 Racer by default param set-default SYS_AUTOSTART 4050 -# Disable safety switch by default -param set-default CBRK_IO_SAFETY 22027 - # use the Q attitude estimator, it works w/o mag or GPS. param set-default SYS_MC_EST_GROUP 3 param set-default ATT_ACC_COMP 0 @@ -21,6 +18,3 @@ param set-default ATT_W_GYRO_BIAS 0.0000 param set-default SYS_HAS_MAG 0 param set-default DSHOT_CONFIG 600 - - -set LOGGER_BUF 64 diff --git a/boards/spracing/h7extreme/nuttx-config/nsh/defconfig b/boards/spracing/h7extreme/nuttx-config/nsh/defconfig index 37a59804f1..a545d28868 100644 --- a/boards/spracing/h7extreme/nuttx-config/nsh/defconfig +++ b/boards/spracing/h7extreme/nuttx-config/nsh/defconfig @@ -89,7 +89,6 @@ CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y CONFIG_MMCSD_SDIO=y CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y -CONFIG_MM_REGIONS=3 CONFIG_NFILE_DESCRIPTORS=12 CONFIG_NSH_ARCHINIT=y CONFIG_NSH_ARCHROMFS=y @@ -101,6 +100,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 @@ -144,6 +144,7 @@ CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_BUFFER_SIZE=256 CONFIG_STM32H7_ADC1=y +CONFIG_STM32H7_ADC3=y CONFIG_STM32H7_BBSRAM=y CONFIG_STM32H7_BBSRAM_FILES=5 CONFIG_STM32H7_BKPSRAM=y diff --git a/boards/spracing/h7extreme/nuttx-config/scripts/script.ld b/boards/spracing/h7extreme/nuttx-config/scripts/script.ld index 3417c388a8..c3690768be 100644 --- a/boards/spracing/h7extreme/nuttx-config/scripts/script.ld +++ b/boards/spracing/h7extreme/nuttx-config/scripts/script.ld @@ -143,11 +143,9 @@ SECTIONS *modules__mc_att_control.a:*(.text* .rodata*) *modules__mc_rate_control.a:*(.text* .rodata*) *modules__rc_update.a:*(.text* .rodata*) - *drivers__mpu6000.a:*(.text* .rodata*) *drivers__imu__invensense__icm20602.a:*(.text* .rodata*) *drivers__device.a:*(.text* .rodata*) *drivers__pwm_out.a:*(.text* .rodata*) - *vehicle_acceleration.a:*(.text* .rodata*) *vehicle_angular_velocity.a:*(.text* .rodata*) *modules__attitude_estimator_q.a:*(.text* .rodata*) *stm32_spi.o(.text* .rodata*) diff --git a/boards/uvify/core/bootloader/uvify_core_bootloader.bin b/boards/uvify/core/bootloader/uvify_core_bootloader.bin new file mode 100644 index 0000000000..990cfaf5bc Binary files /dev/null and b/boards/uvify/core/bootloader/uvify_core_bootloader.bin differ diff --git a/boards/uvify/core/default.cmake b/boards/uvify/core/default.cmake index 12d8879e1d..591b1d17bd 100644 --- a/boards/uvify/core/default.cmake +++ b/boards/uvify/core/default.cmake @@ -48,6 +48,8 @@ px4_add_board( ekf2 events flight_mode_manager + gyro_calibration + gyro_fft land_detector landing_target_estimator load_mon @@ -58,6 +60,7 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update sensors @@ -69,6 +72,7 @@ px4_add_board( dmesg dumpfile esc_calib + gpio hardfault_log i2cdetect led_control @@ -84,6 +88,7 @@ px4_add_board( reboot reflect sd_bench + serial_test system_time top topic_listener diff --git a/boards/uvify/core/init/rc.board_defaults b/boards/uvify/core/init/rc.board_defaults index 61ca5a1272..df7abbbbef 100644 --- a/boards/uvify/core/init/rc.board_defaults +++ b/boards/uvify/core/init/rc.board_defaults @@ -1,10 +1,7 @@ #!/bin/sh # -# UVify Core specific board defaults +# board specific defaults #------------------------------------------------------------------------------ -# Disable safety switch by default -param set-default CBRK_IO_SAFETY 22027 - # don't probe external I2C param set-default SENS_EXT_I2C_PRB 0 diff --git a/boards/uvify/core/nuttx-config/nsh/defconfig b/boards/uvify/core/nuttx-config/nsh/defconfig index f4465b7750..565d631ad5 100644 --- a/boards/uvify/core/nuttx-config/nsh/defconfig +++ b/boards/uvify/core/nuttx-config/nsh/defconfig @@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y CONFIG_NSH_DISABLE_IFUPDOWN=y CONFIG_NSH_DISABLE_MB=y CONFIG_NSH_DISABLE_MH=y +CONFIG_NSH_DISABLE_MW=y CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 diff --git a/cmake/metadata.cmake b/cmake/metadata.cmake index 56ba664041..48e8c22502 100644 --- a/cmake/metadata.cmake +++ b/cmake/metadata.cmake @@ -59,7 +59,7 @@ add_custom_target(metadata_parameters COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` --inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml - --json ${PX4_BINARY_DIR}/docs/params.json + --json ${PX4_BINARY_DIR}/docs/parameters.json --compress COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py diff --git a/cmake/px4_add_board.cmake b/cmake/px4_add_board.cmake index 459b27b8fa..ef65b70964 100644 --- a/cmake/px4_add_board.cmake +++ b/cmake/px4_add_board.cmake @@ -48,7 +48,6 @@ # [ ROMFSROOT ] # [ BUILD_BOOTLOADER ] # [ IO ] -# [ BOOTLOADER ] # [ UAVCAN_INTERFACES ] # [ UAVCAN_PERIPHERALS ] # [ DRIVERS ] @@ -61,6 +60,7 @@ # [ TESTING ] # [ LINKER_PREFIX ] # [ EMBEDDED_METADATA ] +# [ ETHERNET ] # ) # # Input: @@ -73,7 +73,6 @@ # ROMFSROOT : relative path to the ROMFS root directory # BUILD_BOOTLOADER : flag to enable building and including the bootloader config # IO : name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT) -# BOOTLOADER : bootloader file to include for flashing via bl_update (currently NuttX only) # UAVCAN_INTERFACES : number of interfaces for UAVCAN # UAVCAN_PERIPHERALS : list of UAVCAN peripheral firmware to build and embed # DRIVERS : list of drivers to build for this board (relative to src/drivers) @@ -86,6 +85,7 @@ # CONSTRAINED_MEMORY : flag to enable constrained memory options (eg limit maximum number of uORB publications) # TESTING : flag to enable automatic inclusion of PX4 testing modules # LINKER_PREFIX : optional to prefix on the Linker script. +# ETHERNET : flag to indicate that ethernet is enabled # # # Example: @@ -105,8 +105,8 @@ # DRIVERS # barometer/ms5611 # gps -# imu/bmi055 -# imu/mpu6000 +# imu/bosch/bmi055 +# imu/invensense/mpu6000 # magnetometer/isentek/ist8310 # pwm_out # px4io @@ -146,7 +146,6 @@ function(px4_add_board) ARCHITECTURE ROMFSROOT IO - BOOTLOADER UAVCAN_INTERFACES UAVCAN_TIMER_OVERRIDE LINKER_PREFIX @@ -163,6 +162,7 @@ function(px4_add_board) CONSTRAINED_FLASH CONSTRAINED_MEMORY TESTING + ETHERNET REQUIRED PLATFORM VENDOR @@ -207,19 +207,16 @@ function(px4_add_board) set(romfs_extra_files) set(config_romfs_extra_dependencies) - if(BOOTLOADER) - list(APPEND romfs_extra_files ${BOOTLOADER}) - endif() foreach(metadata ${EMBEDDED_METADATA}) if(${metadata} STREQUAL "parameters") - list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/params.json.xz) + list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/parameters.json.xz) list(APPEND romfs_extra_dependencies parameters_xml) else() message(FATAL_ERROR "invalid value for EMBEDDED_METADATA: ${metadata}") endif() endforeach() - list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_version.json.xz) - list(APPEND romfs_extra_dependencies component_version_json) + list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/component_general.json.xz) + list(APPEND romfs_extra_dependencies component_general_json) set(config_romfs_extra_files ${romfs_extra_files} CACHE INTERNAL "extra ROMFS files" FORCE) set(config_romfs_extra_dependencies ${romfs_extra_dependencies} CACHE INTERNAL "extra ROMFS deps" FORCE) @@ -269,6 +266,10 @@ function(px4_add_board) set(PX4_TESTING "1" CACHE INTERNAL "testing enabled" FORCE) endif() + if(ETHERNET) + set(PX4_ETHERNET "1" CACHE INTERNAL "ethernet enabled" FORCE) + endif() + if(LINKER_PREFIX) set(PX4_BOARD_LINKER_PREFIX ${LINKER_PREFIX} CACHE STRING "PX4 board linker prefix" FORCE) else() diff --git a/cmake/px4_add_common_flags.cmake b/cmake/px4_add_common_flags.cmake index 546cbfce30..8f45c71109 100644 --- a/cmake/px4_add_common_flags.cmake +++ b/cmake/px4_add_common_flags.cmake @@ -114,8 +114,8 @@ function(px4_add_common_flags) elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9) - # enable color for gcc > 4.9 when stdout is terminal - add_compile_options(-fdiagnostics-color=auto) + # force color for gcc > 4.9 + add_compile_options(-fdiagnostics-color=always) endif() if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 9.3) diff --git a/mavlink/include/mavlink/v2.0 b/mavlink/include/mavlink/v2.0 index bf7df5c01d..9e07c7d0b6 160000 --- a/mavlink/include/mavlink/v2.0 +++ b/mavlink/include/mavlink/v2.0 @@ -1 +1 @@ -Subproject commit bf7df5c01d856f174c3b98e5b6527e777b173935 +Subproject commit 9e07c7d0b6eb91f0fd84f911dc91e68e865ba7ed diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 388b8ea70e..b66c6e41b5 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -57,6 +57,7 @@ set(msg_files ekf_gps_drift.msg esc_report.msg esc_status.msg + estimator_event_flags.msg estimator_innovations.msg estimator_optical_flow_vel.msg estimator_selector_status.msg diff --git a/msg/commander_state.msg b/msg/commander_state.msg index 38c94931f1..7d5c85e11d 100644 --- a/msg/commander_state.msg +++ b/msg/commander_state.msg @@ -1,21 +1,23 @@ # Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link. uint64 timestamp # time since system start (microseconds) -uint8 MAIN_STATE_MANUAL = 0 -uint8 MAIN_STATE_ALTCTL = 1 -uint8 MAIN_STATE_POSCTL = 2 -uint8 MAIN_STATE_AUTO_MISSION = 3 -uint8 MAIN_STATE_AUTO_LOITER = 4 -uint8 MAIN_STATE_AUTO_RTL = 5 -uint8 MAIN_STATE_ACRO = 6 -uint8 MAIN_STATE_OFFBOARD = 7 -uint8 MAIN_STATE_STAB = 8 -uint8 MAIN_STATE_RATTITUDE = 9 -uint8 MAIN_STATE_AUTO_TAKEOFF = 10 -uint8 MAIN_STATE_AUTO_LAND = 11 +uint8 MAIN_STATE_MANUAL = 0 +uint8 MAIN_STATE_ALTCTL = 1 +uint8 MAIN_STATE_POSCTL = 2 +uint8 MAIN_STATE_AUTO_MISSION = 3 +uint8 MAIN_STATE_AUTO_LOITER = 4 +uint8 MAIN_STATE_AUTO_RTL = 5 +uint8 MAIN_STATE_ACRO = 6 +uint8 MAIN_STATE_OFFBOARD = 7 +uint8 MAIN_STATE_STAB = 8 +# LEGACY RATTITUDE = 9 +uint8 MAIN_STATE_AUTO_TAKEOFF = 10 +uint8 MAIN_STATE_AUTO_LAND = 11 uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12 -uint8 MAIN_STATE_AUTO_PRECLAND = 13 -uint8 MAIN_STATE_ORBIT = 14 -uint8 MAIN_STATE_MAX = 15 +uint8 MAIN_STATE_AUTO_PRECLAND = 13 +uint8 MAIN_STATE_ORBIT = 14 +uint8 MAIN_STATE_MAX = 15 uint8 main_state # main state machine + +uint16 main_state_changes diff --git a/msg/estimator_event_flags.msg b/msg/estimator_event_flags.msg new file mode 100644 index 0000000000..677fd9e60c --- /dev/null +++ b/msg/estimator_event_flags.msg @@ -0,0 +1,32 @@ +uint64 timestamp # time since system start (microseconds) +uint64 timestamp_sample # the timestamp of the raw data (microseconds) + +# information events +uint32 information_event_changes # number of information event changes +bool gps_checks_passed # 0 - true when gps quality checks are passing passed +bool reset_vel_to_gps # 1 - true when the velocity states are reset to the gps measurement +bool reset_vel_to_flow # 2 - true when the velocity states are reset using the optical flow measurement +bool reset_vel_to_vision # 3 - true when the velocity states are reset to the vision system measurement +bool reset_vel_to_zero # 4 - true when the velocity states are reset to zero +bool reset_pos_to_last_known # 5 - true when the position states are reset to the last known position +bool reset_pos_to_gps # 6 - true when the position states are reset to the gps measurement +bool reset_pos_to_vision # 7 - true when the position states are reset to the vision system measurement +bool starting_gps_fusion # 8 - true when the filter starts using gps measurements to correct the state estimates +bool starting_vision_pos_fusion # 9 - true when the filter starts using vision system position measurements to correct the state estimates +bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates +bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates +bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data + +# warning events +uint32 warning_event_changes # number of warning event changes +bool gps_quality_poor # 0 - true when the gps is failing quality checks +bool gps_fusion_timout # 1 - true when the gps data has not been used to correct the state estimates for a significant time period +bool gps_data_stopped # 2 - true when the gps data has stopped for a significant time period +bool gps_data_stopped_using_alternate # 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation +bool height_sensor_timeout # 4 - true when the height sensor has not been used to correct the state estimates for a significant time period +bool stopping_navigation # 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation +bool invalid_accel_bias_cov_reset # 6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements +bool bad_yaw_using_gps_course # 7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course +bool stopping_mag_use # 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data +bool vision_data_stopped # 9 - true when the vision system data has stopped for a significant time period +bool emergency_yaw_reset_mag_stopped # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data diff --git a/msg/manual_control_switches.msg b/msg/manual_control_switches.msg index fb68c1d44d..444120e595 100644 --- a/msg/manual_control_switches.msg +++ b/msg/manual_control_switches.msg @@ -30,7 +30,6 @@ uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGH uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO -uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL diff --git a/msg/offboard_control_mode.msg b/msg/offboard_control_mode.msg index 931c2fcf6d..73d4cba081 100644 --- a/msg/offboard_control_mode.msg +++ b/msg/offboard_control_mode.msg @@ -2,12 +2,8 @@ uint64 timestamp # time since system start (microseconds) -bool ignore_thrust -bool ignore_attitude -bool ignore_bodyrate_x -bool ignore_bodyrate_y -bool ignore_bodyrate_z -bool ignore_position -bool ignore_velocity -bool ignore_acceleration_force -bool ignore_alt_hold +bool position +bool velocity +bool acceleration +bool attitude +bool body_rate diff --git a/msg/optical_flow.msg b/msg/optical_flow.msg index 68404f7667..4b3796ff9f 100644 --- a/msg/optical_flow.msg +++ b/msg/optical_flow.msg @@ -19,3 +19,11 @@ uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: m float32 max_flow_rate # Magnitude of maximum angular which the optical flow sensor can measure reliably float32 min_ground_distance # Minimum distance from ground at which the optical flow sensor operates reliably float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably + + +uint8 MODE_UNKNOWN = 0 +uint8 MODE_BRIGHT = 1 +uint8 MODE_LOWLIGHT = 2 +uint8 MODE_SUPER_LOWLIGHT = 3 + +uint8 mode diff --git a/msg/position_controller_status.msg b/msg/position_controller_status.msg index 1ae30ffaff..2f2531bfbf 100644 --- a/msg/position_controller_status.msg +++ b/msg/position_controller_status.msg @@ -2,10 +2,10 @@ uint64 timestamp # time since system start (microseconds) float32 nav_roll float32 nav_pitch -float32 nav_bearing +float32 nav_bearing # set to NAN if not valid -float32 target_bearing -float32 xtrack_error +float32 target_bearing # set to NAN if not valid +float32 xtrack_error # set to NAN if not valid float32 wp_dist diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg index 403ece57b0..a3a1668a46 100644 --- a/msg/position_setpoint.msg +++ b/msg/position_setpoint.msg @@ -8,8 +8,7 @@ uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC) -uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard -uint8 SETPOINT_TYPE_FOLLOW_TARGET=7 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target +uint8 SETPOINT_TYPE_FOLLOW_TARGET=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED @@ -17,11 +16,6 @@ uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED bool valid # true if setpoint is valid uint8 type # setpoint type to adjust behavior of position controller -float32 x # local position setpoint in m in NED -float32 y # local position setpoint in m in NED -float32 z # local position setpoint in m in NED -bool position_valid # true if local position setpoint valid - float32 vx # local velocity setpoint in m/s in NED float32 vy # local velocity setpoint in m/s in NED float32 vz # local velocity setpoint in m/s in NED @@ -43,12 +37,6 @@ int8 landing_gear # landing gear: see definition of the states in landing_gear. float32 loiter_radius # loiter radius (only for fixed wing), in m int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW -float32 a_x # acceleration x setpoint -float32 a_y # acceleration y setpoint -float32 a_z # acceleration z setpoint -bool acceleration_valid # true if acceleration setpoint is valid/should be used -bool acceleration_is_force # interprete acceleration as force - float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation float32 cruising_speed # the generally desired cruising speed (not a hard constraint) diff --git a/msg/rc_channels.msg b/msg/rc_channels.msg index 18d8d97f58..024b5d5deb 100644 --- a/msg/rc_channels.msg +++ b/msg/rc_channels.msg @@ -1,37 +1,36 @@ uint64 timestamp # time since system start (microseconds) -uint8 FUNCTION_THROTTLE=0 -uint8 FUNCTION_ROLL=1 -uint8 FUNCTION_PITCH=2 -uint8 FUNCTION_YAW=3 -uint8 FUNCTION_MODE=4 -uint8 FUNCTION_RETURN=5 -uint8 FUNCTION_POSCTL=6 -uint8 FUNCTION_LOITER=7 -uint8 FUNCTION_OFFBOARD=8 -uint8 FUNCTION_ACRO=9 -uint8 FUNCTION_FLAPS=10 -uint8 FUNCTION_AUX_1=11 -uint8 FUNCTION_AUX_2=12 -uint8 FUNCTION_AUX_3=13 -uint8 FUNCTION_AUX_4=14 -uint8 FUNCTION_AUX_5=15 -uint8 FUNCTION_PARAM_1=16 -uint8 FUNCTION_PARAM_2=17 -uint8 FUNCTION_PARAM_3_5=18 -uint8 FUNCTION_RATTITUDE=19 -uint8 FUNCTION_KILLSWITCH=20 -uint8 FUNCTION_TRANSITION=21 -uint8 FUNCTION_GEAR=22 -uint8 FUNCTION_ARMSWITCH=23 -uint8 FUNCTION_STAB=24 -uint8 FUNCTION_AUX_6=25 -uint8 FUNCTION_MAN=26 +uint8 FUNCTION_THROTTLE = 0 +uint8 FUNCTION_ROLL = 1 +uint8 FUNCTION_PITCH = 2 +uint8 FUNCTION_YAW = 3 +uint8 FUNCTION_MODE = 4 +uint8 FUNCTION_RETURN = 5 +uint8 FUNCTION_POSCTL = 6 +uint8 FUNCTION_LOITER = 7 +uint8 FUNCTION_OFFBOARD = 8 +uint8 FUNCTION_ACRO = 9 +uint8 FUNCTION_FLAPS = 10 +uint8 FUNCTION_AUX_1 = 11 +uint8 FUNCTION_AUX_2 = 12 +uint8 FUNCTION_AUX_3 = 13 +uint8 FUNCTION_AUX_4 = 14 +uint8 FUNCTION_AUX_5 = 15 +uint8 FUNCTION_PARAM_1 = 16 +uint8 FUNCTION_PARAM_2 = 17 +uint8 FUNCTION_PARAM_3_5 = 18 +uint8 FUNCTION_KILLSWITCH = 19 +uint8 FUNCTION_TRANSITION = 20 +uint8 FUNCTION_GEAR = 21 +uint8 FUNCTION_ARMSWITCH = 22 +uint8 FUNCTION_STAB = 23 +uint8 FUNCTION_AUX_6 = 24 +uint8 FUNCTION_MAN = 25 uint64 timestamp_last_valid # Timestamp of last valid RC signal float32[18] channels # Scaled to -1..1 (throttle: 0..1) uint8 channel_count # Number of valid channels -int8[27] function # Functions mapping +int8[26] function # Functions mapping uint8 rssi # Receive signal strength index bool signal_lost # Control signal lost, should be checked together with topic timeout uint32 frame_drop_count # Number of dropped frames diff --git a/msg/sensor_accel.msg b/msg/sensor_accel.msg index f70cffd1db..e47d813a7a 100644 --- a/msg/sensor_accel.msg +++ b/msg/sensor_accel.msg @@ -13,4 +13,6 @@ uint32 error_count uint8[3] clip_counter # clip count per axis in the sample period +uint8 samples # number of raw samples that went into this message + uint8 ORB_QUEUE_LENGTH = 8 diff --git a/msg/sensor_accel_fifo.msg b/msg/sensor_accel_fifo.msg index 0f79bf5018..1eae5dd149 100644 --- a/msg/sensor_accel_fifo.msg +++ b/msg/sensor_accel_fifo.msg @@ -11,5 +11,3 @@ uint8 samples # number of valid samples int16[32] x # acceleration in the FRD board frame X-axis in m/s^2 int16[32] y # acceleration in the FRD board frame Y-axis in m/s^2 int16[32] z # acceleration in the FRD board frame Z-axis in m/s^2 - -uint8 rotation # Direction the sensor faces (see Rotation enum) diff --git a/msg/sensor_gps.msg b/msg/sensor_gps.msg index 3e78c3156c..2b9519acc5 100644 --- a/msg/sensor_gps.msg +++ b/msg/sensor_gps.msg @@ -18,6 +18,7 @@ float32 hdop # Horizontal dilution of precision float32 vdop # Vertical dilution of precision int32 noise_per_ms # GPS noise per millisecond +uint16 automatic_gain_control # Automatic gain control monitor int32 jamming_indicator # indicates jamming is occurring uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical diff --git a/msg/sensor_gyro.msg b/msg/sensor_gyro.msg index f040f02660..b1025e1d12 100644 --- a/msg/sensor_gyro.msg +++ b/msg/sensor_gyro.msg @@ -11,4 +11,6 @@ float32 temperature # temperature in degrees Celsius uint32 error_count +uint8 samples # number of raw samples that went into this message + uint8 ORB_QUEUE_LENGTH = 8 diff --git a/msg/sensor_gyro_fft.msg b/msg/sensor_gyro_fft.msg index 31d1906d15..66c97e7995 100644 --- a/msg/sensor_gyro_fft.msg +++ b/msg/sensor_gyro_fft.msg @@ -3,12 +3,13 @@ uint64 timestamp_sample uint32 device_id # unique device ID for the sensor that does not change between power cycles -float32 dt # delta time between samples (microseconds) - +float32 sensor_sample_rate_hz float32 resolution_hz -float32[3] peak_frequency # peak frequency per axis +float32[6] peak_frequencies_x # x axis peak frequencies +float32[6] peak_frequencies_y # y axis peak frequencies +float32[6] peak_frequencies_z # z axis peak frequencies -float32[4] peak_frequencies_x # x axis peak frequencies -float32[4] peak_frequencies_y # y axis peak frequencies -float32[4] peak_frequencies_z # z axis peak frequencies +uint32[6] peak_magnitude_x # x axis peak frequencies magnitude +uint32[6] peak_magnitude_y # y axis peak frequencies magnitude +uint32[6] peak_magnitude_z # z axis peak frequencies magnitude diff --git a/msg/sensor_gyro_fifo.msg b/msg/sensor_gyro_fifo.msg index 7f717a5d92..2e77ef07eb 100644 --- a/msg/sensor_gyro_fifo.msg +++ b/msg/sensor_gyro_fifo.msg @@ -12,4 +12,4 @@ int16[32] x # angular velocity in the FRD board frame X-axis in ra int16[32] y # angular velocity in the FRD board frame Y-axis in rad/s int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s -uint8 rotation # Direction the sensor faces (see Rotation enum) +uint8 ORB_QUEUE_LENGTH = 4 diff --git a/msg/takeoff_status.msg b/msg/takeoff_status.msg index 346de764eb..9b55b08f4f 100644 --- a/msg/takeoff_status.msg +++ b/msg/takeoff_status.msg @@ -2,10 +2,11 @@ uint64 timestamp # time since system start (microseconds) -uint8 TAKEOFF_STATE_DISARMED = 0 -uint8 TAKEOFF_STATE_SPOOLUP = 1 -uint8 TAKEOFF_STATE_READY_FOR_TAKEOFF = 2 -uint8 TAKEOFF_STATE_RAMPUP = 3 -uint8 TAKEOFF_STATE_FLIGHT = 4 +uint8 TAKEOFF_STATE_UNINITIALIZED = 0 +uint8 TAKEOFF_STATE_DISARMED = 1 +uint8 TAKEOFF_STATE_SPOOLUP = 2 +uint8 TAKEOFF_STATE_READY_FOR_TAKEOFF = 3 +uint8 TAKEOFF_STATE_RAMPUP = 4 +uint8 TAKEOFF_STATE_FLIGHT = 5 uint8 takeoff_state diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em index d6cff18527..6953f5e9e5 100644 --- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em +++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em @@ -218,6 +218,7 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64 while (0 < (read = transport_node->read(&topic_ID, data_buffer, BUFFER_SIZE))) { total_read += read; + uint64_t read_time = hrt_absolute_time(); switch (topic_ID) { @[for idx, topic in enumerate(recv_topics)]@ @@ -225,6 +226,11 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64 { @(receive_base_types[idx])_s @(topic)_data; deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer); + if (@(topic)_data.timestamp > read_time) + { + // don't allow timestamps from the future + @(topic)_data.timestamp = read_time; + } pubs->@(topic)_pub.publish(@(topic)_data); ++received; } diff --git a/msg/templates/urtps/microRTPS_timesync.cpp.em b/msg/templates/urtps/microRTPS_timesync.cpp.em index 51ada802e8..ba5d9bab3a 100644 --- a/msg/templates/urtps/microRTPS_timesync.cpp.em +++ b/msg/templates/urtps/microRTPS_timesync.cpp.em @@ -107,6 +107,16 @@ void TimeSync::reset() { _request_reset_counter = 0; } +int64_t TimeSync::getTimeNSec() { + auto time = std::chrono::steady_clock::now(); + return std::chrono::time_point_cast(time).time_since_epoch().count(); +} + +int64_t TimeSync::getTimeUSec() { + auto time = std::chrono::steady_clock::now(); + return std::chrono::time_point_cast(time).time_since_epoch().count(); +} + bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t local_t3_ns) { int64_t rtti = local_t3_ns - local_t1_ns; @@ -167,15 +177,15 @@ void TimeSync::processTimesyncMsg(timesync_msg_t * msg) { _last_remote_msg_seq = getMsgSeq(msg); if (getMsgTC1(msg) > 0) { - if (!addMeasurement(getMsgTS1(msg), getMsgTC1(msg), getMonoRawTimeNSec())) { + if (!addMeasurement(getMsgTS1(msg), getMsgTC1(msg), getTimeNSec())) { if (_debug) std::cerr << "\033[1;33m[ micrortps__timesync ]\tOffset not updated\033[0m" << std::endl; } } else if (getMsgTC1(msg) == 0) { - setMsgTimestamp(msg, getMonoTimeUSec()); + setMsgTimestamp(msg, getTimeUSec()); setMsgSysID(msg, 0); setMsgSeq(msg, getMsgSeq(msg) + 1); - setMsgTC1(msg, getMonoRawTimeNSec()); + setMsgTC1(msg, getTimeNSec()); _timesync_pub.publish(msg); } @@ -185,11 +195,11 @@ void TimeSync::processTimesyncMsg(timesync_msg_t * msg) { timesync_msg_t TimeSync::newTimesyncMsg() { timesync_msg_t msg{}; - setMsgTimestamp(&msg, getMonoTimeUSec()); + setMsgTimestamp(&msg, getTimeUSec()); setMsgSysID(&msg, 0); setMsgSeq(&msg, _last_msg_seq); setMsgTC1(&msg, 0); - setMsgTS1(&msg, getMonoRawTimeNSec()); + setMsgTS1(&msg, getTimeNSec()); _last_msg_seq++; diff --git a/msg/templates/urtps/microRTPS_timesync.h.em b/msg/templates/urtps/microRTPS_timesync.h.em index 611839b4d4..2a3e12bd8d 100644 --- a/msg/templates/urtps/microRTPS_timesync.h.em +++ b/msg/templates/urtps/microRTPS_timesync.h.em @@ -130,23 +130,15 @@ public: /** * @@brief Get clock monotonic time (raw) in nanoseconds - * @@return System CLOCK_MONOTONIC_RAW time in nanoseconds + * @@return System CLOCK_MONOTONIC time in nanoseconds */ - inline int64_t getMonoRawTimeNSec() { - timespec t; - clock_gettime(CLOCK_MONOTONIC_RAW, &t); - return static_cast(t.tv_sec * 1000000000LL + t.tv_nsec); - } + static int64_t getTimeNSec(); /** * @@brief Get system monotonic time in microseconds * @@return System CLOCK_MONOTONIC time in microseconds */ - inline int64_t getMonoTimeUSec() { - timespec t; - clock_gettime(CLOCK_MONOTONIC, &t); - return static_cast(t.tv_sec * 1000000000LL + t.tv_nsec) / 1000LL; - } + static int64_t getTimeUSec(); /** * @@brief Adds a time offset measurement to be filtered diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml index 94655e8b2b..5475d5d677 100644 --- a/msg/tools/uorb_rtps_message_ids.yaml +++ b/msg/tools/uorb_rtps_message_ids.yaml @@ -160,6 +160,7 @@ rtps: id: 75 - msg: telemetry_status id: 76 + receive: true - msg: test_motor id: 77 - msg: timesync @@ -169,6 +170,7 @@ rtps: - msg: trajectory_waypoint id: 79 receive: true + send: true - msg: transponder_report id: 80 - msg: tune_control @@ -185,6 +187,7 @@ rtps: id: 86 - msg: vehicle_attitude id: 87 + send: true - msg: vehicle_attitude_setpoint id: 88 - msg: vehicle_command @@ -205,8 +208,10 @@ rtps: id: 95 - msg: vehicle_local_position id: 96 + send: true - msg: vehicle_local_position_setpoint id: 97 + receive: true - msg: vehicle_magnetometer id: 98 - msg: vehicle_odometry @@ -218,6 +223,7 @@ rtps: id: 101 - msg: vehicle_status id: 102 + send: true - msg: vehicle_status_flags id: 103 - msg: vehicle_trajectory_waypoint @@ -240,6 +246,7 @@ rtps: id: 111 - msg: vehicle_angular_velocity id: 112 + send: true - msg: vehicle_acceleration id: 113 - msg: airspeed_validated @@ -267,8 +274,10 @@ rtps: id: 125 - msg: trajectory_bezier id: 126 + receive: true - msg: vehicle_trajectory_bezier id: 127 + receive: true - msg: timesync_status id: 128 - msg: orb_test @@ -331,6 +340,8 @@ rtps: id: 157 - msg: airspeed_wind id: 158 + - msg: estimator_event_flags + id: 159 ########## multi topics: begin ########## - msg: actuator_controls_0 id: 170 @@ -376,6 +387,7 @@ rtps: - msg: vehicle_trajectory_waypoint_desired id: 183 alias: vehicle_trajectory_waypoint + send: true - msg: obstacle_distance_fused id: 184 alias: obstacle_distance @@ -385,6 +397,7 @@ rtps: - msg: trajectory_setpoint id: 186 alias: vehicle_local_position_setpoint + receive: true - msg: camera_trigger_secondary id: 187 alias: camera_trigger diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg index 6cf61a0af5..089934f103 100644 --- a/msg/vehicle_command.msg +++ b/msg/vehicle_command.msg @@ -18,7 +18,6 @@ uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and trans uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| -uint16 VEHICLE_CMD_NAV_GUIDED_ENABLE = 92 # hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| uint16 VEHICLE_CMD_NAV_DELAY = 93 # Delay the next navigation command a number of seconds or until a specified time |Delay in seconds (decimal, -1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty| uint16 VEHICLE_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| uint16 VEHICLE_CMD_CONDITION_DELAY = 112 # Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| @@ -88,6 +87,12 @@ uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location. + +# PX4 vehicle commands (beyond 16 bit mavlink commands) +uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX) +uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude| + + uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED | uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED | uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED | @@ -149,7 +154,7 @@ float32 param4 # Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum. float64 param5 # Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum. float64 param6 # Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum. float32 param7 # Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum. -uint16 command # Command ID, as defined MAVLink by uint16 VEHICLE_CMD enum. +uint32 command # Command ID uint8 target_system # System which should execute the command uint8 target_component # Component which should execute the command, 0 for all components uint8 source_system # System sending the command diff --git a/msg/vehicle_command_ack.msg b/msg/vehicle_command_ack.msg index a1861c3473..9f52a8d62b 100644 --- a/msg/vehicle_command_ack.msg +++ b/msg/vehicle_command_ack.msg @@ -15,7 +15,7 @@ uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5 uint8 ORB_QUEUE_LENGTH = 4 -uint16 command +uint32 command uint8 result bool from_external uint8 result_param1 diff --git a/msg/vehicle_constraints.msg b/msg/vehicle_constraints.msg index fabfce997e..0e624c0370 100644 --- a/msg/vehicle_constraints.msg +++ b/msg/vehicle_constraints.msg @@ -3,15 +3,8 @@ uint64 timestamp # time since system start (microseconds) -float32 yawspeed # in radians/sec float32 speed_xy # in meters/sec float32 speed_up # in meters/sec float32 speed_down # in meters/sec -float32 tilt # in radians [0, PI] -float32 min_distance_to_ground # in meters -float32 max_distance_to_ground # in meters -bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight) -bool reset_integral # tells controller to reset integrators e.g. since we know the vehicle is not in air -float32 minimum_thrust # tell controller what the minimum collective output thrust should be -uint32 flight_task +bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight) diff --git a/msg/vehicle_control_mode.msg b/msg/vehicle_control_mode.msg index 08b8c43da8..9592a694ca 100644 --- a/msg/vehicle_control_mode.msg +++ b/msg/vehicle_control_mode.msg @@ -8,13 +8,9 @@ bool flag_control_auto_enabled # true if onboard autopilot should act bool flag_control_offboard_enabled # true if offboard control should be used bool flag_control_rates_enabled # true if rates are stabilized bool flag_control_attitude_enabled # true if attitude stabilization is mixed in -bool flag_control_yawrate_override_enabled # true if the yaw rate override is enabled -bool flag_control_rattitude_enabled # true if rate/attitude stabilization is enabled -bool flag_control_force_enabled # true if force control is mixed in -bool flag_control_acceleration_enabled # true if acceleration is controlled +bool flag_control_acceleration_enabled # true if acceleration is controlled bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled bool flag_control_position_enabled # true if position is controlled bool flag_control_altitude_enabled # true if altitude is controlled bool flag_control_climb_rate_enabled # true if climb rate is controlled bool flag_control_termination_enabled # true if flighttermination is enabled -bool flag_control_fixed_hdg_enabled # true if using a fixed heading for user control diff --git a/msg/vehicle_imu_status.msg b/msg/vehicle_imu_status.msg index e5be88448d..149e0ac950 100644 --- a/msg/vehicle_imu_status.msg +++ b/msg/vehicle_imu_status.msg @@ -11,6 +11,9 @@ uint32 gyro_error_count float32 accel_rate_hz float32 gyro_rate_hz +float32 accel_raw_rate_hz # full raw sensor sample rate (Hz) +float32 gyro_raw_rate_hz # full raw sensor sample rate (Hz) + float32 accel_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s) float32 gyro_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s) float32 gyro_coning_vibration # Level of coning vibration in the IMU delta angles (rad^2) diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg index b841549637..fae2a01543 100644 --- a/msg/vehicle_status.msg +++ b/msg/vehicle_status.msg @@ -37,7 +37,7 @@ uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control) uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode uint8 NAVIGATION_STATE_OFFBOARD = 14 uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode -uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode +uint8 NAVIGATION_STATE_UNUSED2 = 16 # Free slot uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg index c8d397d151..af9ca66099 100644 --- a/msg/vehicle_status_flags.msg +++ b/msg/vehicle_status_flags.msg @@ -28,13 +28,13 @@ bool circuit_breaker_vtol_fw_arming_check # set to true if for VTOLs arming in bool offboard_control_signal_found_once bool offboard_control_signal_lost -bool offboard_control_set_by_command # true if the offboard mode was set by a mavlink command and should not be overridden by RC bool rc_signal_found_once bool rc_input_blocked # set if RC input should be ignored temporarily bool rc_calibration_valid # set if RC calibration is valid bool vtol_transition_failure # Set to true if vtol transition failed bool usb_connected # status of the USB power supply +bool sd_card_detected_once # set to true if the SD card was detected bool avoidance_system_required # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter bool avoidance_system_valid # Status of the obstacle avoidance system diff --git a/platforms/common/include/px4_platform_common/board_common.h b/platforms/common/include/px4_platform_common/board_common.h index 506d30ddf8..53a3eaa571 100644 --- a/platforms/common/include/px4_platform_common/board_common.h +++ b/platforms/common/include/px4_platform_common/board_common.h @@ -339,11 +339,11 @@ typedef enum PX4_SOC_ARCH_ID_t { PX4_SOC_ARCH_ID_EAGLE = 0x1001, PX4_SOC_ARCH_ID_QURT = 0x1002, - PX4_SOC_ARCH_ID_OCPOC = 0x1003, + PX4_SOC_ARCH_ID_RPI = 0x1004, PX4_SOC_ARCH_ID_SIM = 0x1005, PX4_SOC_ARCH_ID_SITL = 0x1006, - PX4_SOC_ARCH_ID_BEBOP = 0x1007, + PX4_SOC_ARCH_ID_BBBLUE = 0x1008, } PX4_SOC_ARCH_ID_t; diff --git a/platforms/common/include/px4_platform_common/param.h b/platforms/common/include/px4_platform_common/param.h index 21de1c8f3a..3a4a19410d 100644 --- a/platforms/common/include/px4_platform_common/param.h +++ b/platforms/common/include/px4_platform_common/param.h @@ -40,6 +40,8 @@ #pragma once #include "param_macros.h" +#include +#include #include @@ -130,6 +132,18 @@ public: /// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification()) bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; } + /// Set and commit a new value. Returns true if the value changed. + bool commit_no_notification(float val) + { + if (fabsf(val - _val) > FLT_EPSILON) { + set(val); + commit_no_notification(); + return true; + } + + return false; + } + void set(float val) { _val = val; } void reset() @@ -170,6 +184,18 @@ public: /// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification()) bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; } + /// Set and commit a new value. Returns true if the value changed. + bool commit_no_notification(float val) + { + if (fabsf(val - _val) > FLT_EPSILON) { + set(val); + commit_no_notification(); + return true; + } + + return false; + } + void set(float val) { _val = val; } void reset() @@ -208,6 +234,18 @@ public: /// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification()) bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; } + /// Set and commit a new value. Returns true if the value changed. + bool commit_no_notification(int32_t val) + { + if (val != _val) { + set(val); + commit_no_notification(); + return true; + } + + return false; + } + void set(int32_t val) { _val = val; } void reset() @@ -248,6 +286,18 @@ public: /// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification()) bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; } + /// Set and commit a new value. Returns true if the value changed. + bool commit_no_notification(int32_t val) + { + if (val != _val) { + set(val); + commit_no_notification(); + return true; + } + + return false; + } + void set(int32_t val) { _val = val; } void reset() @@ -294,6 +344,18 @@ public: return param_set_no_notification(handle(), &value_int) == 0; } + /// Set and commit a new value. Returns true if the value changed. + bool commit_no_notification(bool val) + { + if (val != _val) { + set(val); + commit_no_notification(); + return true; + } + + return false; + } + void set(bool val) { _val = val; } void reset() diff --git a/platforms/common/include/px4_platform_common/posix.h b/platforms/common/include/px4_platform_common/posix.h index fec109e86c..5e7a8c3c70 100644 --- a/platforms/common/include/px4_platform_common/posix.h +++ b/platforms/common/include/px4_platform_common/posix.h @@ -83,6 +83,9 @@ typedef pollevent_t px4_pollevent_t; #define PX4_STACK_OVERHEAD (1024 * 24) +#define px4_cache_aligned_data() +#define px4_cache_aligned_alloc malloc + __BEGIN_DECLS typedef short px4_pollevent_t; diff --git a/platforms/common/include/px4_platform_common/px4_manifest.h b/platforms/common/include/px4_platform_common/px4_manifest.h index 82184ecb53..cc646def8c 100644 --- a/platforms/common/include/px4_platform_common/px4_manifest.h +++ b/platforms/common/include/px4_platform_common/px4_manifest.h @@ -48,6 +48,7 @@ typedef struct { enum px4_bus_type { I2C = 0, SPI = 1, + ONCHIP = 2, } bus_type; uint32_t devid; diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp index 4d467819f4..441b5c7002 100644 --- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp +++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp @@ -48,7 +48,7 @@ struct wq_config_t { namespace wq_configurations { -static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1664, 0}; // PX4 inner loop highest priority +static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1920, 0}; // PX4 inner loop highest priority static constexpr wq_config_t ctrl_alloc{"wq:ctrl_alloc", 9500, 0}; // PX4 control allocation, same priority as rate_ctrl static constexpr wq_config_t SPI0{"wq:SPI0", 2336, -1}; @@ -66,7 +66,7 @@ static constexpr wq_config_t I2C3{"wq:I2C3", 2336, -11}; static constexpr wq_config_t I2C4{"wq:I2C4", 2336, -12}; // PX4 att/pos controllers, highest priority after sensors. -static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 1824, -13}; +static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 2164, -13}; static constexpr wq_config_t INS0{"wq:INS0", 6000, -14}; static constexpr wq_config_t INS1{"wq:INS1", 6000, -15}; @@ -75,20 +75,20 @@ static constexpr wq_config_t INS3{"wq:INS3", 6000, -17}; static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18}; -static constexpr wq_config_t uavcan{"wq:uavcan", 2576, -19}; +static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19}; -static constexpr wq_config_t UART0{"wq:UART0", 1400, -21}; -static constexpr wq_config_t UART1{"wq:UART1", 1400, -22}; -static constexpr wq_config_t UART2{"wq:UART2", 1400, -23}; -static constexpr wq_config_t UART3{"wq:UART3", 1400, -24}; -static constexpr wq_config_t UART4{"wq:UART4", 1400, -25}; -static constexpr wq_config_t UART5{"wq:UART5", 1400, -26}; -static constexpr wq_config_t UART6{"wq:UART6", 1400, -27}; -static constexpr wq_config_t UART7{"wq:UART7", 1400, -28}; -static constexpr wq_config_t UART8{"wq:UART8", 1400, -29}; -static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1400, -30}; +static constexpr wq_config_t UART0{"wq:UART0", 1504, -21}; +static constexpr wq_config_t UART1{"wq:UART1", 1504, -22}; +static constexpr wq_config_t UART2{"wq:UART2", 1504, -23}; +static constexpr wq_config_t UART3{"wq:UART3", 1504, -24}; +static constexpr wq_config_t UART4{"wq:UART4", 1504, -25}; +static constexpr wq_config_t UART5{"wq:UART5", 1504, -26}; +static constexpr wq_config_t UART6{"wq:UART6", 1504, -27}; +static constexpr wq_config_t UART7{"wq:UART7", 1504, -28}; +static constexpr wq_config_t UART8{"wq:UART8", 1504, -29}; +static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1504, -30}; -static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50}; +static constexpr wq_config_t lp_default{"wq:lp_default", 1920, -50}; static constexpr wq_config_t test1{"wq:test1", 2000, 0}; static constexpr wq_config_t test2{"wq:test2", 2000, 0}; diff --git a/platforms/common/uORB/PublicationMulti.hpp b/platforms/common/uORB/PublicationMulti.hpp index cecb76324f..7a91bc907e 100644 --- a/platforms/common/uORB/PublicationMulti.hpp +++ b/platforms/common/uORB/PublicationMulti.hpp @@ -92,9 +92,10 @@ public: return (orb_publish(get_topic(), _handle, &data) == PX4_OK); } - int get_instance() const + int get_instance() { - if (_handle) { + // advertise if not already advertised + if (advertise()) { return static_cast(_handle)->get_instance(); } diff --git a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp index 1eb1c5c736..531808fcb7 100644 --- a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp +++ b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp @@ -418,12 +418,11 @@ int uORBTest::UnitTest::pub_test_multi2_main() while (message_counter++ < num_messages) { px4_usleep(2); //make sure the timestamps are different - orb_advert_t &pub = orb_pub[data_next_idx]; data_topic.timestamp = hrt_absolute_time(); data_topic.val = data_next_idx; - orb_publish(ORB_ID(orb_test_medium_multi), pub, &data_topic); + orb_publish(ORB_ID(orb_test_medium_multi), orb_pub[data_next_idx], &data_topic); // PX4_WARN("publishing msg (idx=%i, t=%" PRIu64 ")", data_next_idx, data_topic.time); data_next_idx = (data_next_idx + 1) % num_instances; @@ -470,7 +469,7 @@ int uORBTest::UnitTest::test_multi2() return test_fail("failed launching task"); } - hrt_abstime last_time = 0; + hrt_abstime last_time[num_instances] {}; while (!_thread_should_exit) { @@ -484,11 +483,11 @@ int uORBTest::UnitTest::test_multi2() orb_test_medium_s msg{}; orb_copy(ORB_ID(orb_test_medium_multi), orb_data_cur_fd, &msg); - if (last_time >= msg.timestamp && last_time != 0) { - return test_fail("Timestamp not increasing! (%" PRIu64 " >= %" PRIu64 ")", last_time, msg.timestamp); + if (last_time[orb_data_next] >= msg.timestamp && last_time[orb_data_next] != 0) { + return test_fail("Timestamp not increasing! (%" PRIu64 " >= %" PRIu64 ")", last_time[orb_data_next], msg.timestamp); } - last_time = msg.timestamp; + last_time[orb_data_next] = msg.timestamp; PX4_DEBUG("got message (val=%i, idx=%i, t=%" PRIu64 ")", msg.val, orb_data_next, msg.timestamp); orb_data_next = (orb_data_next + 1) % num_instances; diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt index 93c34ffc80..62fdbe3c57 100644 --- a/platforms/nuttx/CMakeLists.txt +++ b/platforms/nuttx/CMakeLists.txt @@ -298,3 +298,7 @@ include(blackmagic) include(jlink) include(profile) include(stack_check) + +if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake") + include(${PX4_BOARD_DIR}/cmake/upload.cmake) +endif() diff --git a/platforms/nuttx/Debug/flash_bin.jlink.in b/platforms/nuttx/Debug/flash_bin.jlink.in new file mode 100644 index 0000000000..e84cb0dbea --- /dev/null +++ b/platforms/nuttx/Debug/flash_bin.jlink.in @@ -0,0 +1,9 @@ +Device @DEBUG_DEVICE@ +eoe 1 +si SWD +speed auto +r +h +loadbin @BOARD_FIRMWARE_BIN@,@BOARD_FIRMWARE_APP_OFFSET@ +go +qc diff --git a/platforms/nuttx/Debug/flash_bootloader.jlink.in b/platforms/nuttx/Debug/flash_bootloader.jlink.in new file mode 100644 index 0000000000..f47e0cad53 --- /dev/null +++ b/platforms/nuttx/Debug/flash_bootloader.jlink.in @@ -0,0 +1,9 @@ +Device @DEBUG_DEVICE@ +eoe 1 +si SWD +speed auto +r +h +loadbin @BOARD_BL_FIRMWARE_BIN@,0x08000000 +go +qc diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx index 4f6d0765b5..011fbb2ce1 160000 --- a/platforms/nuttx/NuttX/nuttx +++ b/platforms/nuttx/NuttX/nuttx @@ -1 +1 @@ -Subproject commit 4f6d0765b515da4614bbeeb4416c1a05346572d3 +Subproject commit 011fbb2ce150e05532e04b2f63d93ee932b226fb diff --git a/platforms/nuttx/cmake/init.cmake b/platforms/nuttx/cmake/init.cmake index 337c00526c..5d87ff837d 100644 --- a/platforms/nuttx/cmake/init.cmake +++ b/platforms/nuttx/cmake/init.cmake @@ -31,6 +31,12 @@ # ############################################################################ +if("${CMAKE_CXX_COMPILER_ID}" MATCHES "GNU") + if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS_EQUAL 7) + message(FATAL_ERROR "GCC 7 or older no longer supported. https://docs.px4.io/master/en/dev_setup/dev_env.html") + endif() +endif() + if(NOT PX4_BOARD) message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)") endif() diff --git a/platforms/nuttx/cmake/jlink.cmake b/platforms/nuttx/cmake/jlink.cmake index 3516c63ab8..c8ab8ca1f2 100644 --- a/platforms/nuttx/cmake/jlink.cmake +++ b/platforms/nuttx/cmake/jlink.cmake @@ -81,3 +81,45 @@ if(Ozone_PATH) USES_TERMINAL ) endif() + +if(bootloader_bin OR (EXISTS "${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")) + # jlink_flash_bootloader + find_program(JLinkExe_PATH JLinkExe) + if(JLinkExe_PATH) + + if(bootloader_bin) + set(BOARD_BL_FIRMWARE_BIN ${bootloader_bin}) + else() + set(BOARD_BL_FIRMWARE_BIN ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin) + endif() + + configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/flash_bootloader.jlink.in ${PX4_BINARY_DIR}/flash_bootloader.jlink @ONLY) + add_custom_target(jlink_flash_bootloader + COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader.jlink + DEPENDS + px4 + ${CMAKE_CURRENT_SOURCE_DIR}/Debug/flash_bootloader.jlink.in + WORKING_DIRECTORY ${PX4_BINARY_DIR} + USES_TERMINAL + ) + endif() +endif() + +if(uavcan_bl_image_name) + # jlink_flash_bootloader + find_program(JLinkExe_PATH JLinkExe) + if(JLinkExe_PATH) + set(BOARD_FIRMWARE_BIN ${PX4_BINARY_DIR}/${uavcan_bl_image_name}) + set(BOARD_FIRMWARE_APP_OFFSET "0x08010000") + + configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY) + add_custom_target(jlink_flash_uavcan_bin + COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink + DEPENDS + ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in + ${PX4_BINARY_DIR}/${uavcan_bl_image_name} + WORKING_DIRECTORY ${PX4_BINARY_DIR} + USES_TERMINAL + ) + endif() +endif() diff --git a/boards/ark/can-flow/init/rc.board_defaults b/platforms/nuttx/init/imxrt/rc.board_arch_defaults similarity index 62% rename from boards/ark/can-flow/init/rc.board_defaults rename to platforms/nuttx/init/imxrt/rc.board_arch_defaults index d65267f186..588022d654 100644 --- a/boards/ark/can-flow/init/rc.board_defaults +++ b/platforms/nuttx/init/imxrt/rc.board_arch_defaults @@ -1,9 +1,6 @@ #!/bin/sh # -# board specific defaults +# imxrt specific defaults #------------------------------------------------------------------------------ -if [ $AUTOCNF = yes ] -then - -fi +set LOGGER_BUF 32 diff --git a/platforms/nuttx/init/kinetis/rc.board_arch_defaults b/platforms/nuttx/init/kinetis/rc.board_arch_defaults new file mode 100644 index 0000000000..d13ffa2fdc --- /dev/null +++ b/platforms/nuttx/init/kinetis/rc.board_arch_defaults @@ -0,0 +1,18 @@ +#!/bin/sh +# +# Kinetis specific defaults +#------------------------------------------------------------------------------ + +# Multi-EKF (off by default) +param set-default EKF2_MULTI_IMU 0 +param set-default SENS_IMU_MODE 1 +param set-default EKF2_MULTI_MAG 0 +param set-default SENS_MAG_MODE 1 + +set LOGGER_BUF 12 + +if param greater -s UAVCAN_ENABLE 1 +then + # Reduce logger buffer to free up some RAM for UAVCAN servers. + set LOGGER_BUF 4 +fi diff --git a/platforms/nuttx/init/s32k1xx/rc.board_arch_defaults b/platforms/nuttx/init/s32k1xx/rc.board_arch_defaults new file mode 100644 index 0000000000..9342373d48 --- /dev/null +++ b/platforms/nuttx/init/s32k1xx/rc.board_arch_defaults @@ -0,0 +1,12 @@ +#!/bin/sh +# +# S32K1XX specific defaults +#------------------------------------------------------------------------------ + +set LOGGER_BUF 12 + +if param greater -s UAVCAN_ENABLE 1 +then + # Reduce logger buffer to free up some RAM for UAVCAN servers. + set LOGGER_BUF 4 +fi diff --git a/platforms/nuttx/init/stm32/rc.board_arch_defaults b/platforms/nuttx/init/stm32/rc.board_arch_defaults new file mode 100644 index 0000000000..b584f97526 --- /dev/null +++ b/platforms/nuttx/init/stm32/rc.board_arch_defaults @@ -0,0 +1,18 @@ +#!/bin/sh +# +# STM32 (STM32F4) specific defaults +#------------------------------------------------------------------------------ + +# Multi-EKF (off by default) +param set-default EKF2_MULTI_IMU 0 +param set-default SENS_IMU_MODE 1 +param set-default EKF2_MULTI_MAG 0 +param set-default SENS_MAG_MODE 1 + +set LOGGER_BUF 12 + +if param greater -s UAVCAN_ENABLE 1 +then + # Reduce logger buffer to free up some RAM for UAVCAN servers. + set LOGGER_BUF 4 +fi diff --git a/platforms/nuttx/init/stm32f7/rc.board_arch_defaults b/platforms/nuttx/init/stm32f7/rc.board_arch_defaults new file mode 100644 index 0000000000..63b2772eb5 --- /dev/null +++ b/platforms/nuttx/init/stm32f7/rc.board_arch_defaults @@ -0,0 +1,16 @@ +#!/bin/sh +# +# STM32F7 specific defaults +#------------------------------------------------------------------------------ + +# Multi-EKF (across IMUs only) +param set-default EKF2_MULTI_IMU 3 +param set-default SENS_IMU_MODE 0 +param set-default EKF2_MULTI_MAG 0 +param set-default SENS_MAG_MODE 1 + +param set-default IMU_GYRO_FFT_EN 1 + +param set-default UAVCAN_ENABLE 2 + +set LOGGER_BUF 64 diff --git a/boards/mro/x21-777/init/rc.board_defaults b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults similarity index 62% rename from boards/mro/x21-777/init/rc.board_defaults rename to platforms/nuttx/init/stm32h7/rc.board_arch_defaults index f13e765146..87658a832f 100644 --- a/boards/mro/x21-777/init/rc.board_defaults +++ b/platforms/nuttx/init/stm32h7/rc.board_arch_defaults @@ -1,16 +1,16 @@ #!/bin/sh # -# Board specific defaults +# STM32H7 specific defaults #------------------------------------------------------------------------------ - # Multi-EKF -param set-default EKF2_MULTI_IMU 2 +param set-default EKF2_MULTI_IMU 3 param set-default SENS_IMU_MODE 0 -param set-default EKF2_MULTI_MAG 2 +param set-default EKF2_MULTI_MAG 3 param set-default SENS_MAG_MODE 0 +param set-default IMU_GYRO_FFT_EN 1 + param set-default UAVCAN_ENABLE 2 - set LOGGER_BUF 64 diff --git a/platforms/nuttx/src/canbootloader/CMakeLists.txt b/platforms/nuttx/src/canbootloader/CMakeLists.txt index 5703458716..be91358d05 100644 --- a/platforms/nuttx/src/canbootloader/CMakeLists.txt +++ b/platforms/nuttx/src/canbootloader/CMakeLists.txt @@ -31,9 +31,9 @@ # ############################################################################ +add_subdirectory(arch/${PX4_CHIP_MANUFACTURER}) + px4_add_library(canbootloader - arch/stm32/board_identity.c - arch/stm32/drivers/can/driver.c common/nuttx_stubs.c fs/flash.c protocol/uavcan.c @@ -44,9 +44,12 @@ px4_add_library(canbootloader include_directories(include) target_include_directories(canbootloader INTERFACE include) + target_compile_options(canbootloader PRIVATE -Wno-error) +target_compile_options(arch_canbootloader PRIVATE -Wno-error) + target_link_libraries(canbootloader PRIVATE drivers_bootloaders - arch_watchdog_iwdg + arch_canbootloader ) diff --git a/boards/aerotenna/ocpoc/CMakeLists.txt b/platforms/nuttx/src/canbootloader/arch/nxp/CMakeLists.txt similarity index 94% rename from boards/aerotenna/ocpoc/CMakeLists.txt rename to platforms/nuttx/src/canbootloader/arch/nxp/CMakeLists.txt index 17779b08cd..5119d1e5df 100644 --- a/boards/aerotenna/ocpoc/CMakeLists.txt +++ b/platforms/nuttx/src/canbootloader/arch/nxp/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2018 PX4 Development Team. All rights reserved. +# Copyright (c) 2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -31,4 +31,4 @@ # ############################################################################ -add_subdirectory(adc) +add_subdirectory(${PX4_CHIP}) diff --git a/boards/aerotenna/ocpoc/src/CMakeLists.txt b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/CMakeLists.txt similarity index 89% rename from boards/aerotenna/ocpoc/src/CMakeLists.txt rename to platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/CMakeLists.txt index 42ca05a19b..e41468fa17 100644 --- a/boards/aerotenna/ocpoc/src/CMakeLists.txt +++ b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2017 PX4 Development Team. All rights reserved. +# Copyright (c) 2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -31,7 +31,9 @@ # ############################################################################ -add_library(drivers_board - i2c.cpp - spi.cpp +include_directories(../../../include) +px4_add_library(arch_canbootloader + board_identity.c + drivers/can/driver.c + drivers/flash/driver.c ) diff --git a/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/board_identity.c b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/board_identity.c new file mode 100644 index 0000000000..e0f6ec4a1e --- /dev/null +++ b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/board_identity.c @@ -0,0 +1,61 @@ +/**************************************************************************** + * + * Copyright (C) 2017 PX4 Development Team. All rights reserved. + * Author: @author David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_identity.c + * Implementation of S32K based Board identity API + */ + +#include +#include +#include + +#include "board_common.h" + +#include +#include + +#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24)) + +int board_get_mfguid(mfguid_t mfgid) +{ + uint32_t *chip_uuid = (uint32_t *) S32K1XX_SIM_UIDH; + uint32_t *rv = (uint32_t *) &mfgid[0]; + + for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) { + *rv++ = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]); + } + + return PX4_CPU_MFGUID_BYTE_LENGTH; +} diff --git a/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/driver.c b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/driver.c new file mode 100644 index 0000000000..4ab6a987a5 --- /dev/null +++ b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/driver.c @@ -0,0 +1,607 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include "boot_config.h" + +#include +#include +#include +#include +#include +#include + +#include +#include "nvic.h" + +#include "board.h" +#include +#include "can.h" +#include "timer.h" + +#include +#include "flexcan.h" + +#include + + +#define CAN_TX_TIMEOUT_MS (200 /(1000/(1000000/CONFIG_USEC_PER_TICK))) + +#define MIN(X,Y) ((X) < (Y) ? (X) : (Y)) + +/** + * CANx register sets + */ + +/* Address of the CAN registers */ + +CanType *CAN0 = (CanType *) S32K1XX_FLEXCAN0_BASE; // CAN0 +enum { NumTxMesgBuffers = 6 }; +enum { NumFilters = 16 }; + +#define CLK_FREQ 80000000 +#define CLOCKSEL 0 +#define useFIFO 1 +#define numberFIFOFilters CAN_CTRL2_RFFN_16MB +#define FIFO_IFLAG1 (CAN_FIFO_NE | CAN_FIFO_WARN | CAN_FIFO_OV) + + +typedef struct Timings { + uint8_t prescaler; + uint8_t rjw; + uint8_t pseg1; + uint8_t pseg2; + uint8_t propseg; +} Timings; + +/**************************************************************************** + * Name: can_speed2freq + * + * Description: + * This function maps a can_speed_t to a bit rate in Hz + * + * Input Parameters: + * can_speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD + * + * Returned value: + * Bit rate in Hz + * + ****************************************************************************/ +int can_speed2freq(can_speed_t speed) + +{ + return 1000000 >> (CAN_1MBAUD - speed); +} + +/**************************************************************************** + * Name: can_speed2freq + * + * Description: + * This function maps a frequency in Hz to a can_speed_t in the range + * CAN_125KBAUD to CAN_1MBAUD. + * + * Input Parameters: + * freq - Bit rate in Hz + * + * Returned value: + * A can_speed_t from CAN_125KBAUD to CAN_1MBAUD + * + ****************************************************************************/ +can_speed_t can_freq2speed(int freq) +{ + return (freq == 1000000u ? CAN_1MBAUD : freq == 500000u ? CAN_500KBAUD : freq == 250000u ? CAN_250KBAUD : CAN_125KBAUD); +} + +/**************************************************************************** + * Name: can_tx + * + * Description: + * This function is called to transmit a CAN frame using the supplied + * mailbox. It will busy wait on the mailbox if not available. + * + * Input Parameters: + * message_id - The CAN message's EXID field + * length - The number of bytes of data - the DLC field + * message - A pointer to 8 bytes of data to be sent (all 8 bytes will be + * loaded into the CAN transmitter but only length bytes will + * be sent. + * mailbox - A can_fifo_mailbox_t MBxxx value to choose the outgoing + * mailbox. + * + * Returned value: + * The CAN_OK of the data sent or CAN_ERROR if a time out occurred + * + ****************************************************************************/ +uint8_t can_tx(uint32_t message_id, size_t length, const uint8_t *message, uint8_t mailbox) +{ + timer_hrt_clear_wrap(); + uint32_t cnt = CAN_TX_TIMEOUT_MS; + + uint32_t mbi = NumMBinFiFoAndFilters + mailbox; + uint32_t mb_bit = 1 << mbi; + MessageBufferType *mb = &CAN0->MB[mbi].mb; + + /* Wait while all the MB are busy */ + + while ((CAN0->ESR2 & (CAN_ESR2_IMB | CAN_ESR2_VPS)) == (CAN_ESR2_VPS)) { + if (timer_hrt_wrap()) { + timer_hrt_clear_wrap(); + + if (--cnt == 0) { + return CAN_ERROR; + } + } + } + + /* Wait it the requested mailbox is busy */ + + while ((CAN0->IFLAG1 & mb_bit) == 0) { + + /* Not indicated, but it may be: + * Inactive, aborted, + */ + + if (mb->CS.code != TxMbDataOrRemote) { + break; + } + + if (timer_hrt_wrap()) { + timer_hrt_clear_wrap(); + + if (--cnt == 0) { + return CAN_ERROR; + } + } + } + + /* Reset the flag */ + + CAN0->IFLAG1 = mb_bit; + + /* Construct the frame */ + + MBcsType cs; + cs.code = TxMbDataOrRemote; + mb->CS.code = TxMbInactive; + + cs.ide = 1; + mb->ID.ext = message_id; + cs.rtr = 0; + cs.dlc = length; + mb->data.l = __builtin_bswap32(*(uint32_t *)&message[0]); + mb->data.h = __builtin_bswap32(*(uint32_t *)&message[4]); + mb->CS = cs; // Go. + return CAN_OK; +} + +/**************************************************************************** + * Name: can_rx + * + * Description: + * This function is called to receive a CAN frame from a supplied fifo. + * It does not block if there is not available, but returns 0 + * + * Input Parameters: + * message_id - A pointer to return the CAN message's EXID field + * length - A pointer to return the number of bytes of data - the DLC field + * message - A pointer to return 8 bytes of data to be sent (all 8 bytes will + * be written from the CAN receiver but only length bytes will be sent. + * fifo A can_fifo_mailbox_t fifixxx value to choose the incoming fifo. + * + * Returned value: + * The length of the data read or 0 if the fifo was empty + * + ****************************************************************************/ +uint8_t can_rx(uint32_t *message_id, size_t *length, uint8_t *message, uint8_t fifo) +{ + uint8_t rv = 0; + + uint32_t flags = CAN0->IFLAG1 & FIFO_IFLAG1; + + if ((flags & FIFO_IFLAG1)) { + + if (flags & CAN_FIFO_OV) { + CAN0->IFLAG1 = CAN_FIFO_OV; + } + + if (flags & CAN_FIFO_WARN) { + CAN0->IFLAG1 = CAN_FIFO_WARN; + } + + if (flags & CAN_FIFO_NE) { + const RxFiFoType *rf = &CAN0->MB[FiFo].fifo; + /* + * Read the frame contents + */ + *message_id = rf->ID.ext; + *length = rf->CS.dlc; + *(uint32_t *)&message[0] = __builtin_bswap32(rf->data.l); + *(uint32_t *)&message[4] = __builtin_bswap32(rf->data.h); + (void)CAN0->TIMER; + CAN0->IFLAG1 = CAN_FIFO_NE; + rv = 1; + } + } + + return rv; +} + +/**************************************************************************** + * Name: can_autobaud + * + * Description: + * This function will attempt to detect the bit rate in use on the CAN + * interface until the timeout provided expires or the successful detection + * occurs. + * + * It will initialize the CAN block for a given bit rate + * to test that a message can be received. The CAN interface is left + * operating at the detected bit rate and in CAN_Mode_Normal mode. + * + * Input Parameters: + * can_speed - A pointer to return detected can_speed_t from CAN_UNKNOWN to + * CAN_1MBAUD + * timeout - The timer id of a timer to use as the maximum time to wait for + * successful bit rate detection. This timer may be not running + * in which case the auto baud code will try indefinitely to + * detect the bit rate. + * + * Returned value: + * CAN_OK - on Success or a CAN_BOOT_TIMEOUT + * + ****************************************************************************/ +int can_autobaud(can_speed_t *can_speed, bl_timer_id timeout) +{ + uint32_t message_id; + size_t length; + uint8_t message[8]; + int rv = CAN_ERROR; + + while (rv == CAN_ERROR) { + for (can_speed_t speed = CAN_125KBAUD; rv == CAN_ERROR && speed <= CAN_1MBAUD; speed++) { + + can_init(speed, CAN_Mode_Silent); + + bl_timer_id baudtimer = timer_allocate(modeTimeout | modeStarted, 600, 0); + + do { + + if (timer_expired(timeout)) { + rv = CAN_BOOT_TIMEOUT; + break; + } + + if (can_rx(&message_id, &length, message, 0)) { + *can_speed = speed; + can_init(speed, CAN_Mode_Normal); + rv = CAN_OK; + break; + } + + } while (!timer_expired(baudtimer)); + + timer_free(baudtimer); + } + } + + return rv; +} + + +static bool waitMCRChange(uint32_t mask, bool target_state) +{ + const unsigned Timeout = 1000; + + for (unsigned wait_ack = 0; wait_ack < Timeout; wait_ack++) { + const bool state = (CAN0->MCR & mask) != 0; + + if (state == target_state) { + return true; + } + + up_udelay(10); + } + + return false; +} + +static void setMCR(uint32_t mask, bool target_state) +{ + if (target_state) { + CAN0->MCR |= mask; + + } else { + CAN0->MCR &= ~mask; + } +} + +static bool waitFreezeAckChange(bool target_state) +{ + return waitMCRChange(CAN_MCR_FRZACK, target_state); +} + +static void setFreeze(bool freeze_true) +{ + { + if (freeze_true) { + CAN0->MCR |= CAN_MCR_FRZ; + CAN0->MCR |= CAN_MCR_HALT; + + } else { + CAN0->MCR &= ~CAN_MCR_HALT; + CAN0->MCR &= ~CAN_MCR_FRZ; + } + } +} + +static bool setEnable(bool enable_true) +{ + setMCR(CAN_MCR_MDIS, !enable_true); + return waitMCRChange(CAN_MCR_LPMACK, !enable_true); +} + +static int16_t doReset(Timings timings) +{ + setMCR(CAN_MCR_SOFTRST, true); + + if (!waitMCRChange(CAN_MCR_SOFTRST, false)) { + return -ETIME; + } + + uint8_t tasd = 25 - ((2 * (HWMaxMB + 1)) + 4 / ((1 + timings.pseg1 + timings.pseg2 + timings.propseg) * + timings.prescaler)); + + setMCR(CAN_MCR_SUPV, false); + + for (int i = 0; i < HWMaxMB; i++) { + CAN0->MB[i].mb.CS.w = 0x0; + CAN0->MB[i].mb.ID.w = 0x0; + CAN0->MB[i].mb.data.l = 0x0; + CAN0->MB[i].mb.data.h = 0x0; + } + + setMCR((useFIFO ? CAN_MCR_RFEN : 0) | CAN_MCR_SLFWAK | CAN_MCR_WRNEN | CAN_MCR_SRXDIS | CAN_MCR_IRMQ | + CAN_MCR_AEN | (((HWMaxMB - 1) << CAN_MCR_MAXMB_SHIFT) & CAN_MCR_MAXMB_MASK), true); + + CAN0->CTRL2 = numberFIFOFilters | ((tasd << CAN_CTRL2_TASD_SHIFT) & CAN_CTRL2_TASD_MASK) | CAN_CTRL2_RRS | + CAN_CTRL2_EACEN; + + for (int i = 0; i < HWMaxMB; i++) { + CAN0->RXIMR[i].w = 0x0; + } + + CAN0->RX14MASK = 0x3FFFFFFF; + CAN0->RX15MASK = 0x3FFFFFFF; + CAN0->RXMGMASK = 0x3FFFFFFF; + CAN0->RXFGMASK = 0x0; + return 0; +} + +static int computeTimings(const uint32_t target_bitrate, Timings *out_timings) +{ + if (target_bitrate < 1) { + return -EINVAL; + } + + /* + * From FlexCAN Bit Timing Calculation by: Petr Stancik TIC + * buadrate = 1 / tNBT -The tNBT represents a period of the Nominal Bit Time (NBT). + * The NBT is separated into four non-overlaping segments, + * SYNC_SEG, PROP_SEG,PHASE_SEG1 and PHASE_SEG2. Each of + * these segments is an integer multiple of Time Quantum tQ + * tNBT= tQ+PROP_SEG* tQ + PHASE_SEG1* tQ + PHASE_SEG2* tQ = NBT * tQ + * tQ = 1/bitrate = 1/[BOARD_EXTAL_FREQ /(PRESDIV+1)]. + * NBT is 8..25 + * SYNC_SEG = 1 tQ + * PROP_SEG = 1..8 tQ + * PHASE1_SEG = 1,2..8 tQ 1..8 for 1 Sample per bit (Spb), 2..8 for 3 Spb + * PHASE2_SEG = 1..8 + * + */ + /* + * Hardware configuration + */ + + /* Maximize NBT + * NBT * Prescaler = BOARD_EXTAL_FREQ / baud rate. + * + */ + + const uint32_t nbt_prescaler = CLK_FREQ / target_bitrate; + const int max_quanta_per_bit = 17; + + out_timings->prescaler = 0; + + /* + * Searching for such prescaler value so that the number of quanta per bit is highest. + */ + + /* tNBT - tQ = PROP_SEG* tQ + PHASE_SEG1* tQ + PHASE_SEG2* tQ = NBT * tQ - tQ */ + + for (uint32_t prescaler = 1; prescaler < 256; prescaler++) { + if (prescaler > nbt_prescaler) { + return -EINVAL; // No solution + } + + if ((0 == nbt_prescaler % prescaler) && (nbt_prescaler / prescaler) < max_quanta_per_bit) { + out_timings->prescaler = prescaler; + break; + } + } + + const uint32_t NBT = nbt_prescaler / out_timings->prescaler; + + /* Choose a reasonable and some what arbitrary value for Propseg */ + + out_timings->propseg = 5; + + + /* Ideal sampling point = 87.5% given by (SYNC_SEG + PROP_SEG + PHASE_SEG1) / (PHASE_SEG2) */ + + uint32_t sp = (7 * NBT) / 8; + + out_timings->pseg1 = sp - 1 - out_timings->propseg; + out_timings->pseg2 = NBT - (1 + out_timings->pseg1 + out_timings->propseg); + out_timings->rjw = MIN(4, out_timings->pseg2); + + return ((out_timings->pseg1 <= 8) && (out_timings->pseg2 <= 8) && (out_timings->propseg <= 8)) ? 0 : + -EINVAL; +} + + +/**************************************************************************** + * Name: can_init + * + * Description: + * This function is used to initialize the CAN block for a given bit rate and + * mode. + * + * Input Parameters: + * speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD + * mode - One of the can_mode_t of Normal, LoopBack and Silent or + * combination thereof. + * + * Returned value: + * OK - on Success or a negate errno value + * + ****************************************************************************/ +int can_init(can_speed_t speed, can_mode_t mode) +{ + + /* Set the module disabled */ + + if (!setEnable(false)) { + return -ETIME; + } + + /* Set the Clock */ + + CAN0->CTRL1 |= CAN_CTRL1_CLKSRC; + + /* Set the module enabled */ + + if (!setEnable(true)) { + return -ETIME; + } + + /* + * CAN timings for this bitrate + */ + Timings timings; + const int timings_res = computeTimings(can_speed2freq(speed), &timings); + + if (timings_res < 0) { + setEnable(false); + return timings_res; + } + + /* + * Hardware initialization from reset state + */ + + int16_t rv = doReset(timings); + + if (rv != 0) { + return -rv; + } + + uint32_t ctl1 = 0; + ctl1 |= CAN_CTRL1_PRESDIV(timings.prescaler - 1); + ctl1 |= CAN_CTRL1_RJW(timings.rjw - 1); + ctl1 |= CAN_CTRL1_PSEG1(timings.pseg1 - 1); + ctl1 |= CAN_CTRL1_PSEG2(timings.pseg2 - 1); + ctl1 |= ((mode == CAN_Mode_Silent) ? CAN_CTRL1_LOM : 0); + ctl1 |= CAN_CTRL1_PROPSEG(timings.propseg - 1); + CAN0->CTRL1 = ctl1; + + /* + * Default filter configuration + */ + volatile FilterType *filterBase = (FilterType *) &CAN0->MB[FirstFilter].mb; + + for (uint32_t i = 0; i < NumHWFilters; i++) { + volatile FilterType *filter = &filterBase[i]; + filter->w = 0; // All bits do not care + } + + CAN0->RXFGMASK = 0; // All bits do not care + + for (uint32_t mb = 0; mb < HWMaxMB; mb++) { + CAN0->RXIMR[mb].w = 0; // All bits do not care + } + + CAN0->IFLAG1 = FIFO_IFLAG1 | TXMBMask; + CAN0->IMASK1 = FIFO_IFLAG1; + + setFreeze(false); + return waitFreezeAckChange(false) ? 0 : -ETIME; +} + +/**************************************************************************** + * Name: can_cancel_on_error + * + * Description: + * This function will test for transition completion or any error. + * If the is a error the the transmit will be aborted. + * + * Input Parameters: + * mailbox - A can_fifo_mailbox_t MBxxx value to choose the outgoing + * mailbox. + * + * Returned value: + * CAN_OK - on Success or a CAN_ERROR if the cancellation was needed + * + ****************************************************************************/ +void can_cancel_on_error(uint8_t mailbox) +{ + /* Wait for completion the all 1's wat set in the tx code*/ + while (CAN_ESR1_TX == (CAN0->ESR1 & CAN_ESR1_TX)); + + volatile uint32_t esr1 = CAN0->ESR1 & (CAN_ESR1_STFERR | CAN_ESR1_FRMERR | + CAN_ESR1_CRCERR | CAN_ESR1_ACKERR | + CAN_ESR1_BIT0ERR | CAN_ESR1_BIT1ERR | CAN_ESR1_TXWRN); + + /* Any errors */ + if (esr1) { + + uint32_t mbi = NumMBinFiFoAndFilters + mailbox; + uint32_t mb_bit = 1 << mbi; + MessageBufferType *mb = &CAN0->MB[mbi].mb; + + CAN0->ESR1 = esr1; + CAN0->IFLAG1 = mb_bit; + mb->CS.code = TxMbAbort; + } + +} diff --git a/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/flexcan.h b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/flexcan.h new file mode 100644 index 0000000000..a82754a7d3 --- /dev/null +++ b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/flexcan.h @@ -0,0 +1,217 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +enum { HWMaxMB = 16 }; + +typedef union MBcsType { + volatile uint32_t w; + struct { + volatile uint32_t time_stamp : 16; + volatile uint32_t dlc : 4; + volatile uint32_t rtr : 1; + volatile uint32_t ide : 1; + volatile uint32_t srr : 1; + volatile uint32_t res : 1; + volatile uint32_t code : 4; + volatile uint32_t res2 : 4; + }; +} MBcsType; + +typedef union FIFOcsType { + volatile uint32_t cs; + struct { + volatile uint32_t time_stamp : 16; + volatile uint32_t dlc : 4; + volatile uint32_t rtr : 1; + volatile uint32_t ide : 1; + volatile uint32_t srr : 1; + volatile uint32_t res : 9; + }; +} FIFOcsType; + +typedef union IDType { + volatile uint32_t w; + struct { + volatile uint32_t ext : 29; + volatile uint32_t resex : 3; + }; + struct { + volatile uint32_t res : 18; + volatile uint32_t std : 11; + volatile uint32_t resstd : 3; + }; +} IDType; + +typedef union FilterType { + volatile uint32_t w; + struct { + volatile uint32_t res : 1; // Bit 0 - Reserved + volatile uint32_t ext : 29; // Bits 1 - 29 EID + }; + struct { + volatile uint32_t ress : 19; // Bits 0, 1-18 Reserved + volatile uint32_t std : 11; // StD ID + }; + struct { + volatile uint32_t resc : 30; // Bits 0 - 29 Reserved + volatile uint32_t ide : 1; // Bit 30 - EID + volatile uint32_t rtr : 1; // Bit 31 Remote + }; +} FilterType; + +typedef union DataType { + struct { + volatile uint32_t l; + volatile uint32_t h; + }; + struct { + volatile uint32_t b3 : 8; + volatile uint32_t b2 : 8; + volatile uint32_t b1 : 8; + volatile uint32_t b0 : 8; + volatile uint32_t b7 : 8; + volatile uint32_t b6 : 8; + volatile uint32_t b5 : 8; + volatile uint32_t b4 : 8; + }; +} DataType; + + +typedef struct MessageBufferType { + MBcsType CS; + IDType ID; + DataType data; +} MessageBufferType; + +enum mb_code_tx { + TxMbInactive = 0x8, /*!< MB is not active.*/ + TxMbAbort = 0x9, /*!< MB is aborted.*/ + TxMbDataOrRemote = 0xC, /*!< MB is a TX Data Frame(when MB RTR = 0) or */ + /*!< MB is a TX Remote Request Frame (when MB RTR = 1).*/ + TxMbTanswer = 0xE, /*!< MB is a TX Response Request Frame from */ + /*! an incoming Remote Request Frame.*/ + TxMbNotUsed = 0xF, /*!< Not used.*/ +}; + +typedef struct RxFiFoType { + FIFOcsType CS; + IDType ID; + DataType data; +} RxFiFoType; + +enum mb_code_rx { + kRxMbInactive = 0x0, /*!< MB is not active.*/ + kRxMbFull = 0x2, /*!< MB is full.*/ + kRxMbEmpty = 0x4, /*!< MB is active and empty.*/ + kRxMbOverrun = 0x6, /*!< MB is overwritten into a full buffer.*/ + kRxMbBusy = 0x8, /*!< FlexCAN is updating the contents of the MB.*/ + /*! The CPU must not access the MB.*/ + kRxMbRanswer = 0xA, /*!< A frame was configured to recognize a Remote Request Frame */ + /*! and transmit a Response Frame in return.*/ + kRxMbNotUsed = 0xF, /*!< Not used.*/ +}; + +typedef struct CanType { + volatile uint32_t MCR; /*!< Module Configuration Register, Address offset: 0x0000 */ + volatile uint32_t CTRL1; /*!< Control 1 Register, Address offset: 0x0004 */ + volatile uint32_t TIMER; /*!< Free Running Timer, Address offset: 0x0008 */ + uint32_t Reserved0; /*!< Reserved Address offset: 0x000c */ + volatile uint32_t RXMGMASK; /*!< Rx Mailboxes Global Mask Register, Address offset: 0x0010 */ + volatile uint32_t RX14MASK; /*!< Rx 14 Mask Register, Address offset: 0x0014 */ + volatile uint32_t RX15MASK; /*!< Rx 15 Mask Register, Address offset: 0x0018 */ + volatile uint32_t ECR; /*!< Error Counter, Address offset: 0x001c */ + volatile uint32_t ESR1; /*!< Error and Status 1 Register, Address offset: 0x0020 */ + uint32_t Reserved1; /*!< Reserved Address offset: 0x0024 */ + volatile uint32_t IMASK1; /*!< Interrupt Masks 1 Register, Address offset: 0x0028 */ + uint32_t Reserved2; /*!< Reserved Address offset: 0x002C */ + volatile uint32_t IFLAG1; /*!< Interrupt Flags 1 Register, Address offset: 0x0030 */ + volatile uint32_t CTRL2; /*!< Control 2 Register, Address offset: 0x0034 */ + volatile uint32_t ESR2; /*!< Error and Status 2 Register, Address offset: 0x0038 */ + uint32_t Reserved3; /*!< Reserved Address offset: 0x003c */ + uint32_t Reserved4; /*!< Reserved Address offset: 0x0040 */ + volatile uint32_t CRCR; /*!< CRC Register, Address offset: 0x0044 */ + volatile uint32_t RXFGMASK; /*!< Rx FIFO Global Mask Register, Address offset: 0x0048 */ + volatile uint32_t RXFIR; /*!< Rx FIFO Information Register, Address offset: 0x004c */ + uint32_t RESERVED5[12]; /*!< Reserved Address offset: 0x0050 */ + union { + RxFiFoType fifo; + MessageBufferType mb; + } MB[HWMaxMB]; + uint32_t RESERVED6[448]; /*!< Reserved Address offset: 0x0180 */ + volatile FilterType RXIMR[HWMaxMB]; /*!< R0 Individual Mask Registers, Address offset: 0x0880 + */ +} CanType; + +/* Layout of Fifo, filters and Message buffers */ + +enum { FiFo = 0 }; +/* 0 */ +/* 1 */ +/* 2 */ +/* 3 Fifo */ +/* 4 */ +/* 5 */ +enum { FirstFilter = 6 }; +/* 6 */ +/* 7 */ +/* 8 Filters */ +/* 9 */ +enum { NumHWFilters = 16 }; +enum { NumMBinFiFoAndFilters = 10 }; +/* 10 */ +/* 11 */ +/* 12 */ +/* 13 Tx Message Buffers */ +/* 14 */ +/* 15 */ +/*-- ----------------------*/ + +enum { TXMBMask = (0b111111 << NumMBinFiFoAndFilters) }; + + +#define CAN_IFLAG1_0 CAN_IFLAG1(0) /* Bit 0: Buffer MB0 Interrupt */ +#define CAN_IFLAG1_1 CAN_IFLAG1(1) /* Bit 1: Buffer MB1 Interrupt */ +#define CAN_IFLAG1_2 CAN_IFLAG1(2) /* Bit 2: Buffer MB2 Interrupt */ +#define CAN_IFLAG1_3 CAN_IFLAG1(3) /* Bit 3: Buffer MB3 Interrupt */ +#define CAN_IFLAG1_4 CAN_IFLAG1(4) /* Bit 4: Buffer MB4 Interrupt */ +#define CAN_IFLAG1_5 CAN_IFLAG1(5) /* Bit 5: Buffer MB5 Interrupt */ +#define CAN_FIFO_NE CAN_IFLAG1_5 /* Bit 5: Fifo almost Not empty Interrupt */ +#define CAN_IFLAG1_6 CAN_IFLAG1(6) /* Bit 6: Buffer MB6 Interrupt */ +#define CAN_FIFO_WARN CAN_IFLAG1_6 /* Bit 6: Fifo almost full Interrupt */ +#define CAN_IFLAG1_7 CAN_IFLAG1(7) /* Bit 7: Buffer MB7 Interrupt */ +#define CAN_FIFO_OV CAN_IFLAG1_7 /* Bit 7: Fifo Overflowed Interrupt */ diff --git a/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/flash/driver.c b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/flash/driver.c new file mode 100644 index 0000000000..82114db1da --- /dev/null +++ b/platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/flash/driver.c @@ -0,0 +1,226 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include + +#include "boot_config.h" +#include "flash.h" + +#include +#include +#include +#include +#include + +#include "hardware/s32k1xx_ftfc.h" + + +#define S32K1XX_PROGMEM_BLOCK_SECTOR_SIZE 4096 +#define S32K1XX_FLASH_BASE_ADDRESS 0 +#define S32K1XX_PROGMEM_PAGE_SIZE 8 + +CCASSERT(S32K1XX_PROGMEM_PAGE_SIZE == LATER_FLAHSED_WORDS *sizeof(uint32_t)); + + + +typedef union fccob_flash_addr_t { + uint32_t addr; + struct { + uint8_t fccob3; + uint8_t fccob2; + uint8_t fccob1; + uint8_t pad; + } fccobs; +} fccob_flash_addr_t; + + +static uint8_t zero_dirty = 0xff; + +ssize_t up_progmem_getpage(size_t addr); + +locate_code(".ramfunc") +static inline void wait_ftfc_ready(void) +{ + while ((getreg8(S32K1XX_FTFC_FSTAT) & FTTC_FSTAT_CCIF) == 0) { + /* Busy */ + } +} + +locate_code(".ramfunc") +static uint32_t execute_ftfc_command(void) +{ + uint8_t regval; + uint32_t retval; + + /* Clear CCIF to launch command */ + + regval = getreg8(S32K1XX_FTFC_FSTAT); + regval |= FTTC_FSTAT_CCIF; + + irqstate_t flags; + + flags = enter_critical_section(); + + putreg8(regval, S32K1XX_FTFC_FSTAT); + + wait_ftfc_ready(); + + leave_critical_section(flags); + + retval = getreg8(S32K1XX_FTFC_FSTAT); + + if (retval & (FTTC_FSTAT_MGSTAT0 | FTTC_FSTAT_FPVIOL | + FTTC_FSTAT_ACCERR | FTTC_FSTAT_RDCOLERR)) { + return retval; /* Error has occured */ + + } else { + return 0; /* success */ + } +} + +locate_code(".ramfunc") +ssize_t up_progmem_getpage(size_t addr) +{ + return addr / S32K1XX_PROGMEM_BLOCK_SECTOR_SIZE; +} + + +locate_code(".ramfunc") +ssize_t up_progmem_eraseblock(size_t block) +{ + static bool once = false; + + if (!once) { + once = true; + zero_dirty = 0xff; + } + + fccob_flash_addr_t dest; + dest.addr = (block * S32K1XX_PROGMEM_BLOCK_SECTOR_SIZE) + S32K1XX_FLASH_BASE_ADDRESS; + + /* Clear FSTAT error bits */ + + putreg8(FTTC_FSTAT_FPVIOL | FTTC_FSTAT_ACCERR | FTTC_FSTAT_RDCOLERR, + S32K1XX_FTFC_FSTAT); + + /* Set FTFC command */ + + putreg8(S32K1XX_FTFC_ERASE_SECTOR, S32K1XX_FTFC_FCCOB0); + + /* Destination address of sector to erase */ + + putreg8(dest.fccobs.fccob1, S32K1XX_FTFC_FCCOB1); + putreg8(dest.fccobs.fccob2, S32K1XX_FTFC_FCCOB2); + putreg8(dest.fccobs.fccob3, S32K1XX_FTFC_FCCOB3); + + if (execute_ftfc_command() & (FTTC_FSTAT_MGSTAT0 | FTTC_FSTAT_FPVIOL | + FTTC_FSTAT_ACCERR | FTTC_FSTAT_RDCOLERR)) { + return -EIO; /* Error has occured */ + } + + return (ssize_t)S32K1XX_PROGMEM_BLOCK_SECTOR_SIZE; +} + + +locate_code(".ramfunc") +ssize_t up_progmem_write(size_t addr, FAR const void *buf, size_t count) +{ + fccob_flash_addr_t dest; + uint8_t *src = (uint8_t *)buf; + ssize_t cashed = 0; + + + if (addr == APPLICATION_LOAD_ADDRESS) { + + /* On the first pass we will not write the first 8 bytes, and leave them erased. */ + + if (zero_dirty == 0xff) { + cashed = S32K1XX_PROGMEM_PAGE_SIZE; + zero_dirty = 0; + addr += S32K1XX_PROGMEM_PAGE_SIZE; + src += S32K1XX_PROGMEM_PAGE_SIZE; + count -= S32K1XX_PROGMEM_PAGE_SIZE; + + } else { + + /* On the second pass we will write the first 8 bytes. */ + + cashed = count - S32K1XX_PROGMEM_PAGE_SIZE; + count = S32K1XX_PROGMEM_PAGE_SIZE; + zero_dirty = 0xff; + } + } + + if (count % S32K1XX_PROGMEM_PAGE_SIZE != 0) { + return -EINVAL; + } + + dest.addr = addr; + + for (size_t i = 0; i < count / S32K1XX_PROGMEM_PAGE_SIZE ; i++) { + wait_ftfc_ready(); + + /* Clear FSTAT error bits */ + + putreg8(FTTC_FSTAT_FPVIOL | FTTC_FSTAT_ACCERR | FTTC_FSTAT_RDCOLERR, + S32K1XX_FTFC_FSTAT); + + /* Set FTFC command */ + + putreg8(S32K1XX_FTFC_PROGRAM_PHRASE, S32K1XX_FTFC_FCCOB0); + + /* Destination address */ + + putreg8(dest.fccobs.fccob1, S32K1XX_FTFC_FCCOB1); + putreg8(dest.fccobs.fccob2, S32K1XX_FTFC_FCCOB2); + putreg8(dest.fccobs.fccob3, S32K1XX_FTFC_FCCOB3); + + /* Write data */ + + for (int j = 0; j < S32K1XX_PROGMEM_PAGE_SIZE; j++) { + putreg8(src[j], S32K1XX_FTFC_FCCOB7 + j); + } + + if (execute_ftfc_command() & (FTTC_FSTAT_MGSTAT0 | FTTC_FSTAT_FPVIOL | + FTTC_FSTAT_ACCERR | FTTC_FSTAT_RDCOLERR)) { + return -EIO; /* Error has occured */ + } + + dest.addr = dest.addr + S32K1XX_PROGMEM_PAGE_SIZE; + src = src + S32K1XX_PROGMEM_PAGE_SIZE; + } + + return count + cashed; +} diff --git a/boards/intel/aerofc-v1/CMakeLists.txt b/platforms/nuttx/src/canbootloader/arch/stm/CMakeLists.txt similarity index 94% rename from boards/intel/aerofc-v1/CMakeLists.txt rename to platforms/nuttx/src/canbootloader/arch/stm/CMakeLists.txt index d5a0096ec6..72584f3178 100644 --- a/boards/intel/aerofc-v1/CMakeLists.txt +++ b/platforms/nuttx/src/canbootloader/arch/stm/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2018 PX4 Development Team. All rights reserved. +# Copyright (c) 2019 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -31,4 +31,4 @@ # ############################################################################ -add_subdirectory(aerofc_adc) +add_subdirectory(${PX4_CHIP}) diff --git a/platforms/nuttx/src/canbootloader/arch/stm/stm32f4/CMakeLists.txt b/platforms/nuttx/src/canbootloader/arch/stm/stm32f4/CMakeLists.txt new file mode 100644 index 0000000000..eccd131c6d --- /dev/null +++ b/platforms/nuttx/src/canbootloader/arch/stm/stm32f4/CMakeLists.txt @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2019 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +include_directories(../../../include) + +px4_add_library(arch_canbootloader + board_identity.c + drivers/can/driver.c +) + +target_link_libraries(arch_canbootloader + PRIVATE + arch_watchdog_iwdg +) diff --git a/platforms/nuttx/src/canbootloader/arch/stm32/board_identity.c b/platforms/nuttx/src/canbootloader/arch/stm/stm32f4/board_identity.c similarity index 100% rename from platforms/nuttx/src/canbootloader/arch/stm32/board_identity.c rename to platforms/nuttx/src/canbootloader/arch/stm/stm32f4/board_identity.c diff --git a/platforms/nuttx/src/canbootloader/arch/stm32/drivers/can/driver.c b/platforms/nuttx/src/canbootloader/arch/stm/stm32f4/drivers/can/driver.c similarity index 99% rename from platforms/nuttx/src/canbootloader/arch/stm32/drivers/can/driver.c rename to platforms/nuttx/src/canbootloader/arch/stm/stm32f4/drivers/can/driver.c index 5a21b831a8..c915cc0d33 100644 --- a/platforms/nuttx/src/canbootloader/arch/stm32/drivers/can/driver.c +++ b/platforms/nuttx/src/canbootloader/arch/stm/stm32f4/drivers/can/driver.c @@ -49,7 +49,7 @@ #include "nvic.h" #include "board.h" -#include "px4_macros.h" +#include #include "can.h" #include "timer.h" diff --git a/platforms/nuttx/src/canbootloader/fs/flash.c b/platforms/nuttx/src/canbootloader/fs/flash.c index 2e4aaf51b3..b2102ff2d2 100644 --- a/platforms/nuttx/src/canbootloader/fs/flash.c +++ b/platforms/nuttx/src/canbootloader/fs/flash.c @@ -41,10 +41,15 @@ #include #include -#include +/* Force the interface to be defined. Even if the NuttX config is not + * providing the driver, but the the bootloader is. + */ -#include "chip.h" -#include "stm32.h" +#if !defined(CONFIG_ARCH_HAVE_PROGMEM) +# define CONFIG_ARCH_HAVE_PROGMEM +#endif + +#include #include "flash.h" #include "blsched.h" diff --git a/platforms/nuttx/src/canbootloader/include/board.h b/platforms/nuttx/src/canbootloader/include/board.h index 20fbf48179..36365b7082 100644 --- a/platforms/nuttx/src/canbootloader/include/board.h +++ b/platforms/nuttx/src/canbootloader/include/board.h @@ -62,7 +62,7 @@ typedef enum { #ifndef __ASSEMBLY__ /************************************************************************************ - * Name: stm32_boarddeinitialize + * Name: board_deinitialize * * Description: * This function is called by the bootloader code priore to booting @@ -70,7 +70,7 @@ typedef enum { * ************************************************************************************/ -void stm32_boarddeinitialize(void); +void board_deinitialize(void); /**************************************************************************** * Name: board_get_product_name diff --git a/platforms/nuttx/src/canbootloader/include/flash.h b/platforms/nuttx/src/canbootloader/include/flash.h index 2da881539f..1b27b81376 100644 --- a/platforms/nuttx/src/canbootloader/include/flash.h +++ b/platforms/nuttx/src/canbootloader/include/flash.h @@ -46,6 +46,15 @@ typedef enum { } flash_error_t; +#if defined(OPT_LATER_FLAHSED_WORDS) +# define LATER_FLAHSED_WORDS OPT_LATER_FLAHSED_WORDS /* The number of 32 bit words not written until + * after CRC verification + */ +#else +# define LATER_FLAHSED_WORDS 1 /* The number of 32 bit words not written until + * after CRC verification + */ +#endif /**************************************************************************** * Name: bl_flash_erase * diff --git a/platforms/nuttx/src/canbootloader/include/px4_config.h b/platforms/nuttx/src/canbootloader/include/px4_config.h index 2493cf9218..59e65ae2b8 100644 --- a/platforms/nuttx/src/canbootloader/include/px4_config.h +++ b/platforms/nuttx/src/canbootloader/include/px4_config.h @@ -43,7 +43,7 @@ #include #include -#include "px4_micro_hal.h" +#include #include #elif defined (__PX4_POSIX) diff --git a/platforms/nuttx/src/canbootloader/include/px4_macros.h b/platforms/nuttx/src/canbootloader/include/px4_macros.h deleted file mode 100644 index 3d570e2d25..0000000000 --- a/platforms/nuttx/src/canbootloader/include/px4_macros.h +++ /dev/null @@ -1,116 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2014 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4_macros.h - * - * A set of useful macros for enhanced runtime and compile time - * error detection and warning suppression. - * - * Define NO_BLOAT to reduce bloat from file name inclusion. - * - * The arraySize() will compute the size of an array regardless - * it's type - * - * INVALID_CASE(c) should be used is case statements to ferret out - * unintended behavior - * - * UNUSED(var) will suppress compile time warnings of unused - * variables - * - * CCASSERT(predicate) Will generate a compile time error it the - * predicate is false - */ -#include - -#ifndef _PX4_MACROS_H -#define _PX4_MACROS_H - - -#if !defined(arraySize) -#define arraySize(a) (sizeof((a))/sizeof((a[0]))) -#endif - -#if !defined(NO_BLOAT) -#if defined(__BASE_FILE__) -#define _FILE_NAME_ __BASE_FILE__ -#else -#define _FILE_NAME_ __FILE__ -#endif -#else -#define _FILE_NAME_ "" -#endif - -#if !defined(INVALID_CASE) -#define INVALID_CASE(c) printf("Invalid Case %d, %s:%d",(c),__BASE_FILE__,__LINE__) /* todo use PANIC */ -#endif - -#if !defined(UNUSED) -#define UNUSED(var) (void)(var) -#endif - -#if !defined(CAT) -#if !defined(_CAT) -#define _CAT(a, b) a ## b -#endif -#define CAT(a, b) _CAT(a, b) -#endif - -#if !defined(FREEZE_STR) -# define FREEZE_STR(s) #s -#endif - -#if !defined(STRINGIFY) -#define STRINGIFY(s) FREEZE_STR(s) -#endif - -#if !defined(CCASSERT) -#if defined(static_assert) -# define CCASSERT(predicate) static_assert(predicate, STRINGIFY(predicate)) -# else -# define CCASSERT(predicate) _x_CCASSERT_LINE(predicate, __LINE__) -# if !defined(_x_CCASSERT_LINE) -# define _x_CCASSERT_LINE(predicate, line) typedef char CAT(constraint_violated_on_line_,line)[2*((predicate)!=0)-1] __attribute__ ((unused)) ; -# endif -# endif -#endif - -#if !defined(DO_PRAGMA) -# define DO_PRAGMA(x) _Pragma (#x) -#endif - -#if !defined(TODO) -# define TODO(x) DO_PRAGMA(message ("TODO - " #x)) -#endif - -#endif /* _PX4_MACROS_H */ diff --git a/platforms/nuttx/src/canbootloader/include/timer.h b/platforms/nuttx/src/canbootloader/include/timer.h index 9bc5d2846c..f263d16beb 100644 --- a/platforms/nuttx/src/canbootloader/include/timer.h +++ b/platforms/nuttx/src/canbootloader/include/timer.h @@ -48,11 +48,9 @@ #include #include -#include "stm32.h" +#include #include "nvic.h" -#define TIMER_HRT_CYCLES_PER_US (STM32_HCLK_FREQUENCY/1000000) -#define TIMER_HRT_CYCLES_PER_MS (STM32_HCLK_FREQUENCY/1000) /* Types for timer access */ typedef uint8_t bl_timer_id; /* A timer handle */ diff --git a/platforms/nuttx/src/canbootloader/include/uavcan.h b/platforms/nuttx/src/canbootloader/include/uavcan.h index d5562c24c8..caa28b2245 100644 --- a/platforms/nuttx/src/canbootloader/include/uavcan.h +++ b/platforms/nuttx/src/canbootloader/include/uavcan.h @@ -111,7 +111,7 @@ #include "bitminip.h" #include "can.h" -#include "px4_macros.h" +#include /**************************************************************************** * Pre-processor Definitions diff --git a/platforms/nuttx/src/canbootloader/protocol/uavcan.c b/platforms/nuttx/src/canbootloader/protocol/uavcan.c index 608963b785..a55d03aa82 100644 --- a/platforms/nuttx/src/canbootloader/protocol/uavcan.c +++ b/platforms/nuttx/src/canbootloader/protocol/uavcan.c @@ -45,9 +45,6 @@ #include #include -#include "chip.h" -#include "stm32.h" - #include "timer.h" #include "uavcan.h" #include "can.h" diff --git a/platforms/nuttx/src/canbootloader/sched/timer.c b/platforms/nuttx/src/canbootloader/sched/timer.c index 0d01f4cdf2..4bf8864bd4 100644 --- a/platforms/nuttx/src/canbootloader/sched/timer.c +++ b/platforms/nuttx/src/canbootloader/sched/timer.c @@ -49,7 +49,7 @@ #include #include -#include "px4_macros.h" +#include #include "timer.h" #include "nvic.h" diff --git a/platforms/nuttx/src/canbootloader/uavcan/main.c b/platforms/nuttx/src/canbootloader/uavcan/main.c index 5e64734093..225390f612 100644 --- a/platforms/nuttx/src/canbootloader/uavcan/main.c +++ b/platforms/nuttx/src/canbootloader/uavcan/main.c @@ -45,7 +45,6 @@ #include #include "chip.h" -#include "stm32.h" #include "nvic.h" #include "board.h" @@ -100,7 +99,7 @@ typedef volatile struct bootloader_t { union { uint32_t l; uint8_t b[sizeof(uint32_t)]; - } fw_word0; + } fw_word0[LATER_FLAHSED_WORDS]; } bootloader_t; @@ -341,14 +340,14 @@ static void find_descriptor(void) * * * Input Parameters: - * first_word - the value read from the first word of the Application's + * first_word - pointer the value read from the first 2 words of the Application's * in FLASH image. * * Returned Value: * true if the application in flash is valid., false otherwise. * ****************************************************************************/ -static bool is_app_valid(uint32_t first_word) +static bool is_app_valid(volatile uint32_t *first_words) { uint32_t block_crc1; uint32_t block_crc2; @@ -356,7 +355,7 @@ static bool is_app_valid(uint32_t first_word) find_descriptor(); - if (!bootloader.fw_image_descriptor || first_word == 0xFFFFFFFFu) { + if (!bootloader.fw_image_descriptor || first_words[0] == 0xFFFFFFFFu) { return false; } @@ -373,9 +372,9 @@ static bool is_app_valid(uint32_t first_word) return false; } - block_crc1 = crc32_signature(0, sizeof(first_word), (const uint8_t *)&first_word); + block_crc1 = crc32_signature(0, LATER_FLAHSED_WORDS * sizeof(uint32_t), (const uint8_t *)first_words); block_crc1 = crc32_signature(block_crc1, (size_t)(&bootloader.fw_image_descriptor->crc32_block1) - - (size_t)(bootloader.fw_image + 1), (const uint8_t *)(bootloader.fw_image + 1)); + (size_t)(bootloader.fw_image + LATER_FLAHSED_WORDS), (const uint8_t *)(bootloader.fw_image + LATER_FLAHSED_WORDS)); block_crc2 = crc32_signature(0, block2_len, (const uint8_t *) &bootloader.fw_image_descriptor->major_version); @@ -759,20 +758,10 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t uint8_t retries = UavcanServiceRetries; - /* - * Rate limiting on read requests: - * - * 2/sec (500 ms) on a 125 Kbaud bus Speed = 1 1000/2 - * 4/sec (250 ms) on a 250 Kbaud bus Speed = 2 1000/4 - * 8/sec (125 ms) on a 500 Kbaud bus Speed = 3 1000/8 - * 16/sec (62.5 ms) on a 1 Mbaud bus Speed = 4 1000/16 - */ - - uint32_t read_ms = 1000 >> bootloader.bus_speed; size_t length; protocol.tail_init.u8 = 0; - bl_timer_id tread = timer_allocate(modeTimeout | modeStarted, read_ms, 0); + int a_percent = fw_image_size / 100; do { /* reset the rate limit */ @@ -781,8 +770,6 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t while (retries && uavcan_status != UavcanOk) { - timer_restart(tread, read_ms); - length = FixedSizeReadRequest + fw_path_length; protocol.ser.source_node_id = g_server_node_id; uavcan_status = uavcan_tx_dsdl(DSDLReqRead, &protocol, @@ -842,10 +829,15 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t data[length] = 0xff; } - /* Save the first word off */ + /* Save the first words off */ if (request.offset == 0u) { - bootloader.fw_word0.l = *(uint32_t *)data; - *(uint32_t *)data = 0xffffffff; + uint32_t *datal = (uint32_t *)data; + bootloader.fw_word0[0].l = datal[0]; + datal[0] = 0xffffffff; +#if LATER_FLAHSED_WORDS > 1 + bootloader.fw_word0[1].l = datal[1]; + datal[1] = 0xffffffff; +#endif } flash_status = bl_flash_write(flash_address + request.offset, @@ -853,26 +845,18 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t length + (length & 1)); request.offset += length; - bootloader.percentage_done = (request.offset / 1024) + 1; - - /* rate limit */ - while (!timer_expired(tread)) { - ; - } + bootloader.percentage_done = (request.offset / a_percent); } while (request.offset < fw_image_size && length == sizeof(response.data) && flash_status == FLASH_OK); - timer_free(tread); - /* * Return success if the last read succeeded, the last write succeeded, the * correct number of bytes were written, and the length of the last response * was not. */ if (uavcan_status == UavcanOk && flash_status == FLASH_OK && request.offset == fw_image_size && length != 0) { - bootloader.percentage_done = 0; return FLASH_OK; } else { @@ -948,7 +932,7 @@ static void application_run(size_t fw_image_size, bootloader_app_shared_t *commo __asm__ __volatile__("\tcpsid i\n"); - stm32_boarddeinitialize(); + board_deinitialize(); /* kill the systick interrupt */ putreg32(0, NVIC_SYSTICK_CTRL); @@ -1089,12 +1073,12 @@ __EXPORT int main(int argc, char *argv[]) * */ #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO) - bootloader.wait_for_getnodeinfo = (stm32_gpioread(GPIO_GETNODEINFO_JUMPER) ^ + bootloader.wait_for_getnodeinfo = (px4_arch_gpioread(GPIO_GETNODEINFO_JUMPER) ^ OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT); #endif /* Is the memory in the Application space occupied by a valid application? */ - bootloader.app_valid = is_app_valid(bootloader.fw_image[0]); + bootloader.app_valid = is_app_valid(bootloader.fw_image); board_indicate(reset); @@ -1312,7 +1296,6 @@ __EXPORT int main(int argc, char *argv[]) LOGMESSAGE_STAGE_ERASE, LOGMESSAGE_RESULT_START); - /* Need to signal that the app is no longer valid if Node Info Request are done */ bootloader.app_valid = false; @@ -1335,7 +1318,7 @@ __EXPORT int main(int argc, char *argv[]) } /* Did we program a valid image ?*/ - if (!is_app_valid(bootloader.fw_word0.l)) { + if (!is_app_valid(&bootloader.fw_word0[0].l)) { bootloader.app_valid = 0u; board_indicate(fw_update_invalid_crc); @@ -1344,15 +1327,17 @@ __EXPORT int main(int argc, char *argv[]) goto failure; } - /* Yes Commit the first word to location 0 of the Application image in flash */ - status = bl_flash_write((uint32_t) bootloader.fw_image, (uint8_t *) &bootloader.fw_word0.b[0], - sizeof(bootloader.fw_word0.b)); + /* Yes Commit the first word(s) to location 0 of the Application image in flash */ + status = bl_flash_write((uint32_t) bootloader.fw_image, (uint8_t *) &bootloader.fw_word0[0].b[0], + sizeof(bootloader.fw_word0)); if (status != FLASH_OK) { error_log_stage = LOGMESSAGE_STAGE_FINALIZE; goto failure; } + bootloader.percentage_done = 100; + /* Send a completion log allocation_message */ uavcan_tx_log_message(LOGMESSAGE_LEVELINFO, LOGMESSAGE_STAGE_FINALIZE, diff --git a/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h b/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h index 96615af30d..6daca09771 100644 --- a/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h +++ b/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h @@ -48,6 +48,9 @@ __BEGIN_DECLS #define px4_enter_critical_section() enter_critical_section() #define px4_leave_critical_section(flags) leave_critical_section(flags) +#define px4_udelay(usec) up_udelay(usec) +#define px4_mdelay(msec) up_mdelay(msec) + #include __END_DECLS diff --git a/platforms/nuttx/src/px4/common/px4_mtd.cpp b/platforms/nuttx/src/px4/common/px4_mtd.cpp index 7635398d5b..ab0f48504e 100644 --- a/platforms/nuttx/src/px4/common/px4_mtd.cpp +++ b/platforms/nuttx/src/px4/common/px4_mtd.cpp @@ -334,8 +334,12 @@ memoryout: if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::I2C) { rv = at24xxx_attach(instances[i]); - } else { + } else if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::SPI) { rv = ramtron_attach(instances[i]); + + } else if (mtd_list->entries[i]->device->bus_type == px4_mft_device_t::ONCHIP) { + instances[i].n_partitions_current++; + return 0; } if (rv != 0) { diff --git a/platforms/nuttx/src/px4/common/srgbled/srgbled.cpp b/platforms/nuttx/src/px4/common/srgbled/srgbled.cpp index 936340daf2..d1d08eafcc 100644 --- a/platforms/nuttx/src/px4/common/srgbled/srgbled.cpp +++ b/platforms/nuttx/src/px4/common/srgbled/srgbled.cpp @@ -100,7 +100,7 @@ int neopixel_write_no_dma(uint8_t r, uint8_t g, uint8_t b, uint8_t led_count) { - register neopixel::NeoLEDData::led_data_t data; + neopixel::NeoLEDData::led_data_t data; data.grb[2] = g; data.grb[1] = r; data.grb[0] = b; diff --git a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h index 5184a56ec8..0a870b6a96 100644 --- a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h @@ -33,7 +33,7 @@ #pragma once -#include +#include "../../../nxp_common/include/px4_arch/micro_hal.h" __BEGIN_DECLS diff --git a/boards/aerotenna/ocpoc/src/i2c.cpp b/platforms/nuttx/src/px4/nxp/nxp_common/include/px4_arch/micro_hal.h similarity index 78% rename from boards/aerotenna/ocpoc/src/i2c.cpp rename to platforms/nuttx/src/px4/nxp/nxp_common/include/px4_arch/micro_hal.h index 3be58c3fe8..5a9693ec91 100644 --- a/boards/aerotenna/ocpoc/src/i2c.cpp +++ b/platforms/nuttx/src/px4/nxp/nxp_common/include/px4_arch/micro_hal.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -30,12 +30,20 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ +#pragma once -#include +#include -constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { - initI2CBusExternal(2), // i2c-2: Air Data Probe or I2C Splitter - initI2CBusExternal(4), // i2c-4: GPS/Compass #1 - initI2CBusExternal(5), // i2c-5: GPS/Compass #2 - initI2CBusExternal(3), // i2c-3: GPS/Compass #3 -}; +__BEGIN_DECLS + +#if defined(CONFIG_ARMV7M_DCACHE) +# define PX4_ARCH_DCACHE_ALIGNMENT ARMV7M_DCACHE_LINESIZE +# define px4_cache_aligned_data() aligned_data(ARMV7M_DCACHE_LINESIZE) +# define px4_cache_aligned_alloc(s) memalign(ARMV7M_DCACHE_LINESIZE,(s)) +#else +# define px4_cache_aligned_data() +# define px4_cache_aligned_alloc malloc +#endif + + +__END_DECLS diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h index dbfe82a5c7..368271913c 100644 --- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h @@ -32,8 +32,7 @@ ****************************************************************************/ #pragma once - -#include +#include "../../../nxp_common/include/px4_arch/micro_hal.h" __BEGIN_DECLS diff --git a/platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/micro_hal.h index 38e9106f69..f5c3c4fddb 100644 --- a/platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/micro_hal.h @@ -33,7 +33,7 @@ #pragma once -#include +#include "../../../nxp_common/include/px4_arch/micro_hal.h" __BEGIN_DECLS @@ -51,6 +51,7 @@ __BEGIN_DECLS #include #include #include +#include //#include /* s32k1xx defines the 128 bit UUID as @@ -111,4 +112,16 @@ __BEGIN_DECLS #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) s32k1xx_gpiosetevent(pinset,r,f,e,fp,a) #define I2C_RESET(q) + +/* CAN bootloader usage */ + +#define TIMER_HRT_CYCLES_PER_US (STM32_HCLK_FREQUENCY/1000000) +#define TIMER_HRT_CYCLES_PER_MS (STM32_HCLK_FREQUENCY/1000) + +#define crc_HiLOC S32K1XX_CAN0_RXIMR27 +#define crc_LoLOC S32K1XX_CAN0_RXIMR28 +#define signature_LOC S32K1XX_CAN0_RXIMR29 +#define bus_speed_LOC S32K1XX_CAN0_RXIMR30 +#define node_id_LOC S32K1XX_CAN0_RXIMR31 + __END_DECLS diff --git a/platforms/nuttx/src/px4/stm/stm32_common/adc/adc.cpp b/platforms/nuttx/src/px4/stm/stm32_common/adc/adc.cpp index b103272997..e0d4fda808 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/adc/adc.cpp +++ b/platforms/nuttx/src/px4/stm/stm32_common/adc/adc.cpp @@ -70,7 +70,7 @@ #ifdef STM32_ADC_CCR -# define rCCR(base) REG((base), STM32_ADC_CCR_OFFSET) +# define rCCR(base) REG((STM32_ADCCMN_BASE), STM32_ADC_CCR_OFFSET) /* Assuming VDC 2.4 - 3.6 */ @@ -235,7 +235,9 @@ float px4_arch_adc_reference_v() uint32_t px4_arch_adc_temp_sensor_mask() { - return 1 << 16; + + return 1 << PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL; + } uint32_t px4_arch_adc_dn_fullcount() diff --git a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c index 66d53b2f03..dbb5338623 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c +++ b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c @@ -69,14 +69,18 @@ typedef struct dshot_handler_t { uint32_t dma_size; } dshot_handler_t; -#define DMA_BUFFER_MASK (PX4_ARCH_DCACHE_LINESIZE - 1) -#define DMA_ALIGN_UP(n) (((n) + DMA_BUFFER_MASK) & ~DMA_BUFFER_MASK) +#if defined(CONFIG_ARMV7M_DCACHE) +# define DMA_BUFFER_MASK (ARMV7M_DCACHE_LINESIZE - 1) +# define DMA_ALIGN_UP(n) (((n) + DMA_BUFFER_MASK) & ~DMA_BUFFER_MASK) +#else +#define DMA_ALIGN_UP(n) (n) +#endif #define DSHOT_BURST_BUFFER_SIZE(motors_number) (DMA_ALIGN_UP(sizeof(uint32_t)*ONE_MOTOR_BUFF_SIZE*motors_number)) static dshot_handler_t dshot_handler[DSHOT_TIMERS] = {}; static uint16_t *motor_buffer = NULL; static uint8_t dshot_burst_buffer_array[DSHOT_TIMERS * DSHOT_BURST_BUFFER_SIZE(MAX_NUM_CHANNELS_PER_TIMER)] -__attribute__((aligned(PX4_ARCH_DCACHE_LINESIZE))); // DMA buffer +px4_cache_aligned_data(); static uint32_t *dshot_burst_buffer[DSHOT_TIMERS] = {}; #ifdef BOARD_DSHOT_MOTOR_ASSIGNMENT diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h index 6d257b2e40..63803b5a4a 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h @@ -107,4 +107,32 @@ __BEGIN_DECLS #define PX4_GPIO_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_2MHz)) +/* CAN bootloader usage */ + +#define TIMER_HRT_CYCLES_PER_US (STM32_HCLK_FREQUENCY/1000000) +#define TIMER_HRT_CYCLES_PER_MS (STM32_HCLK_FREQUENCY/1000) + +/* CAN_FiRx where (i=0..27|13, x=1, 2) + * STM32_CAN1_FIR(i,x) + * Using i = 2 does not requier there block + * to be enabled nor FINIT in CAN_FMR to be set. + * todo:Validate this claim on F2, F3 + */ + +#define crc_HiLOC STM32_CAN1_FIR(2,1) +#define crc_LoLOC STM32_CAN1_FIR(2,2) +#define signature_LOC STM32_CAN1_FIR(3,1) +#define bus_speed_LOC STM32_CAN1_FIR(3,2) +#define node_id_LOC STM32_CAN1_FIR(4,1) + +#if defined(CONFIG_ARMV7M_DCACHE) +# define PX4_ARCH_DCACHE_ALIGNMENT ARMV7M_DCACHE_LINESIZE +# define px4_cache_aligned_data() aligned_data(ARMV7M_DCACHE_LINESIZE) +# define px4_cache_aligned_alloc(s) memalign(ARMV7M_DCACHE_LINESIZE,(s)) +#else +# define px4_cache_aligned_data() +# define px4_cache_aligned_alloc malloc +#endif + + __END_DECLS diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h index 23dc53f96e..c514043120 100644 --- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h +++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h @@ -165,6 +165,6 @@ private: /** * IO Buffer storage */ - static uint8_t _io_buffer_storage[] __attribute__((aligned(PX4_ARCH_DCACHE_LINESIZE))); + static uint8_t _io_buffer_storage[] px4_cache_aligned_data(); }; diff --git a/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/micro_hal.h index 8422adc558..96f1205b77 100644 --- a/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/micro_hal.h @@ -46,5 +46,6 @@ __BEGIN_DECLS # define PX4_BBSRAM_GETDESC_IOCTL STM32_BBSRAM_GETDESC_IOCTL #endif #define PX4_NUMBER_I2C_BUSES STM32_NI2C +#define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 16 __END_DECLS diff --git a/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/micro_hal.h index 2c06c7641c..5c394050df 100644 --- a/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/micro_hal.h @@ -46,6 +46,7 @@ __BEGIN_DECLS # define PX4_BBSRAM_GETDESC_IOCTL STM32_BBSRAM_GETDESC_IOCTL #endif #define PX4_NUMBER_I2C_BUSES STM32_NI2C +#define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 16 __END_DECLS diff --git a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/micro_hal.h index cdfb3ac702..edf02df263 100644 --- a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/micro_hal.h @@ -46,7 +46,6 @@ __BEGIN_DECLS # define PX4_BBSRAM_GETDESC_IOCTL STM32_BBSRAM_GETDESC_IOCTL #endif #define PX4_NUMBER_I2C_BUSES STM32_NI2C -#define PX4_ARCH_DCACHE_LINESIZE 32 // REMOVE this The DSHOT added this and needs to be fixed THERE IS NO DCAHE on F4 - +#define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 18 __END_DECLS diff --git a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/micro_hal.h index 9f506182b1..4652afe349 100644 --- a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/micro_hal.h @@ -46,7 +46,8 @@ __BEGIN_DECLS #define PX4_BBSRAM_GETDESC_IOCTL STM32F7_BBSRAM_GETDESC_IOCTL #define PX4_FLASH_BASE 0x08000000 #define PX4_NUMBER_I2C_BUSES STM32F7_NI2C -#define PX4_ARCH_DCACHE_LINESIZE ARMV7M_DCACHE_LINESIZE +#define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 18 + int stm32_flash_lock(void); int stm32_flash_unlock(void); diff --git a/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp b/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp index d1b8258c1a..68d640fa55 100644 --- a/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp +++ b/platforms/nuttx/src/px4/stm/stm32h7/adc/adc.cpp @@ -40,6 +40,14 @@ #include #include +/* + * If there is only one ADC in use in PX4 and it is not + * ADC3 we still need ADC3 for temperature sensing. + */ +#if SYSTEM_ADC_COUNT == 1 && SYSTEM_ADC_BASE != STM32_ADC3_BASE +# undef SYSTEM_ADC_COUNT +# define SYSTEM_ADC_COUNT 2 +#endif /* * Register accessors. @@ -54,7 +62,7 @@ #define rPCSEL(base) REG((base), STM32_ADC_PCSEL_OFFSET) #define rCFG(base) REG((base), STM32_ADC_CFGR_OFFSET) #define rCFG2(base) REG((base), STM32_ADC_CFGR2_OFFSET) -#define rCCR(base) REG((base), STM32_ADC_CCR_OFFSET) +#define rCCR() REG((STM32_ADC1_BASE), (STM32_ADC_CCR_OFFSET)) #define rSQR1(base) REG((base), STM32_ADC_SQR1_OFFSET) #define rSQR2(base) REG((base), STM32_ADC_SQR2_OFFSET) #define rSQR3(base) REG((base), STM32_ADC_SQR3_OFFSET) @@ -116,6 +124,7 @@ # error "ADC STM32_PLL2P_FREQUENCY too high - no divisor found " #endif +#define ADC3_INTERNAL_TEMP_SENSOR_CHANNEL 18 //define to map the internal temperature channel. int px4_arch_adc_init(uint32_t base_address) { @@ -159,8 +168,8 @@ int px4_arch_adc_init(uint32_t base_address) /* enable the temperature sensor, VREFINT channel and VBAT */ - rCCR(base_address) = (ADC_CCR_VREFEN | ADC_CCR_VSENSEEN | ADC_CCR_VBATEN | - ADC_CCR_CKMODE_ASYCH | ADC_CCR_PRESC_DIV); + rCCR() = (ADC_CCR_VREFEN | ADC_CCR_VSENSEEN | ADC_CCR_VBATEN | + ADC_CCR_CKMODE_ASYCH | ADC_CCR_PRESC_DIV); /* Enable ADC calibration. ADCALDIF == 0 so this is only for * single-ended conversions, not for differential ones. @@ -276,6 +285,21 @@ uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel) { irqstate_t flags = px4_enter_critical_section(); + /* Add a channel mapping for ADC3 on the H7 */ + + if (channel == PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL) { + static bool once = false; + channel = ADC3_INTERNAL_TEMP_SENSOR_CHANNEL; + base_address = STM32_ADC3_BASE; + + // Init it once (px4_arch_adc_init does this as well, but this is less cycles) + if (!once) { + once = true; + px4_arch_adc_init(base_address); + } + } + + /* clear any previous EOC */ if (rISR(base_address) & ADC_INT_EOC) { @@ -315,7 +339,7 @@ float px4_arch_adc_reference_v() uint32_t px4_arch_adc_temp_sensor_mask() { - return 1 << 16; + return 1 << PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL; } uint32_t px4_arch_adc_dn_fullcount() diff --git a/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/micro_hal.h index 8784e2cf36..31559c7bf8 100644 --- a/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/micro_hal.h +++ b/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/micro_hal.h @@ -49,8 +49,6 @@ __BEGIN_DECLS #define RCC_APB1RSTR_TIM2RST RCC_APB1LRSTR_TIM2RST #define RCC_APB1RSTR_TIM5RST RCC_APB1LRSTR_TIM5RST - - #include #include #include //include up_systemreset() which is included on stm32.h @@ -59,11 +57,11 @@ __BEGIN_DECLS #define PX4_BBSRAM_GETDESC_IOCTL STM32H7_BBSRAM_GETDESC_IOCTL #define PX4_FLASH_BASE 0x08000000 #define PX4_NUMBER_I2C_BUSES STM32H7_NI2C -#define PX4_ARCH_DCACHE_LINESIZE ARMV7M_DCACHE_LINESIZE //Fix me! REMOVE this The DSHOT added this and needs to be fixed int stm32h7_flash_lock(size_t addr); int stm32h7_flash_unlock(size_t addr); int stm32h7_flash_writeprotect(size_t block, bool enabled); #define stm32_flash_lock() stm32h7_flash_lock(PX4_FLASH_BASE) +#define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL (20) //Valid for ADC3 on H7x3 __END_DECLS diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake index 395480947e..0257cbd344 100644 --- a/platforms/posix/cmake/sitl_target.cmake +++ b/platforms/posix/cmake/sitl_target.cmake @@ -4,54 +4,53 @@ file(MAKE_DIRECTORY ${SITL_WORKING_DIR}/rootfs) # add a symlink to the logs dir to make it easier to find them add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs - COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/log logs - WORKING_DIRECTORY ${PX4_BINARY_DIR}) + COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/log logs + WORKING_DIRECTORY ${PX4_BINARY_DIR} +) add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs) - add_dependencies(px4 logs_symlink) add_custom_target(run_config - COMMAND Tools/sitl_run.sh - $ - ${config_sitl_debugger} - ${config_sitl_viewer} - ${config_sitl_model} - ${PX4_SOURCE_DIR} - ${PX4_BINARY_DIR} - WORKING_DIRECTORY ${SITL_WORKING_DIR} - USES_TERMINAL - DEPENDS px4 logs_symlink - ) + COMMAND Tools/sitl_run.sh $ ${config_sitl_debugger} ${config_sitl_viewer} ${config_sitl_model} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} + WORKING_DIRECTORY ${SITL_WORKING_DIR} + USES_TERMINAL + DEPENDS px4 logs_symlink +) -px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo") px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/jMAVSim") -px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/flightgear_bridge") -px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/jsbsim_bridge") # Add support for external project building include(ExternalProject) +include(ProcessorCount) + +set(build_cores 1) + +ProcessorCount(N) +if(N GREATER_EQUAL 4) + math(EXPR build_cores "${N} - 2") +endif() # project to build sitl_gazebo if necessary +px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo") ExternalProject_Add(sitl_gazebo SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} -DSEND_ODOMETRY_DATA=ON + -DGENERATE_ROS_MODELS=ON BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo INSTALL_COMMAND "" - DEPENDS - git_gazebo + DEPENDS git_gazebo USES_TERMINAL_CONFIGURE true USES_TERMINAL_BUILD true EXCLUDE_FROM_ALL true BUILD_ALWAYS 1 - BUILD_COMMAND ${CMAKE_COMMAND} --build -- -j1 + BUILD_COMMAND ${CMAKE_COMMAND} --build -- -j ${build_cores} ) ExternalProject_Add(mavsdk_tests SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests - CMAKE_ARGS - -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} + CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests INSTALL_COMMAND "" USES_TERMINAL_CONFIGURE true @@ -60,28 +59,26 @@ ExternalProject_Add(mavsdk_tests BUILD_ALWAYS 1 ) +px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/flightgear_bridge") ExternalProject_Add(flightgear_bridge SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/flightgear_bridge - CMAKE_ARGS - -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} + CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} BINARY_DIR ${PX4_BINARY_DIR}/build_flightgear_bridge INSTALL_COMMAND "" - DEPENDS - git_flightgear_bridge + DEPENDS git_flightgear_bridge USES_TERMINAL_CONFIGURE true USES_TERMINAL_BUILD true EXCLUDE_FROM_ALL true BUILD_ALWAYS 1 ) +px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/jsbsim_bridge") ExternalProject_Add(jsbsim_bridge SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/jsbsim_bridge - CMAKE_ARGS - -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} + CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} BINARY_DIR ${PX4_BINARY_DIR}/build_jsbsim_bridge INSTALL_COMMAND "" - DEPENDS - git_jsbsim_bridge + DEPENDS git_jsbsim_bridge USES_TERMINAL_CONFIGURE true USES_TERMINAL_BUILD true EXCLUDE_FROM_ALL true @@ -89,29 +86,81 @@ ExternalProject_Add(jsbsim_bridge ) # create targets for each viewer/model/debugger combination -set(viewers none jmavsim gazebo) -set(debuggers none ide gdb lldb ddd valgrind callgrind) -set(models none shell - if750a iris iris_dual_gps iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_ctrlalloc iris_obs_avoid iris_rtps px4vision solo typhoon_h480 - plane plane_cam plane_catapult plane_lidar techpod - standard_vtol tailsitter tiltrotor - rover r1_rover boat cloudship - uuv_hippocampus uuv_bluerov2_heavy) -set(worlds none empty baylands ksql_airport mcmillan_airfield sonoma_raceway warehouse windy yosemite) +set(viewers + none + jmavsim + gazebo +) + +set(debuggers + none + gdb + lldb + valgrind + callgrind +) + +set(models + none + boat + cloudship + if750a + iris + iris_ctrlalloc + iris_dual_gps + iris_foggy_lidar + iris_irlock + iris_obs_avoid + iris_opt_flow + iris_opt_flow_mockup + iris_rplidar + iris_rtps px4vision + iris_vision + nxp_cupcar + plane + plane_cam + plane_catapult + plane_lidar + r1_rover + rover + shell + solo + standard_vtol + standard_vtol_drop + tailsitter + techpod + tiltrotor + typhoon_h480 + uuv_bluerov2_heavy + uuv_hippocampus +) + +set(worlds + none + baylands + empty + ksql_airport + mcmillan_airfield + sonoma_raceway + warehouse + windy + yosemite +) + set(all_posix_vmd_make_targets) foreach(viewer ${viewers}) foreach(debugger ${debuggers}) foreach(model ${models}) foreach(world ${worlds}) - if (world STREQUAL "none") - if (debugger STREQUAL "none") - if (model STREQUAL "none") + if(world STREQUAL "none") + if(debugger STREQUAL "none") + if(model STREQUAL "none") set(_targ_name "${viewer}") else() set(_targ_name "${viewer}_${model}") endif() else() - if (model STREQUAL "none") + if(model STREQUAL "none") set(_targ_name "${viewer}___${debugger}") else() set(_targ_name "${viewer}_${model}_${debugger}") @@ -119,35 +168,27 @@ foreach(viewer ${viewers}) endif() add_custom_target(${_targ_name} - COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh - $ - ${debugger} - ${viewer} - ${model} - ${world} - ${PX4_SOURCE_DIR} - ${PX4_BINARY_DIR} + COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $ ${debugger} ${viewer} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} WORKING_DIRECTORY ${SITL_WORKING_DIR} USES_TERMINAL - DEPENDS - logs_symlink + DEPENDS logs_symlink ) list(APPEND all_posix_vmd_make_targets ${_targ_name}) - if (viewer STREQUAL "gazebo") + if(viewer STREQUAL "gazebo") add_dependencies(${_targ_name} px4 sitl_gazebo) elseif(viewer STREQUAL "jmavsim") add_dependencies(${_targ_name} px4 git_jmavsim) endif() else() - if (viewer STREQUAL "gazebo") - if (debugger STREQUAL "none") - if (model STREQUAL "none") + if(viewer STREQUAL "gazebo") + if(debugger STREQUAL "none") + if(model STREQUAL "none") set(_targ_name "${viewer}___${world}") else() set(_targ_name "${viewer}_${model}__${world}") endif() else() - if (model STREQUAL "none") + if(model STREQUAL "none") set(_targ_name "${viewer}__${debugger}_${world}") else() set(_targ_name "${viewer}_${model}_${debugger}_${world}") @@ -155,14 +196,7 @@ foreach(viewer ${viewers}) endif() add_custom_target(${_targ_name} - COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh - $ - ${debugger} - ${viewer} - ${model} - ${world} - ${PX4_SOURCE_DIR} - ${PX4_BINARY_DIR} + COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $ ${debugger} ${viewer} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} WORKING_DIRECTORY ${SITL_WORKING_DIR} USES_TERMINAL DEPENDS logs_symlink @@ -177,20 +211,31 @@ foreach(viewer ${viewers}) endforeach() # create targets for jsbsim -set(models_jsbsim none rascal quadrotor_x hexarotor_x malolo) -set(worlds_jsbsim none LSZH) +set(models_jsbsim + none + rascal + quadrotor_x + hexarotor_x + malolo +) + +set(worlds_jsbsim + none + LSZH +) + foreach(debugger ${debuggers}) foreach(model ${models_jsbsim}) foreach(world ${worlds_jsbsim}) - if (world STREQUAL "none") - if (debugger STREQUAL "none") - if (model STREQUAL "none") + if(world STREQUAL "none") + if(debugger STREQUAL "none") + if(model STREQUAL "none") set(_targ_name "jsbsim") else() set(_targ_name "jsbsim_${model}") endif() else() - if (model STREQUAL "none") + if(model STREQUAL "none") set(_targ_name "jsbsim__${debugger}_${world}") else() set(_targ_name "jsbsim_${model}_${debugger}_${world}") @@ -198,30 +243,22 @@ foreach(debugger ${debuggers}) endif() add_custom_target(${_targ_name} - COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh - $ - ${debugger} - jsbsim - ${model} - "LSZH" - ${PX4_SOURCE_DIR} - ${PX4_BINARY_DIR} - WORKING_DIRECTORY ${SITL_WORKING_DIR} - USES_TERMINAL - DEPENDS - logs_symlink + COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $ ${debugger} jsbsim ${model} "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} + WORKING_DIRECTORY ${SITL_WORKING_DIR} + USES_TERMINAL + DEPENDS logs_symlink ) list(APPEND all_posix_vmd_make_targets ${_targ_name}) add_dependencies(${_targ_name} px4 jsbsim_bridge) else() - if (debugger STREQUAL "none") - if (model STREQUAL "none") + if(debugger STREQUAL "none") + if(model STREQUAL "none") set(_targ_name "jsbsim___${world}") else() set(_targ_name "jsbsim_${model}__${world}") endif() else() - if (model STREQUAL "none") + if(model STREQUAL "none") set(_targ_name "jsbsim___${debugger}_${world}") else() set(_targ_name "jsbsim_${model}_${debugger}_${world}") @@ -229,18 +266,10 @@ foreach(debugger ${debuggers}) endif() add_custom_target(${_targ_name} - COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh - $ - ${debugger} - jsbsim - ${model} - ${world} - ${PX4_SOURCE_DIR} - ${PX4_BINARY_DIR} - WORKING_DIRECTORY ${SITL_WORKING_DIR} - USES_TERMINAL - DEPENDS - logs_symlink + COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $ ${debugger} jsbsim ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} + WORKING_DIRECTORY ${SITL_WORKING_DIR} + USES_TERMINAL + DEPENDS logs_symlink ) list(APPEND all_posix_vmd_make_targets ${_targ_name}) add_dependencies(${_targ_name} px4 jsbsim_bridge) @@ -249,32 +278,24 @@ foreach(debugger ${debuggers}) endforeach() endforeach() -#add flighgear targets -if( ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no") +# add flighgear targets +if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no") set(models rascal rascal-electric tf-g1 tf-r1 - ) + ) set(all_posix_vmd_make_targets) foreach(model ${models}) set(_targ_name "flightgear_${model}") add_custom_target(${_targ_name} - COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh - $ - none - flightgear - ${model} - none - ${PX4_SOURCE_DIR} - ${PX4_BINARY_DIR} + COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $ none flightgear ${model} none ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} WORKING_DIRECTORY ${SITL_WORKING_DIR} USES_TERMINAL - DEPENDS - logs_symlink - ) + DEPENDS logs_symlink + ) add_dependencies(${_targ_name} px4 flightgear_bridge) list(APPEND all_posix_vmd_make_targets ${_targ_name}) diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake index 4a99595634..ddf6f30362 100644 --- a/platforms/posix/cmake/sitl_tests.cmake +++ b/platforms/posix/cmake/sitl_tests.cmake @@ -2,14 +2,12 @@ # tests # -# TODO: find a way to keep this in sync with tests_main +# tests command arguments set(tests atomic_bitset bezier bitset bson - commander - controllib conv dataman file2 @@ -30,27 +28,11 @@ set(tests param parameters perf - rc search_min servo - #lightware_laser sleep - uorb versioning - ) - -if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") - list(REMOVE_ITEM tests - mixer - uorb - ) -endif() - -if (CMAKE_SYSTEM_NAME STREQUAL "CYGWIN") - list(REMOVE_ITEM tests - uorb - ) -endif() +) foreach(test_name ${tests}) set(test_name_prefix sitl-${test_name}) @@ -71,6 +53,35 @@ foreach(test_name ${tests}) endforeach() +# standalone tests +set(cmd_tests + commander_tests + controllib_test + lightware_laser_test + rc_tests + uorb_tests +) + +foreach(test_name ${cmd_tests}) + set(test_name_prefix sitl-${test_name}) + configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated) + + add_test(NAME ${test_name_prefix} + COMMAND $ + -s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated + -t ${PX4_SOURCE_DIR}/test_data + ${PX4_SOURCE_DIR}/ROMFS/px4fmu_test + WORKING_DIRECTORY ${SITL_WORKING_DIR} + ) + + set_tests_properties(${test_name_prefix} PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL") + set_tests_properties(${test_name_prefix} PROPERTIES PASS_REGULAR_EXPRESSION "PASS") + + sanitizer_fail_test_on_error(${test_name_prefix}) +endforeach() + + + # Mavlink test requires mavlink running add_test(NAME sitl-mavlink COMMAND $ @@ -80,25 +91,26 @@ add_test(NAME sitl-mavlink WORKING_DIRECTORY ${SITL_WORKING_DIR} ) -set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED") -set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED") +set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL") +set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "ALL TESTS PASSED") sanitizer_fail_test_on_error(sitl-mavlink) -# A mystery why this fails on Cygwin currently. -if(NOT CMAKE_SYSTEM_NAME STREQUAL "CYGWIN") - # Shutdown test - add_test(NAME sitl-shutdown - COMMAND $ - -s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown - -t ${PX4_SOURCE_DIR}/test_data - ${PX4_SOURCE_DIR}/ROMFS/px4fmu_test - WORKING_DIRECTORY ${SITL_WORKING_DIR} - ) - #set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED") - set_tests_properties(sitl-shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.") - sanitizer_fail_test_on_error(sitl-shutdown) -endif() + +# # Shutdown test +# add_test(NAME sitl-shutdown +# COMMAND $ +# -s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown +# -t ${PX4_SOURCE_DIR}/test_data +# ${PX4_SOURCE_DIR}/ROMFS/px4fmu_test +# WORKING_DIRECTORY ${SITL_WORKING_DIR} +# ) + +# #set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED") +# set_tests_properties(sitl-shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.") +# sanitizer_fail_test_on_error(sitl-shutdown) + + # Dynamic module loading test add_test(NAME dyn @@ -115,6 +127,7 @@ add_test(NAME dyn set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED") sanitizer_fail_test_on_error(dyn) + # run arbitrary commands set(test_cmds hrt_test @@ -137,6 +150,7 @@ foreach(cmd_name ${test_cmds}) set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.") endforeach() + if(CMAKE_BUILD_TYPE STREQUAL Coverage) setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" tests) setup_target_for_coverage(generate_coverage "${CMAKE_COMMAND} -E echo" generic) diff --git a/platforms/posix/src/px4/common/include/px4_platform/micro_hal.h b/platforms/posix/src/px4/common/include/px4_platform/micro_hal.h index 8c86ca6119..7e48584c1f 100644 --- a/platforms/posix/src/px4/common/include/px4_platform/micro_hal.h +++ b/platforms/posix/src/px4/common/include/px4_platform/micro_hal.h @@ -32,4 +32,20 @@ ****************************************************************************/ #pragma once -#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) -1 +#include +#include + +typedef int (*xcpt_t)(int irq, void *context, void *arg); + +static inline int px4_arch_configgpio(uint32_t pinset) { return -1; } +static inline int px4_arch_unconfiggpio(uint32_t pinset) { return -1; } +static inline bool px4_arch_gpioread(uint32_t pinset) { return false; } +static inline void px4_arch_gpiowrite(uint32_t pinset, bool value) { } +static inline int px4_arch_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, + bool event, xcpt_t func, void *arg) { return -1; } + +#define px4_udelay(usec) px4_usleep(usec) +#define px4_mdelay(msec) px4_msleep(msec) + +#define px4_cache_aligned_data() +#define px4_cache_aligned_alloc malloc diff --git a/src/drivers/linux_pwm_out/common.h b/platforms/posix/src/px4/common/include/px4_platform/pwm_out_base.h similarity index 97% rename from src/drivers/linux_pwm_out/common.h rename to platforms/posix/src/px4/common/include/px4_platform/pwm_out_base.h index 315e34198f..805615d269 100644 --- a/src/drivers/linux_pwm_out/common.h +++ b/platforms/posix/src/px4/common/include/px4_platform/pwm_out_base.h @@ -35,7 +35,7 @@ #include -namespace linux_pwm_out +namespace pwm_out { /** @@ -54,4 +54,4 @@ public: }; -} /* namespace rpi_pwm_out */ +} /* namespace pwm_out */ diff --git a/platforms/posix/src/px4/common/px4_daemon/pxh.cpp b/platforms/posix/src/px4/common/px4_daemon/pxh.cpp index 8858934fe6..82d8021a3a 100644 --- a/platforms/posix/src/px4/common/px4_daemon/pxh.cpp +++ b/platforms/posix/src/px4/common/px4_daemon/pxh.cpp @@ -57,6 +57,8 @@ apps_map_type Pxh::_apps = {}; Pxh::Pxh() { + _history.try_to_add("commander takeoff"); // for convenience + _history.reset_to_end(); _instance = this; } diff --git a/posix-configs/SITL/init/test/cmd_template.in b/posix-configs/SITL/init/test/cmd_template.in index c758f6a8ec..702483c198 100644 --- a/posix-configs/SITL/init/test/cmd_template.in +++ b/posix-configs/SITL/init/test/cmd_template.in @@ -16,7 +16,7 @@ pwm_out_sim start ver all -mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14556 -r 2000000 -p mavlink boot_complete @cmd_name@ start diff --git a/posix-configs/SITL/init/test/test_cmd_template.in b/posix-configs/SITL/init/test/test_cmd_template.in new file mode 100644 index 0000000000..c515b4ee6f --- /dev/null +++ b/posix-configs/SITL/init/test/test_cmd_template.in @@ -0,0 +1,14 @@ +#!/bin/sh +# PX4 commands need the 'px4-' prefix in bash. +# (px4-alias.sh is expected to be in the PATH) +. px4-alias.sh + +dataman start + +simulator start +tone_alarm start +pwm_out_sim start + +@test_name@ + +shutdown diff --git a/posix-configs/SITL/init/test/test_mavlink b/posix-configs/SITL/init/test/test_mavlink index e5db40970f..d75544238a 100644 --- a/posix-configs/SITL/init/test/test_mavlink +++ b/posix-configs/SITL/init/test/test_mavlink @@ -16,11 +16,9 @@ pwm_out_sim start ver all -mavlink start -x -u 14556 -r 2000000 +mavlink start -x -u 14556 -r 2000000 -p mavlink boot_complete -tests mavlink - -dataman status +mavlink_tests shutdown diff --git a/posix-configs/SITL/init/test/test_template.in b/posix-configs/SITL/init/test/test_template.in index d495bde084..cef5c8b33f 100644 --- a/posix-configs/SITL/init/test/test_template.in +++ b/posix-configs/SITL/init/test/test_template.in @@ -3,20 +3,12 @@ # (px4-alias.sh is expected to be in the PATH) . px4-alias.sh -param load -param set CBRK_SUPPLY_CHK 894281 -param set SYS_RESTART_TYPE 0 - dataman start simulator start tone_alarm start pwm_out_sim start -ver all - tests @test_name@ -dataman status - shutdown diff --git a/posix-configs/bbblue/px4.config b/posix-configs/bbblue/px4.config index 25517b324d..afe9f4bc57 100644 --- a/posix-configs/bbblue/px4.config +++ b/posix-configs/bbblue/px4.config @@ -29,7 +29,6 @@ param set SYS_AUTOSTART 4011 # Broadcast heartbeats on local network. This allows a ground control station # to automatically find the drone on the local network. -param set MAV_BROADCAST 1 # MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor param set MAV_TYPE 2 @@ -73,7 +72,7 @@ mc_pos_control start mc_att_control start mc_rate_control start -mavlink start -n SoftAp -x -u 14556 -r 1000000 +mavlink start -n SoftAp -x -u 14556 -r 1000000 -p # -n name of wifi interface: SoftAp, wlan or your custom interface, # e.g., -n SoftAp . The default is wlan @@ -82,9 +81,8 @@ sleep 1 # RC port is mapped to /dev/ttyS4 (auto-detected) #rc_input start -d /dev/ttyS4 -# default: etc/mixers/quad_x.main.mix, 8 output channels -linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix -#linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix +linux_pwm_out start +mixer load /dev/pwm_out etc/mixers/quad_x.main.mix logger start -t -b 200 diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config index 8ed0816836..15d506d48a 100644 --- a/posix-configs/bbblue/px4_fw.config +++ b/posix-configs/bbblue/px4_fw.config @@ -29,7 +29,6 @@ param set SYS_AUTOSTART 4011 # Broadcast heartbeats on local network. This allows a ground control station # to automatically find the drone on the local network. -param set MAV_BROADCAST 1 # MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor param set MAV_TYPE 2 @@ -68,7 +67,7 @@ land_detector start fixedwing fw_att_control start fw_pos_control_l1 start -mavlink start -n SoftAp -x -u 14556 -r 1000000 +mavlink start -n SoftAp -x -u 14556 -r 1000000 -p # -n name of wifi interface: SoftAp, wlan or your custom interface, # e.g., -n wlan . The default on BBBlue is SoftAp @@ -77,9 +76,8 @@ sleep 1 # RC port is mapped to /dev/ttyS4 (auto-detected) rc_input start -d /dev/ttyS4 -# default: etc/mixers/quad_x.main.mix, 8 output channels -#linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix -linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix +linux_pwm_out start +mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix logger start -t -b 200 diff --git a/posix-configs/eagle/200qx/mainapp.config b/posix-configs/eagle/200qx/mainapp.config index 43495fd679..251eadb0bc 100644 --- a/posix-configs/eagle/200qx/mainapp.config +++ b/posix-configs/eagle/200qx/mainapp.config @@ -9,10 +9,9 @@ logger start -t -b 200 # Wait 1s before setting parameters for muorb to initialize sleep 1 param set CBRK_SUPPLY_CHK 894281 -param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -x -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 -p sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/210qc/mainapp.config b/posix-configs/eagle/210qc/mainapp.config index 43495fd679..251eadb0bc 100644 --- a/posix-configs/eagle/210qc/mainapp.config +++ b/posix-configs/eagle/210qc/mainapp.config @@ -9,10 +9,9 @@ logger start -t -b 200 # Wait 1s before setting parameters for muorb to initialize sleep 1 param set CBRK_SUPPLY_CHK 894281 -param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -x -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 -p sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/flight/mainapp.config b/posix-configs/eagle/flight/mainapp.config index 43495fd679..251eadb0bc 100644 --- a/posix-configs/eagle/flight/mainapp.config +++ b/posix-configs/eagle/flight/mainapp.config @@ -9,10 +9,9 @@ logger start -t -b 200 # Wait 1s before setting parameters for muorb to initialize sleep 1 param set CBRK_SUPPLY_CHK 894281 -param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -x -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 -p sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/flight/px4.config b/posix-configs/eagle/flight/px4.config index 0ae7e48503..de030a0217 100644 --- a/posix-configs/eagle/flight/px4.config +++ b/posix-configs/eagle/flight/px4.config @@ -19,5 +19,6 @@ flight_mode_manager start mc_pos_control start mc_att_control start mc_rate_control start -snapdragon_pwm_out start +# TODO +#linux_pwm_out start spektrum_rc start diff --git a/posix-configs/eagle/hil/mainapphil.config b/posix-configs/eagle/hil/mainapphil.config index edfc7d21b7..b61bd58bbc 100644 --- a/posix-configs/eagle/hil/mainapphil.config +++ b/posix-configs/eagle/hil/mainapphil.config @@ -2,8 +2,7 @@ muorb start # Wait 1s before setting parameters for muorb to initialize sleep 1 param set CBRK_SUPPLY_CHK 894281 -param set MAV_BROADCAST 1 -mavlink start -x -u 14556 +mavlink start -x -u 14556 -p sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/eagle/init/rcS b/posix-configs/eagle/init/rcS index 387dba1ebb..f8a0dca0c8 100644 --- a/posix-configs/eagle/init/rcS +++ b/posix-configs/eagle/init/rcS @@ -94,10 +94,9 @@ qshell mc_rate_control start logger start -b 200 -t -param set MAV_BROADCAST 1 dataman start navigator start -mavlink start -u 14556 -r 1000000 +mavlink start -u 14556 -r 1000000 -p mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 mavlink stream -u 14556 -s RC_CHANNELS -r 20 diff --git a/posix-configs/excelsior/mainapp.config b/posix-configs/excelsior/mainapp.config index c2a8740fc0..4146bfd4e4 100644 --- a/posix-configs/excelsior/mainapp.config +++ b/posix-configs/excelsior/mainapp.config @@ -6,11 +6,10 @@ muorb start logger start -e -t param set CBRK_SUPPLY_CHK 894281 -param set MAV_BROADCAST 1 dataman start navigator start sleep 2 -mavlink start -x -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 -p sleep 1 mavlink stream -u 14556 -s HIGHRES_IMU -r 50 mavlink stream -u 14556 -s ATTITUDE -r 50 diff --git a/posix-configs/ocpoc/px4.config b/posix-configs/ocpoc/px4.config index e533c2b5a6..31d8482b1a 100644 --- a/posix-configs/ocpoc/px4.config +++ b/posix-configs/ocpoc/px4.config @@ -10,7 +10,6 @@ then fi param set CBRK_SUPPLY_CHK 894281 param set SYS_AUTOSTART 4001 -param set MAV_BROADCAST 1 param set MAV_TYPE 2 param set MAV_SYS_ID 1 @@ -45,6 +44,7 @@ mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50 rc_input start -d /dev/ttyS2 -linux_pwm_out start -p ocpoc_mmap -m etc/mixers/quad_x.main.mix +linux_pwm_out start +mixer load /dev/pwm_out etc/mixers/quad_x.main.mix logger start -t -b 200 mavlink boot_complete diff --git a/posix-configs/rpi/pilotpi_fw.config b/posix-configs/rpi/pilotpi_fw.config index 977b27649e..b64ecf176f 100644 --- a/posix-configs/rpi/pilotpi_fw.config +++ b/posix-configs/rpi/pilotpi_fw.config @@ -11,19 +11,12 @@ fi # system_power not implemented param set CBRK_SUPPLY_CHK 894281 # broadcast to LAN -param set MAV_BROADCAST 1 # always keep current config param set SYS_AUTOCONFIG 0 # useless but required for parameter completeness param set MAV_TYPE 1 param set SYS_AUTOSTART 2100 -# Multi-EKF -param set EKF2_MULTI_IMU 1 -param set SENS_IMU_MODE 0 -param set EKF2_MULTI_MAG 1 -param set SENS_MAG_MODE 0 - dataman start load_mon start @@ -71,7 +64,7 @@ flight_mode_manager start fw_att_control start fw_pos_control_l1 start -mavlink start -x -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 -p # Telem mavlink start -x -Z -d /dev/ttySC1 diff --git a/posix-configs/rpi/pilotpi_mc.config b/posix-configs/rpi/pilotpi_mc.config index d09bd21c0e..af447beddf 100644 --- a/posix-configs/rpi/pilotpi_mc.config +++ b/posix-configs/rpi/pilotpi_mc.config @@ -11,19 +11,12 @@ fi # system_power not implemented param set CBRK_SUPPLY_CHK 894281 # broadcast to LAN -param set MAV_BROADCAST 1 # always keep current config param set SYS_AUTOCONFIG 0 # useless but required for parameter completeness param set MAV_TYPE 2 param set SYS_AUTOSTART 4001 -# Multi-EKF -param set EKF2_MULTI_IMU 1 -param set SENS_IMU_MODE 0 -param set EKF2_MULTI_MAG 1 -param set SENS_MAG_MODE 0 - dataman start load_mon start @@ -69,7 +62,7 @@ mc_pos_control start mc_att_control start mc_rate_control start -mavlink start -x -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 -p # Telem mavlink start -x -Z -d /dev/ttySC1 diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config index d9a63b25ae..21059f6521 100644 --- a/posix-configs/rpi/px4.config +++ b/posix-configs/rpi/px4.config @@ -11,15 +11,11 @@ then fi param set CBRK_SUPPLY_CHK 894281 param set SYS_AUTOSTART 4001 -param set MAV_BROADCAST 1 param set MAV_TYPE 2 -param set IMU_GYRO_RATEMAX 400 # Multi-EKF param set EKF2_MULTI_IMU 2 param set SENS_IMU_MODE 0 -param set EKF2_MULTI_MAG 3 -param set SENS_MAG_MODE 0 dataman start @@ -48,7 +44,7 @@ mc_pos_control start mc_att_control start mc_rate_control start -mavlink start -x -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 -p if [ -c /dev/ttyUSB0 ] then @@ -60,6 +56,7 @@ fi navio_sysfs_rc_in start linux_pwm_out start +mixer load /dev/pwm_out etc/mixers/quad_x.main.mix logger start -t -b 200 diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config index b814e624d0..1b4d096b0d 100644 --- a/posix-configs/rpi/px4_fw.config +++ b/posix-configs/rpi/px4_fw.config @@ -10,16 +10,12 @@ then param load fi param set CBRK_SUPPLY_CHK 894281 -param set MAV_BROADCAST 1 param set SYS_AUTOSTART 2100 param set MAV_TYPE 1 -param set IMU_GYRO_RATEMAX 400 # Multi-EKF param set EKF2_MULTI_IMU 2 param set SENS_IMU_MODE 0 -param set EKF2_MULTI_MAG 3 -param set SENS_MAG_MODE 0 dataman start @@ -46,7 +42,7 @@ land_detector start fixedwing fw_att_control start fw_pos_control_l1 start -mavlink start -x -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 -p if [ -c /dev/ttyUSB0 ] then @@ -57,7 +53,8 @@ then fi navio_sysfs_rc_in start -linux_pwm_out start -m etc/mixers/AETRFG.main.mix +linux_pwm_out start +mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix logger start -t -b 200 diff --git a/posix-configs/rpi/px4_hil.config b/posix-configs/rpi/px4_hil.config index 8d1abad588..091e09063f 100644 --- a/posix-configs/rpi/px4_hil.config +++ b/posix-configs/rpi/px4_hil.config @@ -13,14 +13,11 @@ then fi param set CBRK_SUPPLY_CHK 894281 param set SYS_AUTOSTART 1001 -param set MAV_BROADCAST 1 param set MAV_TYPE 2 # Multi-EKF param set EKF2_MULTI_IMU 2 param set SENS_IMU_MODE 0 -param set EKF2_MULTI_MAG 3 -param set SENS_MAG_MODE 0 dataman start @@ -38,7 +35,7 @@ mc_pos_control start mc_att_control start mc_rate_control start -mavlink start -x -u 14577 -r 1000000 +mavlink start -x -u 14577 -r 1000000 -p navio_sysfs_rc_in start pwm_out_sim start mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix diff --git a/posix-configs/rpi/px4_test.config b/posix-configs/rpi/px4_test.config index 07562034f9..dc07b49396 100644 --- a/posix-configs/rpi/px4_test.config +++ b/posix-configs/rpi/px4_test.config @@ -11,15 +11,11 @@ then fi param set CBRK_SUPPLY_CHK 894281 param set SYS_AUTOSTART 4001 -param set MAV_BROADCAST 1 param set MAV_TYPE 2 -param set IMU_GYRO_RATEMAX 400 # Multi-EKF param set EKF2_MULTI_IMU 2 param set SENS_IMU_MODE 0 -param set EKF2_MULTI_MAG 3 -param set SENS_MAG_MODE 0 dataman start @@ -47,7 +43,7 @@ flight_mode_manager start mc_pos_control start mc_att_control start -mavlink start -x -u 14556 -r 1000000 +mavlink start -x -u 14556 -r 1000000 -p if [ -c /dev/ttyUSB0 ] then @@ -59,6 +55,7 @@ fi navio_sysfs_rc_in start linux_pwm_out start +mixer load /dev/pwm_out etc/mixers/quad_x.main.mix logger start -t -f -b 200 diff --git a/src/drivers/barometer/CMakeLists.txt b/src/drivers/barometer/CMakeLists.txt index eaa73ef982..b7ec8312f6 100644 --- a/src/drivers/barometer/CMakeLists.txt +++ b/src/drivers/barometer/CMakeLists.txt @@ -39,3 +39,4 @@ add_subdirectory(lps22hb) add_subdirectory(lps33hw) #add_subdirectory(mpl3115a2) # not ready for general inclusion add_subdirectory(ms5611) +#add_subdirectory(tcbp001ta) # only for users who really need this diff --git a/boards/intel/aerofc-v1/cmake/upload.cmake b/src/drivers/barometer/tcbp001ta/CMakeLists.txt similarity index 90% rename from boards/intel/aerofc-v1/cmake/upload.cmake rename to src/drivers/barometer/tcbp001ta/CMakeLists.txt index 1f8eeba6a9..56a8badfe0 100644 --- a/boards/intel/aerofc-v1/cmake/upload.cmake +++ b/src/drivers/barometer/tcbp001ta/CMakeLists.txt @@ -31,9 +31,14 @@ # ############################################################################ -add_custom_target(upload - COMMAND ${PX4_BOARD_DIR}/scripts/aero_upload.sh $ - DEPENDS px4 ${PX4_BOARD_DIR}/scripts/aero_upload.sh - COMMENT "uploading px4" - USES_TERMINAL -) +px4_add_module( + MODULE drivers__barometer__tcbp001ta + MAIN tcbp001ta + SRCS + tcbp001ta.cpp + tcbp001ta_spi.cpp + tcbp001ta_main.cpp + DEPENDS + drivers_barometer + px4_work_queue + ) diff --git a/src/drivers/barometer/tcbp001ta/defines.h b/src/drivers/barometer/tcbp001ta/defines.h new file mode 100644 index 0000000000..64e316bded --- /dev/null +++ b/src/drivers/barometer/tcbp001ta/defines.h @@ -0,0 +1,179 @@ +/**************************************************************************** + * + * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file tcbp001ta/defines.h + * + * Shared defines for the TCBP001TA barometer driver. + * + * @author Xiaowei Zhao + * @author Stone White + * + */ + +#pragma once + +#include + +#define TCBP001TA_ADDR_CAL 0x10 /* address of calibration data */ + +#define TCBP001TA_ADDR_DATA 0x00 /* address of presure data */ +#define TCBP001TA_ADDR_PRS_DATA 0X00 /* address of presure data */ +#define TCBP001TA_ADDR_TMP_DATA 0x03 /* address of tempature data */ + +#define TCBP001TA_ADDR_PRS_CFG 0x06 +#define TCBP001TA_ADDR_TMP_CFG 0x07 +#define TCBP001TA_ADDR_MEAS_CFG 0x08 +#define TCBP001TA_ADDR_CFG_REG 0x09 + +#define TCBP001TA_ADDR_INT_STS 0x0A +#define TCBP001TA_ADDR_FIFO_STS 0x0B +#define TCBP001TA_ADDR_RESET 0x0C /* reset */ +#define TCBP001TA_ADDR_ID 0x0D /* product and revision ID */ + +#define TCBP001TA_ADDR_TMP_COEF_SRCE 0x28 + +#define TCBP001TA_VALUE_ID 0x10 /* chip id */ +#define TCBP001TA_VALUE_RESET 0x89 /* reset */ + +#define TCBP001TA_PRS_TMP_RATE_1 (0x0 << 4) +#define TCBP001TA_PRS_TMP_RATE_2 (0x1 << 4) +#define TCBP001TA_PRS_TMP_RATE_4 (0x2 << 4) +#define TCBP001TA_PRS_TMP_RATE_8 (0x3 << 4) +#define TCBP001TA_PRS_TMP_RATE_16 (0x4 << 4) +#define TCBP001TA_PRS_TMP_RATE_32 (0x5 << 4) +#define TCBP001TA_PRS_TMP_RATE_64 (0x6 << 4) +#define TCBP001TA_PRS_TMP_RATE_128 (0x7 << 4) + +#define TCBP001TA_PRS_TMP_PRC 0x0 +#define TCBP001TA_PRS_TMP_PRC_2 0x1 +#define TCBP001TA_PRS_TMP_PRC_4 0x2 +#define TCBP001TA_PRS_TMP_PRC_8 0x3 +#define TCBP001TA_PRS_TMP_PRC_16 0x4 +#define TCBP001TA_PRS_TMP_PRC_32 0x5 +#define TCBP001TA_PRS_TMP_PRC_64 0x6 +#define TCBP001TA_PRS_TMP_PRC_128 0x7 + +#define TCBP001TA_TMP_EXT_ASIC 0x00 +#define TCBP001TA_TMP_EXT_MEMS 0x80 + +#define TCBP001TA_MT_INIT 6400 /* max measure time of initial p + t in us */ +#define TCBP001TA_MT 2300 /* max measure time of p or t in us */ + +#define POW_2_23_MINUS_1 0x7FFFFF //implies 2^23-1 +#define POW_2_24 0x1000000 +#define POW_2_15_MINUS_1 0x7FFF +#define POW_2_16 0x10000 +#define POW_2_11_MINUS_1 0x7FF +#define POW_2_12 0x1000 +#define POW_2_20 0x100000 +#define POW_2_19_MINUS_1 524287 + +namespace tcbp001ta +{ + +#pragma pack(push,1) +struct calibration_s { + uint8_t c0_h; + uint8_t c0l_1h; + uint8_t c1l; + uint8_t c00h; + uint8_t c00m; + uint8_t c00l_10h; + uint8_t c10m; + uint8_t c10l; + uint8_t c01h; + uint8_t c01l; + uint8_t c11h; + uint8_t c11l; + uint8_t c20h; + uint8_t c20l; + uint8_t c21h; + uint8_t c21l; + uint8_t c30h; + uint8_t c30l; +}; //calibration data + +struct data_s { + uint8_t p_msb; + uint8_t p_lsb; + uint8_t p_xlsb; + + uint8_t t_msb; + uint8_t t_lsb; + uint8_t t_xlsb; +}; // data +#pragma pack(pop) + +struct fcalibration_s { + int16_t c0; // 12bit + int16_t c1; // 12bit + int32_t c00; // 20bit + int32_t c10; // 20bit + int16_t c01; // 16bit + int16_t c11; // 16bit + int16_t c20; // 16bit + int16_t c21; // 16bit + int16_t c30; // 16bit +}; + +class ITCBP001TA +{ +public: + virtual ~ITCBP001TA() = default; + + virtual int init() = 0; + + // read reg value + virtual uint8_t get_reg(uint8_t addr) = 0; + + // write reg value + virtual int set_reg(uint8_t value, uint8_t addr) = 0; + + // bulk read of data into buffer, return same pointer + virtual tcbp001ta::data_s *get_data(uint8_t addr) = 0; + + // bulk read of calibration data into buffer, return same pointer + virtual tcbp001ta::calibration_s *get_calibration(uint8_t addr) = 0; + + virtual uint32_t get_device_id() const = 0; + +}; + +} /* namespace */ + + +/* interface factories */ +extern tcbp001ta::ITCBP001TA *tcbp001ta_spi_interface(uint8_t busnum, uint32_t device); +extern tcbp001ta::ITCBP001TA *tcbp001ta_i2c_interface(uint8_t busnum, uint32_t device); +typedef tcbp001ta::ITCBP001TA *(*TCBP001TA_constructor)(uint8_t, uint32_t); diff --git a/src/drivers/barometer/tcbp001ta/tcbp001ta.cpp b/src/drivers/barometer/tcbp001ta/tcbp001ta.cpp new file mode 100644 index 0000000000..a04f9ed939 --- /dev/null +++ b/src/drivers/barometer/tcbp001ta/tcbp001ta.cpp @@ -0,0 +1,322 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file tcbp001ta.cpp + * + * Driver for TCBP001TA barometer. + * + * @author Xiaowei Zhao + * @author Stone White + * + */ + +#include "tcbp001ta.hpp" + +TCBP001TA::TCBP001TA(tcbp001ta::ITCBP001TA *interface) : + ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())), + _px4_baro(interface->get_device_id()), + _interface(interface), + _sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")), + _measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")), + _comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors")) +{ + _px4_baro.set_device_type(DRV_BARO_DEVTYPE_TCBP001TA); +} + +TCBP001TA::~TCBP001TA() +{ + // make sure we are truly inactive + Stop(); + + // free perf counters + perf_free(_sample_perf); + perf_free(_measure_perf); + perf_free(_comms_errors); + + delete _interface; +} + +int +TCBP001TA::init() +{ + // reset sensor + _interface->set_reg(TCBP001TA_VALUE_RESET, TCBP001TA_ADDR_RESET); + usleep(10000); + + // check id + if (_interface->get_reg(TCBP001TA_ADDR_ID) != TCBP001TA_VALUE_ID) { + PX4_WARN("id of your baro is not: 0x%02x", TCBP001TA_VALUE_ID); + return -EIO; + } + + // Presure write [0x6 | (0x3 << 4)] to 0x06 + _interface->set_reg(TCBP001TA_PRS_TMP_PRC_64 | TCBP001TA_PRS_TMP_RATE_8, TCBP001TA_ADDR_PRS_CFG); + + // Temperature write [0x80 | 0x1 | (0x2 << 4)] to 0x07 + _interface->set_reg(TCBP001TA_TMP_EXT_MEMS | TCBP001TA_PRS_TMP_PRC_2 | TCBP001TA_PRS_TMP_RATE_4, + TCBP001TA_ADDR_TMP_CFG); + + // write 0x00 to 0x09 + _interface->set_reg(0x00, TCBP001TA_ADDR_CFG_REG); + + tmp_osr_scale_coeff = TCBP001TA_get_scaling_coef(0); + prs_osr_scale_coeff = TCBP001TA_get_scaling_coef(0); + + // get calibration and pre process them + _cal = _interface->get_calibration(TCBP001TA_ADDR_CAL); + + if (_cal == nullptr) { + PX4_INFO("init failed"); + return -EIO; + } + + _fcal.c0 = (_cal->c0_h << 4) + ((_cal->c0l_1h >> 4) & 0x0F); + + if (_fcal.c0 > POW_2_11_MINUS_1) { + _fcal.c0 = _fcal.c0 - POW_2_12; + } + + _fcal.c1 = (_cal->c1l + ((_cal->c0l_1h & 0x0F) << 8)); + + if (_fcal.c1 > POW_2_11_MINUS_1) { + _fcal.c1 = _fcal.c1 - POW_2_12; + } + + _fcal.c00 = ((_cal->c00m << 4) + (_cal->c00h << 12)) + ((_cal->c00l_10h >> 4) & 0x0F); + + if (_fcal.c00 > POW_2_19_MINUS_1) { + _fcal.c00 = _fcal.c00 - POW_2_20; + } + + _fcal.c10 = ((_cal->c00l_10h & 0x0F) << 16) + _cal->c10l + (_cal->c10m << 8); + + if (_fcal.c10 > POW_2_19_MINUS_1) { + _fcal.c10 = _fcal.c10 - POW_2_20; + } + + _fcal.c01 = (_cal->c01l + (_cal->c01h << 8)); + //if(_fcal.c01 > POW_2_15_MINUS_1) + //_fcal.c01 = _fcal.c01 - POW_2_16; + + _fcal.c11 = (_cal->c11l + (_cal->c11h << 8)); + //if(_fcal.c11 > POW_2_15_MINUS_1) + //_fcal.c11 = _fcal.c11 - POW_2_16; + + _fcal.c20 = (_cal->c20l + (_cal->c20h << 8)); + //if(_fcal.c20 > POW_2_15_MINUS_1) + //_fcal.c20 = _fcal.c20 - POW_2_16; + + _fcal.c21 = (_cal->c21l + (_cal->c21h << 8)); + //if(_fcal.c21 > POW_2_15_MINUS_1) + //_fcal.c21 = _fcal.c21 - POW_2_16; + + _fcal.c30 = (_cal->c30l + (_cal->c30h << 8)); + //if(_fcal.c30 > POW_2_15_MINUS_1) + //_fcal.c30 = _fcal.c30 - POW_2_16; + + Start(); + + return OK; +} + +void +TCBP001TA::Start() +{ + // reset the report ring and state machine + _collect_phase = false; + + // schedule a cycle to start things + ScheduleNow(); +} + +void +TCBP001TA::Stop() +{ + ScheduleClear(); +} + +void +TCBP001TA::Run() +{ + if (_collect_phase) { + collect(); + + } else { + measure(); + } + + ScheduleDelayed(_measure_interval); +} + +int +TCBP001TA::measure() +{ + perf_begin(_measure_perf); + + _collect_phase = true; + + // start measure + //int ret = _interface->set_reg(_curr_ctrl | TCBP001TA_CTRL_MODE_FORCE, TCBP001TA_ADDR_CTRL); + + //if (ret != OK) { + //perf_count(_comms_errors); + //perf_cancel(_measure_perf); + //return -EIO; + //} + perf_end(_measure_perf); + + return OK; +} + +int +TCBP001TA::collect() +{ + perf_begin(_sample_perf); + + _collect_phase = false; + // this should be fairly close to the end of the conversion, so the best approximation of the time + const hrt_abstime timestamp_sample = hrt_absolute_time(); + + //write 0x02 to reg 0x08 Temperature + _interface->set_reg(0x02, TCBP001TA_ADDR_MEAS_CFG); + + tcbp001ta::data_s *data_temp = _interface->get_data(TCBP001TA_ADDR_TMP_DATA); + + if (data_temp == nullptr) { + perf_count(_comms_errors); + perf_cancel(_sample_perf); + return -EIO; + } + + uint32_t p_raw = (data_temp->p_msb << 16 | data_temp->p_lsb << 8) + (data_temp->p_xlsb); + + //write 0x01 to reg 0x08 Pressure + _interface->set_reg(0x01, TCBP001TA_ADDR_MEAS_CFG); + + tcbp001ta::data_s *data_pres = _interface->get_data(TCBP001TA_ADDR_PRS_DATA); + + if (data_pres == nullptr) { + perf_count(_comms_errors); + perf_cancel(_sample_perf); + return -EIO; + } + + uint32_t t_raw = (data_pres->t_msb << 16 | data_pres->t_lsb << 8) + (data_pres->t_xlsb); + + // PX4_INFO("p raw %f", p_raw); + // PX4_INFO("t raw %f", t_raw); + // PX4_INFO("data 0 %d data 1 %d data2 %d", data_temp->p_msb, data_temp->p_lsb, data_temp->p_xlsb); + // PX4_INFO("data 3 %d data 4 %d data5 %d", data_pres->t_msb, data_pres->t_lsb, data_pres->t_xlsb); + + // Temperature + float Traw_sc = (float)t_raw / (float)(tmp_osr_scale_coeff); + + const float T = (_fcal.c0 / 2.0f) + (float)(_fcal.c1 * Traw_sc); + + // Pressure + float Praw_sc = (float) p_raw / (float)(prs_osr_scale_coeff); + + const float P = _fcal.c00 + + Praw_sc * (_fcal.c10 + Praw_sc * (_fcal.c20 + Praw_sc * _fcal.c30)) + + Praw_sc * _fcal.c01 + + Praw_sc * Praw_sc * (_fcal.c11 + Praw_sc * _fcal.c21); + + _px4_baro.set_error_count(perf_event_count(_comms_errors)); + _px4_baro.set_temperature(T); + + float pressure = P / 100.0f; // to mbar + // PX4_INFO("press %f", double(pressure)); + _px4_baro.update(timestamp_sample, pressure); + + perf_end(_sample_perf); + + return OK; +} + +void +TCBP001TA::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_measure_perf); + perf_print_counter(_comms_errors); + + _px4_baro.print_status(); +} + +uint32_t +TCBP001TA::TCBP001TA_get_scaling_coef(uint8_t osr) +{ + uint32_t scaling_coeff; + + switch (osr) { + + case 0: + scaling_coeff = 524288; + break; + + case 1: + scaling_coeff = 1572864; + break; + + case 2: + scaling_coeff = 3670016; + break; + + case 3: + scaling_coeff = 7864320; + break; + + case 4: + scaling_coeff = 253952; + break; + + case 5: + scaling_coeff = 516096; + break; + + case 6: + scaling_coeff = 1040384; + break; + + case 7: + scaling_coeff = 2088960; + break; + + default: + scaling_coeff = 524288; + break; + } + + return scaling_coeff; +} diff --git a/src/drivers/barometer/tcbp001ta/tcbp001ta.hpp b/src/drivers/barometer/tcbp001ta/tcbp001ta.hpp new file mode 100644 index 0000000000..c736e05fa6 --- /dev/null +++ b/src/drivers/barometer/tcbp001ta/tcbp001ta.hpp @@ -0,0 +1,82 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "defines.h" + +#include +#include +#include +#include +#include + +class TCBP001TA : public px4::ScheduledWorkItem +{ +public: + TCBP001TA(tcbp001ta::ITCBP001TA *interface); + virtual ~TCBP001TA(); + + int init(); + void print_info(); + + uint32_t tmp_osr_scale_coeff; + uint32_t prs_osr_scale_coeff; + + uint32_t TCBP001TA_get_scaling_coef(uint8_t osr); + +private: + void Run() override; + void Start(); + void Stop(); + + int measure(); //start measure + int collect(); //get results and publish + + PX4Barometer _px4_baro; + + tcbp001ta::ITCBP001TA *_interface; + + // set config, recommended settings + //static constexpr uint8_t _curr_ctrl{TCBP001TA_CTRL_P16 | TCBP001TA_CTRL_T2}; + static constexpr uint32_t _measure_interval{TCBP001TA_MT_INIT + TCBP001TA_MT *(16 - 1 + 2 - 1)}; + + bool _collect_phase{false}; + + perf_counter_t _sample_perf; + perf_counter_t _measure_perf; + perf_counter_t _comms_errors; + + tcbp001ta::calibration_s *_cal{nullptr}; //stored calibration constants + tcbp001ta::fcalibration_s _fcal{}; //pre processed calibration constants +}; diff --git a/src/drivers/barometer/tcbp001ta/tcbp001ta_main.cpp b/src/drivers/barometer/tcbp001ta/tcbp001ta_main.cpp new file mode 100644 index 0000000000..4121b57310 --- /dev/null +++ b/src/drivers/barometer/tcbp001ta/tcbp001ta_main.cpp @@ -0,0 +1,196 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include + +#include "tcbp001ta.hpp" + +enum class TCBP001TA_BUS { + + SPI_INTERNAL = 0 +}; + +namespace tcbp001ta +{ + +// list of supported bus configurations +struct tcbp001ta_bus_option { + TCBP001TA_BUS busid; + TCBP001TA_constructor interface_constructor; + uint8_t busnum; + uint32_t address; + TCBP001TA *dev; +} bus_options[] = { + + { TCBP001TA_BUS::SPI_INTERNAL, &tcbp001ta_spi_interface, PX4_SPI_BUS_BARO, PX4_SPIDEV_BARO, nullptr }, +}; + +// find a bus structure for a busid +static struct tcbp001ta_bus_option *find_bus(TCBP001TA_BUS busid) +{ + for (tcbp001ta_bus_option &bus_option : bus_options) { + if (( + busid == bus_option.busid) && bus_option.dev != nullptr) { + + return &bus_option; + } + } + + return nullptr; +} + +static bool start_bus(tcbp001ta_bus_option &bus) +{ + tcbp001ta::ITCBP001TA *interface = bus.interface_constructor(bus.busnum, bus.address); + + if ((interface == nullptr) || (interface->init() != PX4_OK)) { + PX4_WARN("no device on bus %u", (unsigned)bus.busid); + delete interface; + return false; + } + + TCBP001TA *dev = new TCBP001TA(interface); + + if (dev == nullptr) { + PX4_ERR("driver allocate failed"); + delete interface; + return false; + } + + if (dev->init() != PX4_OK) { + PX4_ERR("driver start failed"); + delete dev; // TCBP001TA deletes the interface + return false; + } + + bus.dev = dev; + + return true; +} + +static int start(TCBP001TA_BUS busid) +{ + for (tcbp001ta_bus_option &bus_option : bus_options) { + if (bus_option.dev != nullptr) { + // this device is already started + PX4_WARN("already started"); + continue; + } + + if (bus_option.busid != busid) { + // not the one that is asked for + continue; + } + + if (start_bus(bus_option)) { + return PX4_OK; + } + } + + return PX4_ERROR; +} + +static int stop(TCBP001TA_BUS busid) +{ + tcbp001ta_bus_option *bus = find_bus(busid); + + if (bus != nullptr && bus->dev != nullptr) { + delete bus->dev; + bus->dev = nullptr; + + } else { + PX4_WARN("driver not running"); + return PX4_ERROR; + } + + return PX4_OK; +} + +static int status(TCBP001TA_BUS busid) +{ + tcbp001ta_bus_option *bus = find_bus(busid); + + if (bus != nullptr && bus->dev != nullptr) { + bus->dev->print_info(); + return PX4_OK; + } + + PX4_WARN("driver not running"); + return PX4_ERROR; +} + +static int usage() +{ + PX4_INFO("missing command: try 'start', 'stop', 'status'"); + PX4_INFO("options:"); + PX4_INFO(" -X (i2c external bus)"); + PX4_INFO(" -I (i2c internal bus)"); + PX4_INFO(" -s (spi internal bus)"); + PX4_INFO(" -S (spi external bus)"); + + return 0; +} + +} // namespace + +extern "C" int tcbp001ta_main(int argc, char *argv[]) +{ + int myoptind = 1; + // int ch; + // const char *myoptarg = nullptr; + + TCBP001TA_BUS busid; + busid = TCBP001TA_BUS::SPI_INTERNAL; + + + + // if (myoptind >= argc) { + // return tcbp001ta::usage(); + // } + + const char *verb = argv[myoptind]; + + if (!strcmp(verb, "start")) { + PX4_INFO("start"); + return tcbp001ta::start(busid); + + } else if (!strcmp(verb, "stop")) { + return tcbp001ta::stop(busid); + + } else if (!strcmp(verb, "status")) { + return tcbp001ta::status(busid); + } + + return tcbp001ta::usage(); +} diff --git a/src/drivers/barometer/tcbp001ta/tcbp001ta_spi.cpp b/src/drivers/barometer/tcbp001ta/tcbp001ta_spi.cpp new file mode 100644 index 0000000000..66580c5b87 --- /dev/null +++ b/src/drivers/barometer/tcbp001ta/tcbp001ta_spi.cpp @@ -0,0 +1,146 @@ +/**************************************************************************** + * + * Copyright (c) 2016-2019 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file tcbp001ta_spi.cpp + * + * SPI interface for TCBP001TA. + * + * @author Xiaowei Zhao + * @author Stone White + * + */ + +#include "defines.h" + +#include +#include + + +/* SPI protocol address bits */ +#define DIR_READ (1<<7) //for set +#define DIR_WRITE ~(1<<7) //for clear + +#pragma pack(push,1) +struct spi_data_s { + uint8_t addr; + struct tcbp001ta::data_s data; +}; + +struct spi_calibration_s { + uint8_t addr; + struct tcbp001ta::calibration_s cal; +}; +#pragma pack(pop) + +class TCBP001TA_SPI: public device::SPI, public tcbp001ta::ITCBP001TA +{ +public: + TCBP001TA_SPI(uint8_t bus, uint32_t device); + virtual ~TCBP001TA_SPI() override = default; + + int init() override { return SPI::init(); } + + uint8_t get_reg(uint8_t addr) override; + int set_reg(uint8_t value, uint8_t addr) override; + + tcbp001ta::data_s *get_data(uint8_t addr) override; + tcbp001ta::calibration_s *get_calibration(uint8_t addr) override; + + uint32_t get_device_id() const override { return device::SPI::get_device_id(); } + +private: + spi_calibration_s _cal{}; + spi_data_s _data{}; +}; + +tcbp001ta::ITCBP001TA * +tcbp001ta_spi_interface(uint8_t busnum, uint32_t device) +{ + return new TCBP001TA_SPI(busnum, device); +} + +TCBP001TA_SPI::TCBP001TA_SPI(uint8_t bus, uint32_t device) : + SPI("TCBP001TA_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000) +{ +} + +uint8_t +TCBP001TA_SPI::get_reg(uint8_t addr) +{ + uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; // set MSB bit + transfer(&cmd[0], &cmd[0], 2); + + return cmd[1]; +} + +int +TCBP001TA_SPI::set_reg(uint8_t value, uint8_t addr) +{ + uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; // clear MSB bit + return transfer(&cmd[0], nullptr, 2); +} + +tcbp001ta::data_s * +TCBP001TA_SPI::get_data(uint8_t addr) +{ + _data.addr = (uint8_t)(addr | DIR_READ); // set MSB bit + // PX4_INFO("addr %02x", addr); + // PX4_INFO("addr %02x", _data.addr); + + if (transfer((uint8_t *)&_data, (uint8_t *)&_data, sizeof(spi_data_s)) == OK) { + // PX4_INFO("t xlsb data %d", _data.data.t_xlsb); + // PX4_INFO("t msb data %d", _data.data.t_msb); + // PX4_INFO("t lsb data %d", _data.data.t_lsb); + // PX4_INFO("p xlsb data %d", _data.data.p_xlsb); + // PX4_INFO("p msb data %d", _data.data.p_msb); + // PX4_INFO("p lsb data %d", _data.data.p_lsb); + return &(_data.data); + + } else { + return nullptr; + } +} + +tcbp001ta::calibration_s * +TCBP001TA_SPI::get_calibration(uint8_t addr) +{ + _cal.addr = addr | DIR_READ; + + if (transfer((uint8_t *)&_cal, (uint8_t *)&_cal, sizeof(spi_calibration_s)) == OK) { + return &(_cal.cal); + + } else { + return nullptr; + } +} diff --git a/src/drivers/bootloaders/CMakeLists.txt b/src/drivers/bootloaders/CMakeLists.txt index 47e0df1942..8472da8836 100644 --- a/src/drivers/bootloaders/CMakeLists.txt +++ b/src/drivers/bootloaders/CMakeLists.txt @@ -57,24 +57,28 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader") WORKING_DIRECTORY ${PX4_SOURCE_DIR} ) - if ("${uavcanbl_git_desc}" STREQUAL "") + if("${uavcanbl_git_desc}" STREQUAL "") set(uavcanbl_git_desc ffffffff) endif() - set(uavcan_bl_imange_name ${HWBOARD_ID}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin) - message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}") - add_custom_command(OUTPUT ${uavcan_bl_imange_name} deploy/${HWBOARD_ID}.bin + set(uavcan_bl_image_name ${HWBOARD_ID}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin) + set(uavcan_bl_image_name "${uavcan_bl_image_name}" CACHE STRING "UAVCAN BL Image name" FORCE) + message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_image_name}") + add_custom_command( + OUTPUT + ${PX4_BINARY_DIR}/${uavcan_bl_image_name} + ${PX4_BINARY_DIR}/deploy/${HWBOARD_ID}.bin COMMAND - ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py - -v --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_imange_name} + ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_image_name} COMMAND COMMAND ${CMAKE_COMMAND} -E make_directory deploy COMMAND - ${CMAKE_COMMAND} -E copy ${uavcan_bl_imange_name} deploy/${HWBOARD_ID}.bin + ${CMAKE_COMMAND} -E copy ${uavcan_bl_image_name} deploy/${HWBOARD_ID}.bin DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD}.bin ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py WORKING_DIRECTORY ${PX4_BINARY_DIR} ) - add_custom_target(build_uavcan_bl ALL DEPENDS ${uavcan_bl_imange_name}) + add_custom_target(build_uavcan_bl ALL DEPENDS ${PX4_BINARY_DIR}/${uavcan_bl_image_name}) + endif() diff --git a/src/drivers/bootloaders/boot_app_shared.c b/src/drivers/bootloaders/boot_app_shared.c index 29bc69163e..a63efa5430 100644 --- a/src/drivers/bootloaders/boot_app_shared.c +++ b/src/drivers/bootloaders/boot_app_shared.c @@ -39,11 +39,11 @@ #include #include -#include "chip.h" -#include "stm32.h" #include +#include +#include "arm_arch.h" #include "boot_app_shared.h" #include @@ -51,18 +51,6 @@ #define BOOTLOADER_COMMON_APP_SIGNATURE 0xB0A04150u #define BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE 0xB0A0424Cu -/* CAN_FiRx where (i=0..27|13, x=1, 2) - * STM32_CAN1_FIR(i,x) - * Using i = 2 does not requier there block - * to be enabled nor FINIT in CAN_FMR to be set. - * todo:Validate this claim on F2, F3 - */ - -#define crc_HiLOC STM32_CAN1_FIR(2,1) -#define crc_LoLOC STM32_CAN1_FIR(2,2) -#define signature_LOC STM32_CAN1_FIR(3,1) -#define bus_speed_LOC STM32_CAN1_FIR(3,2) -#define node_id_LOC STM32_CAN1_FIR(4,1) #define CRC_H 1 #define CRC_L 0 diff --git a/src/drivers/camera_trigger/CMakeLists.txt b/src/drivers/camera_trigger/CMakeLists.txt index efe00812b9..176e223403 100644 --- a/src/drivers/camera_trigger/CMakeLists.txt +++ b/src/drivers/camera_trigger/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2015 PX4 Development Team. All rights reserved. +# Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -36,10 +36,10 @@ px4_add_module( COMPILE_FLAGS SRCS camera_trigger.cpp - interfaces/src/camera_interface.cpp - interfaces/src/pwm.cpp - interfaces/src/seagull_map2.cpp - interfaces/src/gpio.cpp + interfaces/src/camera_interface.cpp + interfaces/src/pwm.cpp + interfaces/src/seagull_map2.cpp + interfaces/src/gpio.cpp DEPENDS + px4_work_queue ) - diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp index f7073c6766..cae71e5aea 100644 --- a/src/drivers/camera_trigger/camera_trigger.cpp +++ b/src/drivers/camera_trigger/camera_trigger.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015-2017 PX4 Development Team. All rights reserved. + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -69,8 +69,6 @@ #include "interfaces/src/pwm.h" #include "interfaces/src/seagull_map2.h" -extern "C" __EXPORT int camera_trigger_main(int argc, char *argv[]); - typedef enum : int32_t { CAMERA_INTERFACE_MODE_NONE = 0, CAMERA_INTERFACE_MODE_GPIO, @@ -154,41 +152,41 @@ public: private: - struct hrt_call _engagecall; - struct hrt_call _disengagecall; - struct hrt_call _engage_turn_on_off_call; - struct hrt_call _disengage_turn_on_off_call; - struct hrt_call _keepalivecall_up; - struct hrt_call _keepalivecall_down; + struct hrt_call _engagecall {}; + struct hrt_call _disengagecall {}; + struct hrt_call _engage_turn_on_off_call {}; + struct hrt_call _disengage_turn_on_off_call {}; + struct hrt_call _keepalivecall_up {}; + struct hrt_call _keepalivecall_down {}; - float _activation_time; - float _interval; - float _min_interval; - float _distance; - uint32_t _trigger_seq; - hrt_abstime _last_trigger_timestamp; - bool _trigger_enabled; - bool _trigger_paused; - bool _one_shot; - bool _test_shot; - bool _turning_on; - matrix::Vector2f _last_shoot_position; - bool _valid_position; + float _activation_time{0.5f}; + float _interval{100.f}; + float _min_interval{1.f}; + float _distance{25.f}; + uint32_t _trigger_seq{0}; + hrt_abstime _last_trigger_timestamp{0}; + bool _trigger_enabled{false}; + bool _trigger_paused{false}; + bool _one_shot{false}; + bool _test_shot{false}; + bool _turning_on{false}; + matrix::Vector2f _last_shoot_position{0.f, 0.f}; + bool _valid_position{false}; //Camera Auto Mount Pivoting Oblique Survey (CAMPOS) - uint32_t _CAMPOS_num_poses; - uint32_t _CAMPOS_pose_counter; - float _CAMPOS_roll_angle; - float _CAMPOS_angle_interval; - float _CAMPOS_pitch_angle; - bool _CAMPOS_updated_roll_angle; - uint32_t _target_system; - uint32_t _target_component; + uint32_t _CAMPOS_num_poses{0}; + uint32_t _CAMPOS_pose_counter{0}; + float _CAMPOS_roll_angle{0.f}; + float _CAMPOS_angle_interval{0.f}; + float _CAMPOS_pitch_angle{-90.f}; + bool _CAMPOS_updated_roll_angle{false}; + uint32_t _target_system{0}; + uint32_t _target_component{0}; uORB::Subscription _command_sub{ORB_ID(vehicle_command)}; uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; - orb_advert_t _trigger_pub; + orb_advert_t _trigger_pub{nullptr}; uORB::Publication _cmd_ack_pub{ORB_ID(vehicle_command_ack)}; @@ -200,11 +198,11 @@ private: param_t _p_interface; param_t _p_cam_cap_fback; - trigger_mode_t _trigger_mode; - int32_t _cam_cap_fback; + trigger_mode_t _trigger_mode{TRIGGER_MODE_NONE}; + int32_t _cam_cap_fback{0}; - camera_interface_mode_t _camera_interface_mode; - CameraInterface *_camera_interface; ///< instance of camera interface + camera_interface_mode_t _camera_interface_mode{CAMERA_INTERFACE_MODE_GPIO}; + CameraInterface *_camera_interface{nullptr}; ///< instance of camera interface /** * Vehicle command handler @@ -248,39 +246,7 @@ CameraTrigger *g_camera_trigger; } CameraTrigger::CameraTrigger() : - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default), - _engagecall {}, - _disengagecall {}, - _engage_turn_on_off_call {}, - _disengage_turn_on_off_call {}, - _keepalivecall_up {}, - _keepalivecall_down {}, - _activation_time(0.5f /* ms */), - _interval(100.0f /* ms */), - _min_interval(1.0f /* ms */), - _distance(25.0f /* m */), - _trigger_seq(0), - _last_trigger_timestamp(0), - _trigger_enabled(false), - _trigger_paused(false), - _one_shot(false), - _test_shot(false), - _turning_on(false), - _last_shoot_position(0.0f, 0.0f), - _valid_position(false), - _CAMPOS_num_poses(0), - _CAMPOS_pose_counter(0), - _CAMPOS_roll_angle(0.0f), - _CAMPOS_angle_interval(0.0f), - _CAMPOS_pitch_angle(-90), - _CAMPOS_updated_roll_angle(false), - _target_system(0), - _target_component(0), - _trigger_pub(nullptr), - _trigger_mode(TRIGGER_MODE_NONE), - _cam_cap_fback(0), - _camera_interface_mode(CAMERA_INTERFACE_MODE_GPIO), - _camera_interface(nullptr) + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default) { // Initiate camera interface based on camera_interface_mode if (_camera_interface != nullptr) { @@ -338,13 +304,14 @@ CameraTrigger::CameraTrigger() : if ((_activation_time < 40.0f) && (_camera_interface_mode == CAMERA_INTERFACE_MODE_GENERIC_PWM || _camera_interface_mode == CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM)) { + _activation_time = 40.0f; PX4_WARN("Trigger interval too low for PWM interface, setting to 40 ms"); param_set_no_notification(_p_activation_time, &(_activation_time)); } // Advertise critical publishers here, because we cannot advertise in interrupt context - struct camera_trigger_s trigger = {}; + camera_trigger_s trigger{}; if (!_cam_cap_fback) { _trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger); @@ -370,13 +337,13 @@ CameraTrigger::update_intervalometer() // control_intervalometer once on enabling/disabling trigger to schedule the calls. if (_trigger_enabled && !_trigger_paused) { - // schedule trigger on and off calls - hrt_call_every(&_engagecall, 0, (_interval * 1000), - (hrt_callout)&CameraTrigger::engage, this); + PX4_DEBUG("update intervalometer, trigger enabled: %d, trigger paused: %d", _trigger_enabled, _trigger_paused); // schedule trigger on and off calls - hrt_call_every(&_disengagecall, 0 + (_activation_time * 1000), (_interval * 1000), - (hrt_callout)&CameraTrigger::disengage, this); + hrt_call_every(&_engagecall, 0, (_interval * 1000), &CameraTrigger::engage, this); + + // schedule trigger on and off calls + hrt_call_every(&_disengagecall, 0 + (_activation_time * 1000), (_interval * 1000), &CameraTrigger::disengage, this); } } @@ -392,7 +359,6 @@ CameraTrigger::update_distance() _lpos_sub.copy(&local); if (local.xy_valid) { - // Initialize position if not done yet matrix::Vector2f current_position(local.x, local.y); @@ -426,14 +392,15 @@ void CameraTrigger::enable_keep_alive(bool on) { if (on) { - // schedule keep-alive up and down calls - hrt_call_every(&_keepalivecall_up, 0, (60000 * 1000), - (hrt_callout)&CameraTrigger::keep_alive_up, this); + PX4_DEBUG("keep alive enable"); - hrt_call_every(&_keepalivecall_down, 0 + (30000 * 1000), (60000 * 1000), - (hrt_callout)&CameraTrigger::keep_alive_down, this); + // schedule keep-alive up and down calls + hrt_call_every(&_keepalivecall_up, 0, (60000 * 1000), &CameraTrigger::keep_alive_up, this); + + hrt_call_every(&_keepalivecall_down, 0 + (30000 * 1000), (60000 * 1000), &CameraTrigger::keep_alive_down, this); } else { + PX4_DEBUG("keep alive disable"); // cancel all calls hrt_cancel(&_keepalivecall_up); hrt_cancel(&_keepalivecall_down); @@ -443,23 +410,24 @@ CameraTrigger::enable_keep_alive(bool on) void CameraTrigger::toggle_power() { - // schedule power toggle calls - hrt_call_after(&_engage_turn_on_off_call, 0, - (hrt_callout)&CameraTrigger::engange_turn_on_off, this); + PX4_DEBUG("toggle power"); - hrt_call_after(&_disengage_turn_on_off_call, 0 + (200 * 1000), - (hrt_callout)&CameraTrigger::disengage_turn_on_off, this); + // schedule power toggle calls + hrt_call_after(&_engage_turn_on_off_call, 0, &CameraTrigger::engange_turn_on_off, this); + + hrt_call_after(&_disengage_turn_on_off_call, 0 + (200 * 1000), &CameraTrigger::disengage_turn_on_off, this); } void CameraTrigger::shoot_once() { + PX4_DEBUG("shoot once"); + // schedule trigger on and off calls hrt_call_after(&_engagecall, 0, (hrt_callout)&CameraTrigger::engage, this); - hrt_call_after(&_disengagecall, 0 + (_activation_time * 1000), - (hrt_callout)&CameraTrigger::disengage, this); + hrt_call_after(&_disengagecall, 0 + (_activation_time * 1000), &CameraTrigger::disengage, this); } bool @@ -527,13 +495,13 @@ void CameraTrigger::test() { vehicle_command_s vcmd{}; - vcmd.timestamp = hrt_absolute_time(); vcmd.param5 = 1.0; vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL; vcmd.target_system = 1; vcmd.target_component = 1; uORB::Publication vcmd_pub{ORB_ID(vehicle_command)}; + vcmd.timestamp = hrt_absolute_time(); vcmd_pub.publish(vcmd); } @@ -559,6 +527,7 @@ CameraTrigger::Run() // Command handling if (updated) { if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL) { + PX4_DEBUG("received DO_DIGICAM_CONTROL"); need_ack = true; hrt_abstime now = hrt_absolute_time(); @@ -571,20 +540,18 @@ CameraTrigger::Run() if (commandParamToInt(cmd.param7) == 1) { // test shots are not logged or forwarded to GCS for geotagging _test_shot = true; - } if (commandParamToInt((float)cmd.param5) == 1) { // Schedule shot _one_shot = true; - } cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL) { - + PX4_DEBUG("received DO_TRIGGER_CONTROL"); need_ack = true; if (commandParamToInt(cmd.param3) == 1) { @@ -610,13 +577,12 @@ CameraTrigger::Run() cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST) { - + PX4_DEBUG("received DO_SET_CAM_TRIGG_DIST"); need_ack = true; /* * TRANSITIONAL SUPPORT ADDED AS OF 11th MAY 2017 (v1.6 RELEASE) */ - if (cmd.param1 > 0.0f) { _distance = cmd.param1; param_set_no_notification(_p_distance, &_distance); @@ -649,7 +615,7 @@ CameraTrigger::Run() cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL) { - + PX4_DEBUG("received DO_SET_CAM_TRIGG_INTERVAL"); need_ack = true; if (cmd.param1 > 0.0f) { @@ -668,7 +634,7 @@ CameraTrigger::Run() cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_OBLIQUE_SURVEY) { - + PX4_INFO("received OBLIQUE_SURVEY"); // Camera Auto Mount Pivoting Oblique Survey (CAMPOS) need_ack = true; @@ -792,7 +758,6 @@ unknown_cmd: // One shot command-based capture handling if (_one_shot && !_turning_on) { - // One-shot trigger shoot_once(); _one_shot = false; @@ -804,20 +769,45 @@ unknown_cmd: // Command ACK handling if (updated && need_ack) { + PX4_DEBUG("acknowledging command %d, result=%d", cmd.command, cmd_result); vehicle_command_ack_s command_ack{}; - - command_ack.timestamp = hrt_absolute_time(); command_ack.command = cmd.command; command_ack.result = (uint8_t)cmd_result; command_ack.target_system = cmd.source_system; command_ack.target_component = cmd.source_component; - + command_ack.timestamp = hrt_absolute_time(); _cmd_ack_pub.publish(command_ack); } ScheduleDelayed(poll_interval_usec); } +void +CameraTrigger::adjust_roll() +{ + vehicle_command_s vcmd{}; + + vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL; + vcmd.target_system = _target_system; + vcmd.target_component = _target_component; + + //param1 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is pitch + vcmd.param1 = _CAMPOS_pitch_angle; + + //param2 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is roll + if (++_CAMPOS_pose_counter == _CAMPOS_num_poses) { + _CAMPOS_pose_counter = 0; + } + + vcmd.param2 = _CAMPOS_angle_interval * _CAMPOS_pose_counter - _CAMPOS_roll_angle; + + vcmd.param7 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING; + + uORB::Publication vcmd_pub{ORB_ID(vehicle_command)}; + vcmd.timestamp = hrt_absolute_time(); + vcmd_pub.publish(vcmd); +} + void CameraTrigger::engage(void *arg) { @@ -841,18 +831,15 @@ CameraTrigger::engage(void *arg) // Send camera trigger message. This messages indicates that we sent // the camera trigger request. Does not guarantee capture. + camera_trigger_s trigger{}; - struct camera_trigger_s trigger = {}; - - // Set timestamp the instant after the trigger goes off - trigger.timestamp = now; - - timespec tv = {}; + timespec tv{}; px4_clock_gettime(CLOCK_REALTIME, &tv); trigger.timestamp_utc = (uint64_t) tv.tv_sec * 1000000 + tv.tv_nsec / 1000; trigger.seq = trig->_trigger_seq; trigger.feedback = false; + trigger.timestamp = hrt_absolute_time(); if (!trig->_cam_cap_fback) { orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger); @@ -935,7 +922,7 @@ static int usage() return 1; } -int camera_trigger_main(int argc, char *argv[]) +extern "C" __EXPORT int camera_trigger_main(int argc, char *argv[]) { if (argc < 2) { return usage(); @@ -985,28 +972,3 @@ int camera_trigger_main(int argc, char *argv[]) return 0; } - -void -CameraTrigger::adjust_roll() -{ - vehicle_command_s vcmd{}; - vcmd.timestamp = hrt_absolute_time(); - vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL; - vcmd.target_system = _target_system; - vcmd.target_component = _target_component; - - //param1 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is pitch - vcmd.param1 = _CAMPOS_pitch_angle; - - //param2 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is roll - if (++_CAMPOS_pose_counter == _CAMPOS_num_poses) { - _CAMPOS_pose_counter = 0; - } - - vcmd.param2 = _CAMPOS_angle_interval * _CAMPOS_pose_counter - _CAMPOS_roll_angle; - - vcmd.param7 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING; - - uORB::Publication vcmd_pub{ORB_ID(vehicle_command)}; - vcmd_pub.publish(vcmd); -} diff --git a/src/drivers/camera_trigger/camera_trigger_params.c b/src/drivers/camera_trigger/camera_trigger_params.c index 660bf99e36..1ed5c7cd6b 100644 --- a/src/drivers/camera_trigger/camera_trigger_params.c +++ b/src/drivers/camera_trigger/camera_trigger_params.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015-2017 PX4 Development Team. All rights reserved. + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp b/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp index 40a8f30e22..bc93a8cb3b 100644 --- a/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp +++ b/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp @@ -1,20 +1,41 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + #include "camera_interface.h" #include -/** - * @file camera_interface.cpp - * - */ - -CameraInterface::CameraInterface(): - _p_pin(PARAM_INVALID), - _pins{} -{ -} - void CameraInterface::get_pins() { - // Get parameter handle _p_pin = param_find("TRIG_PINS"); diff --git a/src/drivers/camera_trigger/interfaces/src/camera_interface.h b/src/drivers/camera_trigger/interfaces/src/camera_interface.h index fad26ebd83..7ffe55cf0e 100644 --- a/src/drivers/camera_trigger/interfaces/src/camera_interface.h +++ b/src/drivers/camera_trigger/interfaces/src/camera_interface.h @@ -1,3 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + /** * @file camera_interface.h */ @@ -12,15 +45,7 @@ class CameraInterface { public: - - /** - * Constructor - */ - CameraInterface(); - - /** - * Destructor. - */ + CameraInterface() = default; virtual ~CameraInterface() = default; /** @@ -72,8 +97,8 @@ protected: */ void get_pins(); - param_t _p_pin; + param_t _p_pin{PARAM_INVALID}; - int _pins[6]; + int _pins[6] {}; }; diff --git a/src/drivers/camera_trigger/interfaces/src/gpio.cpp b/src/drivers/camera_trigger/interfaces/src/gpio.cpp index 5cbf48793d..e936d39292 100644 --- a/src/drivers/camera_trigger/interfaces/src/gpio.cpp +++ b/src/drivers/camera_trigger/interfaces/src/gpio.cpp @@ -1,18 +1,49 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + #ifdef __PX4_NUTTX #include "gpio.h" + #include #include -CameraInterfaceGPIO::CameraInterfaceGPIO(): - CameraInterface(), - _trigger_invert(false), - _triggers{} +CameraInterfaceGPIO::CameraInterfaceGPIO() { _p_polarity = param_find("TRIG_POLARITY"); // polarity of the trigger (0 = active low, 1 = active high ) - int32_t polarity; + int32_t polarity = 0; param_get(_p_polarity, &polarity); _trigger_invert = (polarity == 0); @@ -23,7 +54,6 @@ CameraInterfaceGPIO::CameraInterfaceGPIO(): void CameraInterfaceGPIO::setup() { for (unsigned i = 0, t = 0; i < arraySize(_pins); i++) { - // Pin range is from 0 to num_gpios - 1 if (_pins[i] >= 0 && t < (int)arraySize(_triggers)) { uint32_t gpio = io_timer_channel_get_gpio_output(_pins[i]); @@ -39,10 +69,9 @@ void CameraInterfaceGPIO::trigger(bool trigger_on_true) bool trigger_state = trigger_on_true ^ _trigger_invert; for (unsigned i = 0; i < arraySize(_triggers); i++) { - - if (_triggers[i] == 0) { break; } - - px4_arch_gpiowrite(_triggers[i], trigger_state); + if (_triggers[i] != 0) { + px4_arch_gpiowrite(_triggers[i], trigger_state); + } } } diff --git a/src/drivers/camera_trigger/interfaces/src/gpio.h b/src/drivers/camera_trigger/interfaces/src/gpio.h index d623e31f4d..133a8d316a 100644 --- a/src/drivers/camera_trigger/interfaces/src/gpio.h +++ b/src/drivers/camera_trigger/interfaces/src/gpio.h @@ -1,5 +1,38 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + /** - * @file relay.h + * @file gpio.h * * Interface with cameras via FMU auxiliary pins. * @@ -27,11 +60,11 @@ private: void setup(); - param_t _p_polarity; + param_t _p_polarity{PARAM_INVALID}; - bool _trigger_invert; + bool _trigger_invert{false}; - uint32_t _triggers[num_gpios]; + uint32_t _triggers[num_gpios] {}; }; #endif /* ifdef __PX4_NUTTX */ diff --git a/src/drivers/camera_trigger/interfaces/src/pwm.cpp b/src/drivers/camera_trigger/interfaces/src/pwm.cpp index 33bfcf6eff..ced85a0611 100644 --- a/src/drivers/camera_trigger/interfaces/src/pwm.cpp +++ b/src/drivers/camera_trigger/interfaces/src/pwm.cpp @@ -1,3 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + #ifdef __PX4_NUTTX #include @@ -8,7 +41,6 @@ #include "drivers/drv_pwm_trigger.h" #include "pwm.h" - CameraInterfacePWM::CameraInterfacePWM(): CameraInterface() { @@ -27,7 +59,7 @@ CameraInterfacePWM::~CameraInterfacePWM() void CameraInterfacePWM::setup() { // Precompute the bitmask for enabled channels - uint8_t pin_bitmask = 0; + uint32_t pin_bitmask = 0; for (unsigned i = 0; i < arraySize(_pins); i++) { if (_pins[i] >= 0) { diff --git a/src/drivers/camera_trigger/interfaces/src/pwm.h b/src/drivers/camera_trigger/interfaces/src/pwm.h index 096c91c290..6ef90320aa 100644 --- a/src/drivers/camera_trigger/interfaces/src/pwm.h +++ b/src/drivers/camera_trigger/interfaces/src/pwm.h @@ -1,3 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + /** * @file pwm.h * @@ -25,10 +58,10 @@ public: void info(); private: - int32_t _pwm_camera_shoot = 0; - int32_t _pwm_camera_neutral = 0; void setup(); + int32_t _pwm_camera_shoot{0}; + int32_t _pwm_camera_neutral{0}; }; #endif /* ifdef __PX4_NUTTX */ diff --git a/src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp b/src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp index 3d2dd54177..ae4cd18ffa 100644 --- a/src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp +++ b/src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp @@ -1,3 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + #ifdef __PX4_NUTTX #include @@ -17,9 +50,7 @@ #define PWM_2_CAMERA_KEEP_ALIVE 1700 #define PWM_2_CAMERA_ON_OFF 1900 -CameraInterfaceSeagull::CameraInterfaceSeagull(): - CameraInterface(), - _camera_is_on(false) +CameraInterfaceSeagull::CameraInterfaceSeagull() { get_pins(); setup(); @@ -37,12 +68,15 @@ void CameraInterfaceSeagull::setup() if (_pins[i] >= 0 && _pins[i + 1] >= 0) { // Initialize the interface - uint8_t pin_bitmask = (1 << _pins[i + 1]) | (1 << _pins[i]); + uint32_t pin_bitmask = (1 << _pins[i + 1]) | (1 << _pins[i]); up_pwm_trigger_init(pin_bitmask); // Set both interface pins to disarmed - up_pwm_trigger_set(_pins[i + 1], PWM_CAMERA_DISARMED); - up_pwm_trigger_set(_pins[i], PWM_CAMERA_DISARMED); + int ret1 = up_pwm_trigger_set(_pins[i + 1], PWM_CAMERA_DISARMED); + PX4_DEBUG("pwm trigger set %d %d=%d, ret=%d", i + 1, _pins[i + 1], PWM_CAMERA_DISARMED, ret1); + + int ret2 = up_pwm_trigger_set(_pins[i], PWM_CAMERA_DISARMED); + PX4_DEBUG("pwm trigger set %d %d=%d, ret=%d", i, _pins[i], PWM_CAMERA_DISARMED, ret2); // We only support 2 consecutive pins while using the Seagull MAP2 return; @@ -54,7 +88,6 @@ void CameraInterfaceSeagull::setup() void CameraInterfaceSeagull::trigger(bool trigger_on_true) { - if (!_camera_is_on) { return; } @@ -70,7 +103,6 @@ void CameraInterfaceSeagull::trigger(bool trigger_on_true) void CameraInterfaceSeagull::send_keep_alive(bool enable) { // This should alternate between enable and !enable to keep the camera alive - if (!_camera_is_on) { return; } @@ -85,9 +117,7 @@ void CameraInterfaceSeagull::send_keep_alive(bool enable) void CameraInterfaceSeagull::send_toggle_power(bool enable) { - // This should alternate between enable and !enable to toggle camera power - for (unsigned i = 0; i < arraySize(_pins); i = i + 2) { if (_pins[i] >= 0 && _pins[i + 1] >= 0) { // Set channel 1 to neutral @@ -97,7 +127,9 @@ void CameraInterfaceSeagull::send_toggle_power(bool enable) } } - if (!enable) { _camera_is_on = !_camera_is_on; } + if (!enable) { + _camera_is_on = !_camera_is_on; + } } void CameraInterfaceSeagull::info() diff --git a/src/drivers/camera_trigger/interfaces/src/seagull_map2.h b/src/drivers/camera_trigger/interfaces/src/seagull_map2.h index 3c306c2155..f069bc88ea 100644 --- a/src/drivers/camera_trigger/interfaces/src/seagull_map2.h +++ b/src/drivers/camera_trigger/interfaces/src/seagull_map2.h @@ -1,3 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + /** * @file seagull_map2.h * @@ -33,7 +66,7 @@ public: private: void setup(); - bool _camera_is_on; + bool _camera_is_on{false}; }; diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index 1bfe6c7127..0654b287a1 100644 --- a/src/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h @@ -225,14 +225,14 @@ constexpr hrt_abstime operator "" _s(unsigned long long seconds) return hrt_abstime(seconds * 1000000ULL); } -constexpr hrt_abstime operator "" _ms(unsigned long long seconds) +constexpr hrt_abstime operator "" _ms(unsigned long long milliseconds) { - return hrt_abstime(seconds * 1000ULL); + return hrt_abstime(milliseconds * 1000ULL); } -constexpr hrt_abstime operator "" _us(unsigned long long seconds) +constexpr hrt_abstime operator "" _us(unsigned long long microseconds) { - return hrt_abstime(seconds); + return hrt_abstime(microseconds); } } /* namespace time_literals */ diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index a1038cbcc1..1af334cb74 100644 --- a/src/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h @@ -64,11 +64,10 @@ #define DRV_MAG_DEVTYPE_LIS2MDL 0x0C #define DRV_IMU_DEVTYPE_LSM303D 0x11 -#define DRV_ACC_DEVTYPE_BMA180 0x12 + #define DRV_ACC_DEVTYPE_MPU6000_LEGACY 0x13 #define DRV_IMU_DEVTYPE_SIM 0x14 #define DRV_ACC_DEVTYPE_MPU9250_LEGACY 0x16 -#define DRV_IMU_DEVTYPE_BMI160 0x17 #define DRV_IMU_DEVTYPE_MPU6000 0x21 #define DRV_GYR_DEVTYPE_L3GD20 0x22 @@ -107,15 +106,18 @@ #define DRV_DIFF_PRESS_DEVTYPE_SDP32 0x4A #define DRV_DIFF_PRESS_DEVTYPE_SDP33 0x4B #define DRV_BARO_DEVTYPE_LPS33HW 0x4C +#define DRV_BARO_DEVTYPE_TCBP001TA 0x4D #define DRV_BARO_DEVTYPE_MPL3115A2 0x51 #define DRV_ACC_DEVTYPE_FXOS8701C 0x52 #define DRV_GYR_DEVTYPE_FXAS2100C 0x54 + #define DRV_IMU_DEVTYPE_ADIS16448 0x57 -#define DRV_BARO_DEVTYPE_LPS22HB 0x58 +#define DRV_IMU_DEVTYPE_ADIS16470 0x58 #define DRV_IMU_DEVTYPE_ADIS16477 0x59 -#define DRV_ADC_DEVTYPE_AEROFC 0x5a + +#define DRV_BARO_DEVTYPE_LPS22HB 0x60 #define DRV_ACC_DEVTYPE_LSM303AGR 0x61 #define DRV_MAG_DEVTYPE_LSM303AGR 0x62 @@ -140,7 +142,7 @@ #define DRV_DIST_DEVTYPE_VL53L0X 0x76 #define DRV_POWER_DEVTYPE_INA226 0x77 #define DRV_POWER_DEVTYPE_VOXLPM 0x78 -#define DRV_LED_DEVTYPE_BLINKM 0x79 + #define DRV_LED_DEVTYPE_RGBLED 0x7a #define DRV_LED_DEVTYPE_RGBLED_NCP5623C 0x7b #define DRV_BAT_DEVTYPE_SMBUS 0x7c diff --git a/src/drivers/gps/CMakeLists.txt b/src/drivers/gps/CMakeLists.txt index 065c29e6a6..dda436354b 100644 --- a/src/drivers/gps/CMakeLists.txt +++ b/src/drivers/gps/CMakeLists.txt @@ -52,3 +52,4 @@ px4_add_module( DEPENDS git_gps_devices ) +target_link_libraries(drivers__gps PRIVATE m) diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices index c278eb48e1..f2eb62c2c7 160000 --- a/src/drivers/gps/devices +++ b/src/drivers/gps/devices @@ -1 +1 @@ -Subproject commit c278eb48e1b57e6b789242324e28581caf9ccf96 +Subproject commit f2eb62c2c78a2ec47bccfe993ff59acc94155e7e diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index e7bd0a4cdb..5c11a3bd92 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -245,6 +245,8 @@ private: void dumpGpsData(uint8_t *data, size_t len, bool msg_to_gps_device); void initializeCommunicationDump(); + + static constexpr int SET_CLOCK_DRIFT_TIME_S{5}; ///< RTC drift time when time synchronization is needed (in seconds) }; px4::atomic_bool GPS::_is_gps_main_advertised{false}; @@ -327,6 +329,8 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) { GPS *gps = (GPS *)user; + timespec rtc_system_time; + switch (type) { case GPSCallbackType::readDeviceData: { int num_read = gps->pollOrRead((uint8_t *)data1, data2, *((int *)data1)); @@ -355,7 +359,19 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) break; case GPSCallbackType::setClock: - px4_clock_settime(CLOCK_REALTIME, (timespec *)data1); + + px4_clock_gettime(CLOCK_REALTIME, &rtc_system_time); + timespec rtc_gps_time = *(timespec *)data1; + int drift_time = abs(rtc_system_time.tv_sec - rtc_gps_time.tv_sec); + + if (drift_time >= SET_CLOCK_DRIFT_TIME_S) { + // as of 2021 setting the time on Nuttx temporarily pauses interrupts + // so only set the time if it is very wrong. + // TODO: clock slewing of the RTC for small time differences + px4_clock_settime(CLOCK_REALTIME, &rtc_gps_time); + } + + break; } diff --git a/src/drivers/imu/CMakeLists.txt b/src/drivers/imu/CMakeLists.txt index ef867fd353..e512416bab 100644 --- a/src/drivers/imu/CMakeLists.txt +++ b/src/drivers/imu/CMakeLists.txt @@ -34,16 +34,10 @@ add_subdirectory(adis16477) add_subdirectory(adis16497) add_subdirectory(analog_devices) -add_subdirectory(bma180) -add_subdirectory(bmi055) -add_subdirectory(bmi088) -add_subdirectory(bmi160) +add_subdirectory(bosch) add_subdirectory(fxas21002c) add_subdirectory(fxos8701cq) -add_subdirectory(icm20948) add_subdirectory(invensense) add_subdirectory(l3gd20) add_subdirectory(lsm303d) -add_subdirectory(mpu6000) -add_subdirectory(mpu9250) add_subdirectory(st) diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp index ac11eadb8c..e0eec84b4a 100644 --- a/src/drivers/imu/adis16477/ADIS16477.cpp +++ b/src/drivers/imu/adis16477/ADIS16477.cpp @@ -237,9 +237,9 @@ ADIS16477::read_reg16(uint8_t reg) cmd[0] = ((reg | DIR_READ) << 8) & 0xff00; transferhword(cmd, nullptr, 1); - up_udelay(T_STALL); + px4_udelay(T_STALL); transferhword(nullptr, cmd, 1); - up_udelay(T_STALL); + px4_udelay(T_STALL); return cmd[0]; } @@ -262,9 +262,9 @@ ADIS16477::write_reg16(uint8_t reg, uint16_t value) cmd[1] = (((reg + 0x1) | DIR_WRITE) << 8) | ((0xff00 & value) >> 8); transferhword(cmd, nullptr, 1); - up_udelay(T_STALL); + px4_udelay(T_STALL); transferhword(cmd + 1, nullptr, 1); - up_udelay(T_STALL); + px4_udelay(T_STALL); } void diff --git a/src/drivers/imu/analog_devices/CMakeLists.txt b/src/drivers/imu/analog_devices/CMakeLists.txt index cef30903c9..744225aa6c 100644 --- a/src/drivers/imu/analog_devices/CMakeLists.txt +++ b/src/drivers/imu/analog_devices/CMakeLists.txt @@ -32,3 +32,4 @@ ############################################################################ add_subdirectory(adis16448) +add_subdirectory(adis16470) diff --git a/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp b/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp index 0f88db4963..9766871f74 100644 --- a/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp +++ b/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp @@ -563,7 +563,7 @@ uint16_t ADIS16448::RegisterRead(Register reg) cmd[0] = (static_cast(reg) << 8); transferhword(cmd, nullptr, 1); - usleep(SPI_STALL_PERIOD); + px4_udelay(SPI_STALL_PERIOD); transferhword(nullptr, cmd, 1); return cmd[0]; @@ -578,7 +578,7 @@ void ADIS16448::RegisterWrite(Register reg, uint16_t value) cmd[1] = (((static_cast(reg) + 1) | DIR_WRITE) << 8) | ((0xFF00 & value) >> 8); transferhword(cmd, nullptr, 1); - usleep(SPI_STALL_PERIOD); + px4_udelay(SPI_STALL_PERIOD); transferhword(cmd + 1, nullptr, 1); } diff --git a/boards/intel/aerofc-v1/src/i2c.cpp b/src/drivers/imu/analog_devices/adis16448/parameters.c similarity index 86% rename from boards/intel/aerofc-v1/src/i2c.cpp rename to src/drivers/imu/analog_devices/adis16448/parameters.c index a79588da46..9b44b9e2c4 100644 --- a/boards/intel/aerofc-v1/src/i2c.cpp +++ b/src/drivers/imu/analog_devices/adis16448/parameters.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,10 +31,14 @@ * ****************************************************************************/ -#include - -constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { - initI2CBusExternal(1), - initI2CBusExternal(2), - initI2CBusInternal(3), -}; +/** + * Analog Devices ADIS16448 IMU (external SPI) + * + * @reboot_required true + * @min 0 + * @max 1 + * @group Sensors + * @value 0 Disabled + * @value 1 Enabled + */ +PARAM_DEFINE_INT32(SENS_EN_ADIS164X, 0); diff --git a/src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp b/src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp new file mode 100644 index 0000000000..6c02e56274 --- /dev/null +++ b/src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp @@ -0,0 +1,458 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ADIS16470.hpp" + +using namespace time_literals; + +static constexpr int16_t combine(uint8_t msb, uint8_t lsb) +{ + return (msb << 8u) | lsb; +} + +ADIS16470::ADIS16470(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency, + spi_drdy_gpio_t drdy_gpio) : + SPI(DRV_IMU_DEVTYPE_ADIS16470, MODULE_NAME, bus, device, SPIDEV_MODE3, bus_frequency), + I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus), + _drdy_gpio(drdy_gpio), + _px4_accel(get_device_id(), rotation), + _px4_gyro(get_device_id(), rotation) +{ + _debug_enabled = true; +} + +ADIS16470::~ADIS16470() +{ + perf_free(_bad_register_perf); + perf_free(_bad_transfer_perf); +} + +int ADIS16470::init() +{ + int ret = SPI::init(); + + if (ret != PX4_OK) { + DEVICE_DEBUG("SPI::init failed (%i)", ret); + return ret; + } + + return Reset() ? 0 : -1; +} + +bool ADIS16470::Reset() +{ + _state = STATE::RESET; + DataReadyInterruptDisable(); + ScheduleClear(); + ScheduleNow(); + return true; +} + +void ADIS16470::exit_and_cleanup() +{ + DataReadyInterruptDisable(); + I2CSPIDriverBase::exit_and_cleanup(); +} + +void ADIS16470::print_status() +{ + I2CSPIDriverBase::print_status(); + + perf_print_counter(_reset_perf); + perf_print_counter(_perf_crc_bad); + perf_print_counter(_bad_register_perf); + perf_print_counter(_bad_transfer_perf); +} + +int ADIS16470::probe() +{ + // Power-On Start-Up Time 205 ms + if (hrt_absolute_time() < 205_ms) { + PX4_WARN("Power-On Start-Up Time is 205 ms"); + } + + const uint16_t PROD_ID = RegisterRead(Register::PROD_ID); + + if (PROD_ID != Product_identification) { + DEVICE_DEBUG("unexpected PROD_ID 0x%02x", PROD_ID); + return PX4_ERROR; + } + + const uint16_t SERIAL_NUM = RegisterRead(Register::SERIAL_NUM); + const uint16_t FIRM_REV = RegisterRead(Register::FIRM_REV); + const uint16_t FIRM_DM = RegisterRead(Register::FIRM_DM); + const uint16_t FIRM_Y = RegisterRead(Register::FIRM_Y); + + PX4_INFO("Serial Number: 0x%X, Firmware revision: 0x%X Date: Y %X DM %X", SERIAL_NUM, FIRM_REV, FIRM_Y, FIRM_DM); + + return PX4_OK; +} + +void ADIS16470::RunImpl() +{ + const hrt_abstime now = hrt_absolute_time(); + + switch (_state) { + case STATE::RESET: + perf_count(_reset_perf); + // GLOB_CMD: software reset + RegisterWrite(Register::GLOB_CMD, GLOB_CMD_BIT::Software_reset); + _reset_timestamp = now; + _failure_count = 0; + _state = STATE::WAIT_FOR_RESET; + ScheduleDelayed(193_ms); // 193 ms Software Reset Recovery Time + break; + + case STATE::WAIT_FOR_RESET: + + if (_self_test_passed) { + if ((RegisterRead(Register::PROD_ID) == Product_identification)) { + // if reset succeeded then configure + _state = STATE::CONFIGURE; + ScheduleNow(); + + } else { + // RESET not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Reset failed, retrying"); + _state = STATE::RESET; + ScheduleDelayed(100_ms); + + } else { + PX4_DEBUG("Reset not complete, check again in 100 ms"); + ScheduleDelayed(100_ms); + } + } + + } else { + RegisterWrite(Register::GLOB_CMD, GLOB_CMD_BIT::Sensor_self_test); + _state = STATE::SELF_TEST_CHECK; + ScheduleDelayed(14_ms); // Self Test Time + } + + break; + + case STATE::SELF_TEST_CHECK: { + // read DIAG_STAT to check result + const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT); + + if (DIAG_STAT != 0) { + PX4_ERR("DIAG_STAT: %#X", DIAG_STAT); + + } else { + PX4_DEBUG("self test passed"); + _self_test_passed = true; + _state = STATE::RESET; + ScheduleNow(); + } + } + break; + + case STATE::CONFIGURE: + if (Configure()) { + // if configure succeeded then start reading + _state = STATE::READ; + + if (DataReadyInterruptConfigure()) { + _data_ready_interrupt_enabled = true; + + // backup schedule as a watchdog timeout + ScheduleDelayed(100_ms); + + } else { + _data_ready_interrupt_enabled = false; + ScheduleOnInterval(SAMPLE_INTERVAL_US, SAMPLE_INTERVAL_US); + } + + } else { + // CONFIGURE not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Configure failed, resetting"); + _state = STATE::RESET; + + } else { + PX4_DEBUG("Configure failed, retrying"); + } + + ScheduleDelayed(100_ms); + } + + break; + + case STATE::READ: { + if (_data_ready_interrupt_enabled) { + // push backup schedule back + ScheduleDelayed(SAMPLE_INTERVAL_US * 2); + } + + bool success = false; + + struct BurstRead { + uint16_t cmd; + uint16_t DIAG_STAT; + int16_t X_GYRO_OUT; + int16_t Y_GYRO_OUT; + int16_t Z_GYRO_OUT; + int16_t X_ACCL_OUT; + int16_t Y_ACCL_OUT; + int16_t Z_ACCL_OUT; + int16_t TEMP_OUT; + uint16_t DATA_CNTR; + uint16_t checksum; + } buffer{}; + + // ADIS16470 burst report should be 176 bits + static_assert(sizeof(BurstRead) == (176 / 8), "ADIS16470 report not 176 bits"); + + buffer.cmd = static_cast(Register::GLOB_CMD) << 8; + + set_frequency(SPI_SPEED_BURST); + + if (transferhword((uint16_t *)&buffer, (uint16_t *)&buffer, sizeof(buffer) / sizeof(uint16_t)) == PX4_OK) { + + // Calculate checksum and compare + + // Checksum = DIAG_STAT, Bits[15:8] + DIAG_STAT, Bits[7:0] + + // X_GYRO_OUT, Bits[15:8] + X_GYRO_OUT, Bits[7:0] + + // Y_GYRO_OUT, Bits[15:8] + Y_GYRO_OUT, Bits[7:0] + + // Z_GYRO_OUT, Bits[15:8] + Z_GYRO_OUT, Bits[7:0] + + // X_ACCL_OUT, Bits[15:8] + X_ACCL_OUT, Bits[7:0] + + // Y_ACCL_OUT, Bits[15:8] + Y_ACCL_OUT, Bits[7:0] + + // Z_ACCL_OUT, Bits[15:8] + Z_ACCL_OUT, Bits[7:0] + + // TEMP_OUT, Bits[15:8] + TEMP_OUT, Bits[7:0] + + // DATA_CNTR, Bits[15:8] + DATA_CNTR, Bits[7:0] + uint8_t *checksum_helper = (uint8_t *)&buffer.DIAG_STAT; + + uint16_t checksum = 0; + + for (int i = 0; i < 18; i++) { + checksum += checksum_helper[i]; + } + + if (buffer.checksum != checksum) { + //PX4_DEBUG("adis_report.checksum: %X vs calculated: %X", buffer.checksum, checksum); + perf_count(_bad_transfer_perf); + } + + if (buffer.DIAG_STAT != DIAG_STAT_BIT::Data_path_overrun) { + // Data path overrun. A 1 indicates that one of the + // data paths have experienced an overrun condition. + // If this occurs, initiate a reset, + + //Reset(); + //return; + } + + // Check all Status/Error Flag Indicators (DIAG_STAT) + if (buffer.DIAG_STAT != 0) { + perf_count(_bad_transfer_perf); + } + + // temperature 1 LSB = 0.1°C + const float temperature = buffer.TEMP_OUT * 0.1f; + _px4_accel.set_temperature(temperature); + _px4_gyro.set_temperature(temperature); + + + int16_t accel_x = buffer.X_ACCL_OUT; + int16_t accel_y = buffer.Y_ACCL_OUT; + int16_t accel_z = buffer.Z_ACCL_OUT; + + // sensor's frame is +x forward, +y left, +z up + // flip y & z to publish right handed with z down (x forward, y right, z down) + accel_y = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y; + accel_z = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z; + + _px4_accel.update(now, accel_x, accel_y, accel_z); + + + int16_t gyro_x = buffer.X_GYRO_OUT; + int16_t gyro_y = buffer.Y_GYRO_OUT; + int16_t gyro_z = buffer.Z_GYRO_OUT; + // sensor's frame is +x forward, +y left, +z up + // flip y & z to publish right handed with z down (x forward, y right, z down) + gyro_y = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y; + gyro_z = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z; + _px4_gyro.update(now, gyro_x, gyro_y, gyro_z); + + success = true; + + if (_failure_count > 0) { + _failure_count--; + } + + } else { + perf_count(_bad_transfer_perf); + } + + if (!success) { + _failure_count++; + + // full reset if things are failing consistently + if (_failure_count > 10) { + Reset(); + return; + } + } + + if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) { + // check configuration registers periodically or immediately following any failure + if (RegisterCheck(_register_cfg[_checked_register])) { + _last_config_check_timestamp = now; + _checked_register = (_checked_register + 1) % size_register_cfg; + + } else { + // register check failed, force reset + perf_count(_bad_register_perf); + Reset(); + } + } + } + + break; + } +} + +bool ADIS16470::Configure() +{ + // first set and clear all configured register bits + for (const auto ®_cfg : _register_cfg) { + RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); + } + + // now check that all are configured + bool success = true; + + for (const auto ®_cfg : _register_cfg) { + if (!RegisterCheck(reg_cfg)) { + success = false; + } + } + + _px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f); + _px4_accel.set_range(40.f * CONSTANTS_ONE_G); + _px4_gyro.set_scale(math::radians(2000.f / 32768.f)); + _px4_gyro.set_range(math::radians(2000.f)); + + _px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB + _px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB + + return success; +} + +int ADIS16470::DataReadyInterruptCallback(int irq, void *context, void *arg) +{ + static_cast(arg)->DataReady(); + return 0; +} + +void ADIS16470::DataReady() +{ + ScheduleNow(); +} + +bool ADIS16470::DataReadyInterruptConfigure() +{ + if (_drdy_gpio == 0) { + return false; + } + + // Setup data ready on falling edge + return px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0; +} + +bool ADIS16470::DataReadyInterruptDisable() +{ + if (_drdy_gpio == 0) { + return false; + } + + return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0; +} + +bool ADIS16470::RegisterCheck(const register_config_t ®_cfg) +{ + bool success = true; + + const uint16_t reg_value = RegisterRead(reg_cfg.reg); + + if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits); + success = false; + } + + if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits); + success = false; + } + + return success; +} + +uint16_t ADIS16470::RegisterRead(Register reg) +{ + set_frequency(SPI_SPEED); + + uint16_t cmd[1]; + cmd[0] = (static_cast(reg) << 8); + + transferhword(cmd, nullptr, 1); + px4_udelay(SPI_STALL_PERIOD); + transferhword(nullptr, cmd, 1); + + return cmd[0]; +} + +void ADIS16470::RegisterWrite(Register reg, uint16_t value) +{ + set_frequency(SPI_SPEED); + + uint16_t cmd[2]; + cmd[0] = (((static_cast(reg)) | DIR_WRITE) << 8) | ((0x00FF & value)); + cmd[1] = (((static_cast(reg) + 1) | DIR_WRITE) << 8) | ((0xFF00 & value) >> 8); + + transferhword(cmd, nullptr, 1); + px4_udelay(SPI_STALL_PERIOD); + transferhword(cmd + 1, nullptr, 1); +} + +void ADIS16470::RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits) +{ + const uint16_t orig_val = RegisterRead(reg); + + uint16_t val = (orig_val & ~clearbits) | setbits; + + if (orig_val != val) { + RegisterWrite(reg, val); + } +} diff --git a/src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp b/src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp new file mode 100644 index 0000000000..9577495bae --- /dev/null +++ b/src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp @@ -0,0 +1,129 @@ +/**************************************************************************** +* +* Copyright (c) 2021 PX4 Development Team. All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in +* the documentation and/or other materials provided with the +* distribution. +* 3. Neither the name PX4 nor the names of its contributors may be +* used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +****************************************************************************/ + +/** + * @file ADIS16470.hpp + * + * Driver for the Analog Devices ADIS16470 connected via SPI. + * + */ + +#pragma once + +#include "Analog_Devices_ADIS16470_registers.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace Analog_Devices_ADIS16470; + +class ADIS16470 : public device::SPI, public I2CSPIDriver +{ +public: + ADIS16470(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency, + spi_drdy_gpio_t drdy_gpio); + ~ADIS16470() override; + + static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance); + static void print_usage(); + + void RunImpl(); + + int init() override; + void print_status() override; + +private: + void exit_and_cleanup() override; + + struct register_config_t { + Register reg; + uint16_t set_bits{0}; + uint16_t clear_bits{0}; + }; + + int probe() override; + + bool Reset(); + + bool Configure(); + + static int DataReadyInterruptCallback(int irq, void *context, void *arg); + void DataReady(); + bool DataReadyInterruptConfigure(); + bool DataReadyInterruptDisable(); + + bool RegisterCheck(const register_config_t ®_cfg); + + uint16_t RegisterRead(Register reg); + void RegisterWrite(Register reg, uint16_t value); + void RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits); + + const spi_drdy_gpio_t _drdy_gpio; + + PX4Accelerometer _px4_accel; + PX4Gyroscope _px4_gyro; + + perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")}; + perf_counter_t _perf_crc_bad{perf_counter_t(perf_alloc(PC_COUNT, MODULE_NAME": CRC16 bad"))}; + perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")}; + perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")}; + + hrt_abstime _reset_timestamp{0}; + hrt_abstime _last_config_check_timestamp{0}; + int _failure_count{0}; + + bool _data_ready_interrupt_enabled{false}; + bool _self_test_passed{false}; + + enum class STATE : uint8_t { + RESET, + WAIT_FOR_RESET, + SELF_TEST_CHECK, + CONFIGURE, + READ, + } _state{STATE::RESET}; + + uint8_t _checked_register{0}; + static constexpr uint8_t size_register_cfg{1}; + register_config_t _register_cfg[size_register_cfg] { + // Register | Set bits, Clear bits + { Register::MSC_CTRL, 0, MSC_CTRL_BIT::DR_polarity }, + }; +}; diff --git a/src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp b/src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp new file mode 100644 index 0000000000..6cab0b1b08 --- /dev/null +++ b/src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp @@ -0,0 +1,126 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Analog_Devices_ADIS16470_registers.hpp + * + * Analog Devices ADIS16470 registers. + * + */ + +#pragma once + +#include + +// TODO: move to a central header +static constexpr uint16_t Bit0 = (1 << 0); +static constexpr uint16_t Bit1 = (1 << 1); +static constexpr uint16_t Bit2 = (1 << 2); +static constexpr uint16_t Bit3 = (1 << 3); +static constexpr uint16_t Bit4 = (1 << 4); +static constexpr uint16_t Bit5 = (1 << 5); +static constexpr uint16_t Bit6 = (1 << 6); +static constexpr uint16_t Bit7 = (1 << 7); +static constexpr uint16_t Bit8 = (1 << 8); +static constexpr uint16_t Bit9 = (1 << 9); +static constexpr uint16_t Bit10 = (1 << 10); +static constexpr uint16_t Bit11 = (1 << 11); +static constexpr uint16_t Bit12 = (1 << 12); +static constexpr uint16_t Bit13 = (1 << 13); +static constexpr uint16_t Bit14 = (1 << 14); +static constexpr uint16_t Bit15 = (1 << 15); + +namespace Analog_Devices_ADIS16470 +{ +static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2 MHz SPI serial interface +static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial interface for burst read + +static constexpr uint32_t SPI_STALL_PERIOD = 16; // 16 us Stall period between data + +static constexpr uint16_t DIR_WRITE = 0x80; + +static constexpr uint16_t Product_identification = 0x4056; + +static constexpr uint32_t SAMPLE_INTERVAL_US = 500; // 2000 Hz + +enum class Register : uint16_t { + DIAG_STAT = 0x02, + + FILT_CTRL = 0x5C, + + MSC_CTRL = 0x60, + + GLOB_CMD = 0x68, + + FIRM_REV = 0x6C, // Identification, firmware revision + FIRM_DM = 0x6E, // Identification, date code, day and month + FIRM_Y = 0x70, // Identification, date code, year + PROD_ID = 0x72, // Identification, part number + SERIAL_NUM = 0x74, // Identification, serial number + + FLSHCNT_LOW = 0x7C, // Output, flash memory write cycle counter, lower word + FLSHCNT_HIGH = 0x7E, // Output, flash memory write cycle counter, upper word +}; + +// DIAG_STAT +enum DIAG_STAT_BIT : uint16_t { + Clock_error = Bit7, // A 1 indicates that the internal data sampling clock + Memory_failure = Bit6, // A 1 indicates a failure in the flash memory test + Sensor_failure = Bit5, // A 1 indicates failure of at least one sensor, at the conclusion of the self test + Standby_mode = Bit4, // A 1 indicates that the voltage across VDD and GND is <2.8 V, which causes data processing to stop + SPI_communication_error = Bit3, // A 1 indicates that the total number of SCLK cycles is not equal to an integer multiple of 16 + Flash_memory_update_failure = Bit2, // A 1 indicates that the most recent flash memory update failed + Data_path_overrun = Bit1, // A 1 indicates that one of the data paths have experienced an overrun condition +}; + +// FILT_CTRL +enum FILT_CTRL_BIT : uint16_t { + +}; + +// MSC_CTRL +enum MSC_CTRL_BIT : uint16_t { + DR_polarity = Bit0, // 1 = active high when data is valid +}; + +// GLOB_CMD +enum GLOB_CMD_BIT : uint16_t { + Software_reset = Bit7, + + Flash_memory_test = Bit4, + + Sensor_self_test = Bit2, +}; + + +} // namespace Analog_Devices_ADIS16470 diff --git a/src/drivers/imu/bmi160/CMakeLists.txt b/src/drivers/imu/analog_devices/adis16470/CMakeLists.txt similarity index 88% rename from src/drivers/imu/bmi160/CMakeLists.txt rename to src/drivers/imu/analog_devices/adis16470/CMakeLists.txt index 343775a3b5..6dd5aec2c9 100644 --- a/src/drivers/imu/bmi160/CMakeLists.txt +++ b/src/drivers/imu/analog_devices/adis16470/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2015 PX4 Development Team. All rights reserved. +# Copyright (c) 2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -30,16 +30,18 @@ # POSSIBILITY OF SUCH DAMAGE. # ############################################################################ + px4_add_module( - MODULE drivers__bmi160 - MAIN bmi160 + MODULE drivers__imu__analog_devices__adis16470 + MAIN adis16470 COMPILE_FLAGS - -Wno-cast-align # TODO: fix and enable SRCS - bmi160.cpp - bmi160_main.cpp + ADIS16470.cpp + ADIS16470.hpp + adis16470_main.cpp + Analog_Devices_ADIS16470_registers.hpp DEPENDS - px4_work_queue drivers_accelerometer drivers_gyroscope + px4_work_queue ) diff --git a/src/drivers/imu/bmi160/bmi160_main.cpp b/src/drivers/imu/analog_devices/adis16470/adis16470_main.cpp similarity index 82% rename from src/drivers/imu/bmi160/bmi160_main.cpp rename to src/drivers/imu/analog_devices/adis16470/adis16470_main.cpp index 2cafc719bc..ba12fdf947 100644 --- a/src/drivers/imu/bmi160/bmi160_main.cpp +++ b/src/drivers/imu/analog_devices/adis16470/adis16470_main.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2018 PX4 Development Team. All rights reserved. + * Copyright (c) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,15 +31,14 @@ * ****************************************************************************/ -#include "bmi160.hpp" +#include "ADIS16470.hpp" #include #include -void -BMI160::print_usage() +void ADIS16470::print_usage() { - PRINT_MODULE_USAGE_NAME("bmi160", "driver"); + PRINT_MODULE_USAGE_NAME("adis16470", "driver"); PRINT_MODULE_USAGE_SUBCATEGORY("imu"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); @@ -47,11 +46,11 @@ BMI160::print_usage() PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } -I2CSPIDriverBase *BMI160::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance) +I2CSPIDriverBase *ADIS16470::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance) { - BMI160 *instance = new BMI160(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation, - cli.bus_frequency, cli.spi_mode); + ADIS16470 *instance = new ADIS16470(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation, + cli.bus_frequency, iterator.DRDYGPIO()); if (!instance) { PX4_ERR("alloc failed"); @@ -66,12 +65,12 @@ I2CSPIDriverBase *BMI160::instantiate(const BusCLIArguments &cli, const BusInsta return instance; } -extern "C" int bmi160_main(int argc, char *argv[]) +extern "C" int adis16470_main(int argc, char *argv[]) { int ch; - using ThisDriver = BMI160; + using ThisDriver = ADIS16470; BusCLIArguments cli{false, true}; - cli.default_spi_frequency = BMI160_BUS_SPEED; + cli.default_spi_frequency = SPI_SPEED; while ((ch = cli.getopt(argc, argv, "R:")) != EOF) { switch (ch) { @@ -88,7 +87,7 @@ extern "C" int bmi160_main(int argc, char *argv[]) return -1; } - BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_BMI160); + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ADIS16470); if (!strcmp(verb, "start")) { return ThisDriver::module_start(cli, iterator); diff --git a/src/drivers/imu/bma180/CMakeLists.txt b/src/drivers/imu/bma180/CMakeLists.txt deleted file mode 100644 index b244993058..0000000000 --- a/src/drivers/imu/bma180/CMakeLists.txt +++ /dev/null @@ -1,40 +0,0 @@ -############################################################################ -# -# Copyright (c) 2015 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ -px4_add_module( - MODULE drivers__bma180 - MAIN bma180 - COMPILE_FLAGS - -Wno-cast-align # TODO: fix and enable - SRCS - bma180.cpp - ) diff --git a/src/drivers/imu/bma180/bma180.cpp b/src/drivers/imu/bma180/bma180.cpp deleted file mode 100644 index 36ceace7a8..0000000000 --- a/src/drivers/imu/bma180/bma180.cpp +++ /dev/null @@ -1,503 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file bma180.cpp - * Driver for the Bosch BMA 180 MEMS accelerometer connected via SPI. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -static constexpr uint8_t DIR_READ{1 << 7}; - -#define ADDR_CHIP_ID 0x00 -#define CHIP_ID 0x03 - -#define ADDR_ACC_X_LSB 0x02 -#define ADDR_ACC_Y_LSB 0x04 -#define ADDR_ACC_Z_LSB 0x06 -#define ADDR_TEMPERATURE 0x08 - -#define ADDR_CTRL_REG0 0x0D -#define REG0_WRITE_ENABLE 0x10 - -#define ADDR_RESET 0x10 -#define SOFT_RESET 0xB6 - -#define ADDR_BW_TCS 0x20 -#define BW_TCS_BW_MASK (0xf<<4) -#define BW_TCS_BW_10HZ (0<<4) -#define BW_TCS_BW_20HZ (1<<4) -#define BW_TCS_BW_40HZ (2<<4) -#define BW_TCS_BW_75HZ (3<<4) -#define BW_TCS_BW_150HZ (4<<4) -#define BW_TCS_BW_300HZ (5<<4) -#define BW_TCS_BW_600HZ (6<<4) -#define BW_TCS_BW_1200HZ (7<<4) - -#define ADDR_HIGH_DUR 0x27 -#define HIGH_DUR_DIS_I2C (1<<0) - -#define ADDR_TCO_Z 0x30 -#define TCO_Z_MODE_MASK 0x3 - -#define ADDR_GAIN_Y 0x33 -#define GAIN_Y_SHADOW_DIS (1<<0) - -#define ADDR_OFFSET_LSB1 0x35 -#define OFFSET_LSB1_RANGE_MASK (7<<1) -#define OFFSET_LSB1_RANGE_1G (0<<1) -#define OFFSET_LSB1_RANGE_2G (2<<1) -#define OFFSET_LSB1_RANGE_3G (3<<1) -#define OFFSET_LSB1_RANGE_4G (4<<1) -#define OFFSET_LSB1_RANGE_8G (5<<1) -#define OFFSET_LSB1_RANGE_16G (6<<1) - -#define ADDR_OFFSET_T 0x37 -#define OFFSET_T_READOUT_12BIT (1<<0) - -class BMA180 : public device::SPI, public I2CSPIDriver -{ -public: - BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency, - spi_mode_e spi_mode); - virtual ~BMA180(); - - static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance); - static void print_usage(); - int init() override; - void print_status() override; - void RunImpl(); - -private: - int probe() override; - - PX4Accelerometer _px4_accel; - - unsigned _current_lowpass; - unsigned _current_range; - - perf_counter_t _sample_perf; - - /** - * Start automatic measurement. - */ - void start(); - - /** - * Fetch measurements from the sensor and update the report ring. - */ - void measure(); - - /** - * Read a register from the BMA180 - * - * @param The register to read. - * @return The value that was read. - */ - uint8_t read_reg(uint8_t reg); - - /** - * Write a register in the BMA180 - * - * @param reg The register to write. - * @param value The new value to write. - */ - void write_reg(uint8_t reg, uint8_t value); - - /** - * Modify a register in the BMA180 - * - * Bits are cleared before bits are set. - * - * @param reg The register to modify. - * @param clearbits Bits in the register to clear. - * @param setbits Bits in the register to set. - */ - void modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits); - - /** - * Set the BMA180 measurement range. - * - * @param max_g The maximum G value the range must support. - * @return OK if the value can be supported, -ERANGE otherwise. - */ - int set_range(unsigned max_g); - - /** - * Set the BMA180 internal lowpass filter frequency. - * - * @param frequency The internal lowpass filter frequency is set to a value - * equal or greater to this. - * Zero selects the highest frequency supported. - * @return OK if the value can be supported. - */ - int set_lowpass(unsigned frequency); -}; - -BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency, - spi_mode_e spi_mode) : - SPI(DRV_ACC_DEVTYPE_BMA180, MODULE_NAME, bus, device, spi_mode, bus_frequency), - I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus), - _px4_accel(get_device_id(), rotation), - _sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")) -{ -} - -BMA180::~BMA180() -{ - /* delete the perf counter */ - perf_free(_sample_perf); -} - -int BMA180::init() -{ - int ret = PX4_ERROR; - - /* do SPI init (and probe) first */ - if (SPI::init() != OK) { - goto out; - } - - /* perform soft reset (p48) */ - write_reg(ADDR_RESET, SOFT_RESET); - - /* wait 10 ms (datasheet incorrectly lists 10 us on page 49) */ - usleep(10000); - - /* enable writing to chip config */ - modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE); - - /* disable I2C interface */ - modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0); - - /* switch to low-noise mode */ - modify_reg(ADDR_TCO_Z, TCO_Z_MODE_MASK, 0); - - /* disable 12-bit mode */ - modify_reg(ADDR_OFFSET_T, OFFSET_T_READOUT_12BIT, 0); - - /* disable shadow-disable mode */ - modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0); - - /* disable writing to chip config */ - modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0); - - if (set_range(4)) { - PX4_ERR("Failed setting range"); - } - - if (set_lowpass(75)) { - PX4_ERR("Failed setting lowpass"); - } - - if (read_reg(ADDR_CHIP_ID) == CHIP_ID) { - ret = OK; - - } else { - ret = PX4_ERROR; - } - - /* advertise sensor topic, measure manually to initialize valid report */ - measure(); - - start(); - -out: - return ret; -} - -int BMA180::probe() -{ - /* dummy read to ensure SPI state machine is sane */ - read_reg(ADDR_CHIP_ID); - - if (read_reg(ADDR_CHIP_ID) == CHIP_ID) { - return OK; - } - - return -EIO; -} - -uint8_t BMA180::read_reg(uint8_t reg) -{ - uint8_t cmd[2] {}; - cmd[0] = reg | DIR_READ; - transfer(cmd, cmd, sizeof(cmd)); - return cmd[1]; -} - -void BMA180::write_reg(uint8_t reg, uint8_t value) -{ - uint8_t cmd[2] {reg, value}; - transfer(cmd, nullptr, sizeof(cmd)); -} - -void BMA180::modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits) -{ - uint8_t val = read_reg(reg); - val &= ~clearbits; - val |= setbits; - write_reg(reg, val); -} - -int BMA180::set_range(unsigned max_g) -{ - uint8_t rangebits; - - if (max_g == 0) { - max_g = 16; - } - - if (max_g > 16) { - return -ERANGE; - } - - if (max_g <= 2) { - _current_range = 2; - rangebits = OFFSET_LSB1_RANGE_2G; - - } else if (max_g <= 3) { - _current_range = 3; - rangebits = OFFSET_LSB1_RANGE_3G; - - } else if (max_g <= 4) { - _current_range = 4; - rangebits = OFFSET_LSB1_RANGE_4G; - - } else if (max_g <= 8) { - _current_range = 8; - rangebits = OFFSET_LSB1_RANGE_8G; - - } else if (max_g <= 16) { - _current_range = 16; - rangebits = OFFSET_LSB1_RANGE_16G; - - } else { - return -EINVAL; - } - - /* set new range scaling factor */ - float accel_range_m_s2 = _current_range * CONSTANTS_ONE_G; - _px4_accel.set_scale(accel_range_m_s2 / 8192.f); - - /* enable writing to chip config */ - modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE); - - /* adjust sensor configuration */ - modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits); - - /* block writing to chip config */ - modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0); - - /* check if wanted value is now in register */ - return !((read_reg(ADDR_OFFSET_LSB1) & OFFSET_LSB1_RANGE_MASK) == - (OFFSET_LSB1_RANGE_MASK & rangebits)); -} - -int BMA180::set_lowpass(unsigned frequency) -{ - uint8_t bwbits; - - if (frequency > 1200) { - return -ERANGE; - - } else if (frequency > 600) { - bwbits = BW_TCS_BW_1200HZ; - - } else if (frequency > 300) { - bwbits = BW_TCS_BW_600HZ; - - } else if (frequency > 150) { - bwbits = BW_TCS_BW_300HZ; - - } else if (frequency > 75) { - bwbits = BW_TCS_BW_150HZ; - - } else if (frequency > 40) { - bwbits = BW_TCS_BW_75HZ; - - } else if (frequency > 20) { - bwbits = BW_TCS_BW_40HZ; - - } else if (frequency > 10) { - bwbits = BW_TCS_BW_20HZ; - - } else { - bwbits = BW_TCS_BW_10HZ; - } - - /* enable writing to chip config */ - modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE); - - /* adjust sensor configuration */ - modify_reg(ADDR_BW_TCS, BW_TCS_BW_MASK, bwbits); - - /* block writing to chip config */ - modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0); - - /* check if wanted value is now in register */ - return !((read_reg(ADDR_BW_TCS) & BW_TCS_BW_MASK) == (BW_TCS_BW_MASK & bwbits)); -} - -void BMA180::start() -{ - /* start polling at the specified rate */ - ScheduleOnInterval(1000, 10000); -} - -void BMA180::RunImpl() -{ - /* make another measurement */ - measure(); -} - -void BMA180::measure() -{ - /* start the performance counter */ - perf_begin(_sample_perf); - - const hrt_abstime timestamp_sample = hrt_absolute_time(); - - /* - * y of board is x of sensor and x of board is -y of sensor - * perform only the axis assignment here. - * Two non-value bits are discarded directly - */ - int16_t y_raw = read_reg(ADDR_ACC_X_LSB + 0); - y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8; - - int16_t x_raw = read_reg(ADDR_ACC_X_LSB + 2); - x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8; - - int16_t z_raw = read_reg(ADDR_ACC_X_LSB + 4); - z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8; - - /* discard two non-value bits in the 16 bit measurement */ - x_raw = (x_raw / 4); - y_raw = (y_raw / 4); - z_raw = (z_raw / 4); - - /* invert y axis, due to 14 bit data no overflow can occur in the negation */ - y_raw = -y_raw; - - _px4_accel.update(timestamp_sample, x_raw, y_raw, z_raw); - - /* stop the perf counter */ - perf_end(_sample_perf); -} - -void BMA180::print_status() -{ - I2CSPIDriverBase::print_status(); - perf_print_counter(_sample_perf); -} - -void BMA180::print_usage() -{ - PRINT_MODULE_USAGE_NAME("bma180", "driver"); - PRINT_MODULE_USAGE_SUBCATEGORY("imu"); - PRINT_MODULE_USAGE_COMMAND("start"); - PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); - PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); - PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); -} - -I2CSPIDriverBase *BMA180::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance) -{ - BMA180 *instance = new BMA180(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation, - cli.bus_frequency, cli.spi_mode); - - if (!instance) { - PX4_ERR("alloc failed"); - return nullptr; - } - - if (OK != instance->init()) { - delete instance; - return nullptr; - } - - return instance; -} - -extern "C" __EXPORT int bma180_main(int argc, char *argv[]) -{ - int ch; - using ThisDriver = BMA180; - BusCLIArguments cli{false, true}; - cli.default_spi_frequency = 8000000; - - while ((ch = cli.getopt(argc, argv, "R:")) != EOF) { - switch (ch) { - case 'R': - cli.rotation = (enum Rotation)atoi(cli.optarg()); - break; - } - } - - const char *verb = cli.optarg(); - - if (!verb) { - ThisDriver::print_usage(); - return -1; - } - - BusInstanceIterator iterator(MODULE_NAME, cli, DRV_ACC_DEVTYPE_BMA180); - - if (!strcmp(verb, "start")) { - return ThisDriver::module_start(cli, iterator); - } - - if (!strcmp(verb, "stop")) { - return ThisDriver::module_stop(iterator); - } - - if (!strcmp(verb, "status")) { - return ThisDriver::module_status(iterator); - } - - ThisDriver::print_usage(); - return -1; -} diff --git a/src/drivers/imu/bmi160/bmi160.cpp b/src/drivers/imu/bmi160/bmi160.cpp deleted file mode 100644 index 60ad793baf..0000000000 --- a/src/drivers/imu/bmi160/bmi160.cpp +++ /dev/null @@ -1,602 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "bmi160.hpp" - -/* - list of registers that will be checked in check_registers(). Note - that ADDR_WHO_AM_I must be first in the list. - */ -const uint8_t BMI160::_checked_registers[BMI160_NUM_CHECKED_REGISTERS] = { BMIREG_CHIP_ID, - BMIREG_ACC_CONF, - BMIREG_ACC_RANGE, - BMIREG_GYR_CONF, - BMIREG_GYR_RANGE, - BMIREG_INT_EN_1, - BMIREG_INT_OUT_CTRL, - BMIREG_INT_MAP_1, - BMIREG_IF_CONF, - BMIREG_NV_CONF - }; - -BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency, - spi_mode_e spi_mode) : - SPI(DRV_IMU_DEVTYPE_BMI160, MODULE_NAME, bus, device, spi_mode, bus_frequency), - I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus), - _px4_accel(get_device_id(), rotation), - _px4_gyro(get_device_id(), rotation), - _accel_reads(perf_alloc(PC_COUNT, MODULE_NAME": accel read")), - _gyro_reads(perf_alloc(PC_COUNT, MODULE_NAME": gyro read")), - _sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")), - _bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")), - _bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad registers")), - _good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good transfers")), - _reset_retries(perf_alloc(PC_COUNT, MODULE_NAME": reset retries")), - _duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicates")) -{ -} - -BMI160::~BMI160() -{ - /* delete the perf counter */ - perf_free(_sample_perf); - perf_free(_accel_reads); - perf_free(_gyro_reads); - perf_free(_bad_transfers); - perf_free(_bad_registers); - perf_free(_good_transfers); - perf_free(_reset_retries); - perf_free(_duplicates); -} - -int BMI160::init() -{ - /* do SPI init (and probe) first */ - int ret = SPI::init(); - - /* if probe/setup failed, bail now */ - if (ret != OK) { - DEVICE_DEBUG("SPI setup failed"); - return ret; - } - - ret = reset(); - - if (ret != PX4_OK) { - return ret; - } - - start(); - - return ret; -} - -int BMI160::reset() -{ - write_reg(BMIREG_CONF, (1 << 1)); //Enable NVM programming - - write_checked_reg(BMIREG_ACC_CONF, BMI_ACCEL_US | BMI_ACCEL_BWP_NORMAL); //Normal operation, no decimation - write_checked_reg(BMIREG_ACC_RANGE, 0); - write_checked_reg(BMIREG_GYR_CONF, BMI_GYRO_BWP_NORMAL); //Normal operation, no decimation - write_checked_reg(BMIREG_GYR_RANGE, 0); - write_checked_reg(BMIREG_INT_EN_1, BMI_DRDY_INT_EN); //Enable DRDY interrupt - write_checked_reg(BMIREG_INT_OUT_CTRL, BMI_INT1_EN); //Enable interrupts on pin INT1 - write_checked_reg(BMIREG_INT_MAP_1, BMI_DRDY_INT1); //DRDY interrupt on pin INT1 - write_checked_reg(BMIREG_IF_CONF, BMI_SPI_4_WIRE | - BMI_AUTO_DIS_SEC); //Disable secondary interface; Work in SPI 4-wire mode - write_checked_reg(BMIREG_NV_CONF, BMI_SPI); //Disable I2C interface - - set_accel_range(BMI160_ACCEL_DEFAULT_RANGE_G); - accel_set_sample_rate(BMI160_ACCEL_DEFAULT_RATE); - - set_gyro_range(BMI160_GYRO_DEFAULT_RANGE_DPS); - gyro_set_sample_rate(BMI160_GYRO_DEFAULT_RATE); - - // Enable Accelerometer in normal mode - write_reg(BMIREG_CMD, BMI_ACCEL_NORMAL_MODE); - px4_usleep(4100); - - //Enable Gyroscope in normal mode - write_reg(BMIREG_CMD, BMI_GYRO_NORMAL_MODE); - px4_usleep(80300); - - uint8_t retries = 10; - - while (retries--) { - bool all_ok = true; - - for (uint8_t i = 0; i < BMI160_NUM_CHECKED_REGISTERS; i++) { - if (read_reg(_checked_registers[i]) != _checked_values[i]) { - write_reg(_checked_registers[i], _checked_values[i]); - all_ok = false; - } - } - - if (all_ok) { - break; - } - } - - _accel_reads = 0; - _gyro_reads = 0; - - return OK; -} - -int BMI160::probe() -{ - /* look for device ID */ - _whoami = read_reg(BMIREG_CHIP_ID); - - // verify product revision - switch (_whoami) { - case BMI160_WHO_AM_I: - memset(_checked_values, 0, sizeof(_checked_values)); - memset(_checked_bad, 0, sizeof(_checked_bad)); - _checked_values[0] = _whoami; - _checked_bad[0] = _whoami; - return OK; - } - - DEVICE_DEBUG("unexpected whoami 0x%02x", _whoami); - return -EIO; -} - -int BMI160::accel_set_sample_rate(float frequency) -{ - uint8_t setbits = 0; - uint8_t clearbits = (BMI_ACCEL_RATE_25_8 | BMI_ACCEL_RATE_1600); - - if ((int)frequency == 0) { - frequency = 1600; - } - - if (frequency <= 25 / 32) { - setbits |= BMI_ACCEL_RATE_25_32; - _accel_sample_rate = 25 / 32; - - } else if (frequency <= 25 / 16) { - setbits |= BMI_ACCEL_RATE_25_16; - _accel_sample_rate = 25 / 16; - - } else if (frequency <= 25 / 8) { - setbits |= BMI_ACCEL_RATE_25_8; - _accel_sample_rate = 25 / 8; - - } else if (frequency <= 25 / 4) { - setbits |= BMI_ACCEL_RATE_25_4; - _accel_sample_rate = 25 / 4; - - } else if (frequency <= 25 / 2) { - setbits |= BMI_ACCEL_RATE_25_2; - _accel_sample_rate = 25 / 2; - - } else if (frequency <= 25) { - setbits |= BMI_ACCEL_RATE_25; - _accel_sample_rate = 25; - - } else if (frequency <= 50) { - setbits |= BMI_ACCEL_RATE_50; - _accel_sample_rate = 50; - - } else if (frequency <= 100) { - setbits |= BMI_ACCEL_RATE_100; - _accel_sample_rate = 100; - - } else if (frequency <= 200) { - setbits |= BMI_ACCEL_RATE_200; - _accel_sample_rate = 200; - - } else if (frequency <= 400) { - setbits |= BMI_ACCEL_RATE_400; - _accel_sample_rate = 400; - - } else if (frequency <= 800) { - setbits |= BMI_ACCEL_RATE_800; - _accel_sample_rate = 800; - - } else if (frequency > 800) { - setbits |= BMI_ACCEL_RATE_1600; - _accel_sample_rate = 1600; - - } else { - return -EINVAL; - } - - modify_reg(BMIREG_ACC_CONF, clearbits, setbits); - - return OK; -} - -int BMI160::gyro_set_sample_rate(float frequency) -{ - uint8_t setbits = 0; - uint8_t clearbits = (BMI_GYRO_RATE_200 | BMI_GYRO_RATE_25); - - if ((int)frequency == 0) { - frequency = 3200; - } - - if (frequency <= 25) { - setbits |= BMI_GYRO_RATE_25; - _gyro_sample_rate = 25; - - } else if (frequency <= 50) { - setbits |= BMI_GYRO_RATE_50; - _gyro_sample_rate = 50; - - } else if (frequency <= 100) { - setbits |= BMI_GYRO_RATE_100; - _gyro_sample_rate = 100; - - } else if (frequency <= 200) { - setbits |= BMI_GYRO_RATE_200; - _gyro_sample_rate = 200; - - } else if (frequency <= 400) { - setbits |= BMI_GYRO_RATE_400; - _gyro_sample_rate = 400; - - } else if (frequency <= 800) { - setbits |= BMI_GYRO_RATE_800; - _gyro_sample_rate = 800; - - } else if (frequency <= 1600) { - setbits |= BMI_GYRO_RATE_1600; - _gyro_sample_rate = 1600; - - } else if (frequency > 1600) { - setbits |= BMI_GYRO_RATE_3200; - _gyro_sample_rate = 3200; - - } else { - return -EINVAL; - } - - modify_reg(BMIREG_GYR_CONF, clearbits, setbits); - - return OK; -} - -uint8_t BMI160::read_reg(uint8_t reg) -{ - uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0}; - transfer(cmd, cmd, sizeof(cmd)); - return cmd[1]; -} - -int BMI160::write_reg(unsigned reg, uint8_t value) -{ - uint8_t cmd[2]; - cmd[0] = reg | DIR_WRITE; - cmd[1] = value; - return transfer(cmd, nullptr, sizeof(cmd)); -} - -void BMI160::modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits) -{ - uint8_t val = read_reg(reg); - val &= ~clearbits; - val |= setbits; - write_checked_reg(reg, val); -} - -void BMI160::write_checked_reg(uint8_t reg, uint8_t value) -{ - write_reg(reg, value); - - for (uint8_t i = 0; i < BMI160_NUM_CHECKED_REGISTERS; i++) { - if (reg == _checked_registers[i]) { - _checked_values[i] = value; - _checked_bad[i] = value; - } - } -} - -int BMI160::set_accel_range(unsigned max_g) -{ - uint8_t setbits = 0; - uint8_t clearbits = BMI_ACCEL_RANGE_2_G | BMI_ACCEL_RANGE_16_G; - float lsb_per_g; - - if (max_g == 0) { - max_g = 16; - } - - if (max_g <= 2) { - //max_accel_g = 2; - setbits |= BMI_ACCEL_RANGE_2_G; - lsb_per_g = 16384; - - } else if (max_g <= 4) { - //max_accel_g = 4; - setbits |= BMI_ACCEL_RANGE_4_G; - lsb_per_g = 8192; - - } else if (max_g <= 8) { - //max_accel_g = 8; - setbits |= BMI_ACCEL_RANGE_8_G; - lsb_per_g = 4096; - - } else if (max_g <= 16) { - //max_accel_g = 16; - setbits |= BMI_ACCEL_RANGE_16_G; - lsb_per_g = 2048; - - } else { - return -EINVAL; - } - - _px4_accel.set_scale(CONSTANTS_ONE_G / lsb_per_g); - - modify_reg(BMIREG_ACC_RANGE, clearbits, setbits); - - return OK; -} - -int BMI160::set_gyro_range(unsigned max_dps) -{ - uint8_t setbits = 0; - uint8_t clearbits = BMI_GYRO_RANGE_125_DPS | BMI_GYRO_RANGE_250_DPS; - float lsb_per_dps; - //float max_gyro_dps; - - if (max_dps == 0) { - max_dps = 2000; - } - - if (max_dps <= 125) { - //max_gyro_dps = 125; - lsb_per_dps = 262.4; - setbits |= BMI_GYRO_RANGE_125_DPS; - - } else if (max_dps <= 250) { - //max_gyro_dps = 250; - lsb_per_dps = 131.2; - setbits |= BMI_GYRO_RANGE_250_DPS; - - } else if (max_dps <= 500) { - //max_gyro_dps = 500; - lsb_per_dps = 65.6; - setbits |= BMI_GYRO_RANGE_500_DPS; - - } else if (max_dps <= 1000) { - //max_gyro_dps = 1000; - lsb_per_dps = 32.8; - setbits |= BMI_GYRO_RANGE_1000_DPS; - - } else if (max_dps <= 2000) { - //max_gyro_dps = 2000; - lsb_per_dps = 16.4; - setbits |= BMI_GYRO_RANGE_2000_DPS; - - } else { - return -EINVAL; - } - - _px4_gyro.set_scale(M_PI_F / (180.0f * lsb_per_dps)); - - modify_reg(BMIREG_GYR_RANGE, clearbits, setbits); - - return OK; -} - -void BMI160::start() -{ - /* start polling at the specified rate */ - ScheduleOnInterval((1_s / BMI160_GYRO_DEFAULT_RATE) - BMI160_TIMER_REDUCTION, 1000); - - reset(); -} - -void BMI160::check_registers() -{ - uint8_t v; - - if ((v = read_reg(_checked_registers[_checked_next])) != - _checked_values[_checked_next]) { - _checked_bad[_checked_next] = v; - - /* - if we get the wrong value then we know the SPI bus - or sensor is very sick. We set _register_wait to 20 - and wait until we have seen 20 good values in a row - before we consider the sensor to be OK again. - */ - perf_count(_bad_registers); - - /* - try to fix the bad register value. We only try to - fix one per loop to prevent a bad sensor hogging the - bus. - */ - if (_register_wait == 0 || _checked_next == 0) { - // if the product_id is wrong then reset the - // sensor completely - write_reg(BMIREG_CMD, BMI160_SOFT_RESET); - _reset_wait = hrt_absolute_time() + 10000; - _checked_next = 0; - - } else { - write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]); - // waiting 3ms between register writes seems - // to raise the chance of the sensor - // recovering considerably - _reset_wait = hrt_absolute_time() + 3000; - } - - _register_wait = 20; - } - - _checked_next = (_checked_next + 1) % BMI160_NUM_CHECKED_REGISTERS; -} - -void BMI160::RunImpl() -{ - if (hrt_absolute_time() < _reset_wait) { - // we're waiting for a reset to complete - return; - } - - struct BMIReport bmi_report {}; - - struct Report { - int16_t accel_x; - int16_t accel_y; - int16_t accel_z; - int16_t temp; - int16_t gyro_x; - int16_t gyro_y; - int16_t gyro_z; - } report{}; - - /* start measuring */ - perf_begin(_sample_perf); - - /* - * Fetch the full set of measurements from the BMI160 in one pass. - */ - bmi_report.cmd = BMIREG_GYR_X_L | DIR_READ; - - uint8_t status = read_reg(BMIREG_STATUS); - - const hrt_abstime timestamp_sample = hrt_absolute_time(); - - if (OK != transfer((uint8_t *)&bmi_report, ((uint8_t *)&bmi_report), sizeof(bmi_report))) { - return; - } - - check_registers(); - - if ((!(status & (0x80))) && (!(status & (0x04)))) { - perf_end(_sample_perf); - perf_count(_duplicates); - _got_duplicate = true; - return; - } - - _last_accel[0] = bmi_report.accel_x; - _last_accel[1] = bmi_report.accel_y; - _last_accel[2] = bmi_report.accel_z; - _got_duplicate = false; - - uint8_t temp_l = read_reg(BMIREG_TEMP_0); - uint8_t temp_h = read_reg(BMIREG_TEMP_1); - - report.temp = ((temp_h << 8) + temp_l); - - report.accel_x = bmi_report.accel_x; - report.accel_y = bmi_report.accel_y; - report.accel_z = bmi_report.accel_z; - - report.gyro_x = bmi_report.gyro_x; - report.gyro_y = bmi_report.gyro_y; - report.gyro_z = bmi_report.gyro_z; - - if (report.accel_x == 0 && - report.accel_y == 0 && - report.accel_z == 0 && - report.temp == 0 && - report.gyro_x == 0 && - report.gyro_y == 0 && - report.gyro_z == 0) { - - // all zero data - probably a SPI bus error - perf_count(_bad_transfers); - perf_end(_sample_perf); - // note that we don't call reset() here as a reset() - // costs 20ms with interrupts disabled. That means if - // the bmi160 does go bad it would cause a FMU failure, - // regardless of whether another sensor is available, - return; - } - - perf_count(_good_transfers); - - if (_register_wait != 0) { - // we are waiting for some good transfers before using - // the sensor again. We still increment - // _good_transfers, but don't return any data yet - _register_wait--; - return; - } - - // report the error count as the sum of the number of bad - // transfers and bad register reads. This allows the higher - // level code to decide if it should use this sensor based on - // whether it has had failures - const uint64_t error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers); - _px4_accel.set_error_count(error_count); - _px4_gyro.set_error_count(error_count); - - const float temperature = 23.0f + report.temp * 1.0f / 512.0f; - _px4_accel.set_temperature(temperature); - _px4_gyro.set_temperature(temperature); - - /* - * 1) Scale raw value to SI units using scaling from datasheet. - * 2) Subtract static offset (in SI units) - * 3) Scale the statically calibrated values with a linear - * dynamically obtained factor - * - * Note: the static sensor offset is the number the sensor outputs - * at a nominally 'zero' input. Therefore the offset has to - * be subtracted. - * - * Example: A gyro outputs a value of 74 at zero angular rate - * the offset is 74 from the origin and subtracting - * 74 from all measurements centers them around zero. - */ - - - /* NOTE: Axes have been swapped to match the board a few lines above. */ - - _px4_accel.update(timestamp_sample, bmi_report.accel_x, bmi_report.accel_y, bmi_report.accel_z); - _px4_gyro.update(timestamp_sample, bmi_report.gyro_x, bmi_report.gyro_y, bmi_report.gyro_z); - - /* stop measuring */ - perf_end(_sample_perf); -} - -void BMI160::print_status() -{ - I2CSPIDriverBase::print_status(); - perf_print_counter(_sample_perf); - perf_print_counter(_accel_reads); - perf_print_counter(_gyro_reads); - perf_print_counter(_bad_transfers); - perf_print_counter(_bad_registers); - perf_print_counter(_good_transfers); - perf_print_counter(_reset_retries); - perf_print_counter(_duplicates); -} diff --git a/src/drivers/imu/bmi160/bmi160.hpp b/src/drivers/imu/bmi160/bmi160.hpp deleted file mode 100644 index 02f5da9622..0000000000 --- a/src/drivers/imu/bmi160/bmi160.hpp +++ /dev/null @@ -1,375 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#define DIR_READ 0x80 -#define DIR_WRITE 0x00 - -// BMI 160 registers - -#define BMIREG_CHIP_ID 0x00 -#define BMIREG_ERR_REG 0x02 -#define BMIREG_PMU_STATUS 0x03 -#define BMIREG_DATA_0 0x04 -#define BMIREG_DATA_1 0x05 -#define BMIREG_DATA_2 0x06 -#define BMIREG_DATA_3 0x07 -#define BMIREG_DATA_4 0x08 -#define BMIREG_DATA_5 0x09 -#define BMIREG_DATA_6 0x0A -#define BMIREG_DATA_7 0x0B -#define BMIREG_GYR_X_L 0x0C -#define BMIREG_GYR_X_H 0x0D -#define BMIREG_GYR_Y_L 0x0E -#define BMIREG_GYR_Y_H 0x0F -#define BMIREG_GYR_Z_L 0x10 -#define BMIREG_GYR_Z_H 0x11 -#define BMIREG_ACC_X_L 0x12 -#define BMIREG_ACC_X_H 0x13 -#define BMIREG_ACC_Y_L 0x14 -#define BMIREG_ACC_Y_H 0x15 -#define BMIREG_ACC_Z_L 0x16 -#define BMIREG_ACC_Z_H 0x17 -#define BMIREG_SENSORTIME0 0x18 -#define BMIREG_SENSORTIME1 0x19 -#define BMIREG_SENSORTIME2 0x1A -#define BMIREG_STATUS 0x1B -#define BMIREG_INT_STATUS_0 0x1C -#define BMIREG_INT_STATUS_1 0x1D -#define BMIREG_INT_STATUS_2 0x1E -#define BMIREG_INT_STATUS_3 0x1F -#define BMIREG_TEMP_0 0x20 -#define BMIREG_TEMP_1 0x21 -#define BMIREG_FIFO_LEN_0 0x22 -#define BMIREG_FIFO_LEN_1 0x23 -#define BMIREG_FIFO_DATA 0x24 -#define BMIREG_ACC_CONF 0x40 -#define BMIREG_ACC_RANGE 0x41 -#define BMIREG_GYR_CONF 0x42 -#define BMIREG_GYR_RANGE 0x43 -#define BMIREG_MAG_CONF 0x44 -#define BMIREG_FIFO_DOWNS 0x45 -#define BMIREG_FIFO_CONFIG_0 0x46 -#define BMIREG_FIFO_CONFIG_1 0x47 -#define BMIREG_MAG_IF_0 0x4B -#define BMIREG_MAG_IF_1 0x4C -#define BMIREG_MAG_IF_2 0x4D -#define BMIREG_MAG_IF_3 0x4E -#define BMIREG_MAG_IF_4 0x4F -#define BMIREG_INT_EN_0 0x50 -#define BMIREG_INT_EN_1 0x51 -#define BMIREG_INT_EN_2 0x52 -#define BMIREG_INT_OUT_CTRL 0x53 -#define BMIREG_INT_LANTCH 0x54 -#define BMIREG_INT_MAP_0 0x55 -#define BMIREG_INT_MAP_1 0x56 -#define BMIREG_INT_MAP_2 0x57 -#define BMIREG_INT_DATA_0 0x58 -#define BMIREG_INT_DATA_1 0x59 -#define BMIREG_INT_LH_0 0x5A -#define BMIREG_INT_LH_1 0x5B -#define BMIREG_INT_LH_2 0x5C -#define BMIREG_INT_LH_3 0x5D -#define BMIREG_INT_LH_4 0x5E -#define BMIREG_INT_MOT_0 0x5F -#define BMIREG_INT_MOT_1 0x60 -#define BMIREG_INT_MOT_2 0x61 -#define BMIREG_INT_MOT_3 0x62 -#define BMIREG_INT_TAP_0 0x63 -#define BMIREG_INT_TAP_1 0x64 -#define BMIREG_INT_ORIE_0 0x65 -#define BMIREG_INT_ORIE_1 0x66 -#define BMIREG_INT_FLAT_0 0x67 -#define BMIREG_INT_FLAT_1 0x68 -#define BMIREG_FOC_CONF 0x69 -#define BMIREG_CONF 0x6A -#define BMIREG_IF_CONF 0x6B -#define BMIREG_PMU_TRIGGER 0x6C -#define BMIREG_SELF_TEST 0x6D -#define BMIREG_NV_CONF 0x70 -#define BMIREG_OFFSET_ACC_X 0x71 -#define BMIREG_OFFSET_ACC_Y 0x72 -#define BMIREG_OFFSET_ACC_Z 0x73 -#define BMIREG_OFFSET_GYR_X 0x74 -#define BMIREG_OFFSET_GYR_Y 0x75 -#define BMIREG_OFFSET_GYR_Z 0x76 -#define BMIREG_OFFSET_EN 0x77 -#define BMIREG_STEP_CONT_0 0x78 -#define BMIREG_STEP_CONT_1 0x79 -#define BMIREG_STEP_CONF_0 0x7A -#define BMIREG_STEP_CONF_1 0x7B -#define BMIREG_CMD 0x7E - - -// Configuration bits BMI 160 -#define BMI160_WHO_AM_I 0xD1 - -//BMIREG_STATUS 0x1B -#define BMI_DRDY_ACCEL (1<<7) -#define BMI_DRDY_GYRO (1<<6) -#define BMI_DRDY_MAG (1<<5) -#define BMI_GYRO_SELF_TEST_OK (1<<1) - -//BMIREG_INT_STATUS_1 0x1D -#define BMI_DRDY_INT (1<<4) - -//BMIREG_ACC_CONF 0x40 -#define BMI_ACCEL_RATE_25_32 (0<<3) | (0<<2) | (0<<1) | (1<<0) -#define BMI_ACCEL_RATE_25_16 (0<<3) | (0<<2) | (1<<1) | (0<<0) -#define BMI_ACCEL_RATE_25_8 (0<<3) | (0<<2) | (1<<1) | (1<<0) -#define BMI_ACCEL_RATE_25_4 (0<<3) | (1<<2) | (0<<1) | (0<<0) -#define BMI_ACCEL_RATE_25_2 (0<<3) | (1<<2) | (0<<1) | (1<<0) -#define BMI_ACCEL_RATE_25 (0<<3) | (1<<2) | (1<<1) | (0<<0) -#define BMI_ACCEL_RATE_50 (0<<3) | (1<<2) | (1<<1) | (1<<0) -#define BMI_ACCEL_RATE_100 (1<<3) | (0<<2) | (0<<1) | (0<<0) -#define BMI_ACCEL_RATE_200 (1<<3) | (0<<2) | (0<<1) | (1<<0) -#define BMI_ACCEL_RATE_400 (1<<3) | (0<<2) | (1<<1) | (0<<0) -#define BMI_ACCEL_RATE_800 (1<<3) | (0<<2) | (1<<1) | (1<<0) -#define BMI_ACCEL_RATE_1600 (1<<3) | (1<<2) | (0<<1) | (0<<0) -#define BMI_ACCEL_US (0<<7) -#define BMI_ACCEL_BWP_NORMAL (0<<6) | (1<<5) | (0<<4) -#define BMI_ACCEL_BWP_OSR2 (0<<6) | (0<<5) | (1<<4) -#define BMI_ACCEL_BWP_OSR4 (0<<6) | (0<<5) | (0<<4) - -//BMIREG_ACC_RANGE 0x41 -#define BMI_ACCEL_RANGE_2_G (0<<3) | (0<<2) | (1<<1) | (1<<0) -#define BMI_ACCEL_RANGE_4_G (0<<3) | (1<<2) | (0<<1) | (1<<0) -#define BMI_ACCEL_RANGE_8_G (1<<3) | (0<<2) | (0<<1) | (0<<0) -#define BMI_ACCEL_RANGE_16_G (1<<3) | (1<<2) | (0<<1) | (0<<0) - -//BMIREG_GYR_CONF 0x42 -#define BMI_GYRO_RATE_25 (0<<3) | (1<<2) | (1<<1) | (0<<0) -#define BMI_GYRO_RATE_50 (0<<3) | (1<<2) | (1<<1) | (1<<0) -#define BMI_GYRO_RATE_100 (1<<3) | (0<<2) | (0<<1) | (0<<0) -#define BMI_GYRO_RATE_200 (1<<3) | (0<<2) | (0<<1) | (1<<0) -#define BMI_GYRO_RATE_400 (1<<3) | (0<<2) | (1<<1) | (0<<0) -#define BMI_GYRO_RATE_800 (1<<3) | (0<<2) | (1<<1) | (1<<0) -#define BMI_GYRO_RATE_1600 (1<<3) | (1<<2) | (0<<1) | (0<<0) -#define BMI_GYRO_RATE_3200 (1<<3) | (1<<2) | (0<<1) | (1<<0) -#define BMI_GYRO_BWP_NORMAL (1<<5) | (0<<4) -#define BMI_GYRO_BWP_OSR2 (0<<5) | (1<<4) -#define BMI_GYRO_BWP_OSR4 (0<<5) | (0<<4) - -//BMIREG_GYR_RANGE 0x43 -#define BMI_GYRO_RANGE_2000_DPS (0<<2) | (0<<1) | (0<<0) -#define BMI_GYRO_RANGE_1000_DPS (0<<2) | (0<<1) | (1<<0) -#define BMI_GYRO_RANGE_500_DPS (0<<2) | (1<<1) | (0<<0) -#define BMI_GYRO_RANGE_250_DPS (0<<2) | (1<<1) | (1<<0) -#define BMI_GYRO_RANGE_125_DPS (1<<2) | (0<<1) | (0<<0) - -//BMIREG_INT_EN_1 0x51 -#define BMI_DRDY_INT_EN (1<<4) - -//BMIREG_INT_OUT_CTRL 0x53 -#define BMI_INT1_EN (1<<3) | (0<<2) | (1<<1) //Data Ready on INT1 High - -//BMIREG_INT_MAP_1 0x56 -#define BMI_DRDY_INT1 (1<<7) - -//BMIREG_IF_CONF 0x6B -#define BMI_SPI_3_WIRE (1<<0) -#define BMI_SPI_4_WIRE (0<<0) -#define BMI_AUTO_DIS_SEC (0<<5) | (0<<4) -#define BMI_I2C_OIS_SEC (0<<5) | (1<<4) -#define BMI_AUTO_MAG_SEC (1<<5) | (0<<4) - -//BMIREG_NV_CONF 0x70 -#define BMI_SPI (1<<0) - -//BMIREG_CMD 0x7E -#define BMI_ACCEL_NORMAL_MODE 0x11 //Wait at least 3.8 ms before another CMD -#define BMI_GYRO_NORMAL_MODE 0x15 //Wait at least 80 ms before another CMD -#define BMI160_SOFT_RESET 0xB6 - -#define BMI160_ACCEL_DEFAULT_RANGE_G 16 -#define BMI160_GYRO_DEFAULT_RANGE_DPS 2000 -#define BMI160_ACCEL_DEFAULT_RATE 800 -#define BMI160_ACCEL_MAX_RATE 1600 -#define BMI160_ACCEL_MAX_PUBLISH_RATE 280 -#define BMI160_GYRO_DEFAULT_RATE 800 -#define BMI160_GYRO_MAX_RATE 3200 -#define BMI160_GYRO_MAX_PUBLISH_RATE BMI160_ACCEL_MAX_PUBLISH_RATE - -#define BMI160_BUS_SPEED 10*1000*1000 - -#define BMI160_TIMER_REDUCTION 200 - -using namespace time_literals; - -class BMI160 : public device::SPI, public I2CSPIDriver -{ -public: - BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency, - spi_mode_e spi_mode); - virtual ~BMI160(); - - static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance); - static void print_usage(); - int init() override; - void print_status() override; - void RunImpl(); - -private: - int probe() override; - - PX4Accelerometer _px4_accel; - PX4Gyroscope _px4_gyro; - - uint8_t _whoami; ///< whoami result - - unsigned _dlpf_freq; - - float _accel_sample_rate{BMI160_ACCEL_DEFAULT_RATE}; - float _gyro_sample_rate{BMI160_GYRO_DEFAULT_RATE}; - - perf_counter_t _accel_reads; - perf_counter_t _gyro_reads; - perf_counter_t _sample_perf; - perf_counter_t _bad_transfers; - perf_counter_t _bad_registers; - perf_counter_t _good_transfers; - perf_counter_t _reset_retries; - perf_counter_t _duplicates; - - uint8_t _register_wait{0}; - uint64_t _reset_wait{0}; - - // this is used to support runtime checking of key - // configuration registers to detect SPI bus errors and sensor - // reset - static constexpr int BMI160_NUM_CHECKED_REGISTERS{10}; - static const uint8_t _checked_registers[BMI160_NUM_CHECKED_REGISTERS]; - uint8_t _checked_values[BMI160_NUM_CHECKED_REGISTERS]; - uint8_t _checked_bad[BMI160_NUM_CHECKED_REGISTERS]; - uint8_t _checked_next{0}; - - // keep last accel reading for duplicate detection - uint16_t _last_accel[3] {}; - bool _got_duplicate{false}; - - /** - * Start automatic measurement. - */ - void start(); - - /** - * Reset chip. - * - * Resets the chip and measurements ranges, but not scale and offset. - */ - int reset(); - - /** - * Read a register from the BMI160 - * - * @param The register to read. - * @return The value that was read. - */ - uint8_t read_reg(uint8_t reg); - - /** - * Write a register in the BMI160 - * - * @param reg The register to write. - * @param value The new value to write. - * @return OK on success, negative errno otherwise. - */ - int write_reg(uint8_t reg, uint8_t value); - - /** - * Modify a register in the BMI160 - * - * Bits are cleared before bits are set. - * - * @param reg The register to modify. - * @param clearbits Bits in the register to clear. - * @param setbits Bits in the register to set. - */ - void modify_reg(uint8_t reg, uint8_t clearbits, uint8_t setbits); - - /** - * Write a register in the BMI160, updating _checked_values - * - * @param reg The register to write. - * @param value The new value to write. - */ - void write_checked_reg(uint8_t reg, uint8_t value); - - /** - * Set the BMI160 measurement range. - * - * @param max_g The maximum G value the range must support. - * @param max_dps The maximum DPS value the range must support. - * @return OK if the value can be supported, -ERANGE otherwise. - */ - int set_accel_range(unsigned max_g); - int set_gyro_range(unsigned max_dps); - - /* - set sample rate (approximate) - 10 - 952 Hz - */ - int accel_set_sample_rate(float desired_sample_rate_hz); - int gyro_set_sample_rate(float desired_sample_rate_hz); - /* - check that key registers still have the right value - */ - void check_registers(); - -#pragma pack(push, 1) - /** - * Report conversation within the BMI160, including command byte and - * interrupt status. - */ - struct BMIReport { - uint8_t cmd; - int16_t gyro_x; - int16_t gyro_y; - int16_t gyro_z; - int16_t accel_x; - int16_t accel_y; - int16_t accel_z; - }; -#pragma pack(pop) -}; diff --git a/boards/aerotenna/ocpoc/adc/CMakeLists.txt b/src/drivers/imu/bosch/CMakeLists.txt similarity index 93% rename from boards/aerotenna/ocpoc/adc/CMakeLists.txt rename to src/drivers/imu/bosch/CMakeLists.txt index 5562acfb64..b93eb86697 100644 --- a/boards/aerotenna/ocpoc/adc/CMakeLists.txt +++ b/src/drivers/imu/bosch/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2020 PX4 Development Team. All rights reserved. +# Copyright (c) 2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -31,6 +31,5 @@ # ############################################################################ -px4_add_library(arch_adc - adc.cpp -) +add_subdirectory(bmi055) +add_subdirectory(bmi088) diff --git a/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp b/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp index a3d232fe17..27ed70a0ac 100644 --- a/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp +++ b/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp @@ -267,10 +267,6 @@ void BMI055_Accelerometer::ConfigureAccel() void BMI055_Accelerometer::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 1000; // default to 1000 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp b/src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp index 232d2d2ffa..6a18c2a7c5 100644 --- a/src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp +++ b/src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp @@ -265,10 +265,6 @@ void BMI055_Gyroscope::ConfigureGyro() void BMI055_Gyroscope::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 1000; // default to 1000 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp b/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp index b60bf850e1..f8d900eb57 100644 --- a/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp +++ b/src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp @@ -300,10 +300,6 @@ void BMI088_Accelerometer::ConfigureAccel() void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp b/src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp index f853cc2313..ef8e6a759e 100644 --- a/src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp +++ b/src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp @@ -266,10 +266,6 @@ void BMI088_Gyroscope::ConfigureGyro() void BMI088_Gyroscope::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 1000; // default to 1000 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp index ca6f6fcd0d..3f213a66dd 100644 --- a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp +++ b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp @@ -228,10 +228,6 @@ void BMI088_Accelerometer::ConfigureAccel() void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp index c1c710aa33..3475ff58d9 100644 --- a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp +++ b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp @@ -211,10 +211,6 @@ void BMI088_Gyroscope::ConfigureGyro() void BMI088_Gyroscope::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 2000; // default to 1000 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/icm20602/ICM20602.cpp b/src/drivers/imu/invensense/icm20602/ICM20602.cpp index 9c7173d690..72e63f7474 100644 --- a/src/drivers/imu/invensense/icm20602/ICM20602.cpp +++ b/src/drivers/imu/invensense/icm20602/ICM20602.cpp @@ -335,10 +335,6 @@ void ICM20602::ConfigureGyro() void ICM20602::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp b/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp index 01c850ef37..a06d54cadf 100644 --- a/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp +++ b/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp @@ -331,10 +331,6 @@ void ICM20608G::ConfigureGyro() void ICM20608G::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/icm20649/ICM20649.cpp b/src/drivers/imu/invensense/icm20649/ICM20649.cpp index ca91e3cca9..03e4066414 100644 --- a/src/drivers/imu/invensense/icm20649/ICM20649.cpp +++ b/src/drivers/imu/invensense/icm20649/ICM20649.cpp @@ -332,10 +332,6 @@ void ICM20649::ConfigureGyro() void ICM20649::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to ~800 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/icm20689/ICM20689.cpp b/src/drivers/imu/invensense/icm20689/ICM20689.cpp index 35105132e7..c251270133 100644 --- a/src/drivers/imu/invensense/icm20689/ICM20689.cpp +++ b/src/drivers/imu/invensense/icm20689/ICM20689.cpp @@ -331,10 +331,6 @@ void ICM20689::ConfigureGyro() void ICM20689::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/icm20948/ICM20948.cpp b/src/drivers/imu/invensense/icm20948/ICM20948.cpp index f8072490d8..3bf358f686 100644 --- a/src/drivers/imu/invensense/icm20948/ICM20948.cpp +++ b/src/drivers/imu/invensense/icm20948/ICM20948.cpp @@ -368,10 +368,6 @@ void ICM20948::ConfigureGyro() void ICM20948::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to ~800 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp b/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp index 965494e21b..881be246f9 100644 --- a/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp +++ b/src/drivers/imu/invensense/icm40609d/ICM40609D.cpp @@ -338,10 +338,6 @@ void ICM40609D::ConfigureGyro() void ICM40609D::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/icm42605/ICM42605.cpp b/src/drivers/imu/invensense/icm42605/ICM42605.cpp index 2d6c233016..60827cd0a7 100644 --- a/src/drivers/imu/invensense/icm42605/ICM42605.cpp +++ b/src/drivers/imu/invensense/icm42605/ICM42605.cpp @@ -339,10 +339,6 @@ void ICM42605::ConfigureGyro() void ICM42605::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp index 1d9916dad8..e2f22c046d 100644 --- a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp +++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp @@ -275,10 +275,6 @@ void ICM42688P::RunImpl() void ICM42688P::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/mpu6000/MPU6000.cpp b/src/drivers/imu/invensense/mpu6000/MPU6000.cpp index e843c088af..86c69ed07b 100644 --- a/src/drivers/imu/invensense/mpu6000/MPU6000.cpp +++ b/src/drivers/imu/invensense/mpu6000/MPU6000.cpp @@ -331,10 +331,6 @@ void MPU6000::ConfigureGyro() void MPU6000::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 1000; // default to 1000 Hz - } - // round down to nearest FIFO sample dt const float min_interval = FIFO_SAMPLE_DT * 4; // limit to 2 kHz (500 us interval) _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/mpu6500/MPU6500.cpp b/src/drivers/imu/invensense/mpu6500/MPU6500.cpp index eecb9a526f..9d5e766177 100644 --- a/src/drivers/imu/invensense/mpu6500/MPU6500.cpp +++ b/src/drivers/imu/invensense/mpu6500/MPU6500.cpp @@ -331,10 +331,6 @@ void MPU6500::ConfigureGyro() void MPU6500::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp index 0e3b66f83e..1433b83221 100644 --- a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp +++ b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp @@ -365,10 +365,6 @@ void MPU9250::ConfigureGyro() void MPU9250::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250_I2C.cpp b/src/drivers/imu/invensense/mpu9250/MPU9250_I2C.cpp index 234ef80b8f..d6a7902450 100644 --- a/src/drivers/imu/invensense/mpu9250/MPU9250_I2C.cpp +++ b/src/drivers/imu/invensense/mpu9250/MPU9250_I2C.cpp @@ -332,10 +332,6 @@ void MPU9250_I2C::ConfigureGyro() void MPU9250_I2C::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = 1000; // default to 1000 Hz - } - // round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/imu/mpu6000/CMakeLists.txt b/src/drivers/imu/mpu6000/CMakeLists.txt deleted file mode 100644 index ad8aa89cf1..0000000000 --- a/src/drivers/imu/mpu6000/CMakeLists.txt +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (c) 2015 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ -px4_add_module( - MODULE drivers__mpu6000 - MAIN mpu6000 - SRCS - MPU6000.cpp - MPU6000_I2C.cpp - mpu6000_main.cpp - MPU6000_SPI.cpp - DEPENDS - drivers_accelerometer - drivers_gyroscope - ) diff --git a/src/drivers/imu/mpu6000/MPU6000.cpp b/src/drivers/imu/mpu6000/MPU6000.cpp deleted file mode 100644 index 3545ae522a..0000000000 --- a/src/drivers/imu/mpu6000/MPU6000.cpp +++ /dev/null @@ -1,903 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "MPU6000.hpp" - -/* - list of registers that will be checked in check_registers(). Note - that MPUREG_PRODUCT_ID must be first in the list. - */ -constexpr uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS]; - -MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_type, I2CSPIBusOption bus_option, - int bus) : - I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, 0, device_type), - _interface(interface), - _device_type(device_type), - _px4_accel(_interface->get_device_id(), rotation), - _px4_gyro(_interface->get_device_id(), rotation), - _sample_perf(perf_alloc(PC_ELAPSED, "mpu6k_read")), - _bad_transfers(perf_alloc(PC_COUNT, "mpu6k_bad_trans")), - _bad_registers(perf_alloc(PC_COUNT, "mpu6k_bad_reg")), - _reset_retries(perf_alloc(PC_COUNT, "mpu6k_reset")), - _duplicates(perf_alloc(PC_COUNT, "mpu6k_duplicates")) -{ - switch (_device_type) { - default: - case MPU_DEVICE_TYPE_MPU6000: - _interface->set_device_type(DRV_IMU_DEVTYPE_MPU6000); - _px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU6000); - _px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU6000); - break; - - case MPU_DEVICE_TYPE_ICM20602: - _interface->set_device_type(DRV_IMU_DEVTYPE_ICM20602); - _px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20602); - _px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20602); - break; - - case MPU_DEVICE_TYPE_ICM20608: - _interface->set_device_type(DRV_IMU_DEVTYPE_ICM20608G); - _px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608G); - _px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608G); - break; - - case MPU_DEVICE_TYPE_ICM20689: - _interface->set_device_type(DRV_IMU_DEVTYPE_ICM20689); - _px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20689); - _px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20689); - break; - } -} - -MPU6000::~MPU6000() -{ - perf_free(_sample_perf); - perf_free(_bad_transfers); - perf_free(_bad_registers); - perf_free(_reset_retries); - perf_free(_duplicates); -} - -int -MPU6000::init() -{ - /* probe again to get our settings that are based on the device type */ - int ret = probe(); - - /* if probe failed, bail now */ - if (ret != OK) { - PX4_DEBUG("probe init failed"); - return ret; - } - - if (reset() != OK) { - return ret; - } - - return ret; -} - -int MPU6000::reset() -{ - // if the mpu6000 is initialized after the l3gd20 and lsm303d - // then if we don't do an irqsave/irqrestore here the mpu6000 - // frequently comes up in a bad state where all transfers - // come as zero - uint8_t tries = 5; - irqstate_t state; - - while (--tries != 0) { - state = px4_enter_critical_section(); - - // Hold off sampling for 60 ms - _reset_wait = hrt_absolute_time() + 60000; - - write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); - up_udelay(10000); - - // Wake up device and select GyroZ clock. Note that the - // MPU6000 starts up in sleep mode, and it can take some time - // for it to come out of sleep - write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); - up_udelay(1000); - - // Enable I2C bus or Disable I2C bus (recommended on data sheet) - const bool is_i2c = (_interface->get_device_bus_type() == device::Device::DeviceBusType_I2C); - write_checked_reg(MPUREG_USER_CTRL, is_i2c ? 0 : BIT_I2C_IF_DIS); - - px4_leave_critical_section(state); - - if (read_reg(MPUREG_PWR_MGMT_1) == MPU_CLK_SEL_PLLGYROZ) { - break; - } - - perf_count(_reset_retries); - px4_usleep(2000); - } - - // Hold off sampling for 30 ms - - state = px4_enter_critical_section(); - _reset_wait = hrt_absolute_time() + 30000; - px4_leave_critical_section(state); - - if (read_reg(MPUREG_PWR_MGMT_1) != MPU_CLK_SEL_PLLGYROZ) { - return -EIO; - } - - px4_usleep(1000); - - // SAMPLE RATE - _set_sample_rate(1000); - px4_usleep(1000); - - _set_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ); - - if (is_icm_device()) { - _set_icm_acc_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ); - } - - px4_usleep(1000); - // Gyro scale 2000 deg/s () - write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); - px4_usleep(1000); - - // correct gyro scale factors - // scale to rad/s in SI units - // 2000 deg/s = (2000/180)*PI = 34.906585 rad/s - // scaling factor: - // 1/(2^15)*(2000/180)*PI - _px4_gyro.set_scale(0.0174532f / 16.4f);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F); - - set_accel_range(MPU6000_ACCEL_DEFAULT_RANGE_G); - - px4_usleep(1000); - - // INT CFG => Interrupt on Data Ready - write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready - px4_usleep(1000); - write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read - px4_usleep(1000); - - if (is_icm_device()) { - write_checked_reg(MPUREG_ICM_UNDOC1, MPUREG_ICM_UNDOC1_VALUE); - } - - // Oscillator set - // write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ); - px4_usleep(1000); - return OK; -} - -int -MPU6000::probe() -{ - uint8_t whoami = read_reg(MPUREG_WHOAMI); - uint8_t expected = 0; - bool unknown_product_id = true; - - switch (_device_type) { - - default: - case MPU_DEVICE_TYPE_MPU6000: - expected = MPU_WHOAMI_6000; - break; - - case MPU_DEVICE_TYPE_ICM20602: - expected = ICM_WHOAMI_20602; - break; - - case MPU_DEVICE_TYPE_ICM20608: - expected = ICM_WHOAMI_20608; - break; - - case MPU_DEVICE_TYPE_ICM20689: - expected = ICM_WHOAMI_20689; - break; - } - - if (whoami != expected) { - PX4_DEBUG("unexpected WHOAMI 0x%02x", whoami); - return -EIO; - } - - /* look for a product ID we recognize */ - _product = read_reg(MPUREG_PRODUCT_ID); - - // verify product revision - switch (_product) { - case MPU6000ES_REV_C4: - case MPU6000ES_REV_C5: - case MPU6000_REV_C4: - case MPU6000_REV_C5: - case MPU6000ES_REV_D6: - case MPU6000ES_REV_D7: - case MPU6000ES_REV_D8: - case MPU6000_REV_D6: - case MPU6000_REV_D7: - case MPU6000_REV_D8: - case MPU6000_REV_D9: - case MPU6000_REV_D10: - case ICM20608_REV_FF: - case ICM20689_REV_FE: - case ICM20689_REV_03: - case ICM20689_REV_04: - case ICM20602_REV_01: - case ICM20602_REV_02: - case MPU6050_REV_D8: - unknown_product_id = false; - } - - _checked_values[MPU6000_CHECKED_PRODUCT_ID_INDEX] = _product; - - PX4_DEBUG("ID 0x%02x", _product); - - if (unknown_product_id) { - - PX4_WARN("unexpected ID 0x%02x %s", _product, is_icm_device() ? "accepted" : "exiting!"); - - if (is_mpu_device()) { - return -EIO; - } - } - - return OK; -} - -/* - set sample rate (approximate) - 1kHz to 5Hz, for both accel and gyro -*/ -void -MPU6000::_set_sample_rate(unsigned desired_sample_rate_hz) -{ - if (desired_sample_rate_hz == 0) { - desired_sample_rate_hz = MPU6000_GYRO_DEFAULT_RATE; - } - - uint8_t div = 1000 / desired_sample_rate_hz; - - if (div > 200) { - div = 200; - } - - if (div < 1) { - div = 1; - } - - write_checked_reg(MPUREG_SMPLRT_DIV, div - 1); - _sample_rate = 1000 / div; -} - -/* - set the DLPF filter frequency. This affects both accel and gyro. - */ -void -MPU6000::_set_dlpf_filter(uint16_t frequency_hz) -{ - uint8_t filter = MPU_GYRO_DLPF_CFG_2100HZ_NOLPF; - - /* - choose next highest filter frequency available - */ - if (frequency_hz == 0) { - filter = MPU_GYRO_DLPF_CFG_2100HZ_NOLPF; - - } else if (frequency_hz <= 5) { - filter = MPU_GYRO_DLPF_CFG_5HZ; - - } else if (frequency_hz <= 10) { - filter = MPU_GYRO_DLPF_CFG_10HZ; - - } else if (frequency_hz <= 20) { - filter = MPU_GYRO_DLPF_CFG_20HZ; - - } else if (frequency_hz <= 42) { - filter = MPU_GYRO_DLPF_CFG_42HZ; - - } else if (frequency_hz <= 98) { - filter = MPU_GYRO_DLPF_CFG_98HZ; - - } else if (frequency_hz <= 188) { - filter = MPU_GYRO_DLPF_CFG_188HZ; - - } else if (frequency_hz <= 256) { - filter = MPU_GYRO_DLPF_CFG_256HZ_NOLPF2; - } - - write_checked_reg(MPUREG_CONFIG, filter); -} - -void -MPU6000::_set_icm_acc_dlpf_filter(uint16_t frequency_hz) -{ - uint8_t filter = ICM_ACC_DLPF_CFG_1046HZ_NOLPF; - - /* - choose next highest filter frequency available - */ - if (frequency_hz == 0) { - filter = ICM_ACC_DLPF_CFG_1046HZ_NOLPF; - - } else if (frequency_hz <= 5) { - filter = ICM_ACC_DLPF_CFG_5HZ; - - } else if (frequency_hz <= 10) { - filter = ICM_ACC_DLPF_CFG_10HZ; - - } else if (frequency_hz <= 21) { - filter = ICM_ACC_DLPF_CFG_21HZ; - - } else if (frequency_hz <= 44) { - filter = ICM_ACC_DLPF_CFG_44HZ; - - } else if (frequency_hz <= 99) { - filter = ICM_ACC_DLPF_CFG_99HZ; - - } else if (frequency_hz <= 218) { - filter = ICM_ACC_DLPF_CFG_218HZ; - - } else if (frequency_hz <= 420) { - filter = ICM_ACC_DLPF_CFG_420HZ; - } - - write_checked_reg(ICMREG_ACCEL_CONFIG2, filter); -} - -#ifndef CONSTRAINED_FLASH -/* - perform a self-test comparison to factory trim values. This takes - about 200ms and will return OK if the current values are within 14% - of the expected values (as per datasheet) - */ -void -MPU6000::factory_self_test() -{ - _in_factory_test = true; - uint8_t saved_gyro_config = read_reg(MPUREG_GYRO_CONFIG); - uint8_t saved_accel_config = read_reg(MPUREG_ACCEL_CONFIG); - const uint16_t repeats = 100; - int ret = OK; - - // gyro self test has to be done at 250DPS - write_reg(MPUREG_GYRO_CONFIG, BITS_FS_250DPS); - - struct MPUReport mpu_report {}; - float accel_baseline[3] {}; - float gyro_baseline[3] {}; - float accel[3] {}; - float gyro[3] {}; - float accel_ftrim[3] {}; - float gyro_ftrim[3] {}; - - // get baseline values without self-test enabled - for (uint8_t i = 0; i < repeats; i++) { - up_udelay(1000); - _interface->read(MPU6000_SET_SPEED(MPUREG_INT_STATUS, MPU6000_HIGH_BUS_SPEED), (uint8_t *)&mpu_report, - sizeof(mpu_report)); - - accel_baseline[0] += int16_t_from_bytes(mpu_report.accel_x); - accel_baseline[1] += int16_t_from_bytes(mpu_report.accel_y); - accel_baseline[2] += int16_t_from_bytes(mpu_report.accel_z); - gyro_baseline[0] += int16_t_from_bytes(mpu_report.gyro_x); - gyro_baseline[1] += int16_t_from_bytes(mpu_report.gyro_y); - gyro_baseline[2] += int16_t_from_bytes(mpu_report.gyro_z); - } - -#if 1 - write_reg(MPUREG_GYRO_CONFIG, - BITS_FS_250DPS | - BITS_GYRO_ST_X | - BITS_GYRO_ST_Y | - BITS_GYRO_ST_Z); - - // accel 8g, self-test enabled all axes - write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config | 0xE0); -#endif - - up_udelay(20000); - - // get values with self-test enabled - for (uint8_t i = 0; i < repeats; i++) { - up_udelay(1000); - _interface->read(MPU6000_SET_SPEED(MPUREG_INT_STATUS, MPU6000_HIGH_BUS_SPEED), (uint8_t *)&mpu_report, - sizeof(mpu_report)); - - accel[0] += int16_t_from_bytes(mpu_report.accel_x); - accel[1] += int16_t_from_bytes(mpu_report.accel_y); - accel[2] += int16_t_from_bytes(mpu_report.accel_z); - gyro[0] += int16_t_from_bytes(mpu_report.gyro_x); - gyro[1] += int16_t_from_bytes(mpu_report.gyro_y); - gyro[2] += int16_t_from_bytes(mpu_report.gyro_z); - } - - for (uint8_t i = 0; i < 3; i++) { - accel_baseline[i] /= repeats; - gyro_baseline[i] /= repeats; - accel[i] /= repeats; - gyro[i] /= repeats; - } - - // extract factory trim values - uint8_t trims[4]; - trims[0] = read_reg(MPUREG_TRIM1); - trims[1] = read_reg(MPUREG_TRIM2); - trims[2] = read_reg(MPUREG_TRIM3); - trims[3] = read_reg(MPUREG_TRIM4); - uint8_t atrim[3]; - uint8_t gtrim[3]; - - atrim[0] = ((trims[0] >> 3) & 0x1C) | ((trims[3] >> 4) & 0x03); - atrim[1] = ((trims[1] >> 3) & 0x1C) | ((trims[3] >> 2) & 0x03); - atrim[2] = ((trims[2] >> 3) & 0x1C) | ((trims[3] >> 0) & 0x03); - gtrim[0] = trims[0] & 0x1F; - gtrim[1] = trims[1] & 0x1F; - gtrim[2] = trims[2] & 0x1F; - - // convert factory trims to right units - for (uint8_t i = 0; i < 3; i++) { - accel_ftrim[i] = 4096 * 0.34f * powf(0.92f / 0.34f, (atrim[i] - 1) / 30.0f); - gyro_ftrim[i] = 25 * 131.0f * powf(1.046f, gtrim[i] - 1); - } - - // Y gyro trim is negative - gyro_ftrim[1] *= -1; - - for (uint8_t i = 0; i < 3; i++) { - float diff = accel[i] - accel_baseline[i]; - float err = 100 * (diff - accel_ftrim[i]) / accel_ftrim[i]; - ::printf("ACCEL[%u] baseline=%d accel=%d diff=%d ftrim=%d err=%d\n", - (unsigned)i, - (int)(1000 * accel_baseline[i]), - (int)(1000 * accel[i]), - (int)(1000 * diff), - (int)(1000 * accel_ftrim[i]), - (int)err); - - if (fabsf(err) > 14) { - ::printf("FAIL\n"); - ret = -EIO; - } - } - - for (uint8_t i = 0; i < 3; i++) { - float diff = gyro[i] - gyro_baseline[i]; - float err = 100 * (diff - gyro_ftrim[i]) / gyro_ftrim[i]; - ::printf("GYRO[%u] baseline=%d gyro=%d diff=%d ftrim=%d err=%d\n", - (unsigned)i, - (int)(1000 * gyro_baseline[i]), - (int)(1000 * gyro[i]), - (int)(1000 * (gyro[i] - gyro_baseline[i])), - (int)(1000 * gyro_ftrim[i]), - (int)err); - - if (fabsf(err) > 14) { - ::printf("FAIL\n"); - ret = -EIO; - } - } - - write_reg(MPUREG_GYRO_CONFIG, saved_gyro_config); - write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config); - - _in_factory_test = false; - - if (ret == OK) { - ::printf("PASSED\n"); - } - -} -#endif - -/* - deliberately trigger an error in the sensor to trigger recovery - */ -void -MPU6000::test_error() -{ - _in_factory_test = true; - // deliberately trigger an error. This was noticed during - // development as a handy way to test the reset logic - uint8_t data[sizeof(MPUReport)] {}; - _interface->read(MPU6000_SET_SPEED(MPUREG_INT_STATUS, MPU6000_LOW_BUS_SPEED), data, sizeof(data)); - PX4_WARN("error triggered"); - print_registers(); - _in_factory_test = false; -} - -uint8_t -MPU6000::read_reg(unsigned reg, uint32_t speed) -{ - uint8_t buf{}; - _interface->read(MPU6000_SET_SPEED(reg, speed), &buf, 1); - return buf; -} - -uint16_t -MPU6000::read_reg16(unsigned reg) -{ - uint8_t buf[2] {}; - - // general register transfer at low clock speed - _interface->read(MPU6000_LOW_SPEED_OP(reg), &buf, arraySize(buf)); - return (uint16_t)(buf[0] << 8) | buf[1]; -} - -int -MPU6000::write_reg(unsigned reg, uint8_t value) -{ - // general register transfer at low clock speed - return _interface->write(MPU6000_LOW_SPEED_OP(reg), &value, 1); -} - -void -MPU6000::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) -{ - uint8_t val = read_reg(reg); - val &= ~clearbits; - val |= setbits; - write_reg(reg, val); -} - -void -MPU6000::write_checked_reg(unsigned reg, uint8_t value) -{ - write_reg(reg, value); - - for (uint8_t i = 0; i < MPU6000_NUM_CHECKED_REGISTERS; i++) { - if (reg == _checked_registers[i]) { - _checked_values[i] = value; - } - } -} - -int -MPU6000::set_accel_range(unsigned max_g_in) -{ - // workaround for bugged versions of MPU6k (rev C) - if (is_mpu_device()) { - switch (_product) { - case MPU6000ES_REV_C4: - case MPU6000ES_REV_C5: - case MPU6000_REV_C4: - case MPU6000_REV_C5: - write_checked_reg(MPUREG_ACCEL_CONFIG, 1 << 3); - _px4_accel.set_scale(CONSTANTS_ONE_G / 4096.0f); - return OK; - } - } - - uint8_t afs_sel; - float lsb_per_g; - //float max_accel_g; - - if (max_g_in > 8) { // 16g - AFS_SEL = 3 - afs_sel = 3; - lsb_per_g = 2048; - //max_accel_g = 16; - - } else if (max_g_in > 4) { // 8g - AFS_SEL = 2 - afs_sel = 2; - lsb_per_g = 4096; - //max_accel_g = 8; - - } else if (max_g_in > 2) { // 4g - AFS_SEL = 1 - afs_sel = 1; - lsb_per_g = 8192; - //max_accel_g = 4; - - } else { // 2g - AFS_SEL = 0 - afs_sel = 0; - lsb_per_g = 16384; - //max_accel_g = 2; - } - - write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3); - - _px4_accel.set_scale(CONSTANTS_ONE_G / lsb_per_g); - - return OK; -} - -void -MPU6000::start() -{ - /* make sure we are stopped first */ - uint32_t last_call_interval = _call_interval; - stop(); - _call_interval = last_call_interval; - - ScheduleOnInterval(_call_interval - MPU6000_TIMER_REDUCTION, 1000); -} - -void -MPU6000::stop() -{ - ScheduleClear(); - - /* reset internal states */ - memset(_last_accel, 0, sizeof(_last_accel)); -} - -void -MPU6000::check_registers(void) -{ - /* - we read the register at full speed, even though it isn't - listed as a high speed register. The low speed requirement - for some registers seems to be a propgation delay - requirement for changing sensor configuration, which should - not apply to reading a single register. It is also a better - test of SPI bus health to read at the same speed as we read - the data registers. - */ - uint8_t v; - - // the MPUREG_ICM_UNDOC1 is specific to the ICM20608 (and undocumented) - if ((_checked_registers[_checked_next] == MPUREG_ICM_UNDOC1 && !is_icm_device())) { - _checked_next = (_checked_next + 1) % MPU6000_NUM_CHECKED_REGISTERS; - } - - if ((v = read_reg(_checked_registers[_checked_next], MPU6000_HIGH_BUS_SPEED)) != - _checked_values[_checked_next]) { - /* - if we get the wrong value then we know the SPI bus - or sensor is very sick. We set _register_wait to 20 - and wait until we have seen 20 good values in a row - before we consider the sensor to be OK again. - */ - perf_count(_bad_registers); - - /* - try to fix the bad register value. We only try to - fix one per loop to prevent a bad sensor hogging the - bus. - */ - if (_register_wait == 0 || _checked_next == MPU6000_CHECKED_PRODUCT_ID_INDEX) { - // if the product_id is wrong then reset the - // sensor completely - write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); - // after doing a reset we need to wait a long - // time before we do any other register writes - // or we will end up with the mpu6000 in a - // bizarre state where it has all correct - // register values but large offsets on the - // accel axes - _reset_wait = hrt_absolute_time() + 10000; - _checked_next = 0; - - } else { - write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]); - // waiting 3ms between register writes seems - // to raise the chance of the sensor - // recovering considerably - _reset_wait = hrt_absolute_time() + 3000; - } - - _register_wait = 20; - } - - _checked_next = (_checked_next + 1) % MPU6000_NUM_CHECKED_REGISTERS; -} - -void MPU6000::RunImpl() -{ - if (_in_factory_test) { - // don't publish any data while in factory test mode - return; - } - - if (hrt_absolute_time() < _reset_wait) { - // we're waiting for a reset to complete - return; - } - - struct MPUReport mpu_report; - - struct Report { - int16_t accel_x; - int16_t accel_y; - int16_t accel_z; - int16_t temp; - int16_t gyro_x; - int16_t gyro_y; - int16_t gyro_z; - } report; - - /* start measuring */ - perf_begin(_sample_perf); - - /* - * Fetch the full set of measurements from the MPU6000 in one pass. - */ - - // sensor transfer at high clock speed - - const hrt_abstime timestamp_sample = hrt_absolute_time(); - - if (sizeof(mpu_report) != _interface->read(MPU6000_SET_SPEED(MPUREG_INT_STATUS, MPU6000_HIGH_BUS_SPEED), - (uint8_t *)&mpu_report, sizeof(mpu_report))) { - - perf_end(_sample_perf); - return; - } - - check_registers(); - - /* - see if this is duplicate accelerometer data. Note that we - can't use the data ready interrupt status bit in the status - register as that also goes high on new gyro data, and when - we run with BITS_DLPF_CFG_256HZ_NOLPF2 the gyro is being - sampled at 8kHz, so we would incorrectly think we have new - data when we are in fact getting duplicate accelerometer data. - */ - if (!_got_duplicate && memcmp(&mpu_report.accel_x[0], &_last_accel[0], 6) == 0) { - // it isn't new data - wait for next timer - perf_end(_sample_perf); - perf_count(_duplicates); - _got_duplicate = true; - return; - } - - perf_end(_sample_perf); - - memcpy(&_last_accel[0], &mpu_report.accel_x[0], 6); - _got_duplicate = false; - - /* - * Convert from big to little endian - */ - - report.accel_x = int16_t_from_bytes(mpu_report.accel_x); - report.accel_y = int16_t_from_bytes(mpu_report.accel_y); - report.accel_z = int16_t_from_bytes(mpu_report.accel_z); - - report.temp = int16_t_from_bytes(mpu_report.temp); - - report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x); - report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y); - report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z); - - if (report.accel_x == 0 && - report.accel_y == 0 && - report.accel_z == 0 && - report.temp == 0 && - report.gyro_x == 0 && - report.gyro_y == 0 && - report.gyro_z == 0) { - - // all zero data - probably a SPI bus error - perf_count(_bad_transfers); - - // note that we don't call reset() here as a reset() - // costs 20ms with interrupts disabled. That means if - // the mpu6k does go bad it would cause a FMU failure, - // regardless of whether another sensor is available, - return; - } - - if (_register_wait != 0) { - // we are waiting for some good transfers before using - // the sensor again, don't return any data yet - _register_wait--; - return; - } - - - /* - * Swap axes and negate y - */ - int16_t accel_xt = report.accel_y; - int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x); - - int16_t gyro_xt = report.gyro_y; - int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x); - - /* - * Apply the swap - */ - report.accel_x = accel_xt; - report.accel_y = accel_yt; - report.gyro_x = gyro_xt; - report.gyro_y = gyro_yt; - - // report the error count as the sum of the number of bad - // transfers and bad register reads. This allows the higher - // level code to decide if it should use this sensor based on - // whether it has had failures - - const uint64_t error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers); - _px4_accel.set_error_count(error_count); - _px4_gyro.set_error_count(error_count); - - /* - * 1) Scale raw value to SI units using scaling from datasheet. - * 2) Subtract static offset (in SI units) - * 3) Scale the statically calibrated values with a linear - * dynamically obtained factor - * - * Note: the static sensor offset is the number the sensor outputs - * at a nominally 'zero' input. Therefore the offset has to - * be subtracted. - * - * Example: A gyro outputs a value of 74 at zero angular rate - * the offset is 74 from the origin and subtracting - * 74 from all measurements centers them around zero. - */ - - float temperature = 0.0f; - - if (is_icm_device()) { // if it is an ICM20608 - temperature = (report.temp / 326.8f + 25.0f); - - } else { // If it is an MPU6000 - temperature = (report.temp / 340.0f + 35.0f); - } - - _px4_accel.set_temperature(temperature); - _px4_gyro.set_temperature(temperature); - - _px4_accel.update(timestamp_sample, report.accel_x, report.accel_y, report.accel_z); - _px4_gyro.update(timestamp_sample, report.gyro_x, report.gyro_y, report.gyro_z); -} - -void -MPU6000::print_status() -{ - I2CSPIDriverBase::print_status(); - PX4_INFO("Device type: %i", _device_type); - perf_print_counter(_sample_perf); - perf_print_counter(_bad_transfers); - perf_print_counter(_bad_registers); - perf_print_counter(_reset_retries); - perf_print_counter(_duplicates); - -} - -void -MPU6000::print_registers() -{ - PX4_INFO("registers"); - - for (uint8_t reg = MPUREG_PRODUCT_ID; reg <= 108; reg++) { - uint8_t v = read_reg(reg); - printf("%02x:%02x ", (unsigned)reg, (unsigned)v); - - if ((reg - (MPUREG_PRODUCT_ID - 1)) % 13 == 0) { - printf("\n"); - } - } - - printf("\n"); -} diff --git a/src/drivers/imu/mpu6000/MPU6000.hpp b/src/drivers/imu/mpu6000/MPU6000.hpp deleted file mode 100644 index fef7962745..0000000000 --- a/src/drivers/imu/mpu6000/MPU6000.hpp +++ /dev/null @@ -1,455 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mpu6000.cpp - * - * Driver for the Invensense MPU6000, MPU6050, ICM20608, and ICM20602 connected via - * SPI or I2C. - * - * When the device is on the SPI bus the hrt is used to provide thread of - * execution to the driver. - * - * When the device is on the I2C bus a work queue is used provide thread of - * execution to the driver. - * - * The I2C code is only included in the build if USE_I2C is defined by the - * existance of any of PX4_I2C_MPU6050_ADDR, PX4_I2C_MPU6000_ADDR - * PX4_I2C_ICM_20608_G_ADDR in the board_config.h file. - * - * The command line option -T 6000|20608|20602 (default 6000) selects between - * MPU60x0, ICM20608G, or ICM20602G; - * - * @author Andrew Tridgell - * @author Pat Hickey - * @author David Sidrane - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - - -/* - we set the timer interrupt to run a bit faster than the desired - sample rate and then throw away duplicates by comparing - accelerometer values. This time reduction is enough to cope with - worst case timing jitter due to other timers - - I2C bus is running at 100 kHz Transaction time is 2.163ms - I2C bus is running at 400 kHz (304 kHz actual) Transaction time - is 583 us - - */ - -#pragma once - -#if defined(PX4_I2C_MPU6050_ADDR) || \ - defined(PX4_I2C_MPU6000_ADDR) || \ - defined(PX4_I2C_ICM_20608_G_ADDR) -# define USE_I2C -#endif - -enum MPU_DEVICE_TYPE { - MPU_DEVICE_TYPE_MPU6000 = 6000, - MPU_DEVICE_TYPE_ICM20602 = 20602, - MPU_DEVICE_TYPE_ICM20608 = 20608, - MPU_DEVICE_TYPE_ICM20689 = 20689 -}; - -#define DIR_READ 0x80 -#define DIR_WRITE 0x00 - -// MPU 6000 registers -#define MPUREG_WHOAMI 0x75 -#define MPUREG_SMPLRT_DIV 0x19 -#define MPUREG_CONFIG 0x1A -#define MPUREG_GYRO_CONFIG 0x1B -#define MPUREG_ACCEL_CONFIG 0x1C -#define MPUREG_FIFO_EN 0x23 -#define MPUREG_INT_PIN_CFG 0x37 -#define MPUREG_INT_ENABLE 0x38 -#define MPUREG_INT_STATUS 0x3A -#define MPUREG_ACCEL_XOUT_H 0x3B -#define MPUREG_ACCEL_XOUT_L 0x3C -#define MPUREG_ACCEL_YOUT_H 0x3D -#define MPUREG_ACCEL_YOUT_L 0x3E -#define MPUREG_ACCEL_ZOUT_H 0x3F -#define MPUREG_ACCEL_ZOUT_L 0x40 -#define MPUREG_TEMP_OUT_H 0x41 -#define MPUREG_TEMP_OUT_L 0x42 -#define MPUREG_GYRO_XOUT_H 0x43 -#define MPUREG_GYRO_XOUT_L 0x44 -#define MPUREG_GYRO_YOUT_H 0x45 -#define MPUREG_GYRO_YOUT_L 0x46 -#define MPUREG_GYRO_ZOUT_H 0x47 -#define MPUREG_GYRO_ZOUT_L 0x48 -#define MPUREG_USER_CTRL 0x6A -#define MPUREG_PWR_MGMT_1 0x6B -#define MPUREG_PWR_MGMT_2 0x6C -#define MPUREG_FIFO_COUNTH 0x72 -#define MPUREG_FIFO_COUNTL 0x73 -#define MPUREG_FIFO_R_W 0x74 -#define MPUREG_PRODUCT_ID 0x0C -#define MPUREG_TRIM1 0x0D -#define MPUREG_TRIM2 0x0E -#define MPUREG_TRIM3 0x0F -#define MPUREG_TRIM4 0x10 -#define MPU_GYRO_DLPF_CFG_256HZ_NOLPF2 0x00 // delay: 0.98ms -#define MPU_GYRO_DLPF_CFG_188HZ 0x01 // delay: 1.9ms -#define MPU_GYRO_DLPF_CFG_98HZ 0x02 // delay: 2.8ms -#define MPU_GYRO_DLPF_CFG_42HZ 0x03 // delay: 4.8ms -#define MPU_GYRO_DLPF_CFG_20HZ 0x04 // delay: 8.3ms -#define MPU_GYRO_DLPF_CFG_10HZ 0x05 // delay: 13.4ms -#define MPU_GYRO_DLPF_CFG_5HZ 0x06 // delay: 18.6ms -#define MPU_GYRO_DLPF_CFG_2100HZ_NOLPF 0x07 -#define MPU_DLPF_CFG_MASK 0x07 - -// Configuration bits MPU 3000 and MPU 6000 (not revised)? -#define BIT_SLEEP 0x40 -#define BIT_H_RESET 0x80 -#define BITS_CLKSEL 0x07 -#define MPU_CLK_SEL_PLLGYROX 0x01 -#define MPU_CLK_SEL_PLLGYROZ 0x03 -#define MPU_EXT_SYNC_GYROX 0x02 -#define BITS_GYRO_ST_X 0x80 -#define BITS_GYRO_ST_Y 0x40 -#define BITS_GYRO_ST_Z 0x20 -#define BITS_FS_250DPS 0x00 -#define BITS_FS_500DPS 0x08 -#define BITS_FS_1000DPS 0x10 -#define BITS_FS_2000DPS 0x18 -#define BITS_FS_MASK 0x18 -#define BIT_INT_ANYRD_2CLEAR 0x10 -#define BIT_RAW_RDY_EN 0x01 -#define BIT_I2C_IF_DIS 0x10 -#define BIT_INT_STATUS_DATA 0x01 - -#define MPU_WHOAMI_6000 0x68 -#define ICM_WHOAMI_20602 0x12 -#define ICM_WHOAMI_20608 0xaf -#define ICM_WHOAMI_20689 0x98 - -// ICM2608 specific registers - -#define ICMREG_ACCEL_CONFIG2 0x1D -#define ICM_ACC_DLPF_CFG_1046HZ_NOLPF 0x00 -#define ICM_ACC_DLPF_CFG_218HZ 0x01 -#define ICM_ACC_DLPF_CFG_99HZ 0x02 -#define ICM_ACC_DLPF_CFG_44HZ 0x03 -#define ICM_ACC_DLPF_CFG_21HZ 0x04 -#define ICM_ACC_DLPF_CFG_10HZ 0x05 -#define ICM_ACC_DLPF_CFG_5HZ 0x06 -#define ICM_ACC_DLPF_CFG_420HZ 0x07 -/* this is an undocumented register which - if set incorrectly results in getting a 2.7m/s/s offset - on the Y axis of the accelerometer -*/ -#define MPUREG_ICM_UNDOC1 0x11 -#define MPUREG_ICM_UNDOC1_VALUE 0xc9 - -// Product ID Description for ICM20602 -// Read From device - -#define ICM20602_REV_01 1 -#define ICM20602_REV_02 2 - -// Product ID Description for ICM20608 - -#define ICM20608_REV_FF 0xff // In the past, was thought to be not returning a value. But seem repeatable. - -// Product ID Description for ICM20689 - -#define ICM20689_REV_FE 0xfe -#define ICM20689_REV_03 0x03 -#define ICM20689_REV_04 0x04 - -// Product ID Description for MPU6000 -// high 4 bits low 4 bits -// Product Name Product Revision -#define MPU6000ES_REV_C4 0x14 -#define MPU6000ES_REV_C5 0x15 -#define MPU6000ES_REV_D6 0x16 -#define MPU6000ES_REV_D7 0x17 -#define MPU6000ES_REV_D8 0x18 -#define MPU6000_REV_C4 0x54 -#define MPU6000_REV_C5 0x55 -#define MPU6000_REV_D6 0x56 -#define MPU6000_REV_D7 0x57 -#define MPU6000_REV_D8 0x58 -#define MPU6000_REV_D9 0x59 -#define MPU6000_REV_D10 0x5A -#define MPU6050_REV_D8 0x28 // TODO:Need verification - -#define MPU6000_ACCEL_DEFAULT_RANGE_G 16 - -#define MPU6000_GYRO_DEFAULT_RANGE_G 8 -#define MPU6000_GYRO_DEFAULT_RATE 1000 - - -#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 98 - -#pragma pack(push, 1) -/** - * Report conversation within the MPU6000, including command byte and - * interrupt status. - */ -struct MPUReport { - uint8_t cmd; - uint8_t status; - uint8_t accel_x[2]; - uint8_t accel_y[2]; - uint8_t accel_z[2]; - uint8_t temp[2]; - uint8_t gyro_x[2]; - uint8_t gyro_y[2]; - uint8_t gyro_z[2]; -}; -#pragma pack(pop) - -#define MPU_MAX_READ_BUFFER_SIZE (sizeof(MPUReport) + 1) -#define MPU_MAX_WRITE_BUFFER_SIZE (2) -/* - The MPU6000 can only handle high bus speeds on the sensor and - interrupt status registers. All other registers have a maximum 1MHz - Communication with all registers of the device is performed using either - I2C at 400kHz or SPI at 1MHz. For applications requiring faster communications, - the sensor and interrupt registers may be read using SPI at 20MHz - */ -#define MPU6000_LOW_BUS_SPEED 0 -#define MPU6000_HIGH_BUS_SPEED 0x8000 -# define MPU6000_IS_HIGH_SPEED(r) ((r) & MPU6000_HIGH_BUS_SPEED) -# define MPU6000_REG(r) ((r) &~MPU6000_HIGH_BUS_SPEED) -# define MPU6000_SET_SPEED(r, s) ((r)|(s)) -# define MPU6000_HIGH_SPEED_OP(r) MPU6000_SET_SPEED((r), MPU6000_HIGH_BUS_SPEED) -# define MPU6000_LOW_SPEED_OP(r) MPU6000_REG((r)) - -/* interface factories */ -extern device::Device *MPU6000_SPI_interface(int bus, uint32_t devid, int device_type, bool external_bus, - int bus_frequency, spi_mode_e spi_mode); -extern device::Device *MPU6000_I2C_interface(int bus, uint32_t devid, int device_type, bool external_bus, - int bus_frequency); -extern int MPU6000_probe(device::Device *dev, int device_type); - - -#define MPU6000_TIMER_REDUCTION 200 - - -class MPU6000 : public I2CSPIDriver -{ -public: - MPU6000(device::Device *interface, enum Rotation rotation, int device_type, I2CSPIBusOption bus_option, int bus); - - static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance); - static void print_usage(); - - virtual ~MPU6000(); - - int init(); - - void print_registers(); - -#ifndef CONSTRAINED_FLASH - /** - * Test behaviour against factory offsets - */ - void factory_self_test(); -#endif - - // deliberately cause a sensor error - void test_error(); - - /** - * Start automatic measurement. - */ - void start(); - - /** - * Reset chip. - * - * Resets the chip and measurements ranges, but not scale and offset. - */ - int reset(); - - void RunImpl(); - -protected: - device::Device *_interface; - - int probe(); - - void print_status() override; - - void custom_method(const BusCLIArguments &cli) override; - -private: - - int _device_type; - uint8_t _product{0}; /** product code */ - - unsigned _call_interval{1000}; - - PX4Accelerometer _px4_accel; - PX4Gyroscope _px4_gyro; - - unsigned _sample_rate{1000}; - - perf_counter_t _sample_perf; - perf_counter_t _bad_transfers; - perf_counter_t _bad_registers; - perf_counter_t _reset_retries; - perf_counter_t _duplicates; - - uint8_t _register_wait{0}; - uint64_t _reset_wait{0}; - - // this is used to support runtime checking of key - // configuration registers to detect SPI bus errors and sensor - // reset - static constexpr int MPU6000_CHECKED_PRODUCT_ID_INDEX = 0; - static constexpr int MPU6000_NUM_CHECKED_REGISTERS = 10; - - static constexpr uint8_t _checked_registers[MPU6000_NUM_CHECKED_REGISTERS] { - MPUREG_PRODUCT_ID, - MPUREG_PWR_MGMT_1, - MPUREG_USER_CTRL, - MPUREG_SMPLRT_DIV, - MPUREG_CONFIG, - MPUREG_GYRO_CONFIG, - MPUREG_ACCEL_CONFIG, - MPUREG_INT_ENABLE, - MPUREG_INT_PIN_CFG, - MPUREG_ICM_UNDOC1 - }; - - uint8_t _checked_values[MPU6000_NUM_CHECKED_REGISTERS]; - uint8_t _checked_next{0}; - - // use this to avoid processing measurements when in factory - // self test - volatile bool _in_factory_test{false}; - - // keep last accel reading for duplicate detection - uint16_t _last_accel[3] {}; - bool _got_duplicate{false}; - - /** - * Stop automatic measurement. - */ - void stop(); - - /** - * is_icm_device - */ - bool is_icm_device() { return !is_mpu_device(); } - /** - * is_mpu_device - */ - bool is_mpu_device() { return _device_type == MPU_DEVICE_TYPE_MPU6000; } - - /** - * Read a register from the MPU6000 - * - * @param The register to read. - * @return The value that was read. - */ - uint8_t read_reg(unsigned reg, uint32_t speed = MPU6000_LOW_BUS_SPEED); - uint16_t read_reg16(unsigned reg); - - - /** - * Write a register in the MPU6000 - * - * @param reg The register to write. - * @param value The new value to write. - */ - int write_reg(unsigned reg, uint8_t value); - - /** - * Modify a register in the MPU6000 - * - * Bits are cleared before bits are set. - * - * @param reg The register to modify. - * @param clearbits Bits in the register to clear. - * @param setbits Bits in the register to set. - */ - void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); - - /** - * Write a register in the MPU6000, updating _checked_values - * - * @param reg The register to write. - * @param value The new value to write. - */ - void write_checked_reg(unsigned reg, uint8_t value); - - /** - * Set the MPU6000 measurement range. - * - * @param max_g The maximum G value the range must support. - * @return OK if the value can be supported, -ERANGE otherwise. - */ - int set_accel_range(unsigned max_g); - - /* - set low pass filter frequency - */ - void _set_dlpf_filter(uint16_t frequency_hz); - void _set_icm_acc_dlpf_filter(uint16_t frequency_hz); - - /* - set sample rate (approximate) - 1kHz to 5Hz - */ - void _set_sample_rate(unsigned desired_sample_rate_hz); - - /* - check that key registers still have the right value - */ - void check_registers(void); - - /* do not allow to copy this class due to pointer data members */ - MPU6000(const MPU6000 &); - MPU6000 operator=(const MPU6000 &); - -}; diff --git a/src/drivers/imu/mpu6000/MPU6000_I2C.cpp b/src/drivers/imu/mpu6000/MPU6000_I2C.cpp deleted file mode 100644 index ce8f24f5ca..0000000000 --- a/src/drivers/imu/mpu6000/MPU6000_I2C.cpp +++ /dev/null @@ -1,123 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mpu6000_i2c.cpp - * - * I2C interface for MPU6000 /MPU6050 - */ - -#include - -#include "MPU6000.hpp" - -#ifdef PX4_I2C_MPU6050_ADDR - -device::Device *MPU6000_I2C_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency); - -class MPU6000_I2C : public device::I2C -{ -public: - MPU6000_I2C(int bus, int device_type, int bus_frequency); - ~MPU6000_I2C() override = default; - - int read(unsigned address, void *data, unsigned count) override; - int write(unsigned address, void *data, unsigned count) override; - -protected: - int probe() override; - -private: - int _device_type; - -}; - - -device::Device * -MPU6000_I2C_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency) -{ - return new MPU6000_I2C(bus, device_type, bus_frequency); -} - -MPU6000_I2C::MPU6000_I2C(int bus, int device_type, int bus_frequency) : - I2C(DRV_IMU_DEVTYPE_MPU6000, MODULE_NAME, bus, PX4_I2C_MPU6050_ADDR, bus_frequency) - _device_type(device_type) -{ -} - -int -MPU6000_I2C::write(unsigned reg_speed, void *data, unsigned count) -{ - uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE]; - - if (sizeof(cmd) < (count + 1)) { - return -EIO; - } - - cmd[0] = MPU6000_REG(reg_speed); - cmd[1] = *(uint8_t *)data; - return transfer(&cmd[0], count + 1, nullptr, 0); -} - -int -MPU6000_I2C::read(unsigned reg_speed, void *data, unsigned count) -{ - /* We want to avoid copying the data of MPUReport: So if the caller - * supplies a buffer not MPUReport in size, it is assume to be a reg or - * reg 16 read - * Since MPUReport has a cmd at front, we must return the data - * after that. Foe anthing else we must return it - */ - uint32_t offset = count < sizeof(MPUReport) ? 0 : offsetof(MPUReport, status); - uint8_t cmd = MPU6000_REG(reg_speed); - int ret = transfer(&cmd, 1, &((uint8_t *)data)[offset], count - offset); - return ret == OK ? count : ret; -} - -int -MPU6000_I2C::probe() -{ - uint8_t whoami = 0; - uint8_t expected = _device_type == MPU_DEVICE_TYPE_MPU6000 ? MPU_WHOAMI_6000 : ICM_WHOAMI_20608; - return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO; - -} -#else - -device::Device * -MPU6000_I2C_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency) -{ - return nullptr; -} - -#endif /* USE_I2C */ diff --git a/src/drivers/imu/mpu6000/MPU6000_SPI.cpp b/src/drivers/imu/mpu6000/MPU6000_SPI.cpp deleted file mode 100644 index 9de42078d2..0000000000 --- a/src/drivers/imu/mpu6000/MPU6000_SPI.cpp +++ /dev/null @@ -1,210 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mpu6000_spi.cpp - * - * Driver for the Invensense MPU6000 connected via SPI. - * - * @author Andrew Tridgell - * @author Pat Hickey - * @author David sidrane - */ - -#include - -#include "MPU6000.hpp" - -#define DIR_READ 0x80 -#define DIR_WRITE 0x00 - - -/* The MPU6000 can only handle high SPI bus speeds of 20Mhz on the sensor and -* interrupt status registers. All other registers have a maximum 1MHz -* SPI speed -* -* The ICM parts are not rated as high. -* -* The Actual Value will be rounded down by the spi driver. -* 168 Mhz CPU 180 Mhz CPU -* Selected ------------actual--------------- -* 20 Mhz 10.5 Mhz 11.250 Mhz -* 10 Mhz 5.250 Mhz 5.625 Mhz -* 8 Mhz 5.250 Mhz 5.625 Mhz -* 1 Mhz 0.703125 Mhz 0.65625 Mhz -* -*/ -#define MPU6000_LOW_SPI_BUS_SPEED 1000*1000 -#define MPU6000_HIGH_SPI_BUS_SPEED 20*1000*1000 -#define ICM20608_HIGH_SPI_BUS_SPEED 8*1000*1000 -#define ICM20689_HIGH_SPI_BUS_SPEED 8*1000*1000 -#define ICM20602_HIGH_SPI_BUS_SPEED 10*1000*1000 -#define UNKNOWN_HIGH_SPI_BUS_SPEED 8*1000*1000 // Use the minimum - - -device::Device *MPU6000_SPI_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency, - spi_mode_e spi_mode); - - -class MPU6000_SPI : public device::SPI -{ -public: - MPU6000_SPI(int bus, uint32_t device, int device_type, int bus_frequency, spi_mode_e spi_mode); - ~MPU6000_SPI() override = default; - - int read(unsigned address, void *data, unsigned count) override; - int write(unsigned address, void *data, unsigned count) override; - -protected: - int probe() override; - -private: - - int _device_type; - /* Helper to set the desired speed and isolate the register on return */ - - int _max_frequency; - void set_bus_frequency(unsigned ®_speed_reg_out); -}; - -device::Device * -MPU6000_SPI_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency, - spi_mode_e spi_mode) -{ - return new MPU6000_SPI(bus, devid, device_type, bus_frequency, spi_mode); -} - -MPU6000_SPI::MPU6000_SPI(int bus, uint32_t device, int device_type, int bus_frequency, spi_mode_e spi_mode) : - SPI(DRV_IMU_DEVTYPE_MPU6000, MODULE_NAME, bus, device, spi_mode, bus_frequency), - _device_type(device_type) -{ -} - -void -MPU6000_SPI::set_bus_frequency(unsigned ®_speed) -{ - /* Set the desired speed */ - set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? _max_frequency : MPU6000_LOW_SPI_BUS_SPEED); - - /* Isolate the register on return */ - reg_speed = MPU6000_REG(reg_speed); -} - -int -MPU6000_SPI::write(unsigned reg_speed, void *data, unsigned count) -{ - uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE]; - - if (sizeof(cmd) < (count + 1)) { - return -EIO; - } - - /* Set the desired speed and isolate the register */ - set_bus_frequency(reg_speed); - - cmd[0] = reg_speed | DIR_WRITE; - cmd[1] = *(uint8_t *)data; - - return transfer(&cmd[0], &cmd[0], count + 1); -} - -int -MPU6000_SPI::read(unsigned reg_speed, void *data, unsigned count) -{ - /* We want to avoid copying the data of MPUReport: So if the caller - * supplies a buffer not MPUReport in size, it is assume to be a reg or reg 16 read - * and we need to provied the buffer large enough for the callers data - * and our command. - */ - uint8_t cmd[3] = {0, 0, 0}; - - uint8_t *pbuff = count < sizeof(MPUReport) ? cmd : (uint8_t *) data ; - - if (count < sizeof(MPUReport)) { - /* add command */ - count++; - } - - set_bus_frequency(reg_speed); - - /* Set command */ - pbuff[0] = reg_speed | DIR_READ ; - - /* Transfer the command and get the data */ - int ret = transfer(pbuff, pbuff, count); - - if (ret == OK && pbuff == &cmd[0]) { - - /* Adjust the count back */ - count--; - - /* Return the data */ - memcpy(data, &cmd[1], count); - - } - - return ret == OK ? count : ret; -} - -int -MPU6000_SPI::probe() -{ - uint8_t whoami = 0; - uint8_t expected = MPU_WHOAMI_6000; - _max_frequency = UNKNOWN_HIGH_SPI_BUS_SPEED; - - switch (_device_type) { - - default: - case MPU_DEVICE_TYPE_MPU6000: - _max_frequency = MPU6000_HIGH_SPI_BUS_SPEED; - break; - - case MPU_DEVICE_TYPE_ICM20602: - expected = ICM_WHOAMI_20602; - _max_frequency = ICM20602_HIGH_SPI_BUS_SPEED; - break; - - case MPU_DEVICE_TYPE_ICM20608: - expected = ICM_WHOAMI_20608; - _max_frequency = ICM20608_HIGH_SPI_BUS_SPEED; - break; - - case MPU_DEVICE_TYPE_ICM20689: - expected = ICM_WHOAMI_20689; - _max_frequency = ICM20689_HIGH_SPI_BUS_SPEED; - break; - } - - return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO; -} diff --git a/src/drivers/imu/mpu6000/mpu6000_main.cpp b/src/drivers/imu/mpu6000/mpu6000_main.cpp deleted file mode 100644 index adde91207f..0000000000 --- a/src/drivers/imu/mpu6000/mpu6000_main.cpp +++ /dev/null @@ -1,213 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "MPU6000.hpp" -#include -#include - -void -MPU6000::print_usage() -{ - PRINT_MODULE_USAGE_NAME("mpu6000", "driver"); - PRINT_MODULE_USAGE_SUBCATEGORY("imu"); - PRINT_MODULE_USAGE_COMMAND("start"); - PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true); - PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); - - PRINT_MODULE_USAGE_PARAM_STRING('T', "6000", "6000|20608|20602|20689", "Device type", true); - - PRINT_MODULE_USAGE_COMMAND("reset"); - PRINT_MODULE_USAGE_COMMAND("regdump"); -#ifndef CONSTRAINED_FLASH - PRINT_MODULE_USAGE_COMMAND("factorytest"); -#endif - PRINT_MODULE_USAGE_COMMAND("testerror"); - - PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); -} - -void -MPU6000::custom_method(const BusCLIArguments &cli) -{ - switch (cli.custom1) { - case 0: reset(); - break; - - case 1: print_registers(); - break; -#ifndef CONSTRAINED_FLASH - - case 2: factory_self_test(); - break; -#endif - - case 3: test_error(); - break; - } -} - -I2CSPIDriverBase *MPU6000::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance) -{ - device::Device *interface = nullptr; - int device_type = cli.type; - - if (iterator.busType() == BOARD_I2C_BUS) { - interface = MPU6000_I2C_interface(iterator.bus(), iterator.devid(), device_type, iterator.external(), - cli.bus_frequency); - - } else if (iterator.busType() == BOARD_SPI_BUS) { - interface = MPU6000_SPI_interface(iterator.bus(), iterator.devid(), device_type, iterator.external(), - cli.bus_frequency, cli.spi_mode); - } - - if (interface == nullptr) { - PX4_ERR("alloc failed"); - return nullptr; - } - - if (interface->init() != OK) { - delete interface; - PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid()); - return nullptr; - } - - MPU6000 *dev = new MPU6000(interface, cli.rotation, device_type, iterator.configuredBusOption(), iterator.bus()); - - if (dev == nullptr) { - delete interface; - return nullptr; - } - - if (OK != dev->init()) { - delete dev; - return nullptr; - } - - dev->start(); - return dev; -} - -/** driver 'main' command */ -extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); } - -int -mpu6000_main(int argc, char *argv[]) -{ - int ch; - using ThisDriver = MPU6000; - BusCLIArguments cli{true, true}; - cli.type = MPU_DEVICE_TYPE_MPU6000; - cli.default_i2c_frequency = 400000; - cli.default_spi_frequency = 1000 * 1000; // low speed bus frequency - - while ((ch = cli.getopt(argc, argv, "T:R:")) != EOF) { - switch (ch) { - case 'T': - cli.type = atoi(cli.optarg()); - break; - - case 'R': - cli.rotation = (enum Rotation)atoi(cli.optarg()); - break; - } - } - - const char *verb = cli.optarg(); - - if (!verb) { - ThisDriver::print_usage(); - return -1; - } - - uint16_t dev_type_driver = 0; - - switch (cli.type) { - case MPU_DEVICE_TYPE_MPU6000: - dev_type_driver = DRV_IMU_DEVTYPE_MPU6000; - break; - - case MPU_DEVICE_TYPE_ICM20602: - dev_type_driver = DRV_IMU_DEVTYPE_ICM20602; - break; - - case MPU_DEVICE_TYPE_ICM20608: - dev_type_driver = DRV_IMU_DEVTYPE_ICM20608G; - break; - - case MPU_DEVICE_TYPE_ICM20689: - dev_type_driver = DRV_IMU_DEVTYPE_ICM20689; - break; - } - - BusInstanceIterator iterator(MODULE_NAME, cli, dev_type_driver); - - if (!strcmp(verb, "start")) { - return ThisDriver::module_start(cli, iterator); - } - - if (!strcmp(verb, "stop")) { - return ThisDriver::module_stop(iterator); - } - - if (!strcmp(verb, "status")) { - return ThisDriver::module_status(iterator); - } - - if (!strcmp(verb, "reset")) { - cli.custom1 = 0; - return ThisDriver::module_custom_method(cli, iterator); - } - - if (!strcmp(verb, "regdump")) { - cli.custom1 = 1; - return ThisDriver::module_custom_method(cli, iterator); - } - -#ifndef CONSTRAINED_FLASH - - if (!strcmp(verb, "factorytest")) { - cli.custom1 = 2; - return ThisDriver::module_custom_method(cli, iterator); - } - -#endif - - if (!strcmp(verb, "testerror")) { - cli.custom1 = 3; - return ThisDriver::module_custom_method(cli, iterator); - } - - ThisDriver::print_usage(); - return -1; -} diff --git a/src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp b/src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp index 6a12447992..fc98fc2793 100644 --- a/src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp +++ b/src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp @@ -239,10 +239,6 @@ void LSM9DS1::RunImpl() void LSM9DS1::ConfigureSampleRate(int sample_rate) { - if (sample_rate == 0) { - sample_rate = ST_LSM9DS1::LA_ODR; - } - // round down to nearest FIFO sample dt const float min_interval = FIFO_SAMPLE_DT; _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); diff --git a/src/drivers/lights/CMakeLists.txt b/src/drivers/lights/CMakeLists.txt index 5a16eb1ab0..5cdfcdbb85 100644 --- a/src/drivers/lights/CMakeLists.txt +++ b/src/drivers/lights/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2018 PX4 Development Team. All rights reserved. +# Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -31,7 +31,7 @@ # ############################################################################ -add_subdirectory(blinkm) +#add_subdirectory(neopixel) # requires board support (BOARD_HAS_N_S_RGB_LED) add_subdirectory(rgbled) add_subdirectory(rgbled_ncp5623c) #add_subdirectory(rgbled_pwm) # requires board support (BOARD_HAS_LED_PWM/BOARD_HAS_UI_LED_PWM) diff --git a/src/drivers/lights/blinkm/CMakeLists.txt b/src/drivers/lights/blinkm/CMakeLists.txt deleted file mode 100644 index 736f9cc83c..0000000000 --- a/src/drivers/lights/blinkm/CMakeLists.txt +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (c) 2015 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ -px4_add_module( - MODULE drivers__blinkm - MAIN blinkm - STACK_MAIN 1240 - COMPILE_FLAGS - SRCS - blinkm.cpp - DEPENDS - ) - diff --git a/src/drivers/lights/blinkm/blinkm.cpp b/src/drivers/lights/blinkm/blinkm.cpp deleted file mode 100644 index fb2d19faeb..0000000000 --- a/src/drivers/lights/blinkm/blinkm.cpp +++ /dev/null @@ -1,1046 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012-2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file blinkm.cpp - * - * Driver for the BlinkM LED controller connected via I2C. - * - * Connect the BlinkM to I2C3 and put the following line to the rc startup-script: - * blinkm start - * - * To start the system monitor put in the next line after the blinkm start: - * blinkm systemmonitor - * - * - * Description: - * After startup, the Application checked how many lipo cells are connected to the System. - * The recognized number off cells, will be blinked 5 times in purple color. - * 2 Cells = 2 blinks - * ... - * 6 Cells = 6 blinks - * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts. - * - * System disarmed and safe: - * The BlinkM should light solid cyan. - * - * System safety off but not armed: - * The BlinkM should light flashing orange - * - * System armed: - * One message is made of 4 Blinks and a pause in the same length as the 4 blinks. - * - * X-X-X-X-_-_-_-_-_-_- - * ------------------------- - * G G G M - * P P P O - * S S S D - * E - * - * (X = on, _=off) - * - * The first 3 blinks indicates the status of the GPS-Signal (red): - * 0-4 satellites = X-X-X-X-X-_-_-_-_-_- - * 5 satellites = X-X-_-X-X-_-_-_-_-_- - * 6 satellites = X-_-_-X-X-_-_-_-_-_- - * >=7 satellites = _-_-_-X-X-_-_-_-_-_- - * If no GPS is found the first 3 blinks are white - * - * The fourth Blink indicates the Flightmode: - * MANUAL : amber - * STABILIZED : yellow - * HOLD : blue - * AUTO : green - * - * Battery Warning (low Battery Level): - * Continuously blinking in yellow X-X-X-X-X-X-X-X-X-X - * - * Battery Alert (critical Battery Level) - * Continuously blinking in red X-X-X-X-X-X-X-X-X-X - * - * General Error (no uOrb Data) - * Continuously blinking in white X-X-X-X-X-X-X-X-X-X - * - */ - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -static const int LED_ONTIME = 120; -static const int LED_OFFTIME = 120; -static const int LED_BLINK = 1; -static const int LED_NOBLINK = 0; - -class BlinkM : public device::I2C, public I2CSPIDriver -{ -public: - BlinkM(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address); - ~BlinkM() override; - - static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance); - static void print_usage(); - - void custom_method(const BusCLIArguments &cli) override; - - virtual int init(); - virtual int probe(); - virtual int setMode(int mode); - virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); - - static const char *const script_names[]; - - void RunImpl(); -private: - enum ScriptID { - USER = 0, - RGB, - WHITE_FLASH, - RED_FLASH, - GREEN_FLASH, - BLUE_FLASH, - CYAN_FLASH, - MAGENTA_FLASH, - YELLOW_FLASH, - BLACK, - HUE_CYCLE, - MOOD_LIGHT, - VIRTUAL_CANDLE, - WATER_REFLECTIONS, - OLD_NEON, - THE_SEASONS, - THUNDERSTORM, - STOP_LIGHT, - MORSE_CODE - }; - - enum ledColors { - LED_OFF, - LED_RED, - LED_ORANGE, - LED_YELLOW, - LED_PURPLE, - LED_GREEN, - LED_BLUE, - LED_CYAN, - LED_WHITE, - LED_AMBER - }; - - int led_color_1; - int led_color_2; - int led_color_3; - int led_color_4; - int led_color_5; - int led_color_6; - int led_color_7; - int led_color_8; - int led_blink; - - bool systemstate_run; - - uORB::Subscription vehicle_status_sub{ORB_ID(vehicle_status)}; - uORB::Subscription battery_status_sub{ORB_ID(battery_status)}; - uORB::Subscription vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; - uORB::Subscription vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)}; - uORB::Subscription actuator_armed_sub{ORB_ID(actuator_armed)}; - uORB::Subscription safety_sub{ORB_ID(safety)}; - - int num_of_cells; - int detected_cells_runcount; - int t_led_color[8]; - int t_led_blink; - int led_thread_runcount; - int led_interval; - - bool detected_cells_blinked; - bool led_thread_ready; - - int num_of_used_sats; - - void setLEDColor(int ledcolor); - - int set_rgb(uint8_t r, uint8_t g, uint8_t b); - - int fade_rgb(uint8_t r, uint8_t g, uint8_t b); - int fade_hsb(uint8_t h, uint8_t s, uint8_t b); - - int fade_rgb_random(uint8_t r, uint8_t g, uint8_t b); - int fade_hsb_random(uint8_t h, uint8_t s, uint8_t b); - - int set_fade_speed(uint8_t s); - - int play_script(uint8_t script_id); - int play_script(const char *script_name); - int stop_script(); - - int write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3); - int read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]); - int set_script(uint8_t length, uint8_t repeats); - - int get_rgb(uint8_t &r, uint8_t &g, uint8_t &b); - - int get_firmware_version(uint8_t version[2]); -}; - -/* list of script names, must match script ID numbers */ -const char *const BlinkM::script_names[] = { - "USER", - "RGB", - "WHITE_FLASH", - "RED_FLASH", - "GREEN_FLASH", - "BLUE_FLASH", - "CYAN_FLASH", - "MAGENTA_FLASH", - "YELLOW_FLASH", - "BLACK", - "HUE_CYCLE", - "MOOD_LIGHT", - "VIRTUAL_CANDLE", - "WATER_REFLECTIONS", - "OLD_NEON", - "THE_SEASONS", - "THUNDERSTORM", - "STOP_LIGHT", - "MORSE_CODE", - nullptr -}; - - -extern "C" __EXPORT int blinkm_main(int argc, char *argv[]); - -BlinkM::BlinkM(I2CSPIBusOption bus_option, const int bus, int bus_frequency, const int address) : - I2C(DRV_LED_DEVTYPE_BLINKM, MODULE_NAME, bus, address, bus_frequency), - I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address), - led_color_1(LED_OFF), - led_color_2(LED_OFF), - led_color_3(LED_OFF), - led_color_4(LED_OFF), - led_color_5(LED_OFF), - led_color_6(LED_OFF), - led_color_7(LED_OFF), - led_color_8(LED_OFF), - led_blink(LED_NOBLINK), - systemstate_run(false), - num_of_cells(0), - detected_cells_runcount(0), - t_led_color{0}, - t_led_blink(0), - led_thread_runcount(0), - led_interval(1000), - detected_cells_blinked(false), - led_thread_ready(true), - num_of_used_sats(0) -{ - // now register the driver - register_driver(BLINKM0_DEVICE_PATH, &fops, 0666, (void *)this); -} - -BlinkM::~BlinkM() -{ - unregister_driver(BLINKM0_DEVICE_PATH); -} - -int -BlinkM::init() -{ - int ret = I2C::init(); - - if (ret != OK) { - warnx("I2C init failed"); - return ret; - } - - stop_script(); - set_rgb(0, 0, 0); - - return OK; -} - -int -BlinkM::setMode(int mode) -{ - if (mode == 1) { - if (systemstate_run == false) { - stop_script(); - set_rgb(0, 0, 0); - systemstate_run = true; - ScheduleNow(); - } - - } else { - systemstate_run = false; - } - - return OK; -} - -int -BlinkM::probe() -{ - uint8_t version[2]; - int ret; - - ret = get_firmware_version(version); - - if (ret == OK) { - DEVICE_DEBUG("found BlinkM firmware version %c%c", version[1], version[0]); - } - - return ret; -} - -int -BlinkM::ioctl(device::file_t *filp, int cmd, unsigned long arg) -{ - int ret = ENOTTY; - - switch (cmd) { - case BLINKM_PLAY_SCRIPT_NAMED: - if (arg == 0) { - ret = EINVAL; - break; - } - - ret = play_script((const char *)arg); - break; - - case BLINKM_PLAY_SCRIPT: - ret = play_script(arg); - break; - - case BLINKM_SET_USER_SCRIPT: { - if (arg == 0) { - ret = EINVAL; - break; - } - - unsigned lines = 0; - const uint8_t *script = (const uint8_t *)arg; - - while ((lines < 50) && (script[1] != 0)) { - ret = write_script_line(lines, script[0], script[1], script[2], script[3], script[4]); - - if (ret != OK) { - break; - } - - script += 5; - } - - if (ret == OK) { - ret = set_script(lines, 0); - } - - break; - } - - default: - break; - } - - return ret; -} - - -void -BlinkM::RunImpl() -{ - if (led_thread_ready == true) { - if (!detected_cells_blinked) { - if (num_of_cells > 0) { - t_led_color[0] = LED_PURPLE; - } - - if (num_of_cells > 1) { - t_led_color[1] = LED_PURPLE; - } - - if (num_of_cells > 2) { - t_led_color[2] = LED_PURPLE; - } - - if (num_of_cells > 3) { - t_led_color[3] = LED_PURPLE; - } - - if (num_of_cells > 4) { - t_led_color[4] = LED_PURPLE; - } - - if (num_of_cells > 5) { - t_led_color[5] = LED_PURPLE; - } - - t_led_color[6] = LED_OFF; - t_led_color[7] = LED_OFF; - t_led_blink = LED_BLINK; - - } else { - t_led_color[0] = led_color_1; - t_led_color[1] = led_color_2; - t_led_color[2] = led_color_3; - t_led_color[3] = led_color_4; - t_led_color[4] = led_color_5; - t_led_color[5] = led_color_6; - t_led_color[6] = led_color_7; - t_led_color[7] = led_color_8; - t_led_blink = led_blink; - } - - led_thread_ready = false; - } - - if (led_thread_runcount & 1) { - if (t_led_blink) { - setLEDColor(LED_OFF); - } - - led_interval = LED_OFFTIME; - - } else { - setLEDColor(t_led_color[(led_thread_runcount / 2) % 8]); - //led_interval = (led_thread_runcount & 1) : LED_ONTIME; - led_interval = LED_ONTIME; - } - - if (led_thread_runcount == 15) { - int no_data_vehicle_status = 0; - int no_data_battery_status = 0; - int no_data_vehicle_control_mode = 0; - int no_data_actuator_armed = 0; - int no_data_vehicle_gps_position = 0; - - - vehicle_status_s vehicle_status_raw{}; - bool new_data_vehicle_status = vehicle_status_sub.updated(); - - if (new_data_vehicle_status) { - vehicle_status_sub.copy(&vehicle_status_raw); - no_data_vehicle_status = 0; - - } else { - no_data_vehicle_status++; - - if (no_data_vehicle_status >= 3) { - no_data_vehicle_status = 3; - } - } - - - battery_status_s battery_status{}; - bool new_data_battery_status = battery_status_sub.updated(); - - if (new_data_battery_status) { - battery_status_sub.copy(&battery_status); - - } else { - no_data_battery_status++; - - if (no_data_battery_status >= 3) { - no_data_battery_status = 3; - } - } - - - vehicle_control_mode_s vehicle_control_mode{}; - bool new_data_vehicle_control_mode = vehicle_control_mode_sub.updated(); - - if (new_data_vehicle_control_mode) { - vehicle_control_mode_sub.copy(&vehicle_control_mode); - no_data_vehicle_control_mode = 0; - - } else { - no_data_vehicle_control_mode++; - - if (no_data_vehicle_control_mode >= 3) { - no_data_vehicle_control_mode = 3; - } - } - - - actuator_armed_s actuator_armed{}; - bool new_data_actuator_armed = actuator_armed_sub.updated(); - - if (new_data_actuator_armed) { - actuator_armed_sub.copy(&actuator_armed); - no_data_actuator_armed = 0; - - } else { - no_data_actuator_armed++; - - if (no_data_actuator_armed >= 3) { - no_data_actuator_armed = 3; - } - } - - - vehicle_gps_position_s vehicle_gps_position_raw{}; - bool new_data_vehicle_gps_position = vehicle_gps_position_sub.updated(); - - if (new_data_vehicle_gps_position) { - vehicle_gps_position_sub.copy(&vehicle_gps_position_raw); - no_data_vehicle_gps_position = 0; - - } else { - no_data_vehicle_gps_position++; - - if (no_data_vehicle_gps_position >= 3) { - no_data_vehicle_gps_position = 3; - } - } - - - /* update safety topic */ - safety_s safety{}; - bool new_data_safety = safety_sub.updated(); - - if (new_data_safety) { - safety_sub.copy(&safety); - } - - /* get number of used satellites in navigation */ - num_of_used_sats = vehicle_gps_position_raw.satellites_used; - - if (new_data_battery_status || no_data_battery_status < 3) { - if (num_of_cells == 0) { - - num_of_cells = battery_status.cell_count; - - } else { - if (battery_status.warning == battery_status_s::BATTERY_WARNING_CRITICAL) { - /* LED Pattern for battery critical alerting */ - led_color_1 = LED_RED; - led_color_2 = LED_RED; - led_color_3 = LED_RED; - led_color_4 = LED_RED; - led_color_5 = LED_RED; - led_color_6 = LED_RED; - led_color_7 = LED_RED; - led_color_8 = LED_RED; - led_blink = LED_BLINK; - - } else if (vehicle_status_raw.rc_signal_lost) { - /* LED Pattern for FAILSAFE */ - led_color_1 = LED_BLUE; - led_color_2 = LED_BLUE; - led_color_3 = LED_BLUE; - led_color_4 = LED_BLUE; - led_color_5 = LED_BLUE; - led_color_6 = LED_BLUE; - led_color_7 = LED_BLUE; - led_color_8 = LED_BLUE; - led_blink = LED_BLINK; - - } else if (battery_status.warning == battery_status_s::BATTERY_WARNING_LOW) { - /* LED Pattern for battery low warning */ - led_color_1 = LED_YELLOW; - led_color_2 = LED_YELLOW; - led_color_3 = LED_YELLOW; - led_color_4 = LED_YELLOW; - led_color_5 = LED_YELLOW; - led_color_6 = LED_YELLOW; - led_color_7 = LED_YELLOW; - led_color_8 = LED_YELLOW; - led_blink = LED_BLINK; - - } else { - /* no battery warnings here */ - - if (actuator_armed.armed == false) { - /* system not armed */ - if (safety.safety_off) { - led_color_1 = LED_ORANGE; - led_color_2 = LED_ORANGE; - led_color_3 = LED_ORANGE; - led_color_4 = LED_ORANGE; - led_color_5 = LED_ORANGE; - led_color_6 = LED_ORANGE; - led_color_7 = LED_ORANGE; - led_color_8 = LED_ORANGE; - led_blink = LED_BLINK; - - } else { - led_color_1 = LED_CYAN; - led_color_2 = LED_CYAN; - led_color_3 = LED_CYAN; - led_color_4 = LED_CYAN; - led_color_5 = LED_CYAN; - led_color_6 = LED_CYAN; - led_color_7 = LED_CYAN; - led_color_8 = LED_CYAN; - led_blink = LED_NOBLINK; - } - - } else { - /* armed system - initial led pattern */ - led_color_1 = LED_RED; - led_color_2 = LED_RED; - led_color_3 = LED_RED; - led_color_4 = LED_OFF; - led_color_5 = LED_OFF; - led_color_6 = LED_OFF; - led_color_7 = LED_OFF; - led_color_8 = LED_OFF; - led_blink = LED_BLINK; - - if (new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { - - /* indicate main control state */ - if (vehicle_control_mode.flag_control_auto_enabled) { - led_color_4 = LED_BLUE; - - } else if (vehicle_control_mode.flag_control_position_enabled) { - led_color_4 = LED_GREEN; - - } else if (vehicle_control_mode.flag_control_altitude_enabled) { - led_color_4 = LED_YELLOW; - - } else if (vehicle_control_mode.flag_control_manual_enabled) { - led_color_4 = LED_WHITE; - - } else { - led_color_4 = LED_OFF; - } - - led_color_5 = led_color_4; - } - - if (new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) { - /* handling used satus */ - if (num_of_used_sats >= 7) { - led_color_1 = LED_OFF; - led_color_2 = LED_OFF; - led_color_3 = LED_OFF; - - } else if (num_of_used_sats == 6) { - led_color_2 = LED_OFF; - led_color_3 = LED_OFF; - - } else if (num_of_used_sats == 5) { - led_color_3 = LED_OFF; - } - - } else { - /* no vehicle_gps_position data */ - led_color_1 = LED_WHITE; - led_color_2 = LED_WHITE; - led_color_3 = LED_WHITE; - - } - - } - } - } - - } else { - /* LED Pattern for general Error - no vehicle_status can retrieved */ - led_color_1 = LED_WHITE; - led_color_2 = LED_WHITE; - led_color_3 = LED_WHITE; - led_color_4 = LED_WHITE; - led_color_5 = LED_WHITE; - led_color_6 = LED_WHITE; - led_color_7 = LED_WHITE; - led_color_8 = LED_WHITE; - led_blink = LED_BLINK; - - } - - /* - printf( " Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n", - vehicle_status_raw.voltage_battery, - vehicle_status_raw.flag_system_armed, - vehicle_status_raw.flight_mode, - num_of_cells, - no_data_vehicle_status, - no_data_vehicle_gps_position, - num_of_used_sats, - vehicle_gps_position_raw.fix_type, - vehicle_gps_position_raw.satellites_visible); - */ - - led_thread_runcount = 0; - led_thread_ready = true; - led_interval = LED_OFFTIME; - - if (detected_cells_runcount < 4) { - detected_cells_runcount++; - - } else { - detected_cells_blinked = true; - } - - } else { - led_thread_runcount++; - } - - if (systemstate_run == true) { - /* re-queue ourselves to run again later */ - ScheduleDelayed(led_interval); - - } else { - stop_script(); - set_rgb(0, 0, 0); - } -} - -void BlinkM::setLEDColor(int ledcolor) -{ - switch (ledcolor) { - case LED_OFF: // off - set_rgb(0, 0, 0); - break; - - case LED_RED: // red - set_rgb(255, 0, 0); - break; - - case LED_ORANGE: // orange - set_rgb(255, 150, 0); - break; - - case LED_YELLOW: // yellow - set_rgb(200, 200, 0); - break; - - case LED_PURPLE: // purple - set_rgb(255, 0, 255); - break; - - case LED_GREEN: // green - set_rgb(0, 255, 0); - break; - - case LED_BLUE: // blue - set_rgb(0, 0, 255); - break; - - case LED_CYAN: // cyan - set_rgb(0, 128, 128); - break; - - case LED_WHITE: // white - set_rgb(255, 255, 255); - break; - - case LED_AMBER: // amber - set_rgb(255, 65, 0); - break; - } -} - -int -BlinkM::set_rgb(uint8_t r, uint8_t g, uint8_t b) -{ - const uint8_t msg[4] = { 'n', r, g, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_rgb(uint8_t r, uint8_t g, uint8_t b) -{ - const uint8_t msg[4] = { 'c', r, g, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_hsb(uint8_t h, uint8_t s, uint8_t b) -{ - const uint8_t msg[4] = { 'h', h, s, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_rgb_random(uint8_t r, uint8_t g, uint8_t b) -{ - const uint8_t msg[4] = { 'C', r, g, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_hsb_random(uint8_t h, uint8_t s, uint8_t b) -{ - const uint8_t msg[4] = { 'H', h, s, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::set_fade_speed(uint8_t s) -{ - const uint8_t msg[2] = { 'f', s }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::play_script(uint8_t script_id) -{ - const uint8_t msg[4] = { 'p', script_id, 0, 0 }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::play_script(const char *script_name) -{ - /* handle HTML colour encoding */ - if (isxdigit(script_name[0]) && (strlen(script_name) == 6)) { - char code[3]; - uint8_t r, g, b; - - code[2] = '\0'; - - code[0] = script_name[1]; - code[1] = script_name[2]; - r = strtol(code, 0, 16); - code[0] = script_name[3]; - code[1] = script_name[4]; - g = strtol(code, 0, 16); - code[0] = script_name[5]; - code[1] = script_name[6]; - b = strtol(code, 0, 16); - - stop_script(); - return set_rgb(r, g, b); - } - - for (unsigned i = 0; script_names[i] != nullptr; i++) - if (!strcasecmp(script_name, script_names[i])) { - return play_script(i); - } - - return -1; -} - -int -BlinkM::stop_script() -{ - const uint8_t msg[1] = { 'o' }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3) -{ - const uint8_t msg[8] = { 'W', 0, line, ticks, cmd, arg1, arg2, arg3 }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]) -{ - const uint8_t msg[3] = { 'R', 0, line }; - uint8_t result[5]; - - int ret = transfer(msg, sizeof(msg), result, sizeof(result)); - - if (ret == OK) { - ticks = result[0]; - cmd[0] = result[1]; - cmd[1] = result[2]; - cmd[2] = result[3]; - cmd[3] = result[4]; - } - - return ret; -} - -int -BlinkM::set_script(uint8_t len, uint8_t repeats) -{ - const uint8_t msg[4] = { 'L', 0, len, repeats }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b) -{ - const uint8_t msg = 'g'; - uint8_t result[3]; - - int ret = transfer(&msg, sizeof(msg), result, sizeof(result)); - - if (ret == OK) { - r = result[0]; - g = result[1]; - b = result[2]; - } - - return ret; -} - -int -BlinkM::get_firmware_version(uint8_t version[2]) -{ - const uint8_t msg = 'Z'; - - return transfer(&msg, sizeof(msg), version, 2); -} - -void -BlinkM::print_usage() -{ - PRINT_MODULE_USAGE_NAME("blinkm", "driver"); - PRINT_MODULE_USAGE_COMMAND("start"); - PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); - PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(9); - PRINT_MODULE_USAGE_COMMAND("systemstate"); - PRINT_MODULE_USAGE_COMMAND("ledoff"); - PRINT_MODULE_USAGE_COMMAND("list"); - PRINT_MODULE_USAGE_COMMAND("script"); - PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "", "Script file name", false); - PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); -} - -I2CSPIDriverBase *BlinkM::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance) -{ - BlinkM *instance = new BlinkM(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address); - - if (instance == nullptr) { - PX4_ERR("alloc failed"); - return nullptr; - } - - if (instance->init() != PX4_OK) { - delete instance; - return nullptr; - } - - return instance; -} - -void -BlinkM::custom_method(const BusCLIArguments &cli) -{ - setMode(cli.custom1); -} - -extern "C" __EXPORT int blinkm_main(int argc, char *argv[]) -{ - int ch; - using ThisDriver = BlinkM; - BusCLIArguments cli{true, false}; - cli.default_i2c_frequency = 100000; - cli.i2c_address = 9; - const char *script = nullptr; - - while ((ch = cli.getopt(argc, argv, "n:")) != EOF) { - switch (ch) { - case 'n': - script = cli.optarg(); - break; - } - } - - const char *verb = cli.optarg(); - - if (!verb) { - ThisDriver::print_usage(); - return -1; - } - - BusInstanceIterator iterator(MODULE_NAME, cli, DRV_LED_DEVTYPE_BLINKM); - - if (!strcmp(verb, "start")) { - return ThisDriver::module_start(cli, iterator); - } - - if (!strcmp(verb, "stop")) { - return ThisDriver::module_stop(iterator); - } - - if (!strcmp(verb, "status")) { - return ThisDriver::module_status(iterator); - } - - if (!strcmp(verb, "systemstate")) { - cli.custom1 = 1; - return ThisDriver::module_custom_method(cli, iterator); - } - - if (!strcmp(verb, "ledoff")) { - cli.custom1 = 0; - return ThisDriver::module_custom_method(cli, iterator); - } - - if (!strcmp(verb, "list")) { - for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++) { - PX4_INFO(" %s", BlinkM::script_names[i]); - } - - PX4_INFO(" "); - return 0; - } - - if (!strcmp(verb, "script") && script) { - /* things that require access to the device */ - int fd = px4_open(BLINKM0_DEVICE_PATH, 0); - - if (fd < 0) { - PX4_ERR("can't open BlinkM device"); - return 1; - } - - px4_ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)script); - - px4_close(fd); - return 0; - } - - ThisDriver::print_usage(); - return -1; -} diff --git a/src/drivers/linux_pwm_out/CMakeLists.txt b/src/drivers/linux_pwm_out/CMakeLists.txt index 5d19e2ffc3..38ee56b94a 100644 --- a/src/drivers/linux_pwm_out/CMakeLists.txt +++ b/src/drivers/linux_pwm_out/CMakeLists.txt @@ -36,11 +36,7 @@ px4_add_module( MAIN linux_pwm_out COMPILE_FLAGS SRCS - PCA9685.cpp - navio_sysfs.cpp linux_pwm_out.cpp - ocpoc_mmap.cpp - bbblue_pwm_rc.cpp DEPENDS output_limit ) diff --git a/src/drivers/linux_pwm_out/PCA9685.cpp b/src/drivers/linux_pwm_out/PCA9685.cpp deleted file mode 100644 index 47dd089610..0000000000 --- a/src/drivers/linux_pwm_out/PCA9685.cpp +++ /dev/null @@ -1,193 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2017 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * - * Original Author : Georgi Todorov - * Edited by : Tord Wessman - * Created on : Nov 22, 2013 - * Rewrite : Fan.zhang 421395590@qq.com - * Updated on : Mar 2, 2017 - ****************************************************************************/ - -#include -#include -#include -#include -#include /* Standard I/O functions */ -#include -#include -#include -#include -#include -#include - -#include "PCA9685.h" - -#include - -using namespace linux_pwm_out; - -int PCA9685::init(int bus, int address) -{ - _fd = open_fd(bus, address); - reset(); - - usleep(1000 * 100); - /* 12BIT 精度输出下，好赢电调可以到200HZ刷新 */ - /* 200HZ for 12bit Resolution, supported by most of the esc's */ - setPWMFreq(200); - usleep(1000 * 1000); - return 0; -} - -int PCA9685::send_output_pwm(const uint16_t *pwm, int num_outputs) -{ - if (num_outputs > 16) { - num_outputs = 16; - } - - for (int i = 0; i < num_outputs; ++i) { - setPWM(i, pwm[i]); - } - - return 0; -} - -PCA9685::PCA9685() -{ - init(PCA9685_DEFAULT_I2C_BUS, PCA9685_DEFAULT_I2C_ADDR); -} - -PCA9685::PCA9685(int bus, int address) -{ - init(bus, address); -} - -PCA9685::~PCA9685() -{ - reset(); - - if (_fd >= 0) { - close(_fd); - } -} - -void PCA9685::reset() -{ - if (_fd != -1) { - write_byte(_fd, MODE1, 0x00); //Normal mode - write_byte(_fd, MODE2, 0x04); //Normal mode - } -} - -void PCA9685::setPWMFreq(int freq) -{ - if (_fd != -1) { - uint8_t prescale = (CLOCK_FREQ / MAX_PWM_RES / freq) - 1; - //printf ("Setting prescale value to: %d\n", prescale); - //printf ("Using Frequency: %d\n", freq); - - uint8_t oldmode = read_byte(_fd, MODE1); - uint8_t newmode = (oldmode & 0x7F) | 0x10; //sleep - write_byte(_fd, MODE1, newmode); // go to sleep - write_byte(_fd, PRE_SCALE, prescale); - write_byte(_fd, MODE1, oldmode); - usleep(10 * 1000); - write_byte(_fd, MODE1, oldmode | 0x80); - } -} - - -void PCA9685::setPWM(uint8_t led, int value) -{ - setPWM(led, 0, value); -} - -void PCA9685::setPWM(uint8_t led, int on_value, int off_value) -{ - if (_fd != -1) { - write_byte(_fd, LED0_ON_L + LED_MULTIPLYER * led, on_value & 0xFF); - - write_byte(_fd, LED0_ON_H + LED_MULTIPLYER * led, on_value >> 8); - - write_byte(_fd, LED0_OFF_L + LED_MULTIPLYER * led, off_value & 0xFF); - - write_byte(_fd, LED0_OFF_H + LED_MULTIPLYER * led, off_value >> 8); - } - -} - -uint8_t PCA9685::read_byte(int fd, uint8_t address) -{ - - uint8_t buf[1]; - buf[0] = address; - - if (write(fd, buf, 1) != 1) { - return -1; - } - - if (read(fd, buf, 1) != 1) { - return -1; - } - - return buf[0]; -} - -void PCA9685::write_byte(int fd, uint8_t address, uint8_t data) -{ - uint8_t buf[2]; - buf[0] = address; - buf[1] = data; - - if (write(fd, buf, sizeof(buf)) != sizeof(buf)) { - PX4_ERR("Write failed (%i)", errno); - } -} - -int PCA9685::open_fd(int bus, int address) -{ - int fd; - char bus_file[64]; - snprintf(bus_file, sizeof(bus_file), "/dev/i2c-%d", bus); - - if ((fd = open(bus_file, O_RDWR)) < 0) { - PX4_ERR("Couldn't open I2C Bus %d [open_fd():open %d]", bus, errno); - return -1; - } - - if (ioctl(fd, I2C_SLAVE, address) < 0) { - PX4_ERR("I2C slave %d failed [open_fd():ioctl %d]", address, errno); - return -1; - } - - return fd; -} diff --git a/src/drivers/linux_pwm_out/PCA9685.h b/src/drivers/linux_pwm_out/PCA9685.h deleted file mode 100644 index 71a58275e9..0000000000 --- a/src/drivers/linux_pwm_out/PCA9685.h +++ /dev/null @@ -1,143 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2017 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * - * Original Author : Georgi Todorov - * Edited by : Tord Wessman - * Created on : Nov 22, 2013 - * Rewrite : Fan.zhang 421395590@qq.com - * Updated on : Mar 2, 2017 - ****************************************************************************/ - -#pragma once -#include -#include "common.h" - -namespace linux_pwm_out -{ - -// Register Definitions -// 寄存器定义 -#define MODE1 0x00 //Mode register 1 -#define MODE2 0x01 //Mode register 2 -#define SUBADR1 0x02 //I2C-bus subaddress 1 -#define SUBADR2 0x03 //I2C-bus subaddress 2 -#define SUBADR3 0x04 //I2C-bus subaddress 3 -#define ALLCALLADR 0x05 //LED All Call I2C-bus address -#define LED0 0x6 //LED0 start register -#define LED0_ON_L 0x6 //LED0 output and brightness control byte 0 -#define LED0_ON_H 0x7 //LED0 output and brightness control byte 1 -#define LED0_OFF_L 0x8 //LED0 output and brightness control byte 2 -#define LED0_OFF_H 0x9 //LED0 output and brightness control byte 3 -#define LED_MULTIPLYER 4 // For the other 15 channels -#define ALLLED_ON_L 0xFA //load all the LEDn_ON registers, byte 0 (turn 0-7 channels on) -#define ALLLED_ON_H 0xFB //load all the LEDn_ON registers, byte 1 (turn 8-15 channels on) -#define ALLLED_OFF_L 0xFC //load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off) -#define ALLLED_OFF_H 0xFD //load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off) -#define PRE_SCALE 0xFE //prescaler for output frequency -#define MAX_PWM_RES 4096 //Resolution 4096=12bit 分辨率，按2的阶乘计算，12bit为4096 -#define CLOCK_FREQ 25000000.0 //25MHz default osc clock -#define PCA9685_DEFAULT_I2C_ADDR 0x40 // default i2c address for pca9685 默认i2c地址为0x40 -#define PCA9685_DEFAULT_I2C_BUS 1 // default i2c bus for pca9685 默认为1 - -//! Main class that exports features for PCA9685 chip -class PCA9685 : public PWMOutBase -{ -public: - - PCA9685(); - - /** - * Constructor takes bus and address arguments - * @param bus the bus to use in /dev/i2c-%d. - * @param address the device address on bus - */ - PCA9685(int bus, int address); - - int init() override { return _fd >= 0 ? 0 : -1; } - - int send_output_pwm(const uint16_t *pwm, int num_outputs) override; - - - int init(int bus, int address); - virtual ~PCA9685(); - - /** Sets PCA9685 mode to 00 */ - void reset(); - - /** - * Set the frequency of PWM - * @param freq desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator. - */ - void setPWMFreq(int freq); - - /** - * PWM a single channel with custom on time. - * send pwm vale to led(channel) - * @param channel - * @param on_value 0-4095 value to turn on the pulse - * @param off_value 0-4095 value to turn off the pulse - */ - void setPWM(uint8_t channel, int on_value, int off_value); - - /** - * send pwm value to led(channel), - * value should be range of 0-4095 - */ - void setPWM(uint8_t channel, int value); - -private: - int _fd = -1; ///< I2C device file descriptor - - /** - * Read a single byte from PCA9685 - * @param fd file descriptor for I/O - * @param address register address to read from - * @return read byte - */ - uint8_t read_byte(int fd, uint8_t address); - - /** - * Write a single byte to PCA9685 - * @param fd file descriptor for I/O - * @param address register address to write to - * @param data 8 bit data to write - */ - void write_byte(int fd, uint8_t address, uint8_t data); - - /** - * Open device file for PCA9685 I2C bus - * @return fd returns the file descriptor number or -1 on error - */ - int open_fd(int bus, int address); -}; - -} diff --git a/src/drivers/linux_pwm_out/linux_pwm_out.cpp b/src/drivers/linux_pwm_out/linux_pwm_out.cpp index fd360187f6..d19da24c67 100644 --- a/src/drivers/linux_pwm_out/linux_pwm_out.cpp +++ b/src/drivers/linux_pwm_out/linux_pwm_out.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015-2017 PX4 Development Team. All rights reserved. + * Copyright (c) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,567 +31,340 @@ * ****************************************************************************/ -#include -#include -#include -#include - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include +#include "linux_pwm_out.hpp" +#include #include -#include -#include -#include -#include -#include -#include -#include "common.h" -#include "navio_sysfs.h" -#include "PCA9685.h" -#include "ocpoc_mmap.h" -#include "bbblue_pwm_rc.h" +using namespace pwm_out; -using namespace time_literals; - -namespace linux_pwm_out +LinuxPWMOut::LinuxPWMOut() : + CDev("/dev/pwm_out"), + OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default), + _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")), + _interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval")) { -static px4_task_t _task_handle = -1; -volatile bool _task_should_exit = false; -static bool _is_running = false; - -static char _device[64] = "/sys/class/pwm/pwmchip0"; -static char _protocol[64] = "navio"; -static int _max_num_outputs = 8; ///< maximum number of outputs the driver should use -static char _mixer_filename[64] = "etc/mixers/quad_x.main.mix"; - -// subscriptions -int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; -int _armed_sub = -1; - -// publications -orb_advert_t _outputs_pub = nullptr; -orb_advert_t _rc_pub = nullptr; - -perf_counter_t _perf_control_latency = nullptr; - -// topic structures -actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; -orb_id_t _controls_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; -actuator_outputs_s _outputs; -actuator_armed_s _armed; - -// polling -uint8_t _poll_fds_num = 0; -px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; - -// control groups related -uint32_t _groups_required = 0; -uint32_t _groups_subscribed = 0; - -output_limit_t _pwm_limit; - -// esc parameters -int32_t _pwm_disarmed; -int32_t _pwm_min; -int32_t _pwm_max; - -MixerGroup *_mixer_group = nullptr; - -static void usage(); - -static void start(); - -static void stop(); - -static int task_main_trampoline(int argc, char *argv[]); - -static void subscribe(); - -static void task_main(int argc, char *argv[]); - -static void update_params(Mixer::Airmode &airmode); - -/* mixer initialization */ -int initialize_mixer(const char *mixer_filename); -int mixer_control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input); - - -int mixer_control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input) -{ - const actuator_controls_s *controls = (actuator_controls_s *)handle; - input = controls[control_group].control[control_index]; - - return 0; + _mixing_output.setAllMinValues(PWM_DEFAULT_MIN); + _mixing_output.setAllMaxValues(PWM_DEFAULT_MAX); } - -void update_params(Mixer::Airmode &airmode) +LinuxPWMOut::~LinuxPWMOut() { - // multicopter air-mode - param_t param_handle = param_find("MC_AIRMODE"); + /* clean up the alternate device node */ + unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance); - if (param_handle != PARAM_INVALID) { - param_get(param_handle, (int32_t *)&airmode); + perf_free(_cycle_perf); + perf_free(_interval_perf); + delete _pwm_out; +} + +int LinuxPWMOut::init() +{ + /* do regular cdev init */ + int ret = CDev::init(); + + if (ret != OK) { + return ret; } + + /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ + _class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH); + + _mixing_output.setDriverInstance(_class_instance); + + _pwm_out = new BOARD_PWM_OUT_IMPL(MAX_ACTUATORS); + + ret = _pwm_out->init(); + + if (ret != 0) { + PX4_ERR("PWM output init failed"); + delete _pwm_out; + _pwm_out = nullptr; + return ret; + } + + update_params(); + + ScheduleNow(); + + return ret; } - -int initialize_mixer(const char *mixer_filename) +int LinuxPWMOut::task_spawn(int argc, char *argv[]) { - char buf[4096]; - unsigned buflen = sizeof(buf); - memset(buf, '\0', buflen); + LinuxPWMOut *instance = new LinuxPWMOut(); - _mixer_group = new MixerGroup(); + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; - // PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename); - - if (load_mixer_file(mixer_filename, buf, buflen) == 0) { - if (_mixer_group->load_from_buf(mixer_control_callback, (uintptr_t) &_controls, buf, buflen) == 0) { - PX4_INFO("Loaded mixer from file %s", mixer_filename); - return 0; - - } else { - PX4_ERR("Unable to parse from mixer config file %s", mixer_filename); + if (instance->init() == PX4_OK) { + return PX4_OK; } } else { - PX4_ERR("Unable to load config file %s", mixer_filename); + PX4_ERR("alloc failed"); } - if (_mixer_group->count() <= 0) { - PX4_ERR("Mixer initialization failed"); - return -1; - } + delete instance; + _object.store(nullptr); + _task_id = -1; - return 0; + return PX4_ERROR; } - -void subscribe() +bool LinuxPWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], + unsigned num_outputs, unsigned num_control_groups_updated) { - memset(_controls, 0, sizeof(_controls)); - memset(_poll_fds, 0, sizeof(_poll_fds)); - - /* set up ORB topic names */ - _controls_topics[0] = ORB_ID(actuator_controls_0); - _controls_topics[1] = ORB_ID(actuator_controls_1); - _controls_topics[2] = ORB_ID(actuator_controls_2); - _controls_topics[3] = ORB_ID(actuator_controls_3); - - // Subscribe for orb topics - for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - if (_groups_required & (1 << i)) { - PX4_DEBUG("subscribe to actuator_controls_%d", i); - _controls_subs[i] = orb_subscribe(_controls_topics[i]); - - } else { - _controls_subs[i] = -1; - } - - if (_controls_subs[i] >= 0) { - _poll_fds[_poll_fds_num].fd = _controls_subs[i]; - _poll_fds[_poll_fds_num].events = POLLIN; - _poll_fds_num++; - } - - _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - - } + _pwm_out->send_output_pwm(outputs, num_outputs); + return true; } -void task_main(int argc, char *argv[]) +void LinuxPWMOut::Run() { - _is_running = true; + if (should_exit()) { + ScheduleClear(); + _mixing_output.unregister(); - _perf_control_latency = perf_alloc(PC_ELAPSED, "linux_pwm_out control latency"); - - // Set up mixer - if (initialize_mixer(_mixer_filename) < 0) { - PX4_ERR("Mixer initialization failed."); + exit_and_cleanup(); return; } - PWMOutBase *pwm_out; + perf_begin(_cycle_perf); + perf_count(_interval_perf); - if (strcmp(_protocol, "pca9685") == 0) { - PX4_INFO("Starting PWM output in PCA9685 mode"); - pwm_out = new PCA9685(); + _mixing_output.update(); - } else if (strcmp(_protocol, "ocpoc_mmap") == 0) { - PX4_INFO("Starting PWM output in ocpoc_mmap mode"); - pwm_out = new OcpocMmapPWMOut(_max_num_outputs); + // check for parameter updates + if (_parameter_update_sub.updated()) { + // clear update + parameter_update_s pupdate; + _parameter_update_sub.copy(&pupdate); -#ifdef CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE - - } else if (strcmp(_protocol, "bbblue_rc") == 0) { - PX4_INFO("Starting PWM output in bbblue_rc mode"); - pwm_out = new BBBlueRcPWMOut(_max_num_outputs); -#endif - - } else { /* navio */ - PX4_INFO("Starting PWM output in Navio mode"); - pwm_out = new NavioSysfsPWMOut(_device, _max_num_outputs); + // update parameters from storage + update_params(); } - if (pwm_out->init() != 0) { - PX4_ERR("PWM output init failed"); - delete pwm_out; + _mixing_output.updateSubscriptions(false); + + perf_end(_cycle_perf); +} + +void LinuxPWMOut::update_params() +{ + updateParams(); + + // skip update when armed + if (_mixing_output.armed().armed) { return; } - _mixer_group->groups_required(_groups_required); + int32_t pwm_min_default = PWM_DEFAULT_MIN; + int32_t pwm_max_default = PWM_DEFAULT_MAX; + int32_t pwm_disarmed_default = 0; - // subscribe and set up polling - subscribe(); + const char *prefix; - Mixer::Airmode airmode = Mixer::Airmode::disabled; - update_params(airmode); - uORB::SubscriptionInterval parameter_update_sub{ORB_ID(parameter_update), 1_s}; + if (_class_instance == CLASS_DEVICE_PRIMARY) { + prefix = "PWM_MAIN"; - int rc_channels_sub = -1; + param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default); + param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default); + param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default); - // Start disarmed - _armed.armed = false; - _armed.prearmed = false; + } else if (_class_instance == CLASS_DEVICE_SECONDARY) { + prefix = "PWM_AUX"; - output_limit_init(&_pwm_limit); + param_get(param_find("PWM_AUX_MIN"), &pwm_min_default); + param_get(param_find("PWM_AUX_MAX"), &pwm_max_default); + param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default); - while (!_task_should_exit) { + } else if (_class_instance == CLASS_DEVICE_TERTIARY) { + prefix = "PWM_EXTRA"; - bool updated; - orb_check(_armed_sub, &updated); + param_get(param_find("PWM_EXTRA_MIN"), &pwm_min_default); + param_get(param_find("PWM_EXTRA_MAX"), &pwm_max_default); + param_get(param_find("PWM_EXTRA_DISARM"), &pwm_disarmed_default); - if (updated) { - orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); - } + } else { + PX4_ERR("invalid class instance %d", _class_instance); + return; + } - if (_mixer_group) { - _mixer_group->set_airmode(airmode); - } + char str[17]; - int pret = px4_poll(_poll_fds, _poll_fds_num, 10); + for (unsigned i = 0; i < MAX_ACTUATORS; i++) { + // PWM_MAIN_MINx + { + sprintf(str, "%s_MIN%u", prefix, i + 1); + int32_t pwm_min = -1; - /* Timed out, do a periodic check for _task_should_exit. */ - if (pret == 0 && !_armed.in_esc_calibration_mode) { - continue; - } + if (param_get(param_find(str), &pwm_min) == PX4_OK && pwm_min >= 0) { + _mixing_output.minValue(i) = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN); - /* This is undesirable but not much we can do. */ - if (pret < 0) { - PX4_WARN("poll error %d, %d", pret, errno); - /* sleep a bit before next try */ - usleep(10000); - continue; - } - - /* get controls for required topics */ - unsigned poll_id = 0; - - for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - if (_controls_subs[i] >= 0) { - if (_poll_fds[poll_id].revents & POLLIN) { - orb_copy(_controls_topics[i], _controls_subs[i], &_controls[i]); + if (pwm_min != _mixing_output.minValue(i)) { + int32_t pwm_min_new = _mixing_output.minValue(i); + param_set(param_find(str), &pwm_min_new); } - poll_id++; + } else { + _mixing_output.minValue(i) = pwm_min_default; } } - if (_armed.in_esc_calibration_mode) { - if (rc_channels_sub == -1) { - // only subscribe when really needed: esc calibration is not something we use regularily - rc_channels_sub = orb_subscribe(ORB_ID(rc_channels)); - } + // PWM_MAIN_MAXx + { + sprintf(str, "%s_MAX%u", prefix, i + 1); + int32_t pwm_max = -1; - rc_channels_s rc_channels; - int ret = orb_copy(ORB_ID(rc_channels), rc_channels_sub, &rc_channels); - _controls[0].control[0] = 0.f; - _controls[0].control[1] = 0.f; - _controls[0].control[2] = 0.f; - int channel = rc_channels.function[rc_channels_s::FUNCTION_THROTTLE]; + if (param_get(param_find(str), &pwm_max) == PX4_OK && pwm_max >= 0) { + _mixing_output.maxValue(i) = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX); - if (ret == 0 && channel >= 0 && channel < (int)(sizeof(rc_channels.channels) / sizeof(rc_channels.channels[0]))) { - _controls[0].control[3] = rc_channels.channels[channel]; + if (pwm_max != _mixing_output.maxValue(i)) { + int32_t pwm_max_new = _mixing_output.maxValue(i); + param_set(param_find(str), &pwm_max_new); + } } else { - _controls[0].control[3] = 1.f; + _mixing_output.maxValue(i) = pwm_max_default; } - - /* Switch off the PWM limit ramp for the calibration. */ - _pwm_limit.state = OUTPUT_LIMIT_STATE_ON; } - if (_mixer_group != nullptr) { - /* do mixing */ - _outputs.noutputs = _mixer_group->mix(_outputs.output, actuator_outputs_s::NUM_ACTUATOR_OUTPUTS); + // PWM_MAIN_FAILx + { + sprintf(str, "%s_FAIL%u", prefix, i + 1); + int32_t pwm_failsafe = -1; - /* disable unused ports by setting their output to NaN */ - for (size_t i = _outputs.noutputs; i < _outputs.NUM_ACTUATOR_OUTPUTS; i++) { - _outputs.output[i] = NAN; + if (param_get(param_find(str), &pwm_failsafe) == PX4_OK && pwm_failsafe >= 0) { + _mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, 0, PWM_HIGHEST_MAX); + + if (pwm_failsafe != _mixing_output.failsafeValue(i)) { + int32_t pwm_fail_new = _mixing_output.failsafeValue(i); + param_set(param_find(str), &pwm_fail_new); + } } + } - const uint16_t reverse_mask = 0; - uint16_t disarmed_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS]; - uint16_t min_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS]; - uint16_t max_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS]; + // PWM_MAIN_DISx + { + sprintf(str, "%s_DIS%u", prefix, i + 1); + int32_t pwm_dis = -1; - for (unsigned int i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) { - disarmed_pwm[i] = _pwm_disarmed; - min_pwm[i] = _pwm_min; - max_pwm[i] = _pwm_max; + if (param_get(param_find(str), &pwm_dis) == PX4_OK && pwm_dis >= 0) { + _mixing_output.disarmedValue(i) = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX); + + if (pwm_dis != _mixing_output.disarmedValue(i)) { + int32_t pwm_dis_new = _mixing_output.disarmedValue(i); + param_set(param_find(str), &pwm_dis_new); + } + + } else { + _mixing_output.disarmedValue(i) = pwm_disarmed_default; } + } - uint16_t pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS]; + // PWM_MAIN_REVx + { + sprintf(str, "%s_REV%u", prefix, i + 1); + int32_t pwm_rev = 0; - // TODO FIXME: pre-armed seems broken - output_limit_calc(_armed.armed, - false/*_armed.prearmed*/, - _outputs.noutputs, - reverse_mask, - disarmed_pwm, - min_pwm, - max_pwm, - _outputs.output, - pwm, - &_pwm_limit); + if (param_get(param_find(str), &pwm_rev) == PX4_OK) { + uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask(); - if (_armed.lockdown || _armed.manual_lockdown) { - pwm_out->send_output_pwm(disarmed_pwm, _outputs.noutputs); - - } else if (_armed.in_esc_calibration_mode) { - - uint16_t pwm_value; - - if (_controls[0].control[3] > 0.5f) { // use throttle to decide which value to use - pwm_value = _pwm_max; + if (pwm_rev >= 1) { + reverse_pwm_mask = reverse_pwm_mask | (2 << i); } else { - pwm_value = _pwm_min; - } - - for (uint32_t i = 0; i < _outputs.noutputs; ++i) { - pwm[i] = pwm_value; - } - - pwm_out->send_output_pwm(pwm, _outputs.noutputs); - - } else { - pwm_out->send_output_pwm(pwm, _outputs.noutputs); - } - - _outputs.timestamp = hrt_absolute_time(); - - if (_outputs_pub != nullptr) { - orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs); - - } else { - _outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs); - } - - // use first valid timestamp_sample for latency tracking - for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - const bool required = _groups_required & (1 << i); - const hrt_abstime ×tamp_sample = _controls[i].timestamp_sample; - - if (required && (timestamp_sample > 0)) { - perf_set_elapsed(_perf_control_latency, _outputs.timestamp - timestamp_sample); - break; + reverse_pwm_mask = reverse_pwm_mask & ~(2 << i); } } - - } else { - PX4_ERR("Could not mix output! Exiting..."); - _task_should_exit = true; - } - - // check for parameter updates - if (parameter_update_sub.updated()) { - // clear update - parameter_update_s pupdate; - parameter_update_sub.copy(&pupdate); - - // update parameters from storage - update_params(airmode); } } - delete pwm_out; + if (_mixing_output.mixers()) { + int16_t values[MAX_ACTUATORS] {}; - for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - if (_controls_subs[i] >= 0) { - orb_unsubscribe(_controls_subs[i]); + for (unsigned i = 0; i < MAX_ACTUATORS; i++) { + sprintf(str, "%s_TRIM%u", prefix, i + 1); + + float pval = 0.0f; + param_get(param_find(str), &pval); + values[i] = roundf(10000 * pval); } + + // copy the trim values to the mixer offsets + _mixing_output.mixers()->set_trims(values, MAX_ACTUATORS); } - - if (_armed_sub != -1) { - orb_unsubscribe(_armed_sub); - _armed_sub = -1; - } - - if (rc_channels_sub != -1) { - orb_unsubscribe(rc_channels_sub); - } - - perf_free(_perf_control_latency); - - _is_running = false; - } -int task_main_trampoline(int argc, char *argv[]) +int LinuxPWMOut::ioctl(device::file_t *filp, int cmd, unsigned long arg) { - task_main(argc, argv); + int ret = OK; + + PX4_DEBUG("ioctl cmd: %d, arg: %ld", cmd, arg); + + lock(); + + switch (cmd) { + case MIXERIOCRESET: + _mixing_output.resetMixerThreadSafe(); + break; + + case MIXERIOCLOADBUF: { + const char *buf = (const char *)arg; + unsigned buflen = strlen(buf); + ret = _mixing_output.loadMixerThreadSafe(buf, buflen); + update_params(); + break; + } + + default: + ret = -ENOTTY; + break; + } + + unlock(); + + if (ret == -ENOTTY) { + ret = CDev::ioctl(filp, cmd, arg); + } + + return ret; +} + +int LinuxPWMOut::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int LinuxPWMOut::print_status() +{ + perf_print_counter(_cycle_perf); + perf_print_counter(_interval_perf); + _mixing_output.printStatus(); return 0; } -void start() +int LinuxPWMOut::print_usage(const char *reason) { - _task_should_exit = false; - - /* start the task */ - _task_handle = px4_task_spawn_cmd("pwm_out_main", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX, - 1500, - (px4_main_t)&task_main_trampoline, - nullptr); - - if (_task_handle < 0) { - PX4_ERR("task start failed"); - return; + if (reason) { + PX4_WARN("%s\n", reason); } -} + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Linux PWM output driver with board-specific backend implementation. +)DESCR_STR"); -void stop() -{ - _task_should_exit = true; - - while (_is_running) { - usleep(200000); - PX4_INFO("."); - } - - _task_handle = -1; -} - -void usage() -{ - PX4_INFO("usage: pwm_out start [-d pwmdevice] [-m mixerfile] [-p protocol]"); - PX4_INFO(" -d pwmdevice : sysfs device for pwm generation (only for Navio)"); - PX4_INFO(" (default /sys/class/pwm/pwmchip0)"); - PX4_INFO(" -m mixerfile : path to mixerfile"); - PX4_INFO(" (default etc/mixers/quad_x.main.mix)"); - PX4_INFO(" -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap|bbblue_rc)"); - PX4_INFO(" (default is navio)"); - PX4_INFO(" -n num_outputs : maximum number of outputs the driver should use"); - PX4_INFO(" (default is 8)"); - PX4_INFO(" pwm_out stop"); - PX4_INFO(" pwm_out status"); -} - -} // namespace linux_pwm_out - -/* driver 'main' command */ -extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[]); - -int linux_pwm_out_main(int argc, char *argv[]) -{ - int ch; - int myoptind = 1; - const char *myoptarg = nullptr; - - char *verb = nullptr; - - if (argc >= 2) { - verb = argv[1]; - - } else { - return 1; - } - - while ((ch = px4_getopt(argc, argv, "d:m:p:n:", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - case 'd': - strncpy(linux_pwm_out::_device, myoptarg, sizeof(linux_pwm_out::_device) - 1); - break; - - case 'm': - strncpy(linux_pwm_out::_mixer_filename, myoptarg, sizeof(linux_pwm_out::_mixer_filename) - 1); - break; - - case 'p': - strncpy(linux_pwm_out::_protocol, myoptarg, sizeof(linux_pwm_out::_protocol) - 1); - break; - - case 'n': { - unsigned long max_num = strtoul(myoptarg, nullptr, 10); - - if (max_num <= 0) { - max_num = 8; - } - - if (max_num > actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) { - max_num = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; - } - - linux_pwm_out::_max_num_outputs = max_num; - } - break; - } - } - - /** gets the parameters for the esc's pwm */ - param_get(param_find("PWM_MAIN_DISARM"), &linux_pwm_out::_pwm_disarmed); - param_get(param_find("PWM_MAIN_MIN"), &linux_pwm_out::_pwm_min); - param_get(param_find("PWM_MAIN_MAX"), &linux_pwm_out::_pwm_max); - - /* - * Start/load the driver. - */ - if (!strcmp(verb, "start")) { - if (linux_pwm_out::_is_running) { - PX4_WARN("pwm_out already running"); - return 1; - } - - linux_pwm_out::start(); - } - - else if (!strcmp(verb, "stop")) { - if (!linux_pwm_out::_is_running) { - PX4_WARN("pwm_out is not running"); - return 1; - } - - linux_pwm_out::stop(); - } - - else if (!strcmp(verb, "status")) { - PX4_WARN("pwm_out is %s", linux_pwm_out::_is_running ? "running" : "not running"); - return 0; - - } else { - linux_pwm_out::usage(); - return 1; - } + PRINT_MODULE_USAGE_NAME("linux_pwm_out", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); return 0; } + +extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[]) +{ + return LinuxPWMOut::main(argc, argv); +} diff --git a/src/drivers/linux_pwm_out/linux_pwm_out.hpp b/src/drivers/linux_pwm_out/linux_pwm_out.hpp new file mode 100644 index 0000000000..79755dcd69 --- /dev/null +++ b/src/drivers/linux_pwm_out/linux_pwm_out.hpp @@ -0,0 +1,98 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + + +class LinuxPWMOut : public cdev::CDev, public ModuleBase, public OutputModuleInterface +{ +public: + LinuxPWMOut(); + virtual ~LinuxPWMOut(); + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + void Run() override; + + /** @see ModuleBase::print_status() */ + int print_status() override; + + int ioctl(device::file_t *filp, int cmd, unsigned long arg) override; + + int init() override; + + bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], + unsigned num_outputs, unsigned num_control_groups_updated) override; + +private: + static constexpr int MAX_ACTUATORS = 8; + + void update_params(); + + MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false}; + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + + int _class_instance{-1}; + + pwm_out::PWMOutBase *_pwm_out{nullptr}; + + perf_counter_t _cycle_perf; + perf_counter_t _interval_perf; +}; diff --git a/src/drivers/linux_pwm_out/ocpoc_mmap.cpp b/src/drivers/linux_pwm_out/ocpoc_mmap.cpp deleted file mode 100644 index f570f2bd50..0000000000 --- a/src/drivers/linux_pwm_out/ocpoc_mmap.cpp +++ /dev/null @@ -1,109 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2017 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "ocpoc_mmap.h" - -#include - -#include -#include -#include - -using namespace linux_pwm_out; - -#define RCOUT_ZYNQ_PWM_BASE 0x43c00000 -static const int TICK_PER_US = 50; -static const int FREQUENCY_PWM = 400; -static const int TICK_PER_S = 50000000; - -OcpocMmapPWMOut::OcpocMmapPWMOut(int max_num_outputs) -{ - _num_outputs = max_num_outputs; - - if (_num_outputs > MAX_ZYNQ_PWMS) { - PX4_WARN("number of outputs too large. Setting to %i", MAX_ZYNQ_PWMS); - _num_outputs = MAX_ZYNQ_PWMS; - } -} - -OcpocMmapPWMOut::~OcpocMmapPWMOut() -{ - if (_shared_mem_cmd) { - munmap((void *)_shared_mem_cmd, 0x1000); - } -} - -unsigned long OcpocMmapPWMOut::freq2tick(uint16_t freq_hz) -{ - unsigned long duty = TICK_PER_S / (unsigned long)freq_hz; - return duty; -} - -int OcpocMmapPWMOut::init() -{ - uint32_t mem_fd = open(_device, O_RDWR | O_SYNC); - _shared_mem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ | PROT_WRITE, - MAP_SHARED, mem_fd, RCOUT_ZYNQ_PWM_BASE); - close(mem_fd); - - if (_shared_mem_cmd == nullptr) { - PX4_ERR("initialize pwm pointer failed."); - return -1; - } - - for (int i = 0; i < _num_outputs; ++i) { - _shared_mem_cmd->periodhi[i].period = freq2tick(FREQUENCY_PWM); - _shared_mem_cmd->periodhi[i].hi = freq2tick(FREQUENCY_PWM) / 2; - PX4_DEBUG("Output values: %d, %d", _shared_mem_cmd->periodhi[i].period, _shared_mem_cmd->periodhi[i].hi); - } - - return 0; -} - -int OcpocMmapPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs) -{ - if (num_outputs > _num_outputs) { - num_outputs = _num_outputs; - } - - //convert this to duty_cycle in ns - for (int i = 0; i < num_outputs; ++i) { - //n = ::asprintf(&data, "%u", pwm[i] * 1000); - //::write(_pwm_fd[i], data, n); - _shared_mem_cmd->periodhi[i].hi = TICK_PER_US * pwm[i]; - //printf("ch:%d, val:%d*%d ", ch, period_us, TICK_PER_US); - } - - return 0; -} - diff --git a/src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.cpp b/src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.cpp index 273fba9320..3e4260659e 100644 --- a/src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.cpp +++ b/src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,12 +33,12 @@ #include "LSM9DS1_MAG.hpp" -using namespace ST_LSM9DS1_MAG; -using ST_LSM9DS1_MAG::Register; - using namespace time_literals; -static constexpr int16_t combine(uint8_t lsb, uint8_t msb) { return (msb << 8u) | lsb; } +static constexpr int16_t combine(uint8_t msb, uint8_t lsb) +{ + return (msb << 8u) | lsb; +} LSM9DS1_MAG::LSM9DS1_MAG(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) : @@ -51,18 +51,8 @@ LSM9DS1_MAG::LSM9DS1_MAG(I2CSPIBusOption bus_option, int bus, uint32_t device, e LSM9DS1_MAG::~LSM9DS1_MAG() { - perf_free(_interval_perf); - perf_free(_transfer_perf); - perf_free(_data_overrun_perf); -} - -int LSM9DS1_MAG::probe() -{ - if (RegisterRead(Register::WHO_AM_I) == LSM9DS1_MAG_WHO_AM_I) { - return PX4_OK; - } - - return PX4_ERROR; + perf_free(_bad_register_perf); + perf_free(_bad_transfer_perf); } int LSM9DS1_MAG::init() @@ -70,46 +60,205 @@ int LSM9DS1_MAG::init() int ret = SPI::init(); if (ret != PX4_OK) { + DEVICE_DEBUG("SPI::init failed (%i)", ret); return ret; } - if (!Reset()) { - PX4_ERR("reset failed"); - return PX4_ERROR; - } - - Start(); - - return PX4_OK; + return Reset() ? 0 : -1; } bool LSM9DS1_MAG::Reset() { - // Reset - // CTRL_REG2_M: SOFT_RST - RegisterWrite(Register::CTRL_REG2_M, CTRL_REG2_M_BIT::SOFT_RST); - usleep(50); - - // CTRL_REG1_M: Temp comp, ultra high perofmrance mode, ODR 80 Hz, fast ODR - RegisterWrite(Register::CTRL_REG1_M, - CTRL_REG1_M_BIT::TEMP_COMP | CTRL_REG1_M_BIT::OM_ULTRA_HIGH_PERFORMANCE | CTRL_REG1_M_BIT::DO_80HZ); - - // CTRL_REG2_M: - RegisterSetBits(Register::CTRL_REG2_M, CTRL_REG2_M_BIT::FS_16_GAUSS); - _px4_mag.set_scale(0.58f / 1000.0f); // Magnetic FS = ±16 gauss 0.58 mgauss/LSB - - // CTRL_REG3_M: I2C_DISABLE, Continuous-conversion mode - RegisterClearBits(Register::CTRL_REG3_M, CTRL_REG3_M_BIT::MD_CONTINUOUS_MODE); - - // CTRL_REG4_M: Z-axis Ultra-high performance mode - RegisterSetBits(Register::CTRL_REG4_M, CTRL_REG4_M_BIT::OMZ_ULTRA_HIGH_PERFORMANCE); - - // CTRL_REG5_M: Block data update for magnetic data. - RegisterSetBits(Register::CTRL_REG5_M, CTRL_REG5_M_BIT::BDU); - + _state = STATE::RESET; + ScheduleClear(); + ScheduleNow(); return true; } +void LSM9DS1_MAG::print_status() +{ + I2CSPIDriverBase::print_status(); + + perf_print_counter(_bad_register_perf); + perf_print_counter(_bad_transfer_perf); +} + +int LSM9DS1_MAG::probe() +{ + const uint8_t WHO_AM_I_M = RegisterRead(Register::WHO_AM_I_M); + + if (WHO_AM_I_M != Device_identification) { + DEVICE_DEBUG("unexpected WHO_AM_I_M 0x%02x", WHO_AM_I_M); + return PX4_ERROR; + } + + return PX4_OK; +} + +void LSM9DS1_MAG::RunImpl() +{ + const hrt_abstime now = hrt_absolute_time(); + + switch (_state) { + case STATE::RESET: + // CTRL_REG2_M: SOFT_RST + RegisterWrite(Register::CTRL_REG2_M, CTRL_REG2_M_BIT::SOFT_RST); + _reset_timestamp = now; + _failure_count = 0; + _state = STATE::WAIT_FOR_RESET; + ScheduleDelayed(100_ms); + break; + + case STATE::WAIT_FOR_RESET: + if (RegisterRead(Register::WHO_AM_I_M) == Device_identification) { + // if reset succeeded then configure + _state = STATE::CONFIGURE; + ScheduleDelayed(10_ms); + + } else { + // RESET not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Reset failed, retrying"); + _state = STATE::RESET; + ScheduleDelayed(100_ms); + + } else { + PX4_DEBUG("Reset not complete, check again in 100 ms"); + ScheduleDelayed(100_ms); + } + } + + break; + + case STATE::CONFIGURE: + if (Configure()) { + // if configure succeeded then start reading + _state = STATE::READ; + ScheduleOnInterval(1000000 / ST_LSM9DS1_MAG::M_ODR); + + } else { + // CONFIGURE not complete + if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { + PX4_DEBUG("Configure failed, resetting"); + _state = STATE::RESET; + + } else { + PX4_DEBUG("Configure failed, retrying"); + } + + ScheduleDelayed(100_ms); + } + + break; + + case STATE::READ: { + struct TransferBuffer { + uint8_t cmd; + uint8_t STATUS_REG_M; + uint8_t OUT_X_L_M; + uint8_t OUT_X_H_M; + uint8_t OUT_Y_L_M; + uint8_t OUT_Y_H_M; + uint8_t OUT_Z_L_M; + uint8_t OUT_Z_H_M; + } buffer{}; + + buffer.cmd = static_cast(Register::STATUS_REG_M) | RW_BIT_READ | MS_BIT_AUTO_INCREMENT; + + bool success = false; + + if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) { + if (buffer.STATUS_REG_M & STATUS_REG_M_BIT::ZYXDA) { + // X, Y and Z-axis new data available. + int16_t x = combine(buffer.OUT_X_H_M, buffer.OUT_X_L_M); + int16_t y = combine(buffer.OUT_Y_H_M, buffer.OUT_Y_L_M); + int16_t z = combine(buffer.OUT_Z_H_M, buffer.OUT_Z_L_M); + + // sensor Z is up (RHC), flip z for publication + // sensor X is aligned with -X of lsm9ds1 accel/gyro + x = (x == INT16_MIN) ? INT16_MAX : -x; + y = y; + z = (z == INT16_MIN) ? INT16_MAX : -z; + + _px4_mag.update(now, x, y, z); + + success = true; + + if (_failure_count > 0) { + _failure_count--; + } + } + } + + if (!success) { + _failure_count++; + + // full reset if things are failing consistently + if (_failure_count > 10) { + Reset(); + return; + } + } + + if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) { + // check configuration registers periodically or immediately following any failure + if (RegisterCheck(_register_cfg[_checked_register])) { + _last_config_check_timestamp = now; + _checked_register = (_checked_register + 1) % size_register_cfg; + + } else { + // register check failed, force reset + perf_count(_bad_register_perf); + Reset(); + } + } + } + + break; + } +} + +bool LSM9DS1_MAG::Configure() +{ + // first set and clear all configured register bits + for (const auto ®_cfg : _register_cfg) { + RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); + } + + // now check that all are configured + bool success = true; + + for (const auto ®_cfg : _register_cfg) { + if (!RegisterCheck(reg_cfg)) { + success = false; + } + } + + // Magnetic FS = ±16 gauss 0.58 mgauss/LSB + _px4_mag.set_scale(0.58f / 1000.0f); + + return success; +} + +bool LSM9DS1_MAG::RegisterCheck(const register_config_t ®_cfg) +{ + bool success = true; + + const uint8_t reg_value = RegisterRead(reg_cfg.reg); + + if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits); + success = false; + } + + if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) { + PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits); + success = false; + } + + return success; +} + uint8_t LSM9DS1_MAG::RegisterRead(Register reg) { uint8_t cmd[2] {}; @@ -124,80 +273,13 @@ void LSM9DS1_MAG::RegisterWrite(Register reg, uint8_t value) transfer(cmd, cmd, sizeof(cmd)); } -void LSM9DS1_MAG::RegisterSetBits(Register reg, uint8_t setbits) +void LSM9DS1_MAG::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits) { - uint8_t val = RegisterRead(reg); + const uint8_t orig_val = RegisterRead(reg); - if (!(val & setbits)) { - val |= setbits; + uint8_t val = (orig_val & ~clearbits) | setbits; + + if (orig_val != val) { RegisterWrite(reg, val); } } - -void LSM9DS1_MAG::RegisterClearBits(Register reg, uint8_t clearbits) -{ - uint8_t val = RegisterRead(reg); - - if (val & clearbits) { - val &= !clearbits; - RegisterWrite(reg, val); - } -} - -void LSM9DS1_MAG::Start() -{ - ScheduleOnInterval(1000000 / ST_LSM9DS1_MAG::M_ODR / 2); -} - -void LSM9DS1_MAG::RunImpl() -{ - perf_count(_interval_perf); - - struct MagReport { - uint8_t cmd; - uint8_t STATUS_REG_M; - uint8_t OUT_X_L_M; - uint8_t OUT_X_H_M; - uint8_t OUT_Y_L_M; - uint8_t OUT_Y_H_M; - uint8_t OUT_Z_L_M; - uint8_t OUT_Z_H_M; - } mreport{}; - mreport.cmd = static_cast(Register::STATUS_REG_M) | RW_BIT_READ | MS_BIT_AUTO_INCREMENT; - - perf_begin(_transfer_perf); - const hrt_abstime timestamp_sample = hrt_absolute_time(); - - if (transfer((uint8_t *)&mreport, (uint8_t *)&mreport, sizeof(MagReport)) != PX4_OK) { - perf_end(_transfer_perf); - return; - } - - perf_end(_transfer_perf); - - if (mreport.STATUS_REG_M & STATUS_REG_M_BIT::ZYXOR) { - // X, Y and Z-axis data overrun. - perf_count(_data_overrun_perf); - return; - } - - if (mreport.STATUS_REG_M & STATUS_REG_M_BIT::ZYXDA) { - // X, Y and Z-axis new data available. - - // sensor Z is up (RHC), flip z for publication - // sensor X is aligned with -X of lsm9ds1 accel/gyro - int16_t x = -combine(mreport.OUT_X_L_M, mreport.OUT_X_H_M); - int16_t y = combine(mreport.OUT_Y_L_M, mreport.OUT_Y_H_M); - int16_t z = -combine(mreport.OUT_Z_L_M, mreport.OUT_Z_H_M); - - _px4_mag.update(timestamp_sample, x, y, z); - } -} - -void LSM9DS1_MAG::print_status() -{ - I2CSPIDriverBase::print_status(); - perf_print_counter(_interval_perf); - perf_print_counter(_transfer_perf); - perf_print_counter(_data_overrun_perf); -} diff --git a/src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.hpp b/src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.hpp index a0805d2036..e97c7aca7b 100644 --- a/src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.hpp +++ b/src/drivers/magnetometer/lsm9ds1_mag/LSM9DS1_MAG.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -46,10 +46,10 @@ #include #include #include -#include -#include #include +using namespace ST_LSM9DS1_MAG; + class LSM9DS1_MAG : public device::SPI, public I2CSPIDriver { public: @@ -61,26 +61,55 @@ public: int runtime_instance); static void print_usage(); - void print_status(); + void RunImpl(); int init() override; - - void Start(); - bool Reset(); - - void RunImpl(); + void print_status() override; private: - int probe() override; - uint8_t RegisterRead(ST_LSM9DS1_MAG::Register reg); - void RegisterWrite(ST_LSM9DS1_MAG::Register reg, uint8_t value); - void RegisterSetBits(ST_LSM9DS1_MAG::Register reg, uint8_t setbits); - void RegisterClearBits(ST_LSM9DS1_MAG::Register reg, uint8_t clearbits); + struct register_config_t { + Register reg; + uint8_t set_bits{0}; + uint8_t clear_bits{0}; + }; + + int probe() override; + + bool Reset(); + + bool Configure(); + + bool RegisterCheck(const register_config_t ®_cfg); + + uint8_t RegisterRead(Register reg); + void RegisterWrite(Register reg, uint8_t value); + void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits); PX4Magnetometer _px4_mag; - perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": run interval")}; - perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")}; - perf_counter_t _data_overrun_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": overrun")}; + perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")}; + perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")}; + + hrt_abstime _reset_timestamp{0}; + hrt_abstime _last_config_check_timestamp{0}; + int _failure_count{0}; + + enum class STATE : uint8_t { + RESET, + WAIT_FOR_RESET, + CONFIGURE, + READ, + } _state{STATE::RESET}; + + uint8_t _checked_register{0}; + static constexpr uint8_t size_register_cfg{5}; + register_config_t _register_cfg[size_register_cfg] { + // Register | Set bits, Clear bits + { Register::CTRL_REG1_M, CTRL_REG1_M_BIT::TEMP_COMP | CTRL_REG1_M_BIT::OM_ULTRA_HIGH_PERFORMANCE | CTRL_REG1_M_BIT::DO_80HZ, CTRL_REG1_M_BIT::FAST_ODR | CTRL_REG1_M_BIT::ST }, + { Register::CTRL_REG2_M, CTRL_REG2_M_BIT::FS_16_GAUSS, 0 }, + { Register::CTRL_REG3_M, CTRL_REG3_M_BIT::I2C_DISABLE, CTRL_REG3_M_BIT::SIM | CTRL_REG3_M_BIT::MD_CONTINUOUS_MODE }, + { Register::CTRL_REG4_M, CTRL_REG4_M_BIT::OMZ_ULTRA_HIGH_PERFORMANCE, 0 }, + { Register::CTRL_REG5_M, CTRL_REG5_M_BIT::BDU, 0 }, + }; }; diff --git a/src/drivers/magnetometer/lsm9ds1_mag/ST_LSM9DS1_MAG_Registers.hpp b/src/drivers/magnetometer/lsm9ds1_mag/ST_LSM9DS1_MAG_Registers.hpp index 79ec3668ac..018d22f02e 100644 --- a/src/drivers/magnetometer/lsm9ds1_mag/ST_LSM9DS1_MAG_Registers.hpp +++ b/src/drivers/magnetometer/lsm9ds1_mag/ST_LSM9DS1_MAG_Registers.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -55,24 +55,23 @@ static constexpr uint8_t Bit5 = (1 << 5); static constexpr uint8_t Bit6 = (1 << 6); static constexpr uint8_t Bit7 = (1 << 7); +static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10 MHz SPI clock frequency + static constexpr uint8_t RW_BIT_READ = Bit7; static constexpr uint8_t MS_BIT_AUTO_INCREMENT = Bit6; -static constexpr uint8_t LSM9DS1_MAG_WHO_AM_I = 0b00111101; // Who I am ID - -static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10 MHz SPI clock frequency +static constexpr uint8_t Device_identification = 0b00111101; // Who I am ID static constexpr uint32_t M_ODR = 80; // Magnetometer output data rate -enum class -Register : uint8_t { - WHO_AM_I = 0x0F, +enum class Register : uint8_t { + WHO_AM_I_M = 0x0F, CTRL_REG1_M = 0x20, CTRL_REG2_M = 0x21, CTRL_REG3_M = 0x22, CTRL_REG4_M = 0x23, - CTRL_REG5_M = 0x25, + CTRL_REG5_M = 0x24, STATUS_REG_M = 0x27, OUT_X_L_M = 0x28, @@ -84,8 +83,7 @@ Register : uint8_t { }; // CTRL_REG1_M -enum -CTRL_REG1_M_BIT : uint8_t { +enum CTRL_REG1_M_BIT : uint8_t { TEMP_COMP = Bit7, // Temperature compensation enable. OM_ULTRA_HIGH_PERFORMANCE = Bit6 | Bit5, // X and Y axes operative mode selection. DO_80HZ = Bit4 | Bit3 | Bit2, // 80 Hz Output data rate selection. @@ -94,37 +92,30 @@ CTRL_REG1_M_BIT : uint8_t { }; // CTRL_REG2_M -enum -CTRL_REG2_M_BIT : uint8_t { +enum CTRL_REG2_M_BIT : uint8_t { FS_16_GAUSS = Bit6 | Bit5, // Full-scale selection ± 16 gauss - - SOFT_RST = Bit2, + SOFT_RST = Bit2, }; // CTRL_REG3_M -enum -CTRL_REG3_M_BIT : uint8_t { - I2C_DISABLE = Bit7, - - MD_CONTINUOUS_MODE = Bit1 | Bit0, +enum CTRL_REG3_M_BIT : uint8_t { + I2C_DISABLE = Bit7, + SIM = Bit2, // SPI Serial Interface mode selection. + MD_CONTINUOUS_MODE = Bit1 | Bit0, // Continuous-conversion mode }; // CTRL_REG4_M -enum -CTRL_REG4_M_BIT : uint8_t { +enum CTRL_REG4_M_BIT : uint8_t { OMZ_ULTRA_HIGH_PERFORMANCE = Bit4 | Bit3, // Ultra-high performance mode }; // CTRL_REG5_M -enum -CTRL_REG5_M_BIT : uint8_t { +enum CTRL_REG5_M_BIT : uint8_t { BDU = Bit6, // Block data update for magnetic data. }; - // STATUS_REG_M -enum -STATUS_REG_M_BIT : uint8_t { +enum STATUS_REG_M_BIT : uint8_t { ZYXOR = Bit7, // X, Y and Z-axis data overrun. ZYXDA = Bit3, // X, Y and Z-axis new data available. }; diff --git a/src/drivers/magnetometer/lsm9ds1_mag/lsm9ds1_mag_main.cpp b/src/drivers/magnetometer/lsm9ds1_mag/lsm9ds1_mag_main.cpp index 4aca1c0344..19811bd4a4 100644 --- a/src/drivers/magnetometer/lsm9ds1_mag/lsm9ds1_mag_main.cpp +++ b/src/drivers/magnetometer/lsm9ds1_mag/lsm9ds1_mag_main.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,8 +36,27 @@ #include #include -void -LSM9DS1_MAG::print_usage() +I2CSPIDriverBase *LSM9DS1_MAG::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance) +{ + LSM9DS1_MAG *instance = new LSM9DS1_MAG(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation, + cli.bus_frequency, cli.spi_mode); + + if (instance == nullptr) { + PX4_ERR("alloc failed"); + return nullptr; + } + + if (OK != instance->init()) { + delete instance; + PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid()); + return nullptr; + } + + return instance; +} + +void LSM9DS1_MAG::print_usage() { PRINT_MODULE_USAGE_NAME("lsm9ds1_mag", "driver"); PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer"); @@ -47,32 +66,12 @@ LSM9DS1_MAG::print_usage() PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } -I2CSPIDriverBase *LSM9DS1_MAG::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance) -{ - LSM9DS1_MAG *instance = new LSM9DS1_MAG(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), - cli.rotation, cli.bus_frequency, cli.spi_mode); - - if (instance == nullptr) { - PX4_ERR("alloc failed"); - return nullptr; - } - - if (OK != instance->init()) { - delete instance; - return nullptr; - } - - return instance; -} - - extern "C" __EXPORT int lsm9ds1_mag_main(int argc, char *argv[]) { - using ThisDriver = LSM9DS1_MAG; int ch; + using ThisDriver = LSM9DS1_MAG; BusCLIArguments cli{false, true}; - cli.default_spi_frequency = ST_LSM9DS1_MAG::SPI_SPEED; + cli.default_spi_frequency = SPI_SPEED; while ((ch = cli.getopt(argc, argv, "R:")) != EOF) { switch (ch) { diff --git a/src/drivers/optical_flow/paw3902/PAW3902.cpp b/src/drivers/optical_flow/paw3902/PAW3902.cpp index faf34ab645..d581b9945d 100644 --- a/src/drivers/optical_flow/paw3902/PAW3902.cpp +++ b/src/drivers/optical_flow/paw3902/PAW3902.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,10 +33,16 @@ #include "PAW3902.hpp" +static constexpr int16_t combine(uint8_t msb, uint8_t lsb) +{ + return (msb << 8u) | lsb; +} + PAW3902::PAW3902(I2CSPIBusOption bus_option, int bus, int devid, int bus_frequency, spi_mode_e spi_mode, - float yaw_rotation_degrees) : + spi_drdy_gpio_t drdy_gpio, float yaw_rotation_degrees) : SPI(DRV_FLOW_DEVTYPE_PAW3902, MODULE_NAME, bus, devid, spi_mode, bus_frequency), - I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus) + I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus), + _drdy_gpio(drdy_gpio) { if (PX4_ISFINITE(yaw_rotation_degrees)) { PX4_INFO("using yaw rotation %.3f degrees (%.3f radians)", @@ -65,8 +71,10 @@ PAW3902::~PAW3902() perf_free(_interval_perf); perf_free(_comms_errors); perf_free(_false_motion_perf); - perf_free(_mode_change_perf); perf_free(_register_write_fail_perf); + perf_free(_mode_change_bright_perf); + perf_free(_mode_change_low_light_perf); + perf_free(_mode_change_super_low_light_perf); } int PAW3902::init() @@ -78,14 +86,11 @@ int PAW3902::init() Reset(); - // default to low light mode (1) - ModeLowLight(); + // force to low light mode (1) initially + ChangeMode(Mode::LowLight, true); _previous_collect_timestamp = hrt_absolute_time(); - // schedule a cycle to start things - ScheduleOnInterval(SAMPLE_INTERVAL_MODE_1, SAMPLE_INTERVAL_MODE_1); - return PX4_OK; } @@ -115,8 +120,40 @@ int PAW3902::probe() return PX4_OK; } +int PAW3902::DataReadyInterruptCallback(int irq, void *context, void *arg) +{ + static_cast(arg)->DataReady(); + return 0; +} + +void PAW3902::DataReady() +{ + ScheduleNow(); +} + +bool PAW3902::DataReadyInterruptConfigure() +{ + if (_drdy_gpio == 0) { + return false; + } + + // Setup data ready on falling edge + return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0; +} + +bool PAW3902::DataReadyInterruptDisable() +{ + if (_drdy_gpio == 0) { + return false; + } + + return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0; +} + bool PAW3902::Reset() { + DataReadyInterruptDisable(); + // Power on reset RegisterWrite(Register::Power_Up_Reset, 0x5A); usleep(1000); @@ -131,32 +168,52 @@ bool PAW3902::Reset() return true; } -bool PAW3902::ChangeMode(Mode newMode) +void PAW3902::exit_and_cleanup() { - if (newMode != _mode) { + DataReadyInterruptDisable(); + I2CSPIDriverBase::exit_and_cleanup(); +} + +bool PAW3902::ChangeMode(Mode newMode, bool force) +{ + if (newMode != _mode || force) { PX4_DEBUG("changing from mode %d -> %d", static_cast(_mode), static_cast(newMode)); + DataReadyInterruptDisable(); ScheduleClear(); // Issue a soft reset RegisterWrite(Register::Power_Up_Reset, 0x5A); + uint32_t interval_us = 0; + switch (newMode) { case Mode::Bright: ModeBright(); - ScheduleOnInterval(SAMPLE_INTERVAL_MODE_0); + interval_us = SAMPLE_INTERVAL_MODE_0; + perf_count(_mode_change_bright_perf); break; case Mode::LowLight: ModeLowLight(); - ScheduleOnInterval(SAMPLE_INTERVAL_MODE_1); + interval_us = SAMPLE_INTERVAL_MODE_1; + perf_count(_mode_change_low_light_perf); break; case Mode::SuperLowLight: ModeSuperLowLight(); - ScheduleOnInterval(SAMPLE_INTERVAL_MODE_2); + interval_us = SAMPLE_INTERVAL_MODE_2; + perf_count(_mode_change_super_low_light_perf); break; } + if (DataReadyInterruptConfigure()) { + // backup schedule as a watchdog timeout + ScheduleDelayed(500_ms); + + } else { + ScheduleOnInterval(interval_us); + } + // Discard the first three motion data. for (int i = 0; i < 3; i++) { RegisterRead(Register::Motion); @@ -166,9 +223,9 @@ bool PAW3902::ChangeMode(Mode newMode) RegisterRead(Register::Delta_Y_H); } - _mode = newMode; + EnableLed(); - perf_count(_mode_change_perf); + _mode = newMode; } _bright_to_low_counter = 0; @@ -184,7 +241,7 @@ bool PAW3902::ChangeMode(Mode newMode) return true; } -bool PAW3902::ModeBright() +void PAW3902::ModeBright() { // Mode 0: Bright (126 fps) 60 Lux typical @@ -293,17 +350,10 @@ bool PAW3902::ModeBright() usleep(10_ms); // delay 10ms - RegisterWriteVerified(0x73, 0x00); - - // Enable LED_N controls - RegisterWriteVerified(0x7F, 0x14); - RegisterWriteVerified(0x6F, 0x1c); - RegisterWriteVerified(0x7F, 0x00); - - return true; + RegisterWrite(0x73, 0x00); } -bool PAW3902::ModeLowLight() +void PAW3902::ModeLowLight() { // Mode 1: Low Light (126 fps) 30 Lux typical // low light and low speed motion tracking @@ -413,17 +463,10 @@ bool PAW3902::ModeLowLight() usleep(10_ms); // delay 10ms - RegisterWriteVerified(0x73, 0x00); - - // Enable LED_N controls - RegisterWriteVerified(0x7F, 0x14); - RegisterWriteVerified(0x6F, 0x1c); - RegisterWriteVerified(0x7F, 0x00); - - return true; + RegisterWrite(0x73, 0x00); } -bool PAW3902::ModeSuperLowLight() +void PAW3902::ModeSuperLowLight() { // Mode 2: Super Low Light (50 fps) 9 Lux typical // super low light and low speed motion tracking @@ -533,19 +576,21 @@ bool PAW3902::ModeSuperLowLight() usleep(25_ms); // delay 25ms - RegisterWriteVerified(0x73, 0x00); + RegisterWrite(0x73, 0x00); +} +void PAW3902::EnableLed() +{ // Enable LED_N controls RegisterWriteVerified(0x7F, 0x14); RegisterWriteVerified(0x6F, 0x1c); RegisterWriteVerified(0x7F, 0x00); - - return true; } uint8_t PAW3902::RegisterRead(uint8_t reg, int retries) { for (int i = 0; i < retries; i++) { + px4_udelay(TIME_us_TSRAD); uint8_t cmd[2] {reg, 0}; if (transfer(&cmd[0], &cmd[0], sizeof(cmd)) == 0) { @@ -575,11 +620,16 @@ bool PAW3902::RegisterWriteVerified(uint8_t reg, uint8_t data, int retries) cmd[0] = DIR_WRITE(reg); cmd[1] = data; transfer(&cmd[0], nullptr, sizeof(cmd)); + px4_udelay(TIME_us_TSWW); // read back to verify - if (RegisterRead(reg) == data) { + uint8_t data_read = RegisterRead(reg); + + if (data_read == data) { return true; } + + PX4_DEBUG("Register write failed 0x%02hhX: 0x%02hhX (actual value 0x%02hhX)", reg, data, data_read); } perf_count(_register_write_fail_perf); @@ -613,7 +663,6 @@ void PAW3902::RunImpl() // update for next iteration _previous_collect_timestamp = timestamp_sample; - // check SQUAL & Shutter values // To suppress false motion reports, discard Delta X and Delta Y values if the SQUAL and Shutter values meet the condition // Bright Mode, SQUAL < 0x19, Shutter ≥ 0x1FF0 @@ -621,26 +670,17 @@ void PAW3902::RunImpl() // Super Low Light Mode, SQUAL < 0x55, Shutter ≥ 0x0BC0 const uint16_t shutter = (buf.data.Shutter_Upper << 8) | buf.data.Shutter_Lower; - if ((buf.data.SQUAL < 0x19) && (shutter >= 0x0BC0)) { - PX4_DEBUG("false motion report, discarding"); - perf_count(_false_motion_perf); - perf_end(_sample_perf); - - // reset - _flow_dt_sum_usec = 0; - _flow_sum_x = 0; - _flow_sum_y = 0; - _flow_sample_counter = 0; - _flow_quality_sum = 0; - - return; - } - - const int16_t delta_x_raw = ((int16_t)buf.data.Delta_X_H << 8) | buf.data.Delta_X_L; - const int16_t delta_y_raw = ((int16_t)buf.data.Delta_Y_H << 8) | buf.data.Delta_Y_L; + bool data_valid = true; switch (_mode) { case Mode::Bright: + if ((buf.data.SQUAL < 0x19) && (shutter >= 0x1FF0)) { + // false motion report, discarding + perf_count(_false_motion_perf); + ResetAccumulatedData(); + data_valid = false; + } + if ((shutter >= 0x1FFE) && (buf.data.RawData_Sum < 0x3C)) { // Bright -> LowLight _bright_to_low_counter++; @@ -656,6 +696,13 @@ void PAW3902::RunImpl() break; case Mode::LowLight: + if ((buf.data.SQUAL < 0x46) && (shutter >= 0x1FF0)) { + // false motion report, discarding + perf_count(_false_motion_perf); + ResetAccumulatedData(); + data_valid = false; + } + if ((shutter >= 0x1FFE) && (buf.data.RawData_Sum < 0x5A)) { // LowLight -> SuperLowLight _low_to_bright_counter = 0; @@ -665,22 +712,32 @@ void PAW3902::RunImpl() ChangeMode(Mode::SuperLowLight); } - } else if ((shutter < 0x0BB8)) { + } else if (shutter < 0x0BB8) { // LowLight -> Bright - _low_to_superlow_counter = 0; _low_to_bright_counter++; + _low_to_superlow_counter = 0; if (_low_to_bright_counter >= 10) { // AND valid for 10 consecutive frames ChangeMode(Mode::Bright); } + + } else { + _low_to_bright_counter = 0; + _low_to_superlow_counter = 0; } break; case Mode::SuperLowLight: + if ((buf.data.SQUAL < 0x55) && (shutter >= 0x0BC0)) { + // false motion report, discarding + perf_count(_false_motion_perf); + ResetAccumulatedData(); + data_valid = false; + } - // SuperLowLight -> LowLight - if ((shutter < 0x03E8)) { + if (shutter < 0x03E8) { + // SuperLowLight -> LowLight _superlow_to_low_counter++; if (_superlow_to_low_counter >= 10) { // AND valid for 10 consecutive frames @@ -694,7 +751,10 @@ void PAW3902::RunImpl() break; } - if (buf.data.SQUAL > 0) { + if (data_valid && (buf.data.SQUAL > 0)) { + const int16_t delta_x_raw = combine(buf.data.Delta_X_H, buf.data.Delta_X_L); + const int16_t delta_y_raw = combine(buf.data.Delta_Y_H, buf.data.Delta_Y_L); + _flow_dt_sum_usec += dt_flow; _flow_sum_x += delta_x_raw; _flow_sum_y += delta_y_raw; @@ -702,12 +762,7 @@ void PAW3902::RunImpl() _flow_quality_sum += buf.data.SQUAL; } else { - // reset - _flow_dt_sum_usec = 0; - _flow_sum_x = 0; - _flow_sum_y = 0; - _flow_sample_counter = 0; - _flow_quality_sum = 0; + ResetAccumulatedData(); return; } @@ -743,9 +798,29 @@ void PAW3902::RunImpl() report.min_ground_distance = 0.08f; // Datasheet: 80mm report.max_ground_distance = 30.0f; // Datasheet: infinity + + switch (_mode) { + case Mode::Bright: + report.mode = optical_flow_s::MODE_BRIGHT; + break; + + case Mode::LowLight: + report.mode = optical_flow_s::MODE_LOWLIGHT; + break; + + case Mode::SuperLowLight: + report.mode = optical_flow_s::MODE_SUPER_LOWLIGHT; + break; + } + report.timestamp = hrt_absolute_time(); _optical_flow_pub.publish(report); + ResetAccumulatedData(); +} + +void PAW3902::ResetAccumulatedData() +{ // reset _flow_dt_sum_usec = 0; _flow_sum_x = 0; @@ -762,6 +837,8 @@ void PAW3902::print_status() perf_print_counter(_interval_perf); perf_print_counter(_comms_errors); perf_print_counter(_false_motion_perf); - perf_print_counter(_mode_change_perf); perf_print_counter(_register_write_fail_perf); + perf_print_counter(_mode_change_bright_perf); + perf_print_counter(_mode_change_low_light_perf); + perf_print_counter(_mode_change_super_low_light_perf); } diff --git a/src/drivers/optical_flow/paw3902/PAW3902.hpp b/src/drivers/optical_flow/paw3902/PAW3902.hpp index 5f46a42db9..87d0d96c27 100644 --- a/src/drivers/optical_flow/paw3902/PAW3902.hpp +++ b/src/drivers/optical_flow/paw3902/PAW3902.hpp @@ -63,7 +63,7 @@ class PAW3902 : public device::SPI, public I2CSPIDriver { public: PAW3902(I2CSPIBusOption bus_option, int bus, int devid, int bus_frequency, spi_mode_e spi_mode, - float yaw_rotation_degrees = NAN); + spi_drdy_gpio_t drdy_gpio, float yaw_rotation_degrees = NAN); virtual ~PAW3902(); static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, @@ -77,19 +77,30 @@ public: void RunImpl(); private: + void exit_and_cleanup() override; + int probe() override; + static int DataReadyInterruptCallback(int irq, void *context, void *arg); + void DataReady(); + bool DataReadyInterruptConfigure(); + bool DataReadyInterruptDisable(); + uint8_t RegisterRead(uint8_t reg, int retries = 3); void RegisterWrite(uint8_t reg, uint8_t data); bool RegisterWriteVerified(uint8_t reg, uint8_t data, int retries = 5); bool Reset(); - bool ModeBright(); - bool ModeLowLight(); - bool ModeSuperLowLight(); + void EnableLed(); - bool ChangeMode(Mode newMode); + void ModeBright(); + void ModeLowLight(); + void ModeSuperLowLight(); + + bool ChangeMode(Mode newMode, bool force = false); + + void ResetAccumulatedData(); uORB::PublicationMulti _optical_flow_pub{ORB_ID(optical_flow)}; @@ -97,11 +108,15 @@ private: perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")}; perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com err")}; perf_counter_t _false_motion_perf{perf_alloc(PC_COUNT, MODULE_NAME": false motion report")}; - perf_counter_t _mode_change_perf{perf_alloc(PC_COUNT, MODULE_NAME": mode change")}; perf_counter_t _register_write_fail_perf{perf_alloc(PC_COUNT, MODULE_NAME": verified register write failed")}; + perf_counter_t _mode_change_bright_perf{perf_alloc(PC_COUNT, MODULE_NAME": mode change bright (0)")}; + perf_counter_t _mode_change_low_light_perf{perf_alloc(PC_COUNT, MODULE_NAME": mode change low light (1)")}; + perf_counter_t _mode_change_super_low_light_perf{perf_alloc(PC_COUNT, MODULE_NAME": mode change super low light (2)")}; static constexpr uint64_t COLLECT_TIME{15000}; // 15 milliseconds, optical flow data publish rate + const spi_drdy_gpio_t _drdy_gpio; + uint64_t _previous_collect_timestamp{0}; uint64_t _flow_dt_sum_usec{0}; uint8_t _flow_sample_counter{0}; diff --git a/src/drivers/optical_flow/paw3902/PixArt_PAW3902JF_Registers.hpp b/src/drivers/optical_flow/paw3902/PixArt_PAW3902JF_Registers.hpp index a012c3f0e8..321295797a 100644 --- a/src/drivers/optical_flow/paw3902/PixArt_PAW3902JF_Registers.hpp +++ b/src/drivers/optical_flow/paw3902/PixArt_PAW3902JF_Registers.hpp @@ -46,6 +46,10 @@ static constexpr uint32_t SAMPLE_INTERVAL_MODE_2{1000000 / 50}; // 50 fps static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2MHz SPI serial interface +// Various time delay needed for PAW3902 +static constexpr uint32_t TIME_us_TSWW = 11; // actually 10.5us +static constexpr uint32_t TIME_us_TSRAD = 2; + enum Register : uint8_t { Product_ID = 0x00, Revision_ID = 0x01, @@ -76,8 +80,8 @@ enum Product_ID_Bit : uint8_t { }; enum class Mode { - Bright = 0, - LowLight = 1, + Bright = 0, + LowLight = 1, SuperLowLight = 2, }; diff --git a/src/drivers/optical_flow/paw3902/paw3902_main.cpp b/src/drivers/optical_flow/paw3902/paw3902_main.cpp index 8bca7ba583..65d01defa3 100644 --- a/src/drivers/optical_flow/paw3902/paw3902_main.cpp +++ b/src/drivers/optical_flow/paw3902/paw3902_main.cpp @@ -47,7 +47,7 @@ I2CSPIDriverBase *PAW3902::instantiate(const BusCLIArguments &cli, const BusInst int runtime_instance) { PAW3902 *instance = new PAW3902(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.bus_frequency, - cli.spi_mode, cli.custom1); + cli.spi_mode, iterator.DRDYGPIO(), cli.custom1); if (!instance) { PX4_ERR("alloc failed"); diff --git a/src/drivers/optical_flow/thoneflow/thoneflow.cpp b/src/drivers/optical_flow/thoneflow/thoneflow.cpp index 9f74b71212..62b6d2160e 100644 --- a/src/drivers/optical_flow/thoneflow/thoneflow.cpp +++ b/src/drivers/optical_flow/thoneflow/thoneflow.cpp @@ -114,7 +114,7 @@ extern "C" __EXPORT int thoneflow_main(int argc, char *argv[]); Thoneflow::Thoneflow(const char *port) : ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)), _rotation(Rotation(0)), - _cycle_interval(15150), + _cycle_interval(10526), _fd(-1), _linebuf_index(0), _parse_state(THONEFLOW_PARSE_STATE0_UNSYNC), @@ -230,7 +230,7 @@ Thoneflow::init() /* Integrated flow is sent at 66fps */ _report.frame_count_since_last_readout = 1; - _report.integration_timespan = 15151; // microseconds + _report.integration_timespan = 10526; // microseconds /* Get a publish handle on the optical flow topic */ _optical_flow_pub = orb_advertise(ORB_ID(optical_flow), &_report); diff --git a/src/drivers/osd/atxxxx/atxxxx.cpp b/src/drivers/osd/atxxxx/atxxxx.cpp index 6709dc9334..8b40635b97 100644 --- a/src/drivers/osd/atxxxx/atxxxx.cpp +++ b/src/drivers/osd/atxxxx/atxxxx.cpp @@ -424,10 +424,6 @@ OSDatxxxx::get_flight_mode(uint8_t nav_state) case vehicle_status_s::NAVIGATION_STATE_STAB: flight_mode = "STABILIZED"; break; - - case vehicle_status_s::NAVIGATION_STATE_RATTITUDE: - flight_mode = "RATTITUDE"; - break; } return flight_mode; diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp index b2faca0851..07ec2a44e1 100644 --- a/src/drivers/pwm_out/PWMOut.cpp +++ b/src/drivers/pwm_out/PWMOut.cpp @@ -33,21 +33,37 @@ #include "PWMOut.hpp" -PWMOut::PWMOut() : - CDev(PX4FMU_DEVICE_PATH), - OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default), +pthread_mutex_t pwm_out_module_mutex = PTHREAD_MUTEX_INITIALIZER; +static px4::atomic _objects[PWM_OUT_MAX_INSTANCES] {}; +static bool _pwm_out_started = false; + +static bool is_running() +{ + for (auto &obj : _objects) { + if (obj.load() != nullptr) { + return true; + } + } + + return false; +} + +PWMOut::PWMOut(int instance, uint8_t output_base) : + CDev((instance == 0) ? PX4FMU_DEVICE_PATH : PX4FMU_DEVICE_PATH"1"), + OutputModuleInterface((instance == 0) ? MODULE_NAME"0" : MODULE_NAME"1", px4::wq_configurations::hp_default), + _instance(instance), + _output_base(output_base), _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")), _interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval")) { _mixing_output.setAllMinValues(PWM_DEFAULT_MIN); _mixing_output.setAllMaxValues(PWM_DEFAULT_MAX); - } PWMOut::~PWMOut() { /* make sure servos are off */ - up_pwm_servo_deinit(); + up_pwm_servo_deinit(); // TODO: review for multi /* clean up the alternate device node */ unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance); @@ -106,9 +122,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 50; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0x1; + _pwm_mask = 0b0000'0000'0000'0001 << _output_base; _pwm_initialized = false; _num_outputs = 1; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -129,9 +146,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 50; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0x3; + _pwm_mask = 0b0000'0000'0000'0011 << _output_base; _pwm_initialized = false; _num_outputs = 2; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -152,9 +170,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 50; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0x7; + _pwm_mask = 0b0000'0000'0000'0111 << _output_base; _pwm_initialized = false; _num_outputs = 3; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -175,9 +194,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 50; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0xf; + _pwm_mask = 0b0000'0000'0000'1111 << _output_base; _pwm_initialized = false; _num_outputs = 4; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -192,9 +212,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 400; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0x0f; + _pwm_mask = 0b0000'0000'0000'1111 << _output_base; _pwm_initialized = false; _num_outputs = 4; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -216,9 +237,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 50; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0x1f; + _pwm_mask = 0b0000'0000'0001'1111 << _output_base; _pwm_initialized = false; _num_outputs = 5; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -232,9 +254,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 50; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0x3f; + _pwm_mask = 0b0000'0000'0011'1111 << _output_base; _pwm_initialized = false; _num_outputs = 6; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -248,9 +271,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 50; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0xff; + _pwm_mask = 0b0000'0000'1111'1111 << _output_base; _pwm_initialized = false; _num_outputs = 8; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -264,9 +288,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 50; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0xFFF; + _pwm_mask = 0b0000'1111'1111'1111 << _output_base; _pwm_initialized = false; _num_outputs = 12; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -280,9 +305,10 @@ int PWMOut::set_mode(Mode mode) _pwm_default_rate = 50; _pwm_alt_rate = 50; _pwm_alt_rate_channels = 0; - _pwm_mask = 0x3fff; + _pwm_mask = 0b0011'1111'1111'1111 << _output_base; _pwm_initialized = false; _num_outputs = 14; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); break; @@ -297,11 +323,12 @@ int PWMOut::set_mode(Mode mode) _pwm_mask = 0x0; _pwm_initialized = false; _num_outputs = 0; + _mixing_output.setMaxNumOutputs(_num_outputs); update_params(); if (old_mask != _pwm_mask) { /* disable servo outputs - no need to set rates */ - up_pwm_servo_deinit(); + up_pwm_servo_deinit(); // TODO: review for multi } break; @@ -342,7 +369,7 @@ int PWMOut::set_mode(Mode mode) */ int PWMOut::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate) { - PX4_DEBUG("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate); + PX4_DEBUG("pwm_out%u set_pwm_rate %x %u %u", _instance, rate_map, default_rate, alt_rate); for (unsigned pass = 0; pass < 2; pass++) { @@ -448,31 +475,45 @@ void PWMOut::update_current_rate() // max interval 0.5 - 100 ms (10 - 2000Hz) const int update_interval_in_us = math::constrain(1000000 / max_rate, 500, 100000); + PX4_INFO("instance: %d, MAX RATE: %d, default: %d, alt: %d", _instance, max_rate, _pwm_default_rate, _pwm_alt_rate); + _current_update_rate = max_rate; _mixing_output.setMaxTopicUpdateRate(update_interval_in_us); } int PWMOut::task_spawn(int argc, char *argv[]) { - PWMOut *instance = new PWMOut(); + for (unsigned instance = 0; instance < (sizeof(_objects) / sizeof(_objects[0])); instance++) { - if (instance) { - _object.store(instance); - _task_id = task_id_is_work_queue; + if (instance < PWM_OUT_MAX_INSTANCES) { + uint8_t base = instance * 8; // TODO: configurable + PWMOut *dev = new PWMOut(instance, base); - if (instance->init() == PX4_OK) { - return PX4_OK; + if (dev) { + _objects[instance].store(dev); + + if (dev->init() != PX4_OK) { + PX4_ERR("%d - init failed", instance); + delete dev; + _objects[instance].store(nullptr); + return PX4_ERROR; + } + + } else { + PX4_ERR("alloc failed"); + } + + } else { + // This hardware platform does not support + // this many devices, set the storage to + // a sane default + _objects[instance].store(nullptr); } - - } else { - PX4_ERR("alloc failed"); } - delete instance; - _object.store(nullptr); - _task_id = -1; + _pwm_out_started = true; - return PX4_ERROR; + return PX4_OK; } void PWMOut::capture_trampoline(void *context, uint32_t chan_index, @@ -496,7 +537,7 @@ void PWMOut::update_pwm_out_state(bool on) _pwm_initialized = true; } - up_pwm_servo_arm(on); + up_pwm_servo_arm(on); // TODO REVIEW for multi } bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], @@ -509,7 +550,7 @@ bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], /* output to the servos */ if (_pwm_initialized) { for (size_t i = 0; i < math::min(_num_outputs, num_outputs); i++) { - up_pwm_servo_set(i, outputs[i]); + up_pwm_servo_set(_output_base + i, outputs[i]); } } @@ -517,7 +558,7 @@ bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], * the oneshots with updated values. */ if (num_control_groups_updated > 0) { - up_pwm_update(); + up_pwm_update(); // TODO: review for multi } return true; @@ -529,7 +570,7 @@ void PWMOut::Run() ScheduleClear(); _mixing_output.unregister(); - exit_and_cleanup(); + //exit_and_cleanup(); return; } @@ -539,6 +580,11 @@ void PWMOut::Run() // push backup schedule ScheduleDelayed(_backup_schedule_interval_us); + if (_new_mode_request.load() != _mode) { + set_mode(_new_mode_request.load()); + _new_mode_request.store(_mode); + } + _mixing_output.update(); /* update PWM status if armed or if disarmed PWM values are set */ @@ -711,10 +757,10 @@ void PWMOut::update_params() uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask(); if (pwm_rev >= 1) { - reverse_pwm_mask = reverse_pwm_mask | (2 << i); + reverse_pwm_mask = reverse_pwm_mask | (1 << i); } else { - reverse_pwm_mask = reverse_pwm_mask & ~(2 << i); + reverse_pwm_mask = reverse_pwm_mask & ~(1 << i); } } } @@ -777,7 +823,7 @@ int PWMOut::ioctl(file *filp, int cmd, unsigned long arg) break; default: - PX4_DEBUG("not in a PWM mode"); + PX4_DEBUG("pwm_out%u, not in a PWM mode", _instance); break; } @@ -793,7 +839,7 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg) { int ret = OK; - PX4_DEBUG("ioctl cmd: %d, arg: %ld", cmd, arg); + PX4_DEBUG("pwm_out%u: ioctl cmd: %d, arg: %ld", _instance, cmd, arg); lock(); @@ -1101,7 +1147,7 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_SET(1): case PWM_SERVO_SET(0): if (arg <= 2100) { - up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg); + up_pwm_servo_set(cmd - PWM_SERVO_SET(0 + _output_base), arg); } else { ret = -EINVAL; @@ -1173,7 +1219,7 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg) /* FALLTHROUGH */ case PWM_SERVO_GET(1): case PWM_SERVO_GET(0): - *(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0)); + *(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0 + _output_base)); break; case PWM_SERVO_GET_RATEGROUP(0): @@ -1198,7 +1244,7 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_GET_RATEGROUP(12): case PWM_SERVO_GET_RATEGROUP(13): #endif - *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); + *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0 + _output_base)); break; case PWM_SERVO_GET_COUNT: @@ -1552,9 +1598,8 @@ int PWMOut::fmu_new_mode(PortMode new_mode) return -1; } - PWMOut::Mode servo_mode; - - servo_mode = PWMOut::MODE_NONE; + PWMOut::Mode pwm_mode0 = PWMOut::MODE_NONE; + PWMOut::Mode pwm_mode1 = PWMOut::MODE_NONE; switch (new_mode) { case PORT_FULL_GPIO: @@ -1565,56 +1610,64 @@ int PWMOut::fmu_new_mode(PortMode new_mode) #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4 /* select 4-pin PWM mode */ - servo_mode = PWMOut::MODE_4PWM; + pwm_mode0 = PWMOut::MODE_4PWM; #endif #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 5 - servo_mode = PWMOut::MODE_5PWM; + pwm_mode0 = PWMOut::MODE_5PWM; #endif #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 6 - servo_mode = PWMOut::MODE_6PWM; + pwm_mode0 = PWMOut::MODE_6PWM; #endif #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8 - servo_mode = PWMOut::MODE_8PWM; + pwm_mode0 = PWMOut::MODE_8PWM; #endif #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 12 - servo_mode = PWMOut::MODE_12PWM; + //pwm_mode0 = PWMOut::MODE_12PWM; + pwm_mode0 = PWMOut::MODE_8PWM; + pwm_mode1 = PWMOut::MODE_4PWM; #endif #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14 - servo_mode = PWMOut::MODE_14PWM; + //pwm_mode0 = PWMOut::MODE_14PWM; + pwm_mode0 = PWMOut::MODE_8PWM; + pwm_mode1 = PWMOut::MODE_6PWM; #endif break; case PORT_PWM1: /* select 2-pin PWM mode */ - servo_mode = PWMOut::MODE_1PWM; + pwm_mode0 = PWMOut::MODE_1PWM; break; #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14 case PORT_PWM14: /* select 14-pin PWM mode */ - servo_mode = PWMOut::MODE_14PWM; + //pwm_mode0 = PWMOut::MODE_14PWM; + pwm_mode0 = PWMOut::MODE_8PWM; + pwm_mode1 = PWMOut::MODE_6PWM; break; #endif #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12 case PORT_PWM12: /* select 12-pin PWM mode */ - servo_mode = PWMOut::MODE_12PWM; + //pwm_mode0 = PWMOut::MODE_12PWM; + pwm_mode0 = PWMOut::MODE_8PWM; + pwm_mode1 = PWMOut::MODE_4PWM; break; #endif #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8 case PORT_PWM8: /* select 8-pin PWM mode */ - servo_mode = PWMOut::MODE_8PWM; + pwm_mode0 = PWMOut::MODE_8PWM; break; #endif #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6 case PORT_PWM6: /* select 6-pin PWM mode */ - servo_mode = PWMOut::MODE_6PWM; + pwm_mode0 = PWMOut::MODE_6PWM; break; #endif @@ -1622,7 +1675,7 @@ int PWMOut::fmu_new_mode(PortMode new_mode) case PORT_PWM5: /* select 5-pin PWM mode */ - servo_mode = PWMOut::MODE_5PWM; + pwm_mode0 = PWMOut::MODE_5PWM; break; @@ -1630,7 +1683,7 @@ int PWMOut::fmu_new_mode(PortMode new_mode) case PORT_PWM5CAP1: /* select 5-pin PWM mode 1 capture */ - servo_mode = PWMOut::MODE_5PWM1CAP; + pwm_mode0 = PWMOut::MODE_5PWM1CAP; break; # endif @@ -1640,7 +1693,7 @@ int PWMOut::fmu_new_mode(PortMode new_mode) case PORT_PWM4: /* select 4-pin PWM mode */ - servo_mode = PWMOut::MODE_4PWM; + pwm_mode0 = PWMOut::MODE_4PWM; break; @@ -1648,39 +1701,39 @@ int PWMOut::fmu_new_mode(PortMode new_mode) case PORT_PWM4CAP1: /* select 4-pin PWM mode 1 capture */ - servo_mode = PWMOut::MODE_4PWM1CAP; + pwm_mode0 = PWMOut::MODE_4PWM1CAP; break; case PORT_PWM4CAP2: /* select 4-pin PWM mode 2 capture */ - servo_mode = PWMOut::MODE_4PWM2CAP; + pwm_mode0 = PWMOut::MODE_4PWM2CAP; break; # endif case PORT_PWM3: /* select 3-pin PWM mode */ - servo_mode = PWMOut::MODE_3PWM; + pwm_mode0 = PWMOut::MODE_3PWM; break; # if defined(BOARD_HAS_CAPTURE) case PORT_PWM3CAP1: /* select 3-pin PWM mode 1 capture */ - servo_mode = PWMOut::MODE_3PWM1CAP; + pwm_mode0 = PWMOut::MODE_3PWM1CAP; break; # endif case PORT_PWM2: /* select 2-pin PWM mode */ - servo_mode = PWMOut::MODE_2PWM; + pwm_mode0 = PWMOut::MODE_2PWM; break; # if defined(BOARD_HAS_CAPTURE) case PORT_PWM2CAP2: /* select 2-pin PWM mode 2 capture */ - servo_mode = PWMOut::MODE_2PWM2CAP; + pwm_mode0 = PWMOut::MODE_2PWM2CAP; break; # endif @@ -1690,11 +1743,20 @@ int PWMOut::fmu_new_mode(PortMode new_mode) return -1; } - PWMOut *object = get_instance(); + if (PWM_OUT_MAX_INSTANCES > 0) { + PWMOut *pwm0 = _objects[0].load(); // TODO: get_instance(); - if (servo_mode != object->get_mode()) { - /* (re)set the PWM output mode */ - object->set_mode(servo_mode); + if (pwm0 && pwm_mode0 != pwm0->get_mode()) { + pwm0->request_mode(pwm_mode0); + } + } + + if (PWM_OUT_MAX_INSTANCES > 1) { + PWMOut *pwm1 = _objects[1].load(); // TODO: get_instance(); + + if (pwm1 && pwm_mode1 != pwm1->get_mode()) { + pwm1->request_mode(pwm_mode1); + } } return OK; @@ -1768,7 +1830,7 @@ int PWMOut::test() } else { input_capture_config_t conf = capture_conf[i].chan; conf.callback = &PWMOut::capture_trampoline; - conf.context = PWMOut::get_instance(); + conf.context = _objects[0].load(); // TODO PWMOut::get_instance(); if (::ioctl(fd, INPUT_CAP_SET_CALLBACK, (unsigned long)&conf) == 0) { capture_conf[i].valid = true; @@ -1951,8 +2013,9 @@ int PWMOut::custom_command(int argc, char *argv[]) } - /* start the FMU if not running */ - if (!is_running()) { + /* start pwm_out if not running */ + if (!_pwm_out_started) { + int ret = PWMOut::task_spawn(argc, argv); if (ret) { @@ -2056,7 +2119,17 @@ int PWMOut::custom_command(int argc, char *argv[]) int PWMOut::print_status() { - PX4_INFO("Max update rate: %i Hz", _current_update_rate); + if (_class_instance == CLASS_DEVICE_PRIMARY) { + PX4_INFO("%d - PWM_MAIN 0x%04X", _instance, _pwm_mask); + + } else if (_class_instance == CLASS_DEVICE_SECONDARY) { + PX4_INFO("%d - PWM_AUX 0x%04X", _instance, _pwm_mask); + + } else if (_class_instance == CLASS_DEVICE_TERTIARY) { + PX4_INFO("%d - PWM_EXTRA 0x%04X", _instance, _pwm_mask); + } + + PX4_INFO("%d - Max update rate: %i Hz", _instance, _current_update_rate); const char *mode_str = nullptr; @@ -2102,7 +2175,7 @@ int PWMOut::print_status() } if (mode_str) { - PX4_INFO("PWM Mode: %s", mode_str); + PX4_INFO("%d - PWM Mode: %s", _instance, mode_str); } perf_print_counter(_cycle_perf); @@ -2197,5 +2270,106 @@ mixer files. extern "C" __EXPORT int pwm_out_main(int argc, char *argv[]) { - return PWMOut::main(argc, argv); + if (argc <= 1 || strcmp(argv[1], "-h") == 0) { + return PWMOut::print_usage(); + } + + if (strcmp(argv[1], "start") == 0) { + + if (_pwm_out_started) { + return 0; + } + + int ret = 0; + + PWMOut::lock_module(); + + ret = PWMOut::task_spawn(argc - 1, argv + 1); + + if (ret < 0) { + PX4_ERR("start failed (%i)", ret); + } + + PWMOut::unlock_module(); + return ret; + + } else if (strcmp(argv[1], "status") == 0) { + if (PWMOut::trylock_module()) { + + unsigned count = 0; + + for (int i = 0; i < PWM_OUT_MAX_INSTANCES; i++) { + if (_objects[i].load()) { + PX4_INFO_RAW("\n"); + _objects[i].load()->print_status(); + count++; + } + } + + PWMOut::unlock_module(); + + if (count == 0) { + PX4_INFO("not running"); + return 1; + } + + } else { + PX4_WARN("module locked, try again later"); + } + + return 0; + + } else if (strcmp(argv[1], "stop") == 0) { + PWMOut::lock_module(); + + if (argc > 2) { + int instance = atoi(argv[2]); + + if (instance >= 0 && instance < PWM_OUT_MAX_INSTANCES) { + PX4_INFO("stopping instance %d", instance); + PWMOut *inst = _objects[instance].load(); + + if (inst) { + inst->request_stop(); + px4_usleep(20000); // 20 ms + delete inst; + _objects[instance].store(nullptr); + } + } else { + PX4_ERR("invalid instance %d", instance); + } + + } else { + // otherwise stop everything + bool was_running = false; + + for (int i = 0; i < PWM_OUT_MAX_INSTANCES; i++) { + PWMOut *inst = _objects[i].load(); + + if (inst) { + PX4_INFO("stopping pwm_out instance %d", i); + was_running = true; + inst->request_stop(); + px4_usleep(20000); // 20 ms + delete inst; + _objects[i].store(nullptr); + } + } + + if (!was_running) { + PX4_WARN("not running"); + } + } + + _pwm_out_started = false; + + PWMOut::unlock_module(); + return PX4_OK; + } + + PWMOut::lock_module(); // Lock here, as the method could access _object. + int ret = PWMOut::custom_command(argc - 1, argv + 1); + PWMOut::unlock_module(); + + return ret; } diff --git a/src/drivers/pwm_out/PWMOut.hpp b/src/drivers/pwm_out/PWMOut.hpp index 020369a523..1fb7a280b4 100644 --- a/src/drivers/pwm_out/PWMOut.hpp +++ b/src/drivers/pwm_out/PWMOut.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -93,7 +93,10 @@ enum PortMode { // TODO: keep in sync with drivers/camera_capture #define PX4FMU_DEVICE_PATH "/dev/px4fmu" -class PWMOut : public cdev::CDev, public ModuleBase, public OutputModuleInterface +static constexpr int PWM_OUT_MAX_INSTANCES{(DIRECT_PWM_OUTPUT_CHANNELS > 8) ? 2 : 1}; +extern pthread_mutex_t pwm_out_module_mutex; + +class PWMOut : public cdev::CDev, public OutputModuleInterface { public: enum Mode { @@ -116,7 +119,10 @@ public: MODE_5CAP, MODE_6CAP, }; - PWMOut(); + + PWMOut() = delete; + explicit PWMOut(int instance = 0, uint8_t output_base = 0); + virtual ~PWMOut(); /** @see ModuleBase */ @@ -131,7 +137,14 @@ public: void Run() override; /** @see ModuleBase::print_status() */ - int print_status() override; + int print_status(); + + bool should_exit() const { return _task_should_exit.load(); } + void request_stop() { _task_should_exit.store(true); } + + static void lock_module() { pthread_mutex_lock(&pwm_out_module_mutex); } + static bool trylock_module() { return (pthread_mutex_trylock(&pwm_out_module_mutex) == 0); } + static void unlock_module() { pthread_mutex_unlock(&pwm_out_module_mutex); } /** change the FMU mode of the running module */ static int fmu_new_mode(PortMode new_mode); @@ -144,6 +157,7 @@ public: int set_mode(Mode mode); Mode get_mode() { return _mode; } + void request_mode(Mode new_mode) { _new_mode_request.store(new_mode); } static int set_i2c_bus_clock(unsigned bus, unsigned clock_hz); @@ -158,10 +172,17 @@ private: static constexpr int FMU_MAX_ACTUATORS = DIRECT_PWM_OUTPUT_CHANNELS; static_assert(FMU_MAX_ACTUATORS <= MAX_ACTUATORS, "Increase MAX_ACTUATORS if this fails"); + px4::atomic_bool _task_should_exit{false}; + + const int _instance; + const uint32_t _output_base; + MixingOutput _mixing_output{FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true}; Mode _mode{MODE_NONE}; + px4::atomic _new_mode_request{MODE_NONE}; + uint32_t _backup_schedule_interval_us{1_s}; unsigned _pwm_default_rate{50}; diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp index 8fcabd9f8a..3c9fead25e 100644 --- a/src/drivers/rc_input/RCInput.cpp +++ b/src/drivers/rc_input/RCInput.cpp @@ -58,7 +58,7 @@ RCInput::RCInput(const char *device) : } if (device) { - strncpy(_device, device, sizeof(_device)); + strncpy(_device, device, sizeof(_device) - 1); _device[sizeof(_device) - 1] = '\0'; } } @@ -245,6 +245,7 @@ void RCInput::set_rc_scan_state(RC_SCAN newState) PX4_DEBUG("RCscan: %s failed, trying %s", RCInput::RC_SCAN_STRING[_rc_scan_state], RCInput::RC_SCAN_STRING[newState]); _rc_scan_begin = 0; _rc_scan_state = newState; + _rc_scan_locked = false; } void RCInput::rc_io_invert(bool invert) @@ -258,19 +259,6 @@ void RCInput::rc_io_invert(bool invert) } } -void RCInput::answer_command(const vehicle_command_s &cmd, uint8_t result) -{ - /* publish ACK */ - uORB::Publication vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)}; - vehicle_command_ack_s command_ack{}; - command_ack.command = cmd.command; - command_ack.result = result; - command_ack.target_system = cmd.source_system; - command_ack.target_component = cmd.source_component; - command_ack.timestamp = hrt_absolute_time(); - vehicle_command_ack_pub.publish(command_ack); -} - void RCInput::Run() { if (should_exit()) { @@ -300,6 +288,14 @@ void RCInput::Run() updateParams(); } + if (_vehicle_status_sub.updated()) { + vehicle_status_s vehicle_status; + + if (_vehicle_status_sub.copy(&vehicle_status)) { + _armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + } + } + const hrt_abstime cycle_timestamp = hrt_absolute_time(); @@ -308,12 +304,12 @@ void RCInput::Run() if (_vehicle_cmd_sub.update(&vcmd)) { // Check for a pairing command - if ((unsigned int)vcmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) { + if (vcmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) { uint8_t cmd_ret = vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED; #if defined(SPEKTRUM_POWER) - if (!_rc_scan_locked /* !_armed.armed */) { // TODO: add armed check? + if (!_rc_scan_locked && !_armed) { if ((int)vcmd.param1 == 0) { // DSM binding command int dsm_bind_mode = (int)vcmd.param2; @@ -334,39 +330,55 @@ void RCInput::Run() cmd_ret = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } + + } else { + cmd_ret = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } -#endif /* SPEKTRUM_POWER */ - answer_command(vcmd, cmd_ret); +#endif // SPEKTRUM_POWER + + // publish acknowledgement + vehicle_command_ack_s command_ack{}; + command_ack.command = vcmd.command; + command_ack.result = cmd_ret; + command_ack.target_system = vcmd.source_system; + command_ack.target_component = vcmd.source_component; + command_ack.timestamp = hrt_absolute_time(); + uORB::Publication vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)}; + vehicle_command_ack_pub.publish(command_ack); } } - /* update ADC sampling */ -#ifdef ADC_RC_RSSI_CHANNEL - adc_report_s adc; - if (_adc_sub.update(&adc)) { - for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) { - if (adc.channel_id[i] == ADC_RC_RSSI_CHANNEL) { - float adc_volt = adc.raw_data[i] * - adc.v_ref / - adc.resolution; +#if defined(ADC_RC_RSSI_CHANNEL) - if (_analog_rc_rssi_volt < 0.0f) { - _analog_rc_rssi_volt = adc_volt; - } + // update ADC sampling + if (_adc_report_sub.updated()) { + adc_report_s adc; - _analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.995f + adc_volt * 0.005f; + if (_adc_report_sub.copy(&adc)) { + for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) { + if (adc.channel_id[i] == ADC_RC_RSSI_CHANNEL) { + float adc_volt = adc.raw_data[i] * + adc.v_ref / + adc.resolution; - /* only allow this to be used if we see a high RSSI once */ - if (_analog_rc_rssi_volt > 2.5f) { - _analog_rc_rssi_stable = true; + if (_analog_rc_rssi_volt < 0.0f) { + _analog_rc_rssi_volt = adc_volt; + } + + _analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.995f + adc_volt * 0.005f; + + /* only allow this to be used if we see a high RSSI once */ + if (_analog_rc_rssi_volt > 2.5f) { + _analog_rc_rssi_stable = true; + } } } } } -#endif /* ADC_RC_RSSI_CHANNEL */ +#endif // ADC_RC_RSSI_CHANNEL bool rc_updated = false; @@ -374,9 +386,7 @@ void RCInput::Run() // Scan for 300 msec, then switch protocol constexpr hrt_abstime rc_scan_max = 300_ms; - bool sbus_failsafe, sbus_frame_drop; unsigned frame_drops = 0; - bool dsm_11_bit; if (_report_lock && _rc_scan_locked) { _report_lock = false; @@ -410,6 +420,9 @@ void RCInput::Run() // parse new data if (newBytes > 0) { + bool sbus_failsafe = false; + bool sbus_frame_drop = false; + rc_updated = sbus_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS); @@ -440,7 +453,8 @@ void RCInput::Run() || cycle_timestamp - _rc_scan_begin < rc_scan_max) { if (newBytes > 0) { - int8_t dsm_rssi; + int8_t dsm_rssi = 0; + bool dsm_11_bit = false; // parse new data rc_updated = dsm_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count, @@ -654,16 +668,14 @@ void RCInput::Run() _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST; fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi); - // Enable GHST Telemetry only on the Omnibus, because on Pixhawk (-related) boards + // ghst telemetry works on fmu-v5 + // on other Pixhawk (-related) boards it does not work because // we cannot write to the RC UART - // It might work on FMU-v5. Or another option is to use a different UART port -#ifdef CONFIG_ARCH_BOARD_OMNIBUS_F4SD if (!_rc_scan_locked && !_ghst_telemetry) { _ghst_telemetry = new GHSTTelemetry(_rcs_fd); } -#endif /* CONFIG_ARCH_BOARD_OMNIBUS_F4SD */ _rc_scan_locked = true; diff --git a/src/drivers/rc_input/RCInput.hpp b/src/drivers/rc_input/RCInput.hpp index f965aa764b..e4aaac4108 100644 --- a/src/drivers/rc_input/RCInput.hpp +++ b/src/drivers/rc_input/RCInput.hpp @@ -41,7 +41,7 @@ #include #include #include -#include +#include #include #include #include @@ -59,9 +59,10 @@ #include #include #include +#include #include "crsf_telemetry.h" -#include "ghst_telemetry.h" +#include "ghst_telemetry.hpp" #ifdef HRT_PPM_CHANNEL # include @@ -125,14 +126,6 @@ private: void rc_io_invert(bool invert); - /** - * Respond to a vehicle command with an ACK message - * - * @param cmd The command that was executed or denied (inbound) - * @param result The command result - */ - void answer_command(const vehicle_command_s &cmd, uint8_t result); - hrt_abstime _rc_scan_begin{0}; bool _initialized{false}; @@ -143,14 +136,17 @@ private: uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::Subscription _adc_report_sub{ORB_ID(adc_report)}; uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)}; - uORB::Subscription _adc_sub{ORB_ID(adc_report)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; input_rc_s _rc_in{}; float _analog_rc_rssi_volt{-1.0f}; bool _analog_rc_rssi_stable{false}; + bool _armed{false}; + uORB::PublicationMulti _to_input_rc{ORB_ID(input_rc)}; diff --git a/src/drivers/rc_input/crsf_telemetry.cpp b/src/drivers/rc_input/crsf_telemetry.cpp index 243e711c8c..37a5092cd3 100644 --- a/src/drivers/rc_input/crsf_telemetry.cpp +++ b/src/drivers/rc_input/crsf_telemetry.cpp @@ -182,10 +182,6 @@ bool CRSFTelemetry::send_flight_mode() case vehicle_status_s::NAVIGATION_STATE_STAB: flight_mode = "Stabilized"; break; - - case vehicle_status_s::NAVIGATION_STATE_RATTITUDE: - flight_mode = "Rattitude"; - break; } return crsf_send_telemetry_flight_mode(_uart_fd, flight_mode); diff --git a/src/drivers/rc_input/ghst_telemetry.cpp b/src/drivers/rc_input/ghst_telemetry.cpp index ab9da12698..e254cb09ab 100644 --- a/src/drivers/rc_input/ghst_telemetry.cpp +++ b/src/drivers/rc_input/ghst_telemetry.cpp @@ -40,8 +40,10 @@ * @author Juraj Ciberlin */ -#include "ghst_telemetry.h" -#include +#include "ghst_telemetry.hpp" +#include + +using time_literals::operator ""_s; GHSTTelemetry::GHSTTelemetry(int uart_fd) : _uart_fd(uart_fd) @@ -50,36 +52,44 @@ GHSTTelemetry::GHSTTelemetry(int uart_fd) : bool GHSTTelemetry::update(const hrt_abstime &now) { - const int update_rate_hz = 10; + bool success = false; - if (now - _last_update <= 1_s / (update_rate_hz * num_data_types)) { - return false; + if ((now - _last_update) > (1_s / (UPDATE_RATE_HZ * NUM_DATA_TYPES))) { + + switch (_next_type) { + case 0U: + success = send_battery_status(); + break; + + default: + success = false; + break; + } + + _last_update = now; + _next_type = (_next_type + 1U) % NUM_DATA_TYPES; } - bool sent = false; - - switch (_next_type) { - case 0: - sent = send_battery_status(); - break; - } - - _last_update = now; - _next_type = (_next_type + 1) % num_data_types; - - return sent; + return success; } bool GHSTTelemetry::send_battery_status() { + bool success = false; + float voltage_in_10mV; + float current_in_10mA; + float fuel_in_10mAh; battery_status_s battery_status; - if (!_battery_status_sub.update(&battery_status)) { - return false; + if (_battery_status_sub.update(&battery_status)) { + voltage_in_10mV = battery_status.voltage_filtered_v * FACTOR_VOLTS_TO_10MV; + current_in_10mA = battery_status.current_filtered_a * FACTOR_AMPS_TO_10MA; + fuel_in_10mAh = battery_status.discharged_mah * FACTOR_MAH_TO_10MAH; + success = ghst_send_telemetry_battery_status(_uart_fd, + static_cast(voltage_in_10mV), + static_cast(current_in_10mA), + static_cast(fuel_in_10mAh)); } - uint16_t voltage = battery_status.voltage_filtered_v * 10; - uint16_t current = battery_status.current_filtered_a * 10; - uint16_t fuel = battery_status.discharged_mah; - return ghst_send_telemetry_battery(_uart_fd, voltage, current, fuel); + return success; } diff --git a/src/drivers/rc_input/ghst_telemetry.h b/src/drivers/rc_input/ghst_telemetry.hpp similarity index 84% rename from src/drivers/rc_input/ghst_telemetry.h rename to src/drivers/rc_input/ghst_telemetry.hpp index 0bbba0e0d5..a996eff876 100644 --- a/src/drivers/rc_input/ghst_telemetry.h +++ b/src/drivers/rc_input/ghst_telemetry.hpp @@ -46,8 +46,6 @@ #include #include -using namespace time_literals; - /** * High-level class that handles sending of GHST telemetry data */ @@ -58,7 +56,7 @@ public: * @param uart_fd file descriptor for the UART to use. It is expected to be configured * already. */ - GHSTTelemetry(int uart_fd); + explicit GHSTTelemetry(int uart_fd); ~GHSTTelemetry() = default; @@ -74,10 +72,16 @@ private: uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; - hrt_abstime _last_update{0}; - - static constexpr int num_data_types{1}; // number of different telemetry data types - int _next_type{0}; - int _uart_fd; + hrt_abstime _last_update {0U}; + uint32_t _next_type {0U}; + + static constexpr uint32_t NUM_DATA_TYPES {1U}; // number of different telemetry data types + static constexpr uint32_t UPDATE_RATE_HZ {10U}; // update rate [Hz] + + // Factors that should be applied to get correct values + static constexpr float FACTOR_VOLTS_TO_10MV {100.0F}; + static constexpr float FACTOR_AMPS_TO_10MA {100.0F}; + static constexpr float FACTOR_MAH_TO_10MAH {0.1F}; + }; diff --git a/src/drivers/rpm/pcf8583/parameters.c b/src/drivers/rpm/pcf8583/parameters.c index b1d7ff779f..1ed06b50fb 100644 --- a/src/drivers/rpm/pcf8583/parameters.c +++ b/src/drivers/rpm/pcf8583/parameters.c @@ -33,7 +33,8 @@ /** * PCF8583 rotorfreq (i2c) pool interval - * How often the sensor is readout. + * + * Determines how often the sensor is read out. * * @reboot_required true * @group Sensors diff --git a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp deleted file mode 100644 index 883a94d8df..0000000000 --- a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp +++ /dev/null @@ -1,595 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015-2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -#include -#include -#include -#include -#include // NAN -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -/* - * PWM Driver for snapdragon. - * @author: Dennis Mannhart - */ -namespace snapdragon_pwm -{ - -static px4_task_t _task_handle = -1; -volatile bool _task_should_exit = false; -static bool _is_running = false; -static const int NUM_PWM = 4; -static char _device[] = "/dev/pwm-1"; - -// snapdragon pins 27,28,29,30 configured for pwm (port J13) -static const int PIN_GPIO = 27; -static struct ::dspal_pwm_ioctl_signal_definition _signal_definition; -static struct ::dspal_pwm _pwm_gpio[NUM_PWM]; -static struct ::dspal_pwm_ioctl_update_buffer *_update_buffer; -static struct ::dspal_pwm *_pwm; - -// TODO: check frequency required -static const int FREQUENCY_PWM_HZ = 400; - -/* TODO: copied from pwm_out_rc_in: check how that works - * filename: /dev/fs is mapped to /usr/share/data/adsp */ -static char _mixer_filename[32] = "/dev/fs/quad_x.main.mix"; - -// subscriptions -int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; -int _armed_sub; -int _fd = -1; - -// publications -orb_advert_t _outputs_pub = nullptr; - -// topic structures -actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; -orb_id_t _controls_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; -actuator_outputs_s _outputs; -actuator_armed_s _armed; - -// polling -uint8_t _poll_fds_num = 0; -px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; - -// control group -uint32_t _groups_required = 0; - -// limit for pwm -output_limit_t _pwm_limit; - -// esc parameters -int32_t _pwm_disarmed; -int32_t _pwm_min; -int32_t _pwm_max; - -MultirotorMixer *_mixer = nullptr; - -perf_counter_t _perf_control_latency = nullptr; - -/* - * forward declaration - */ - -static void usage(); - -static void start(); - -static void stop(); - -static int pwm_initialize(const char *device); - -static void pwm_deinitialize(); - -static void send_outputs_pwm(const uint16_t *pwm); - -static void task_main_trampoline(int argc, char *argv[]); - -static void subscribe(); - -static void task_main(int argc, char *argv[]); - -static void update_params(Mixer::Airmode &airmode); - -int initialize_mixer(const char *mixer_filename); - -int mixer_control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input); - - - -/* - * functions - */ - -int mixer_control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input) -{ - const actuator_controls_s *controls = (actuator_controls_s *)handle; - - input = controls[control_group].control[control_index]; - - return 0; -} - -void update_params(Mixer::Airmode &airmode) -{ - // multicopter air-mode - param_t param_handle = param_find("MC_AIRMODE"); - - if (param_handle != PARAM_INVALID) { - param_get(param_handle, &airmode); - } -} - -int initialize_mixer(const char *mixer_filename) -{ - char buf[2048]; - size_t buflen = sizeof(buf); - PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename); - int fd_load = ::open(mixer_filename, O_RDONLY); - - int nRead = ::read(fd_load, buf, buflen); - close(fd_load); - - if (nRead > 0) { - _mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen); - - if (_mixer != nullptr) { - PX4_INFO("Successfully initialized mixer from config file"); - return 0; - - } else { - PX4_ERR("Unable to parse from mixer config file"); - return -1; - } - - } else { - PX4_WARN("Unable to read from mixer config file"); - return -2; - } -} - -void subscribe() -{ - memset(_controls, 0, sizeof(_controls)); - memset(_poll_fds, 0, sizeof(_poll_fds)); - - /* - * ORB topic names to msg actuator_controls - */ - _controls_topics[0] = ORB_ID(actuator_controls_0); - _controls_topics[1] = ORB_ID(actuator_controls_1); - _controls_topics[2] = ORB_ID(actuator_controls_2); - _controls_topics[3] = ORB_ID(actuator_controls_3); - - - /* - * subscibe to orb topic - */ - for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - - if (_groups_required & (1 << i)) { - - PX4_DEBUG("subscribe to actuator_controls_%d", i); - - _controls_subs[i] = orb_subscribe(_controls_topics[i]); - - } else { - - _controls_subs[i] = -1; - - } - - if (_controls_subs[i] >= 0) { - - _poll_fds[_poll_fds_num].fd = _controls_subs[i]; - _poll_fds[_poll_fds_num].events = POLLIN; - _poll_fds_num++; - - } - - } - - _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - -} - - - -int pwm_initialize(const char *device) -{ - /* - * open PWM device - */ - _fd = open(_device, 0); - - if (_fd < 0) { - PX4_ERR("failed to open PWM device!"); - return -1; - } - - /* - * configure PWM - */ - for (int i = 0; i < NUM_PWM; i++) { - _pwm_gpio[i].gpio_id = PIN_GPIO + i; - } - - /* - * description of signal - */ - _signal_definition.num_gpios = NUM_PWM; - _signal_definition.period_in_usecs = 1000000 / FREQUENCY_PWM_HZ; - _signal_definition.pwm_signal = _pwm_gpio; - - - /* - * send signal definition to DSP - */ - if (::ioctl(_fd, PWM_IOCTL_SIGNAL_DEFINITION, &_signal_definition) != 0) { - PX4_ERR("failed to send signal to DSP"); - return -1; - } - - /* - * retrieve shared buffer which will be used to update desired pulse width - */ - if (::ioctl(_fd, PWM_IOCTL_GET_UPDATE_BUFFER, &_update_buffer) != 0) { - PX4_ERR("failed to receive update buffer "); - return -1; - } - - _pwm = _update_buffer->pwm_signal; - - - return 0; -} - -void pwm_deinitialize() -{ - delete _mixer; - close(_fd); - -} - -void send_outputs_pwm(const uint16_t *pwm) -{ - /* - * send pwm in us: TODO: check if it is in us - */ - for (unsigned i = 0; i < NUM_PWM; ++i) { - _pwm[i].pulse_width_in_usecs = pwm[i]; - } -} - -void task_main(int argc, char *argv[]) -{ - if (pwm_initialize(_device) < 0) { - PX4_ERR("Failed to initialize PWM."); - return; - } - - if (initialize_mixer(_mixer_filename) < 0) { - PX4_ERR("Mixer initialization failed."); - return; - } - - _mixer->groups_required(_groups_required); - - // subscribe and set up polling - subscribe(); - - Mixer::Airmode airmode = Mixer::Airmode::disabled; - update_params(airmode); - uORB::SubscriptionInterval parameter_update_sub{ORB_ID(parameter_update), 1_s}; - - // Start disarmed - _armed.armed = false; - _armed.prearmed = false; - - // set max min pwm - output_limit_init(&_pwm_limit); - - _perf_control_latency = perf_alloc(PC_ELAPSED, "snapdragon_pwm_out control latency"); - - _is_running = true; - - // Main loop - while (!_task_should_exit) { - - if (_mixer) { - _mixer->set_airmode(airmode); - } - - /* wait up to 10ms for data */ - int pret = px4_poll(_poll_fds, _poll_fds_num, 10); - - /* Timed out, do a periodic check for _task_should_exit. */ - bool timeout = false; - - if (pret == 0) { - timeout = true; - } - - /* This is undesirable but not much we can do. */ - if (pret < 0) { - PX4_WARN("poll error %d, %d", pret, errno); - /* sleep a bit before next try */ - usleep(10000); - continue; - } - - bool updated; - orb_check(_armed_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); - } - - /* get controls for required topics */ - unsigned poll_id = 0; - - for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - if (_controls_subs[i] >= 0) { - if (_poll_fds[poll_id].revents & POLLIN) { - orb_copy(_controls_topics[i], _controls_subs[i], &_controls[i]); - } - - poll_id++; - } - } - - if (_mixer == nullptr) { - PX4_ERR("Could not mix output! Exiting..."); - _task_should_exit = true; - continue; - } - - /* do mixing for virtual control group */ - _outputs.noutputs = _mixer->mix(_outputs.output, _outputs.NUM_ACTUATOR_OUTPUTS); - - //set max, min and disarmed pwm - const uint16_t reverse_mask = 0; - uint16_t disarmed_pwm[4]; - uint16_t min_pwm[4]; - uint16_t max_pwm[4]; - uint16_t pwm[4]; - - for (unsigned int i = 0; i < 4; i++) { - disarmed_pwm[i] = _pwm_disarmed; - min_pwm[i] = _pwm_min; - max_pwm[i] = _pwm_max; - } - - - // TODO FIXME: pre-armed seems broken -> copied and pasted from pwm_out_rc_in: needs to be tested - output_limit_calc(_armed.armed, - false/*_armed.prearmed*/, _outputs.noutputs, reverse_mask, disarmed_pwm, - min_pwm, max_pwm, _outputs.output, pwm, &_pwm_limit); - - // send and publish outputs - if (_armed.lockdown || _armed.manual_lockdown || timeout) { - send_outputs_pwm(disarmed_pwm); - - } else { - send_outputs_pwm(pwm); - } - - _outputs.timestamp = hrt_absolute_time(); - - if (_outputs_pub != nullptr) { - orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs); - - } else { - _outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs); - } - - // use first valid timestamp_sample for latency tracking - for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - const bool required = _groups_required & (1 << i); - const hrt_abstime ×tamp_sample = _controls[i].timestamp_sample; - - if (required && (timestamp_sample > 0)) { - perf_set_elapsed(_perf_control_latency, _outputs.timestamp - timestamp_sample); - break; - } - } - - // check for parameter updates - if (parameter_update_sub.updated()) { - // clear update - parameter_update_s pupdate; - parameter_update_sub.copy(&pupdate); - - // update parameters from storage - update_params(airmode); - } - } - - pwm_deinitialize(); - - for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - if (_controls_subs[i] >= 0) { - orb_unsubscribe(_controls_subs[i]); - } - } - - orb_unsubscribe(_armed_sub); - - perf_free(_perf_control_latency); - - _is_running = false; -} - -void task_main_trampoline(int argc, char *argv[]) -{ - task_main(argc, argv); -} - -void start() -{ - _task_should_exit = false; - - /* start the task */ - _task_handle = px4_task_spawn_cmd("snapdragon_pwm_out_main", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX, - 1500, - (px4_main_t)&task_main_trampoline, - nullptr); - - if (_task_handle < 0) { - PX4_ERR("task start failed"); - return; - } - -} - -void stop() -{ - _task_should_exit = true; - - while (_is_running) { - usleep(200000); - PX4_INFO("."); - } - - _task_handle = -1; -} - -void usage() -{ - - PX4_INFO("usage: snapdragon_pwm_out start [-d pwmdevice] [-m mixerfile]"); - PX4_INFO(" -d pwmdevice : device for pwm generation"); - PX4_INFO(" (default /dev/pwm-1)"); - PX4_INFO(" -m mixerfile : path to mixerfile"); - PX4_INFO(" (default /dev/fs/quad_x.main.mix"); - PX4_INFO(" pwm_out stop"); - PX4_INFO(" pwm_out status"); - -} - -} // namespace snapdragon_pwm - -/* driver 'main' command */ -extern "C" __EXPORT int snapdragon_pwm_out_main(int argc, char *argv[]); - -int snapdragon_pwm_out_main(int argc, char *argv[]) -{ - - - int ch; - int myoptind = 1; - const char *myoptarg = nullptr; - - char *verb = nullptr; - - if (argc >= 2) { - verb = argv[1]; - - } else { - return 1; - } - - while ((ch = px4_getopt(argc, argv, "d:m", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - case 'd': - strncpy(snapdragon_pwm::_device, myoptarg, sizeof(snapdragon_pwm::_device)); - break; - - case 'm': - strncpy(snapdragon_pwm::_mixer_filename, myoptarg, sizeof(snapdragon_pwm::_mixer_filename)); - break; - } - } - - // gets the parameters for the esc's pwm - param_get(param_find("PWM_MAIN_DISARM"), &snapdragon_pwm::_pwm_disarmed); - param_get(param_find("PWM_MAIN_MIN"), &snapdragon_pwm::_pwm_min); - param_get(param_find("PWM_MAIN_MAX"), &snapdragon_pwm::_pwm_max); - - /* - * Start/load the driver. - */ - if (!strcmp(verb, "start")) { - if (snapdragon_pwm::_is_running) { - PX4_WARN("pwm_out already running"); - return 1; - } - - snapdragon_pwm::start(); - } - - else if (!strcmp(verb, "stop")) { - if (!snapdragon_pwm::_is_running) { - PX4_WARN("pwm_out is not running"); - return 1; - } - - snapdragon_pwm::stop(); - } - - else if (!strcmp(verb, "status")) { - PX4_INFO("pwm_out is %s", snapdragon_pwm::_is_running ? "running" : "not running"); - return 0; - - } else { - snapdragon_pwm::usage(); - return 1; - } - - return 0; -} diff --git a/src/drivers/tap_esc/drv_tap_esc.h b/src/drivers/tap_esc/drv_tap_esc.h deleted file mode 100644 index 37aa5cdaf5..0000000000 --- a/src/drivers/tap_esc/drv_tap_esc.h +++ /dev/null @@ -1,248 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -#include - -#include - -/* At the moment the only known use is with a current sensor */ -#define ESC_HAVE_CURRENT_SENSOR - -#define TAP_ESC_MAX_PACKET_LEN 20 -#define TAP_ESC_MAX_MOTOR_NUM 8 - -#define PACKET_HEAD 0xfe - -/* ESC_POS maps the values stored in the channelMapTable to reorder the ESC's - * id so that that match the mux setting, so that the ressonder's data - * will be read. - * The index on channelMapTable[p] p is the physical ESC - * The value it is set to is the logical value from ESC_POS[p] - * Phy Log - * 0 0 - * 1 1 - * 2 4 - * 3 3 - * 4 2 - * 5 5 - * .... - * - */ - -// Circular from back right in CCW direction -#define ESC_POS {0, 1, 4, 3, 2, 5, 7, 8} -// 0 is CW, 1 is CCW -#define ESC_DIR {0, 1, 0, 1, 0, 1, 0, 1} - -#define RPMMAX 1900 -#define RPMMIN 1200 -#define RPMSTOPPED (RPMMIN - 10) - - -#define MAX_BOOT_TIME_MS (550) // Minimum time to wait after Power on before sending commands - -#pragma pack(push,1) - -/****** Run ***********/ - -#define RUN_CHANNEL_VALUE_MASK (uint16_t)0x07ff -#define RUN_RED_LED_ON_MASK (uint16_t)0x0800 -#define RUN_GREEN_LED_ON_MASK (uint16_t)0x1000 -#define RUN_BLUE_LED_ON_MASK (uint16_t)0x2000 -#define RUN_LED_ON_MASK (uint16_t)0x3800 -#define RUN_FEEDBACK_ENABLE_MASK (uint16_t)0x4000 -#define RUN_REVERSE_MASK (uint16_t)0x8000 - -typedef struct { - - uint16_t rpm_flags[TAP_ESC_MAX_MOTOR_NUM]; -} RunReq; - -typedef struct { - uint8_t channelID; - uint8_t ESCStatus; - int16_t speed; // -32767 - 32768 -#if defined(ESC_HAVE_VOLTAGE_SENSOR) - uint16_t voltage; // 0.00 - 100.00 V -#endif -#if defined(ESC_HAVE_CURRENT_SENSOR) - uint16_t current; // 0.0 - 200.0 A -#endif -#if defined(ESC_HAVE_TEMPERATURE_SENSOR) - uint8_t temperature; // 0 - 256 degree celsius -#endif -} RunInfoRepsonse; -/****** Run ***********/ - -/****** ConFigInfoBasic ***********/ -typedef struct { - uint8_t maxChannelInUse; - uint8_t channelMapTable[TAP_ESC_MAX_MOTOR_NUM]; - uint8_t monitorMsgType; - uint8_t controlMode; - uint16_t minChannelValue; - uint16_t maxChannelValue; -} ConfigInfoBasicRequest; - -typedef struct { - uint8_t channelID; - ConfigInfoBasicRequest resp; -} ConfigInfoBasicResponse; - -#define ESC_MASK_MAP_CHANNEL 0x0f -#define ESC_MASK_MAP_RUNNING_DIRECTION 0xf0 -/****** ConFigInfoBasicResponse ***********/ - -/****** InfoRequest ***********/ -typedef enum { - REQUEST_INFO_BASIC = 0, - REQUEST_INFO_FUll, - REQUEST_INFO_RUN, - REQUEST_INFO_STUDY, - REQUEST_INFO_COMM, - REQUEST_INFO_DEVICE, -} InfoTypes; - -typedef struct { - uint8_t channelID; - uint8_t requestInfoType; -} InfoRequest; - -/****** InfoRequest ***********/ - -typedef struct { - uint8_t head; - uint8_t len; - uint8_t msg_id; - union { - InfoRequest reqInfo; - ConfigInfoBasicRequest reqConfigInfoBasic; - RunReq reqRun; - ConfigInfoBasicResponse rspConfigInfoBasic; - RunInfoRepsonse rspRunInfo; - uint8_t bytes[100]; - } d; - uint8_t crc_data; - -} EscPacket; - -#define UART_BUFFER_SIZE 128 -typedef struct { - uint8_t head; - uint8_t tail; - uint8_t dat_cnt; - uint8_t esc_feedback_buf[UART_BUFFER_SIZE]; -} ESC_UART_BUF; - -#pragma pack(pop) -/****************************************************************************************** - * ESCBUS_MSG_ID_RUN_INFO packet - * - * Monitor message of ESCs while motor is running - * - * channelID: assigned channel number - * - * ESCStatus: status of ESC - * Num Health status - * 0 HEALTHY - * 1 WARNING_LOW_VOLTAGE - * 2 WARNING_OVER_CURRENT - * 3 WARNING_OVER_HEAT - * 4 ERROR_MOTOR_LOW_SPEED_LOSE_STEP - * 5 ERROR_MOTOR_STALL - * 6 ERROR_HARDWARE - * 7 ERROR_LOSE_PROPELLER - * 8 ERROR_OVER_CURRENT - * - * speed: -32767 - 32767 rpm - * - * temperature: 0 - 256 celsius degree (if available) - * voltage: 0.00 - 100.00 V (if available) - * current: 0.0 - 200.0 A (if available) - */ - -typedef enum { - ESC_STATUS_HEALTHY, - ESC_STATUS_WARNING_LOW_VOLTAGE, - ESC_STATUS_WARNING_OVER_HEAT, - ESC_STATUS_ERROR_MOTOR_LOW_SPEED_LOSE_STEP, - ESC_STATUS_ERROR_MOTOR_STALL, - ESC_STATUS_ERROR_HARDWARE, - ESC_STATUS_ERROR_LOSE_PROPELLER, - ESC_STATUS_ERROR_OVER_CURRENT, - ESC_STATUS_ERROR_MOTOR_HIGH_SPEED_LOSE_STEP, - ESC_STATUS_ERROR_LOSE_CMD, -} ESCBUS_ENUM_ESC_STATUS; - - -typedef enum { -// messages or command to ESC - ESCBUS_MSG_ID_CONFIG_BASIC = 0, - ESCBUS_MSG_ID_CONFIG_FULL, - ESCBUS_MSG_ID_RUN, - ESCBUS_MSG_ID_TUNE, - ESCBUS_MSG_ID_DO_CMD, -// messages from ESC - ESCBUS_MSG_ID_REQUEST_INFO, - ESCBUS_MSG_ID_CONFIG_INFO_BASIC, // simple configuration info for request from flight controller - ESCBUS_MSG_ID_CONFIG_INFO_FULL,// full configuration info for request from host such as computer - ESCBUS_MSG_ID_RUN_INFO,// feedback message in RUN mode - ESCBUS_MSG_ID_STUDY_INFO, // studied parameters in STUDY mode - ESCBUS_MSG_ID_COMM_INFO, // communication method info - ESCBUS_MSG_ID_DEVICE_INFO,// ESC device info - ESCBUS_MSG_ID_ASSIGNED_ID, // never touch ESCBUS_MSG_ID_MAX_NUM - //boot loader used - PROTO_OK = 0x10, // INSYNC/OK - 'ok' response - PROTO_FAILED = 0x11, // INSYNC/FAILED - 'fail' response - - ESCBUS_MSG_ID_BOOT_SYNC = 0x21, // boot loader used - PROTO_GET_DEVICE = 0x22, // get device ID bytes - PROTO_CHIP_ERASE = 0x23, // erase program area and reset program address - PROTO_PROG_MULTI = 0x27, // write bytes at program address and increment - PROTO_GET_CRC = 0x29, // compute & return a CRC - PROTO_BOOT = 0x30, // boot the application - PROTO_GET_SOFTWARE_VERSION = 0x40, - ESCBUS_MSG_ID_MAX_NUM, -} -ESCBUS_ENUM_MESSAGE_ID; - -typedef enum { - HEAD, - LEN, - ID, - DATA, - CRC, - -} PARSR_ESC_STATE; diff --git a/src/drivers/tap_esc/tap_esc.cpp b/src/drivers/tap_esc/tap_esc.cpp deleted file mode 100644 index 720d64c5bd..0000000000 --- a/src/drivers/tap_esc/tap_esc.cpp +++ /dev/null @@ -1,783 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include - -#include -#include -#include -#include -#include -#include - -#include // NAN -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include "tap_esc_common.h" - -#include "drv_tap_esc.h" - -#if !defined(BOARD_TAP_ESC_MODE) -# define BOARD_TAP_ESC_MODE 0 -#endif - -#if !defined(DEVICE_ARGUMENT_MAX_LENGTH) -# define DEVICE_ARGUMENT_MAX_LENGTH 32 -#endif - -// uorb update rate for control groups in miliseconds -#if !defined(TAP_ESC_CTRL_UORB_UPDATE_INTERVAL) -# define TAP_ESC_CTRL_UORB_UPDATE_INTERVAL 2 // [ms] min: 2, max: 100 -#endif - -using namespace time_literals; - -/* - * This driver connects to TAP ESCs via serial. - */ -class TAP_ESC : public cdev::CDev, public ModuleBase, public ModuleParams -{ -public: - TAP_ESC(char const *const device, uint8_t channels_count); - virtual ~TAP_ESC(); - - /** @see ModuleBase */ - static int task_spawn(int argc, char *argv[]); - - /** @see ModuleBase */ - static TAP_ESC *instantiate(int argc, char *argv[]); - - /** @see ModuleBase */ - static int custom_command(int argc, char *argv[]); - - /** @see ModuleBase */ - static int print_usage(const char *reason = nullptr); - - /** @see ModuleBase::run() */ - void run() override; - - virtual int init(); - virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg); - void cycle(); - -private: - char _device[DEVICE_ARGUMENT_MAX_LENGTH]; - int _uart_fd = -1; - static const uint8_t _device_mux_map[TAP_ESC_MAX_MOTOR_NUM]; - static const uint8_t _device_dir_map[TAP_ESC_MAX_MOTOR_NUM]; - bool _is_armed = false; - int _armed_sub = -1; - int _test_motor_sub = -1; - - uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; - - orb_advert_t _outputs_pub = nullptr; - actuator_outputs_s _outputs = {}; - actuator_armed_s _armed = {}; - - perf_counter_t _perf_control_latency; - - int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; - actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; - orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; - px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; - unsigned _poll_fds_num = 0; - - orb_advert_t _esc_feedback_pub = nullptr; - orb_advert_t _to_mixer_status = nullptr; ///< mixer status flags - esc_status_s _esc_feedback = {}; - uint8_t _channels_count = 0; ///< nnumber of ESC channels - uint8_t _responding_esc = 0; - - MixerGroup *_mixers = nullptr; - uint32_t _groups_required = 0; - uint32_t _groups_subscribed = 0; - ESC_UART_BUF _uartbuf = {}; - EscPacket _packet = {}; - - DEFINE_PARAMETERS( - (ParamInt) _param_mc_airmode ///< multicopter air-mode - ) - - void subscribe(); - void send_esc_outputs(const uint16_t *pwm, const uint8_t motor_cnt); - static int control_callback_trampoline(uintptr_t handle, - uint8_t control_group, uint8_t control_index, float &input); - inline int control_callback(uint8_t control_group, uint8_t control_index, float &input); -}; - -const uint8_t TAP_ESC::_device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS; -const uint8_t TAP_ESC::_device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR; - -TAP_ESC::TAP_ESC(char const *const device, uint8_t channels_count): - CDev(nullptr), - ModuleParams(nullptr), - _perf_control_latency(perf_alloc(PC_ELAPSED, "tap_esc control latency")), - _channels_count(channels_count) -{ - strncpy(_device, device, sizeof(_device)); - _device[sizeof(_device) - 1] = '\0'; // Fix in case of overflow - - _control_topics[0] = ORB_ID(actuator_controls_0); - _control_topics[1] = ORB_ID(actuator_controls_1); - _control_topics[2] = ORB_ID(actuator_controls_2); - _control_topics[3] = ORB_ID(actuator_controls_3); - memset(_controls, 0, sizeof(_controls)); - memset(_poll_fds, 0, sizeof(_poll_fds)); - - for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; ++i) { - _control_subs[i] = -1; - } - - for (size_t i = 0; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) { - _outputs.output[i] = NAN; - } - - _outputs.noutputs = 0; -} - -TAP_ESC::~TAP_ESC() -{ - for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - if (_control_subs[i] >= 0) { - orb_unsubscribe(_control_subs[i]); - _control_subs[i] = -1; - } - } - - orb_unsubscribe(_armed_sub); - orb_unsubscribe(_test_motor_sub); - - orb_unadvertise(_outputs_pub); - orb_unadvertise(_esc_feedback_pub); - orb_unadvertise(_to_mixer_status); - - tap_esc_common::deinitialise_uart(_uart_fd); - - PX4_INFO("stopping"); - - perf_free(_perf_control_latency); -} - -/** @see ModuleBase */ -TAP_ESC *TAP_ESC::instantiate(int argc, char *argv[]) -{ - /* Parse arguments */ - const char *device = nullptr; - uint8_t channels_count = 0; - - int ch; - int myoptind = 1; - const char *myoptarg = nullptr; - - if (argc < 2) { - print_usage("not enough arguments"); - return nullptr; - } - - while ((ch = px4_getopt(argc, argv, "d:n:", &myoptind, &myoptarg)) != EOF) { - switch (ch) { - case 'd': - device = myoptarg; - break; - - case 'n': - channels_count = atoi(myoptarg); - break; - } - } - - /* Sanity check on arguments */ - if (channels_count == 0) { - print_usage("Channel count is invalid (0)"); - return nullptr; - } - - if (device == nullptr || strlen(device) == 0) { - print_usage("no device specified"); - return nullptr; - } - - TAP_ESC *tap_esc = new TAP_ESC(device, channels_count); - - if (tap_esc == nullptr) { - PX4_ERR("failed to instantiate module"); - return nullptr; - } - - if (tap_esc->init() != 0) { - PX4_ERR("failed to initialize module"); - delete tap_esc; - return nullptr; - } - - return tap_esc; -} - -/** @see ModuleBase */ -int TAP_ESC::custom_command(int argc, char *argv[]) -{ - return print_usage("unknown command"); -} - -int TAP_ESC::init() -{ - int ret; - - ret = tap_esc_common::initialise_uart(_device, _uart_fd); - - if (ret != 0) { - PX4_ERR("failed to initialise UART."); - return ret; - } - - /* Respect boot time required by the ESC FW */ - hrt_abstime uptime_us = hrt_absolute_time(); - - if (uptime_us < MAX_BOOT_TIME_MS * 1000) { - usleep((MAX_BOOT_TIME_MS * 1000) - uptime_us); - } - - /* Issue Basic Config */ - EscPacket packet = {PACKET_HEAD, sizeof(ConfigInfoBasicRequest), ESCBUS_MSG_ID_CONFIG_BASIC}; - ConfigInfoBasicRequest &config = packet.d.reqConfigInfoBasic; - memset(&config, 0, sizeof(ConfigInfoBasicRequest)); - config.maxChannelInUse = _channels_count; - /* Enable closed-loop control if supported by the board */ - config.controlMode = BOARD_TAP_ESC_MODE; - - /* Asign the id's to the ESCs to match the mux */ - for (uint8_t phy_chan_index = 0; phy_chan_index < _channels_count; phy_chan_index++) { - config.channelMapTable[phy_chan_index] = _device_mux_map[phy_chan_index] & - ESC_MASK_MAP_CHANNEL; - config.channelMapTable[phy_chan_index] |= (_device_dir_map[phy_chan_index] << 4) & - ESC_MASK_MAP_RUNNING_DIRECTION; - } - - config.maxChannelValue = RPMMAX; - config.minChannelValue = RPMMIN; - - ret = tap_esc_common::send_packet(_uart_fd, packet, 0); - - if (ret < 0) { - return ret; - } - - /* To Unlock the ESC from the Power up state we need to issue 10 - * ESCBUS_MSG_ID_RUN request with all the values 0; - */ - EscPacket unlock_packet = {PACKET_HEAD, _channels_count, ESCBUS_MSG_ID_RUN}; - unlock_packet.len *= sizeof(unlock_packet.d.reqRun.rpm_flags[0]); - memset(unlock_packet.d.bytes, 0, sizeof(unlock_packet.d.bytes)); - - int unlock_times = 10; - - while (unlock_times--) { - - tap_esc_common::send_packet(_uart_fd, unlock_packet, -1); - - /* Min Packet to Packet time is 1 Ms so use 2 */ - usleep(2000); - } - - /* do regular cdev init */ - ret = CDev::init(); - - /* advertise the mixed control outputs, insist on the first group output */ - _outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs); - _esc_feedback_pub = orb_advertise(ORB_ID(esc_status), &_esc_feedback); - multirotor_motor_limits_s multirotor_motor_limits = {}; - _to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &multirotor_motor_limits); - - _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - _test_motor_sub = orb_subscribe(ORB_ID(test_motor)); - - return ret; -} - -void TAP_ESC::subscribe() -{ - /* subscribe/unsubscribe to required actuator control groups */ - uint32_t sub_groups = _groups_required & ~_groups_subscribed; - uint32_t unsub_groups = _groups_subscribed & ~_groups_required; - _poll_fds_num = 0; - - for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - if (sub_groups & (1 << i)) { - PX4_DEBUG("subscribe to actuator_controls_%d", i); - _control_subs[i] = orb_subscribe(_control_topics[i]); - } - - if (unsub_groups & (1 << i)) { - PX4_DEBUG("unsubscribe from actuator_controls_%d", i); - orb_unsubscribe(_control_subs[i]); - _control_subs[i] = -1; - } - - if (_control_subs[i] >= 0) { - _poll_fds[_poll_fds_num].fd = _control_subs[i]; - _poll_fds[_poll_fds_num].events = POLLIN; - _poll_fds_num++; - } - } -} - -void TAP_ESC::send_esc_outputs(const uint16_t *pwm, const uint8_t motor_cnt) -{ - uint16_t rpm[TAP_ESC_MAX_MOTOR_NUM] = {}; - - for (uint8_t i = 0; i < motor_cnt; i++) { - rpm[i] = pwm[i]; - - if (rpm[i] > RPMMAX) { - rpm[i] = RPMMAX; - - } else if (rpm[i] < RPMSTOPPED) { - rpm[i] = RPMSTOPPED; - } - } - - rpm[_responding_esc] |= (RUN_FEEDBACK_ENABLE_MASK | RUN_BLUE_LED_ON_MASK); - - EscPacket packet = {PACKET_HEAD, _channels_count, ESCBUS_MSG_ID_RUN}; - packet.len *= sizeof(packet.d.reqRun.rpm_flags[0]); - - for (uint8_t i = 0; i < _channels_count; i++) { - packet.d.reqRun.rpm_flags[i] = rpm[i]; - } - - int ret = tap_esc_common::send_packet(_uart_fd, packet, _responding_esc); - - if (++_responding_esc >= _channels_count) { - _responding_esc = 0; - } - - if (ret < 1) { - PX4_WARN("TX ERROR: ret: %d, errno: %d", ret, errno); - } -} - -void TAP_ESC::cycle() -{ - if (_groups_subscribed != _groups_required) { - subscribe(); - _groups_subscribed = _groups_required; - - /* Set uorb update rate */ - for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - if (_control_subs[i] >= 0) { - orb_set_interval(_control_subs[i], TAP_ESC_CTRL_UORB_UPDATE_INTERVAL); - PX4_DEBUG("New actuator update interval: %ums", TAP_ESC_CTRL_UORB_UPDATE_INTERVAL); - } - } - } - - if (_mixers) { - _mixers->set_airmode((Mixer::Airmode)_param_mc_airmode.get()); - } - - /* check if anything updated */ - int ret = px4_poll(_poll_fds, _poll_fds_num, 5); - - /* this would be bad... */ - if (ret < 0) { - PX4_ERR("poll error %d", errno); - - } else { /* update even in the case of a timeout, to check for test_motor commands */ - - /* get controls for required topics */ - unsigned poll_id = 0; - - for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - if (_control_subs[i] >= 0) { - if (_poll_fds[poll_id].revents & POLLIN) { - orb_copy(_control_topics[i], _control_subs[i], &_controls[i]); - - } - - poll_id++; - } - } - - uint8_t num_outputs = _channels_count; - - /* can we mix? */ - if (_is_armed && _mixers != nullptr) { - - /* do mixing */ - num_outputs = _mixers->mix(&_outputs.output[0], num_outputs); - _outputs.noutputs = num_outputs; - - /* publish mixer status */ - multirotor_motor_limits_s multirotor_motor_limits = {}; - multirotor_motor_limits.saturation_status = _mixers->get_saturation_status(); - - orb_publish(ORB_ID(multirotor_motor_limits), _to_mixer_status, &multirotor_motor_limits); - - /* disable unused ports by setting their output to NaN */ - for (size_t i = num_outputs; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) { - _outputs.output[i] = NAN; - } - - /* iterate actuators */ - for (unsigned i = 0; i < num_outputs; i++) { - /* last resort: catch NaN, INF and out-of-band errors */ - if (i < _outputs.noutputs && PX4_ISFINITE(_outputs.output[i]) - && !_armed.lockdown && !_armed.manual_lockdown) { - /* scale for PWM output 1200 - 1900us */ - _outputs.output[i] = (RPMMAX + RPMMIN) / 2 + ((RPMMAX - RPMMIN) / 2) * _outputs.output[i]; - math::constrain(_outputs.output[i], (float)RPMMIN, (float)RPMMAX); - - } else { - /* - * Value is NaN, INF, or we are in lockdown - stop the motor. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - _outputs.output[i] = RPMSTOPPED; - } - } - - } else { - - _outputs.noutputs = num_outputs; - _outputs.timestamp = hrt_absolute_time(); - - /* check for motor test commands */ - bool test_motor_updated; - orb_check(_test_motor_sub, &test_motor_updated); - - if (test_motor_updated) { - struct test_motor_s test_motor; - orb_copy(ORB_ID(test_motor), _test_motor_sub, &test_motor); - - if (test_motor.action == test_motor_s::ACTION_STOP) { - _outputs.output[test_motor.motor_number] = RPMSTOPPED; - - } else { - _outputs.output[test_motor.motor_number] = RPMSTOPPED + ((RPMMAX - RPMSTOPPED) * test_motor.value); - } - - PX4_INFO("setting motor %i to %.1lf", test_motor.motor_number, - (double)_outputs.output[test_motor.motor_number]); - } - - /* set the invalid values to the minimum */ - for (unsigned i = 0; i < num_outputs; i++) { - if (!PX4_ISFINITE(_outputs.output[i])) { - _outputs.output[i] = RPMSTOPPED; - } - } - - /* disable unused ports by setting their output to NaN */ - for (size_t i = num_outputs; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) { - _outputs.output[i] = NAN; - } - - } - - uint16_t motor_out[TAP_ESC_MAX_MOTOR_NUM]; - - // We need to remap from the system default to what PX4's normal - // scheme is - switch (num_outputs) { - case 4: - motor_out[0] = (uint16_t)_outputs.output[2]; - motor_out[1] = (uint16_t)_outputs.output[1]; - motor_out[2] = (uint16_t)_outputs.output[0]; - motor_out[3] = (uint16_t)_outputs.output[3]; - break; - - case 6: - motor_out[0] = (uint16_t)_outputs.output[3]; - motor_out[1] = (uint16_t)_outputs.output[0]; - motor_out[2] = (uint16_t)_outputs.output[4]; - motor_out[3] = (uint16_t)_outputs.output[2]; - motor_out[4] = (uint16_t)_outputs.output[1]; - motor_out[5] = (uint16_t)_outputs.output[5]; - break; - - default: - - // Use the system defaults - for (uint8_t i = 0; i < num_outputs; ++i) { - motor_out[i] = (uint16_t)_outputs.output[i]; - } - - break; - } - - // Set remaining motors to RPMSTOPPED to be on the safe side - for (uint8_t i = num_outputs; i < TAP_ESC_MAX_MOTOR_NUM; ++i) { - motor_out[i] = RPMSTOPPED; - } - - _outputs.timestamp = hrt_absolute_time(); - - send_esc_outputs(motor_out, num_outputs); - tap_esc_common::read_data_from_uart(_uart_fd, &_uartbuf); - - if (!tap_esc_common::parse_tap_esc_feedback(&_uartbuf, &_packet)) { - if (_packet.msg_id == ESCBUS_MSG_ID_RUN_INFO) { - RunInfoRepsonse &feed_back_data = _packet.d.rspRunInfo; - - if (feed_back_data.channelID < esc_status_s::CONNECTED_ESC_MAX) { - _esc_feedback.esc[feed_back_data.channelID].esc_rpm = feed_back_data.speed; - _esc_feedback.esc[feed_back_data.channelID].esc_state = feed_back_data.ESCStatus; - _esc_feedback.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL; - _esc_feedback.counter++; - _esc_feedback.esc_count = num_outputs; - _esc_feedback.esc_online_flags = (1 << num_outputs) - 1; - _esc_feedback.esc_armed_flags = (1 << num_outputs) - 1; - - _esc_feedback.timestamp = hrt_absolute_time(); - - orb_publish(ORB_ID(esc_status), _esc_feedback_pub, &_esc_feedback); - } - } - } - - /* and publish for anyone that cares to see */ - orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs); - - // use first valid timestamp_sample for latency tracking - for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { - const bool required = _groups_required & (1 << i); - const hrt_abstime ×tamp_sample = _controls[i].timestamp_sample; - - if (required && (timestamp_sample > 0)) { - perf_set_elapsed(_perf_control_latency, _outputs.timestamp - timestamp_sample); - break; - } - } - - } - - bool updated; - - orb_check(_armed_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); - - if (_is_armed != _armed.armed) { - /* reset all outputs */ - for (size_t i = 0; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) { - _outputs.output[i] = NAN; - } - } - - _is_armed = _armed.armed; - - } - - // check for parameter updates - if (_parameter_update_sub.updated()) { - // clear update - parameter_update_s pupdate; - _parameter_update_sub.copy(&pupdate); - - // update parameters from storage - updateParams(); - } -} - -int TAP_ESC::control_callback_trampoline(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input) -{ - TAP_ESC *obj = (TAP_ESC *)handle; - return obj->control_callback(control_group, control_index, input); -} - -int TAP_ESC::control_callback(uint8_t control_group, uint8_t control_index, float &input) -{ - input = _controls[control_group].control[control_index]; - - /* limit control input */ - input = math::constrain(input, -1.f, 1.f); - - /* throttle not arming - mark throttle input as invalid */ - if (_armed.prearmed && !_armed.armed) { - if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE || - control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) && - control_index == actuator_controls_s::INDEX_THROTTLE) { - /* set the throttle to an invalid value */ - input = NAN; - } - } - - return 0; -} - -int TAP_ESC::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) -{ - int ret = OK; - - switch (cmd) { - - case MIXERIOCRESET: - if (_mixers != nullptr) { - delete _mixers; - _mixers = nullptr; - _groups_required = 0; - } - - break; - - case MIXERIOCLOADBUF: { - const char *buf = (const char *)arg; - unsigned buflen = strlen(buf); - - if (_mixers == nullptr) { - _mixers = new MixerGroup(); - } - - if (_mixers == nullptr) { - _groups_required = 0; - ret = -ENOMEM; - - } else { - ret = _mixers->load_from_buf(control_callback_trampoline, (uintptr_t)this, buf, buflen); - - if (ret != 0) { - PX4_DEBUG("mixer load failed with %d", ret); - delete _mixers; - _mixers = nullptr; - _groups_required = 0; - ret = -EINVAL; - - } else { - - _mixers->groups_required(_groups_required); - } - } - - break; - } - - default: - ret = -ENOTTY; - break; - } - - return ret; -} - -/** @see ModuleBase */ -void TAP_ESC::run() -{ - // Main loop - while (!should_exit()) { - cycle(); - } -} - -/** @see ModuleBase */ -int TAP_ESC::task_spawn(int argc, char *argv[]) -{ - /* start the task */ - _task_id = px4_task_spawn_cmd("tap_esc", - SCHED_DEFAULT, - SCHED_PRIORITY_ACTUATOR_OUTPUTS, - 1180, - (px4_main_t)&run_trampoline, - argv); - - if (_task_id < 0) { - PX4_ERR("task start failed"); - _task_id = -1; - return PX4_ERROR; - } - - // wait until task is up & running - if (wait_until_running() < 0) { - _task_id = -1; - return -1; - } - - return PX4_OK; -} - -/** @see ModuleBase */ -int TAP_ESC::print_usage(const char *reason) -{ - if (reason) { - PX4_WARN("%s\n", reason); - } - - PRINT_MODULE_DESCRIPTION( - R"DESCR_STR( -### Description -This module controls the TAP_ESC hardware via UART. It listens on the -actuator_controls topics, does the mixing and writes the PWM outputs. - -### Implementation -Currently the module is implementd as a threaded version only, meaning that it -runs in its own thread instead of on the work queue. - -### Example -The module is typically started with: -tap_esc start -d /dev/ttyS2 -n <1-8> - -)DESCR_STR"); - - PRINT_MODULE_USAGE_NAME("tap_esc", "driver"); - - PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task"); - PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "", "Device used to talk to ESCs", true); - PRINT_MODULE_USAGE_PARAM_INT('n', 4, 0, 8, "Number of ESCs", true); - return PX4_OK; -} - -extern "C" __EXPORT int tap_esc_main(int argc, char *argv[]) -{ - return TAP_ESC::main(argc, argv); -} diff --git a/src/drivers/tap_esc/tap_esc_common.cpp b/src/drivers/tap_esc/tap_esc_common.cpp deleted file mode 100644 index 408cb0d792..0000000000 --- a/src/drivers/tap_esc/tap_esc_common.cpp +++ /dev/null @@ -1,307 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2017 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * tap_esc_common.cpp - * - */ - -#include "tap_esc_common.h" - -#include -#include - -#include // arraySize -#include -#include - -#ifndef B250000 -#define B250000 250000 -#endif - -namespace tap_esc_common -{ -static uint8_t crc8_esc(uint8_t *p, uint8_t len); -static uint8_t crc_packet(EscPacket &p); - -void select_responder(uint8_t sel) -{ -#if defined(GPIO_S0) - px4_arch_gpiowrite(GPIO_S0, sel & 1); - px4_arch_gpiowrite(GPIO_S1, sel & 2); - px4_arch_gpiowrite(GPIO_S2, sel & 4); -#endif -} - -int initialise_uart(const char *const device, int &uart_fd) -{ - // open uart - uart_fd = open(device, O_RDWR | O_NOCTTY | O_NONBLOCK); - int termios_state = -1; - - if (uart_fd < 0) { - PX4_ERR("failed to open uart device!"); - return -1; - } - - // set baud rate - int speed = B250000; - struct termios uart_config; - tcgetattr(uart_fd, &uart_config); - - // clear ONLCR flag (which appends a CR for every LF) - uart_config.c_oflag &= ~ONLCR; - - // set baud rate - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - PX4_ERR("failed to set baudrate for %s: %d\n", device, termios_state); - close(uart_fd); - return -1; - } - - if ((termios_state = tcsetattr(uart_fd, TCSANOW, &uart_config)) < 0) { - PX4_ERR("tcsetattr failed for %s\n", device); - close(uart_fd); - return -1; - } - - // setup output flow control - if (enable_flow_control(uart_fd, false)) { - PX4_WARN("hardware flow disable failed"); - } - - return 0; -} - -int deinitialise_uart(int &uart_fd) -{ - int ret = close(uart_fd); - - if (ret == 0) { - uart_fd = -1; - } - - return ret; -} - -int enable_flow_control(int uart_fd, bool enabled) -{ - struct termios uart_config; - - int ret = tcgetattr(uart_fd, &uart_config); - - if (ret != 0) { - PX4_ERR("error getting uart configuration"); - return ret; - } - - if (enabled) { - uart_config.c_cflag |= CRTSCTS; - - } else { - uart_config.c_cflag &= ~CRTSCTS; - } - - return tcsetattr(uart_fd, TCSANOW, &uart_config); -} - -int send_packet(int uart_fd, EscPacket &packet, int responder) -{ - if (responder >= 0) { - select_responder(responder); - } - - int packet_len = crc_packet(packet); - int ret = ::write(uart_fd, &packet.head, packet_len); - - if (ret != packet_len) { - PX4_WARN("TX ERROR: ret: %d, errno: %d", ret, errno); - } - - return ret; -} - -int read_data_from_uart(int uart_fd, ESC_UART_BUF *const uart_buf) -{ - uint8_t tmp_serial_buf[UART_BUFFER_SIZE]; - - int len =::read(uart_fd, tmp_serial_buf, arraySize(tmp_serial_buf)); - - if (len > 0 && (uart_buf->dat_cnt + len < UART_BUFFER_SIZE)) { - for (int i = 0; i < len; i++) { - uart_buf->esc_feedback_buf[uart_buf->tail++] = tmp_serial_buf[i]; - uart_buf->dat_cnt++; - - if (uart_buf->tail >= UART_BUFFER_SIZE) { - uart_buf->tail = 0; - } - } - - } else if (len < 0) { - return len; - } - - return 0; -} - -int parse_tap_esc_feedback(ESC_UART_BUF *const serial_buf, EscPacket *const packetdata) -{ - static PARSR_ESC_STATE state = HEAD; - static uint8_t data_index = 0; - static uint8_t crc_data_cal; - - if (serial_buf->dat_cnt > 0) { - int count = serial_buf->dat_cnt; - - for (int i = 0; i < count; i++) { - switch (state) { - case HEAD: - if (serial_buf->esc_feedback_buf[serial_buf->head] == PACKET_HEAD) { - packetdata->head = PACKET_HEAD; //just_keep the format - state = LEN; - } - - break; - - case LEN: - if (serial_buf->esc_feedback_buf[serial_buf->head] < sizeof(packetdata->d)) { - packetdata->len = serial_buf->esc_feedback_buf[serial_buf->head]; - state = ID; - - } else { - state = HEAD; - } - - break; - - case ID: - if (serial_buf->esc_feedback_buf[serial_buf->head] < ESCBUS_MSG_ID_MAX_NUM) { - packetdata->msg_id = serial_buf->esc_feedback_buf[serial_buf->head]; - data_index = 0; - state = DATA; - - } else { - state = HEAD; - } - - break; - - case DATA: - packetdata->d.bytes[data_index++] = serial_buf->esc_feedback_buf[serial_buf->head]; - - if (data_index >= packetdata->len) { - - crc_data_cal = crc8_esc((uint8_t *)(&packetdata->len), packetdata->len + 2); - state = CRC; - } - - break; - - case CRC: - if (crc_data_cal == serial_buf->esc_feedback_buf[serial_buf->head]) { - packetdata->crc_data = serial_buf->esc_feedback_buf[serial_buf->head]; - - if (++serial_buf->head >= UART_BUFFER_SIZE) { - serial_buf->head = 0; - } - - serial_buf->dat_cnt--; - state = HEAD; - return 0; - } - - state = HEAD; - break; - - default: - state = HEAD; - break; - - } - - if (++serial_buf->head >= UART_BUFFER_SIZE) { - serial_buf->head = 0; - } - - serial_buf->dat_cnt--; - } - } - - return -1; -} - -static uint8_t crc8_esc(uint8_t *p, uint8_t len) -{ - uint8_t crc = 0; - - for (uint8_t i = 0; i < len; i++) { - crc = crc_table[crc^*p++]; - } - - return crc; -} - -static uint8_t crc_packet(EscPacket &p) -{ - /* Calculate the crc over Len,ID,data */ - p.d.bytes[p.len] = crc8_esc(&p.len, p.len + 2); - return p.len + offsetof(EscPacket, d) + 1; -} - - -const uint8_t crc_table[256] = { - 0x00, 0xE7, 0x29, 0xCE, 0x52, 0xB5, 0x7B, 0x9C, 0xA4, 0x43, 0x8D, 0x6A, - 0xF6, 0x11, 0xDF, 0x38, 0xAF, 0x48, 0x86, 0x61, 0xFD, 0x1A, 0xD4, 0x33, - 0x0B, 0xEC, 0x22, 0xC5, 0x59, 0xBE, 0x70, 0x97, 0xB9, 0x5E, 0x90, 0x77, - 0xEB, 0x0C, 0xC2, 0x25, 0x1D, 0xFA, 0x34, 0xD3, 0x4F, 0xA8, 0x66, 0x81, - 0x16, 0xF1, 0x3F, 0xD8, 0x44, 0xA3, 0x6D, 0x8A, 0xB2, 0x55, 0x9B, 0x7C, - 0xE0, 0x07, 0xC9, 0x2E, 0x95, 0x72, 0xBC, 0x5B, 0xC7, 0x20, 0xEE, 0x09, - 0x31, 0xD6, 0x18, 0xFF, 0x63, 0x84, 0x4A, 0xAD, 0x3A, 0xDD, 0x13, 0xF4, - 0x68, 0x8F, 0x41, 0xA6, 0x9E, 0x79, 0xB7, 0x50, 0xCC, 0x2B, 0xE5, 0x02, - 0x2C, 0xCB, 0x05, 0xE2, 0x7E, 0x99, 0x57, 0xB0, 0x88, 0x6F, 0xA1, 0x46, - 0xDA, 0x3D, 0xF3, 0x14, 0x83, 0x64, 0xAA, 0x4D, 0xD1, 0x36, 0xF8, 0x1F, - 0x27, 0xC0, 0x0E, 0xE9, 0x75, 0x92, 0x5C, 0xBB, 0xCD, 0x2A, 0xE4, 0x03, - 0x9F, 0x78, 0xB6, 0x51, 0x69, 0x8E, 0x40, 0xA7, 0x3B, 0xDC, 0x12, 0xF5, - 0x62, 0x85, 0x4B, 0xAC, 0x30, 0xD7, 0x19, 0xFE, 0xC6, 0x21, 0xEF, 0x08, - 0x94, 0x73, 0xBD, 0x5A, 0x74, 0x93, 0x5D, 0xBA, 0x26, 0xC1, 0x0F, 0xE8, - 0xD0, 0x37, 0xF9, 0x1E, 0x82, 0x65, 0xAB, 0x4C, 0xDB, 0x3C, 0xF2, 0x15, - 0x89, 0x6E, 0xA0, 0x47, 0x7F, 0x98, 0x56, 0xB1, 0x2D, 0xCA, 0x04, 0xE3, - 0x58, 0xBF, 0x71, 0x96, 0x0A, 0xED, 0x23, 0xC4, 0xFC, 0x1B, 0xD5, 0x32, - 0xAE, 0x49, 0x87, 0x60, 0xF7, 0x10, 0xDE, 0x39, 0xA5, 0x42, 0x8C, 0x6B, - 0x53, 0xB4, 0x7A, 0x9D, 0x01, 0xE6, 0x28, 0xCF, 0xE1, 0x06, 0xC8, 0x2F, - 0xB3, 0x54, 0x9A, 0x7D, 0x45, 0xA2, 0x6C, 0x8B, 0x17, 0xF0, 0x3E, 0xD9, - 0x4E, 0xA9, 0x67, 0x80, 0x1C, 0xFB, 0x35, 0xD2, 0xEA, 0x0D, 0xC3, 0x24, - 0xB8, 0x5F, 0x91, 0x76 -}; - -} /* tap_esc_common */ diff --git a/src/drivers/tap_esc/tap_esc_common.h b/src/drivers/tap_esc/tap_esc_common.h deleted file mode 100644 index 59ee6111ba..0000000000 --- a/src/drivers/tap_esc/tap_esc_common.h +++ /dev/null @@ -1,106 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2017 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * tap_esc_common.h - * - */ - -#pragma once - -#include - -#include "drv_tap_esc.h" - -namespace tap_esc_common -{ -/** - * Select tap esc responder data for serial interface by 74hct151. GPIOs to be - * defined in board_config.h - * @param sel ID of the ESC (responder) of which feedback is requested - */ -void select_responder(uint8_t sel); - -/** - * Opens a device for use as UART. - * @param device UNIX path of UART device - * @param uart_fd file-descriptor of UART device - * @return 0 on success, -1 on error - */ -int initialise_uart(const char *const device, int &uart_fd); - -/** - * Closes a device previously opened with initialise_uart(). - * @param uart_fd file-descriptor of UART device as provided by initialise_uart() - * @return 0 on success, -1 on error - */ -int deinitialise_uart(int &uart_fd); - -/** - * Enables/disables flow control for open UART device. - * @param uart_fd file-descriptor of UART device - * @param enabled Set true for enabling and false for disabling flow control - * @return 0 on success, -1 on error - */ -int enable_flow_control(int uart_fd, bool enabled); - -/** - * Sends a packet to all ESCs and requests a specific ESC to respond - * @param uart_fd file-descriptor of UART device - * @param packet Packet to be sent to ESCs. CRC information will be added. - * @param responder ID of the ESC (responder) that should return feedback - * @return On success number of bytes written, on error -1 - */ -int send_packet(int uart_fd, EscPacket &packet, int responder); - -/** - * Read data from the UART into a buffer - * @param uart_fd file-descriptor of UART device - * @param uart_buf Buffer where incoming data will be stored - * @return 0 on success, -1 on error - */ -int read_data_from_uart(int uart_fd, ESC_UART_BUF *const uart_buf); - -/** - * Parse feedback from an ESC - * @param serial_buf Buffer where incoming data will be stored - * @param packetdata Packet that will be populated with information from buffer - * @return 0 on success, -1 on error - */ -int parse_tap_esc_feedback(ESC_UART_BUF *const serial_buf, EscPacket *const packetdata); - -/** - * Lookup-table for faster CRC computation when sending ESC packets. - */ -extern const uint8_t crc_table[]; -} /* tap_esc_common */ diff --git a/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp b/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp index 504a5bd020..1924b3529f 100644 --- a/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp +++ b/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp @@ -115,8 +115,6 @@ uint16_t get_telemetry_flight_mode(int px4_flight_mode) case 15: return 20; // stabilized - case 16: return 21; // rattitude - case 17: return 25; // takeoff case 8: diff --git a/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c b/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c index 483dc5c527..4f198b0001 100644 --- a/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c +++ b/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c @@ -20,7 +20,8 @@ PARAM_DEFINE_INT32(ISBD_READ_INT, 0); PARAM_DEFINE_INT32(ISBD_SBD_TIMEOUT, 60); /** - * Time [ms] the Iridium driver will wait for additional mavlink messages to combine them into one SBD message + * Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message + * * Value 0 turns the functionality off * * @unit ms diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index b55a74229e..48d998715d 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -151,6 +151,8 @@ px4_add_module( sensors/gnss.cpp sensors/mag.cpp sensors/rangefinder.cpp + sensors/accel.cpp + sensors/gyro.cpp DEPENDS px4_uavcan_dsdlc diff --git a/src/drivers/uavcan/sensors/accel.cpp b/src/drivers/uavcan/sensors/accel.cpp new file mode 100644 index 0000000000..ad0327480e --- /dev/null +++ b/src/drivers/uavcan/sensors/accel.cpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @author Dmitry Ponomarev + */ + +#include "accel.hpp" +#include + +const char *const UavcanAccelBridge::NAME = "accel"; + +UavcanAccelBridge::UavcanAccelBridge(uavcan::INode &node) : + UavcanSensorBridgeBase("uavcan_accel", ORB_ID(sensor_accel)), + _sub_imu_data(node) +{ } + +int UavcanAccelBridge::init() +{ + int res = _sub_imu_data.start(ImuCbBinder(this, &UavcanAccelBridge::imu_sub_cb)); + + if (res < 0) { + DEVICE_LOG("failed to start uavcan sub: %d", res); + return res; + } + + return 0; +} + +void UavcanAccelBridge::imu_sub_cb(const uavcan::ReceivedDataStructure &msg) +{ + uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get()); + + const hrt_abstime timestamp_sample = hrt_absolute_time(); + + if (channel == nullptr) { + // Something went wrong - no channel to publish on; return + return; + } + + // Cast our generic CDev pointer to the sensor-specific driver class + PX4Accelerometer *accel = (PX4Accelerometer *)channel->h_driver; + + if (accel == nullptr) { + return; + } + + accel->set_error_count(0); + accel->update(timestamp_sample, msg.accelerometer_latest[0], msg.accelerometer_latest[1], msg.accelerometer_latest[2]); +} + +int UavcanAccelBridge::init_driver(uavcan_bridge::Channel *channel) +{ + // update device id as we now know our device node_id + DeviceId device_id{_device_id}; + + device_id.devid_s.devtype = DRV_ACC_DEVTYPE_UAVCAN; + device_id.devid_s.address = static_cast(channel->node_id); + + channel->h_driver = new PX4Accelerometer(device_id.devid); + + if (channel->h_driver == nullptr) { + return PX4_ERROR; + } + + PX4Accelerometer *accel = (PX4Accelerometer *)channel->h_driver; + + channel->instance = accel->get_instance(); + + if (channel->instance < 0) { + PX4_ERR("UavcanAccel: Unable to get a class instance"); + delete accel; + channel->h_driver = nullptr; + return PX4_ERROR; + } + + return PX4_OK; +} diff --git a/src/drivers/uavcan/sensors/accel.hpp b/src/drivers/uavcan/sensors/accel.hpp new file mode 100644 index 0000000000..e1010b7eea --- /dev/null +++ b/src/drivers/uavcan/sensors/accel.hpp @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @author Dmitry Ponomarev + */ + +#pragma once + +#include "sensor_bridge.hpp" + +#include + +class UavcanAccelBridge : public UavcanSensorBridgeBase +{ +public: + static const char *const NAME; + + UavcanAccelBridge(uavcan::INode &node); + + const char *get_name() const override { return NAME; } + + int init() override; + +private: + + void imu_sub_cb(const uavcan::ReceivedDataStructure &msg); + + int init_driver(uavcan_bridge::Channel *channel) override; + + typedef uavcan::MethodBinder < UavcanAccelBridge *, + void (UavcanAccelBridge::*) + (const uavcan::ReceivedDataStructure &) > + ImuCbBinder; + + uavcan::Subscriber _sub_imu_data; + +}; diff --git a/src/drivers/uavcan/sensors/gnss.cpp b/src/drivers/uavcan/sensors/gnss.cpp index 091217c3a6..9c5df7b299 100644 --- a/src/drivers/uavcan/sensors/gnss.cpp +++ b/src/drivers/uavcan/sensors/gnss.cpp @@ -476,7 +476,7 @@ bool UavcanGnssBridge::injectData(const uint8_t *const data, const size_t data_l } result = _pub_rtcm.broadcast(msg) >= 0; - msg.data = {}; + msg.data.clear(); } return result; diff --git a/src/drivers/uavcan/sensors/gyro.cpp b/src/drivers/uavcan/sensors/gyro.cpp new file mode 100644 index 0000000000..4a34213a03 --- /dev/null +++ b/src/drivers/uavcan/sensors/gyro.cpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @author Dmitry Ponomarev + */ + +#include "gyro.hpp" +#include + +const char *const UavcanGyroBridge::NAME = "gyro"; + +UavcanGyroBridge::UavcanGyroBridge(uavcan::INode &node) : + UavcanSensorBridgeBase("uavcan_gyro", ORB_ID(sensor_gyro)), + _sub_imu_data(node) +{ } + +int UavcanGyroBridge::init() +{ + int res = _sub_imu_data.start(ImuCbBinder(this, &UavcanGyroBridge::imu_sub_cb)); + + if (res < 0) { + DEVICE_LOG("failed to start uavcan sub: %d", res); + return res; + } + + return 0; +} + +void UavcanGyroBridge::imu_sub_cb(const uavcan::ReceivedDataStructure &msg) +{ + uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get()); + + if (channel == nullptr) { + // Something went wrong - no channel to publish on; return + return; + } + + // Cast our generic CDev pointer to the sensor-specific driver class + PX4Gyroscope *gyro = (PX4Gyroscope *)channel->h_driver; + + if (gyro == nullptr) { + return; + } + + gyro->update(hrt_absolute_time(), + msg.rate_gyro_latest[0], + msg.rate_gyro_latest[1], + msg.rate_gyro_latest[2]); +} + +int UavcanGyroBridge::init_driver(uavcan_bridge::Channel *channel) +{ + // update device id as we now know our device node_id + DeviceId device_id{_device_id}; + + device_id.devid_s.devtype = DRV_GYR_DEVTYPE_UAVCAN; + device_id.devid_s.address = static_cast(channel->node_id); + + channel->h_driver = new PX4Gyroscope(device_id.devid); + + if (channel->h_driver == nullptr) { + return PX4_ERROR; + } + + PX4Gyroscope *gyro = (PX4Gyroscope *)channel->h_driver; + + channel->instance = gyro->get_instance(); + + if (channel->instance < 0) { + PX4_ERR("UavcanGyro: Unable to get a class instance"); + delete gyro; + channel->h_driver = nullptr; + return PX4_ERROR; + } + + return PX4_OK; +} diff --git a/src/drivers/linux_pwm_out/ocpoc_mmap.h b/src/drivers/uavcan/sensors/gyro.hpp similarity index 69% rename from src/drivers/linux_pwm_out/ocpoc_mmap.h rename to src/drivers/uavcan/sensors/gyro.hpp index aa669ce07d..0ed5c8959f 100644 --- a/src/drivers/linux_pwm_out/ocpoc_mmap.h +++ b/src/drivers/uavcan/sensors/gyro.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2017 PX4 Development Team. All rights reserved. + * Copyright (c) 2020 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,45 +31,38 @@ * ****************************************************************************/ +/** + * @author Dmitry Ponomarev + */ + #pragma once -#include "common.h" +#include "sensor_bridge.hpp" -namespace linux_pwm_out -{ +#include -/** - ** class OcpocMmapPWMOut - * PWM output class for Aerotenna OcPoC via mmap - */ -class OcpocMmapPWMOut : public PWMOutBase +class UavcanGyroBridge : public UavcanSensorBridgeBase { public: - OcpocMmapPWMOut(int max_num_outputs); - virtual ~OcpocMmapPWMOut(); + static const char *const NAME; + + UavcanGyroBridge(uavcan::INode &node); + + const char *get_name() const override { return NAME; } int init() override; - int send_output_pwm(const uint16_t *pwm, int num_outputs) override; - private: - static unsigned long freq2tick(uint16_t freq_hz); - static constexpr int MAX_ZYNQ_PWMS = 8; /**< maximum number of pwm channels */ + void imu_sub_cb(const uavcan::ReceivedDataStructure &msg); - // Period|Hi 32 bits each - struct s_period_hi { - uint32_t period; - uint32_t hi; - }; + int init_driver(uavcan_bridge::Channel *channel) override; - struct pwm_cmd { - struct s_period_hi periodhi[MAX_ZYNQ_PWMS]; - }; + typedef uavcan::MethodBinder < UavcanGyroBridge *, + void (UavcanGyroBridge::*) + (const uavcan::ReceivedDataStructure &) > + ImuCbBinder; + + uavcan::Subscriber _sub_imu_data; - volatile struct pwm_cmd *_shared_mem_cmd = nullptr; - static constexpr const char *_device = "/dev/mem"; - int _num_outputs; }; - -} diff --git a/src/drivers/uavcan/sensors/sensor_bridge.cpp b/src/drivers/uavcan/sensors/sensor_bridge.cpp index 9d65d49955..25170ae4a7 100644 --- a/src/drivers/uavcan/sensors/sensor_bridge.cpp +++ b/src/drivers/uavcan/sensors/sensor_bridge.cpp @@ -46,6 +46,8 @@ #include "flow.hpp" #include "mag.hpp" #include "rangefinder.hpp" +#include "accel.hpp" +#include "gyro.hpp" /* * IUavcanSensorBridge @@ -60,6 +62,8 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, ListTXFQS & FDCAN_TXFQS_TFQF) > 0) { - // Tx FIFO / Queue is full + // Tx FIFO is full return 0; } - // Next, get the next available queue index from the controller + // Next, get the next available FIFO index from the controller const uint8_t index = (can_->TXFQS & FDCAN_TXFQS_TFQPI) >> FDCAN_TXFQS_TFQPI_Pos; - // Now, we can copy the CAN frame to the queue (in message RAM) - uint32_t *txbuf = (uint32_t *)(message_ram_.TxQueueSA + (index * FIFO_ELEMENT_SIZE * WORD_LENGTH)); + // Now, we can copy the CAN frame to the FIFO (in message RAM) + uint32_t *txbuf = (uint32_t *)(message_ram_.TxFIFOSA + (index * FIFO_ELEMENT_SIZE * WORD_LENGTH)); // Copy the ID; special case for standard ID frames if (frame.isExtended()) { @@ -522,6 +522,29 @@ uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig *filter return 0; } +bool CanIface::waitCCCRBitStateChange(uint32_t mask, bool target_state) +{ +#if UAVCAN_STM32_NUTTX + const unsigned Timeout = 1000; +#else + const unsigned Timeout = 2000000; +#endif + + for (unsigned wait_ack = 0; wait_ack < Timeout; wait_ack++) { + const bool state = (can_->CCCR & mask) != 0; + + if (state == target_state) { + return true; + } + +#if UAVCAN_STM32_NUTTX + ::usleep(1000); +#endif + } + + return false; +} + int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode) { /* @@ -533,13 +556,20 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode) // Exit Power-down / Sleep mode, then wait for acknowledgement can_->CCCR &= ~FDCAN_CCCR_CSR; - // TODO: add timeout - while ((can_->CCCR & FDCAN_CCCR_CSA) == FDCAN_CCCR_CSA) {} + if (!waitCCCRBitStateChange(FDCAN_CCCR_CSA, false)) { + UAVCAN_STM32H7_LOG("CCCR CCCR_CSA not cleared"); + can_->CCCR |= FDCAN_CCCR_INIT; + return -ErrCCCrCSANotCleared; + } + // Request Init mode, then wait for completion can_->CCCR |= FDCAN_CCCR_INIT; - while ((can_->CCCR & FDCAN_CCCR_INIT) == 0) {} + if (!waitCCCRBitStateChange(FDCAN_CCCR_INIT, true)) { + UAVCAN_STM32H7_LOG("CCCR FDCAN_CCCR_INIT not set"); + return -ErrCCCrINITNotSet; + } // Configuration Changes Enable. Can only be set during Init mode; // cleared when INIT bit is cleared. @@ -547,7 +577,8 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode) // Disable interrupts while we configure the hardware can_->IE = 0; - } + + } // End Critcal section /* * Object state - interrupts are disabled, so it's safe to modify it now @@ -677,10 +708,10 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode) can_->RXF0C |= n_fifo0 << FDCAN_RXF0C_F0S_Pos; ram_offset += n_fifo0 * FIFO_ELEMENT_SIZE; - // Set Tx queue size (32 elements max) - message_ram_.TxQueueSA = gl_ram_base + ram_offset * WORD_LENGTH; + // Set Tx FIFO size (32 elements max) + message_ram_.TxFIFOSA = gl_ram_base + ram_offset * WORD_LENGTH; can_->TXBC = 32U << FDCAN_TXBC_TFQS_Pos; - can_->TXBC |= FDCAN_TXBC_TFQM; // Queue mode (vs. FIFO) + can_->TXBC &= ~FDCAN_TXBC_TFQM; // Use FIFO can_->TXBC |= ram_offset << FDCAN_TXBC_TBSA_Pos; /* @@ -851,11 +882,11 @@ bool CanIface::canAcceptNewTxFrame(const uavcan::CanFrame &frame) const { // Check that we even _have_ a Tx FIFO allocated if ((can_->TXBC & FDCAN_TXBC_TFQS) == 0) { - // Your queue size is 0, you did something wrong + // Your FIFO size is 0, you did something wrong return false; } - // Check if the Tx queue is full + // Check if the Tx FIFO is full if ((can_->TXFQS & FDCAN_TXFQS_TFQF) == FDCAN_TXFQS_TFQF) { // Sorry, out of room, try back later return false; diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp index 7be973d907..37bd3ef485 100644 --- a/src/drivers/uavcan/uavcan_main.cpp +++ b/src/drivers/uavcan/uavcan_main.cpp @@ -653,7 +653,7 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events) return ret; } - PX4_INFO("sensor bridge '%s' init ok", br->get_name()); + PX4_DEBUG("sensor bridge '%s' init ok", br->get_name()); } _mixing_interface.mixingOutput().setAllDisarmedValues(UavcanEscController::DISARMED_OUTPUT_VALUE); diff --git a/src/drivers/uavcan/uavcan_servers.cpp b/src/drivers/uavcan/uavcan_servers.cpp index 827374d84b..210887be43 100644 --- a/src/drivers/uavcan/uavcan_servers.cpp +++ b/src/drivers/uavcan/uavcan_servers.cpp @@ -117,7 +117,7 @@ UavcanServers::stop() if (server->_subnode_thread) { PX4_INFO("stopping fw srv thread..."); - server->_subnode_thread_should_exit = true; + server->_subnode_thread_should_exit.store(true); (void)pthread_join(server->_subnode_thread, NULL); } @@ -279,7 +279,7 @@ UavcanServers::init() pthread_addr_t UavcanServers::run(pthread_addr_t) { - prctl(PR_SET_NAME, "uavcan fw srv", 0); + prctl(PR_SET_NAME, "uavcan_fw_srv", 0); Lock lock(_subnode_mutex); @@ -311,7 +311,7 @@ UavcanServers::run(pthread_addr_t) memset(_esc_enumeration_ids, 0, sizeof(_esc_enumeration_ids)); _esc_enumeration_index = 0; - while (!_subnode_thread_should_exit) { + while (!_subnode_thread_should_exit.load()) { if (_check_fw == true) { _check_fw = false; @@ -347,7 +347,7 @@ UavcanServers::run(pthread_addr_t) int call_res = _param_getset_client.call(request.node_id, req); if (call_res < 0) { - PX4_ERR("UAVCAN command bridge: couldn't send GetSet: %d", call_res); + PX4_ERR("couldn't send GetSet: %d", call_res); } else { _param_in_progress = true; @@ -380,7 +380,7 @@ UavcanServers::run(pthread_addr_t) int call_res = _param_getset_client.call(request.node_id, req); if (call_res < 0) { - PX4_ERR("UAVCAN command bridge: couldn't send GetSet: %d", call_res); + PX4_ERR("couldn't send GetSet: %d", call_res); } else { _param_in_progress = true; @@ -394,7 +394,7 @@ UavcanServers::run(pthread_addr_t) _param_list_node_id = request.node_id; _param_list_all_nodes = false; - PX4_INFO("UAVCAN command bridge: starting component-specific param list"); + PX4_DEBUG("starting component-specific param list"); } } else if (request.node_id == uavcan_parameter_request_s::NODE_ID_ALL) { @@ -408,7 +408,7 @@ UavcanServers::run(pthread_addr_t) _param_list_node_id = get_next_active_node_id(0); _param_list_all_nodes = true; - PX4_INFO("UAVCAN command bridge: starting global param list with node %hhu", _param_list_node_id); + PX4_DEBUG("starting global param list with node %hhu", _param_list_node_id); if (_param_counts[_param_list_node_id] == 0) { param_count(_param_list_node_id); @@ -427,7 +427,7 @@ UavcanServers::run(pthread_addr_t) // Handle parameter listing index/node ID advancement if (_param_list_in_progress && !_param_in_progress && !_count_in_progress) { if (_param_index >= _param_counts[_param_list_node_id]) { - PX4_INFO("UAVCAN command bridge: completed param list for node %hhu", _param_list_node_id); + PX4_DEBUG("completed param list for node %hhu", _param_list_node_id); // Reached the end of the current node's parameter set. _param_list_in_progress = false; @@ -449,7 +449,7 @@ UavcanServers::run(pthread_addr_t) // Keep on listing. _param_index = 0; _param_list_in_progress = true; - PX4_INFO("UAVCAN command bridge: started param list for node %hhu", _param_list_node_id); + PX4_DEBUG("started param list for node %hhu", _param_list_node_id); } } } @@ -466,7 +466,7 @@ UavcanServers::run(pthread_addr_t) if (call_res < 0) { _param_list_in_progress = false; - PX4_ERR("UAVCAN command bridge: couldn't send param list GetSet: %d", call_res); + PX4_ERR("couldn't send param list GetSet: %d", call_res); } else { _param_in_progress = true; @@ -475,17 +475,19 @@ UavcanServers::run(pthread_addr_t) // Check for ESC enumeration commands if (vcmd_sub.updated() && !_cmd_in_progress) { + bool acknowledge = false; vehicle_command_s cmd{}; vcmd_sub.copy(&cmd); uint8_t cmd_ack_result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED; if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_UAVCAN) { + acknowledge = true; int command_id = static_cast(cmd.param1 + 0.5f); int node_id = static_cast(cmd.param2 + 0.5f); int call_res; - PX4_INFO("UAVCAN command bridge: received UAVCAN command ID %d, node ID %d", command_id, node_id); + PX4_DEBUG("received UAVCAN command ID %d, node ID %d", command_id, node_id); switch (command_id) { case 0: @@ -513,16 +515,17 @@ UavcanServers::run(pthread_addr_t) } default: { - PX4_ERR("UAVCAN command bridge: unknown command ID %d", command_id); + PX4_ERR("unknown command ID %d", command_id); cmd_ack_result = vehicle_command_ack_s::VEHICLE_RESULT_UNSUPPORTED; break; } } } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE) { + acknowledge = true; int command_id = static_cast(cmd.param1 + 0.5f); - PX4_INFO("UAVCAN command bridge: received storage command ID %d", command_id); + PX4_DEBUG("received storage command ID %d", command_id); switch (command_id) { case 1: { @@ -552,33 +555,31 @@ UavcanServers::run(pthread_addr_t) } } - // Acknowledge the received command - vehicle_command_ack_s ack{}; - ack.timestamp = hrt_absolute_time(); - ack.command = cmd.command; - ack.result = cmd_ack_result; - ack.target_system = cmd.source_system; - ack.target_component = cmd.source_component; - - _command_ack_pub.publish(ack); + if (acknowledge) { + // Acknowledge the received command + vehicle_command_ack_s ack{}; + ack.command = cmd.command; + ack.result = cmd_ack_result; + ack.target_system = cmd.source_system; + ack.target_component = cmd.source_component; + ack.timestamp = hrt_absolute_time(); + _command_ack_pub.publish(ack); + } } // Shut down once armed // TODO (elsewhere): start up again once disarmed? if (armed_sub.updated()) { - actuator_armed_s armed{}; - armed_sub.copy(&armed); + actuator_armed_s armed; - if (armed.armed && !(armed.lockdown || armed.manual_lockdown)) { - PX4_INFO("UAVCAN command bridge: system armed, exiting now."); - break; + if (armed_sub.copy(&armed)) { + if (armed.armed) { + _subnode_thread_should_exit.store(true); + } } } } - _subnode_thread_should_exit = false; - - PX4_INFO("exiting"); return (pthread_addr_t) 0; } @@ -609,14 +610,14 @@ UavcanServers::cb_getset(const uavcan::ServiceCallResult + * @author Jacob Crabill + */ + +#pragma once + +#include +#include +#include +#include +#include +#include + +// DS-15 Specification Messages +#include +#include + +/// TODO: Allow derived class of Subscription at same time, to handle ESC Feedback/Status +class UavcanEscController : public UavcanPublisher +{ +public: + static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS; + + UavcanEscController(CanardInstance &ins, UavcanParamManager &pmgr) : + UavcanPublisher(ins, pmgr, "esc") { }; + + ~UavcanEscController() {}; + + void update() override + { + if (_armed_sub.updated()) { + actuator_armed_s new_arming; + _armed_sub.update(&new_arming); + + if (new_arming.armed != _armed.armed) { + _armed = new_arming; + + // Only publish if we have a valid publication ID set + if (_port_id == 0) { + return; + } + + reg_drone_service_common_Readiness_0_1 msg_arming {}; + + if (_armed.armed) { + msg_arming.value = reg_drone_service_common_Readiness_0_1_ENGAGED; + + } else if (_armed.prearmed) { + msg_arming.value = reg_drone_service_common_Readiness_0_1_STANDBY; + + } else { + msg_arming.value = reg_drone_service_common_Readiness_0_1_SLEEP; + } + + uint8_t arming_payload_buffer[reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_]; + + CanardPortID arming_pid = static_cast(static_cast(_port_id) + 1); + CanardTransfer transfer = { + .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindMessage, + .port_id = arming_pid, // This is the subject-ID. + .remote_node_id = CANARD_NODE_ID_UNSET, // Messages cannot be unicast, so use UNSET. + .transfer_id = _arming_transfer_id, + .payload_size = reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &arming_payload_buffer, + }; + + int result = reg_drone_service_common_Readiness_0_1_serialize_(&msg_arming, arming_payload_buffer, + &transfer.payload_size); + + if (result == 0) { + // set the data ready in the buffer and chop if needed + ++_arming_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. + result = canardTxPush(&_canard_instance, &transfer); + } + } + } + }; + + void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs) + { + if (_port_id > 0) { + reg_drone_service_actuator_common_sp_Vector31_0_1 msg_sp {0}; + + for (uint8_t i = 0; i < MAX_ACTUATORS; i++) { + if (i < num_outputs) { + msg_sp.value[i] = static_cast(outputs[i]); + + } else { + // "unset" values published as NaN + msg_sp.value[i] = NAN; + } + } + + PX4_INFO("Publish %d values %f, %f, %f, %f", num_outputs, (double)msg_sp.value[0], (double)msg_sp.value[1], + (double)msg_sp.value[2], (double)msg_sp.value[3]); + + uint8_t esc_sp_payload_buffer[reg_drone_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_]; + + CanardTransfer transfer = { + .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindMessage, + .port_id = _port_id, // This is the subject-ID. + .remote_node_id = CANARD_NODE_ID_UNSET, // Messages cannot be unicast, so use UNSET. + .transfer_id = _transfer_id, + .payload_size = reg_drone_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &esc_sp_payload_buffer, + }; + + int result = reg_drone_service_actuator_common_sp_Vector31_0_1_serialize_(&msg_sp, esc_sp_payload_buffer, + &transfer.payload_size); + + if (result == 0) { + // set the data ready in the buffer and chop if needed + ++_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. + result = canardTxPush(&_canard_instance, &transfer); + } + } + }; + + /** + * Sets the number of rotors + */ + void set_rotor_count(uint8_t count) { _rotor_count = count; } + +private: + /** + * ESC status message reception will be reported via this callback. + */ + void esc_status_sub_cb(const CanardTransfer &msg); + + uint8_t _rotor_count {0}; + + uORB::Subscription _armed_sub{ORB_ID(actuator_armed)}; + actuator_armed_s _armed {}; + + CanardTransferID _arming_transfer_id; +}; diff --git a/boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.hpp b/src/drivers/uavcan_v1/Actuators/EscServer.hpp similarity index 62% rename from boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.hpp rename to src/drivers/uavcan_v1/Actuators/EscServer.hpp index 8638495d52..af2ba1338c 100644 --- a/boards/intel/aerofc-v1/aerofc_adc/AEROFC_ADC.hpp +++ b/src/drivers/uavcan_v1/Actuators/EscServer.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2016 Intel Corporation. All rights reserved. + * Copyright (C) 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,43 +31,44 @@ * ****************************************************************************/ +/** + * @file EscServer.hpp + * + * Server-side implementation of DS-15 specification ESC service + * (Used for CANNode control of an ESC via PWM output) + * + * Subscribes to the following UAVCAN v1 messages: + * reg.drone.service.actuator.common.sp.Value8.0.1 + * reg.drone.service.common.Readiness.0.1 + * + * Publishes to the following UAVCAN v1 messages: + * reg.drone.service.actuator.common.Feedback.0.1 + * reg.drone.service.actuator.common.Status.0.1 + * + * And publishes to the following uORB topics: + * actuator_armed + * output_control_mc + * + * @author Jacob Crabill + */ + #pragma once -#include -#include -#include + #include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include -#define SLAVE_ADDR 0x50 -#define ADC_ENABLE_REG 0x00 -#define ADC_CHANNEL_REG 0x03 -#define MAX_CHANNEL 5 +// DS-15 Specification Messages +#include +#include -class AEROFC_ADC : public device::I2C, public I2CSPIDriver +#include "../Publishers/Publisher.hpp" + +class EscServer : public UavcanSubscription { -public: - AEROFC_ADC(I2CSPIBusOption bus_option, int bus_number, int bus_frequency); - ~AEROFC_ADC() override; - - static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance); - static void print_usage(); - - int init() override; - - void RunImpl(); -private: - int probe() override;; - - uORB::Publication _to_adc_report{ORB_ID(adc_report)}; - - perf_counter_t _sample_perf; -}; +/// TODO +} diff --git a/src/drivers/uavcan_v1/CMakeLists.txt b/src/drivers/uavcan_v1/CMakeLists.txt index 4b52d74358..f1eed4a12e 100644 --- a/src/drivers/uavcan_v1/CMakeLists.txt +++ b/src/drivers/uavcan_v1/CMakeLists.txt @@ -63,6 +63,7 @@ endif() px4_add_module( MODULE drivers__uavcan_v1 MAIN uavcan_v1 + STACK_MAIN 4096 COMPILE_FLAGS #-DCANARD_ASSERT -DUINT32_C\(x\)=__UINT32_C\(x\) @@ -71,6 +72,10 @@ px4_add_module( ${LIBCANARD_DIR}/libcanard/ ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated SRCS + ParamManager.hpp + ParamManager.cpp + NodeManager.hpp + NodeManager.cpp Uavcan.cpp Uavcan.hpp ${SRCS} diff --git a/src/drivers/uavcan_v1/NodeManager.cpp b/src/drivers/uavcan_v1/NodeManager.cpp new file mode 100644 index 0000000000..f337935aed --- /dev/null +++ b/src/drivers/uavcan_v1/NodeManager.cpp @@ -0,0 +1,151 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file NodeIDManager.cpp + * + * Defines basic implementation of UAVCAN PNP for dynamic Node ID + * + * @author Peter van der Perk + */ + +#include "NodeManager.hpp" + +bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg) +{ + if (msg.allocated_node_id.count == 0) { + msg.allocated_node_id.count = 1; + msg.allocated_node_id.elements[0].value = CANARD_NODE_ID_UNSET; + + /* Search for an available NodeID to assign */ + for (uint32_t i = 1; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) { + if (i == _canard_instance.node_id) { + continue; // Don't give our NodeID to a node + + } else if (nodeid_registry[i].node_id == 0) { // Unused + nodeid_registry[i].node_id = i; + memcpy(&nodeid_registry[i].unique_id, &msg.unique_id_hash, 6); + break; + + } else if (memcmp(&nodeid_registry[i].unique_id[0], &msg.unique_id_hash, 6) == 0) { + msg.allocated_node_id.elements[0].value = nodeid_registry[i].node_id; // Existing NodeID + break; + } + } + + if (msg.allocated_node_id.elements[0].value != CANARD_NODE_ID_UNSET) { + + PX4_INFO("Received NodeID allocation request assigning %i", msg.allocated_node_id.elements[0].value); + + uint8_t node_id_alloc_payload_buffer[uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; + + CanardTransfer transfer = { + .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindMessage, + .port_id = uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_, // This is the subject-ID. + .remote_node_id = CANARD_NODE_ID_UNSET, // Messages cannot be unicast, so use UNSET. + .transfer_id = _uavcan_pnp_nodeidallocation_v1_transfer_id, + .payload_size = uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &node_id_alloc_payload_buffer, + }; + + int result = uavcan_pnp_NodeIDAllocationData_1_0_serialize_(&msg, node_id_alloc_payload_buffer, &transfer.payload_size); + + if (result == 0) { + // set the data ready in the buffer and chop if needed + ++_uavcan_pnp_nodeidallocation_v1_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. + result = canardTxPush(&_canard_instance, &transfer); + } + + _register_request_last = hrt_absolute_time(); + + return result >= 0; + } + } + + return false; +} + + +bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg) +{ + //TODO V2 CAN FD implementation + return false; +} + + +void NodeManager::HandleListResponse(CanardNodeID node_id, uavcan_register_List_Response_1_0 &msg) +{ + if (msg.name.name.count == 0) { + // Index doesn't exist, we've parsed through all registers + for (uint32_t i = 0; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) { + if (nodeid_registry[i].node_id == node_id) { + nodeid_registry[i].register_setup = true; // Don't update anymore + } + } + + } else { + for (uint32_t i = 0; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) { + if (nodeid_registry[i].node_id == node_id) { + nodeid_registry[i].register_index++; // Increment index counter for next update() + nodeid_registry[i].register_setup = false; + } + } + + + if (strncmp((char *)msg.name.name.elements, gps_uorb_register_name, + msg.name.name.count) == 0) { + _access_request.setPortId(node_id, gps_uorb_register_name, 1235); //TODO configurable and combine with ParamManager. + + } else if (strncmp((char *)msg.name.name.elements, bms_status_register_name, + msg.name.name.count) == 0) { //Battery status publisher + _access_request.setPortId(node_id, bms_status_register_name, 1234); //TODO configurable and combine with ParamManager. + } + } +} +void NodeManager::update() +{ + if (hrt_elapsed_time(&_register_request_last) >= hrt_abstime(2 * + 1000000ULL)) { // Compiler hates me here, some 1_s doesn't work + for (uint32_t i = 0; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) { + if (nodeid_registry[i].node_id != 0 && nodeid_registry[i].register_setup == false) { + //Setting up registers + _list_request.request(nodeid_registry[i].node_id, nodeid_registry[i].register_index); + nodeid_registry[i].register_setup = true; + } + } + + _register_request_last = hrt_absolute_time(); + } +} diff --git a/src/drivers/drv_blinkm.h b/src/drivers/uavcan_v1/NodeManager.hpp similarity index 52% rename from src/drivers/drv_blinkm.h rename to src/drivers/uavcan_v1/NodeManager.hpp index 3a707c4495..37ae76b0cb 100644 --- a/src/drivers/drv_blinkm.h +++ b/src/drivers/uavcan_v1/NodeManager.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. + * Copyright (c) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,39 +32,65 @@ ****************************************************************************/ /** - * @file drv_blinkm.h + * @file NodeManager.hpp * - * BlinkM driver API + * Defines basic implementation of UAVCAN PNP for dynamic Node ID * - * This could probably become a more generalised API for multi-colour LED - * driver systems, or be merged with the generic LED driver. + * @author Peter van der Perk */ #pragma once + #include -#include -#include +#include -#define BLINKM0_DEVICE_PATH "/dev/blinkm0" +#include "CanardInterface.hpp" -/* - * ioctl() definitions - */ +#include +#include +#include -#define _BLINKMIOCBASE (0x2900) -#define _BLINKMIOC(_n) (_PX4_IOC(_BLINKMIOCBASE, _n)) -/** play the named script in *(char *)arg, repeating forever */ -#define BLINKM_PLAY_SCRIPT_NAMED _BLINKMIOC(1) +class NodeManager; -/** play the numbered script in (arg), repeating forever */ -#define BLINKM_PLAY_SCRIPT _BLINKMIOC(2) +#include "Services/AccessRequest.hpp" +#include "Services/ListRequest.hpp" -/** - * Set the user script; (arg) is a pointer to an array of script lines, - * where each line is an array of four bytes giving , , arg[0-2] - * - * The script is terminated by a zero command. - */ -#define BLINKM_SET_USER_SCRIPT _BLINKMIOC(3) +//TODO make this an object instead? +typedef struct { + uint8_t node_id; + uint8_t unique_id[16]; + bool register_setup; + uint16_t register_index; +} UavcanNodeEntry; + +class NodeManager +{ +public: + NodeManager(CanardInstance &ins) : _canard_instance(ins), _access_request(ins), _list_request(ins) { }; + + bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg); + bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg); + + + void HandleListResponse(CanardNodeID node_id, uavcan_register_List_Response_1_0 &msg); + + void update(); + +private: + CanardInstance &_canard_instance; + CanardTransferID _uavcan_pnp_nodeidallocation_v1_transfer_id{0}; + UavcanNodeEntry nodeid_registry[16] {0}; //TODO configurable or just rewrite + + UavcanAccessServiceRequest _access_request; + UavcanListServiceRequest _list_request; + + bool nodeRegisterSetup = 0; + + hrt_abstime _register_request_last{0}; + + //TODO work this out + const char *gps_uorb_register_name = "uavcan.pub.gnss_uorb.id"; + const char *bms_status_register_name = "uavcan.pub.battery_status.id"; +}; diff --git a/src/drivers/uavcan_v1/ParamManager.cpp b/src/drivers/uavcan_v1/ParamManager.cpp new file mode 100644 index 0000000000..9c5e34c951 --- /dev/null +++ b/src/drivers/uavcan_v1/ParamManager.cpp @@ -0,0 +1,145 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ParamManager.cpp + * + * Implements basic functionality of UAVCAN parameter management class + * + * @author Jacob Crabill + */ + +#include "ParamManager.hpp" + +bool UavcanParamManager::GetParamByName(const char *param_name, uavcan_register_Value_1_0 &value) +{ + for (auto ¶m : _uavcan_params) { + if (strcmp(param_name, param.uavcan_name) == 0) { + param_t param_handle = param_find(param.px4_name); + + if (param_handle == PARAM_INVALID) { + return false; + } + + /// TODO: What will be our approach for handling other UAVCAN data-value types? + switch (param_type(param_handle)) { + case PARAM_TYPE_INT32: { + int32_t out_val {}; + param_get(param_handle, &out_val); + value.integer32.value.elements[0] = out_val; + uavcan_register_Value_1_0_select_integer32_(&value); + break; + } + + case PARAM_TYPE_FLOAT: { + float out_val {}; + param_get(param_handle, &out_val); + value.real32.value.elements[0] = out_val; + uavcan_register_Value_1_0_select_real32_(&value); + break; + } + } + + return true; + } + } + + return false; +} + +bool UavcanParamManager::GetParamByName(const uavcan_register_Name_1_0 &name, uavcan_register_Value_1_0 &value) +{ + for (auto ¶m : _uavcan_params) { + if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) { + param_t param_handle = param_find(param.px4_name); + + if (param_handle == PARAM_INVALID) { + return false; + } + + /// TODO: What will be our approach for handling other UAVCAN data-value types? + switch (param_type(param_handle)) { + case PARAM_TYPE_INT32: { + int32_t out_val {}; + param_set(param_handle, &out_val); + value.integer32.value.elements[0] = out_val; + uavcan_register_Value_1_0_select_integer32_(&value); + break; + } + + case PARAM_TYPE_FLOAT: { + float out_val {}; + param_set(param_handle, &out_val); + value.real32.value.elements[0] = out_val; + uavcan_register_Value_1_0_select_real32_(&value); + break; + } + } + + return true; + } + } + + return false; +} + +bool UavcanParamManager::SetParamByName(const uavcan_register_Name_1_0 &name, const uavcan_register_Value_1_0 &value) +{ + for (auto ¶m : _uavcan_params) { + if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) { + param_t param_handle = param_find(param.px4_name); + + if (param_handle == PARAM_INVALID) { + return false; + } + + switch (param_type(param_handle)) { + case PARAM_TYPE_INT32: { + int32_t in_val = value.integer32.value.elements[0]; + param_set(param_handle, &in_val); + break; + } + + case PARAM_TYPE_FLOAT: { + float in_val = value.natural32.value.elements[0]; + param_set(param_handle, &in_val); + break; + } + } + + return true; + } + } + + return false; +} diff --git a/src/drivers/uavcan_v1/ParamManager.hpp b/src/drivers/uavcan_v1/ParamManager.hpp new file mode 100644 index 0000000000..6d99174230 --- /dev/null +++ b/src/drivers/uavcan_v1/ParamManager.hpp @@ -0,0 +1,76 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ParamManager.hpp + * + * Defines basic functionality of UAVCAN parameter management class + * + * @author Jacob Crabill + */ + +#pragma once + +#include + +#include +#include + +typedef struct { + const char *uavcan_name; + const char *px4_name; + bool is_mutable {true}; + bool is_persistent {true}; +} UavcanParamBinder; + +class UavcanParamManager +{ +public: + + bool GetParamByName(const char *param_name, uavcan_register_Value_1_0 &value); + bool GetParamByName(const uavcan_register_Name_1_0 &name, uavcan_register_Value_1_0 &value); + bool SetParamByName(const uavcan_register_Name_1_0 &name, const uavcan_register_Value_1_0 &value); + +private: + + const UavcanParamBinder _uavcan_params[8] { + {"uavcan.pub.esc.0.id", "UCAN1_ESC_PUB"}, + {"uavcan.pub.servo.0.id", "UCAN1_SERVO_PUB"}, + {"uavcan.pub.gps.0.id", "UCAN1_GPS_PUB"}, + {"uavcan.sub.esc.0.id", "UCAN1_ESC0_PID"}, + {"uavcan.sub.gps.0.id", "UCAN1_GPS0_PID"}, + {"uavcan.sub.gps.1.id", "UCAN1_GPS1_PID"}, + {"uavcan.sub.bms.0.id", "UCAN1_BMS0_PID"}, + {"uavcan.sub.bms.1.id", "UCAN1_BMS1_PID"}, + }; +}; diff --git a/src/drivers/uavcan_v1/Publishers/Gnss.hpp b/src/drivers/uavcan_v1/Publishers/Gnss.hpp new file mode 100644 index 0000000000..1a53f5a452 --- /dev/null +++ b/src/drivers/uavcan_v1/Publishers/Gnss.hpp @@ -0,0 +1,134 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Gnss.hpp + * + * Defines basic functionality of UAVCAN v1 GNSS publisher + * + * @author Jacob Crabill + */ + +#pragma once + +// DS-15 Specification Messages +#include +#include + +#include "Publisher.hpp" + +class UavcanGnssPublisher : public UavcanPublisher +{ +public: + UavcanGnssPublisher(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) : + UavcanPublisher(ins, pmgr, "gps", instance) + { + + }; + + // Update the uORB Subscription and broadcast a UAVCAN message + virtual void update() override + { + if (_gps_sub.updated() && _port_id != CANARD_PORT_ID_UNSET) { + sensor_gps_s gps {}; + _gps_sub.update(&gps); + + reg_drone_physics_kinematics_geodetic_Point_0_1 geo {}; + geo.latitude = gps.lat; + geo.longitude = gps.lon; + geo.altitude = uavcan_si_unit_length_WideScalar_1_0 { .meter = static_cast(gps.alt) }; + + uint8_t geo_payload_buffer[reg_drone_physics_kinematics_geodetic_Point_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_]; + + CanardTransfer transfer = { + .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindMessage, + .port_id = _port_id, // This is the subject-ID. + .remote_node_id = CANARD_NODE_ID_UNSET, + .transfer_id = _transfer_id, + .payload_size = reg_drone_physics_kinematics_geodetic_Point_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &geo_payload_buffer, + }; + + int32_t result = reg_drone_physics_kinematics_geodetic_Point_0_1_serialize_(&geo, geo_payload_buffer, + &transfer.payload_size); + + if (result == 0) { + // set the data ready in the buffer and chop if needed + ++_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. + result = canardTxPush(&_canard_instance, &transfer); + } + + /// TODO: Also publish DilutionOfPrecision, ...? + reg_drone_service_gnss_DilutionOfPrecision_0_1 dop { + .geometric = NAN, + .position = NAN, + .horizontal = gps.hdop, + .vertical = gps.vdop, + .time = NAN, + .northing = NAN, + .easting = NAN, + }; + + uint8_t dop_payload_buffer[reg_drone_service_gnss_DilutionOfPrecision_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_]; + + CanardPortID _port_id_2 = static_cast((uint16_t)_port_id + 1U); + + CanardTransfer transfer2 = { + .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindMessage, + .port_id = _port_id_2, // This is the subject-ID. + .remote_node_id = CANARD_NODE_ID_UNSET, + .transfer_id = _transfer_id_2, + .payload_size = reg_drone_service_gnss_DilutionOfPrecision_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &dop_payload_buffer, + }; + + result = reg_drone_service_gnss_DilutionOfPrecision_0_1_serialize_(&dop, dop_payload_buffer, &transfer2.payload_size); + + if (result == 0) { + // set the data ready in the buffer and chop if needed + ++_transfer_id_2; // The transfer-ID shall be incremented after every transmission on this subject. + result = canardTxPush(&_canard_instance, &transfer2); + } + } + }; + +private: + + /// TODO: Allow >1 instance + uORB::Subscription _gps_sub{ORB_ID(sensor_gps)}; + CanardTransferID _transfer_id_2 {0}; +}; diff --git a/src/drivers/uavcan_v1/Publishers/Publisher.hpp b/src/drivers/uavcan_v1/Publishers/Publisher.hpp new file mode 100644 index 0000000000..f31306c521 --- /dev/null +++ b/src/drivers/uavcan_v1/Publishers/Publisher.hpp @@ -0,0 +1,103 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Publisher.hpp + * + * Defines basic functionality of UAVCAN v1 publisher class + * + * @author Jacob Crabill + */ + +#pragma once + +#include + +#include + +#include + +#include "../CanardInterface.hpp" +#include "../ParamManager.hpp" + +class UavcanPublisher +{ +public: + static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U; + + UavcanPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, uint8_t instance = 0) : + _canard_instance(ins), _param_manager(pmgr), _subject_name(subject_name), _instance(instance) { }; + + // Update the uORB Subscription and broadcast a UAVCAN message + virtual void update() = 0; + + CanardPortID id() { return _port_id; }; + + void updateParam() + { + char uavcan_param[256]; + snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.pub.%s.%d.id", _subject_name, _instance); + + // Set _port_id from _uavcan_param + uavcan_register_Value_1_0 value; + _param_manager.GetParamByName(uavcan_param, value); + int32_t new_id = value.integer32.value.elements[0]; + + if (_port_id != new_id) { + if (new_id == CANARD_PORT_ID_UNSET) { + PX4_INFO("Disabling publication of subject %s.%d", _subject_name, _instance); + + } else { + _port_id = (CanardPortID)new_id; + PX4_INFO("Enabling subject %s.%d on port %d", _subject_name, _instance, _port_id); + } + } + }; + + void printInfo() + { + if (_port_id != CANARD_PORT_ID_UNSET) { + PX4_INFO("Enabled subject %s.%d on port %d", _subject_name, _instance, _port_id); + } + } + +protected: + CanardInstance &_canard_instance; + UavcanParamManager &_param_manager; + CanardRxSubscription _canard_sub; + const char *_subject_name; + uint8_t _instance {0}; + + CanardPortID _port_id {CANARD_PORT_ID_UNSET}; + CanardTransferID _transfer_id {0}; +}; diff --git a/src/drivers/uavcan_v1/ServiceClients/Access.hpp b/src/drivers/uavcan_v1/ServiceClients/Access.hpp new file mode 100644 index 0000000000..9c64cc4847 --- /dev/null +++ b/src/drivers/uavcan_v1/ServiceClients/Access.hpp @@ -0,0 +1,134 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Access.hpp + * + * Defines response to a Access request + * + * @author Peter van der Perk + */ + +#pragma once + +#include +#include +#include + +#include "../ParamManager.hpp" + +#include +#include + +#include "../Subscribers/BaseSubscriber.hpp" + +class UavcanAccessResponse : public UavcanBaseSubscriber +{ +public: + UavcanAccessResponse(CanardInstance &ins, UavcanParamManager &pmgr) : + UavcanBaseSubscriber(ins, "Access", 0), _param_manager(pmgr) { }; + + void subscribe() override + { + // Subscribe to requests uavcan.pnp.NodeIDAllocationData + canardRxSubscribe(&_canard_instance, + CanardTransferKindRequest, + uavcan_register_Access_1_0_FIXED_PORT_ID_, + uavcan_register_Access_Response_1_0_EXTENT_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_canard_sub); + + _port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_; + + }; + + void callback(const CanardTransfer &receive) override + { + PX4_INFO("Access request"); + + uavcan_register_Access_Request_1_0 msg; + uavcan_register_Access_Request_1_0_initialize_(&msg); + + size_t register_in_size_bits = receive.payload_size; + uavcan_register_Access_Request_1_0_deserialize_(&msg, (const uint8_t *)receive.payload, ®ister_in_size_bits); + + int result {0}; + + uavcan_register_Value_1_0 value = msg.value; + uavcan_register_Name_1_0 name = msg.name; + + /// TODO: get/set parameter based on whether empty or not + if (uavcan_register_Value_1_0_is_empty_(&value)) { // Tag Type: uavcan_primitive_Empty_1_0 + // Value is empty -- 'Get' only + result = _param_manager.GetParamByName(name, value) ? 0 : -1; + + } else { + // Set value + result = _param_manager.SetParamByName(name, value) ? 0 : -1; + + } + + /// TODO: Access_Response + uavcan_register_Access_Response_1_0 response {}; + response.value = value; + + uint8_t response_payload_buffer[uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; + + CanardTransfer transfer = { + .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindResponse, + .port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID. + .remote_node_id = receive.remote_node_id, // Messages cannot be unicast, so use UNSET. + .transfer_id = access_response_transfer_id, /// TODO: track register Access _response_ separately? + .payload_size = uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &response_payload_buffer, + }; + + result = uavcan_register_Access_Response_1_0_serialize_(&response, response_payload_buffer, &transfer.payload_size); + + if (result == 0) { + // set the data ready in the buffer and chop if needed + ++access_response_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. + result = canardTxPush(&_canard_instance, &transfer); + } + + //return result; + + }; + +private: + UavcanParamManager &_param_manager; + CanardTransferID access_response_transfer_id = 0; + +}; diff --git a/src/drivers/uavcan_v1/ServiceClients/GetInfo.hpp b/src/drivers/uavcan_v1/ServiceClients/GetInfo.hpp new file mode 100644 index 0000000000..bc24004e2e --- /dev/null +++ b/src/drivers/uavcan_v1/ServiceClients/GetInfo.hpp @@ -0,0 +1,147 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file GetInfo.hpp + * + * Defines response to a GetInfo request + * + * @author Peter van der Perk + */ + +#pragma once + +#include +#include +#include + +#include "../NodeManager.hpp" + +#include +#include + +#include "../Subscribers/BaseSubscriber.hpp" + +class UavcanGetInfoResponse : public UavcanBaseSubscriber +{ +public: + UavcanGetInfoResponse(CanardInstance &ins) : + UavcanBaseSubscriber(ins, "GetInfo", 0) { }; + + void subscribe() override + { + // Subscribe to requests uavcan.pnp.NodeIDAllocationData + canardRxSubscribe(&_canard_instance, + CanardTransferKindRequest, + uavcan_node_GetInfo_1_0_FIXED_PORT_ID_, + uavcan_node_GetInfo_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_canard_sub); + + _port_id = uavcan_node_GetInfo_1_0_FIXED_PORT_ID_; + + }; + + void callback(const CanardTransfer &receive) override + { + PX4_INFO("GetInfo request"); + + // Setup node.GetInfo response + + uavcan_node_GetInfo_Response_1_0 node_info; + + uavcan_node_GetInfo_Response_1_0_initialize_(&node_info); + + node_info.protocol_version.major = 1; + node_info.protocol_version.minor = 0; + +#if defined(BOARD_HAS_VERSIONING) + node_info.hardware_version.major = (uint8_t)px4_board_hw_version(); + node_info.hardware_version.minor = (uint8_t)px4_board_hw_revision(); +#endif + + unsigned fwver = px4_firmware_version(); + node_info.software_version.major = (fwver >> (8 * 3)) & 0xFF; + node_info.software_version.minor = (fwver >> (8 * 2)) & 0xFF; + + node_info.software_vcs_revision_id = px4_firmware_version_binary(); + + px4_guid_t px4_guid; + board_get_px4_guid(px4_guid); + memcpy(node_info.unique_id, px4_guid, sizeof(node_info.unique_id)); + + //TODO proper name + strncpy((char *)node_info.name.elements, + px4_board_name(), + uavcan_node_GetInfo_Response_1_0_name_ARRAY_CAPACITY_); + + node_info.name.count = strlen(px4_board_name()); + + uint8_t response_payload_buffer[uavcan_node_GetInfo_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; + + CanardMicrosecond transmission_deadline = hrt_absolute_time() + 1000 * 100; + + CanardTransfer response = { + .timestamp_usec = transmission_deadline, // Zero if transmission deadline is not limited. + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindResponse, + .port_id = uavcan_node_GetInfo_1_0_FIXED_PORT_ID_, // This is the subject-ID. + .remote_node_id = receive.remote_node_id, // Send back to request Node + .transfer_id = getinfo_response_transfer_id, + .payload_size = uavcan_node_GetInfo_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &response_payload_buffer, + }; + + int32_t result = uavcan_node_GetInfo_Response_1_0_serialize_(&node_info, (uint8_t *)&response_payload_buffer, + &response.payload_size); + + if (result == 0) { + // set the data ready in the buffer and chop if needed + ++getinfo_response_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. + result = canardTxPush(&_canard_instance, &response); + } + + //TODO proper error handling + if (result < 0) { + // An error has occurred: either an argument is invalid or we've ran out of memory. + // It is possible to statically prove that an out-of-memory will never occur for a given application if the + // heap is sized correctly; for background, refer to the Robson's Proof and the documentation for O1Heap. + // return -UAVCAN_REGISTER_ERROR_SERIALIZATION; + } + + }; + +private: + CanardTransferID getinfo_response_transfer_id = 0; + +}; diff --git a/src/drivers/uavcan_v1/Services/AccessReply.hpp b/src/drivers/uavcan_v1/Services/AccessReply.hpp new file mode 100644 index 0000000000..38a4d83e1d --- /dev/null +++ b/src/drivers/uavcan_v1/Services/AccessReply.hpp @@ -0,0 +1,82 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Access.hpp + * + * Defines a Access Service invoker and process Access responses + * + * @author Peter van der Perk + */ + +#pragma once + +#include +#include +#include + +#include "../NodeManager.hpp" + +#include + +#include "../Subscribers/BaseSubscriber.hpp" + +class UavcanAccessServiceReply : public UavcanBaseSubscriber +{ +public: + UavcanAccessServiceReply(CanardInstance &ins, NodeManager &nmgr) : + UavcanBaseSubscriber(ins, "Access", 0), _nmgr(nmgr) { }; + + void subscribe() override + { + // Subscribe to requests uavcan.pnp.NodeIDAllocationData + canardRxSubscribe(&_canard_instance, + CanardTransferKindResponse, + uavcan_register_Access_1_0_FIXED_PORT_ID_, + uavcan_register_Access_Response_1_0_EXTENT_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_canard_sub); + + _port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_; + + }; + + void callback(const CanardTransfer &receive) override + { + PX4_INFO("Access response"); + }; + +private: + NodeManager &_nmgr; + +}; diff --git a/src/drivers/uavcan_v1/Services/AccessRequest.hpp b/src/drivers/uavcan_v1/Services/AccessRequest.hpp new file mode 100644 index 0000000000..15b1789c31 --- /dev/null +++ b/src/drivers/uavcan_v1/Services/AccessRequest.hpp @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Access.hpp + * + * Defines a Access Service invoker and process Access responses + * + * @author Peter van der Perk + */ + +#pragma once + +#include +#include +#include + +#include + +class UavcanAccessServiceRequest +{ +public: + UavcanAccessServiceRequest(CanardInstance &ins) : + _canard_instance(ins) { }; + + void setPortId(CanardNodeID node_id, const char *register_name, uint16_t port_id) + { + int result {0}; + + uavcan_register_Access_Request_1_0 request_msg; + strncpy((char *)&request_msg.name.name.elements[0], register_name, sizeof(uavcan_register_Name_1_0)); + request_msg.name.name.count = strlen(register_name); + + uavcan_register_Value_1_0_select_natural16_(&request_msg.value); + request_msg.value.natural16.value.count = 1; + request_msg.value.natural16.value.elements[0] = port_id; + + uint8_t request_payload_buffer[uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; + + CanardTransfer transfer = { + .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindRequest, + .port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID. + .remote_node_id = node_id, // Messages cannot be unicast, so use UNSET. + .transfer_id = access_request_transfer_id, + .payload_size = uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &request_payload_buffer, + }; + + result = uavcan_register_Access_Request_1_0_serialize_(&request_msg, request_payload_buffer, &transfer.payload_size); + + if (result == 0) { + // set the data ready in the buffer and chop if needed + ++access_request_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. + result = canardTxPush(&_canard_instance, &transfer); + } + }; + +private: + CanardInstance &_canard_instance; + CanardTransferID access_request_transfer_id = 0; + +}; diff --git a/src/drivers/uavcan_v1/Services/ListReply.hpp b/src/drivers/uavcan_v1/Services/ListReply.hpp new file mode 100644 index 0000000000..1b747da316 --- /dev/null +++ b/src/drivers/uavcan_v1/Services/ListReply.hpp @@ -0,0 +1,90 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file List.hpp + * + * Defines a List Service invoker and process List responses + * + * @author Peter van der Perk + */ + +#pragma once + +#include +#include +#include + +#include "../NodeManager.hpp" + +#include + +#include "../Subscribers/BaseSubscriber.hpp" + +class UavcanListServiceReply : public UavcanBaseSubscriber +{ +public: + UavcanListServiceReply(CanardInstance &ins, NodeManager &nmgr) : + UavcanBaseSubscriber(ins, "List", 0), _nmgr(nmgr) { }; + + void subscribe() override + { + // Subscribe to requests uavcan.pnp.NodeIDAllocationData + canardRxSubscribe(&_canard_instance, + CanardTransferKindResponse, + uavcan_register_List_1_0_FIXED_PORT_ID_, + uavcan_register_List_Response_1_0_EXTENT_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_canard_sub); + + _port_id = uavcan_register_List_1_0_FIXED_PORT_ID_; + + }; + + void callback(const CanardTransfer &receive) override + { + PX4_INFO("List response"); + + uavcan_register_List_Response_1_0 msg; + + size_t register_in_size_bits = receive.payload_size; + uavcan_register_List_Response_1_0_deserialize_(&msg, (const uint8_t *)receive.payload, ®ister_in_size_bits); + + // Pass msg.name.name.elements to NodeManager + _nmgr.HandleListResponse(receive.remote_node_id, msg); + }; + +private: + NodeManager &_nmgr; + +}; diff --git a/boards/intel/aerofc-v1/src/led.c b/src/drivers/uavcan_v1/Services/ListRequest.hpp similarity index 51% rename from boards/intel/aerofc-v1/src/led.c rename to src/drivers/uavcan_v1/Services/ListRequest.hpp index 30fb9dd9b0..8a529cdc1c 100644 --- a/boards/intel/aerofc-v1/src/led.c +++ b/src/drivers/uavcan_v1/Services/ListRequest.hpp @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. - * Author: David Sidrane + * Copyright (c) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,87 +32,57 @@ ****************************************************************************/ /** - * @file led.c + * @file ListRequest.hpp * - * AEROFC_V1 LED backend. + * Defines a List Service invoker and process List responses + * + * @author Peter van der Perk */ +#pragma once + #include +#include +#include -#include +#include -#include "stm32.h" -#include "board_config.h" - -#include - -/* - * Ideally we'd be able to get these from arm_internal.h, - * but since we want to be able to disable the NuttX use - * of leds for system indication at will and there is no - * separate switch, we need to build independent of the - * CONFIG_ARCH_LEDS configuration switch. - */ -__BEGIN_DECLS -extern void led_init(void); -extern void led_on(int led); -extern void led_off(int led); -extern void led_toggle(int led); -__END_DECLS - -__EXPORT void led_init(void) +class UavcanListServiceRequest { - /* Configure LED0-3 GPIOs for output */ +public: + UavcanListServiceRequest(CanardInstance &ins) : + _canard_instance(ins) { }; - stm32_configgpio(GPIO_LED0); - stm32_configgpio(GPIO_LED1); - stm32_configgpio(GPIO_LED2); - stm32_configgpio(GPIO_LED3); -} -static uint32_t _led_param_get(int led) -{ - switch (led) { - case 0: - return GPIO_LED0; // LED_BLUE + void request(CanardNodeID node_id, uint16_t index) + { + uavcan_register_List_Request_1_0 msg; + msg.index = index; - case 1: - return GPIO_LED1; // LED_RED + uint8_t request_payload_buffer[uavcan_register_List_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; - case 2: - return GPIO_LED2; // LED SAFETY + CanardTransfer request = { + .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindRequest, + .port_id = uavcan_register_List_1_0_FIXED_PORT_ID_, // This is the subject-ID. + .remote_node_id = node_id, + .transfer_id = list_request_transfer_id, + .payload_size = uavcan_register_List_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &request_payload_buffer, + }; - case 3: - return GPIO_LED3; // LED GREEN + int32_t result = uavcan_register_List_Request_1_0_serialize_(&msg, request_payload_buffer, &request.payload_size); - } + if (result == 0) { + // set the data ready in the buffer and chop if needed + ++list_request_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. + result = canardTxPush(&_canard_instance, &request); + } + }; - return 0; -} +private: + CanardInstance &_canard_instance; + CanardTransferID list_request_transfer_id = 0; -__EXPORT void led_on(int led) -{ - const uint32_t param = _led_param_get(led); - - if (param) { - stm32_gpiowrite(param, false); - } -} - -__EXPORT void led_off(int led) -{ - const uint32_t param = _led_param_get(led); - - if (param) { - stm32_gpiowrite(param, true); - } -} - -__EXPORT void led_toggle(int led) -{ - const uint32_t param = _led_param_get(led); - - if (param) { - stm32_gpiowrite(param, !stm32_gpioread(param)); - } -} +}; diff --git a/src/modules/flight_mode_manager/tasks/Offboard/FlightTaskOffboard.hpp b/src/drivers/uavcan_v1/Subscribers/BaseSubscriber.hpp similarity index 58% rename from src/modules/flight_mode_manager/tasks/Offboard/FlightTaskOffboard.hpp rename to src/drivers/uavcan_v1/Subscribers/BaseSubscriber.hpp index 18a0e4901b..1f963197f2 100644 --- a/src/modules/flight_mode_manager/tasks/Offboard/FlightTaskOffboard.hpp +++ b/src/drivers/uavcan_v1/Subscribers/BaseSubscriber.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2018 PX4 Development Team. All rights reserved. + * Copyright (c) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,34 +32,49 @@ ****************************************************************************/ /** - * @file FlightTaskOffboard.hpp + * @file BaseSubscriber.hpp + * + * Defines basic functionality of UAVCAN v1 subscriber class + * + * @author Jacob Crabill */ #pragma once -#include "FlightTask.hpp" -#include -#include +#include -class FlightTaskOffboard : public FlightTask +#include + +#include "../CanardInterface.hpp" + +class UavcanBaseSubscriber { public: - FlightTaskOffboard() = default; + static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U; - virtual ~FlightTaskOffboard() = default; - bool update() override; - bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override; - bool updateInitialize() override; + UavcanBaseSubscriber(CanardInstance &ins, const char *subject_name, uint8_t instance = 0) : + _canard_instance(ins), _subject_name(subject_name), _instance(instance) { }; + + virtual void subscribe() = 0; + virtual void unsubscribe() { canardRxUnsubscribe(&_canard_instance, CanardTransferKindMessage, _port_id); }; + + virtual void callback(const CanardTransfer &msg) = 0; + + CanardPortID id() { return _port_id; }; + + void printInfo() + { + if (_port_id != CANARD_PORT_ID_UNSET) { + PX4_INFO("Subscribed %s.%d on port %d", _subject_name, _instance, _port_id); + } + } protected: - uORB::SubscriptionData _sub_triplet_setpoint{ORB_ID(position_setpoint_triplet)}; + CanardInstance &_canard_instance; + CanardRxSubscription _canard_sub; + const char *_subject_name; + uint8_t _instance {0}; + /// TODO: 'type' parameter? uavcan.pub.PORT_NAME.type (see 384.Access.1.0.uavcan) -private: - matrix::Vector3f _position_lock{}; - - DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask, - (ParamFloat) _param_mpc_land_speed, - (ParamFloat) _param_mpc_tko_speed, - (ParamFloat) _param_mis_takeoff_alt - ) + CanardPortID _port_id {CANARD_PORT_ID_UNSET}; }; diff --git a/src/drivers/uavcan_v1/Subscribers/Battery.hpp b/src/drivers/uavcan_v1/Subscribers/Battery.hpp new file mode 100644 index 0000000000..fb41ab95e2 --- /dev/null +++ b/src/drivers/uavcan_v1/Subscribers/Battery.hpp @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Battery.hpp + * + * Defines basic functionality of UAVCAN v1 Battery subscription + * + * @author Jacob Crabill + */ + +#pragma once + +// DS-15 Specification Messages +#include +#include + +#include "DynamicPortSubscriber.hpp" + +class UavcanBmsSubscriber : public UavcanDynamicPortSubscriber +{ +public: + UavcanBmsSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) : + UavcanDynamicPortSubscriber(ins, pmgr, "bms", instance) { }; + + void subscribe() override + { + // Subscribe to messages reg.drone.service.battery.Status.0.1 + canardRxSubscribe(&_canard_instance, + CanardTransferKindMessage, + _port_id, + reg_drone_service_battery_Status_0_1_EXTENT_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_canard_sub); + }; + + void callback(const CanardTransfer &receive) override + { + PX4_INFO("BmsCallback"); + + reg_drone_service_battery_Status_0_1 bat {}; + size_t bat_size_in_bytes = receive.payload_size; + reg_drone_service_battery_Status_0_1_deserialize_(&bat, (const uint8_t *)receive.payload, &bat_size_in_bytes); + + uavcan_si_unit_voltage_Scalar_1_0 V_Min = bat.cell_voltage_min_max[0]; + uavcan_si_unit_voltage_Scalar_1_0 V_Max = bat.cell_voltage_min_max[1]; + double vmin = static_cast(V_Min.volt); + double vmax = static_cast(V_Max.volt); + PX4_INFO("Min voltage: %f, Max Voltage: %f", vmin, vmax); + /// do something with the data + }; + +}; diff --git a/boards/intel/aerofc-v1/aerofc_adc/aerofc_adc_main.cpp b/src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp similarity index 53% rename from boards/intel/aerofc-v1/aerofc_adc/aerofc_adc_main.cpp rename to src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp index 19003327b0..93140fb811 100644 --- a/boards/intel/aerofc-v1/aerofc_adc/aerofc_adc_main.cpp +++ b/src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2016 Intel Corporation. All rights reserved. + * Copyright (c) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -31,68 +31,62 @@ * ****************************************************************************/ +/** + * @file DynamicPortSubscriber.hpp + * + * Defines basic functionality of UAVCAN v1 subscriber class with Non-fixed unregulated port identifier + * + * @author Jacob Crabill + */ + +#pragma once + #include -#include -#include -#include "AEROFC_ADC.hpp" +#include -I2CSPIDriverBase * -AEROFC_ADC::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, int runtime_instance) +#include + +#include "DynamicPortSubscriber.hpp" +#include "../CanardInterface.hpp" +#include "../ParamManager.hpp" + +class UavcanDynamicPortSubscriber : public UavcanBaseSubscriber { - AEROFC_ADC *interface = new AEROFC_ADC(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency); +public: + UavcanDynamicPortSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, + uint8_t instance = 0) : + UavcanBaseSubscriber(ins, subject_name, instance), _param_manager(pmgr) { }; - if (interface == nullptr) { - PX4_ERR("alloc failed"); - return nullptr; - } + void updateParam() + { + char uavcan_param[90]; + sprintf(uavcan_param, "uavcan.sub.%s.%d.id", _subject_name, _instance); - if (interface->init() != OK) { - delete interface; - PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid()); - return nullptr; - } + // Set _port_id from _uavcan_param + uavcan_register_Value_1_0 value; + _param_manager.GetParamByName(uavcan_param, value); + int32_t new_id = value.integer32.value.elements[0]; - return interface; -} + if (_port_id != new_id) { + if (new_id == CANARD_PORT_ID_UNSET) { + // Cancel subscription + unsubscribe(); -void -AEROFC_ADC::print_usage() -{ - PRINT_MODULE_USAGE_NAME("aerofc_adc", "driver"); - PRINT_MODULE_USAGE_COMMAND("start"); - PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); - PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); -} + } else { + if (_port_id != CANARD_PORT_ID_UNSET) { + // Already active; unsubscribe first + unsubscribe(); + } -extern "C" int -aerofc_adc_main(int argc, char *argv[]) -{ - using ThisDriver = AEROFC_ADC; - BusCLIArguments cli{true, false}; - cli.default_i2c_frequency = 400000; + // Subscribe on the new port ID + _port_id = (CanardPortID)new_id; + PX4_INFO("Subscribing %s.%d on port %d", _subject_name, _instance, _port_id); + subscribe(); + } + } + }; - const char *verb = cli.parseDefaultArguments(argc, argv); - - if (!verb) { - ThisDriver::print_usage(); - return -1; - } - - BusInstanceIterator iterator(MODULE_NAME, cli, DRV_ADC_DEVTYPE_AEROFC); - - if (!strcmp(verb, "start")) { - return ThisDriver::module_start(cli, iterator); - } - - if (!strcmp(verb, "stop")) { - return ThisDriver::module_stop(iterator); - } - - if (!strcmp(verb, "status")) { - return ThisDriver::module_status(iterator); - } - - ThisDriver::print_usage(); - return 1; -} +protected: + UavcanParamManager &_param_manager; +}; diff --git a/src/drivers/uavcan_v1/Subscribers/Esc.hpp b/src/drivers/uavcan_v1/Subscribers/Esc.hpp new file mode 100644 index 0000000000..e323a058e0 --- /dev/null +++ b/src/drivers/uavcan_v1/Subscribers/Esc.hpp @@ -0,0 +1,113 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Esc.hpp + * + * Defines basic functionality of UAVCAN v1 ESC setpoint subscription + * (For use on a CAN-->PWM node) + * + * @author Jacob Crabill + */ + +#pragma once + +/// For use with PR-16808 once merged +// #include + +// DS-15 Specification Messages +#include +#include + +#include "DynamicPortSubscriber.hpp" + +class UavcanEscSubscriber : public UavcanDynamicPortSubscriber +{ +public: + UavcanEscSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) : + UavcanDynamicPortSubscriber(ins, pmgr, "esc", instance) { }; + + void subscribe() override + { + // Subscribe to messages reg.drone.service.actuator.common.sp.Vector8.0.1 + canardRxSubscribe(&_canard_instance, + CanardTransferKindMessage, + _port_id, + reg_drone_service_actuator_common_sp_Vector8_0_1_EXTENT_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_canard_sub); + + // Subscribe to messages reg.drone.service.common.Readiness.0.1 + canardRxSubscribe(&_canard_instance, + CanardTransferKindMessage, + static_cast(static_cast(_port_id) + 1), + reg_drone_service_common_Readiness_0_1_EXTENT_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_canard_sub_readiness); + }; + + void callback(const CanardTransfer &receive) override + { + // Test with Yakut: + // export YAKUT_TRANSPORT="pyuavcan.transport.can.CANTransport(pyuavcan.transport.can.media.slcan.SLCANMedia('/dev/serial/by-id/usb-Zubax_Robotics_Zubax_Babel_23002B000E514E413431302000000000-if00', 8, 115200), 42)" + // yakut pub 22.reg.drone.service.actuator.common.sp.Vector8.0.1 '{value: [1000, 2000, 3000, 4000, 0, 0, 0, 0]}' + PX4_INFO("EscCallback"); + + reg_drone_service_actuator_common_sp_Vector8_0_1 esc {}; + size_t esc_size_in_bits = receive.payload_size; + reg_drone_service_actuator_common_sp_Vector8_0_1_deserialize_(&esc, (const uint8_t *)receive.payload, + &esc_size_in_bits); + + double val1 = static_cast(esc.value[0]); + double val2 = static_cast(esc.value[1]); + double val3 = static_cast(esc.value[2]); + double val4 = static_cast(esc.value[3]); + PX4_INFO("values[0-3] = {%f, %f, %f, %f}", val1, val2, val3, val4); + /// do something with the data + + /// For use with PR-16808 once merged + // output_control_s outputs; + + // for (uint8_t i = 0; i < 8; i++) { + // outputs.value[i] = 2.f * (esc.value[i] / 8191.f) - 1.f; + // } + + // _output_pub.publish(outputs); + }; + +private: + /// For use with PR-16808 once merged + // uORB::Publication _output_pub{ORB_ID(output_control_mc)}; + + CanardRxSubscription _canard_sub_readiness; +}; diff --git a/src/drivers/uavcan_v1/Subscribers/Gnss.hpp b/src/drivers/uavcan_v1/Subscribers/Gnss.hpp new file mode 100644 index 0000000000..83c22cffdf --- /dev/null +++ b/src/drivers/uavcan_v1/Subscribers/Gnss.hpp @@ -0,0 +1,99 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Gnss.hpp + * + * Defines basic functionality of UAVCAN v1 GNSS subscription + * + * @author Jacob Crabill + */ + +#pragma once + +// DS-15 Specification Messages +#include + +#include "DynamicPortSubscriber.hpp" + +class UavcanGnssSubscriber : public UavcanDynamicPortSubscriber +{ +public: + UavcanGnssSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) : + UavcanDynamicPortSubscriber(ins, pmgr, "gps", instance) { }; + + void subscribe() override + { + // Subscribe to messages reg.drone.physics.kinematics.geodetic.Point.0.1 + canardRxSubscribe(&_canard_instance, + CanardTransferKindMessage, + _port_id, + reg_drone_physics_kinematics_geodetic_Point_0_1_EXTENT_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_canard_sub); + + /** TODO: Add additional GPS-data messages: (reg.drone.service.gnss._.0.1.uavcan): + * # A compliant implementation of this service should publish the following subjects: + * # + * # PUBLISHED SUBJECT NAME SUBJECT TYPE TYP. RATE [Hz] + * # point_kinematics reg.drone.physics.kinematics.geodetic.PointStateVarTs 1...100 + * # time reg.drone.service.gnss.Time 1...10 + * # heartbeat reg.drone.service.gnss.Heartbeat ~1 + * # sensor_status reg.drone.service.sensor.Status ~1 + * + * Not mentioned, but should also be included: Dilution of Precision + * (reg.drone.service.gnss.DilutionOfPrecision.0.1.uavcan) + * For PX4, only the PointStateVarTs, DilutionOfPrecision, and perhaps Time would be needed + * to publish 'sensor_gps' + */ + }; + + void callback(const CanardTransfer &receive) override + { + // Test with Yakut: + // export YAKUT_TRANSPORT="pyuavcan.transport.can.CANTransport(pyuavcan.transport.can.media.slcan.SLCANMedia('/dev/serial/by-id/usb-Zubax_Robotics_Zubax_Babel_23002B000E514E413431302000000000-if00', 8, 115200), 42)" + // yakut pub 1500.reg.drone.physics.kinematics.geodetic.Point.0.1 '{latitude: 1.234, longitude: 2.34, altitude: {meter: 0.5}}' + PX4_INFO("GpsCallback"); + + reg_drone_physics_kinematics_geodetic_Point_0_1 geo {}; + size_t geo_size_in_bits = receive.payload_size; + reg_drone_physics_kinematics_geodetic_Point_0_1_deserialize_(&geo, (const uint8_t *)receive.payload, &geo_size_in_bits); + + double lat = geo.latitude; + double lon = geo.longitude; + double alt = geo.altitude.meter; + PX4_INFO("Latitude: %f, Longitude: %f, Altitude: %f", lat, lon, alt); + /// do something with the data + }; + +}; diff --git a/src/drivers/uavcan_v1/Subscribers/NodeIDAllocationData.hpp b/src/drivers/uavcan_v1/Subscribers/NodeIDAllocationData.hpp new file mode 100644 index 0000000000..0505eb5cc9 --- /dev/null +++ b/src/drivers/uavcan_v1/Subscribers/NodeIDAllocationData.hpp @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file NodeIDAllocationData.hpp + * + * Defines basic functionality of UAVCAN NodeIDAllocationData.1.0 subscription + * + * @author Peter van der Perk + */ + +#pragma once + +#include "../NodeManager.hpp" + +//Quick and Dirty PNP imlementation only V1 for now as well +#include +#include +#include + +#define PNP1_PORT_ID uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_ +#define PNP1_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_ +#define PNP2_PORT_ID uavcan_pnp_NodeIDAllocationData_2_0_FIXED_PORT_ID_ +#define PNP2_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_ + +#include "BaseSubscriber.hpp" + +class UavcanNodeIDAllocationDataSubscriber : public UavcanBaseSubscriber +{ +public: + UavcanNodeIDAllocationDataSubscriber(CanardInstance &ins, NodeManager &nmgr) : + UavcanBaseSubscriber(ins, "NodeIDAllocationData", 0), _nmgr(nmgr) { }; + + void subscribe() override + { + // Subscribe to messages uavcan.pnp.NodeIDAllocationData + canardRxSubscribe(&_canard_instance, + CanardTransferKindMessage, + (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID), // The fixed Subject-ID + (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE), + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_canard_sub); + + _port_id = _canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID; + + }; + + void callback(const CanardTransfer &receive) override + { + PX4_INFO("NodeIDAllocationData"); + + if (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD) { + uavcan_pnp_NodeIDAllocationData_2_0 node_id_alloc_msg {}; + size_t msg_size_in_bytes = receive.payload_size; + uavcan_pnp_NodeIDAllocationData_2_0_deserialize_(&node_id_alloc_msg, (const uint8_t *)receive.payload, + &msg_size_in_bytes); + /// do something with the data + _nmgr.HandleNodeIDRequest(node_id_alloc_msg); + + } else { + uavcan_pnp_NodeIDAllocationData_1_0 node_id_alloc_msg {}; + size_t msg_size_in_bytes = receive.payload_size; + uavcan_pnp_NodeIDAllocationData_1_0_deserialize_(&node_id_alloc_msg, (const uint8_t *)receive.payload, + &msg_size_in_bytes); + /// do something with the data + _nmgr.HandleNodeIDRequest(node_id_alloc_msg); + } + + }; + +private: + NodeManager &_nmgr; + +}; diff --git a/src/drivers/uavcan_v1/Uavcan.cpp b/src/drivers/uavcan_v1/Uavcan.cpp index d097fd49c7..6437312a7d 100644 --- a/src/drivers/uavcan_v1/Uavcan.cpp +++ b/src/drivers/uavcan_v1/Uavcan.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -56,7 +56,8 @@ static void memFree(CanardInstance *const ins, void *const pointer) { o1heapFree UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) : ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan), - _can_interface(interface) + _can_interface(interface)//, + // _subscribers{&_gps0_sub, &_gps1_sub, &_bms0_sub, &_bms1_sub} { pthread_mutex_init(&_node_mutex, nullptr); @@ -79,6 +80,18 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) : } else { _canard_instance.mtu_bytes = CANARD_MTU_CAN_CLASSIC; } + + PX4_INFO("main _canard_instance = %p", &_canard_instance); + + for (auto &publisher : _publishers) { + publisher->updateParam(); + } + + for (auto &subscriber : _dynsubscribers) { + subscriber->updateParam(); + } + + _mixing_output.mixingOutput().updateSubscriptions(false, false); } UavcanNode::~UavcanNode() @@ -139,65 +152,51 @@ int UavcanNode::start(uint32_t node_id, uint32_t bitrate) return PX4_OK; } +void UavcanNode::init() +{ + // interface init + if (_can_interface) { + if (_can_interface->init() == PX4_OK) { + + // We can't accept just any message; we must fist subscribe to specific IDs + + // Subscribe to messages uavcan.node.Heartbeat. + canardRxSubscribe(&_canard_instance, + CanardTransferKindMessage, + uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_, + uavcan_node_Heartbeat_1_0_EXTENT_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_heartbeat_subscription); + + canardRxSubscribe(&_canard_instance, + CanardTransferKindMessage, + bms_port_id, + reg_drone_service_battery_Status_0_1_EXTENT_BYTES_, + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_drone_srv_battery_subscription); + + canardRxSubscribe(&_canard_instance, //Temporory GPS message DSDL not defined yet + CanardTransferKindMessage, + gps_port_id, + sizeof(struct sensor_gps_s), + CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, + &_drone_srv_gps_subscription); + + for (auto &subscriber : _subscribers) { + subscriber->subscribe(); + } + + _initialized = true; + } + } +} + void UavcanNode::Run() { pthread_mutex_lock(&_node_mutex); if (!_initialized) { - // interface init - if (_can_interface) { - if (_can_interface->init() == PX4_OK) { - - // Subscribe to messages uavcan.node.Heartbeat. - canardRxSubscribe(&_canard_instance, - CanardTransferKindMessage, - uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_, - uavcan_node_Heartbeat_1_0_EXTENT_BYTES_, - CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, - &_heartbeat_subscription); - - // Subscribe to messages uavcan.node.NodeIDAllocationData_1_0 for PNP V1 - canardRxSubscribe(&_canard_instance, - CanardTransferKindMessage, - uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_, - uavcan_pnp_NodeIDAllocationData_1_0_EXTENT_BYTES_, - CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, - &_pnp_v1_subscription); - - canardRxSubscribe(&_canard_instance, - CanardTransferKindResponse, - uavcan_register_Access_1_0_FIXED_PORT_ID_, - uavcan_register_Access_Response_1_0_EXTENT_BYTES_, - CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, - &_register_access_subscription); - - canardRxSubscribe(&_canard_instance, - CanardTransferKindResponse, - uavcan_register_List_1_0_FIXED_PORT_ID_, - uavcan_register_List_Response_1_0_EXTENT_BYTES_, - CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, - &_register_list_subscription); - - - - canardRxSubscribe(&_canard_instance, - CanardTransferKindMessage, - bms_port_id, - reg_drone_srv_battery_Status_0_1_EXTENT_BYTES_, - CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, - &_drone_srv_battery_subscription); - - canardRxSubscribe(&_canard_instance, //Temporory GPS message DSDL not defined yet - CanardTransferKindMessage, - gps_port_id, - sizeof(struct sensor_gps_s), - CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, - &_drone_srv_gps_subscription); - - - _initialized = true; - } - } + init(); // return early if still not initialized if (!_initialized) { @@ -214,80 +213,38 @@ void UavcanNode::Run() // update parameters from storage updateParams(); + + for (auto &publisher : _publishers) { + // Have the publisher update its associated port-id parameter + // Setting to 0 disable publication + publisher->updateParam(); + } + + for (auto &subscriber : _dynsubscribers) { + // Have the subscriber update its associated port-id parameter + // If the port-id changes, (re)start the subscription + // Setting the port-id to 0 disables the subscription + subscriber->updateParam(); + } + + _mixing_output.updateParams(); + + _mixing_output.mixingOutput().updateSubscriptions(false, false); } perf_begin(_cycle_perf); perf_count(_interval_perf); - - - if (hrt_elapsed_time(&_uavcan_pnp_nodeidallocation_last) >= 1_s && - _node_register_setup != CANARD_NODE_ID_UNSET && - _node_register_request_index == _node_register_last_received_index + 1) { - - PX4_INFO("NodeID %i request register %i", _node_register_setup, _node_register_request_index); - - uavcan_register_List_Request_1_0 msg; - msg.index = _node_register_request_index; - - uint8_t request_payload_buffer[uavcan_register_List_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; - - CanardTransfer request = { - .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. - .priority = CanardPriorityNominal, - .transfer_kind = CanardTransferKindRequest, - .port_id = uavcan_register_List_1_0_FIXED_PORT_ID_, // This is the subject-ID. - .remote_node_id = _node_register_setup, - .transfer_id = _uavcan_register_list_request_transfer_id, - .payload_size = uavcan_register_List_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, - .payload = &request_payload_buffer, - }; - - int32_t result = uavcan_register_List_Request_1_0_serialize_(&msg, request_payload_buffer, &request.payload_size); - - if (result == 0) { - // set the data ready in the buffer and chop if needed - ++_uavcan_register_list_request_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. - result = canardTxPush(&_canard_instance, &request); - - ++_node_register_request_index; - } - } - // send uavcan::node::Heartbeat_1_0 @ 1 Hz - if (hrt_elapsed_time(&_uavcan_node_heartbeat_last) >= 1_s) { + sendHeartbeat(); - uavcan_node_Heartbeat_1_0 heartbeat{}; - heartbeat.uptime = _uavcan_node_heartbeat_transfer_id; // TODO: use real uptime - heartbeat.health.value = uavcan_node_Health_1_0_NOMINAL; - heartbeat.mode.value = uavcan_node_Mode_1_0_OPERATIONAL; - - - CanardTransfer transfer = { - .timestamp_usec = hrt_absolute_time(), - .priority = CanardPriorityNominal, - .transfer_kind = CanardTransferKindMessage, - .port_id = uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_, - .remote_node_id = CANARD_NODE_ID_UNSET, - .transfer_id = _uavcan_node_heartbeat_transfer_id++, - .payload_size = uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, - .payload = &_uavcan_node_heartbeat_buffer, - }; - - uavcan_node_Heartbeat_1_0_serialize_(&heartbeat, _uavcan_node_heartbeat_buffer, &transfer.payload_size); - - int32_t result = canardTxPush(&_canard_instance, &transfer); - - if (result < 0) { - // An error has occurred: either an argument is invalid or we've ran out of memory. - // It is possible to statically prove that an out-of-memory will never occur for a given application if the - // heap is sized correctly; for background, refer to the Robson's Proof and the documentation for O1Heap. - PX4_ERR("Heartbeat transmit error %d", result); - } - - _uavcan_node_heartbeat_last = transfer.timestamp_usec; + // Check all publishers + for (auto &publisher : _publishers) { + publisher->update(); } + _node_manager.update(); + // Transmitting // Look at the top of the TX queue. for (const CanardFrame *txf = nullptr; (txf = canardTxPeek(&_canard_instance)) != nullptr;) { @@ -318,6 +275,8 @@ void UavcanNode::Run() } } + /* Process received messages */ + uint8_t data[64] {}; CanardFrame received_frame{}; received_frame.payload = &data; @@ -336,146 +295,27 @@ void UavcanNode::Run() } else if (result == 1) { // A transfer has been received, process it. - PX4_INFO("received Port ID: %d", receive.port_id); + // PX4_INFO("received Port ID: %d", receive.port_id); - if (receive.port_id == uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_) { - uavcan_pnp_NodeIDAllocationData_1_0 msg; - - size_t pnp_in_size_bits = receive.payload_size; - uavcan_pnp_NodeIDAllocationData_1_0_deserialize_(&msg, (const uint8_t *)receive.payload, &pnp_in_size_bits); - - //TODO internal database with unique id to node ip mappings now we give an hardcoded ID back - - msg.allocated_node_id.count = 1; - msg.allocated_node_id.elements[0].value = 15; // HACK hardcoded ID - - _uavcan_pnp_nodeidallocation_last = hrt_absolute_time(); - _node_register_request_index = 0; - _node_register_last_received_index = -1; - _node_register_setup = msg.allocated_node_id.elements[0].value; // This nodeID has to be configured - - PX4_INFO("Received NodeID allocation request assigning %i", msg.allocated_node_id.elements[0].value); - - uint8_t node_id_alloc_payload_buffer[uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; - - CanardTransfer transfer = { - .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. - .priority = CanardPriorityNominal, - .transfer_kind = CanardTransferKindMessage, - .port_id = uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_, // This is the subject-ID. - .remote_node_id = CANARD_NODE_ID_UNSET, // Messages cannot be unicast, so use UNSET. - .transfer_id = _uavcan_pnp_nodeidallocation_v1_transfer_id, - .payload_size = uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, - .payload = &node_id_alloc_payload_buffer, - }; - - result = uavcan_pnp_NodeIDAllocationData_1_0_serialize_(&msg, node_id_alloc_payload_buffer, &transfer.payload_size); - - if (result == 0) { - // set the data ready in the buffer and chop if needed - ++_uavcan_pnp_nodeidallocation_v1_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. - result = canardTxPush(&_canard_instance, &transfer); - } - - } if (receive.port_id == uavcan_register_List_1_0_FIXED_PORT_ID_) { - - uavcan_register_List_Response_1_0 msg; - - size_t register_in_size_bits = receive.payload_size; - uavcan_register_List_Response_1_0_deserialize_(&msg, (const uint8_t *)receive.payload, ®ister_in_size_bits); - - - if (strncmp((char *)msg.name.name.elements, "uavcan.pub.gnss_uorb.id", - msg.name.name.count) == 0) { //Demo GPS status publisher - _node_register_setup = CANARD_NODE_ID_UNSET; - PX4_INFO("NodeID %i GPS publisher set PortID to %i", receive.remote_node_id, gps_port_id); - _node_register_last_received_index++; - - uavcan_register_Access_Request_1_0 request_msg; - memcpy(&request_msg.name, &msg.name, sizeof(uavcan_register_Name_1_0)); - - uavcan_register_Value_1_0_select_natural16_(&request_msg.value); - request_msg.value.natural16.value.count = 1; - request_msg.value.natural16.value.elements[0] = gps_port_id; - - - uint8_t request_payload_buffer[uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; - - CanardTransfer transfer = { - .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. - .priority = CanardPriorityNominal, - .transfer_kind = CanardTransferKindRequest, - .port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID. - .remote_node_id = receive.remote_node_id, // Messages cannot be unicast, so use UNSET. - .transfer_id = _uavcan_register_access_request_transfer_id, - .payload_size = uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, - .payload = &request_payload_buffer, - }; - - result = uavcan_register_Access_Request_1_0_serialize_(&request_msg, request_payload_buffer, &transfer.payload_size); - - if (result == 0) { - // set the data ready in the buffer and chop if needed - ++_uavcan_register_access_request_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. - result = canardTxPush(&_canard_instance, &transfer); - } - } - - if (strncmp((char *)msg.name.name.elements, "uavcan.pub.battery_status.id", - msg.name.name.count) == 0) { //Battery status publisher - _node_register_setup = CANARD_NODE_ID_UNSET; - PX4_INFO("NodeID %i battery_status publisher set PortID to %i", receive.remote_node_id, bms_port_id); - _node_register_last_received_index++; - - uavcan_register_Access_Request_1_0 request_msg; - memcpy(&request_msg.name, &msg.name, sizeof(uavcan_register_Name_1_0)); - - uavcan_register_Value_1_0_select_natural16_(&request_msg.value); - request_msg.value.natural16.value.count = 1; - request_msg.value.natural16.value.elements[0] = bms_port_id; - - - uint8_t request_payload_buffer[uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_]; - - CanardTransfer transfer = { - .timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited. - .priority = CanardPriorityNominal, - .transfer_kind = CanardTransferKindRequest, - .port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID. - .remote_node_id = receive.remote_node_id, // Messages cannot be unicast, so use UNSET. - .transfer_id = _uavcan_register_access_request_transfer_id, - .payload_size = uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, - .payload = &request_payload_buffer, - }; - - result = uavcan_register_Access_Request_1_0_serialize_(&request_msg, request_payload_buffer, &transfer.payload_size); - - if (result == 0) { - // set the data ready in the buffer and chop if needed - ++_uavcan_register_access_request_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject. - result = canardTxPush(&_canard_instance, &transfer); - } - } - - - } else if (receive.port_id == bms_port_id) { - PX4_INFO("NodeID %i Battery Status msg", receive.remote_node_id); - //TODO deserialize - /* - - battery_status_s battery_status{}; - battery_status.id = bms_status.battery_id; - battery_status.voltage_v = bms_status.voltage; - //battery_status.remaining = bms_status.remaining_capacity; - battery_status.timestamp = hrt_absolute_time(); - _battery_status_pub.publish(battery_status);*/ + if (receive.port_id == bms_port_id) { + result = handleBMSStatus(receive); } else if (receive.port_id == gps_port_id) { - PX4_INFO("NodeID %i GPS sensor msg", receive.remote_node_id); + result = handleUORBSensorGPS(receive); - sensor_gps_s *gps_msg = (sensor_gps_s *)receive.payload; + } else if (receive.port_id > 0) { + // If not a fixed port ID, check any subscribers which may have registered it + for (auto &subscriber : _subscribers) { + if (receive.port_id == subscriber->id()) { + subscriber->callback(receive); + } + } - _sensor_gps_pub.publish(*gps_msg); + for (auto &subscriber : _dynsubscribers) { + if (receive.port_id == subscriber->id()) { + subscriber->callback(receive); + } + } } // Deallocate the dynamic memory afterwards. @@ -505,6 +345,17 @@ void UavcanNode::print_info() perf_print_counter(_cycle_perf); perf_print_counter(_interval_perf); + for (auto &publisher : _publishers) { + publisher->printInfo(); + } + + for (auto &subscriber : _subscribers) { + subscriber->printInfo(); + } + + _mixing_output.printInfo(); + _esc_controller.printInfo(); + pthread_mutex_unlock(&_node_mutex); } @@ -561,3 +412,86 @@ extern "C" __EXPORT int uavcan_v1_main(int argc, char *argv[]) print_usage(); return 1; } + +void UavcanNode::sendHeartbeat() +{ + if (hrt_elapsed_time(&_uavcan_node_heartbeat_last) >= 1_s) { + + uavcan_node_Heartbeat_1_0 heartbeat{}; + heartbeat.uptime = _uavcan_node_heartbeat_transfer_id; // TODO: use real uptime + heartbeat.health.value = uavcan_node_Health_1_0_NOMINAL; + heartbeat.mode.value = uavcan_node_Mode_1_0_OPERATIONAL; + + + CanardTransfer transfer = { + .timestamp_usec = hrt_absolute_time(), + .priority = CanardPriorityNominal, + .transfer_kind = CanardTransferKindMessage, + .port_id = uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_, + .remote_node_id = CANARD_NODE_ID_UNSET, + .transfer_id = _uavcan_node_heartbeat_transfer_id++, + .payload_size = uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_, + .payload = &_uavcan_node_heartbeat_buffer, + }; + + uavcan_node_Heartbeat_1_0_serialize_(&heartbeat, _uavcan_node_heartbeat_buffer, &transfer.payload_size); + + int32_t result = canardTxPush(&_canard_instance, &transfer); + + if (result < 0) { + // An error has occurred: either an argument is invalid or we've ran out of memory. + // It is possible to statically prove that an out-of-memory will never occur for a given application if the + // heap is sized correctly; for background, refer to the Robson's Proof and the documentation for O1Heap. + PX4_ERR("Heartbeat transmit error %d", result); + } + + _uavcan_node_heartbeat_last = transfer.timestamp_usec; + } +} + +int UavcanNode::handleBMSStatus(const CanardTransfer &receive) +{ + PX4_INFO("NodeID %i Battery Status msg", receive.remote_node_id); + //TODO deserialize + /* + battery_status_s battery_status{}; + battery_status.id = bms_status.battery_id; + battery_status.voltage_v = bms_status.voltage; + //battery_status.remaining = bms_status.remaining_capacity; + battery_status.timestamp = hrt_absolute_time(); + _battery_status_pub.publish(battery_status); + */ + + return 0; +} + +int UavcanNode::handleUORBSensorGPS(const CanardTransfer &receive) +{ + PX4_INFO("NodeID %i GPS sensor msg", receive.remote_node_id); + + sensor_gps_s *gps_msg = (sensor_gps_s *)receive.payload; + + return _sensor_gps_pub.publish(*gps_msg) ? 0 : -1; +} + + +bool UavcanMixingInterface::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, + unsigned num_control_groups_updated) +{ + // Note: This gets called from MixingOutput from within its update() function + // Hence, the mutex lock in UavcanMixingInterface::Run() is in effect + + /// TODO: Need esc/servo metadata / bitmask(s) + _esc_controller.update_outputs(stop_motors, outputs, num_outputs); + // _servo_controller.update_outputs(stop_motors, outputs, num_outputs); + + return true; +} + +void UavcanMixingInterface::Run() +{ + pthread_mutex_lock(&_node_mutex); + _mixing_output.update(); + _mixing_output.updateSubscriptions(false, false); + pthread_mutex_unlock(&_node_mutex); +} diff --git a/src/drivers/uavcan_v1/Uavcan.hpp b/src/drivers/uavcan_v1/Uavcan.hpp index f5132043ba..6ca66b4d2e 100644 --- a/src/drivers/uavcan_v1/Uavcan.hpp +++ b/src/drivers/uavcan_v1/Uavcan.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,6 +40,7 @@ #include #include +#include #include #include #include @@ -54,26 +55,77 @@ #include #include -#include -#include -#include - -//Quick and Dirty PNP imlementation only V1 for now as well -#include -#include -#include - -//Quick and Dirty UAVCAN register implementation -#include #include +#include +#include +#include +#include -#define PNP1_PORT_ID uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_ -#define PNP1_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_1_0_EXTENT_BYTES_ -#define PNP2_PORT_ID uavcan_pnp_NodeIDAllocationData_2_0_FIXED_PORT_ID_ -#define PNP2_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_2_0_EXTENT_BYTES_ +// DS-15 Specification Messages +#include +#include +#include #include "CanardInterface.hpp" +#include "Publishers/Publisher.hpp" +#include "Publishers/Gnss.hpp" + +#include "Subscribers/BaseSubscriber.hpp" +#include "Subscribers/Battery.hpp" +#include "Subscribers/Esc.hpp" +#include "Subscribers/Gnss.hpp" +#include "Subscribers/NodeIDAllocationData.hpp" + +#include "ServiceClients/GetInfo.hpp" +#include "ServiceClients/Access.hpp" + +#include "Services/AccessReply.hpp" +#include "Services/ListReply.hpp" + +#include "NodeManager.hpp" + +#include "Actuators/EscClient.hpp" /// TODO: Add EscServer.hpp for node-side service + +/** + * UAVCAN mixing class. + * It is separate from UavcanNode to have 2 WorkItems and therefore allowing independent scheduling + * (I.e. UavcanMixingInterface runs upon actuator_control updates, whereas UavcanNode runs at + * a fixed rate or upon bus updates). + * Both work items are expected to run on the same work queue. + */ +class UavcanMixingInterface : public OutputModuleInterface +{ +public: + UavcanMixingInterface(pthread_mutex_t &node_mutex, + UavcanEscController &esc_controller) //, UavcanServoController &servo_controller) + : OutputModuleInterface(MODULE_NAME "-actuators", px4::wq_configurations::uavcan), + _node_mutex(node_mutex), + _esc_controller(esc_controller)/*, + _servo_controller(servo_controller)*/ {} + + bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], + unsigned num_outputs, unsigned num_control_groups_updated) override; + + void mixerChanged() override {}; + + void printInfo() { _mixing_output.printStatus(); } + + MixingOutput &mixingOutput() { return _mixing_output; } + + /// For use with PR-16808 once merged + // const char *get_param_prefix() override { return "UCAN1_ACT"; } + +protected: + void Run() override; +private: + friend class UavcanNode; + pthread_mutex_t &_node_mutex; + UavcanEscController &_esc_controller; + // UavcanServoController &_servo_controller; + MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}; +}; + class UavcanNode : public ModuleParams, public px4::ScheduledWorkItem { /* @@ -105,9 +157,19 @@ public: int32_t active_bitrate{0}; private: + void init(); void Run() override; void fill_node_info(); + // Sends a heartbeat at 1s intervals + void sendHeartbeat(); + + int handlePnpNodeIDAllocationData(const CanardTransfer &receive); + int handleRegisterList(const CanardTransfer &receive); + int handleRegisterAccess(const CanardTransfer &receive); + int handleBMSStatus(const CanardTransfer &receive); + int handleUORBSensorGPS(const CanardTransfer &receive); + void *_uavcan_heap{nullptr}; CanardInterface *const _can_interface; @@ -150,18 +212,11 @@ private: const uint16_t bms_port_id = 1234; const uint16_t gps_port_id = 1235; - CanardTransferID _uavcan_pnp_nodeidallocation_v1_transfer_id{0}; - hrt_abstime _uavcan_pnp_nodeidallocation_last{0}; - CanardTransferID _uavcan_register_list_request_transfer_id{0}; CanardTransferID _uavcan_register_access_request_transfer_id{0}; - //Register interface NodeID TODO MVP right have to make a queue - uint8_t _node_register_setup = CANARD_NODE_ID_UNSET; - int32_t _node_register_request_index = 0; - int32_t _node_register_last_received_index = -1; // regulated::drone::sensor::BMSStatus_1_0 - uint8_t _regulated_drone_sensor_bmsstatus_buffer[reg_drone_srv_battery_Status_0_1_EXTENT_BYTES_]; + uint8_t _regulated_drone_sensor_bmsstatus_buffer[reg_drone_service_battery_Status_0_1_EXTENT_BYTES_]; hrt_abstime _regulated_drone_sensor_bmsstatus_last{0}; CanardTransferID _regulated_drone_sensor_bmsstatus_transfer_id{0}; @@ -172,4 +227,36 @@ private: (ParamInt) _param_uavcan_v1_bat_md, (ParamInt) _param_uavcan_v1_bat_id ) + + UavcanParamManager _param_manager; + + NodeManager _node_manager {_canard_instance}; + + UavcanGnssPublisher _gps_pub {_canard_instance, _param_manager}; + + UavcanEscController _esc_controller {_canard_instance, _param_manager}; + + // Publication objects: Any object used to bridge a uORB message to a UAVCAN message + /// TODO: For some service implementations, it makes sense to have them be both Publishers and Subscribers + UavcanPublisher *_publishers[2] {&_gps_pub, &_esc_controller}; + + UavcanGnssSubscriber _gps0_sub {_canard_instance, _param_manager, 0}; + UavcanGnssSubscriber _gps1_sub {_canard_instance, _param_manager, 1}; + UavcanBmsSubscriber _bms0_sub {_canard_instance, _param_manager, 0}; + UavcanBmsSubscriber _bms1_sub {_canard_instance, _param_manager, 1}; + UavcanEscSubscriber _esc_sub {_canard_instance, _param_manager, 0}; + UavcanNodeIDAllocationDataSubscriber _nodeid_sub {_canard_instance, _node_manager}; + + UavcanGetInfoResponse _getinfo_rsp {_canard_instance}; + UavcanAccessResponse _access_rsp {_canard_instance, _param_manager}; + + UavcanAccessServiceReply _access_service {_canard_instance, _node_manager}; + UavcanListServiceReply _list_service {_canard_instance, _node_manager}; + + // Subscriber objects: Any object used to bridge a UAVCAN message to a uORB message + UavcanDynamicPortSubscriber *_dynsubscribers[5] {&_gps0_sub, &_gps1_sub, &_bms0_sub, &_bms1_sub, &_esc_sub}; /// TODO: turn into List + UavcanBaseSubscriber *_subscribers[5] {&_nodeid_sub, &_getinfo_rsp, &_access_rsp, &_access_service, &_list_service}; /// TODO: turn into List + + UavcanMixingInterface _mixing_output {_node_mutex, _esc_controller}; + }; diff --git a/src/drivers/uavcan_v1/parameters.c b/src/drivers/uavcan_v1/parameters.c index dc4e39858e..2b0eba1c62 100644 --- a/src/drivers/uavcan_v1/parameters.c +++ b/src/drivers/uavcan_v1/parameters.c @@ -85,3 +85,15 @@ PARAM_DEFINE_INT32(UAVCAN_V1_BAT_MD, 0); * @group UAVCAN v1 */ PARAM_DEFINE_INT32(UAVCAN_V1_BAT_ID, 4242); + +// Subscription Port IDs +PARAM_DEFINE_INT32(UCAN1_ESC0_PID, 0); +PARAM_DEFINE_INT32(UCAN1_GPS0_PID, 0); +PARAM_DEFINE_INT32(UCAN1_GPS1_PID, 0); +PARAM_DEFINE_INT32(UCAN1_BMS0_PID, 0); +PARAM_DEFINE_INT32(UCAN1_BMS1_PID, 0); + +// Publication Port IDs +PARAM_DEFINE_INT32(UCAN1_ESC_PUB, 0); +PARAM_DEFINE_INT32(UCAN1_GPS_PUB, 0); +PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, 0); diff --git a/src/drivers/uavcan_v1/public_regulated_data_types b/src/drivers/uavcan_v1/public_regulated_data_types index 81526eb6e2..7f5489e6e9 160000 --- a/src/drivers/uavcan_v1/public_regulated_data_types +++ b/src/drivers/uavcan_v1/public_regulated_data_types @@ -1 +1 @@ -Subproject commit 81526eb6e27095701736dfb6e74842fe07a59f4f +Subproject commit 7f5489e6e916cc8b13db0582dcf9930e225594b9 diff --git a/src/drivers/uavcannode_gps_demo/CMakeLists.txt b/src/drivers/uavcannode_gps_demo/CMakeLists.txt index fd3ae1b56a..443b35c1bd 100644 --- a/src/drivers/uavcannode_gps_demo/CMakeLists.txt +++ b/src/drivers/uavcannode_gps_demo/CMakeLists.txt @@ -78,5 +78,6 @@ px4_add_module( DEPENDS git_libcanard git_public_regulated_data_types + drivers_bootloaders version ) diff --git a/src/drivers/uavcannode_gps_demo/canard_main.c b/src/drivers/uavcannode_gps_demo/canard_main.c index a7a26ae64d..a8f62c55db 100644 --- a/src/drivers/uavcannode_gps_demo/canard_main.c +++ b/src/drivers/uavcannode_gps_demo/canard_main.c @@ -65,6 +65,9 @@ #include "libcancl/pnp.h" #include "libcancl/registerinterface.h" + +#include "boot_app_shared.h" + /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ @@ -76,6 +79,23 @@ /**************************************************************************** * Private Data ****************************************************************************/ +/* + * This is the AppImageDescriptor used + * by the make_can_boot_descriptor.py tool to set + * the application image's descriptor so that the + * uavcan bootloader has the ability to validate the + * image crc, size etc of this application +*/ +boot_app_shared_section app_descriptor_t AppDescriptor = { + .signature = APP_DESCRIPTOR_SIGNATURE, + .image_crc = 0, + .image_size = 0, + .git_hash = 0, + .major_version = APP_VERSION_MAJOR, + .minor_version = APP_VERSION_MINOR, + .board_id = HW_VERSION_MAJOR << 8 | HW_VERSION_MINOR, + .reserved = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff } +}; O1HeapInstance *my_allocator; static uint8_t uavcan_heap[O1_HEAP_SIZE] diff --git a/src/examples/gyro_fft/CMSIS_5 b/src/examples/gyro_fft/CMSIS_5 deleted file mode 160000 index 2028526265..0000000000 --- a/src/examples/gyro_fft/CMSIS_5 +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 20285262657d1b482d132d20d755c8c330d55c1f diff --git a/src/examples/gyro_fft/CMakeLists.txt b/src/examples/gyro_fft/CMakeLists.txt deleted file mode 100644 index cb75d5940e..0000000000 --- a/src/examples/gyro_fft/CMakeLists.txt +++ /dev/null @@ -1,107 +0,0 @@ -############################################################################ -# -# Copyright (c) 2020 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - - -px4_add_git_submodule(TARGET git_cmsis_v5 PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMSIS_5") - -# Needed to include the configBoot module -# Define the path to CMSIS-DSP (ROOT is defined on command line when using cmake) -set(ROOT ${CMAKE_CURRENT_SOURCE_DIR}/CMSIS_5) -set(DSP ${ROOT}/CMSIS/DSP) - -set(GCC ON CACHE BOOL "") -set(PLATFORM "FVP" CACHE STRING "") -set(ARM_CPU ${ARCHITECTURE} CACHE STRING "Set ARM CPU. Default : cortex-m4") - -set(FASTMATH ON CACHE BOOL "") -set(TRANSFORM ON CACHE BOOL "") -#set(CONFIGTABLE ON CACHE BOOL "") -#set(ALLFAST ON CACHE BOOL "") -#set(ALLFFT ON CACHE BOOL "") - -add_compile_options( - #-Wno-strict-prototypes - -Wno-error - - -DARM_FFT_ALLOW_TABLES - - -DARM_ALL_FFT_TABLES - -DARM_TABLE_TWIDDLECOEF_Q15_128 - -DARM_TABLE_BITREVIDX_FXT_128 - -DARM_TABLE_REALCOEF_Q15 - - -DARMCM4_FP - -DARM_MATH_LOOPUNROLL - -DCORTEXM -) - -add_compile_options($<$:-Wno-nested-externs>) - -px4_add_module( - MODULE modules__gyro_fft - MAIN gyro_fft - STACK_MAIN - 4096 - COMPILE_FLAGS - ${MAX_CUSTOM_OPT_LEVEL} - INCLUDES - ${ROOT}/CMSIS/Core/Include - ${DSP}/Include - SRCS - GyroFFT.cpp - GyroFFT.hpp - - ${DSP}/Source/BasicMathFunctions/arm_shift_q15.c - - ${DSP}/Source/CommonTables/arm_common_tables.c - ${DSP}/Source/CommonTables/arm_const_structs.c - - ${DSP}/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c - - ${DSP}/Source/TransformFunctions/arm_bitreversal2.c - - #${DSP}/Source/TransformFunctions/arm_cfft_init_q15.c - ${DSP}/Source/TransformFunctions/arm_cfft_q15.c - ${DSP}/Source/TransformFunctions/arm_cfft_radix4_q15.c - - ${DSP}/Source/TransformFunctions/arm_rfft_init_q15.c - ${DSP}/Source/TransformFunctions/arm_rfft_q15.c - #${DSP}/Source/TransformFunctions/arm_rfft_radix4_q15.c - - ${DSP}/Source/SupportFunctions/arm_float_to_q15.c - ${DSP}/Source/BasicMathFunctions/arm_mult_q15.c - - DEPENDS - git_cmsis_v5 - px4_work_queue -) diff --git a/src/examples/gyro_fft/GyroFFT.cpp b/src/examples/gyro_fft/GyroFFT.cpp deleted file mode 100644 index accbd0e05d..0000000000 --- a/src/examples/gyro_fft/GyroFFT.cpp +++ /dev/null @@ -1,427 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "GyroFFT.hpp" - -#include -#include -#include - -using namespace matrix; -using math::radians; - -GyroFFT::GyroFFT() : - ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default) -{ - arm_rfft_init_q15(&_rfft_q15, FFT_LENGTH, 0, 1); - - // init Hanning window - for (int n = 0; n < FFT_LENGTH; n++) { - const float hanning_value = 0.5f * (1.f - cosf(2.f * M_PI_F * n / (FFT_LENGTH - 1))); - arm_float_to_q15(&hanning_value, &_hanning_window[n], 1); - } -} - -GyroFFT::~GyroFFT() -{ - perf_free(_cycle_perf); - perf_free(_cycle_interval_perf); - perf_free(_fft_perf); - perf_free(_gyro_fifo_generation_gap_perf); -} - -bool GyroFFT::init() -{ - if (!SensorSelectionUpdate(true)) { - PX4_WARN("sensor_gyro_fifo callback registration failed!"); - ScheduleDelayed(500_ms); - } - - return true; -} - -bool GyroFFT::SensorSelectionUpdate(bool force) -{ - if (_sensor_selection_sub.updated() || (_selected_sensor_device_id == 0) || force) { - sensor_selection_s sensor_selection{}; - _sensor_selection_sub.copy(&sensor_selection); - - if (_selected_sensor_device_id != sensor_selection.gyro_device_id) { - for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) { - uORB::SubscriptionData sensor_gyro_fifo_sub{ORB_ID(sensor_gyro_fifo), i}; - - if ((sensor_gyro_fifo_sub.get().device_id != 0) - && (sensor_gyro_fifo_sub.get().device_id == sensor_selection.gyro_device_id)) { - - if (_sensor_gyro_fifo_sub.ChangeInstance(i) && _sensor_gyro_fifo_sub.registerCallback()) { - // find corresponding vehicle_imu_status instance - for (uint8_t imu_status = 0; imu_status < MAX_SENSOR_COUNT; imu_status++) { - uORB::Subscription imu_status_sub{ORB_ID(vehicle_imu_status), imu_status}; - - vehicle_imu_status_s vehicle_imu_status; - - if (imu_status_sub.copy(&vehicle_imu_status)) { - if (vehicle_imu_status.gyro_device_id == sensor_selection.gyro_device_id) { - _vehicle_imu_status_sub.ChangeInstance(imu_status); - return true; - } - } - } - - PX4_WARN("unable to find IMU status for gyro %d", sensor_selection.gyro_device_id); - return true; - } - } - } - - PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.gyro_device_id); - } - } - - return false; -} - -void GyroFFT::VehicleIMUStatusUpdate() -{ - vehicle_imu_status_s vehicle_imu_status; - - if (_vehicle_imu_status_sub.update(&vehicle_imu_status)) { - if ((vehicle_imu_status.gyro_rate_hz > 0) && (fabsf(vehicle_imu_status.gyro_rate_hz - _gyro_sample_rate_hz) > 1.f)) { - _gyro_sample_rate_hz = vehicle_imu_status.gyro_rate_hz; - } - } -} - -// helper function used for frequency estimation -static constexpr float tau(float x) -{ - float p1 = logf(3.f * powf(x, 2.f) + 6 * x + 1); - float part1 = x + 1 - sqrtf(2.f / 3.f); - float part2 = x + 1 + sqrtf(2.f / 3.f); - float p2 = logf(part1 / part2); - return (1.f / 4.f * p1 - sqrtf(6) / 24 * p2); -} - -float GyroFFT::EstimatePeakFrequency(q15_t fft[FFT_LENGTH * 2], uint8_t peak_index) -{ - // find peak location using Quinn's Second Estimator (2020-06-14: http://dspguru.com/dsp/howtos/how-to-interpolate-fft-peak/) - int16_t real[3] { fft[peak_index - 2], fft[peak_index], fft[peak_index + 2] }; - int16_t imag[3] { fft[peak_index - 2 + 1], fft[peak_index + 1], fft[peak_index + 2 + 1] }; - - const int k = 1; - - float divider = (real[k] * real[k] + imag[k] * imag[k]); - - // ap = (X[k + 1].r * X[k].r + X[k+1].i * X[k].i) / (X[k].r * X[k].r + X[k].i * X[k].i) - float ap = (real[k + 1] * real[k] + imag[k + 1] * imag[k]) / divider; - - // am = (X[k – 1].r * X[k].r + X[k – 1].i * X[k].i) / (X[k].r * X[k].r + X[k].i * X[k].i) - float am = (real[k - 1] * real[k] + imag[k - 1] * imag[k]) / divider; - - float dp = -ap / (1.f - ap); - float dm = am / (1.f - am); - float d = (dp + dm) / 2 + tau(dp * dp) - tau(dm * dm); - - float adjusted_bin = peak_index + d; - float peak_freq_adjusted = (_gyro_sample_rate_hz * adjusted_bin / (FFT_LENGTH * 2.f)); - - return peak_freq_adjusted; -} - -static int float_cmp(const void *elem1, const void *elem2) -{ - if (*(const float *)elem1 < * (const float *)elem2) { - return -1; - } - - return *(const float *)elem1 > *(const float *)elem2; -} - -void GyroFFT::Run() -{ - if (should_exit()) { - _sensor_gyro_fifo_sub.unregisterCallback(); - exit_and_cleanup(); - return; - } - - // backup schedule - ScheduleDelayed(500_ms); - - perf_begin(_cycle_perf); - perf_count(_cycle_interval_perf); - - // Check if parameters have changed - if (_parameter_update_sub.updated()) { - // clear update - parameter_update_s param_update; - _parameter_update_sub.copy(¶m_update); - - updateParams(); - } - - SensorSelectionUpdate(); - - const float resolution_hz = _gyro_sample_rate_hz / FFT_LENGTH; - - bool publish = false; - bool fft_updated = false; - - // run on sensor gyro fifo updates - sensor_gyro_fifo_s sensor_gyro_fifo; - - while (_sensor_gyro_fifo_sub.update(&sensor_gyro_fifo)) { - - if (_sensor_gyro_fifo_sub.get_last_generation() != _gyro_last_generation + 1) { - // force reset if we've missed a sample - _fft_buffer_index[0] = 0; - _fft_buffer_index[1] = 0; - _fft_buffer_index[2] = 0; - - perf_count(_gyro_fifo_generation_gap_perf); - } - - _gyro_last_generation = _sensor_gyro_fifo_sub.get_last_generation(); - - const int N = sensor_gyro_fifo.samples; - - for (int axis = 0; axis < 3; axis++) { - int16_t *input = nullptr; - - switch (axis) { - case 0: - input = sensor_gyro_fifo.x; - break; - - case 1: - input = sensor_gyro_fifo.y; - break; - - case 2: - input = sensor_gyro_fifo.z; - break; - } - - int &buffer_index = _fft_buffer_index[axis]; - - for (int n = 0; n < N; n++) { - if (buffer_index < FFT_LENGTH) { - // convert int16_t -> q15_t (scaling isn't relevant) - _gyro_data_buffer[axis][buffer_index] = input[n] / 2; - buffer_index++; - } - - // if we have enough samples begin processing, but only one FFT per cycle - if ((buffer_index >= FFT_LENGTH) && !fft_updated) { - - arm_mult_q15(_gyro_data_buffer[axis], _hanning_window, _fft_input_buffer, FFT_LENGTH); - - perf_begin(_fft_perf); - arm_rfft_q15(&_rfft_q15, _fft_input_buffer, _fft_outupt_buffer); - perf_end(_fft_perf); - fft_updated = true; - - static constexpr uint16_t MIN_SNR = 10; // TODO: - - uint32_t max_peak_magnitude = 0; - uint8_t max_peak_index = 0; - - static constexpr int MAX_NUM_PEAKS = 4; - uint32_t peaks_magnitude[MAX_NUM_PEAKS] {}; - uint8_t peak_index[MAX_NUM_PEAKS] {}; - - // start at 2 to skip DC - // output is ordered [real[0], imag[0], real[1], imag[1], real[2], imag[2] ... real[(N/2)-1], imag[(N/2)-1] - for (uint8_t bucket_index = 2; bucket_index < (FFT_LENGTH / 2); bucket_index = bucket_index + 2) { - const float freq_hz = (bucket_index / 2) * resolution_hz; - - if (freq_hz > _param_imu_gyro_fft_max.get()) { - break; - } - - if (freq_hz >= _param_imu_gyro_fft_min.get()) { - const int16_t real = _fft_outupt_buffer[bucket_index]; - const int16_t complex = _fft_outupt_buffer[bucket_index + 1]; - - const uint32_t fft_magnitude_squared = real * real + complex * complex; - - if (fft_magnitude_squared > MIN_SNR) { - - if (fft_magnitude_squared > max_peak_magnitude) { - max_peak_magnitude = fft_magnitude_squared; - max_peak_index = bucket_index; - } - - for (int i = 0; i < MAX_NUM_PEAKS; i++) { - if (fft_magnitude_squared > peaks_magnitude[i]) { - peaks_magnitude[i] = fft_magnitude_squared; - peak_index[i] = bucket_index; - publish = true; - break; - } - } - } - } - } - - if (max_peak_index > 0) { - _sensor_gyro_fft.peak_frequency[axis] = _median_filter[axis].apply(EstimatePeakFrequency(_fft_outupt_buffer, - max_peak_index)); - } - - if (publish) { - float *peak_frequencies; - - switch (axis) { - case 0: - peak_frequencies = _sensor_gyro_fft.peak_frequencies_x; - break; - - case 1: - peak_frequencies = _sensor_gyro_fft.peak_frequencies_y; - break; - - case 2: - peak_frequencies = _sensor_gyro_fft.peak_frequencies_z; - break; - } - - int peaks_found = 0; - - for (int i = 0; i < MAX_NUM_PEAKS; i++) { - if ((peak_index[i] > 0) && (peak_index[i] < FFT_LENGTH) && (peaks_magnitude[i] > 0)) { - const float freq = EstimatePeakFrequency(_fft_outupt_buffer, peak_index[i]); - - if (freq >= _param_imu_gyro_fft_min.get() && freq <= _param_imu_gyro_fft_max.get()) { - peak_frequencies[peaks_found] = freq; - peaks_found++; - } - } - } - - // mark remaining slots empty - for (int i = peaks_found; i < MAX_NUM_PEAKS; i++) { - peak_frequencies[i] = NAN; - } - - // publish in sorted order for convenience - if (peaks_found > 0) { - qsort(peak_frequencies, peaks_found, sizeof(float), float_cmp); - } - } - - // reset - // shift buffer (75% overlap) - int overlap_start = FFT_LENGTH / 4; - memmove(&_gyro_data_buffer[axis][0], &_gyro_data_buffer[axis][overlap_start], sizeof(q15_t) * overlap_start * 3); - buffer_index = overlap_start * 3; - } - } - } - - if (publish) { - _sensor_gyro_fft.dt = 1e6f / _gyro_sample_rate_hz; - _sensor_gyro_fft.device_id = sensor_gyro_fifo.device_id; - _sensor_gyro_fft.resolution_hz = resolution_hz; - _sensor_gyro_fft.timestamp_sample = sensor_gyro_fifo.timestamp_sample; - _sensor_gyro_fft.timestamp = hrt_absolute_time(); - _sensor_gyro_fft_pub.publish(_sensor_gyro_fft); - - publish = false; - } - } - - perf_end(_cycle_perf); -} - -int GyroFFT::task_spawn(int argc, char *argv[]) -{ - GyroFFT *instance = new GyroFFT(); - - if (instance) { - _object.store(instance); - _task_id = task_id_is_work_queue; - - if (instance->init()) { - return PX4_OK; - } - - } else { - PX4_ERR("alloc failed"); - } - - delete instance; - _object.store(nullptr); - _task_id = -1; - - return PX4_ERROR; -} - -int GyroFFT::print_status() -{ - perf_print_counter(_cycle_perf); - perf_print_counter(_cycle_interval_perf); - perf_print_counter(_fft_perf); - perf_print_counter(_gyro_fifo_generation_gap_perf); - return 0; -} - -int GyroFFT::custom_command(int argc, char *argv[]) -{ - return print_usage("unknown command"); -} - -int GyroFFT::print_usage(const char *reason) -{ - if (reason) { - PX4_WARN("%s\n", reason); - } - - PRINT_MODULE_DESCRIPTION( - R"DESCR_STR( -### Description - -)DESCR_STR"); - - PRINT_MODULE_USAGE_NAME("gyro_fft", "system"); - PRINT_MODULE_USAGE_COMMAND("start"); - PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); - - return 0; -} - -extern "C" __EXPORT int gyro_fft_main(int argc, char *argv[]) -{ - return GyroFFT::main(argc, argv); -} diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp index 0c95896299..1121f70973 100644 --- a/src/lib/battery/battery.cpp +++ b/src/lib/battery/battery.cpp @@ -134,7 +134,7 @@ void Battery::updateBatteryStatus(const hrt_abstime ×tamp, float voltage_v, _current_filter_a.update(current_a); _throttle_filter.update(throttle_normalized); sumDischarged(timestamp, current_a); - estimateRemaining(_voltage_filter_v.getState(), _current_filter_a.getState(), _throttle_filter.getState()); + estimateStateOfCharge(_voltage_filter_v.getState(), _current_filter_a.getState(), _throttle_filter.getState()); computeScale(); if (_battery_initialized) { @@ -150,7 +150,7 @@ void Battery::updateBatteryStatus(const hrt_abstime ×tamp, float voltage_v, _battery_status.current_filtered_a = _current_filter_a.getState(); _battery_status.discharged_mah = _discharged_mah; _battery_status.warning = _warning; - _battery_status.remaining = _remaining; + _battery_status.remaining = _state_of_charge; _battery_status.connected = connected; _battery_status.source = source; _battery_status.priority = priority; @@ -158,9 +158,11 @@ void Battery::updateBatteryStatus(const hrt_abstime ×tamp, float voltage_v, static constexpr int uorb_max_cells = sizeof(_battery_status.voltage_cell_v) / sizeof( _battery_status.voltage_cell_v[0]); + int max_cells = math::min(_battery_status.cell_count, uorb_max_cells); + // Fill cell voltages with average values to work around MAVLink BATTERY_STATUS not allowing to report just total voltage - for (int i = 0; (i < _battery_status.cell_count) && (i < uorb_max_cells); i++) { - _battery_status.voltage_cell_v[i] = _battery_status.voltage_filtered_v / _battery_status.cell_count; + for (int i = 0; i < max_cells; i++) { + _battery_status.voltage_cell_v[i] = _battery_status.voltage_filtered_v / max_cells; } } @@ -196,7 +198,7 @@ void Battery::sumDischarged(const hrt_abstime ×tamp, float current_a) _last_timestamp = timestamp; } -void Battery::estimateRemaining(const float voltage_v, const float current_a, const float throttle) +void Battery::estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle) { // remaining battery capacity based on voltage float cell_voltage = voltage_v / _params.n_cells; @@ -210,27 +212,30 @@ void Battery::estimateRemaining(const float voltage_v, const float current_a, co cell_voltage += throttle * _params.v_load_drop; } - _remaining_voltage = math::gradual(cell_voltage, _params.v_empty, _params.v_charged, 0.f, 1.f); + _state_of_charge_volt_based = math::gradual(cell_voltage, _params.v_empty, _params.v_charged, 0.f, 1.f); // choose which quantity we're using for final reporting if (_params.capacity > 0.f) { // if battery capacity is known, fuse voltage measurement with used capacity if (!_battery_initialized) { // initialization of the estimation state - _remaining = _remaining_voltage; + _state_of_charge = _state_of_charge_volt_based; } else { // The lower the voltage the more adjust the estimate with it to avoid deep discharge - const float weight_v = 3e-4f * (1 - _remaining_voltage); - _remaining = (1 - weight_v) * _remaining + weight_v * _remaining_voltage; + const float weight_v = 3e-4f * (1 - _state_of_charge_volt_based); + _state_of_charge = (1 - weight_v) * _state_of_charge + weight_v * _state_of_charge_volt_based; // directly apply current capacity slope calculated using current - _remaining -= _discharged_mah_loop / _params.capacity; - _remaining = math::max(_remaining, 0.f); + _state_of_charge -= _discharged_mah_loop / _params.capacity; + _state_of_charge = math::max(_state_of_charge, 0.f); + + const float state_of_charge_current_based = math::max(1.f - _discharged_mah / _params.capacity, 0.f); + _state_of_charge = math::min(state_of_charge_current_based, _state_of_charge); + } } else { - // else use voltage - _remaining = _remaining_voltage; + _state_of_charge = _state_of_charge_volt_based; } } @@ -238,13 +243,13 @@ void Battery::determineWarning(bool connected) { if (connected) { // propagate warning state only if the state is higher, otherwise remain in current warning state - if (_remaining < _params.emergen_thr) { + if (_state_of_charge < _params.emergen_thr) { _warning = battery_status_s::BATTERY_WARNING_EMERGENCY; - } else if (_remaining < _params.crit_thr) { + } else if (_state_of_charge < _params.crit_thr) { _warning = battery_status_s::BATTERY_WARNING_CRITICAL; - } else if (_remaining < _params.low_thr) { + } else if (_state_of_charge < _params.low_thr) { _warning = battery_status_s::BATTERY_WARNING_LOW; } else { @@ -258,7 +263,7 @@ void Battery::computeScale() const float voltage_range = (_params.v_charged - _params.v_empty); // reusing capacity calculation to get single cell voltage before drop - const float bat_v = _params.v_empty + (voltage_range * _remaining_voltage); + const float bat_v = _params.v_empty + (voltage_range * _state_of_charge_volt_based); _scale = _params.v_charged / bat_v; diff --git a/src/lib/battery/battery.h b/src/lib/battery/battery.h index bed43eaf4f..495a8ae4f3 100644 --- a/src/lib/battery/battery.h +++ b/src/lib/battery/battery.h @@ -196,7 +196,7 @@ protected: private: void sumDischarged(const hrt_abstime ×tamp, float current_a); - void estimateRemaining(const float voltage_v, const float current_a, const float throttle); + void estimateStateOfCharge(const float voltage_v, const float current_a, const float throttle); void determineWarning(bool connected); void computeScale(); @@ -208,8 +208,8 @@ private: AlphaFilter _throttle_filter; float _discharged_mah{0.f}; float _discharged_mah_loop{0.f}; - float _remaining_voltage{-1.f}; ///< normalized battery charge level remaining based on voltage - float _remaining{-1.f}; ///< normalized battery charge level, selected based on config param + float _state_of_charge_volt_based{-1.f}; // [0,1] + float _state_of_charge{-1.f}; // [0,1] float _scale{1.f}; uint8_t _warning{battery_status_s::BATTERY_WARNING_NONE}; hrt_abstime _last_timestamp{0}; diff --git a/src/lib/component_information/CMakeLists.txt b/src/lib/component_information/CMakeLists.txt index 02960e4005..b030717894 100644 --- a/src/lib/component_information/CMakeLists.txt +++ b/src/lib/component_information/CMakeLists.txt @@ -31,39 +31,55 @@ # ############################################################################ -set(component_version_extra_args) +# types: +# 0: COMP_METADATA_TYPE_GENERAL +# 1: COMP_METADATA_TYPE_PARAMETER +# 2: COMP_METADATA_TYPE_COMMANDS +# 3: COMP_METADATA_TYPE_PERIPHERALS +set(comp_metadata_types) # We disable parameter support if the metadata is not in the ROMFS. This can be # removed once it is stored on a server list(FIND config_romfs_extra_dependencies "parameters_xml" index) +set(comp_metadata_board "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}") +set(s3_url "https://px4-travis.s3.amazonaws.com") +set(comp_metadata_param_uri_board "${s3_url}/Firmware/{version}/${comp_metadata_board}/parameters.json.xz") if (${index} EQUAL -1) - set(component_version_extra_args "--no-parameters") + set(comp_metadata_param_uri ${comp_metadata_param_uri_board}) + # use generic URL as fallback + set(comp_metadata_param_uri_fallback "${s3_url}/Firmware/{version}/_general/parameters.json.xz") +else() + set(comp_metadata_param_uri "mftp://etc/extras/parameters.json.xz") + set(comp_metadata_param_uri_fallback ${comp_metadata_param_uri_board}) endif() +# arguments: type, metadata file, uri, fallback uri, optional translation uri +list(APPEND comp_metadata_types "--type" "1,${PX4_BINARY_DIR}/parameters.json.xz,${comp_metadata_param_uri},${comp_metadata_param_uri_fallback},") -set(component_version_json ${PX4_BINARY_DIR}/component_version.json) -add_custom_command(OUTPUT ${component_version_json} ${component_version_json}.xz - COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_version.py - ${component_version_json} +set(component_general_json ${PX4_BINARY_DIR}/component_general.json) +add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz + COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py + ${component_general_json} --compress - ${component_version_extra_args} + ${comp_metadata_types} + --version-file ${PX4_BINARY_DIR}/src/lib/version/build_git_version.h DEPENDS - generate_component_version.py - COMMENT "Generating component_version.json" + generate_component_general.py + ${PX4_BINARY_DIR}/parameters.json.xz + parameters_xml + ver_gen + COMMENT "Generating component_general.json" ) -add_custom_target(component_version_json DEPENDS ${component_version_json}) +add_custom_target(component_general_json DEPENDS ${component_general_json}) -set(component_information_header ${CMAKE_CURRENT_BINARY_DIR}/hashes.h) +set(component_information_header ${CMAKE_CURRENT_BINARY_DIR}/checksums.h) add_custom_command(OUTPUT ${component_information_header} - COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_hashes.py - ${PX4_BINARY_DIR}/params.json.xz - ${component_version_json} + COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py + ${component_general_json} --output ${component_information_header} DEPENDS - generate_hashes.py - parameters_xml - ${PX4_BINARY_DIR}/params.json.xz - ${component_version_json} - COMMENT "Generating component_information/hashes.h" + generate_crc.py + ${component_general_json} + COMMENT "Generating component_information/checksums.h" ) add_custom_target(component_information_header DEPENDS ${component_information_header}) diff --git a/src/lib/component_information/generate_component_general.py b/src/lib/component_information/generate_component_general.py new file mode 100755 index 0000000000..6b8f605913 --- /dev/null +++ b/src/lib/component_information/generate_component_general.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python + +import argparse +import json +import lzma #to create .xz file +import re + +parser = argparse.ArgumentParser(description="""Generate the COMPONENT_GENERAL json file""") +parser.add_argument('filename', metavar='component_general.json', help='JSON output file') +parser.add_argument('--compress', action='store_true', help='Add a compressed output file') +parser.add_argument('--type', metavar='type', action="append", default=[], + help='Metadata type (,,,,[translation uri])') +parser.add_argument('--version-file', metavar='build_git_version.h', help='Git version file') + +args = parser.parse_args() +filename = args.filename +compress = args.compress +version_file = args.version_file + +version_dir = '' +if version_file is not None: + for line in open(version_file, "r"): + version_search = re.search('PX4_GIT_TAG_OR_BRANCH_NAME\s+"(.+)"', line) + if version_search: + version_dir = version_search.group(1) + break + + +def save_compressed(filename): + #create lzma compressed version + xz_filename=filename+'.xz' + with lzma.open(xz_filename, 'wt', preset=9) as f: + with open(filename, 'r') as content_file: + f.write(content_file.read()) + +component_general = {} +component_general['version'] = 1 + +def create_table(): + a = [] + for i in range(256): + k = i + for j in range(8): + if k & 1: + k ^= 0x1db710640 + k >>= 1 + a.append(k) + return a + +# MAVLink's CRC32 +def crc_update(buf, crc_table, crc): + for k in buf: + crc = (crc >> 8) ^ crc_table[(crc & 0xff) ^ k] + return crc + +crc_table = create_table() + +metadata_types = [] +for metadata_type_tuple in args.type: + type_id, metadata_file, uri, fallback_uri, translation_uri = metadata_type_tuple.split(',') + file_crc = 0 + for line in open(metadata_file, "rb"): + file_crc = crc_update(line, crc_table, file_crc) + json_type = { + 'type': int(type_id), + 'uri': uri.replace('{version}', version_dir), + 'fileCrc': file_crc, + 'uriFallback': fallback_uri.replace('{version}', version_dir), + } + if len(translation_uri) > 0: + json_type['translationUri'] = translation_uri + metadata_types.append(json_type) +component_general['metadataTypes'] = metadata_types + +with open(filename, 'w') as outfile: + json.dump(component_general, outfile) + +if compress: + save_compressed(filename) diff --git a/src/lib/component_information/generate_component_version.py b/src/lib/component_information/generate_component_version.py deleted file mode 100755 index 55422cac06..0000000000 --- a/src/lib/component_information/generate_component_version.py +++ /dev/null @@ -1,37 +0,0 @@ -#!/usr/bin/env python - -import argparse -import json -import lzma #to create .xz file - -parser = argparse.ArgumentParser(description="""Generate the COMPONENT_VERSION json file""") -parser.add_argument('filename', metavar='component_version.json', help='JSON output file') -parser.add_argument('--compress', action='store_true', help='Add a compressed output file') -parser.add_argument('--no-parameters', action='store_true', help='disable parameter support') - -args = parser.parse_args() -filename = args.filename -compress = args.compress - -def save_compressed(filename): - #create lzma compressed version - xz_filename=filename+'.xz' - with lzma.open(xz_filename, 'wt', preset=9) as f: - with open(filename, 'r') as content_file: - f.write(content_file.read()) - -component_version = {} -component_version['version'] = 1 -# types: -# 0: COMP_METADATA_TYPE_VERSION -# 1: COMP_METADATA_TYPE_PARAMETER -# 2: COMP_METADATA_TYPE_COMMANDS -supported_types = [0] -if not args.no_parameters: supported_types.append(1) -component_version['supportedCompMetadataTypes'] = supported_types - -with open(filename, 'w') as outfile: - json.dump(component_version, outfile) - -if compress: - save_compressed(filename) diff --git a/src/lib/component_information/generate_crc.py b/src/lib/component_information/generate_crc.py new file mode 100755 index 0000000000..84b85cf9a6 --- /dev/null +++ b/src/lib/component_information/generate_crc.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python + +import argparse +import os + +parser = argparse.ArgumentParser(description="""Generate the COMPONENT_INFORMATION checksums (CRC32) header file""") +parser.add_argument('--output', metavar='checksums.h', help='output file') +parser.add_argument('files', nargs='+', metavar='input_file.json', help='files to generate CRC from') + +args = parser.parse_args() +filename = args.output +files = args.files + +def create_table(): + a = [] + for i in range(256): + k = i + for j in range(8): + if k & 1: + k ^= 0x1db710640 + k >>= 1 + a.append(k) + return a + +# MAVLink's CRC32 +def crc_update(buf, crc_table, crc): + for k in buf: + crc = (crc >> 8) ^ crc_table[(crc & 0xff) ^ k] + return crc + +crc_table = create_table() + +with open(filename, 'w') as outfile: + outfile.write("#include \n") + outfile.write("namespace component_information {\n") + for filename in files: + file_crc = 0 + for line in open(filename, "rb"): + file_crc = crc_update(line, crc_table, file_crc) + + basename = os.path.basename(filename) + identifier = basename.split('.')[0] + outfile.write("static constexpr uint32_t {:}_crc = {:};\n".format(identifier, file_crc)) + + + outfile.write("}\n") + + diff --git a/src/lib/component_information/generate_hashes.py b/src/lib/component_information/generate_hashes.py deleted file mode 100755 index 2d148340e4..0000000000 --- a/src/lib/component_information/generate_hashes.py +++ /dev/null @@ -1,31 +0,0 @@ -#!/usr/bin/env python - -import argparse -import zlib -import os - -parser = argparse.ArgumentParser(description="""Generate the COMPONENT_INFORMATION hashes header file""") -parser.add_argument('--output', metavar='hashes.h', help='output file') -parser.add_argument('files', nargs='+', metavar='hashes.json', help='files to generate hashes from') - -args = parser.parse_args() -filename = args.output -files = args.files - -with open(filename, 'w') as outfile: - outfile.write("#include \n") - outfile.write("namespace component_information {\n") - for filename in files: - # get CRC - file_hash = 0 - for line in open(filename, "rb"): - file_hash = zlib.crc32(line, file_hash) - - basename = os.path.basename(filename) - identifier = basename.split('.')[0] - outfile.write("static constexpr uint32_t {:}_hash = {:};\n".format(identifier, file_hash)) - - - outfile.write("}\n") - - diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp index a19842c915..19f9967880 100644 --- a/src/lib/conversion/rotation.cpp +++ b/src/lib/conversion/rotation.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2013-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -56,202 +56,3 @@ get_rot_quaternion(enum Rotation rot) math::radians((float)rot_lookup[rot].pitch), math::radians((float)rot_lookup[rot].yaw)}}; } - -__EXPORT void -rotate_3f(enum Rotation rot, float &x, float &y, float &z) -{ - switch (rot) { - case ROTATION_NONE: - break; - - case ROTATION_YAW_90: { - float tmp = x; - x = -y; - y = tmp; - } - break; - - case ROTATION_YAW_180: { - x = -x; - y = -y; - } - break; - - case ROTATION_YAW_270: { - float tmp = x; - x = y; - y = -tmp; - } - break; - - case ROTATION_ROLL_180: { - y = -y; - z = -z; - } - break; - - case ROTATION_ROLL_180_YAW_90: - - // FALLTHROUGH - case ROTATION_PITCH_180_YAW_270: { - float tmp = x; - x = y; - y = tmp; - z = -z; - } - break; - - case ROTATION_PITCH_180: { - x = -x; - z = -z; - } - break; - - case ROTATION_ROLL_180_YAW_270: - - // FALLTHROUGH - case ROTATION_PITCH_180_YAW_90: { - float tmp = x; - x = -y; - y = -tmp; - z = -z; - } - break; - - case ROTATION_ROLL_90: { - float tmp = z; - z = y; - y = -tmp; - } - break; - - case ROTATION_ROLL_90_YAW_90: { - float tmp = x; - x = z; - z = y; - y = tmp; - } - break; - - case ROTATION_ROLL_270: { - float tmp = z; - z = -y; - y = tmp; - } - break; - - case ROTATION_ROLL_270_YAW_90: { - float tmp = x; - x = -z; - z = -y; - y = tmp; - } - break; - - case ROTATION_PITCH_90: { - float tmp = z; - z = -x; - x = tmp; - } - break; - - case ROTATION_PITCH_270: { - float tmp = z; - z = x; - x = -tmp; - } - break; - - case ROTATION_ROLL_180_PITCH_270: { - float tmp = z; - z = x; - x = tmp; - y = -y; - } - break; - - case ROTATION_ROLL_90_YAW_270: { - float tmp = x; - x = -z; - z = y; - y = -tmp; - } - break; - - case ROTATION_ROLL_90_PITCH_90: { - float tmp = x; - x = y; - y = -z; - z = -tmp; - } - break; - - case ROTATION_ROLL_180_PITCH_90: { - float tmp = x; - x = -z; - y = -y; - z = -tmp; - } - break; - - case ROTATION_ROLL_270_PITCH_90: { - float tmp = x; - x = -y; - y = z; - z = -tmp; - } - break; - - case ROTATION_ROLL_90_PITCH_180: { - float tmp = y; - x = -x; - y = -z; - z = -tmp; - } - break; - - case ROTATION_ROLL_270_PITCH_180: { - float tmp = y; - x = -x; - y = z; - z = tmp; - } - break; - - case ROTATION_ROLL_90_PITCH_270: { - float tmp = x; - x = -y; - y = -z; - z = tmp; - } - break; - - case ROTATION_ROLL_270_PITCH_270: { - float tmp = x; - x = y; - y = z; - z = tmp; - } - break; - - case ROTATION_ROLL_90_PITCH_180_YAW_90: { - float tmp = x; - x = z; - z = -y; - y = -tmp; - } - break; - - default: - - // otherwise use full rotation matrix for valid rotations - if (rot < ROTATION_MAX) { - const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{x, y, z}}; - x = r(0); - y = r(1); - z = r(2); - } - - break; - } -} diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h index decb9f4b6a..80a9910d8b 100644 --- a/src/lib/conversion/rotation.h +++ b/src/lib/conversion/rotation.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013-2020 PX4 Development Team. All rights reserved. + * Copyright (C) 2013-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,8 +37,7 @@ * Vector rotation library */ -#ifndef ROTATION_H_ -#define ROTATION_H_ +#pragma once #include @@ -149,20 +148,256 @@ static constexpr rot_lookup_t rot_lookup[ROTATION_MAX] = { /** * Get the rotation matrix */ -__EXPORT matrix::Dcmf -get_rot_matrix(enum Rotation rot); +__EXPORT matrix::Dcmf get_rot_matrix(enum Rotation rot); /** * Get the rotation quaternion */ -__EXPORT matrix::Quatf -get_rot_quaternion(enum Rotation rot); +__EXPORT matrix::Quatf get_rot_quaternion(enum Rotation rot); + +template +static constexpr bool rotate_3(enum Rotation rot, T &x, T &y, T &z) +{ + switch (rot) { + case ROTATION_NONE: + return true; + + case ROTATION_YAW_90: { + T tmp = x; + x = math::negate(y); + y = tmp; + } + + return true; + + case ROTATION_YAW_180: { + x = math::negate(x); + y = math::negate(y); + } + + return true; + + case ROTATION_YAW_270: { + T tmp = x; + x = y; + y = math::negate(tmp); + } + + return true; + + case ROTATION_ROLL_180: { + y = math::negate(y); + z = math::negate(z); + } + + return true; + + case ROTATION_ROLL_180_YAW_90: + + // FALLTHROUGH + case ROTATION_PITCH_180_YAW_270: { + T tmp = x; + x = y; + y = tmp; + z = math::negate(z); + } + + return true; + + case ROTATION_PITCH_180: { + x = math::negate(x); + z = math::negate(z); + } + + return true; + + case ROTATION_ROLL_180_YAW_270: + + // FALLTHROUGH + case ROTATION_PITCH_180_YAW_90: { + T tmp = x; + x = math::negate(y); + y = math::negate(tmp); + z = math::negate(z); + } + + return true; + + case ROTATION_ROLL_90: { + T tmp = z; + z = y; + y = math::negate(tmp); + } + + return true; + + case ROTATION_ROLL_90_YAW_90: { + T tmp = x; + x = z; + z = y; + y = tmp; + } + + return true; + + case ROTATION_ROLL_270: { + T tmp = z; + z = math::negate(y); + y = tmp; + } + + return true; + + case ROTATION_ROLL_270_YAW_90: { + T tmp = x; + x = math::negate(z); + z = math::negate(y); + y = tmp; + } + + return true; + + case ROTATION_PITCH_90: { + T tmp = z; + z = math::negate(x); + x = tmp; + } + + return true; + + case ROTATION_PITCH_270: { + T tmp = z; + z = x; + x = math::negate(tmp); + } + + return true; + + case ROTATION_ROLL_180_PITCH_270: { + T tmp = z; + z = x; + x = tmp; + y = math::negate(y); + } + + return true; + + case ROTATION_ROLL_90_YAW_270: { + T tmp = x; + x = math::negate(z); + z = y; + y = math::negate(tmp); + } + + return true; + + case ROTATION_ROLL_90_PITCH_90: { + T tmp = x; + x = y; + y = math::negate(z); + z = math::negate(tmp); + } + + return true; + + case ROTATION_ROLL_180_PITCH_90: { + T tmp = x; + x = math::negate(z); + y = math::negate(y); + z = math::negate(tmp); + } + + return true; + + case ROTATION_ROLL_270_PITCH_90: { + T tmp = x; + x = math::negate(y); + y = z; + z = math::negate(tmp); + } + + return true; + + case ROTATION_ROLL_90_PITCH_180: { + T tmp = y; + x = math::negate(x); + y = math::negate(z); + z = math::negate(tmp); + } + + return true; + + case ROTATION_ROLL_270_PITCH_180: { + T tmp = y; + x = math::negate(x); + y = z; + z = tmp; + } + + return true; + + case ROTATION_ROLL_90_PITCH_270: { + T tmp = x; + x = math::negate(y); + y = math::negate(z); + z = tmp; + } + + return true; + + case ROTATION_ROLL_270_PITCH_270: { + T tmp = x; + x = y; + y = z; + z = tmp; + } + + return true; + + case ROTATION_ROLL_90_PITCH_180_YAW_90: { + T tmp = x; + x = z; + z = math::negate(y); + y = math::negate(tmp); + } + + return true; + + default: + break; + } + + return false; +} + +/** + * rotate a 3 element int16_t vector in-place + */ +__EXPORT inline void rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z) +{ + if (!rotate_3(rot, x, y, z)) { + // otherwise use full rotation matrix for valid rotations + if (rot < ROTATION_MAX) { + const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{(float)x, (float)y, (float)z}}; + x = math::constrain(roundf(r(0)), (float)INT16_MIN, (float)INT16_MAX); + y = math::constrain(roundf(r(1)), (float)INT16_MIN, (float)INT16_MAX); + z = math::constrain(roundf(r(2)), (float)INT16_MIN, (float)INT16_MAX); + } + } +} /** * rotate a 3 element float vector in-place */ -__EXPORT void -rotate_3f(enum Rotation rot, float &x, float &y, float &z); - - -#endif /* ROTATION_H_ */ +__EXPORT inline void rotate_3f(enum Rotation rot, float &x, float &y, float &z) +{ + if (!rotate_3(rot, x, y, z)) { + // otherwise use full rotation matrix for valid rotations + if (rot < ROTATION_MAX) { + const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{x, y, z}}; + x = r(0); + y = r(1); + z = r(2); + } + } +} diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp index f54feec673..6eb7031053 100644 --- a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp +++ b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2018-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,7 +40,7 @@ using namespace time_literals; using matrix::Vector3f; -static constexpr int32_t sum(const int16_t samples[16], uint8_t len) +static constexpr int32_t sum(const int16_t samples[], uint8_t len) { int32_t sum = 0; @@ -51,7 +51,7 @@ static constexpr int32_t sum(const int16_t samples[16], uint8_t len) return sum; } -static constexpr uint8_t clipping(const int16_t samples[16], int16_t clip_limit, uint8_t len) +static constexpr uint8_t clipping(const int16_t samples[], int16_t clip_limit, uint8_t len) { unsigned clip_count = 0; @@ -94,66 +94,11 @@ void PX4Accelerometer::set_device_type(uint8_t devtype) } void PX4Accelerometer::update(const hrt_abstime ×tamp_sample, float x, float y, float z) -{ - // clipping - uint8_t clip_count[3]; - clip_count[0] = (fabsf(x) >= _clip_limit); - clip_count[1] = (fabsf(y) >= _clip_limit); - clip_count[2] = (fabsf(z) >= _clip_limit); - - // publish - Publish(timestamp_sample, x, y, z, clip_count); -} - -void PX4Accelerometer::updateFIFO(sensor_accel_fifo_s &sample) -{ - // publish fifo - sample.device_id = _device_id; - sample.scale = _scale; - sample.rotation = _rotation; - - sample.timestamp = hrt_absolute_time(); - _sensor_fifo_pub.publish(sample); - - { - // trapezoidal integration (equally spaced, scaled by dt later) - const uint8_t N = sample.samples; - const Vector3f integral{ - (0.5f * (_last_sample[0] + sample.x[N - 1]) + sum(sample.x, N - 1)), - (0.5f * (_last_sample[1] + sample.y[N - 1]) + sum(sample.y, N - 1)), - (0.5f * (_last_sample[2] + sample.z[N - 1]) + sum(sample.z, N - 1)), - }; - - _last_sample[0] = sample.x[N - 1]; - _last_sample[1] = sample.y[N - 1]; - _last_sample[2] = sample.z[N - 1]; - - // clipping - uint8_t clip_count[3] { - clipping(sample.x, _clip_limit, N), - clipping(sample.y, _clip_limit, N), - clipping(sample.z, _clip_limit, N), - }; - - const float x = integral(0) / (float)N; - const float y = integral(1) / (float)N; - const float z = integral(2) / (float)N; - - // publish - Publish(sample.timestamp_sample, x, y, z, clip_count); - } -} - -void PX4Accelerometer::Publish(const hrt_abstime ×tamp_sample, float x, float y, float z, uint8_t clip_count[3]) { // Apply rotation (before scaling) rotate_3f(_rotation, x, y, z); - float clipping_x = clip_count[0]; - float clipping_y = clip_count[1]; - float clipping_z = clip_count[2]; - rotate_3f(_rotation, clipping_x, clipping_y, clipping_z); - + // publish sensor_accel_s report; report.timestamp_sample = timestamp_sample; @@ -163,9 +108,57 @@ void PX4Accelerometer::Publish(const hrt_abstime ×tamp_sample, float x, flo report.x = x * _scale; report.y = y * _scale; report.z = z * _scale; - report.clip_counter[0] = fabsf(roundf(clipping_x)); - report.clip_counter[1] = fabsf(roundf(clipping_y)); - report.clip_counter[2] = fabsf(roundf(clipping_z)); + report.clip_counter[0] = (fabsf(x) >= _clip_limit); + report.clip_counter[1] = (fabsf(y) >= _clip_limit); + report.clip_counter[2] = (fabsf(z) >= _clip_limit); + report.samples = 1; + report.timestamp = hrt_absolute_time(); + + _sensor_pub.publish(report); +} + +void PX4Accelerometer::updateFIFO(sensor_accel_fifo_s &sample) +{ + // rotate all raw samples and publish fifo + const uint8_t N = sample.samples; + + for (int n = 0; n < N; n++) { + rotate_3i(_rotation, sample.x[n], sample.y[n], sample.z[n]); + } + + sample.device_id = _device_id; + sample.scale = _scale; + sample.timestamp = hrt_absolute_time(); + _sensor_fifo_pub.publish(sample); + + + // trapezoidal integration (equally spaced, scaled by dt later) + const Vector3f integral{ + (0.5f * (_last_sample[0] + sample.x[N - 1]) + sum(sample.x, N - 1)), + (0.5f * (_last_sample[1] + sample.y[N - 1]) + sum(sample.y, N - 1)), + (0.5f * (_last_sample[2] + sample.z[N - 1]) + sum(sample.z, N - 1)), + }; + + _last_sample[0] = sample.x[N - 1]; + _last_sample[1] = sample.y[N - 1]; + _last_sample[2] = sample.z[N - 1]; + + + const float scale = _scale / (float)N; + + // publish + sensor_accel_s report; + report.timestamp_sample = sample.timestamp_sample; + report.device_id = _device_id; + report.temperature = _temperature; + report.error_count = _error_count; + report.x = integral(0) * scale; + report.y = integral(1) * scale; + report.z = integral(2) * scale; + report.clip_counter[0] = clipping(sample.x, _clip_limit, N); + report.clip_counter[1] = clipping(sample.y, _clip_limit, N); + report.clip_counter[2] = clipping(sample.z, _clip_limit, N); + report.samples = N; report.timestamp = hrt_absolute_time(); _sensor_pub.publish(report); @@ -174,5 +167,5 @@ void PX4Accelerometer::Publish(const hrt_abstime ×tamp_sample, float x, flo void PX4Accelerometer::UpdateClipLimit() { // 99.9% of potential max - _clip_limit = fmaxf((_range / _scale) * 0.999f, INT16_MAX); + _clip_limit = math::constrain((_range / _scale) * 0.999f, 0.f, (float)INT16_MAX); } diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp index 9fd673ae83..50fdbfa2f7 100644 --- a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp +++ b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2018-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -62,8 +62,9 @@ public: void updateFIFO(sensor_accel_fifo_s &sample); + int get_instance() { return _sensor_pub.get_instance(); }; + private: - void Publish(const hrt_abstime ×tamp_sample, float x, float y, float z, uint8_t clip_count[3]); void UpdateClipLimit(); uORB::PublicationMulti _sensor_pub{ORB_ID(sensor_accel)}; diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp index f70f41c758..a5002e70ca 100644 --- a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp +++ b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2018-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,7 +40,7 @@ using namespace time_literals; using matrix::Vector3f; -static constexpr int32_t sum(const int16_t samples[16], uint8_t len) +static constexpr int32_t sum(const int16_t samples[], uint8_t len) { int32_t sum = 0; @@ -81,44 +81,6 @@ void PX4Gyroscope::set_device_type(uint8_t devtype) } void PX4Gyroscope::update(const hrt_abstime ×tamp_sample, float x, float y, float z) -{ - // publish - Publish(timestamp_sample, x, y, z); -} - -void PX4Gyroscope::updateFIFO(sensor_gyro_fifo_s &sample) -{ - // publish fifo - sample.device_id = _device_id; - sample.scale = _scale; - sample.rotation = _rotation; - - sample.timestamp = hrt_absolute_time(); - _sensor_fifo_pub.publish(sample); - - { - // trapezoidal integration (equally spaced, scaled by dt later) - const uint8_t N = sample.samples; - const Vector3f integral{ - (0.5f * (_last_sample[0] + sample.x[N - 1]) + sum(sample.x, N - 1)), - (0.5f * (_last_sample[1] + sample.y[N - 1]) + sum(sample.y, N - 1)), - (0.5f * (_last_sample[2] + sample.z[N - 1]) + sum(sample.z, N - 1)), - }; - - _last_sample[0] = sample.x[N - 1]; - _last_sample[1] = sample.y[N - 1]; - _last_sample[2] = sample.z[N - 1]; - - const float x = integral(0) / (float)N; - const float y = integral(1) / (float)N; - const float z = integral(2) / (float)N; - - // publish - Publish(sample.timestamp_sample, x, y, z); - } -} - -void PX4Gyroscope::Publish(const hrt_abstime ×tamp_sample, float x, float y, float z) { // Apply rotation (before scaling) rotate_3f(_rotation, x, y, z); @@ -132,6 +94,51 @@ void PX4Gyroscope::Publish(const hrt_abstime ×tamp_sample, float x, float y report.x = x * _scale; report.y = y * _scale; report.z = z * _scale; + report.samples = 1; + report.timestamp = hrt_absolute_time(); + + _sensor_pub.publish(report); +} + +void PX4Gyroscope::updateFIFO(sensor_gyro_fifo_s &sample) +{ + // rotate all raw samples and publish fifo + const uint8_t N = sample.samples; + + for (int n = 0; n < N; n++) { + rotate_3i(_rotation, sample.x[n], sample.y[n], sample.z[n]); + } + + sample.device_id = _device_id; + sample.scale = _scale; + sample.timestamp = hrt_absolute_time(); + _sensor_fifo_pub.publish(sample); + + + // trapezoidal integration (equally spaced, scaled by dt later) + const Vector3f integral{ + (0.5f * (_last_sample[0] + sample.x[N - 1]) + sum(sample.x, N - 1)), + (0.5f * (_last_sample[1] + sample.y[N - 1]) + sum(sample.y, N - 1)), + (0.5f * (_last_sample[2] + sample.z[N - 1]) + sum(sample.z, N - 1)), + }; + + _last_sample[0] = sample.x[N - 1]; + _last_sample[1] = sample.y[N - 1]; + _last_sample[2] = sample.z[N - 1]; + + + const float scale = _scale / N; + + sensor_gyro_s report; + + report.timestamp_sample = sample.timestamp_sample; + report.device_id = _device_id; + report.temperature = _temperature; + report.error_count = _error_count; + report.x = integral(0) * scale; + report.y = integral(1) * scale; + report.z = integral(2) * scale; + report.samples = N; report.timestamp = hrt_absolute_time(); _sensor_pub.publish(report); diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp index 6c2bcaeb13..5e09001379 100644 --- a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp +++ b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp @@ -1,6 +1,7 @@ + /**************************************************************************** * - * Copyright (c) 2018-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -61,9 +62,9 @@ public: void updateFIFO(sensor_gyro_fifo_s &sample); -private: - void Publish(const hrt_abstime ×tamp_sample, float x, float y, float z); + int get_instance() { return _sensor_pub.get_instance(); }; +private: uORB::PublicationMulti _sensor_pub{ORB_ID(sensor_gyro)}; uORB::PublicationMulti _sensor_fifo_pub{ORB_ID(sensor_gyro_fifo)}; diff --git a/src/lib/ecl b/src/lib/ecl index 81937370ac..5d34d7a24e 160000 --- a/src/lib/ecl +++ b/src/lib/ecl @@ -1 +1 @@ -Subproject commit 81937370ac5234a4c318d838acee4d9bb4bfa697 +Subproject commit 5d34d7a24ef72b826c320a3259ee0ec68b1936df diff --git a/src/lib/mathlib/CMakeLists.txt b/src/lib/mathlib/CMakeLists.txt index 629a6a5cca..27f3783d24 100644 --- a/src/lib/mathlib/CMakeLists.txt +++ b/src/lib/mathlib/CMakeLists.txt @@ -37,6 +37,7 @@ px4_add_library(mathlib math/filter/LowPassFilter2pVector3f.cpp ) +px4_add_unit_gtest(SRC math/filter/LowPassFilter2pVector3fTest.cpp LINKLIBS mathlib) px4_add_unit_gtest(SRC math/filter/MedianFilterTest.cpp) px4_add_unit_gtest(SRC math/filter/NotchFilterTest.cpp) px4_add_unit_gtest(SRC math/FunctionsTest.cpp) diff --git a/src/lib/mathlib/math/Functions.hpp b/src/lib/mathlib/math/Functions.hpp index 79c7dd56ce..346555687b 100644 --- a/src/lib/mathlib/math/Functions.hpp +++ b/src/lib/mathlib/math/Functions.hpp @@ -198,4 +198,29 @@ const T sqrt_linear(const T &value) } } +/* + * Linear interpolation between 2 points a, and b. + * s=0 return a + * s=1 returns b + * Any value for s is valid. + */ +template +const T lerp(const T &a, const T &b, const T &s) +{ + return (static_cast(1) - s) * a + s * b; +} + +template +constexpr T negate(T value) +{ + static_assert(sizeof(T) > 2, "implement for T"); + return -value; +} + +template<> +constexpr int16_t negate(int16_t value) +{ + return (value == INT16_MIN) ? INT16_MAX : -value; +} + } /* namespace math */ diff --git a/src/lib/mathlib/math/FunctionsTest.cpp b/src/lib/mathlib/math/FunctionsTest.cpp index 8f3d70c880..dba2ef81d2 100644 --- a/src/lib/mathlib/math/FunctionsTest.cpp +++ b/src/lib/mathlib/math/FunctionsTest.cpp @@ -194,3 +194,15 @@ TEST(FunctionsTest, sqrt_linear) EXPECT_FLOAT_EQ(sqrt_linear(2.f), 2.f); EXPECT_FLOAT_EQ(sqrt_linear(120.f), 120.f); } + +TEST(FunctionsTest, lerp) +{ + EXPECT_FLOAT_EQ(lerp(0.f, 1.f, -.123f), -.123f); + EXPECT_FLOAT_EQ(lerp(0.f, 1.f, 0.f), 0.f); + EXPECT_FLOAT_EQ(lerp(0.f, 1.f, .123f), .123f); + EXPECT_FLOAT_EQ(lerp(0.f, 1.f, 1.f), 1.f); + EXPECT_FLOAT_EQ(lerp(0.f, 1.f, 1.123f), 1.123f); + + EXPECT_FLOAT_EQ(lerp(.2f, .3f, -.1f), .19f); + EXPECT_FLOAT_EQ(lerp(-.4f, .3f, 1.1f), .37f); +} diff --git a/src/lib/mathlib/math/WelfordMean.hpp b/src/lib/mathlib/math/WelfordMean.hpp new file mode 100644 index 0000000000..75bb59bce9 --- /dev/null +++ b/src/lib/mathlib/math/WelfordMean.hpp @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file WelfordMean.hpp + * + * Welford's online algorithm for computing mean and variance. + */ + +#pragma once + +namespace math +{ + +template +class WelfordMean +{ +public: + // For a new value, compute the new count, new mean, the new M2. + void update(const T &new_value) + { + if (_count == 0) { + _mean = new_value; + } + + _count++; + + // mean accumulates the mean of the entire dataset + const T delta{new_value - _mean}; + _mean += delta / _count; + + // M2 aggregates the squared distance from the mean + // count aggregates the number of samples seen so far + _M2 += delta.emult(new_value - _mean); + } + + bool valid() const { return _count > 2; } + unsigned count() const { return _count; } + + void reset() + { + _count = 0; + _mean = {}; + _M2 = {}; + } + + // Retrieve the mean, variance and sample variance + T mean() const { return _mean; } + T variance() const { return _M2 / _count; } + T sample_variance() const { return _M2 / (_count - 1); } +private: + T _mean{}; + T _M2{}; + unsigned _count{0}; +}; + +} // namespace math diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp index 55e8cdc513..4a30440451 100644 --- a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp +++ b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp @@ -33,8 +33,6 @@ #include "LowPassFilter2p.hpp" -#include - #include namespace math @@ -72,25 +70,6 @@ void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq) _a2 = (1.0f - 2.0f * cosf(M_PI_F / 4.0f) * ohm + ohm * ohm) / c; } -float LowPassFilter2p::apply(float sample) -{ - // do the filtering - float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2; - - if (!PX4_ISFINITE(delay_element_0)) { - // don't allow bad values to propagate via the filter - delay_element_0 = sample; - } - - const float output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2; - - _delay_element_2 = _delay_element_1; - _delay_element_1 = delay_element_0; - - // return the value. Should be no need to check limits - return output; -} - float LowPassFilter2p::reset(float sample) { const float dval = sample / (_b0 + _b1 + _b2); diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp index 7d6c77caae..74d0f9a513 100644 --- a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp +++ b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp @@ -38,6 +38,8 @@ #pragma once +#include + namespace math { class __EXPORT LowPassFilter2p @@ -58,7 +60,23 @@ public: * * @return retrieve the filtered result */ - float apply(float sample); + inline float apply(float sample) + { + // Direct Form II implementation + float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2; + + if (!PX4_ISFINITE(delay_element_0)) { + // don't allow bad values to propagate via the filter + delay_element_0 = sample; + } + + const float output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2; + + _delay_element_2 = _delay_element_1; + _delay_element_1 = delay_element_0; + + return output; + } // Return the cutoff frequency float get_cutoff_freq() const { return _cutoff_freq; } diff --git a/src/lib/mathlib/math/filter/LowPassFilter2pArray.hpp b/src/lib/mathlib/math/filter/LowPassFilter2pArray.hpp index 023a4abe90..28846fcd0a 100644 --- a/src/lib/mathlib/math/filter/LowPassFilter2pArray.hpp +++ b/src/lib/mathlib/math/filter/LowPassFilter2pArray.hpp @@ -51,35 +51,23 @@ public: { } - /** - * Add a new raw value to the filter - * - * @return retrieve the filtered result - */ - inline float apply(const int16_t samples[], uint8_t num_samples) + // Filter array of samples in place using the Direct form II. + inline void apply(float samples[], uint8_t num_samples) { - float output = 0.0f; - for (int n = 0; n < num_samples; n++) { - // do the filtering - float delay_element_0 = samples[n] - _delay_element_1 * _a1 - _delay_element_2 * _a2; + // Direct Form II implementation + float delay_element_0{samples[n] - _delay_element_1 *_a1 - _delay_element_2 * _a2}; - if (n == num_samples - 1) { - output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2; + // don't allow bad values to propagate via the filter + if (!PX4_ISFINITE(delay_element_0)) { + delay_element_0 = samples[n]; } + samples[n] = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2; + _delay_element_2 = _delay_element_1; _delay_element_1 = delay_element_0; } - - // don't allow bad values to propagate via the filter - if (!PX4_ISFINITE(output)) { - reset(samples[num_samples - 1]); - output = samples[num_samples - 1]; - } - - // return the value. Should be no need to check limits - return output; } }; diff --git a/src/lib/mathlib/math/filter/LowPassFilter2pVector3fTest.cpp b/src/lib/mathlib/math/filter/LowPassFilter2pVector3fTest.cpp new file mode 100644 index 0000000000..0f772b6283 --- /dev/null +++ b/src/lib/mathlib/math/filter/LowPassFilter2pVector3fTest.cpp @@ -0,0 +1,113 @@ +/**************************************************************************** + * + * Copyright (C) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Test code for the 2nd order Butterworth low-pass filter + * Run this test only using make tests TESTFILTER=LowPassFilter2pVector3f + */ + +#include +#include +#include + +#include "LowPassFilter2pVector3f.hpp" + +using matrix::Vector3f; + +class LowPassFilter2pVector3fTest : public ::testing::Test +{ +public: + void runSimulatedFilter(const Vector3f &signal_freq_hz, const Vector3f &phase_delay_deg, const Vector3f &gain_db); + + math::LowPassFilter2pVector3f _lpf{800.f, 30.f}; + + const float _epsilon_near = 0.08f; +}; + +void LowPassFilter2pVector3fTest::runSimulatedFilter(const Vector3f &signal_freq_hz, const Vector3f &phase_delay_deg, + const Vector3f &gain_db) +{ + const Vector3f phase_delay = phase_delay_deg * M_PI_F / 180.f; + const Vector3f omega = 2.f * M_PI_F * signal_freq_hz; + Vector3f gain; + + for (int i = 0; i < 3; i++) { + gain(i) = powf(10.f, gain_db(i) / 20.f); + } + + const float dt = 1.f / _lpf.get_sample_freq(); + const int n_steps = roundf(1.f / dt); // run for 1 second + + float t = 0.f; + + for (int i = 0; i < n_steps; i++) { + Vector3f input{0.f, sinf(omega(1) * t), -sinf(omega(2) * t)}; + Vector3f output_expected{0.f, + gain(1) *sinf(omega(1) * t - phase_delay(1)), + -gain(2) *sinf(omega(2) * t - phase_delay(2))}; + Vector3f out = _lpf.apply(input); + t = i * dt; + + // Let some time for the filter to settle + if (t > 0.3f) { + EXPECT_EQ(out(0), 0.f); + EXPECT_NEAR(out(1), output_expected(1), _epsilon_near); + EXPECT_NEAR(out(2), output_expected(2), _epsilon_near); + } + } +} + +TEST_F(LowPassFilter2pVector3fTest, setGet) +{ + const float sample_freq = 1000.f; + const float cutoff_freq = 80.f; + + _lpf.set_cutoff_frequency(sample_freq, cutoff_freq); + EXPECT_EQ(_lpf.get_sample_freq(), sample_freq); + EXPECT_EQ(_lpf.get_cutoff_freq(), cutoff_freq); +} + +TEST_F(LowPassFilter2pVector3fTest, simulate80HzCutoff) +{ + const float sample_freqs[4] = {400.f, 1000.f, 8000.f, 16000.f}; + const float cutoff_freq = 80.f; + + const Vector3f signal_freq_hz{0.f, 10.f, 100.f}; + const Vector3f phase_delay_deg = Vector3f{0.f, 10.4f, 108.5f}; // Given by simulation + const Vector3f gain_db{0.f, 0.f, -5.66f}; // given by simulation + + for (float sample_freq : sample_freqs) { + _lpf.set_cutoff_frequency(sample_freq, cutoff_freq); + runSimulatedFilter(signal_freq_hz, phase_delay_deg, gain_db); + } +} diff --git a/src/lib/mathlib/math/filter/NotchFilterArray.hpp b/src/lib/mathlib/math/filter/NotchFilterArray.hpp index ffe86c0d05..eff13b868c 100644 --- a/src/lib/mathlib/math/filter/NotchFilterArray.hpp +++ b/src/lib/mathlib/math/filter/NotchFilterArray.hpp @@ -64,11 +64,7 @@ public: NotchFilterArray() = default; ~NotchFilterArray() = default; - /** - * Add new raw values to the filter using the Direct form II. - * - * @return retrieve the filtered result - */ + // Filter array of samples in place using the Direct form II. inline void apply(T samples[], uint8_t num_samples) { for (int n = 0; n < num_samples; n++) { @@ -96,8 +92,8 @@ public: { for (int n = 0; n < num_samples; n++) { // Direct Form II implementation - const T output = _b0 * samples[n] + _b1 * _delay_element_1 + _b2 * _delay_element_2 - _a1 * _delay_element_output_1 - - _a2 * _delay_element_output_2; + T output = _b0 * samples[n] + _b1 * _delay_element_1 + _b2 * _delay_element_2 - _a1 * _delay_element_output_1 - + _a2 * _delay_element_output_2; // don't allow bad values to propagate via the filter if (!isFinite(output)) { diff --git a/src/lib/mixer_module/mixer_module.hpp b/src/lib/mixer_module/mixer_module.hpp index 834e9f4b16..7cddbc79ee 100644 --- a/src/lib/mixer_module/mixer_module.hpp +++ b/src/lib/mixer_module/mixer_module.hpp @@ -178,6 +178,8 @@ public: void setIgnoreLockdown(bool ignore_lockdown) { _ignore_lockdown = ignore_lockdown; } + void setMaxNumOutputs(uint8_t max_num_outputs) { _max_num_outputs = max_num_outputs; } + protected: void updateParams() override; @@ -261,7 +263,7 @@ private: bool _wq_switched{false}; uint8_t _driver_instance{0}; ///< for boards that supports multiple outputs (e.g. PX4IO + FMU) - const uint8_t _max_num_outputs; + uint8_t _max_num_outputs; struct MotorTest { uORB::Subscription test_motor_sub{ORB_ID(test_motor)}; diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt index 4978af39d1..31945283fe 100644 --- a/src/lib/parameters/CMakeLists.txt +++ b/src/lib/parameters/CMakeLists.txt @@ -75,6 +75,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja) if (px4_constrained_flash_build) set(added_arguments --constrained-flash) endif() +if(PX4_ETHERNET) + set(added_arguments ${added_arguments} --ethernet) +endif() add_custom_command(OUTPUT ${generated_serial_params_file} COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir} COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py @@ -89,8 +92,8 @@ add_custom_command(OUTPUT ${generated_serial_params_file} ) set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml) -set(parameters_json ${PX4_BINARY_DIR}/params.json) # file name needs to be kept short to fit into url (metadata_uri) -file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c) +set(parameters_json ${PX4_BINARY_DIR}/parameters.json) +file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c ${PX4_SOURCE_DIR}/src/*parameters.c) add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py --src-path ${module_list} ${generated_params_dir} diff --git a/src/lib/parameters/flashparams/flashparams.cpp b/src/lib/parameters/flashparams/flashparams.cpp index 3df2f71a3b..f5345a3363 100644 --- a/src/lib/parameters/flashparams/flashparams.cpp +++ b/src/lib/parameters/flashparams/flashparams.cpp @@ -207,7 +207,7 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node) { float f; int32_t i; - void *v, *tmp = nullptr; + void *v = nullptr; int result = -1; struct param_import_state *state = (struct param_import_state *)priv; @@ -260,60 +260,20 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node) v = &f; break; - case BSON_BINDATA: - if (node->subtype != BSON_BIN_BINARY) { - PX4_WARN("unexpected type for %s", node->name); - result = 1; // just skip this entry - goto out; - } - - if (bson_decoder_data_pending(decoder) != param_size(param)) { - PX4_WARN("bad size for '%s'", node->name); - result = 1; // just skip this entry - goto out; - } - - /* XXX check actual file data size? */ - tmp = malloc(param_size(param)); - - if (tmp == nullptr) { - debug("failed allocating for '%s'", node->name); - goto out; - } - - if (bson_decoder_copy_data(decoder, tmp)) { - debug("failed copying data for '%s'", node->name); - goto out; - } - - v = tmp; - break; - default: debug("unrecognised node type"); goto out; } if (param_set_external(param, v, state->mark_saved, true)) { - debug("error setting value for '%s'", node->name); goto out; } - if (tmp != nullptr) { - free(tmp); - tmp = nullptr; - } - /* don't return zero, that means EOF */ result = 1; out: - - if (tmp != nullptr) { - free(tmp); - } - return result; } diff --git a/src/lib/parameters/param.h b/src/lib/parameters/param.h index 177cf17b2d..f5ef83dbf5 100644 --- a/src/lib/parameters/param.h +++ b/src/lib/parameters/param.h @@ -215,13 +215,22 @@ __EXPORT size_t param_size(param_t param); __EXPORT int param_get(param_t param, void *val); /** - * Copy the default value of a parameter. + * Copy the (airframe-specific) default value of a parameter. * * @param param A handle returned by param_find or passed by param_foreach. - * @param val Where to return the value, assumed to point to suitable storage for the parameter type. + * @param default_val Where to return the value, assumed to point to suitable storage for the parameter type. * @return Zero if the parameter's deafult value could be returned, nonzero otherwise. */ -__EXPORT int param_get_default_value(param_t param, void *val); +__EXPORT int param_get_default_value(param_t param, void *default_val); + +/** + * Copy the system-wide default value of a parameter. + * + * @param param A handle returned by param_find or passed by param_foreach. + * @param default_val Where to return the value, assumed to point to suitable storage for the parameter type. + * @return Zero if the parameter's deafult value could be returned, nonzero otherwise. + */ +__EXPORT int param_get_system_default_value(param_t param, void *default_val); /** * Set the value of a parameter. diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp index b016b759cc..a7745e45ea 100644 --- a/src/lib/parameters/parameters.cpp +++ b/src/lib/parameters/parameters.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2018 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file param.c + * @file parameters.cpp * * Global parameter store. * @@ -419,11 +419,6 @@ bool param_is_volatile(param_t param) return false; } -bool param_value_is_default(param_t param) -{ - return handle_in_range(param) && !params_changed[param]; -} - bool param_value_unsaved(param_t param) { @@ -573,6 +568,83 @@ param_get_default_value(param_t param, void *default_val) return ret; } +bool param_value_is_default(param_t param) +{ + // the param_values dynamic array might carry things that have been set + // back to default, so we don't rely on the params_changed bitset here + if (handle_in_range(param)) { + switch (param_type(param)) { + case PARAM_TYPE_INT32: { + param_lock_reader(); + int32_t default_value = 0; + + if (param_get_default_value_internal(param, &default_value) == PX4_OK) { + const void *v = param_get_value_ptr(param); + + if (v) { + int32_t current_value; + memcpy(¤t_value, v, param_size(param)); + param_unlock_reader(); + return (current_value == default_value); + } + } + + param_unlock_reader(); + } + break; + + case PARAM_TYPE_FLOAT: { + param_lock_reader(); + float default_value = 0; + + if (param_get_default_value_internal(param, &default_value) == PX4_OK) { + const void *v = param_get_value_ptr(param); + + if (v) { + float current_value; + memcpy(¤t_value, v, param_size(param)); + param_unlock_reader(); + return (fabsf(current_value - default_value) <= FLT_EPSILON); + } + } + + param_unlock_reader(); + } + break; + } + } + + return false; +} + +int +param_get_system_default_value(param_t param, void *default_val) +{ + if (!handle_in_range(param)) { + return PX4_ERROR; + } + + int ret = PX4_OK; + param_lock_reader(); + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + memcpy(default_val, &px4::parameters[param].val.i, param_size(param)); + break; + + case PARAM_TYPE_FLOAT: + memcpy(default_val, &px4::parameters[param].val.f, param_size(param)); + break; + + default: + ret = PX4_ERROR; + break; + } + + param_unlock_reader(); + return ret; +} + /** * worker callback method to save the parameters * @param arg unused @@ -689,84 +761,45 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_ goto out; } else { - // check if param being set to default value - bool set_to_default = false; - - switch (param_type(param)) { - case PARAM_TYPE_INT32: { - int32_t default_val = 0; - - if (param_get_default_value_internal(param, &default_val) == PX4_OK) { - set_to_default = (default_val == *(int32_t *)val); - } - } - break; - - case PARAM_TYPE_FLOAT: { - float default_val = 0; - - if (param_get_default_value_internal(param, &default_val) == PX4_OK) { - set_to_default = (fabsf(default_val - * (float *)val) < FLT_EPSILON); - } - } - break; - } - param_wbuf_s *s = param_find_changed(param); - if (set_to_default) { - if (s != nullptr) { - // param is being set non-default -> default, simply clear storage - int pos = utarray_eltidx(param_values, s); - utarray_erase(param_values, pos, 1); - param_changed = true; + if (s == nullptr) { + /* construct a new parameter */ + param_wbuf_s buf{}; + buf.param = param; - } else { - // do nothing if param not already set and being set to default - } + param_changed = true; - params_changed.set(param, false); - result = PX4_OK; + /* add it to the array and sort */ + utarray_push_back(param_values, &buf); + utarray_sort(param_values, param_compare_values); + params_changed.set(param, true); - } else { - if (s == nullptr) { - /* construct a new parameter */ - param_wbuf_s buf{}; - buf.param = param; + /* find it after sorting */ + s = param_find_changed(param); + } - param_changed = true; - - /* add it to the array and sort */ - utarray_push_back(param_values, &buf); - utarray_sort(param_values, param_compare_values); + if (s != nullptr) { + /* update the changed value */ + switch (param_type(param)) { + case PARAM_TYPE_INT32: + param_changed = param_changed || s->val.i != *(int32_t *)val; + s->val.i = *(int32_t *)val; + s->unsaved = !mark_saved; params_changed.set(param, true); + result = PX4_OK; + break; - /* find it after sorting */ - s = param_find_changed(param); - } + case PARAM_TYPE_FLOAT: + param_changed = param_changed || fabsf(s->val.f - * (float *)val) > FLT_EPSILON; + s->val.f = *(float *)val; + s->unsaved = !mark_saved; + params_changed.set(param, true); + result = PX4_OK; + break; - if (s != nullptr) { - /* update the changed value */ - switch (param_type(param)) { - case PARAM_TYPE_INT32: - param_changed = param_changed || s->val.i != *(int32_t *)val; - s->val.i = *(int32_t *)val; - s->unsaved = !mark_saved; - params_changed.set(param, true); - result = PX4_OK; - break; - - case PARAM_TYPE_FLOAT: - param_changed = param_changed || fabsf(s->val.f - * (float *)val) > FLT_EPSILON; - s->val.f = *(float *)val; - s->unsaved = !mark_saved; - params_changed.set(param, true); - result = PX4_OK; - break; - - default: - break; - } + default: + break; } } @@ -937,7 +970,6 @@ int param_set_default_value(param_t param, const void *val) return result; } - static int param_reset_internal(param_t param, bool notify = true) { param_wbuf_s *s = nullptr; @@ -946,7 +978,6 @@ static int param_reset_internal(param_t param, bool notify = true) param_lock_writer(); if (handle_in_range(param)) { - /* look for a saved value */ s = param_find_changed(param); @@ -1218,8 +1249,28 @@ param_export(int fd, bool only_unsaved, param_filter_func filter) } // don't export default values - if (param_value_is_default(s->param)) { - continue; + switch (param_type(s->param)) { + case PARAM_TYPE_INT32: { + int32_t default_value = 0; + param_get_default_value_internal(s->param, &default_value); + + if (s->val.i == default_value) { + PX4_DEBUG("skipping %s %d export", param_name(s->param), default_value); + continue; + } + } + break; + + case PARAM_TYPE_FLOAT: { + float default_value = 0; + param_get_default_value_internal(s->param, &default_value); + + if (fabsf(s->val.f - default_value) <= FLT_EPSILON) { + PX4_DEBUG("skipping %s %.3f export", param_name(s->param), (double)default_value); + continue; + } + } + break; } s->unsaved = false; @@ -1290,7 +1341,6 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node) { float f = 0.0f; int32_t i = 0; - void *tmp = nullptr; void *v = nullptr; int result = -1; param_import_state *state = (param_import_state *)priv; @@ -1350,43 +1400,6 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node) } break; - case BSON_BINDATA: { - if (node->subtype != BSON_BIN_BINARY) { - PX4_WARN("unexpected subtype for %s", node->name); - result = 1; // just skip this entry - goto out; - } - - if (bson_decoder_data_pending(decoder) != param_size(param)) { - PX4_WARN("bad size for '%s'", node->name); - result = 1; // just skip this entry - goto out; - } - - /* XXX check actual file data size? */ - size_t psize = param_size(param); - - if (psize > 0) { - tmp = malloc(psize); - - } else { - tmp = nullptr; - } - - if (tmp == nullptr) { - PX4_ERR("failed allocating for '%s'", node->name); - goto out; - } - - if (bson_decoder_copy_data(decoder, tmp)) { - PX4_ERR("failed copying data for '%s'", node->name); - goto out; - } - - v = tmp; - } - break; - default: PX4_DEBUG("unrecognised node type"); goto out; @@ -1397,20 +1410,10 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node) goto out; } - if (tmp != nullptr) { - free(tmp); - tmp = nullptr; - } - /* don't return zero, that means EOF */ result = 1; out: - - if (tmp != nullptr) { - free(tmp); - } - return result; } diff --git a/src/lib/parameters/parameters_shmem.cpp b/src/lib/parameters/parameters_shmem.cpp index c7985e2c8f..415bfd3191 100644 --- a/src/lib/parameters/parameters_shmem.cpp +++ b/src/lib/parameters/parameters_shmem.cpp @@ -1205,7 +1205,6 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node) { float f = 0.0f; int32_t i = 0; - void *tmp = nullptr; void *v = nullptr; int result = -1; param_import_state *state = (param_import_state *)priv; @@ -1263,43 +1262,6 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node) } break; - case BSON_BINDATA: { - if (node->subtype != BSON_BIN_BINARY) { - PX4_WARN("unexpected subtype for %s", node->name); - result = 1; // just skip this entry - goto out; - } - - if (bson_decoder_data_pending(decoder) != param_size(param)) { - PX4_WARN("bad size for '%s'", node->name); - result = 1; // just skip this entry - goto out; - } - - /* XXX check actual file data size? */ - size_t psize = param_size(param); - - if (psize > 0) { - tmp = malloc(psize); - - } else { - tmp = nullptr; - } - - if (tmp == nullptr) { - PX4_ERR("failed allocating for '%s'", node->name); - goto out; - } - - if (bson_decoder_copy_data(decoder, tmp)) { - PX4_ERR("failed copying data for '%s'", node->name); - goto out; - } - - v = tmp; - } - break; - default: PX4_DEBUG("unrecognised node type"); goto out; @@ -1310,20 +1272,10 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node) goto out; } - if (tmp != nullptr) { - free(tmp); - tmp = nullptr; - } - /* don't return zero, that means EOF */ result = 1; out: - - if (tmp != nullptr) { - free(tmp); - } - return result; } diff --git a/src/lib/parameters/px4params/jsonout.py b/src/lib/parameters/px4params/jsonout.py index 801824f46d..e8cb6c899a 100644 --- a/src/lib/parameters/px4params/jsonout.py +++ b/src/lib/parameters/px4params/jsonout.py @@ -8,7 +8,6 @@ class JsonOutput(): def __init__(self, groups, board, inject_xml_file_name): all_json=dict() all_json['version']=1 - all_json['scope']="Firmware" all_params=[] all_json['parameters']=all_params @@ -52,6 +51,8 @@ class JsonOutput(): curr_param['group'] = group_name if param.GetCategory(): curr_param['category'] = param.GetCategory() + else: + curr_param['category'] = 'Standard' if param.GetVolatile(): curr_param['volatile'] = True diff --git a/src/lib/parameters/px4params/srcparser.py b/src/lib/parameters/px4params/srcparser.py index 79261edab0..7fadf9f7c3 100644 --- a/src/lib/parameters/px4params/srcparser.py +++ b/src/lib/parameters/px4params/srcparser.py @@ -305,6 +305,10 @@ class SourceParser(object): group = "Miscellaneous" if state == "comment-processed": if short_desc is not None: + if '\n' in short_desc: + raise Exception('short description must be a single line (parameter: {:})'.format(name)) + if len(short_desc) > 150: + raise Exception('short description too long (150 max, is {:}, parameter: {:})'.format(len(short_desc), name)) param.SetField("short_desc", self.re_remove_dots.sub('', short_desc)) if long_desc is not None: long_desc = self.re_remove_carriage_return.sub(' ', long_desc) diff --git a/src/lib/rc/common_rc.h b/src/lib/rc/common_rc.h index 54b7f0046e..4a94615045 100644 --- a/src/lib/rc/common_rc.h +++ b/src/lib/rc/common_rc.h @@ -4,8 +4,8 @@ #include #include "crsf.h" -#include "ghst.h" #include "dsm.h" +#include "ghst.hpp" #include "sbus.h" #include "st24.h" #include "sumd.h" diff --git a/src/lib/rc/ghst.cpp b/src/lib/rc/ghst.cpp index 49a8b50570..386be5e2aa 100644 --- a/src/lib/rc/ghst.cpp +++ b/src/lib/rc/ghst.cpp @@ -60,20 +60,19 @@ // TODO: include RSSI dBm to percentage conversion for ghost receiver #include "spektrum_rssi.h" -#include "ghst.h" +#include "ghst.hpp" #include "common_rc.h" #define MIN(a,b) (((a)<(b))?(a):(b)) -#define MAX(a,b) (((a)>(b))?(a):(b)) -#define GHST_FRAME_PAYLOAD_SIZE_TELEMETRY (10u) -#define GHST_FRAME_CRC_SIZE (1) -#define GHST_FRAME_TYPE_SIZE (1) -#define GHST_TYPE_DATA_CRC_SIZE (12u) +#define GHST_FRAME_PAYLOAD_SIZE_TELEMETRY (10U) +#define GHST_FRAME_CRC_SIZE (1U) +#define GHST_FRAME_TYPE_SIZE (1U) +#define GHST_TYPE_DATA_CRC_SIZE (12U) #define GHST_MAX_NUM_CHANNELS (16) enum class ghst_parser_state_t : uint8_t { - unsynced = 0, + unsynced = 0U, synced }; @@ -81,7 +80,7 @@ enum class ghst_parser_state_t : uint8_t { static int8_t ghst_rssi = -1; static ghst_frame_t &ghst_frame = rc_decode_buf.ghst_frame; -static uint32_t current_frame_position = 0; +static uint32_t current_frame_position = 0U; static ghst_parser_state_t parser_state = ghst_parser_state_t::unsynced; static uint16_t prev_rc_vals[GHST_MAX_NUM_CHANNELS]; @@ -100,7 +99,7 @@ int ghst_config(int uart_fd) tcgetattr(uart_fd, &t); cfsetspeed(&t, GHST_BAUDRATE); t.c_cflag &= ~(CSTOPB | PARENB); - memset(prev_rc_vals, (int)UINT16_MAX, sizeof(uint16_t) * GHST_MAX_NUM_CHANNELS); + memset(prev_rc_vals, static_cast(UINT16_MAX), sizeof(uint16_t) * GHST_MAX_NUM_CHANNELS); ret_val = tcsetattr(uart_fd, TCSANOW, &t); return ret_val; } @@ -121,51 +120,51 @@ bool ghst_parse(const uint64_t now, const uint8_t *frame, unsigned len, uint16_t memcpy(values, prev_rc_vals, sizeof(uint16_t) * GHST_MAX_NUM_CHANNELS); - while (len > 0) { + while (len > 0U) { // fill in the ghst_buffer, as much as we can - const unsigned current_len = MIN(len, sizeof(ghst_frame_t) - current_frame_position); + const uint32_t current_len = MIN(len, sizeof(ghst_frame_t) - current_frame_position); memcpy(ghst_frame_ptr + current_frame_position, frame, current_len); current_frame_position += current_len; // protection to guarantee parsing progress - if (current_len == 0) { - GHST_DEBUG("========== parser bug: no progress (%i) ===========", len); + if (current_len == 0U) { + GHST_DEBUG("========== parser bug: no progress (%u) ===========", len); - for (unsigned i = 0; i < current_frame_position; ++i) { - GHST_DEBUG("ghst_frame_ptr[%i]: 0x%x", i, (int)ghst_frame_ptr[i]); + for (uint32_t i = 0U; i < current_frame_position; ++i) { + GHST_DEBUG("ghst_frame_ptr[%u]: 0x%x", i, ghst_frame_ptr[i]); } // reset the parser - current_frame_position = 0; + current_frame_position = 0U; parser_state = ghst_parser_state_t::unsynced; - return false; - } + success = false; - len -= current_len; - frame += current_len; + } else { + len -= current_len; + frame += current_len; - if (ghst_parse_buffer(values, rssi, num_values, max_channels)) { - success = true; + if (ghst_parse_buffer(values, rssi, num_values, max_channels)) { + success = true; + } } } - return success; } uint8_t ghst_frame_CRC(const ghst_frame_t &frame) { - uint8_t crc = crc8_dvb_s2(0, frame.type); + uint8_t crc = crc8_dvb_s2(0U, frame.type); - for (int i = 0; i < frame.header.length - GHST_FRAME_CRC_SIZE - GHST_FRAME_TYPE_SIZE; ++i) { + for (uint32_t i = 0U; i < frame.header.length - GHST_FRAME_CRC_SIZE - GHST_FRAME_TYPE_SIZE; ++i) { crc = crc8_dvb_s2(crc, frame.payload[i]); } return crc; } -static uint16_t convert_channel_value(unsigned chan_value) +static uint16_t convert_channel_value(unsigned int chan_value) { /* * RC PWM @@ -173,9 +172,13 @@ static uint16_t convert_channel_value(unsigned chan_value) * mid 992 -> 1500us * max 1811 -> 2012us */ - static constexpr float scale = (2012.f - 988.f) / (1811.f - 172.f); - static constexpr float offset = 988.f - 172.f * scale; - return (scale * chan_value) + offset; + static constexpr float scale = (2012.0F - 988.0F) / (1811.0F - 172.0F); + static constexpr float offset = 988.0F - (172.0F * scale); + float scaled_chan_value = scale * static_cast(chan_value); + float scaled_chan_value_with_offset = scaled_chan_value + offset; + uint16_t converted_chan_value = static_cast(scaled_chan_value_with_offset); + + return converted_chan_value; } static bool ghst_parse_buffer(uint16_t *values, int8_t *rssi, uint16_t *num_values, uint16_t max_channels) @@ -184,16 +187,16 @@ static bool ghst_parse_buffer(uint16_t *values, int8_t *rssi, uint16_t *num_valu if (parser_state == ghst_parser_state_t::unsynced) { // there is no sync yet, try to find an RC packet by searching for a matching frame length and type - for (unsigned i = 1; i < current_frame_position - 1; ++i) { - if ((ghst_frame_ptr[i + 1] >= (uint8_t)ghstFrameType::frameTypeFirst) && - (ghst_frame_ptr[i + 1] <= (uint8_t)ghstFrameType::frameTypeLast)) { + for (uint32_t i = 1U; i < current_frame_position - 1U; ++i) { + if ((ghst_frame_ptr[i + 1U] >= static_cast(ghstFrameType::frameTypeFirst)) && + (ghst_frame_ptr[i + 1U] <= static_cast(ghstFrameType::frameTypeLast))) { if (ghst_frame_ptr[i] == GHST_TYPE_DATA_CRC_SIZE) { parser_state = ghst_parser_state_t::synced; - unsigned frame_offset = i - 1; - GHST_VERBOSE("RC channels found at offset %i", frame_offset); + uint32_t frame_offset = i - 1U; + GHST_VERBOSE("RC channels found at offset %u", frame_offset); // move the rest of the buffer to the beginning - if (frame_offset != 0) { + if (frame_offset != 0U) { memmove(ghst_frame_ptr, ghst_frame_ptr + frame_offset, current_frame_position - frame_offset); current_frame_position -= frame_offset; } @@ -207,7 +210,7 @@ static bool ghst_parse_buffer(uint16_t *values, int8_t *rssi, uint16_t *num_valu if (parser_state != ghst_parser_state_t::synced) { if (current_frame_position >= sizeof(ghst_frame_t)) { // discard most of the data, but keep the last 3 bytes (otherwise we could miss the frame start) - current_frame_position = 3; + current_frame_position = 3U; memcpy(ghst_frame_ptr, ghst_frame_ptr + sizeof(ghst_frame_t) - current_frame_position, current_frame_position); @@ -218,7 +221,7 @@ static bool ghst_parse_buffer(uint16_t *values, int8_t *rssi, uint16_t *num_valu } - if (current_frame_position < 3) { + if (current_frame_position < 3U) { // wait until we have the address, length and type return false; } @@ -227,18 +230,18 @@ static bool ghst_parse_buffer(uint16_t *values, int8_t *rssi, uint16_t *num_valu const unsigned current_frame_length = ghst_frame.header.length + sizeof(ghst_frame_header_t); - if (current_frame_length > sizeof(ghst_frame_t) || current_frame_length < 4) { + if ((current_frame_length > sizeof(ghst_frame_t)) || (current_frame_length < 4U)) { // frame too long or bogus (frame length should be longer than 4, at least 1 address, 1 length, 1 type, 1 data, 1 crc) // discard everything and go into unsynced state - current_frame_position = 0; + current_frame_position = 0U; parser_state = ghst_parser_state_t::unsynced; - GHST_DEBUG("Frame too long/bogus (%i, type=%i) -> unsync", current_frame_length, ghst_frame.type); + GHST_DEBUG("Frame too long/bogus (%u, type=%u) -> unsync", current_frame_length, ghst_frame.type); return false; } if (current_frame_position < current_frame_length) { // we do not have the full frame yet -> wait for more data - GHST_VERBOSE("waiting for more data (%i < %i)", current_frame_position, current_frame_length); + GHST_VERBOSE("waiting for more data (%u < %u)", current_frame_position, current_frame_length); return false; } @@ -246,59 +249,58 @@ static bool ghst_parse_buffer(uint16_t *values, int8_t *rssi, uint16_t *num_valu // now we have the full frame - if ((ghst_frame.type >= (uint8_t)ghstFrameType::frameTypeFirst) && - (ghst_frame.type <= (uint8_t)ghstFrameType::frameTypeLast) && + if ((ghst_frame.type >= static_cast(ghstFrameType::frameTypeFirst)) && + (ghst_frame.type <= static_cast(ghstFrameType::frameTypeLast)) && (ghst_frame.header.length == GHST_TYPE_DATA_CRC_SIZE)) { - const uint8_t crc = ghst_frame.payload[ghst_frame.header.length - 2]; + const uint8_t crc = ghst_frame.payload[ghst_frame.header.length - 2U]; if (crc == ghst_frame_CRC(ghst_frame)) { const ghstPayloadData_t *const rcChannels = (ghstPayloadData_t *)&ghst_frame.payload; *num_values = MIN(max_channels, GHST_MAX_NUM_CHANNELS); // all frames contain data from chan1to4 - if (max_channels > 0) { values[0] = convert_channel_value(rcChannels->chan1to4.chan1 >> 1); } + if (max_channels > 0U) { values[0] = convert_channel_value(rcChannels->chan1to4.chan1 >> 1U); } - if (max_channels > 1) { values[1] = convert_channel_value(rcChannels->chan1to4.chan2 >> 1); } + if (max_channels > 1U) { values[1] = convert_channel_value(rcChannels->chan1to4.chan2 >> 1U); } - if (max_channels > 2) { values[2] = convert_channel_value(rcChannels->chan1to4.chan3 >> 1); } + if (max_channels > 2U) { values[2] = convert_channel_value(rcChannels->chan1to4.chan3 >> 1U); } - if (max_channels > 3) { values[3] = convert_channel_value(rcChannels->chan1to4.chan4 >> 1); } + if (max_channels > 3U) { values[3] = convert_channel_value(rcChannels->chan1to4.chan4 >> 1U); } - if (ghst_frame.type == (uint8_t)ghstFrameType::frameType5to8) { - if (max_channels > 4) { values[4] = convert_channel_value(rcChannels->chanA << 3); } + if (ghst_frame.type == static_cast(ghstFrameType::frameType5to8)) { + if (max_channels > 4U) { values[4] = convert_channel_value(rcChannels->chanA << 3U); } - if (max_channels > 5) { values[5] = convert_channel_value(rcChannels->chanB << 3); } + if (max_channels > 5U) { values[5] = convert_channel_value(rcChannels->chanB << 3U); } - if (max_channels > 6) { values[6] = convert_channel_value(rcChannels->chanC << 3); } + if (max_channels > 6U) { values[6] = convert_channel_value(rcChannels->chanC << 3U); } - if (max_channels > 7) { values[7] = convert_channel_value(rcChannels->chanD << 3); } + if (max_channels > 7U) { values[7] = convert_channel_value(rcChannels->chanD << 3U); } - } else if (ghst_frame.type == (uint8_t)ghstFrameType::frameType9to12) { - if (max_channels > 8) { values[8] = convert_channel_value(rcChannels->chanA << 3); } + } else if (ghst_frame.type == static_cast(ghstFrameType::frameType9to12)) { + if (max_channels > 8U) { values[8] = convert_channel_value(rcChannels->chanA << 3U); } - if (max_channels > 9) { values[9] = convert_channel_value(rcChannels->chanB << 3); } + if (max_channels > 9U) { values[9] = convert_channel_value(rcChannels->chanB << 3U); } - if (max_channels > 10) { values[10] = convert_channel_value(rcChannels->chanC << 3); } + if (max_channels > 10U) { values[10] = convert_channel_value(rcChannels->chanC << 3U); } - if (max_channels > 11) { values[11] = convert_channel_value(rcChannels->chanD << 3); } + if (max_channels > 11U) { values[11] = convert_channel_value(rcChannels->chanD << 3U); } - } else if (ghst_frame.type == (uint8_t)ghstFrameType::frameType13to16) { - if (max_channels > 12) { values[12] = convert_channel_value(rcChannels->chanA << 3); } + } else if (ghst_frame.type == static_cast(ghstFrameType::frameType13to16)) { + if (max_channels > 12U) { values[12] = convert_channel_value(rcChannels->chanA << 3U); } - if (max_channels > 13) { values[13] = convert_channel_value(rcChannels->chanB << 3); } + if (max_channels > 13U) { values[13] = convert_channel_value(rcChannels->chanB << 3U); } - if (max_channels > 14) { values[14] = convert_channel_value(rcChannels->chanC << 3); } + if (max_channels > 14U) { values[14] = convert_channel_value(rcChannels->chanC << 3U); } - if (max_channels > 15) { values[15] = convert_channel_value(rcChannels->chanD << 3); } + if (max_channels > 15U) { values[15] = convert_channel_value(rcChannels->chanD << 3U); } - } else if (ghst_frame.type == (uint8_t)ghstFrameType::frameTypeRssi) { + } else if (ghst_frame.type == static_cast(ghstFrameType::frameTypeRssi)) { const ghstPayloadRssi_t *const rssiValues = (ghstPayloadRssi_t *)&ghst_frame.payload; // TODO: call function for RSSI dBm to percentage conversion for ghost receiver - ghst_rssi = spek_dbm_to_percent(rssiValues->rssidBm); - } + ghst_rssi = spek_dbm_to_percent(static_cast(rssiValues->rssidBm)); - else { - GHST_DEBUG("Frame type: %i", ghst_frame.type); + } else { + GHST_DEBUG("Frame type: %u", ghst_frame.type); } *rssi = ghst_rssi; @@ -314,17 +316,17 @@ static bool ghst_parse_buffer(uint16_t *values, int8_t *rssi, uint16_t *num_valu } } else { - GHST_DEBUG("Got Non-RC frame (len=%i, type=%i)", current_frame_length, ghst_frame.type); + GHST_DEBUG("Got Non-RC frame (len=%u, type=%u)", current_frame_length, ghst_frame.type); } // either reset or move the rest of the buffer if (current_frame_position > current_frame_length) { - GHST_VERBOSE("Moving buffer (%i > %i)", current_frame_position, current_frame_length); + GHST_VERBOSE("Moving buffer (%u > %u)", current_frame_position, current_frame_length); memmove(ghst_frame_ptr, ghst_frame_ptr + current_frame_length, current_frame_position - current_frame_length); current_frame_position -= current_frame_length; } else { - current_frame_position = 0; + current_frame_position = 0U; } return ret; @@ -343,8 +345,8 @@ static inline void write_uint8_t(uint8_t *buf, int &offset, uint8_t value) */ static inline void write_uint16_t(uint8_t *buf, int &offset, uint16_t value) { - buf[offset] = value & 0xff; - buf[offset + 1] = value >> 8; + buf[offset] = value & 0xFFU; + buf[offset + 1] = value >> 8U; offset += 2; } @@ -353,9 +355,9 @@ static inline void write_uint16_t(uint8_t *buf, int &offset, uint16_t value) */ static inline void write_frame_header(uint8_t *buf, int &offset, ghstTelemetryType type, uint8_t payload_size) { - write_uint8_t(buf, offset, (uint8_t)ghstAddress::rxAddress); + write_uint8_t(buf, offset, static_cast(ghstAddress::rxAddress)); write_uint8_t(buf, offset, payload_size + GHST_FRAME_CRC_SIZE + GHST_FRAME_TYPE_SIZE); - write_uint8_t(buf, offset, (uint8_t)type); + write_uint8_t(buf, offset, static_cast(type)); } /** @@ -363,21 +365,23 @@ static inline void write_frame_header(uint8_t *buf, int &offset, ghstTelemetryTy */ static inline void write_frame_crc(uint8_t *buf, int &offset, int buf_size) { - write_uint8_t(buf, offset, crc8_dvb_s2_buf(buf + 2, buf_size - 3)); + write_uint8_t(buf, offset, crc8_dvb_s2_buf(buf + 2U, buf_size - 3)); } -bool ghst_send_telemetry_battery(int uart_fd, uint16_t voltage, uint16_t current, uint16_t fuel) +bool ghst_send_telemetry_battery_status(int uart_fd, uint16_t voltage_in_10mV, + uint16_t current_in_10mA, uint16_t fuel_in_10mAh) { - uint8_t buf[GHST_FRAME_PAYLOAD_SIZE_TELEMETRY + 4u]; // address, frame length, type, crc + uint8_t buf[GHST_FRAME_PAYLOAD_SIZE_TELEMETRY + 4U]; // address, frame length, type, crc int offset = 0; write_frame_header(buf, offset, ghstTelemetryType::batteryPack, GHST_FRAME_PAYLOAD_SIZE_TELEMETRY); - write_uint16_t(buf, offset, voltage); - write_uint16_t(buf, offset, current); - write_uint16_t(buf, offset, fuel); - write_uint8_t(buf, offset, 0x00); // empty - write_uint8_t(buf, offset, 0x00); // empty - write_uint8_t(buf, offset, 0x00); // empty - write_uint8_t(buf, offset, 0x00); // empty + write_uint16_t(buf, offset, voltage_in_10mV); + write_uint16_t(buf, offset, current_in_10mA); + write_uint16_t(buf, offset, fuel_in_10mAh); + write_uint8_t(buf, offset, 0x00U); // empty + write_uint8_t(buf, offset, 0x00U); // empty + write_uint8_t(buf, offset, 0x00U); // empty + write_uint8_t(buf, offset, 0x00U); // empty write_frame_crc(buf, offset, sizeof(buf)); + return write(uart_fd, buf, offset) == offset; } diff --git a/src/lib/rc/ghst.h b/src/lib/rc/ghst.hpp similarity index 90% rename from src/lib/rc/ghst.h rename to src/lib/rc/ghst.hpp index c1a7a0c0a0..bba236f9c7 100644 --- a/src/lib/rc/ghst.h +++ b/src/lib/rc/ghst.hpp @@ -68,14 +68,14 @@ enum class ghstTelemetryType { }; struct ghst_frame_header_t { - uint8_t device_address; // device address - uint8_t length; // length + uint8_t device_address; // device address + uint8_t length; // length }; struct ghst_frame_t { ghst_frame_header_t header; // header uint8_t type; // frame type - uint8_t payload[GHST_PAYLOAD_MAX_SIZE + 1]; // payload data including 1 byte CRC at the end + uint8_t payload[GHST_PAYLOAD_MAX_SIZE + 1U]; // payload data including 1 byte CRC at the end }; // Channel data (1-4) @@ -131,11 +131,12 @@ __EXPORT bool ghst_parse(const uint64_t now, const uint8_t *frame, unsigned len, /** * Send telemetry battery information * @param uart_fd UART file descriptor - * @param voltage Voltage [0.1V] - * @param current Current [0.1A] - * @param fuel drawn mAh + * @param voltage_in_10mV Voltage [10 mV] + * @param current_in_10mA Current [10 mA] + * @param fuel_in_10mAh Fuel [10 mAh] * @return true on success */ -__EXPORT bool ghst_send_telemetry_battery(int uart_fd, uint16_t voltage, uint16_t current, uint16_t fuel); +__EXPORT bool ghst_send_telemetry_battery_status(int uart_fd, uint16_t voltage_in_10mV, + uint16_t current_in_10mA, uint16_t fuel_in_10mAh); __END_DECLS diff --git a/src/lib/rc/rc_tests/RCTest.cpp b/src/lib/rc/rc_tests/RCTest.cpp index 0f4d6c86a5..115372eac5 100644 --- a/src/lib/rc/rc_tests/RCTest.cpp +++ b/src/lib/rc/rc_tests/RCTest.cpp @@ -14,7 +14,7 @@ #include #include #include -#include +#include #if defined(CONFIG_ARCH_BOARD_PX4_SITL) #define TEST_DATA_PATH "./test_data/" diff --git a/src/lib/sensor_calibration/Accelerometer.cpp b/src/lib/sensor_calibration/Accelerometer.cpp index 94ded6cc6f..32fc62b53e 100644 --- a/src/lib/sensor_calibration/Accelerometer.cpp +++ b/src/lib/sensor_calibration/Accelerometer.cpp @@ -125,11 +125,12 @@ void Accelerometer::SensorCorrectionsUpdate(bool force) bool Accelerometer::set_offset(const Vector3f &offset) { - if (Vector3f(_offset - offset).longerThan(0.001f)) { - _offset = offset; - - _calibration_count++; - return true; + if (Vector3f(_offset - offset).longerThan(0.01f)) { + if (PX4_ISFINITE(offset(0)) && PX4_ISFINITE(offset(1)) && PX4_ISFINITE(offset(2))) { + _offset = offset; + _calibration_count++; + return true; + } } return false; @@ -137,11 +138,14 @@ bool Accelerometer::set_offset(const Vector3f &offset) bool Accelerometer::set_scale(const Vector3f &scale) { - if (Vector3f(_scale - scale).longerThan(0.001f)) { - _scale = scale; + if (Vector3f(_scale - scale).longerThan(0.01f)) { + if ((scale(0) > 0.f) && (scale(1) > 0.f) && (scale(2) > 0.f) && + PX4_ISFINITE(scale(0)) && PX4_ISFINITE(scale(1)) && PX4_ISFINITE(scale(2))) { - _calibration_count++; - return true; + _scale = scale; + _calibration_count++; + return true; + } } return false; @@ -220,8 +224,14 @@ void Accelerometer::ParametersUpdate() void Accelerometer::Reset() { - _rotation.setIdentity(); - _rotation_enum = ROTATION_NONE; + if (_external) { + set_rotation(ROTATION_NONE); + + } else { + // internal sensors follow board rotation + set_rotation(GetBoardRotation()); + } + _offset.zero(); _scale = Vector3f{1.f, 1.f, 1.f}; _thermal_offset.zero(); diff --git a/src/lib/sensor_calibration/Gyroscope.cpp b/src/lib/sensor_calibration/Gyroscope.cpp index 9baba5b694..a198bda9f1 100644 --- a/src/lib/sensor_calibration/Gyroscope.cpp +++ b/src/lib/sensor_calibration/Gyroscope.cpp @@ -125,11 +125,12 @@ void Gyroscope::SensorCorrectionsUpdate(bool force) bool Gyroscope::set_offset(const Vector3f &offset) { - if (Vector3f(_offset - offset).longerThan(0.001f)) { - _offset = offset; - - _calibration_count++; - return true; + if (Vector3f(_offset - offset).longerThan(0.01f)) { + if (PX4_ISFINITE(offset(0)) && PX4_ISFINITE(offset(1)) && PX4_ISFINITE(offset(2))) { + _offset = offset; + _calibration_count++; + return true; + } } return false; @@ -205,8 +206,14 @@ void Gyroscope::ParametersUpdate() void Gyroscope::Reset() { - _rotation.setIdentity(); - _rotation_enum = ROTATION_NONE; + if (_external) { + set_rotation(ROTATION_NONE); + + } else { + // internal sensors follow board rotation + set_rotation(GetBoardRotation()); + } + _offset.zero(); _thermal_offset.zero(); diff --git a/src/lib/sensor_calibration/Gyroscope.hpp b/src/lib/sensor_calibration/Gyroscope.hpp index 2d6e6d010d..0d249eedb6 100644 --- a/src/lib/sensor_calibration/Gyroscope.hpp +++ b/src/lib/sensor_calibration/Gyroscope.hpp @@ -73,6 +73,7 @@ public: const int32_t &priority() const { return _priority; } const matrix::Dcmf &rotation() const { return _rotation; } const Rotation &rotation_enum() const { return _rotation_enum; } + const matrix::Vector3f &thermal_offset() const { return _thermal_offset; } // apply offsets and scale // rotate corrected measurements from sensor to body frame @@ -81,6 +82,11 @@ public: return _rotation * matrix::Vector3f{data - _thermal_offset - _offset}; } + inline matrix::Vector3f Uncorrect(const matrix::Vector3f &corrected_data) const + { + return (_rotation.I() * corrected_data) + _thermal_offset + _offset; + } + bool ParametersSave(); void ParametersUpdate(); diff --git a/src/lib/sensor_calibration/Magnetometer.cpp b/src/lib/sensor_calibration/Magnetometer.cpp index b5b7a6b38a..57fc73c244 100644 --- a/src/lib/sensor_calibration/Magnetometer.cpp +++ b/src/lib/sensor_calibration/Magnetometer.cpp @@ -85,11 +85,12 @@ void Magnetometer::set_external(bool external) bool Magnetometer::set_offset(const Vector3f &offset) { - if (Vector3f(_offset - offset).longerThan(0.001f)) { - _offset = offset; - - _calibration_count++; - return true; + if (Vector3f(_offset - offset).longerThan(0.01f)) { + if (PX4_ISFINITE(offset(0)) && PX4_ISFINITE(offset(1)) && PX4_ISFINITE(offset(2))) { + _offset = offset; + _calibration_count++; + return true; + } } return false; @@ -97,13 +98,17 @@ bool Magnetometer::set_offset(const Vector3f &offset) bool Magnetometer::set_scale(const Vector3f &scale) { - if (Vector3f(_scale.diag() - scale).longerThan(0.001f)) { - _scale(0, 0) = scale(0); - _scale(1, 1) = scale(1); - _scale(2, 2) = scale(2); + if (Vector3f(_scale.diag() - scale).longerThan(0.01f)) { + if ((scale(0) > 0.f) && (scale(1) > 0.f) && (scale(2) > 0.f) && + PX4_ISFINITE(scale(0)) && PX4_ISFINITE(scale(1)) && PX4_ISFINITE(scale(2))) { - _calibration_count++; - return true; + _scale(0, 0) = scale(0); + _scale(1, 1) = scale(1); + _scale(2, 2) = scale(2); + + _calibration_count++; + return true; + } } return false; @@ -111,18 +116,21 @@ bool Magnetometer::set_scale(const Vector3f &scale) bool Magnetometer::set_offdiagonal(const Vector3f &offdiagonal) { - if (Vector3f(Vector3f{_scale(0, 1), _scale(0, 2), _scale(1, 2)} - offdiagonal).longerThan(0.001f)) { - _scale(0, 1) = offdiagonal(0); - _scale(1, 0) = offdiagonal(0); + if (Vector3f(Vector3f{_scale(0, 1), _scale(0, 2), _scale(1, 2)} - offdiagonal).longerThan(0.01f)) { + if (PX4_ISFINITE(offdiagonal(0)) && PX4_ISFINITE(offdiagonal(1)) && PX4_ISFINITE(offdiagonal(2))) { - _scale(0, 2) = offdiagonal(1); - _scale(2, 0) = offdiagonal(1); + _scale(0, 1) = offdiagonal(0); + _scale(1, 0) = offdiagonal(0); - _scale(1, 2) = offdiagonal(2); - _scale(2, 1) = offdiagonal(2); + _scale(0, 2) = offdiagonal(1); + _scale(2, 0) = offdiagonal(1); - _calibration_count++; - return true; + _scale(1, 2) = offdiagonal(2); + _scale(2, 1) = offdiagonal(2); + + _calibration_count++; + return true; + } } return false; @@ -207,8 +215,14 @@ void Magnetometer::ParametersUpdate() void Magnetometer::Reset() { - _rotation.setIdentity(); - _rotation_enum = ROTATION_NONE; + if (_external) { + set_rotation(ROTATION_NONE); + + } else { + // internal sensors follow board rotation + set_rotation(GetBoardRotation()); + } + _offset.zero(); _scale.setIdentity(); @@ -269,7 +283,7 @@ void Magnetometer::PrintStatus() } #if defined(DEBUG_BUILD) - _scale.print() + _scale.print(); #endif // DEBUG_BUILD } diff --git a/src/lib/slew_rate/CMakeLists.txt b/src/lib/slew_rate/CMakeLists.txt index d02e1a097b..7515f53a3a 100644 --- a/src/lib/slew_rate/CMakeLists.txt +++ b/src/lib/slew_rate/CMakeLists.txt @@ -33,6 +33,8 @@ px4_add_library(SlewRate dummy.cpp + SlewRate.hpp + SlewRateYaw.hpp ) target_include_directories(SlewRate PUBLIC diff --git a/src/lib/slew_rate/SlewRateTest.cpp b/src/lib/slew_rate/SlewRateTest.cpp index 6e03d9bef2..8cecca7f2c 100644 --- a/src/lib/slew_rate/SlewRateTest.cpp +++ b/src/lib/slew_rate/SlewRateTest.cpp @@ -32,7 +32,7 @@ ****************************************************************************/ #include -#include +#include "SlewRate.hpp" TEST(SlewRateTest, SlewUpLimited) { diff --git a/src/lib/slew_rate/SlewRateYawTest.cpp b/src/lib/slew_rate/SlewRateYawTest.cpp index 862fb6d50f..f1436e150e 100644 --- a/src/lib/slew_rate/SlewRateYawTest.cpp +++ b/src/lib/slew_rate/SlewRateYawTest.cpp @@ -32,7 +32,7 @@ ****************************************************************************/ #include -#include +#include "SlewRateYaw.hpp" TEST(SlewRateYawTest, SlewUpLimited) { diff --git a/src/lib/systemlib/system_params.c b/src/lib/systemlib/system_params.c index b59a39abf0..263097da27 100644 --- a/src/lib/systemlib/system_params.c +++ b/src/lib/systemlib/system_params.c @@ -57,8 +57,7 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0); * RC* parameters are preserved. * * @value 0 Keep parameters - * @value 1 Reset parameters - * @value 2 Reload airframe parameters + * @value 1 Reset parameters to airframe defaults * @group System */ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0); @@ -114,19 +113,6 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2); */ PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2); -/** - * Parameter version - * - * This is used internally only: an airframe configuration might set an expected - * parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup - * against SYS_PARAM_VER, and if they do not match, parameters from the airframe - * configuration are reloaded. - * - * @min 0 - * @group System - */ -PARAM_DEFINE_INT32(SYS_PARAM_VER, 1); - /** * Enable auto start of rate gyro thermal calibration at the next power up. * diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index 2c444cf191..0361c32fe4 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -60,7 +60,7 @@ void TECS::update_vehicle_state_estimates(float equivalent_airspeed, const float { // calculate the time lapsed since the last update uint64_t now = hrt_absolute_time(); - float dt = constrain((now - _state_update_timestamp) * 1.0e-6f, DT_MIN, DT_MAX); + float dt = fmaxf((now - _state_update_timestamp) * 1e-6f, DT_MIN); bool reset_altitude = false; @@ -88,12 +88,14 @@ void TECS::update_vehicle_state_estimates(float equivalent_airspeed, const float // Update and average speed rate of change if airspeed is being measured if (PX4_ISFINITE(equivalent_airspeed) && airspeed_sensor_enabled()) { + _tas_rate_raw = speed_deriv_forward; // Apply some noise filtering _TAS_rate_filter.update(speed_deriv_forward); - _speed_derivative = _TAS_rate_filter.getState(); + _tas_rate_filtered = _TAS_rate_filter.getState(); } else { - _speed_derivative = 0.0f; + _tas_rate_raw = 0.0f; + _tas_rate_filtered = 0.0f; } if (!_in_air) { @@ -141,7 +143,7 @@ void TECS::_update_speed_states(float equivalent_airspeed_setpoint, float equiva // Update TAS state _tas_rate_state = _tas_rate_state + tas_rate_state_input * dt; - float tas_state_input = _tas_rate_state + _speed_derivative + tas_error * _tas_estimate_freq * 1.4142f; + float tas_state_input = _tas_rate_state + _tas_rate_raw + tas_error * _tas_estimate_freq * 1.4142f; _tas_state = _tas_state + tas_state_input * dt; // Limit the TAS state to a minimum of 3 m/s @@ -260,7 +262,7 @@ void TECS::_update_energy_estimates() // Calculate specific energy rates in units of (m**2/sec**3) _SPE_rate = _vert_vel_state * CONSTANTS_ONE_G; // potential energy rate of change - _SKE_rate = _tas_state * _speed_derivative;// kinetic energy rate of change + _SKE_rate = _tas_state * _tas_rate_filtered;// kinetic energy rate of change } void TECS::_update_throttle_setpoint(const float throttle_cruise) @@ -436,7 +438,8 @@ void TECS::_update_pitch_setpoint() } // Calculate a specific energy correction that doesn't include the integrator contribution - float SEB_rate_correction = _SEB_rate_error * _pitch_damping_gain + _pitch_integ_state + SEB_rate_setpoint; + float SEB_rate_correction = _SEB_rate_error * _pitch_damping_gain + _pitch_integ_state + _SEB_rate_ff * + SEB_rate_setpoint; // During climbout, bias the demanded pitch angle so that a zero speed error produces a pitch angle // demand equal to the minimum pitch angle set by the mission plan. This prevents the integrator @@ -536,7 +539,7 @@ void TECS::update_pitch_throttle(float pitch, float baro_altitude, float hgt_set { // Calculate the time since last update (seconds) uint64_t now = hrt_absolute_time(); - _dt = constrain((now - _pitch_update_timestamp) * 1e-6f, DT_MIN, DT_MAX); + _dt = fmaxf((now - _pitch_update_timestamp) * 1e-6f, DT_MIN); // Set class variables from inputs _throttle_setpoint_max = throttle_max; diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp index 2c39d931ce..207991a973 100644 --- a/src/lib/tecs/TECS.hpp +++ b/src/lib/tecs/TECS.hpp @@ -131,6 +131,8 @@ public: void set_ste_rate_time_const(float time_const) { _STE_rate_time_const = time_const; } void set_speed_derivative_time_constant(float time_const) { _speed_derivative_time_const = time_const; } + void set_seb_rate_ff_gain(float ff_gain) { _SEB_rate_ff = ff_gain; } + // TECS status uint64_t timestamp() { return _pitch_update_timestamp; } @@ -147,7 +149,7 @@ public: float get_EAS_setpoint() { return _EAS_setpoint; }; float TAS_rate_setpoint() { return _TAS_rate_setpoint; } - float speed_derivative() { return _speed_derivative; } + float speed_derivative() { return _tas_rate_filtered; } float STE_error() { return _STE_error; } float STE_rate_error() { return _STE_rate_error; } @@ -224,6 +226,7 @@ private: float _throttle_slewrate{0.0f}; ///< throttle demand slew rate limit (1/sec) float _STE_rate_time_const{0.1f}; ///< filter time constant for specific total energy rate (damping path) (s) float _speed_derivative_time_const{0.01f}; ///< speed derivative filter time constant (s) + float _SEB_rate_ff{1.0f}; // complimentary filter states float _vert_vel_state{0.0f}; ///< complimentary filter state - height rate (m/sec) @@ -236,7 +239,7 @@ private: float _pitch_integ_state{0.0f}; ///< pitch integrator state (rad) float _last_throttle_setpoint{0.0f}; ///< throttle demand rate limiter state (1/sec) float _last_pitch_setpoint{0.0f}; ///< pitch demand rate limiter state (rad/sec) - float _speed_derivative{0.0f}; ///< rate of change of speed along X axis (m/sec**2) + float _tas_rate_filtered{0.0f}; ///< low pass filtered rate of change of speed along X axis (m/sec**2) // speed demand calculations float _EAS{0.0f}; ///< equivalent airspeed (m/sec) @@ -247,6 +250,7 @@ private: float _EAS_setpoint{0.0f}; ///< Equivalent airspeed demand (m/sec) float _TAS_setpoint_adj{0.0f}; ///< true airspeed demand tracked by the TECS algorithm (m/sec) float _TAS_rate_setpoint{0.0f}; ///< true airspeed rate demand tracked by the TECS algorithm (m/sec**2) + float _tas_rate_raw{0.0f}; ///< true airspeed rate, calculated as inertial acceleration in body X direction // height demand calculations float _hgt_setpoint{0.0f}; ///< demanded height tracked by the TECS algorithm (m) diff --git a/src/lib/version/get_git_tag_or_branch_version.sh b/src/lib/version/get_git_tag_or_branch_version.sh new file mode 100755 index 0000000000..a7d9c13b33 --- /dev/null +++ b/src/lib/version/get_git_tag_or_branch_version.sh @@ -0,0 +1,21 @@ +#!/usr/bin/env bash + +set -e + +# Script to extract PX4_GIT_TAG_OR_BRANCH_NAME to be used by CI + +build_dir="$1" +if [ ! -d "$build_dir" ]; then + echo "usage: $0 " + exit -1 +fi + +version_file="$build_dir/src/lib/version/build_git_version.h" + +if [ ! -f "$version_file" ]; then + echo "Version file not found. Did you run the target 'ver_gen'?" + exit -1 +fi + +sed -n 's/.*PX4_GIT_TAG_OR_BRANCH_NAME\s*"\(.*\)".*/version=\1/p' "$version_file" + diff --git a/src/lib/version/px_update_git_header.py b/src/lib/version/px_update_git_header.py index 8baea33419..e9372ff36b 100755 --- a/src/lib/version/px_update_git_header.py +++ b/src/lib/version/px_update_git_header.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -from __future__ import print_function import argparse import os @@ -37,8 +36,17 @@ header = """ # PX4 -git_tag = subprocess.check_output('git describe --always --tags --dirty'.split(), +git_describe_cmd = 'git describe --exclude ext/* --always --tags --dirty' +git_tag = subprocess.check_output(git_describe_cmd.split(), stderr=subprocess.STDOUT).decode('utf-8').strip() + +try: + # get the tag if we're on a tagged commit + tag_or_branch = subprocess.check_output((git_describe_cmd+' --exact-match').split(), + stderr=subprocess.STDOUT).decode('utf-8').strip() +except: + tag_or_branch = None + if validate: if verbose: print("testing git tag: "+git_tag) @@ -84,15 +92,31 @@ except: git_branch_name = '' git_version_short = git_version[0:16] -header += """ -#define PX4_GIT_VERSION_STR "{git_version}" +# OEM version +try: + oem_tag = subprocess.check_output('git describe --match ext/oem-* --tags'.split(), + stderr=subprocess.STDOUT).decode('utf-8').strip() + oem_tag = oem_tag[8:] +except: + oem_tag = '' + +if tag_or_branch is None: + # replace / so it can be used as directory name + tag_or_branch = git_branch_name.replace('/', '-') + # either a release or master branch (used for metadata) + if not tag_or_branch.startswith('release-'): + tag_or_branch = 'master' + +header += f""" +#define PX4_GIT_VERSION_STR "{git_version}" #define PX4_GIT_VERSION_BINARY 0x{git_version_short} -#define PX4_GIT_TAG_STR "{git_tag}" -#define PX4_GIT_BRANCH_NAME "{git_branch_name}" -""".format(git_tag=git_tag, - git_version=git_version, - git_version_short=git_version_short, - git_branch_name=git_branch_name) +#define PX4_GIT_TAG_STR "{git_tag}" +#define PX4_GIT_BRANCH_NAME "{git_branch_name}" + +#define PX4_GIT_OEM_VERSION_STR "{oem_tag}" + +#define PX4_GIT_TAG_OR_BRANCH_NAME "{tag_or_branch}" // special variable: git tag, release or master branch +""" # ECL @@ -104,11 +128,10 @@ if (os.path.exists('src/lib/ecl/.git')): cwd='src/lib/ecl', stderr=subprocess.STDOUT).decode('utf-8').strip() ecl_git_version_short = ecl_git_version[0:16] - header += """ + header += f""" #define ECL_LIB_GIT_VERSION_STR "{ecl_git_version}" #define ECL_LIB_GIT_VERSION_BINARY 0x{ecl_git_version_short} -""".format(ecl_git_version=ecl_git_version, - ecl_git_version_short=ecl_git_version_short) +""" # Mavlink @@ -117,11 +140,10 @@ if (os.path.exists('mavlink/include/mavlink/v2.0/.git')): cwd='mavlink/include/mavlink/v2.0', stderr=subprocess.STDOUT).decode('utf-8').strip() mavlink_git_version_short = mavlink_git_version[0:16] - header += """ + header += f""" #define MAVLINK_LIB_GIT_VERSION_STR "{mavlink_git_version}" #define MAVLINK_LIB_GIT_VERSION_BINARY 0x{mavlink_git_version_short} -""".format(mavlink_git_version=mavlink_git_version, - mavlink_git_version_short=mavlink_git_version_short) +""" # NuttX @@ -133,13 +155,11 @@ if (os.path.exists('platforms/nuttx/NuttX/nuttx/.git')): cwd='platforms/nuttx/NuttX/nuttx', stderr=subprocess.STDOUT).decode('utf-8').strip() nuttx_git_version_short = nuttx_git_version[0:16] - header += """ + header += f""" #define NUTTX_GIT_VERSION_STR "{nuttx_git_version}" #define NUTTX_GIT_VERSION_BINARY 0x{nuttx_git_version_short} #define NUTTX_GIT_TAG_STR "{nuttx_git_tag}" -""".format(nuttx_git_version=nuttx_git_version, - nuttx_git_version_short=nuttx_git_version_short, - nuttx_git_tag=nuttx_git_tag) +""" if old_header != header: diff --git a/src/lib/version/version.c b/src/lib/version/version.c index 4b2754e493..f0b137661b 100644 --- a/src/lib/version/version.c +++ b/src/lib/version/version.c @@ -370,3 +370,8 @@ uint64_t px4_os_version_binary(void) #endif } +const char *px4_firmware_oem_version_string(void) +{ + return PX4_GIT_OEM_VERSION_STR; +} + diff --git a/src/lib/version/version.h b/src/lib/version/version.h index 4db5927140..2190fefdbf 100644 --- a/src/lib/version/version.h +++ b/src/lib/version/version.h @@ -187,5 +187,10 @@ __EXPORT uint64_t px4_mavlink_lib_version_binary(void); */ __EXPORT uint64_t px4_os_version_binary(void); +/** + * get the git oem version tag (can be empty, no particular format) + */ +__EXPORT const char *px4_firmware_oem_version_string(void); + __END_DECLS diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index daf3aa0126..1d6cd3fc78 100644 --- a/src/modules/airspeed_selector/airspeed_selector_main.cpp +++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp @@ -51,6 +51,7 @@ #include #include #include +#include #include #include #include @@ -117,8 +118,10 @@ private: uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)}; + uORB::Subscription _position_setpoint_sub{ORB_ID(position_setpoint)}; uORB::SubscriptionMultiArray _airspeed_subs{ORB_ID::airspeed}; + estimator_status_s _estimator_status {}; vehicle_acceleration_s _accel {}; vehicle_air_data_s _vehicle_air_data {}; @@ -127,6 +130,7 @@ private: vehicle_local_position_s _vehicle_local_position {}; vehicle_status_s _vehicle_status {}; vtol_vehicle_status_s _vtol_vehicle_status {}; + position_setpoint_s _position_setpoint {}; WindEstimator _wind_estimator_sideslip; /**< wind estimator instance only fusing sideslip */ airspeed_wind_s _wind_estimate_sideslip {}; /**< wind estimate message for wind estimator instance only fusing sideslip */ @@ -306,8 +310,12 @@ AirspeedModule::Run() if (_number_of_airspeed_sensors > 0) { - const bool fixed_wing = !_vtol_vehicle_status.vtol_in_rw_mode; - const bool in_air = !_vehicle_land_detected.landed; + // disable checks if not a fixed-wing or the vehicle is landing/landed, as then airspeed can fall below stall speed + // and wind estimate isn't accurate anymore. Even better would be to have a reliable "ground_contact" detection + // for fixed-wing landings. + const bool in_air_fixed_wing = !_vehicle_land_detected.landed && + _position_setpoint.type != position_setpoint_s::SETPOINT_TYPE_LAND && + _vehicle_status.system_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING; // Prepare data for airspeed_validator struct airspeed_validator_update_data input_data = {}; @@ -345,12 +353,12 @@ AirspeedModule::Run() _in_takeoff_situation = false; } - // reset takeoff_situation to true when not in air or not in fixed-wing mode - if (!in_air || !fixed_wing) { + // reset takeoff_situation to true when not in air and not in fixed-wing mode + if (!in_air_fixed_wing) { _in_takeoff_situation = true; } - input_data.in_fixed_wing_flight = (armed && fixed_wing && in_air && !_in_takeoff_situation); + input_data.in_fixed_wing_flight = (armed && in_air_fixed_wing && !_in_takeoff_situation); // push input data into airspeed validator _airspeed_validator[i].update_airspeed_validator(input_data); @@ -458,6 +466,8 @@ void AirspeedModule::poll_topics() _vehicle_status_sub.update(&_vehicle_status); _vtol_vehicle_status_sub.update(&_vtol_vehicle_status); _vehicle_local_position_sub.update(&_vehicle_local_position); + _position_setpoint_sub.update(&_position_setpoint); + _vehicle_local_position_valid = (_time_now_usec - _vehicle_local_position.timestamp < 1_s) && (_vehicle_local_position.timestamp > 0) && _vehicle_local_position.v_xy_valid; diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c index aaabf754a4..0cea30cda2 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c @@ -103,6 +103,7 @@ PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1); /** * External heading usage mode (from Motion capture/Vision) + * * Set to 1 to use heading estimate from vision. * Set to 2 to use heading from motion capture. * @@ -116,8 +117,7 @@ PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1); PARAM_DEFINE_INT32(ATT_EXT_HDG_M, 0); /** - * Acceleration compensation based on GPS - * velocity. + * Acceleration compensation based on GPS velocity. * * @group Attitude Q estimator * @boolean diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp index b0555af020..830210f6df 100644 --- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp @@ -64,7 +64,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu bool failed = false; failed = failed || !airframeCheck(mavlink_log_pub, status); - failed = failed || !sdcardCheck(mavlink_log_pub, report_failures); + failed = failed || !sdcardCheck(mavlink_log_pub, status_flags.sd_card_detected_once, report_failures); /* ---- MAG ---- */ { @@ -236,18 +236,19 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu } if (estimator_type == 2) { - bool ekf_healthy = false; - // don't report ekf failures for the first 10 seconds to allow time for the filter to start - if (time_since_boot > 10_s) { + const bool ekf_healthy = ekf2Check(mavlink_log_pub, status, false, report_failures) && + ekf2CheckSensorBias(mavlink_log_pub, report_failures); - ekf_healthy = ekf2Check(mavlink_log_pub, status, false, report_failures) && - ekf2CheckSensorBias(mavlink_log_pub, report_failures); + // For the first 10 seconds the ekf2 can be unhealthy, and we just mark it + // as not present. + // After that or if report_failures is true, we'll set the flags as is. - set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, true, true, ekf_healthy, status); + if (!ekf_healthy && time_since_boot < 10_s && !report_failures) { + set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, true, false, false, status); } else { - set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, true, false, false, status); + set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, true, true, ekf_healthy, status); } failed |= !ekf_healthy; diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp index f7df78d659..5fb1b6647f 100644 --- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp +++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp @@ -119,5 +119,5 @@ private: static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail); static bool airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status); static bool cpuResourceCheck(orb_advert_t *mavlink_log_pub, const bool report_fail); - static bool sdcardCheck(orb_advert_t *mavlink_log_pub, const bool report_fail); + static bool sdcardCheck(orb_advert_t *mavlink_log_pub, bool &sd_card_detected_once, const bool report_fail); }; diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp index 7177cb746b..e35b05308f 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp @@ -39,6 +39,7 @@ #include #include #include +#include #include using namespace time_literals; @@ -49,6 +50,7 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st const bool exists = (orb_exists(ORB_ID(sensor_mag), instance) == PX4_OK); bool calibration_valid = false; bool valid = false; + bool is_mag_fault = false; if (exists) { @@ -72,13 +74,28 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st } } + for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) { + uORB::SubscriptionData estimator_status_sub{ORB_ID(estimator_status), i}; + + if (estimator_status_sub.get().mag_device_id == static_cast(device_id)) { + if (estimator_status_sub.get().control_mode_flags & (1 << estimator_status_s::CS_MAG_FAULT)) { + is_mag_fault = true; + break; + } + } + } + + if (is_mag_fault && report_fail) { + mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Compass #%u fault", instance); + } + } else { if (!optional && report_fail) { mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Compass Sensor %u missing", instance); } } - const bool success = calibration_valid && valid; + const bool success = calibration_valid && valid && !is_mag_fault; if (instance == 0) { set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG, exists, !optional, success, status); diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/sdcardCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/sdcardCheck.cpp index 14ae7805c9..bfcd4d5d34 100644 --- a/src/modules/commander/Arming/PreFlightCheck/checks/sdcardCheck.cpp +++ b/src/modules/commander/Arming/PreFlightCheck/checks/sdcardCheck.cpp @@ -42,7 +42,8 @@ #include #endif -bool PreFlightCheck::sdcardCheck(orb_advert_t *mavlink_log_pub, const bool report_fail) +bool PreFlightCheck::sdcardCheck(orb_advert_t *mavlink_log_pub, bool &sd_card_detected_once, + const bool report_fail) { bool success = true; @@ -50,15 +51,14 @@ bool PreFlightCheck::sdcardCheck(orb_advert_t *mavlink_log_pub, const bool repor param_get(param_find("COM_ARM_SDCARD"), ¶m_com_arm_sdcard); if (param_com_arm_sdcard > 0) { - bool sdcard_present{false}; struct statfs statfs_buf; - if (statfs(PX4_STORAGEDIR, &statfs_buf) == 0) { + if (!sd_card_detected_once && statfs(PX4_STORAGEDIR, &statfs_buf) == 0) { // on NuttX we get a data block count f_blocks and byte count per block f_bsize if an SD card is inserted - sdcard_present = (statfs_buf.f_blocks > 0) && (statfs_buf.f_bsize > 0); + sd_card_detected_once = (statfs_buf.f_blocks > 0) && (statfs_buf.f_bsize > 0); } - if (!sdcard_present) { + if (!sd_card_detected_once) { if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Warning! Missing FMU SD Card."); } diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt index 1273dadd8a..f9568a0c3b 100644 --- a/src/modules/commander/CMakeLists.txt +++ b/src/modules/commander/CMakeLists.txt @@ -50,6 +50,7 @@ px4_add_module( level_calibration.cpp lm_fit.cpp mag_calibration.cpp + ManualControl.cpp rc_calibration.cpp state_machine_helper.cpp worker_thread.cpp diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 38797b8545..e4e671e35d 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013-2019 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -84,7 +84,7 @@ typedef enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */ VEHICLE_MODE_FLAG_HIL_ENABLED = 32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */ VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, /* 0b01000000 remote control input is enabled. | */ - VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */ + VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state. | */ VEHICLE_MODE_FLAG_ENUM_END = 129, /* | */ } VEHICLE_MODE_FLAG; @@ -132,31 +132,53 @@ static int power_button_state_notification_cb(board_power_button_state_notificat #endif // BOARD_HAS_POWER_CONTROL #ifndef CONSTRAINED_FLASH -static bool send_vehicle_command(uint16_t cmd, float param1 = NAN, float param2 = NAN, float param3 = NAN, - float param4 = NAN, float param5 = NAN, float param6 = NAN, float param7 = NAN) +static bool send_vehicle_command(const uint32_t cmd, const float param1 = NAN, const float param2 = NAN, + const float param3 = NAN, const float param4 = NAN, const double param5 = static_cast(NAN), + const double param6 = static_cast(NAN), const float param7 = NAN) { vehicle_command_s vcmd{}; - + vcmd.command = cmd; vcmd.param1 = param1; vcmd.param2 = param2; vcmd.param3 = param3; vcmd.param4 = param4; - vcmd.param5 = (double)param5; - vcmd.param6 = (double)param6; + vcmd.param5 = param5; + vcmd.param6 = param6; vcmd.param7 = param7; - vcmd.command = cmd; - uORB::SubscriptionData vehicle_status_sub{ORB_ID(vehicle_status)}; vcmd.source_system = vehicle_status_sub.get().system_id; vcmd.target_system = vehicle_status_sub.get().system_id; vcmd.source_component = vehicle_status_sub.get().component_id; vcmd.target_component = vehicle_status_sub.get().component_id; + uORB::Publication vcmd_pub{ORB_ID(vehicle_command)}; vcmd.timestamp = hrt_absolute_time(); + return vcmd_pub.publish(vcmd); +} + +static bool broadcast_vehicle_command(const uint32_t cmd, const float param1 = NAN, const float param2 = NAN, + const float param3 = NAN, const float param4 = NAN, const double param5 = static_cast(NAN), + const double param6 = static_cast(NAN), const float param7 = NAN) +{ + vehicle_command_s vcmd{}; + vcmd.command = cmd; + vcmd.param1 = param1; + vcmd.param2 = param2; + vcmd.param3 = param3; + vcmd.param4 = param4; + vcmd.param5 = param5; + vcmd.param6 = param6; + vcmd.param7 = param7; + + uORB::SubscriptionData vehicle_status_sub{ORB_ID(vehicle_status)}; + vcmd.source_system = vehicle_status_sub.get().system_id; + vcmd.target_system = 0; + vcmd.source_component = vehicle_status_sub.get().component_id; + vcmd.target_component = 0; uORB::Publication vcmd_pub{ORB_ID(vehicle_command)}; - + vcmd.timestamp = hrt_absolute_time(); return vcmd_pub.publish(vcmd); } #endif @@ -174,7 +196,7 @@ int Commander::custom_command(int argc, char *argv[]) if (argc > 1) { if (!strcmp(argv[1], "gyro")) { // gyro calibration: param1 = 1 - send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f); + send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 1.f, 0.f, 0.f, 0.f, 0.0, 0.0, 0.f); } else if (!strcmp(argv[1], "mag")) { if (argc > 2 && (strcmp(argv[2], "quick") == 0)) { @@ -183,30 +205,30 @@ int Commander::custom_command(int argc, char *argv[]) } else { // magnetometer calibration: param2 = 1 - send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f); + send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.0, 0.0, 0.f); } } else if (!strcmp(argv[1], "accel")) { if (argc > 2 && (strcmp(argv[2], "quick") == 0)) { // accelerometer quick calibration: param5 = 3 - send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 4.f, 0.f, 0.f); + send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 4.0, 0.0, 0.f); } else { // accelerometer calibration: param5 = 1 - send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f); + send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 1.0, 0.0, 0.f); } } else if (!strcmp(argv[1], "level")) { // board level calibration: param5 = 2 - send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 2.f, 0.f, 0.f); + send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 2.0, 0.0, 0.f); } else if (!strcmp(argv[1], "airspeed")) { // airspeed calibration: param6 = 2 - send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.f, 2.f, 0.f); + send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.0, 2.0, 0.f); } else if (!strcmp(argv[1], "esc")) { // ESC calibration: param7 = 1 - send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f); + send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.0, 0.0, 1.f); } else { PX4_ERR("argument %s unsupported.", argv[1]); @@ -320,9 +342,6 @@ int Commander::custom_command(int argc, char *argv[]) } else if (!strcmp(argv[1], "stabilized")) { send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_STABILIZED); - } else if (!strcmp(argv[1], "rattitude")) { - send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_RATTITUDE); - } else if (!strcmp(argv[1], "auto:takeoff")) { send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF); @@ -359,6 +378,33 @@ int Commander::custom_command(int argc, char *argv[]) return (ret ? 0 : 1); } + if (!strcmp(argv[0], "pair")) { + + // GCS pairing request handled by a companion + bool ret = broadcast_vehicle_command(vehicle_command_s::VEHICLE_CMD_START_RX_PAIR, 10.f); + + return (ret ? 0 : 1); + } + + if (!strcmp(argv[0], "set_ekf_origin")) { + if (argc > 3) { + + double latitude = atof(argv[1]); + double longitude = atof(argv[2]); + float altitude = atof(argv[3]); + + // Set the ekf NED origin global coordinates. + bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN, + 0.f, 0.f, 0.0, 0.0, latitude, longitude, altitude); + return (ret ? 0 : 1); + + } else { + PX4_ERR("missing argument"); + return 0; + } + } + + #endif return print_usage("unknown command"); @@ -367,6 +413,7 @@ int Commander::custom_command(int argc, char *argv[]) int Commander::print_status() { PX4_INFO("arming: %s", arming_state_names[_status.arming_state]); + PX4_INFO("navigation: %s", nav_state_names[_status.nav_state]); return 0; } @@ -377,8 +424,8 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[]) bool Commander::shutdown_if_allowed() { - return TRANSITION_DENIED != arming_state_transition(&_status, _safety, vehicle_status_s::ARMING_STATE_SHUTDOWN, - &_armed, false /* fRunPreArmChecks */, &_mavlink_log_pub, &_status_flags, _arm_requirements, + return TRANSITION_DENIED != arming_state_transition(_status, _safety, vehicle_status_s::ARMING_STATE_SHUTDOWN, + _armed, false /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp), arm_disarm_reason_t::SHUTDOWN); } @@ -417,6 +464,41 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r return ""; }; +static constexpr const char *main_state_str(uint8_t main_state) +{ + switch (main_state) { + case commander_state_s::MAIN_STATE_MANUAL: return "Manual"; + + case commander_state_s::MAIN_STATE_ALTCTL: return "Altitude"; + + case commander_state_s::MAIN_STATE_POSCTL: return "Position"; + + case commander_state_s::MAIN_STATE_AUTO_MISSION: return "Mission"; + + case commander_state_s::MAIN_STATE_AUTO_LOITER: return "Hold"; + + case commander_state_s::MAIN_STATE_AUTO_RTL: return "RTL"; + + case commander_state_s::MAIN_STATE_ACRO: return "Acro"; + + case commander_state_s::MAIN_STATE_OFFBOARD: return "Offboard"; + + case commander_state_s::MAIN_STATE_STAB: return "Stabilized"; + + case commander_state_s::MAIN_STATE_AUTO_TAKEOFF: return "Takeoff"; + + case commander_state_s::MAIN_STATE_AUTO_LAND: return "Land"; + + case commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET: return "Follow target"; + + case commander_state_s::MAIN_STATE_AUTO_PRECLAND: return "Precision land"; + + case commander_state_s::MAIN_STATE_ORBIT: return "Orbit"; + + default: return "Unknown"; + } +} + transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks) { // allow a grace period for re-arming: preflight checks don't need to pass during that time, for example for accidential in-air disarming @@ -426,18 +508,15 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ if (run_preflight_checks) { if (_vehicle_control_mode.flag_control_manual_enabled) { - const bool throttle_above_low = (_manual_control_setpoint.z > 0.1f); - const bool throttle_above_center = (_manual_control_setpoint.z > 0.6f); - - if (_vehicle_control_mode.flag_control_climb_rate_enabled && throttle_above_center) { - mavlink_log_critical(&_mavlink_log_pub, "Arming denied! Throttle not centered"); + if (_vehicle_control_mode.flag_control_climb_rate_enabled && _manual_control.isThrottleAboveCenter()) { + mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle above center"); tune_negative(true); return TRANSITION_DENIED; } - if (!_vehicle_control_mode.flag_control_climb_rate_enabled && throttle_above_low) { - mavlink_log_critical(&_mavlink_log_pub, "Arming denied! Throttle not zero"); + if (!_vehicle_control_mode.flag_control_climb_rate_enabled && !_manual_control.isThrottleLow()) { + mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle"); tune_negative(true); return TRANSITION_DENIED; } @@ -451,13 +530,13 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ } } - transition_result_t arming_res = arming_state_transition(&_status, + transition_result_t arming_res = arming_state_transition(_status, _safety, vehicle_status_s::ARMING_STATE_ARMED, - &_armed, + _armed, run_preflight_checks, &_mavlink_log_pub, - &_status_flags, + _status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp), calling_reason); @@ -475,13 +554,13 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason) { - transition_result_t arming_res = arming_state_transition(&_status, + transition_result_t arming_res = arming_state_transition(_status, _safety, vehicle_status_s::ARMING_STATE_STANDBY, - &_armed, + _armed, false, &_mavlink_log_pub, - &_status_flags, + _status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp), calling_reason); @@ -497,6 +576,73 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason) return arming_res; } +transition_result_t +Commander::try_mode_change(main_state_t desired_mode) +{ + transition_result_t res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + + if (res == TRANSITION_DENIED) { + + print_reject_mode(desired_mode); + + if (desired_mode == commander_state_s::MAIN_STATE_OFFBOARD) { + /* offboard does not have a fallback */ + return res; + } + + if (desired_mode == commander_state_s::MAIN_STATE_AUTO_MISSION) { + desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; + res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + } + + if (desired_mode == commander_state_s::MAIN_STATE_AUTO_RTL && (res == TRANSITION_DENIED)) { + desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; + res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + } + + if (desired_mode == commander_state_s::MAIN_STATE_AUTO_LAND && (res == TRANSITION_DENIED)) { + desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; + res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + } + + if (desired_mode == commander_state_s::MAIN_STATE_AUTO_TAKEOFF && (res == TRANSITION_DENIED)) { + desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; + res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + } + + if (desired_mode == commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET && (res == TRANSITION_DENIED)) { + desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; + res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + } + + if (desired_mode == commander_state_s::MAIN_STATE_AUTO_LOITER && (res == TRANSITION_DENIED)) { + /* fall back to position control */ + desired_mode = commander_state_s::MAIN_STATE_POSCTL; + res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + } + + if (desired_mode == commander_state_s::MAIN_STATE_POSCTL && (res == TRANSITION_DENIED)) { + /* fall back to altitude control */ + desired_mode = commander_state_s::MAIN_STATE_ALTCTL; + res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + } + + if (desired_mode == commander_state_s::MAIN_STATE_ALTCTL && (res == TRANSITION_DENIED)) { + /* fall back to stabilized */ + desired_mode = commander_state_s::MAIN_STATE_STAB; + res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + } + + if (desired_mode == commander_state_s::MAIN_STATE_STAB && (res == TRANSITION_DENIED)) { + /* fall back to manual */ + desired_mode = commander_state_s::MAIN_STATE_MANUAL; + res = main_state_transition(_status, desired_mode, _status_flags, _internal_state); + } + } + + return res; +} + Commander::Commander() : ModuleParams(nullptr), _failure_detector(this) @@ -554,7 +700,7 @@ Commander::handle_command(const vehicle_command_s &cmd) // Check if a mode switch had been requested if ((((uint32_t)cmd.param2) & 1) > 0) { transition_result_t main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, - _status_flags, &_internal_state); + _status_flags, _internal_state); if ((main_ret != TRANSITION_DENIED)) { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; @@ -575,28 +721,22 @@ Commander::handle_command(const vehicle_command_s &cmd) uint8_t custom_main_mode = (uint8_t)cmd.param2; uint8_t custom_sub_mode = (uint8_t)cmd.param3; - transition_result_t arming_ret = TRANSITION_NOT_CHANGED; - transition_result_t main_ret = TRANSITION_NOT_CHANGED; - // We ignore base_mode & VEHICLE_MODE_FLAG_SAFETY_ARMED because - // the command VEHICLE_CMD_COMPONENT_ARM_DISARM should be used - // instead according to the latest mavlink spec. - if (base_mode & VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED) { /* use autopilot-specific mode */ if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) { /* MANUAL */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) { /* ALTCTL */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, _status_flags, _internal_state); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) { /* POSCTL */ reset_posvel_validity(); - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ @@ -605,12 +745,12 @@ Commander::handle_command(const vehicle_command_s &cmd) switch (custom_sub_mode) { case PX4_CUSTOM_SUB_MODE_AUTO_LOITER: - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, _internal_state); break; case PX4_CUSTOM_SUB_MODE_AUTO_MISSION: if (_status_flags.condition_auto_mission_available) { - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, _internal_state); } else { main_ret = TRANSITION_DENIED; @@ -619,24 +759,24 @@ Commander::handle_command(const vehicle_command_s &cmd) break; case PX4_CUSTOM_SUB_MODE_AUTO_RTL: - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags, _internal_state); break; case PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF: - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, _status_flags, _internal_state); break; case PX4_CUSTOM_SUB_MODE_AUTO_LAND: - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags, _internal_state); break; case PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET: main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET, _status_flags, - &_internal_state); + _internal_state); break; case PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND: - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_PRECLAND, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_PRECLAND, _status_flags, _internal_state); break; default: @@ -646,59 +786,51 @@ Commander::handle_command(const vehicle_command_s &cmd) } } else { - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, _internal_state); } } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) { /* ACRO */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, &_internal_state); - - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_RATTITUDE) { - /* RATTITUDE */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, _internal_state); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) { /* STABILIZED */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, _internal_state); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) { reset_posvel_validity(); /* OFFBOARD */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_OFFBOARD, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_OFFBOARD, _status_flags, _internal_state); } } else { /* use base mode */ if (base_mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) { /* AUTO */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, _internal_state); } else if (base_mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) { if (base_mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) { /* POSCTL */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state); } else if (base_mode & VEHICLE_MODE_FLAG_STABILIZE_ENABLED) { /* STABILIZED */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, _internal_state); } else { /* MANUAL */ - main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state); + main_ret = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state); } } } - if ((arming_ret != TRANSITION_DENIED) && (main_ret != TRANSITION_DENIED)) { + if (main_ret != TRANSITION_DENIED) { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - - if (arming_ret == TRANSITION_DENIED) { - mavlink_log_critical(&_mavlink_log_pub, "Arming command rejected"); - } } } break; @@ -719,7 +851,7 @@ Commander::handle_command(const vehicle_command_s &cmd) const bool forced = (static_cast(roundf(cmd.param2)) == 21196); if (!forced) { - if (!(_land_detector.landed || _land_detector.maybe_landed) && !is_ground_rover(&_status)) { + if (!(_land_detector.landed || _land_detector.maybe_landed) && !is_ground_rover(_status)) { if (cmd_arms) { if (_armed.armed) { mavlink_log_warning(&_mavlink_log_pub, "Arming denied! Already armed"); @@ -870,45 +1002,10 @@ Commander::handle_command(const vehicle_command_s &cmd) } break; - case vehicle_command_s::VEHICLE_CMD_NAV_GUIDED_ENABLE: { - transition_result_t res = TRANSITION_DENIED; - - if (_internal_state.main_state != commander_state_s::MAIN_STATE_OFFBOARD) { - _main_state_pre_offboard = _internal_state.main_state; - } - - if (cmd.param1 > 0.5f) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_OFFBOARD, _status_flags, &_internal_state); - - if (res == TRANSITION_DENIED) { - print_reject_mode("OFFBOARD"); - _status_flags.offboard_control_set_by_command = false; - - } else { - /* Set flag that offboard was set via command, main state is not overridden by rc */ - _status_flags.offboard_control_set_by_command = true; - } - - } else { - /* If the mavlink command is used to enable or disable offboard control: - * switch back to previous mode when disabling */ - res = main_state_transition(_status, _main_state_pre_offboard, _status_flags, &_internal_state); - _status_flags.offboard_control_set_by_command = false; - } - - if (res == TRANSITION_DENIED) { - cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; - - } else { - cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; - } - } - break; - case vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH: { /* switch to RTL which ends the mission */ if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags, - &_internal_state)) { + _internal_state)) { mavlink_log_info(&_mavlink_log_pub, "Returning to launch"); cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; @@ -922,7 +1019,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: { /* ok, home set, use it to take off */ if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, _status_flags, - &_internal_state)) { + _internal_state)) { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else if (_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_TAKEOFF) { @@ -937,7 +1034,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_NAV_LAND: { if (TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags, - &_internal_state)) { + _internal_state)) { mavlink_log_info(&_mavlink_log_pub, "Landing at current position"); cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; @@ -950,7 +1047,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_NAV_PRECLAND: { if (TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_PRECLAND, _status_flags, - &_internal_state)) { + _internal_state)) { mavlink_log_info(&_mavlink_log_pub, "Precision landing"); cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; @@ -973,7 +1070,7 @@ Commander::handle_command(const vehicle_command_s &cmd) // switch to AUTO_MISSION and ARM if ((TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, - &_internal_state)) + _internal_state)) && (TRANSITION_DENIED != arm(arm_disarm_reason_t::MISSION_START))) { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; @@ -1003,7 +1100,7 @@ Commander::handle_command(const vehicle_command_s &cmd) // Switch to orbit state and let the orbit task handle the command further if (TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_ORBIT, _status_flags, - &_internal_state)) { + _internal_state)) { cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else { @@ -1072,8 +1169,8 @@ Commander::handle_command(const vehicle_command_s &cmd) } else { /* try to go to INIT/PREFLIGHT arming state */ - if (TRANSITION_DENIED == arming_state_transition(&_status, safety_s{}, vehicle_status_s::ARMING_STATE_INIT, &_armed, - false /* fRunPreArmChecks */, &_mavlink_log_pub, &_status_flags, + if (TRANSITION_DENIED == arming_state_transition(_status, safety_s{}, vehicle_status_s::ARMING_STATE_INIT, _armed, + false /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags, PreFlightCheck::arm_requirements_t{}, // arming requirements not relevant for switching to ARMING_STATE_INIT 30_s, // time since boot not relevant for switching to ARMING_STATE_INIT (cmd.from_external ? arm_disarm_reason_t::COMMAND_EXTERNAL : arm_disarm_reason_t::COMMAND_INTERNAL)) @@ -1185,9 +1282,9 @@ Commander::handle_command(const vehicle_command_s &cmd) } else { answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED); - // parameter 1: Yaw in degrees - // parameter 3: Latitude - // parameter 4: Longitude + // parameter 1: Heading (degrees) + // parameter 3: Latitude (degrees) + // parameter 4: Longitude (degrees) // assume vehicle pointing north (0 degrees) if heading isn't specified const float heading_radians = PX4_ISFINITE(cmd.param1) ? math::radians(roundf(cmd.param1)) : 0.f; @@ -1271,6 +1368,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET: case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE: case vehicle_command_s::VEHICLE_CMD_INJECT_FAILURE: + case vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN: /* ignore commands that are handled by other parts of the system */ break; @@ -1303,6 +1401,7 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd) test_motor_s test_motor{}; test_motor.timestamp = hrt_absolute_time(); test_motor.motor_number = (int)(cmd.param1 + 0.5f) - 1; + int throttle_type = (int)(cmd.param2 + 0.5f); if (throttle_type != 0) { // 0: MOTOR_TEST_THROTTLE_PERCENT @@ -1533,21 +1632,21 @@ Commander::run() /* update vehicle status to find out vehicle type (required for preflight checks) */ _status.system_type = _param_mav_type.get(); - if (is_rotary_wing(&_status) || is_vtol(&_status)) { + if (is_rotary_wing(_status) || is_vtol(_status)) { _status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; - } else if (is_fixed_wing(&_status)) { + } else if (is_fixed_wing(_status)) { _status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING; - } else if (is_ground_rover(&_status)) { + } else if (is_ground_rover(_status)) { _status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER; } else { _status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN; } - _status.is_vtol = is_vtol(&_status); - _status.is_vtol_tailsitter = is_vtol_tailsitter(&_status); + _status.is_vtol = is_vtol(_status); + _status.is_vtol_tailsitter = is_vtol_tailsitter(_status); _boot_timestamp = hrt_absolute_time(); @@ -1556,9 +1655,6 @@ Commander::run() _last_gpos_fail_time_us = _boot_timestamp; _last_lvel_fail_time_us = _boot_timestamp; - // user adjustable duration required to assert arm/disarm via throttle/rudder stick - uint32_t rc_arm_hyst = _param_rc_arm_hyst.get() * COMMANDER_MONITORING_LOOPSPERMSEC; - int32_t airmode = 0; int32_t rc_map_arm_switch = 0; @@ -1601,9 +1697,9 @@ Commander::run() if (!_armed.armed) { _status.system_type = _param_mav_type.get(); - const bool is_rotary = is_rotary_wing(&_status) || (is_vtol(&_status) && _vtol_status.vtol_in_rw_mode); - const bool is_fixed = is_fixed_wing(&_status) || (is_vtol(&_status) && !_vtol_status.vtol_in_rw_mode); - const bool is_ground = is_ground_rover(&_status); + const bool is_rotary = is_rotary_wing(_status) || (is_vtol(_status) && _vtol_status.vtol_in_rw_mode); + const bool is_fixed = is_fixed_wing(_status) || (is_vtol(_status) && !_vtol_status.vtol_in_rw_mode); + const bool is_ground = is_ground_rover(_status); /* disable manual override for all systems that rely on electronic stabilization */ if (is_rotary) { @@ -1617,8 +1713,8 @@ Commander::run() } /* set vehicle_status.is_vtol flag */ - _status.is_vtol = is_vtol(&_status); - _status.is_vtol_tailsitter = is_vtol_tailsitter(&_status); + _status.is_vtol = is_vtol(_status); + _status.is_vtol_tailsitter = is_vtol_tailsitter(_status); /* check and update system / component ID */ _status.system_id = _param_mav_sys_id.get(); @@ -1633,8 +1729,6 @@ Commander::run() _status.rc_input_mode = _param_rc_in_off.get(); - rc_arm_hyst = _param_rc_arm_hyst.get() * COMMANDER_MONITORING_LOOPSPERMSEC; - _arm_requirements.arm_authorization = _param_arm_auth_required.get(); _arm_requirements.esc_check = _param_escs_checks_required.get(); _arm_requirements.global_position = !_param_arm_without_gps.get(); @@ -1662,7 +1756,7 @@ Commander::run() } } - _offboard_available.set_hysteresis_time_from(true, _param_com_of_loss_t.get()); + _offboard_available.set_hysteresis_time_from(true, _param_com_of_loss_t.get() * 1e6f); param_init_forced = false; } @@ -1783,6 +1877,9 @@ Commander::run() const bool previous_safety_off = _safety.safety_off; if (_safety_sub.copy(&_safety)) { + set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL, _safety.safety_switch_available, _safety.safety_off, + _safety.safety_switch_available, _status); + // disarm if safety is now on and still armed if (_armed.armed && _safety.safety_switch_available && !_safety.safety_off) { @@ -1822,7 +1919,7 @@ Commander::run() _status.vtol_fw_permanent_stab = _vtol_status.fw_permanent_stab; /* Make sure that this is only adjusted if vehicle really is of type vtol */ - if (is_vtol(&_status)) { + if (is_vtol(_status)) { // Check if there has been any change while updating the flags const auto new_vehicle_type = _vtol_status.vtol_in_rw_mode ? @@ -1938,8 +2035,8 @@ Commander::run() /* If in INIT state, try to proceed to STANDBY state */ if (!_status_flags.condition_calibration_enabled && _status.arming_state == vehicle_status_s::ARMING_STATE_INIT) { - arming_state_transition(&_status, _safety, vehicle_status_s::ARMING_STATE_STANDBY, &_armed, - true /* fRunPreArmChecks */, &_mavlink_log_pub, &_status_flags, + arming_state_transition(_status, _safety, vehicle_status_s::ARMING_STATE_STANDBY, _armed, + true /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp), arm_disarm_reason_t::TRANSITION_TO_STANDBY); } @@ -1993,17 +2090,14 @@ Commander::run() && mission_result.finished) { if ((_param_takeoff_finished_action.get() == 1) && _status_flags.condition_auto_mission_available) { - main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state); + main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, _internal_state); } else { - main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state); + main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, _internal_state); } } } - // update manual_control_setpoint before geofence (which might check sticks or switches) - _manual_control_setpoint_sub.update(&_manual_control_setpoint); - /* start geofence result check */ _geofence_result_sub.update(&_geofence_result); @@ -2032,7 +2126,7 @@ Commander::run() case (geofence_result_s::GF_ACTION_LOITER) : { if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, - &_internal_state)) { + _internal_state)) { _geofence_loiter_on = true; } @@ -2041,7 +2135,7 @@ Commander::run() case (geofence_result_s::GF_ACTION_RTL) : { if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags, - &_internal_state)) { + _internal_state)) { _geofence_rtl_on = true; } @@ -2050,7 +2144,7 @@ Commander::run() case (geofence_result_s::GF_ACTION_LAND) : { if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags, - &_internal_state)) { + _internal_state)) { _geofence_land_on = true; } @@ -2105,32 +2199,6 @@ Commander::run() _geofence_violated_prev = false; } - // abort autonomous mode and switch to position mode if sticks are moved significantly - if ((_param_rc_override.get() != 0) && (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) { - - const bool override_auto_mode = (_param_rc_override.get() & OVERRIDE_AUTO_MODE_BIT) - && _vehicle_control_mode.flag_control_auto_enabled; - - const bool override_offboard_mode = (_param_rc_override.get() & OVERRIDE_OFFBOARD_MODE_BIT) - && _vehicle_control_mode.flag_control_offboard_enabled; - - if ((override_auto_mode || override_offboard_mode) && !in_low_battery_failsafe && !_geofence_warning_action_on) { - const float minimum_stick_deflection = 0.01f * _param_com_rc_stick_ov.get(); - - if (!_status.rc_signal_lost && - ((fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) || - (fabsf(_manual_control_setpoint.y) > minimum_stick_deflection))) { - - if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, - &_internal_state) == TRANSITION_CHANGED) { - tune_positive(true); - mavlink_log_info(&_mavlink_log_pub, "Pilot took over control using sticks"); - _status_changed = true; - } - } - } - } - /* Check for mission flight termination */ if (_armed.armed && _mission_result_sub.get().flight_termination && !_status_flags.circuit_breaker_flight_termination_disabled) { @@ -2148,9 +2216,10 @@ Commander::run() } } - /* RC input check */ - if (!_status_flags.rc_input_blocked && _manual_control_setpoint.timestamp != 0 && - (hrt_elapsed_time(&_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s))) { + // Manual control input handling + _manual_control.setRCAllowed(!_status_flags.rc_input_blocked); + + if (_manual_control.update()) { /* handle the case where RC signal was regained */ if (!_status_flags.rc_signal_found_once) { @@ -2172,101 +2241,40 @@ Commander::run() _status.rc_signal_lost = false; - const bool in_armed_state = (_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); - const bool arm_switch_or_button_mapped = - _manual_control_switches.arm_switch != manual_control_switches_s::SWITCH_POS_NONE; - const bool arm_button_pressed = _param_arm_switch_is_button.get() - && (_manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON); + const bool rc_arming_enabled = (_status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF); - /* DISARM - * check if left stick is in lower left position or arm button is pushed or arm switch has transition from arm to disarm - * and we are in MANUAL, Rattitude, or AUTO_READY mode or (ASSIST mode and landed) - * do it only for rotary wings in manual mode or fixed wing if landed. - * Disable stick-disarming if arming switch or button is mapped */ - const bool stick_in_lower_left = _manual_control_setpoint.r < -STICK_ON_OFF_LIMIT - && (_manual_control_setpoint.z < 0.1f) - && !arm_switch_or_button_mapped; - const bool arm_switch_to_disarm_transition = !_param_arm_switch_is_button.get() && - (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_ON) && - (_manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF); - - if (in_armed_state && - (_status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF) && - (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || _land_detector.landed) && - (stick_in_lower_left || arm_button_pressed || arm_switch_to_disarm_transition)) { - - const bool manual_thrust_mode = _vehicle_control_mode.flag_control_manual_enabled - && !_vehicle_control_mode.flag_control_climb_rate_enabled; - - const bool rc_wants_disarm = (_stick_off_counter == rc_arm_hyst && _stick_on_counter < rc_arm_hyst) - || arm_switch_to_disarm_transition; - - if (rc_wants_disarm && (_land_detector.landed || manual_thrust_mode)) { - if (arm_switch_to_disarm_transition) { - disarm(arm_disarm_reason_t::RC_SWITCH); - - } else { - disarm(arm_disarm_reason_t::RC_STICK); - } + if (rc_arming_enabled) { + if (_manual_control.wantsDisarm(_vehicle_control_mode, _status, _manual_control_switches, _land_detector.landed)) { + disarm(arm_disarm_reason_t::RC_STICK); } - _stick_off_counter++; + if (_manual_control.wantsArm(_vehicle_control_mode, _status, _manual_control_switches, _land_detector.landed)) { + if (_vehicle_control_mode.flag_control_manual_enabled) { + arm(arm_disarm_reason_t::RC_STICK); - } else if (!(_param_arm_switch_is_button.get() - && _manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON)) { - /* do not reset the counter when holding the arm button longer than needed */ - _stick_off_counter = 0; - } - - /* ARM - * check if left stick is in lower right position or arm button is pushed or arm switch has transition from disarm to arm - * and we're in MANUAL mode. - * Disable stick-arming if arming switch or button is mapped */ - const bool stick_in_lower_right = _manual_control_setpoint.r > STICK_ON_OFF_LIMIT && _manual_control_setpoint.z < 0.1f - && !arm_switch_or_button_mapped; - /* allow a grace period for re-arming: preflight checks don't need to pass during that time, - * for example for accidental in-air disarming */ - const bool in_rearming_grace_period = _param_com_rearm_grace.get() && (_last_disarmed_timestamp != 0) - && (hrt_elapsed_time(&_last_disarmed_timestamp) < 5_s); - - const bool arm_switch_to_arm_transition = !_param_arm_switch_is_button.get() && - (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_OFF) && - (_manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) && - (_manual_control_setpoint.z < 0.1f || in_rearming_grace_period); - - if (!in_armed_state && - (_status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF) && - (stick_in_lower_right || arm_button_pressed || arm_switch_to_arm_transition)) { - - if ((_stick_on_counter == rc_arm_hyst && _stick_off_counter < rc_arm_hyst) || arm_switch_to_arm_transition) { - - /* we check outside of the transition function here because the requirement - * for being in manual mode only applies to manual arming actions. - * the system can be armed in auto if armed via the GCS. - */ - if (!_vehicle_control_mode.flag_control_manual_enabled) { - mavlink_log_critical(&_mavlink_log_pub, "Arming denied! Switch to a manual mode first"); + } else { + mavlink_log_critical(&_mavlink_log_pub, "Not arming! Switch to a manual mode first"); tune_negative(true); - - } else { - if (arm_switch_to_arm_transition) { - arm(arm_disarm_reason_t::RC_SWITCH); - - } else { - arm(arm_disarm_reason_t::RC_STICK); - } } } - - _stick_on_counter++; - - } else if (!(_param_arm_switch_is_button.get() - && _manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON)) { - /* do not reset the counter when holding the arm button longer than needed */ - _stick_on_counter = 0; } - _last_manual_control_switches_arm_switch = _manual_control_switches.arm_switch; + // abort autonomous mode and switch to position mode if sticks are moved significantly + if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) + && !in_low_battery_failsafe && !_geofence_warning_action_on + && _manual_control.wantsOverride(_vehicle_control_mode)) { + if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, + _internal_state) == TRANSITION_CHANGED) { + tune_positive(true); + mavlink_log_info(&_mavlink_log_pub, "Pilot took over control using sticks"); + _status_changed = true; + } + } + + if (!_armed.armed && _manual_control.isMavlink() && (_internal_state.main_state_changes == 0)) { + // if there's never been a mode change force position control as initial state + _internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL; + } if (_manual_control_switches_sub.update(&_manual_control_switches) || safety_updated) { @@ -2300,7 +2308,7 @@ Commander::run() } // evaluate the main state machine according to mode switches - if (set_main_state(&_status_changed) == TRANSITION_CHANGED) { + if (set_main_state(_status_changed) == TRANSITION_CHANGED) { // play tune on mode change only if armed, blink LED always tune_positive(_armed.armed); _status_changed = true; @@ -2333,15 +2341,16 @@ Commander::run() } /* no else case: do not change lockdown flag in unconfigured case */ + } - } else { + if (!_manual_control.isRCAvailable()) { // set RC lost if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost) { // ignore RC lost during calibration if (!_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) { mavlink_log_critical(&_mavlink_log_pub, "Manual control lost"); _status.rc_signal_lost = true; - _rc_signal_lost_timestamp = _manual_control_setpoint.timestamp; + _rc_signal_lost_timestamp = _manual_control.getLastRcTimestamp(); set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, _status); _status_changed = true; } @@ -2405,7 +2414,7 @@ Commander::run() if (_status.rc_signal_lost && (_internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL) && _status_flags.condition_global_position_valid) { - main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state); + main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, _internal_state); } } @@ -2427,7 +2436,7 @@ Commander::run() } /* Check for failure detector status */ - if (_failure_detector.update(_status)) { + if (_failure_detector.update(_status, _vehicle_control_mode)) { _status.failure_detector_status = _failure_detector.getStatus(); _status_changed = true; @@ -2526,9 +2535,9 @@ Commander::run() } /* now set navigation state according to failsafe and main state */ - bool nav_state_changed = set_nav_state(&_status, - &_armed, - &_internal_state, + bool nav_state_changed = set_nav_state(_status, + _armed, + _internal_state, &_mavlink_log_pub, (link_loss_actions_t)_param_nav_dll_act.get(), _mission_result_sub.get().finished, @@ -2606,7 +2615,8 @@ Commander::run() // Evaluate current prearm status if (!_armed.armed && !_status_flags.condition_calibration_enabled) { - bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _status, _status_flags, false, true, 30_s); + bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _status, _status_flags, false, true, + hrt_elapsed_time(&_boot_timestamp)); // skip arm authorization check until actual arming attempt PreFlightCheck::arm_requirements_t arm_req = _arm_requirements; @@ -2874,7 +2884,7 @@ Commander::control_status_leds(bool changed, const uint8_t battery_warning) } transition_result_t -Commander::set_main_state(bool *changed) +Commander::set_main_state(bool &changed) { if (_safety.override_available && _safety.override_enabled) { return set_main_state_override_on(changed); @@ -2885,11 +2895,11 @@ Commander::set_main_state(bool *changed) } transition_result_t -Commander::set_main_state_override_on(bool *changed) +Commander::set_main_state_override_on(bool &changed) { const transition_result_t res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, - &_internal_state); - *changed = (res == TRANSITION_CHANGED); + _internal_state); + changed = (res == TRANSITION_CHANGED); return res; } @@ -2914,7 +2924,6 @@ Commander::set_main_state_rc() || (_last_manual_control_switches.return_switch != _manual_control_switches.return_switch) || (_last_manual_control_switches.mode_switch != _manual_control_switches.mode_switch) || (_last_manual_control_switches.acro_switch != _manual_control_switches.acro_switch) - || (_last_manual_control_switches.rattitude_switch != _manual_control_switches.rattitude_switch) || (_last_manual_control_switches.posctl_switch != _manual_control_switches.posctl_switch) || (_last_manual_control_switches.loiter_switch != _manual_control_switches.loiter_switch) || (_last_manual_control_switches.mode_slot != _manual_control_switches.mode_slot) @@ -2959,10 +2968,10 @@ Commander::set_main_state_rc() /* offboard switch overrides main switch */ if (_manual_control_switches.offboard_switch == manual_control_switches_s::SWITCH_POS_ON) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_OFFBOARD, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_OFFBOARD, _status_flags, _internal_state); if (res == TRANSITION_DENIED) { - print_reject_mode("OFFBOARD"); + print_reject_mode(commander_state_s::MAIN_STATE_OFFBOARD); /* mode rejected, continue to evaluate the main system mode */ } else { @@ -2973,14 +2982,7 @@ Commander::set_main_state_rc() /* RTL switch overrides main switch */ if (_manual_control_switches.return_switch == manual_control_switches_s::SWITCH_POS_ON) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_RTL, _status_flags, &_internal_state); - - if (res == TRANSITION_DENIED) { - print_reject_mode("AUTO RTL"); - - /* fallback to LOITER if home position not set */ - res = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state); - } + res = try_mode_change(commander_state_s::MAIN_STATE_AUTO_RTL); if (res != TRANSITION_DENIED) { /* changed successfully or already in this state */ @@ -2992,12 +2994,14 @@ Commander::set_main_state_rc() /* Loiter switch overrides main switch */ if (_manual_control_switches.loiter_switch == manual_control_switches_s::SWITCH_POS_ON) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, _internal_state); if (res == TRANSITION_DENIED) { - print_reject_mode("AUTO HOLD"); + print_reject_mode(commander_state_s::MAIN_STATE_AUTO_LOITER); + /* mode rejected, continue to evaluate the main system mode */ } else { + /* changed successfully or already in this state */ return res; } } @@ -3017,125 +3021,7 @@ Commander::set_main_state_rc() res = TRANSITION_NOT_CHANGED; } else { - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - /* ensure that the mode selection does not get stuck here */ - int maxcount = 5; - - /* enable the use of break */ - /* fallback strategies, give the user the closest mode to what he wanted */ - while (res == TRANSITION_DENIED && maxcount > 0) { - - maxcount--; - - if (new_mode == commander_state_s::MAIN_STATE_AUTO_MISSION) { - - /* fall back to loiter */ - new_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; - print_reject_mode("AUTO MISSION"); - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; - } - } - - if (new_mode == commander_state_s::MAIN_STATE_AUTO_RTL) { - - /* fall back to position control */ - new_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; - print_reject_mode("AUTO RTL"); - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; - } - } - - if (new_mode == commander_state_s::MAIN_STATE_AUTO_LAND) { - - /* fall back to position control */ - new_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; - print_reject_mode("AUTO LAND"); - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; - } - } - - if (new_mode == commander_state_s::MAIN_STATE_AUTO_TAKEOFF) { - - /* fall back to position control */ - new_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; - print_reject_mode("AUTO TAKEOFF"); - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; - } - } - - if (new_mode == commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET) { - - /* fall back to position control */ - new_mode = commander_state_s::MAIN_STATE_AUTO_LOITER; - print_reject_mode("AUTO FOLLOW"); - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; - } - } - - if (new_mode == commander_state_s::MAIN_STATE_AUTO_LOITER) { - - /* fall back to position control */ - new_mode = commander_state_s::MAIN_STATE_POSCTL; - print_reject_mode("AUTO HOLD"); - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; - } - } - - if (new_mode == commander_state_s::MAIN_STATE_POSCTL) { - - /* fall back to altitude control */ - new_mode = commander_state_s::MAIN_STATE_ALTCTL; - print_reject_mode("POSITION CONTROL"); - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; - } - } - - if (new_mode == commander_state_s::MAIN_STATE_ALTCTL) { - - /* fall back to stabilized */ - new_mode = commander_state_s::MAIN_STATE_STAB; - print_reject_mode("ALTITUDE CONTROL"); - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; - } - } - - if (new_mode == commander_state_s::MAIN_STATE_STAB) { - - /* fall back to manual */ - new_mode = commander_state_s::MAIN_STATE_MANUAL; - print_reject_mode("STABILIZED"); - res = main_state_transition(_status, new_mode, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; - } - } - } + res = try_mode_change(new_mode); } return res; @@ -3159,27 +3045,17 @@ Commander::set_main_state_rc() * for any non-manual mode */ if (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_status.is_vtol) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, _internal_state); } else if (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, _internal_state); } else { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state); - } - - } else if (_manual_control_switches.rattitude_switch == manual_control_switches_s::SWITCH_POS_ON) { - /* Similar to acro transitions for multirotors. FW aircraft don't need a - * rattitude mode.*/ - if (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state); - - } else { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state); } } else { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state); } } else { @@ -3188,24 +3064,21 @@ Commander::set_main_state_rc() * - Manual is not default anymore when the manual switch is assigned */ if (_manual_control_switches.man_switch == manual_control_switches_s::SWITCH_POS_ON) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state); } else if (_manual_control_switches.acro_switch == manual_control_switches_s::SWITCH_POS_ON) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, &_internal_state); - - } else if (_manual_control_switches.rattitude_switch == manual_control_switches_s::SWITCH_POS_ON) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_RATTITUDE, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, _internal_state); } else if (_manual_control_switches.stab_switch == manual_control_switches_s::SWITCH_POS_ON) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, _internal_state); } else if (_manual_control_switches.man_switch == manual_control_switches_s::SWITCH_POS_NONE) { // default to MANUAL when no manual switch is set - res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state); } else { // default to STAB when the manual switch is assigned (but off) - res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, &_internal_state); + res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, _internal_state); } } @@ -3214,64 +3087,16 @@ Commander::set_main_state_rc() case manual_control_switches_s::SWITCH_POS_MIDDLE: // ASSIST if (_manual_control_switches.posctl_switch == manual_control_switches_s::SWITCH_POS_ON) { - res = main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, &_internal_state); + res = try_mode_change(commander_state_s::MAIN_STATE_POSCTL); - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } - - print_reject_mode("POSITION CONTROL"); + } else { + res = try_mode_change(commander_state_s::MAIN_STATE_ALTCTL); } - // fallback to ALTCTL - res = main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this mode - } - - if (_manual_control_switches.posctl_switch != manual_control_switches_s::SWITCH_POS_ON) { - print_reject_mode("ALTITUDE CONTROL"); - } - - // fallback to MANUAL - res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state); - // TRANSITION_DENIED is not possible here break; - case manual_control_switches_s::SWITCH_POS_ON: // AUTO - res = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_MISSION, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } - - print_reject_mode("AUTO MISSION"); - - // fallback to LOITER if home position not set - res = main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LOITER, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } - - // fallback to POSCTL - res = main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } - - // fallback to ALTCTL - res = main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, _status_flags, &_internal_state); - - if (res != TRANSITION_DENIED) { - break; // changed successfully or already in this state - } - - // fallback to MANUAL - res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, &_internal_state); - // TRANSITION_DENIED is not possible here + case manual_control_switches_s::SWITCH_POS_ON: // AUTO + res = try_mode_change(commander_state_s::MAIN_STATE_AUTO_MISSION); break; default: @@ -3297,9 +3122,9 @@ Commander::reset_posvel_validity() bool Commander::check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy, - const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state) + const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, + const bool was_valid) { - const bool was_valid = *valid_state; bool valid = was_valid; // constrain probation times @@ -3345,7 +3170,6 @@ Commander::check_posvel_validity(const bool data_valid, const float data_accurac if (was_valid != valid) { _status_changed = true; - *valid_state = valid; } return valid; @@ -3375,13 +3199,6 @@ Commander::update_control_mode() _vehicle_control_mode.flag_control_attitude_enabled = true; break; - case vehicle_status_s::NAVIGATION_STATE_RATTITUDE: - _vehicle_control_mode.flag_control_manual_enabled = true; - _vehicle_control_mode.flag_control_rates_enabled = true; - _vehicle_control_mode.flag_control_attitude_enabled = true; - _vehicle_control_mode.flag_control_rattitude_enabled = true; - break; - case vehicle_status_s::NAVIGATION_STATE_ALTCTL: _vehicle_control_mode.flag_control_manual_enabled = true; _vehicle_control_mode.flag_control_rates_enabled = true; @@ -3444,55 +3261,39 @@ Commander::update_control_mode() _vehicle_control_mode.flag_control_termination_enabled = true; break; - case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: { - _vehicle_control_mode.flag_control_offboard_enabled = true; + case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: + _vehicle_control_mode.flag_control_offboard_enabled = true; - const offboard_control_mode_s &offboard = _offboard_control_mode_sub.get(); + if (_offboard_control_mode_sub.get().position) { + _vehicle_control_mode.flag_control_position_enabled = true; + _vehicle_control_mode.flag_control_velocity_enabled = true; + _vehicle_control_mode.flag_control_altitude_enabled = true; + _vehicle_control_mode.flag_control_climb_rate_enabled = true; + _vehicle_control_mode.flag_control_acceleration_enabled = true; + _vehicle_control_mode.flag_control_rates_enabled = true; + _vehicle_control_mode.flag_control_attitude_enabled = true; - if (!offboard.ignore_acceleration_force) { - // OFFBOARD acceleration - _vehicle_control_mode.flag_control_acceleration_enabled = true; - _vehicle_control_mode.flag_control_attitude_enabled = true; - _vehicle_control_mode.flag_control_rates_enabled = true; + } else if (_offboard_control_mode_sub.get().velocity) { + _vehicle_control_mode.flag_control_velocity_enabled = true; + _vehicle_control_mode.flag_control_altitude_enabled = true; + _vehicle_control_mode.flag_control_climb_rate_enabled = true; + _vehicle_control_mode.flag_control_acceleration_enabled = true; + _vehicle_control_mode.flag_control_rates_enabled = true; + _vehicle_control_mode.flag_control_attitude_enabled = true; - } else if (!offboard.ignore_position) { - // OFFBOARD position - _vehicle_control_mode.flag_control_position_enabled = true; - _vehicle_control_mode.flag_control_velocity_enabled = true; - _vehicle_control_mode.flag_control_altitude_enabled = true; - _vehicle_control_mode.flag_control_climb_rate_enabled = true; - _vehicle_control_mode.flag_control_attitude_enabled = true; - _vehicle_control_mode.flag_control_rates_enabled = true; + } else if (_offboard_control_mode_sub.get().acceleration) { + _vehicle_control_mode.flag_control_acceleration_enabled = true; + _vehicle_control_mode.flag_control_rates_enabled = true; + _vehicle_control_mode.flag_control_attitude_enabled = true; - } else if (!offboard.ignore_velocity) { - // OFFBOARD velocity - _vehicle_control_mode.flag_control_velocity_enabled = true; - _vehicle_control_mode.flag_control_altitude_enabled = true; - _vehicle_control_mode.flag_control_climb_rate_enabled = true; - _vehicle_control_mode.flag_control_attitude_enabled = true; - _vehicle_control_mode.flag_control_rates_enabled = true; + } else if (_offboard_control_mode_sub.get().attitude) { + _vehicle_control_mode.flag_control_rates_enabled = true; + _vehicle_control_mode.flag_control_attitude_enabled = true; - } else if (!offboard.ignore_attitude) { - // OFFBOARD attitude - _vehicle_control_mode.flag_control_attitude_enabled = true; - _vehicle_control_mode.flag_control_rates_enabled = true; - - } else if (!offboard.ignore_bodyrate_x || !offboard.ignore_bodyrate_y || !offboard.ignore_bodyrate_z) { - // OFFBOARD rate - _vehicle_control_mode.flag_control_rates_enabled = true; - } - - // TO-DO: Add support for other modes than yawrate control - _vehicle_control_mode.flag_control_yawrate_override_enabled = offboard.ignore_bodyrate_x && offboard.ignore_bodyrate_y - && !offboard.ignore_bodyrate_z && !offboard.ignore_attitude; - - // VTOL transition override - if (_status.in_transition_mode) { - _vehicle_control_mode.flag_control_acceleration_enabled = false; - _vehicle_control_mode.flag_control_velocity_enabled = false; - _vehicle_control_mode.flag_control_position_enabled = false; - } + } else if (_offboard_control_mode_sub.get().body_rate) { + _vehicle_control_mode.flag_control_rates_enabled = true; } + break; case vehicle_status_s::NAVIGATION_STATE_ORBIT: @@ -3500,13 +3301,10 @@ Commander::update_control_mode() _vehicle_control_mode.flag_control_auto_enabled = false; _vehicle_control_mode.flag_control_rates_enabled = true; _vehicle_control_mode.flag_control_attitude_enabled = true; - _vehicle_control_mode.flag_control_rattitude_enabled = false; _vehicle_control_mode.flag_control_altitude_enabled = true; _vehicle_control_mode.flag_control_climb_rate_enabled = true; _vehicle_control_mode.flag_control_position_enabled = !_status.in_transition_mode; _vehicle_control_mode.flag_control_velocity_enabled = !_status.in_transition_mode; - _vehicle_control_mode.flag_control_acceleration_enabled = false; - _vehicle_control_mode.flag_control_termination_enabled = false; break; default: @@ -3528,17 +3326,17 @@ Commander::stabilization_required() } void -Commander::print_reject_mode(const char *msg) +Commander::print_reject_mode(uint8_t main_state) { - const hrt_abstime t = hrt_absolute_time(); + if (hrt_elapsed_time(&_last_print_mode_reject_time) > 1_s) { - if (t - _last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { - _last_print_mode_reject_time = t; - mavlink_log_critical(&_mavlink_log_pub, "REJECT %s", msg); + mavlink_log_critical(&_mavlink_log_pub, "Switching to %s is currently not available.", main_state_str(main_state)); /* only buzz if armed, because else we're driving people nuts indoors they really need to look at the leds as well. */ tune_negative(_armed.armed); + + _last_print_mode_reject_time = hrt_absolute_time(); } } @@ -3741,9 +3539,9 @@ void Commander::data_link_check() } } - // ONBOARD CONTROLLER data link loss failsafe (hard coded 5 seconds) + // ONBOARD CONTROLLER data link loss failsafe if ((_datalink_last_heartbeat_onboard_controller > 0) - && (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > 5_s) + && (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > (_param_com_obc_loss_t.get() * 1_s)) && !_onboard_controller_lost) { mavlink_log_critical(&_mavlink_log_pub, "Connection to mission computer lost"); @@ -3912,7 +3710,7 @@ void Commander::battery_status_check() // execute battery failsafe if the state has gotten worse while we are armed if (battery_warning_level_increased_while_armed) { - battery_failsafe(&_mavlink_log_pub, _status, _status_flags, &_internal_state, _battery_warning, + battery_failsafe(&_mavlink_log_pub, _status, _status_flags, _internal_state, _battery_warning, (low_battery_action_t)_param_com_low_bat_act.get()); } @@ -3975,6 +3773,7 @@ void Commander::estimator_check() if (!mag_fault_prev && mag_fault) { mavlink_log_critical(&_mavlink_log_pub, "Stopping compass use! Check calibration on landing"); + set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG, true, true, false, _status); } /* Check estimator status for signs of bad yaw induced post takeoff navigation failure @@ -4015,7 +3814,7 @@ void Commander::estimator_check() } else if (innovation_fail) { _time_last_innov_fail = hrt_absolute_time(); - if (!_nav_test_failed && hrt_elapsed_time(&_time_last_innov_pass) > 1_s) { + if (!_nav_test_failed && hrt_elapsed_time(&_time_last_innov_pass) > 2_s) { // if the innovation test has failed continuously, declare the nav as failed _nav_test_failed = true; mavlink_log_emergency(&_mavlink_log_pub, "Navigation failure! Land and recalibrate sensors"); @@ -4061,8 +3860,10 @@ void Commander::UpdateEstimateValidity() float lpos_eph_threshold_adj = _param_com_pos_fs_eph.get(); // relax local position eph threshold in operator controlled position mode - // TODO: update to vehicle_control_mode (when available) - flag_control_manual_enabled && flag_control_position_enabled - if (_status.nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL) { + if (_internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL && + ((_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL) + || (_status.nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL))) { + // Set the allowable position uncertainty based on combination of flight and estimator state // When we are in a operator demanded position control mode and are solely reliant on optical flow, do not check position error because it will gradually increase throughout flight and the operator will compensate for the drift const bool reliant_on_opt_flow = ((status.control_mode_flags & (1 << estimator_status_s::CS_OPT_FLOW)) @@ -4074,46 +3875,57 @@ void Commander::UpdateEstimateValidity() } } - // condition_global_position_valid - check_posvel_validity(lpos.xy_valid && !_nav_test_failed, gpos.eph, _param_com_pos_fs_eph.get(), gpos.timestamp, - &_last_gpos_fail_time_us, &_gpos_probation_time_us, &_status_flags.condition_global_position_valid); + _status_flags.condition_global_position_valid = + check_posvel_validity(lpos.xy_valid && !_nav_test_failed, gpos.eph, _param_com_pos_fs_eph.get(), gpos.timestamp, + &_last_gpos_fail_time_us, &_gpos_probation_time_us, _status_flags.condition_global_position_valid); - // condition_local_position_valid - check_posvel_validity(lpos.xy_valid && !_nav_test_failed, lpos.eph, lpos_eph_threshold_adj, lpos.timestamp, - &_last_lpos_fail_time_us, &_lpos_probation_time_us, &_status_flags.condition_local_position_valid); + _status_flags.condition_local_position_valid = + check_posvel_validity(lpos.xy_valid && !_nav_test_failed, lpos.eph, lpos_eph_threshold_adj, lpos.timestamp, + &_last_lpos_fail_time_us, &_lpos_probation_time_us, _status_flags.condition_local_position_valid); - // condition_local_velocity_valid - check_posvel_validity(lpos.v_xy_valid && !_nav_test_failed, lpos.evh, _param_com_vel_fs_evh.get(), lpos.timestamp, - &_last_lvel_fail_time_us, &_lvel_probation_time_us, &_status_flags.condition_local_velocity_valid); + _status_flags.condition_local_velocity_valid = + check_posvel_validity(lpos.v_xy_valid && !_nav_test_failed, lpos.evh, _param_com_vel_fs_evh.get(), lpos.timestamp, + &_last_lvel_fail_time_us, &_lvel_probation_time_us, _status_flags.condition_local_velocity_valid); } void Commander::offboard_control_update() { - const offboard_control_mode_s &offboard_control_mode = _offboard_control_mode_sub.get(); + bool offboard_available = false; if (_offboard_control_mode_sub.updated()) { - const offboard_control_mode_s old = offboard_control_mode; + const offboard_control_mode_s old = _offboard_control_mode_sub.get(); if (_offboard_control_mode_sub.update()) { - if (old.ignore_thrust != offboard_control_mode.ignore_thrust || - old.ignore_attitude != offboard_control_mode.ignore_attitude || - old.ignore_bodyrate_x != offboard_control_mode.ignore_bodyrate_x || - old.ignore_bodyrate_y != offboard_control_mode.ignore_bodyrate_y || - old.ignore_bodyrate_z != offboard_control_mode.ignore_bodyrate_z || - old.ignore_position != offboard_control_mode.ignore_position || - old.ignore_velocity != offboard_control_mode.ignore_velocity || - old.ignore_acceleration_force != offboard_control_mode.ignore_acceleration_force || - old.ignore_alt_hold != offboard_control_mode.ignore_alt_hold) { + const offboard_control_mode_s &ocm = _offboard_control_mode_sub.get(); + + if (old.position != ocm.position || + old.velocity != ocm.velocity || + old.acceleration != ocm.acceleration || + old.attitude != ocm.attitude || + old.body_rate != ocm.body_rate) { _status_changed = true; } + + if (ocm.position || ocm.velocity || ocm.acceleration || ocm.attitude || ocm.body_rate) { + offboard_available = true; + } } } - _offboard_available.set_state_and_update( - hrt_elapsed_time(&offboard_control_mode.timestamp) < _param_com_of_loss_t.get() * 1e6f, - hrt_absolute_time()); + if (_offboard_control_mode_sub.get().position && !_status_flags.condition_local_position_valid) { + offboard_available = false; + + } else if (_offboard_control_mode_sub.get().velocity && !_status_flags.condition_local_velocity_valid) { + offboard_available = false; + + } else if (_offboard_control_mode_sub.get().acceleration && !_status_flags.condition_local_velocity_valid) { + // OFFBOARD acceleration handled by position controller + offboard_available = false; + } + + _offboard_available.set_state_and_update(offboard_available, hrt_absolute_time()); const bool offboard_lost = !_offboard_available.get_state(); @@ -4186,10 +3998,14 @@ The commander module contains the state machine for mode switching and failsafe PRINT_MODULE_USAGE_COMMAND("land"); PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition"); PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode"); - PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland", + PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland", "Flight mode", false); + PRINT_MODULE_USAGE_COMMAND("pair"); PRINT_MODULE_USAGE_COMMAND("lockdown"); PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true); + PRINT_MODULE_USAGE_COMMAND("set_ekf_origin"); + PRINT_MODULE_USAGE_ARG("lat, lon, alt", "Origin Latitude, Longitude, Altitude", false); + PRINT_MODULE_USAGE_COMMAND_DESCR("lat|lon|alt", "Origin latitude longitude altitude"); #endif PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp index 4574f1c741..4124630719 100644 --- a/src/modules/commander/Commander.hpp +++ b/src/modules/commander/Commander.hpp @@ -37,6 +37,7 @@ /* Helper classes */ #include "Arming/PreFlightCheck/PreFlightCheck.hpp" #include "failure_detector/FailureDetector.hpp" +#include "ManualControl.hpp" #include "state_machine_helper.h" #include "worker_thread.hpp" @@ -70,7 +71,6 @@ #include #include #include -#include #include #include #include @@ -126,12 +126,13 @@ private: transition_result_t arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks = true); transition_result_t disarm(arm_disarm_reason_t calling_reason); + transition_result_t try_mode_change(main_state_t desired_mode); void battery_status_check(); bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy, const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, - bool *valid_state); + const bool was_valid); void control_status_leds(bool changed, const uint8_t battery_warning); @@ -154,7 +155,7 @@ private: void offboard_control_update(); - void print_reject_mode(const char *msg); + void print_reject_mode(uint8_t main_state); void reset_posvel_validity(); @@ -174,10 +175,10 @@ private: void UpdateEstimateValidity(); // Set the main system state based on RC and override device inputs - transition_result_t set_main_state(bool *changed); + transition_result_t set_main_state(bool &changed); // Enable override (manual reversion mode) on the system - transition_result_t set_main_state_override_on(bool *changed); + transition_result_t set_main_state_override_on(bool &changed); // Set the system main state based on the current RC inputs transition_result_t set_main_state_rc(); @@ -195,7 +196,6 @@ private: (ParamInt) _param_com_hldl_reg_t, (ParamInt) _param_nav_rcl_act, - (ParamFloat) _param_com_rc_loss_t, (ParamFloat) _param_com_rcl_act_t, (ParamFloat) _param_com_home_h_t, @@ -219,6 +219,8 @@ private: (ParamInt) _param_com_flt_profile, + (ParamFloat) _param_com_obc_loss_t, + // Offboard (ParamFloat) _param_com_of_loss_t, (ParamInt) _param_com_obl_act, @@ -236,7 +238,6 @@ private: (ParamFloat) _param_ef_time_thres, (ParamBool) _param_arm_without_gps, - (ParamBool) _param_arm_switch_is_button, (ParamBool) _param_arm_mission_required, (ParamBool) _param_arm_auth_required, (ParamBool) _param_escs_checks_required, @@ -245,10 +246,7 @@ private: (ParamInt) _param_flight_uuid, (ParamInt) _param_takeoff_finished_action, - (ParamInt) _param_rc_override, (ParamInt) _param_rc_in_off, - (ParamInt) _param_rc_arm_hyst, - (ParamFloat) _param_com_rc_stick_ov, (ParamInt) _param_fltmode_1, (ParamInt) _param_fltmode_2, @@ -286,20 +284,10 @@ private: ALWAYS = 2 }; - enum OverrideMode { - OVERRIDE_DISABLED = 0, - OVERRIDE_AUTO_MODE_BIT = (1 << 0), - OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1) - }; - /* Decouple update interval and hysteresis counters, all depends on intervals */ static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms}; - static constexpr float COMMANDER_MONITORING_LOOPSPERMSEC{1 / (COMMANDER_MONITORING_INTERVAL / 1000.0f)}; - - static constexpr float STICK_ON_OFF_LIMIT{0.9f}; static constexpr uint64_t HOTPLUG_SENS_TIMEOUT{8_s}; /**< wait for hotplug sensors to come online for upto 8 seconds */ - static constexpr uint64_t PRINT_MODE_REJECT_INTERVAL{500_ms}; static constexpr uint64_t INAIR_RESTART_HOLDOFF_INTERVAL{500_ms}; const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */ @@ -363,14 +351,11 @@ private: unsigned int _leds_counter{0}; - manual_control_setpoint_s _manual_control_setpoint{}; ///< the current manual control setpoint manual_control_switches_s _manual_control_switches{}; manual_control_switches_s _last_manual_control_switches{}; + ManualControl _manual_control{this}; hrt_abstime _rc_signal_lost_timestamp{0}; ///< Time at which the RC reception was lost int32_t _flight_mode_slots[manual_control_switches_s::MODE_SLOT_NUM] {}; - uint8_t _last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE}; - uint32_t _stick_off_counter{0}; - uint32_t _stick_on_counter{0}; hrt_abstime _boot_timestamp{0}; hrt_abstime _last_disarmed_timestamp{0}; @@ -389,8 +374,6 @@ private: bool _flight_termination_printed{false}; bool _system_power_usb_connected{false}; - main_state_t _main_state_pre_offboard{commander_state_s::MAIN_STATE_MANUAL}; - cpuload_s _cpuload{}; geofence_result_s _geofence_result{}; vehicle_land_detected_s _land_detector{}; @@ -416,7 +399,6 @@ private: uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)}; uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)}; uORB::Subscription _safety_sub{ORB_ID(safety)}; - uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)}; uORB::Subscription _system_power_sub{ORB_ID(system_power)}; uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; diff --git a/src/modules/commander/ManualControl.cpp b/src/modules/commander/ManualControl.cpp new file mode 100644 index 0000000000..89f9557710 --- /dev/null +++ b/src/modules/commander/ManualControl.cpp @@ -0,0 +1,180 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ManualControl.hpp" +#include + +using namespace time_literals; + +enum OverrideBits { + OVERRIDE_AUTO_MODE_BIT = (1 << 0), + OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1), + OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2) +}; + +bool ManualControl::update() +{ + bool updated = false; + + if (_manual_control_setpoint_sub.updated()) { + _last_manual_control_setpoint = _manual_control_setpoint; + _manual_control_setpoint_sub.copy(&_manual_control_setpoint); + + updated = true; + } + + _rc_available = _rc_allowed + && _manual_control_setpoint.timestamp != 0 + && (hrt_elapsed_time(&_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s)); + + return updated && _rc_available; +} + +bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode) +{ + const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT) + && vehicle_control_mode.flag_control_auto_enabled; + + const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT) + && vehicle_control_mode.flag_control_offboard_enabled; + + if (_rc_available && (override_auto_mode || override_offboard_mode)) { + const float minimum_stick_change = .01f * _param_com_rc_stick_ov.get(); + + const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change) + || (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change) + || (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change); + // Throttle change value doubled to achieve the same scaling even though the range is [0,1] instead of [-1,1] + const bool throttle_moved = + (fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change); + const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT); + + if (rpy_moved || (use_throttle && throttle_moved)) { + return true; + } + } + + return false; +} + +bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mode, + const vehicle_status_s &vehicle_status, + manual_control_switches_s &manual_control_switches, const bool landed) +{ + bool ret = false; + + const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE; + const bool use_button = !use_stick && _param_com_arm_swisbtn.get(); + const bool use_switch = !use_stick && !use_button; + + const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + const bool stick_in_lower_left = use_stick + && isThrottleLow() + && _manual_control_setpoint.r < -.9f; + const bool arm_button_pressed = (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) + && use_button; + const bool arm_switch_to_disarm_transition = use_switch + && (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_ON) + && (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF); + const bool mc_manual_thrust_mode = vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING + && vehicle_control_mode.flag_control_manual_enabled + && !vehicle_control_mode.flag_control_climb_rate_enabled; + + if (armed + && (landed || mc_manual_thrust_mode) + && (stick_in_lower_left || arm_button_pressed || arm_switch_to_disarm_transition)) { + + const bool last_disarm_hysteresis = _stick_disarm_hysteresis.get_state(); + _stick_disarm_hysteresis.set_state_and_update(true, hrt_absolute_time()); + const bool disarm_trigger = !last_disarm_hysteresis && _stick_disarm_hysteresis.get_state() + && !_stick_arm_hysteresis.get_state(); + + if (disarm_trigger || arm_switch_to_disarm_transition) { + ret = true; + } + + } else if (!arm_button_pressed) { + + _stick_disarm_hysteresis.set_state_and_update(false, hrt_absolute_time()); + } + + return ret; +} + +bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status, + const manual_control_switches_s &manual_control_switches, const bool landed) +{ + bool ret = false; + + const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE; + const bool use_button = !use_stick && _param_com_arm_swisbtn.get(); + const bool use_switch = !use_stick && !use_button; + + const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + const bool stick_in_lower_right = use_stick + && isThrottleLow() + && _manual_control_setpoint.r > .9f; + const bool arm_button_pressed = use_button + && (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON); + const bool arm_switch_to_arm_transition = use_switch + && (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_OFF) + && (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON); + + if (!armed + && (stick_in_lower_right || arm_button_pressed || arm_switch_to_arm_transition)) { + + const bool last_arm_hysteresis = _stick_arm_hysteresis.get_state(); + _stick_arm_hysteresis.set_state_and_update(true, hrt_absolute_time()); + const bool arm_trigger = !last_arm_hysteresis && _stick_arm_hysteresis.get_state() + && !_stick_disarm_hysteresis.get_state(); + + if (arm_trigger || arm_switch_to_arm_transition) { + ret = true; + } + + } else if (!arm_button_pressed) { + + _stick_arm_hysteresis.set_state_and_update(false, hrt_absolute_time()); + } + + _last_manual_control_switches_arm_switch = manual_control_switches.arm_switch; // After disarm and arm check + + return ret; +} + +void ManualControl::updateParams() +{ + ModuleParams::updateParams(); + _stick_disarm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms); + _stick_arm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms); +} diff --git a/src/modules/commander/ManualControl.hpp b/src/modules/commander/ManualControl.hpp new file mode 100644 index 0000000000..38a616f5ff --- /dev/null +++ b/src/modules/commander/ManualControl.hpp @@ -0,0 +1,101 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ManualControl.hpp + * + * @brief Logic for handling RC or Joystick input + * + * @author Matthias Grob + */ + +#pragma once + +#include +#include + +#include +#include +#include +#include +#include + +class ManualControl : ModuleParams +{ +public: + ManualControl(ModuleParams *parent) : ModuleParams(parent) {}; + ~ManualControl() override = default; + + void setRCAllowed(const bool rc_allowed) { _rc_allowed = rc_allowed; } + + /** + * Check for manual control input changes and process them + * @return true if there was new data + */ + bool update(); + bool isRCAvailable() const { return _rc_available; } + bool isMavlink() const { return _manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC; } + bool wantsOverride(const vehicle_control_mode_s &vehicle_control_mode); + bool wantsDisarm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status, + manual_control_switches_s &manual_control_switches, const bool landed); + bool wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status, + const manual_control_switches_s &manual_control_switches, const bool landed); + bool isThrottleLow() const { return _last_manual_control_setpoint.z < 0.1f; } + bool isThrottleAboveCenter() const { return _last_manual_control_setpoint.z > 0.6f; } + hrt_abstime getLastRcTimestamp() const { return _last_manual_control_setpoint.timestamp; } + +private: + void updateParams() override; + + uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; + manual_control_setpoint_s _manual_control_setpoint{}; + manual_control_setpoint_s _last_manual_control_setpoint{}; + + // Availability + bool _rc_allowed{false}; + bool _rc_available{false}; + + // Arming/disarming + systemlib::Hysteresis _stick_disarm_hysteresis{false}; + systemlib::Hysteresis _stick_arm_hysteresis{false}; + uint8_t _last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE}; + + DEFINE_PARAMETERS( + (ParamFloat) _param_com_rc_loss_t, + (ParamInt) _param_rc_arm_hyst, + (ParamBool) _param_com_arm_swisbtn, + (ParamBool) _param_com_rearm_grace, + (ParamInt) _param_rc_override, + (ParamFloat) _param_com_rc_stick_ov + ) +}; diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 25f12befce..a16e4e23f6 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -82,45 +82,45 @@ #define BLINK_MSG_TIME 700000 // 3 fast blinks (in us) -bool is_multirotor(const struct vehicle_status_s *current_status) +bool is_multirotor(const vehicle_status_s ¤t_status) { - return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status->system_type == VEHICLE_TYPE_OCTOROTOR) || - (current_status->system_type == VEHICLE_TYPE_TRICOPTER)); + return ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) || + (current_status.system_type == VEHICLE_TYPE_TRICOPTER)); } -bool is_rotary_wing(const struct vehicle_status_s *current_status) +bool is_rotary_wing(const vehicle_status_s ¤t_status) { - return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER) - || (current_status->system_type == VEHICLE_TYPE_COAXIAL); + return is_multirotor(current_status) || (current_status.system_type == VEHICLE_TYPE_HELICOPTER) + || (current_status.system_type == VEHICLE_TYPE_COAXIAL); } -bool is_vtol(const struct vehicle_status_s *current_status) +bool is_vtol(const vehicle_status_s ¤t_status) { - return (current_status->system_type == VEHICLE_TYPE_VTOL_DUOROTOR || - current_status->system_type == VEHICLE_TYPE_VTOL_QUADROTOR || - current_status->system_type == VEHICLE_TYPE_VTOL_TILTROTOR || - current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED2 || - current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED3 || - current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED4 || - current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED5); + return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || + current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR || + current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR || + current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED2 || + current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED3 || + current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED4 || + current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED5); } -bool is_vtol_tailsitter(const struct vehicle_status_s *current_status) +bool is_vtol_tailsitter(const vehicle_status_s ¤t_status) { - return (current_status->system_type == VEHICLE_TYPE_VTOL_DUOROTOR || - current_status->system_type == VEHICLE_TYPE_VTOL_QUADROTOR); + return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || + current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR); } -bool is_fixed_wing(const struct vehicle_status_s *current_status) +bool is_fixed_wing(const vehicle_status_s ¤t_status) { - return current_status->system_type == VEHICLE_TYPE_FIXED_WING; + return current_status.system_type == VEHICLE_TYPE_FIXED_WING; } -bool is_ground_rover(const struct vehicle_status_s *current_status) +bool is_ground_rover(const vehicle_status_s ¤t_status) { - return current_status->system_type == VEHICLE_TYPE_GROUND_ROVER; + return current_status.system_type == VEHICLE_TYPE_GROUND_ROVER; } static hrt_abstime blink_msg_end = 0; // end time for currently blinking LED message, 0 if no blink message diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h index 44f3cb396d..73524d9464 100644 --- a/src/modules/commander/commander_helper.h +++ b/src/modules/commander/commander_helper.h @@ -50,12 +50,12 @@ #include -bool is_multirotor(const struct vehicle_status_s *current_status); -bool is_rotary_wing(const struct vehicle_status_s *current_status); -bool is_vtol(const struct vehicle_status_s *current_status); -bool is_vtol_tailsitter(const struct vehicle_status_s *current_status); -bool is_fixed_wing(const struct vehicle_status_s *current_status); -bool is_ground_rover(const struct vehicle_status_s *current_status); +bool is_multirotor(const vehicle_status_s ¤t_status); +bool is_rotary_wing(const vehicle_status_s ¤t_status); +bool is_vtol(const vehicle_status_s ¤t_status); +bool is_vtol_tailsitter(const vehicle_status_s ¤t_status); +bool is_fixed_wing(const vehicle_status_s ¤t_status); +bool is_ground_rover(const vehicle_status_s ¤t_status); int buzzer_init(void); void buzzer_deinit(void); diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index f0b4eb1605..e0143714e2 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -292,13 +292,16 @@ PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 2.0f); * A non-zero, positive value specifies the time after arming, in seconds, within which the * vehicle must take off (after which it will automatically disarm). * + * This is set to 25 seconds to ensure a system will not disarm if the pilot is not immediately + * taking off, but not so long that a system is completely forgotten about. + * * A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled. * * @group Commander * @unit s * @decimal 2 */ -PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f); +PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 25.0f); /** @@ -313,10 +316,11 @@ PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f); PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1); /** - * Arm switch is only a button + * Arm switch is a momentary button * - * The default uses the arm switch as real switch. - * If parameter set button gets handled like stick arming. + * 0: Arming/disarming triggers on switch transition. + * 1: Arming/disarming triggers when holding the momentary button down + * for COM_RC_ARM_HYST like the stick gesture. * * @group Commander * @boolean @@ -340,6 +344,7 @@ PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0); /** * Time-out to wait when offboard connection is lost before triggering offboard lost action. + * * See COM_OBL_ACT and COM_OBL_RC_ACT to configure action. * * @group Commander @@ -348,7 +353,7 @@ PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0); * @max 60 * @increment 0.01 */ -PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.5f); +PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 1.0f); /** * Set offboard loss failsafe mode @@ -386,6 +391,17 @@ PARAM_DEFINE_INT32(COM_OBL_ACT, 0); */ PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0); +/** + * Time-out to wait when onboard computer connection is lost before warning about loss connection. + * + * @group Commander + * @unit s + * @min 0 + * @max 60 + * @increment 0.01 + */ +PARAM_DEFINE_FLOAT(COM_OBC_LOSS_T, 5.0f); + /** * First flightmode slot (1000-1160) * @@ -404,7 +420,6 @@ PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0); * @value 6 Acro * @value 7 Offboard * @value 8 Stabilized - * @value 9 Rattitude * @value 12 Follow Me * @group Commander */ @@ -428,7 +443,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE1, -1); * @value 6 Acro * @value 7 Offboard * @value 8 Stabilized - * @value 9 Rattitude * @value 12 Follow Me * @group Commander */ @@ -452,7 +466,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE2, -1); * @value 6 Acro * @value 7 Offboard * @value 8 Stabilized - * @value 9 Rattitude * @value 12 Follow Me * @group Commander */ @@ -476,7 +489,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE3, -1); * @value 6 Acro * @value 7 Offboard * @value 8 Stabilized - * @value 9 Rattitude * @value 12 Follow Me * @group Commander */ @@ -500,7 +512,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE4, -1); * @value 6 Acro * @value 7 Offboard * @value 8 Stabilized - * @value 9 Rattitude * @value 12 Follow Me * @group Commander */ @@ -524,7 +535,6 @@ PARAM_DEFINE_INT32(COM_FLTMODE5, -1); * @value 6 Acro * @value 7 Offboard * @value 8 Stabilized - * @value 9 Rattitude * @value 12 Follow Me * @group Commander */ @@ -600,6 +610,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.25f); /** * Maximum magnetic field inconsistency between units that will allow arming + * * Set -1 to disable the check. * * @group Commander @@ -638,9 +649,10 @@ PARAM_DEFINE_INT32(COM_REARM_GRACE, 1); * Note: Only has an effect on multicopters, and VTOLs in multicopter mode. * * @min 0 - * @max 3 + * @max 7 * @bit 0 Enable override during auto modes (except for in critical battery reaction) * @bit 1 Enable override during offboard mode + * @bit 2 Ignore throttle stick * @group Commander */ PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1); @@ -648,8 +660,8 @@ PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1); /** * RC stick override threshold * - * If COM_RC_OVERRIDE is enabled and the joystick input controlling the horizontally axis (right stick for RC in mode 2) - * is moved more than this threshold from the center the autopilot switches to position mode and the pilot takes over control. + * If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold + * the autopilot the pilot takes over control. * * @group Commander * @unit % @@ -910,7 +922,7 @@ PARAM_DEFINE_INT32(COM_ARM_CHK_ESCS, 1); * * @group Commander */ -PARAM_DEFINE_INT32(COM_PREARM_MODE, 1); +PARAM_DEFINE_INT32(COM_PREARM_MODE, 0); /** * Enable Motor Testing @@ -964,7 +976,7 @@ PARAM_DEFINE_INT32(COM_POWER_COUNT, 1); * * A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to put the vehicle into * a lockdown state if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. - * The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW), Rattitude and Manual (FW). + * The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). * A zero or negative value means that the check is disabled. * * @group Commander diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index 44a3f63a48..177c65463e 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -300,10 +300,10 @@ bool StateMachineHelperTest::armingStateTransitionTest() armed.ready_to_arm = test->current_state.ready_to_arm; // Attempt transition - transition_result_t result = arming_state_transition(&status, safety, test->requested_state, &armed, + transition_result_t result = arming_state_transition(status, safety, test->requested_state, armed, true /* enable pre-arm checks */, nullptr /* no mavlink_log_pub */, - &status_flags, + status_flags, arm_req, 2e6, /* 2 seconds after boot, everything should be checked */ arm_disarm_reason_t::UNIT_TEST); @@ -517,7 +517,7 @@ bool StateMachineHelperTest::mainStateTransitionTest() // Attempt transition transition_result_t result = main_state_transition(current_vehicle_status, test->to_state, current_status_flags, - ¤t_commander_state); + current_commander_state); // Validate result of transition ut_compare(test->assertMsg, test->expected_transition_result, result); diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp index 9b8fa5a49e..2799e2dab0 100644 --- a/src/modules/commander/failure_detector/FailureDetector.cpp +++ b/src/modules/commander/failure_detector/FailureDetector.cpp @@ -47,11 +47,11 @@ FailureDetector::FailureDetector(ModuleParams *parent) : { } -bool FailureDetector::update(const vehicle_status_s &vehicle_status) +bool FailureDetector::update(const vehicle_status_s &vehicle_status, const vehicle_control_mode_s &vehicle_control_mode) { uint8_t previous_status = _status; - if (isAttitudeStabilized(vehicle_status)) { + if (vehicle_control_mode.flag_control_attitude_enabled) { updateAttitudeStatus(); if (_param_fd_ext_ats_en.get()) { @@ -69,25 +69,6 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status) return _status != previous_status; } -bool FailureDetector::isAttitudeStabilized(const vehicle_status_s &vehicle_status) -{ - bool attitude_is_stabilized{false}; - const uint8_t vehicle_type = vehicle_status.vehicle_type; - const uint8_t nav_state = vehicle_status.nav_state; - - if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - attitude_is_stabilized = nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO && - nav_state != vehicle_status_s::NAVIGATION_STATE_RATTITUDE; - - } else if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - attitude_is_stabilized = nav_state != vehicle_status_s::NAVIGATION_STATE_MANUAL && - nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO && - nav_state != vehicle_status_s::NAVIGATION_STATE_RATTITUDE; - } - - return attitude_is_stabilized; -} - void FailureDetector::updateAttitudeStatus() { vehicle_attitude_s attitude; diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp index 959b6c145d..e158affa5f 100644 --- a/src/modules/commander/failure_detector/FailureDetector.hpp +++ b/src/modules/commander/failure_detector/FailureDetector.hpp @@ -48,11 +48,11 @@ #include #include - // subscriptions #include #include #include +#include #include #include #include @@ -73,11 +73,10 @@ class FailureDetector : public ModuleParams public: FailureDetector(ModuleParams *parent); - bool update(const vehicle_status_s &vehicle_status); + bool update(const vehicle_status_s &vehicle_status, const vehicle_control_mode_s &vehicle_control_mode); uint8_t getStatus() const { return _status; } private: - bool isAttitudeStabilized(const vehicle_status_s &vehicle_status); void updateAttitudeStatus(); void updateExternalAtsStatus(); void updateEscsStatus(const vehicle_status_s &vehicle_status); diff --git a/src/modules/commander/failure_detector/failure_detector_params.c b/src/modules/commander/failure_detector/failure_detector_params.c index 1cdf726062..e841efc338 100644 --- a/src/modules/commander/failure_detector/failure_detector_params.c +++ b/src/modules/commander/failure_detector/failure_detector_params.c @@ -107,9 +107,9 @@ PARAM_DEFINE_FLOAT(FD_FAIL_R_TTRI, 0.3); PARAM_DEFINE_FLOAT(FD_FAIL_P_TTRI, 0.3); /** - * Enable PWM input on AUX5 or MAIN5 (depending on board) for engaging failsafe from an external - * automatic trigger system (ATS). + * Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS). * + * Enabled on either AUX5 or MAIN5 depending on board. * External ATS is required by ASTM F3322-18. * * @boolean @@ -132,6 +132,7 @@ PARAM_DEFINE_INT32(FD_EXT_ATS_TRIG, 1900); /** * Enable checks on ESCs that report their arming state. + * * If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. * Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle. * diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 7368646a62..b7fc2f83c7 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -57,7 +57,6 @@ #include #include #include -#include #include static constexpr char sensor_name[] {"gyro"}; @@ -83,9 +82,6 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data) static constexpr unsigned CALIBRATION_COUNT = 250; unsigned poll_errcount = 0; - uORB::Subscription sensor_correction_sub{ORB_ID(sensor_correction)}; - sensor_correction_s sensor_correction{}; - uORB::SubscriptionBlocking gyro_sub[MAX_GYROS] { {ORB_ID(sensor_gyro), 0, 0}, {ORB_ID(sensor_gyro), 0, 1}, @@ -115,39 +111,16 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data) sensor_gyro_s gyro_report; while (gyro_sub[gyro_index].update(&gyro_report)) { + // fetch optional thermal offset corrections in sensor frame + const Vector3f &thermal_offset{worker_data.calibrations[gyro_index].thermal_offset()}; - // fetch optional thermal offset corrections in sensor/board frame - Vector3f offset{0, 0, 0}; - sensor_correction_sub.update(&sensor_correction); - - if (sensor_correction.timestamp > 0 && gyro_report.device_id != 0) { - for (uint8_t correction_index = 0; correction_index < MAX_GYROS; correction_index++) { - if (sensor_correction.gyro_device_ids[correction_index] == gyro_report.device_id) { - switch (correction_index) { - case 0: - offset = Vector3f{sensor_correction.gyro_offset_0}; - break; - case 1: - offset = Vector3f{sensor_correction.gyro_offset_1}; - break; - case 2: - offset = Vector3f{sensor_correction.gyro_offset_2}; - break; - case 3: - offset = Vector3f{sensor_correction.gyro_offset_3}; - break; - } - } - } - } - - worker_data.offset[gyro_index] += Vector3f{gyro_report.x, gyro_report.y, gyro_report.z} - offset; + worker_data.offset[gyro_index] += Vector3f{gyro_report.x, gyro_report.y, gyro_report.z} - thermal_offset; calibration_counter[gyro_index]++; if (gyro_index == 0) { - worker_data.filter[0].insert(gyro_report.x - offset(0)); - worker_data.filter[1].insert(gyro_report.y - offset(1)); - worker_data.filter[2].insert(gyro_report.z - offset(2)); + worker_data.filter[0].insert(gyro_report.x - thermal_offset(0)); + worker_data.filter[1].insert(gyro_report.y - thermal_offset(1)); + worker_data.filter[2].insert(gyro_report.z - thermal_offset(2)); } } diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index dac72a7269..26ec2da0ee 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -195,7 +195,7 @@ static calibrate_return check_calibration_result(float offset_x, float offset_y, // earth field between 0.25 and 0.65 Gauss if (sphere_radius < 0.2f || sphere_radius >= 0.7f) { - calibration_log_emergency(mavlink_log_pub, "Retry calibration (mag %u sphere radius invaid %.3f)", cur_mag, + calibration_log_emergency(mavlink_log_pub, "Retry calibration (mag %u sphere radius invalid %.3f)", cur_mag, (double)sphere_radius); return calibrate_return_error; } diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index cd4c5637ad..75a7bb0b9a 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -50,7 +50,7 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_ACRO, PX4_CUSTOM_MAIN_MODE_OFFBOARD, PX4_CUSTOM_MAIN_MODE_STABILIZED, - PX4_CUSTOM_MAIN_MODE_RATTITUDE, + PX4_CUSTOM_MAIN_MODE_RATTITUDE_LEGACY, PX4_CUSTOM_MAIN_MODE_SIMPLE /* unused, but reserved for future use */ }; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 54417eb772..0582679980 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -85,29 +85,55 @@ const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = { "IN_AIR_RESTORE", }; +// You can index into the array with an navigation_state_t in order to get its textual representation +const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = { + "MANUAL", + "ALTCTL", + "POSCTL", + "AUTO_MISSION", + "AUTO_LOITER", + "AUTO_RTL", + "6: unallocated", + "7: unallocated", + "AUTO_LANDENGFAIL", + "AUTO_LANDGPSFAIL", + "ACRO", + "11: UNUSED", + "DESCEND", + "TERMINATION", + "OFFBOARD", + "STAB", + "16: UNUSED2", + "AUTO_TAKEOFF", + "AUTO_LAND", + "AUTO_FOLLOW_TARGET", + "AUTO_PRECLAND", + "ORBIT" +}; + static hrt_abstime last_preflight_check = 0; ///< initialize so it gets checked immediately -void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, - const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, link_loss_actions_t link_loss_act, +void set_link_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed, + const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, link_loss_actions_t link_loss_act, const float ll_delay); -void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, const link_loss_actions_t link_loss_act); +void reset_link_loss_globals(actuator_armed_s &armed, const bool old_failsafe, const link_loss_actions_t link_loss_act); -void set_offboard_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, +void set_offboard_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed, const vehicle_status_flags_s &status_flags, const offboard_loss_actions_t offboard_loss_act); -void set_offboard_loss_rc_nav_state(vehicle_status_s *status, actuator_armed_s *armed, +void set_offboard_loss_rc_nav_state(vehicle_status_s &status, actuator_armed_s &armed, const vehicle_status_flags_s &status_flags, const offboard_loss_rc_actions_t offboard_loss_rc_act); -void reset_offboard_loss_globals(actuator_armed_s *armed, const bool old_failsafe, +void reset_offboard_loss_globals(actuator_armed_s &armed, const bool old_failsafe, const offboard_loss_actions_t offboard_loss_act, const offboard_loss_rc_actions_t offboard_loss_rc_act); -transition_result_t arming_state_transition(vehicle_status_s *status, const safety_s &safety, - const arming_state_t new_arming_state, actuator_armed_s *armed, const bool fRunPreArmChecks, - orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags, +transition_result_t arming_state_transition(vehicle_status_s &status, const safety_s &safety, + const arming_state_t new_arming_state, actuator_armed_s &armed, const bool fRunPreArmChecks, + orb_advert_t *mavlink_log_pub, vehicle_status_flags_s &status_flags, const PreFlightCheck::arm_requirements_t &arm_requirements, const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason) { @@ -117,10 +143,10 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe "ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1"); transition_result_t ret = TRANSITION_DENIED; - arming_state_t current_arming_state = status->arming_state; + arming_state_t current_arming_state = status.arming_state; bool feedback_provided = false; - const bool hil_enabled = (status->hil_state == vehicle_status_s::HIL_STATE_ON); + const bool hil_enabled = (status.hil_state == vehicle_status_s::HIL_STATE_ON); /* only check transition if the new state is actually different from the current one */ if (new_arming_state == current_arming_state) { @@ -137,18 +163,18 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe if (fRunPreArmChecks && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) && !hil_enabled) { - preflight_check_ret = PreFlightCheck::preflightCheck(mavlink_log_pub, *status, *status_flags, true, true, + preflight_check_ret = PreFlightCheck::preflightCheck(mavlink_log_pub, status, status_flags, true, true, time_since_boot); if (preflight_check_ret) { - status_flags->condition_system_sensors_initialized = true; + status_flags.condition_system_sensors_initialized = true; } feedback_provided = true; } /* re-run the pre-flight check as long as sensors are failing */ - if (!status_flags->condition_system_sensors_initialized + if (!status_flags.condition_system_sensors_initialized && fRunPreArmChecks && ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) || (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)) @@ -156,8 +182,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) { - status_flags->condition_system_sensors_initialized = PreFlightCheck::preflightCheck(mavlink_log_pub, *status, - *status_flags, false, status->arming_state != vehicle_status_s::ARMING_STATE_ARMED, + status_flags.condition_system_sensors_initialized = PreFlightCheck::preflightCheck(mavlink_log_pub, status, + status_flags, false, status.arming_state != vehicle_status_s::ARMING_STATE_ARMED, time_since_boot); last_preflight_check = hrt_absolute_time(); @@ -165,7 +191,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe } // Check that we have a valid state transition - bool valid_transition = arming_transitions[new_arming_state][status->arming_state]; + bool valid_transition = arming_transitions[new_arming_state][status.arming_state]; if (valid_transition) { // We have a good transition. Now perform any secondary validation. @@ -173,13 +199,13 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe // Do not perform pre-arm checks if coming from in air restore // Allow if vehicle_status_s::HIL_STATE_ON - if (status->arming_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE && !hil_enabled) { + if (status.arming_state != vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE) { bool prearm_check_ret = true; if (fRunPreArmChecks && preflight_check_ret) { // only bother running prearm if preflight was successful - prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, *status_flags, safety, arm_requirements, *status); + prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, safety, arm_requirements, status); } if (!preflight_check_ret || !prearm_check_ret) { @@ -193,12 +219,12 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe if (hil_enabled) { /* enforce lockdown in HIL */ - armed->lockdown = true; - status_flags->condition_system_sensors_initialized = true; + armed.lockdown = true; + status_flags.condition_system_sensors_initialized = true; /* recover from a prearm fail */ - if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { - status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY; + if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { + status.arming_state = vehicle_status_s::ARMING_STATE_STANDBY; } // HIL can always go to standby @@ -209,10 +235,10 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe if (!hil_enabled && (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) && - (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR)) { + (status.arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR)) { // Sensors need to be initialized for STANDBY state, except for HIL - if (!status_flags->condition_system_sensors_initialized) { + if (!status_flags.condition_system_sensors_initialized) { feedback_provided = true; valid_transition = false; } @@ -220,25 +246,25 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe // Finish up the state transition if (valid_transition) { - bool was_armed = armed->armed; - armed->armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED); - armed->ready_to_arm = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) - || (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY); + bool was_armed = armed.armed; + armed.armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED); + armed.ready_to_arm = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) + || (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY); ret = TRANSITION_CHANGED; - status->arming_state = new_arming_state; + status.arming_state = new_arming_state; - if (was_armed && !armed->armed) { // disarm transition - status->latest_disarming_reason = (uint8_t)calling_reason; + if (was_armed && !armed.armed) { // disarm transition + status.latest_disarming_reason = (uint8_t)calling_reason; - } else if (!was_armed && armed->armed) { // arm transition - status->latest_arming_reason = (uint8_t)calling_reason; + } else if (!was_armed && armed.armed) { // arm transition + status.latest_arming_reason = (uint8_t)calling_reason; } if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - status->armed_time = hrt_absolute_time(); + status.armed_time = hrt_absolute_time(); } else { - status->armed_time = 0; + status.armed_time = 0; } } } @@ -247,7 +273,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe /* print to MAVLink and console if we didn't provide any feedback yet */ if (!feedback_provided) { mavlink_log_critical(mavlink_log_pub, "Transition denied: %s to %s", - arming_state_names[status->arming_state], arming_state_names[new_arming_state]); + arming_state_names[status.arming_state], arming_state_names[new_arming_state]); } } @@ -256,7 +282,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe transition_result_t main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state, - const vehicle_status_flags_s &status_flags, commander_state_s *internal_state) + const vehicle_status_flags_s &status_flags, commander_state_s &internal_state) { // IMPORTANT: The assumption of callers of this function is that the execution of // this check is essentially "free". Therefore any runtime checking in here has to be @@ -270,7 +296,6 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai case commander_state_s::MAIN_STATE_MANUAL: case commander_state_s::MAIN_STATE_STAB: case commander_state_s::MAIN_STATE_ACRO: - case commander_state_s::MAIN_STATE_RATTITUDE: ret = TRANSITION_CHANGED; break; @@ -371,9 +396,10 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai } if (ret == TRANSITION_CHANGED) { - if (internal_state->main_state != new_main_state) { - internal_state->main_state = new_main_state; - internal_state->timestamp = hrt_absolute_time(); + if (internal_state.main_state != new_main_state) { + internal_state.main_state = new_main_state; + internal_state.main_state_changes++; + internal_state.timestamp = hrt_absolute_time(); } else { ret = TRANSITION_NOT_CHANGED; @@ -386,25 +412,25 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai /** * Enable failsafe and report to user */ -void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason) +void enable_failsafe(vehicle_status_s &status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason) { - if (!old_failsafe && status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + if (!old_failsafe && status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { // make sure intermittent failsafes don't lead to infinite delay by not constantly reseting the timestamp - if (status->failsafe_timestamp == 0 || - hrt_elapsed_time(&status->failsafe_timestamp) > 30_s) { - status->failsafe_timestamp = hrt_absolute_time(); + if (status.failsafe_timestamp == 0 || + hrt_elapsed_time(&status.failsafe_timestamp) > 30_s) { + status.failsafe_timestamp = hrt_absolute_time(); } mavlink_log_critical(mavlink_log_pub, "Failsafe enabled: %s", reason); } - status->failsafe = true; + status.failsafe = true; } /** * Check failsafe and main status and set navigation status for navigator accordingly */ -bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state, +bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_state_s &internal_state, orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished, const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed, const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act, @@ -412,15 +438,15 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ const position_nav_loss_actions_t posctl_nav_loss_act, const float param_com_rcl_act_t) { - const navigation_state_t nav_state_old = status->nav_state; + const navigation_state_t nav_state_old = status.nav_state; const bool data_link_loss_act_configured = data_link_loss_act > link_loss_actions_t::DISABLED; const bool rc_loss_act_configured = rc_loss_act > link_loss_actions_t::DISABLED; - const bool rc_lost = rc_loss_act_configured && (status->rc_signal_lost); + const bool rc_lost = rc_loss_act_configured && (status.rc_signal_lost); - bool is_armed = (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED); - bool old_failsafe = status->failsafe; - status->failsafe = false; + bool is_armed = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + bool old_failsafe = status.failsafe; + status.failsafe = false; // Safe to do reset flags here, as if loss state persists flags will be restored in the code below reset_link_loss_globals(armed, old_failsafe, rc_loss_act); @@ -428,10 +454,9 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ reset_offboard_loss_globals(armed, old_failsafe, offb_loss_act, offb_loss_rc_act); /* evaluate main state to decide in normal (non-failsafe) mode */ - switch (internal_state->main_state) { + switch (internal_state.main_state) { case commander_state_s::MAIN_STATE_ACRO: case commander_state_s::MAIN_STATE_MANUAL: - case commander_state_s::MAIN_STATE_RATTITUDE: case commander_state_s::MAIN_STATE_STAB: case commander_state_s::MAIN_STATE_ALTCTL: @@ -442,29 +467,25 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t); } else { - switch (internal_state->main_state) { + switch (internal_state.main_state) { case commander_state_s::MAIN_STATE_ACRO: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_ACRO; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_ACRO; break; case commander_state_s::MAIN_STATE_MANUAL: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; - break; - - case commander_state_s::MAIN_STATE_RATTITUDE: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_RATTITUDE; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; break; case commander_state_s::MAIN_STATE_STAB: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_STAB; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_STAB; break; case commander_state_s::MAIN_STATE_ALTCTL: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL; break; default: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; break; } } @@ -473,6 +494,8 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ case commander_state_s::MAIN_STATE_POSCTL: { + const bool rc_fallback_allowed = (posctl_nav_loss_act != position_nav_loss_actions_t::LAND_TERMINATE) || !is_armed; + if (rc_lost && is_armed) { enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc); set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t); @@ -482,14 +505,12 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ * this enables POSCTL using e.g. flow. * For fixedwing, a global position is needed. */ - } else if (is_armed - && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, - !(posctl_nav_loss_act == position_nav_loss_actions_t::LAND_TERMINATE), - status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) { + } else if (check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, + rc_fallback_allowed, status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) { // nothing to do - everything done in check_invalid_pos_nav_state } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; } } break; @@ -503,30 +524,30 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) { // nothing to do - everything done in check_invalid_pos_nav_state - } else if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; + } else if (status.engine_failure) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (status_flags.vtol_transition_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; - } else if (status->mission_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; + } else if (status.mission_failure) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; - } else if (status->data_link_lost && data_link_loss_act_configured + } else if (status.data_link_lost && data_link_loss_act_configured && is_armed && !landed) { // Data link lost, data link loss reaction configured -> do configured reaction enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink); set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, 0); - } else if (status->rc_signal_lost && rc_loss_act_configured && status_flags.rc_signal_found_once + } else if (status.rc_signal_lost && rc_loss_act_configured && status_flags.rc_signal_found_once && is_armed && !landed) { // RC link lost, rc loss reaction configured, RC was used before -> RC loss reaction after delay // Safety pilot expects to be able to take over by RC in case anything unexpected happens enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc); set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t); - } else if (status->rc_signal_lost && rc_loss_act_configured - && status->data_link_lost && !data_link_loss_act_configured + } else if (status.rc_signal_lost && rc_loss_act_configured + && status.data_link_lost && !data_link_loss_act_configured && is_armed && !landed) { // All links lost, no data link loss reaction configured -> immediately do RC loss reaction // Lost all communication, by default it's considered unsafe to continue the mission @@ -534,8 +555,8 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink); set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0); - } else if (status->rc_signal_lost && !rc_loss_act_configured - && status->data_link_lost && !data_link_loss_act_configured + } else if (status.rc_signal_lost && !rc_loss_act_configured + && status.data_link_lost && !data_link_loss_act_configured && is_armed && !landed && mission_finished) { // All links lost, all link loss reactions disabled -> return after mission @@ -545,7 +566,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ } else if (!stay_in_failsafe) { // normal mission operation if there's no need to stay in failsafe - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION; } break; @@ -553,32 +574,32 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ case commander_state_s::MAIN_STATE_AUTO_LOITER: /* go into failsafe on a engine failure */ - if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; + if (status.engine_failure) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) { // nothing to do - everything done in check_invalid_pos_nav_state - } else if (status->data_link_lost && data_link_loss_act_configured && !landed && is_armed) { + } else if (status.data_link_lost && data_link_loss_act_configured && !landed && is_armed) { /* also go into failsafe if just datalink is lost, and we're actually in air */ set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, 0); enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink); - } else if (rc_lost && !data_link_loss_act_configured && status->data_link_lost && is_armed) { + } else if (rc_lost && !data_link_loss_act_configured && status.data_link_lost && is_armed) { /* go into failsafe if RC is lost and datalink is lost and datalink loss is not set up */ enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc); set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0); - } else if (status->rc_signal_lost) { + } else if (status.rc_signal_lost) { /* don't bother if RC is lost if datalink is connected */ /* this mode is ok, we don't need RC for LOITERing */ - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; } else { /* everything is perfect */ - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; } break; @@ -587,13 +608,13 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ /* require global position and home, also go into failsafe on an engine failure */ - if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; + if (status.engine_failure) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) { // nothing to do - everything done in check_invalid_pos_nav_state } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; } break; @@ -602,35 +623,35 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ /* require global position and home */ - if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; + if (status.engine_failure) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) { // nothing to do - everything done in check_invalid_pos_nav_state } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET; } break; case commander_state_s::MAIN_STATE_ORBIT: - if (status->engine_failure) { + if (status.engine_failure) { // failsafe: on engine failure - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; // Orbit can only be started via vehicle_command (mavlink). Recovery from failsafe into orbit // is not possible and therefore the internal_state needs to be adjusted. - internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL; + internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL; } else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) { // failsafe: necessary position estimate lost; switching is done in check_invalid_pos_nav_state // Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit // is not possible and therefore the internal_state needs to be adjusted. - internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL; + internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL; - } else if (status->data_link_lost && data_link_loss_act_configured && !landed && is_armed) { + } else if (status.data_link_lost && data_link_loss_act_configured && !landed && is_armed) { // failsafe: just datalink is lost and we're in air set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, 0); @@ -638,9 +659,9 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ // Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit // is not possible and therefore the internal_state needs to be adjusted. - internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL; + internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL; - } else if (rc_lost && status->data_link_lost && !data_link_loss_act_configured && is_armed) { + } else if (rc_lost && status.data_link_lost && !data_link_loss_act_configured && is_armed) { // Orbit does not depend on RC but while armed & all links lost & when datalink loss is not set up, we failsafe enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc); @@ -648,11 +669,11 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ // Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit // is not possible and therefore the internal_state needs to be adjusted. - internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL; + internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL; } else { // no failsafe, RC is not mandatory for orbit - status->nav_state = vehicle_status_s::NAVIGATION_STATE_ORBIT; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_ORBIT; } break; @@ -661,14 +682,14 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ /* require local position */ - if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; + if (status.engine_failure) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) { // nothing to do - everything done in check_invalid_pos_nav_state } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF; } break; @@ -677,14 +698,14 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ /* require local position */ - if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; + if (status.engine_failure) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) { // nothing to do - everything done in check_invalid_pos_nav_state } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; } break; @@ -693,14 +714,14 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ /* must be rotary wing plus same requirements as normal landing */ - if (status->engine_failure) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; + if (status.engine_failure) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; } else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) { // nothing to do - everything done in check_invalid_pos_nav_state } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND; } break; @@ -708,7 +729,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ case commander_state_s::MAIN_STATE_OFFBOARD: if (status_flags.offboard_control_signal_lost) { - if (status->rc_signal_lost) { + if (status.rc_signal_lost) { // Offboard and RC are lost enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc_and_no_offboard); set_offboard_loss_nav_state(status, armed, status_flags, offb_loss_act); @@ -720,17 +741,17 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ } } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD; } default: break; } - return status->nav_state != nav_state_old; + return status.nav_state != nav_state_old; } -bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, +bool check_invalid_pos_nav_state(vehicle_status_s &status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos) { bool fallback_required = false; @@ -747,33 +768,33 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, or if (fallback_required) { if (use_rc) { // fallback to a mode that gives the operator stick control - if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING + if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && status_flags.condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; } else if (status_flags.condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL; } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_STAB; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_STAB; } } else { // go into a descent that does not require stick control if (status_flags.condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; - } else if (status_flags.condition_local_altitude_valid) { - if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; + } else if (status_flags.condition_local_altitude_valid) { + if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; } else { // TODO: FW position controller doesn't run without condition_global_position_valid - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; } } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; } } @@ -790,11 +811,11 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, or } -void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, - const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, link_loss_actions_t link_loss_act, +void set_link_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed, + const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, link_loss_actions_t link_loss_act, const float ll_delay) { - if (hrt_elapsed_time(&status->failsafe_timestamp) < (ll_delay * 1_s) + if (hrt_elapsed_time(&status.failsafe_timestamp) < (ll_delay * 1_s) && link_loss_act != link_loss_actions_t::DISABLED) { // delay failsafe reaction by trying to hold position if configured link_loss_act = link_loss_actions_t::AUTO_LOITER; @@ -808,67 +829,67 @@ void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, case link_loss_actions_t::AUTO_RTL: if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) { - main_state_transition(*status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state); - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; + main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state); + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; return; } // FALLTHROUGH case link_loss_actions_t::AUTO_LOITER: if (status_flags.condition_global_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; return; } // FALLTHROUGH case link_loss_actions_t::AUTO_LAND: if (status_flags.condition_global_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; return; } else { - if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { if (status_flags.condition_local_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; return; } else if (status_flags.condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; return; } } else { // TODO: FW position controller doesn't run without condition_global_position_valid - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; return; } } // FALLTHROUGH case link_loss_actions_t::TERMINATE: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - armed->force_failsafe = true; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; + armed.force_failsafe = true; break; case link_loss_actions_t::LOCKDOWN: - armed->lockdown = true; + armed.lockdown = true; break; } } -void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, const link_loss_actions_t link_loss_act) +void reset_link_loss_globals(actuator_armed_s &armed, const bool old_failsafe, const link_loss_actions_t link_loss_act) { if (old_failsafe) { if (link_loss_act == link_loss_actions_t::TERMINATE) { - armed->force_failsafe = false; + armed.force_failsafe = false; } else if (link_loss_act == link_loss_actions_t::LOCKDOWN) { - armed->lockdown = false; + armed.lockdown = false; } } } -void set_offboard_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed, +void set_offboard_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed, const vehicle_status_flags_s &status_flags, const offboard_loss_actions_t offboard_loss_act) { @@ -878,52 +899,51 @@ void set_offboard_loss_nav_state(vehicle_status_s *status, actuator_armed_s *arm return; case offboard_loss_actions_t::TERMINATE: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - armed->force_failsafe = true; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; + armed.force_failsafe = true; return; case offboard_loss_actions_t::LOCKDOWN: - armed->lockdown = true; + armed.lockdown = true; return; case offboard_loss_actions_t::AUTO_RTL: if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; return; } // FALLTHROUGH case offboard_loss_actions_t::AUTO_LOITER: if (status_flags.condition_global_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; return; } // FALLTHROUGH case offboard_loss_actions_t::AUTO_LAND: if (status_flags.condition_global_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; return; } - } // If none of the above worked, try to mitigate if (status_flags.condition_local_altitude_valid) { - if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; + if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; } else { // TODO: FW position controller doesn't run without condition_global_position_valid - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; } } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; } } -void set_offboard_loss_rc_nav_state(vehicle_status_s *status, actuator_armed_s *armed, +void set_offboard_loss_rc_nav_state(vehicle_status_s &status, actuator_armed_s &armed, const vehicle_status_flags_s &status_flags, const offboard_loss_rc_actions_t offboard_loss_rc_act) { @@ -933,90 +953,95 @@ void set_offboard_loss_rc_nav_state(vehicle_status_s *status, actuator_armed_s * return; case offboard_loss_rc_actions_t::TERMINATE: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; - armed->force_failsafe = true; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; + armed.force_failsafe = true; return; case offboard_loss_rc_actions_t::LOCKDOWN: - armed->lockdown = true; + armed.lockdown = true; return; case offboard_loss_rc_actions_t::MANUAL_POSITION: - if (status_flags.condition_global_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; + if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING + && status_flags.condition_local_position_valid) { + + status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; + return; + + } else if (status_flags.condition_global_position_valid) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL; return; } // FALLTHROUGH case offboard_loss_rc_actions_t::MANUAL_ALTITUDE: if (status_flags.condition_local_altitude_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL; return; } // FALLTHROUGH case offboard_loss_rc_actions_t::MANUAL_ATTITUDE: - status->nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; return; case offboard_loss_rc_actions_t::AUTO_RTL: if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL; return; } // FALLTHROUGH case offboard_loss_rc_actions_t::AUTO_LOITER: if (status_flags.condition_global_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; return; } // FALLTHROUGH case offboard_loss_rc_actions_t::AUTO_LAND: if (status_flags.condition_global_position_valid) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; return; } - } // If none of the above worked, try to mitigate if (status_flags.condition_local_altitude_valid) { //TODO: Add case for rover - if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; + if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; } else { // TODO: FW position controller doesn't run without condition_global_position_valid - status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL; } } else { - status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; + status.nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION; } } -void reset_offboard_loss_globals(actuator_armed_s *armed, const bool old_failsafe, +void reset_offboard_loss_globals(actuator_armed_s &armed, const bool old_failsafe, const offboard_loss_actions_t offboard_loss_act, const offboard_loss_rc_actions_t offboard_loss_rc_act) { if (old_failsafe) { if (offboard_loss_act == offboard_loss_actions_t::TERMINATE || offboard_loss_rc_act == offboard_loss_rc_actions_t::TERMINATE) { - armed->force_failsafe = false; + armed.force_failsafe = false; } if (offboard_loss_act == offboard_loss_actions_t::LOCKDOWN || offboard_loss_rc_act == offboard_loss_rc_actions_t::LOCKDOWN) { - armed->lockdown = false; + armed.lockdown = false; } } } void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, - const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const uint8_t battery_warning, + const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, const uint8_t battery_warning, const low_battery_action_t low_battery_action) { switch (battery_warning) { @@ -1042,20 +1067,20 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta case LOW_BAT_ACTION::RETURN_OR_LAND: if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) { - if (!(internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_RTL || - internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_LAND || - internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { + if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL || + internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || + internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { - internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_RTL; - internal_state->timestamp = hrt_absolute_time(); + internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_RTL; + internal_state.timestamp = hrt_absolute_time(); mavlink_log_critical(mavlink_log_pub, "%s, executing RTL", battery_critical); } } else { - if (!(internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_LAND || - internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { - internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND; - internal_state->timestamp = hrt_absolute_time(); + if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || + internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { + internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND; + internal_state.timestamp = hrt_absolute_time(); mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead", battery_critical); } } @@ -1063,10 +1088,10 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta break; case LOW_BAT_ACTION::LAND: - if (!(internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_LAND || - internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { - internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND; - internal_state->timestamp = hrt_absolute_time(); + if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || + internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { + internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND; + internal_state.timestamp = hrt_absolute_time(); mavlink_log_emergency(mavlink_log_pub, "%s, landing", battery_critical); } @@ -1086,19 +1111,19 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta case LOW_BAT_ACTION::RETURN: if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) { - if (!(internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_RTL || - internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_LAND || - internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { - internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_RTL; - internal_state->timestamp = hrt_absolute_time(); + if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL || + internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || + internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { + internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_RTL; + internal_state.timestamp = hrt_absolute_time(); mavlink_log_critical(mavlink_log_pub, "%s, executing RTL", battery_dangerous); } } else { - if (!(internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_LAND || - internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { - internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND; - internal_state->timestamp = hrt_absolute_time(); + if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || + internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { + internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND; + internal_state.timestamp = hrt_absolute_time(); mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead", battery_dangerous); } } @@ -1109,10 +1134,10 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta // FALLTHROUGH case LOW_BAT_ACTION::LAND: - if (!(internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_LAND || - internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { - internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND; - internal_state->timestamp = hrt_absolute_time(); + if (!(internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND || + internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) { + internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND; + internal_state.timestamp = hrt_absolute_time(); mavlink_log_emergency(mavlink_log_pub, "%s, landing", battery_dangerous); } diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h index fc28a54de1..657bfed2ab 100644 --- a/src/modules/commander/state_machine_helper.h +++ b/src/modules/commander/state_machine_helper.h @@ -96,6 +96,7 @@ enum class position_nav_loss_actions_t { }; extern const char *const arming_state_names[]; +extern const char *const nav_state_names[]; enum class arm_disarm_reason_t { TRANSITION_TO_STANDBY = 0, @@ -115,18 +116,18 @@ enum class arm_disarm_reason_t { }; transition_result_t -arming_state_transition(vehicle_status_s *status, const safety_s &safety, const arming_state_t new_arming_state, - actuator_armed_s *armed, const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub, - vehicle_status_flags_s *status_flags, const PreFlightCheck::arm_requirements_t &arm_requirements, +arming_state_transition(vehicle_status_s &status, const safety_s &safety, const arming_state_t new_arming_state, + actuator_armed_s &armed, const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub, + vehicle_status_flags_s &status_flags, const PreFlightCheck::arm_requirements_t &arm_requirements, const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason); transition_result_t main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state, - const vehicle_status_flags_s &status_flags, commander_state_s *internal_state); + const vehicle_status_flags_s &status_flags, commander_state_s &internal_state); -void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason); +void enable_failsafe(vehicle_status_s &status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason); -bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state, +bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_state_s &internal_state, orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished, const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed, const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act, @@ -138,7 +139,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_ * Checks the validty of position data against the requirements of the current navigation * mode and switches mode if position data required is not available. */ -bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, +bool check_invalid_pos_nav_state(vehicle_status_s &status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos); @@ -151,7 +152,7 @@ typedef enum LOW_BAT_ACTION { } low_battery_action_t; void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, - const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const uint8_t battery_warning, + const vehicle_status_flags_s &status_flags, commander_state_s &internal_state, const uint8_t battery_warning, const low_battery_action_t low_bat_action); #endif /* STATE_MACHINE_HELPER_H_ */ diff --git a/src/modules/dataman/dataman.cpp b/src/modules/dataman/dataman.cpp index dc3018280e..79918e96ab 100644 --- a/src/modules/dataman/dataman.cpp +++ b/src/modules/dataman/dataman.cpp @@ -53,11 +53,6 @@ #include "dataman.h" -#if defined(FLASH_BASED_DATAMAN) -#include -#include -#endif - __BEGIN_DECLS __EXPORT int dataman_main(int argc, char *argv[]); __END_DECLS @@ -82,20 +77,6 @@ static int _ram_restart(dm_reset_reason reason); static int _ram_initialize(unsigned max_offset); static void _ram_shutdown(); -#if defined(FLASH_BASED_DATAMAN) -/* Private Ram_Flash based Operations */ -#define RAM_FLASH_FLUSH_TIMEOUT_USEC USEC_PER_SEC - -static ssize_t _ram_flash_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, - size_t count); -static ssize_t _ram_flash_read(dm_item_t item, unsigned index, void *buf, size_t count); -static int _ram_flash_clear(dm_item_t item); -static int _ram_flash_restart(dm_reset_reason reason); -static int _ram_flash_initialize(unsigned max_offset); -static void _ram_flash_shutdown(); -static int _ram_flash_wait(px4_sem_t *sem); -#endif - typedef struct dm_operations_t { ssize_t (*write)(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, size_t count); ssize_t (*read)(dm_item_t item, unsigned index, void *buf, size_t count); @@ -126,18 +107,6 @@ static constexpr dm_operations_t dm_ram_operations = { .wait = px4_sem_wait, }; -#if defined(FLASH_BASED_DATAMAN) -static constexpr dm_operations_t dm_ram_flash_operations = { - .write = _ram_flash_write, - .read = _ram_flash_read, - .clear = _ram_flash_clear, - .restart = _ram_flash_restart, - .initialize = _ram_flash_initialize, - .shutdown = _ram_flash_shutdown, - .wait = _ram_flash_wait, -}; -#endif - static const dm_operations_t *g_dm_ops; static struct { @@ -149,14 +118,6 @@ static struct { uint8_t *data; uint8_t *data_end; } ram; -#if defined(FLASH_BASED_DATAMAN) - struct { - uint8_t *data; - uint8_t *data_end; - /* sync above with RAM backend */ - timespec flush_timeout; - } ram_flash; -#endif }; bool running; } dm_operations_data; @@ -244,17 +205,10 @@ static perf_counter_t _dm_write_perf{nullptr}; static const char *default_device_path = PX4_STORAGEDIR "/dataman"; static char *k_data_manager_device_path = nullptr; -#if defined(FLASH_BASED_DATAMAN) -static const dm_sector_descriptor_t *k_dataman_flash_sector = nullptr; -#endif - static enum { BACKEND_NONE = 0, BACKEND_FILE, BACKEND_RAM, -#if defined(FLASH_BASED_DATAMAN) - BACKEND_RAM_FLASH, -#endif BACKEND_LAST } backend = BACKEND_NONE; @@ -531,38 +485,6 @@ _file_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const v return count - DM_SECTOR_HDR_SIZE; } -#if defined(FLASH_BASED_DATAMAN) -static void -_ram_flash_update_flush_timeout() -{ - timespec &abstime = dm_operations_data.ram_flash.flush_timeout; - - if (clock_gettime(CLOCK_REALTIME, &abstime) == 0) { - const unsigned billion = 1000 * 1000 * 1000; - uint64_t nsecs = abstime.tv_nsec + (uint64_t)RAM_FLASH_FLUSH_TIMEOUT_USEC * 1000; - abstime.tv_sec += nsecs / billion; - nsecs -= (nsecs / billion) * billion; - abstime.tv_nsec = nsecs; - } -} - -static ssize_t -_ram_flash_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, size_t count) -{ - ssize_t ret = dm_ram_operations.write(item, index, persistence, buf, count); - - if (ret < 1) { - return ret; - } - - if (persistence == DM_PERSIST_POWER_ON_RESET) { - _ram_flash_update_flush_timeout(); - } - - return ret; -} -#endif - /* Retrieve from the data manager RAM buffer*/ static ssize_t _ram_read(dm_item_t item, unsigned index, void *buf, size_t count) { @@ -657,14 +579,6 @@ _file_read(dm_item_t item, unsigned index, void *buf, size_t count) return buffer[0]; } -#if defined(FLASH_BASED_DATAMAN) -static ssize_t -_ram_flash_read(dm_item_t item, unsigned index, void *buf, size_t count) -{ - return dm_ram_operations.read(item, index, buf, count); -} -#endif - static int _ram_clear(dm_item_t item) { int i; @@ -744,21 +658,6 @@ _file_clear(dm_item_t item) return result; } -#if defined(FLASH_BASED_DATAMAN) -static int -_ram_flash_clear(dm_item_t item) -{ - ssize_t ret = dm_ram_operations.clear(item); - - if (ret < 0) { - return ret; - } - - _ram_flash_update_flush_timeout(); - return ret; -} -#endif - /* Tell the data manager about the type of the last reset */ static int _ram_restart(dm_reset_reason reason) { @@ -871,14 +770,6 @@ _file_restart(dm_reset_reason reason) return result; } -#if defined(FLASH_BASED_DATAMAN) -static int -_ram_flash_restart(dm_reset_reason reason) -{ - return dm_ram_operations.restart(reason); -} -#endif - static int _file_initialize(unsigned max_offset) { @@ -955,44 +846,6 @@ _ram_initialize(unsigned max_offset) return 0; } -#if defined(FLASH_BASED_DATAMAN) -static int -_ram_flash_initialize(unsigned max_offset) -{ - if (max_offset & 1) { - /* STM32 flash API requires half-word(2 bytes) access */ - max_offset++; - } - - if (max_offset > k_dataman_flash_sector->size) { - PX4_WARN("Could not allocate %d bytes of flash memory", max_offset); - return -1; - } - - ssize_t ret = dm_ram_operations.initialize(max_offset); - - if (ret != 0) { - return ret; - } - - /* Copy flash to RAM */ - memcpy(dm_operations_data.ram_flash.data, (void *)k_dataman_flash_sector->address, max_offset); - - struct dataman_compat_s compat_state; - ret = g_dm_ops->read(DM_KEY_COMPAT, 0, &compat_state, sizeof(compat_state)); - - if (ret != sizeof(compat_state) || compat_state.key != DM_COMPAT_KEY) { - /* Not compatible: clear RAM and write DM_KEY_COMPAT(it will flush flash) */ - memset(dm_operations_data.ram_flash.data, 0, max_offset); - - compat_state.key = DM_COMPAT_KEY; - ret = g_dm_ops->write(DM_KEY_COMPAT, 0, DM_PERSIST_POWER_ON_RESET, &compat_state, sizeof(compat_state)); - } - - return ret > 0 ? 0 : -1; -} -#endif - static void _file_shutdown() { @@ -1007,66 +860,6 @@ _ram_shutdown() dm_operations_data.running = false; } -#if defined(FLASH_BASED_DATAMAN) -static void -_ram_flash_flush() -{ - /* - * reseting flush_timeout even in errors cases to avoid looping - * forever in case of flash failure. - */ - dm_operations_data.ram_flash.flush_timeout.tv_nsec = 0; - dm_operations_data.ram_flash.flush_timeout.tv_sec = 0; - - ssize_t ret = up_progmem_getpage(k_dataman_flash_sector->address); - ret = up_progmem_eraseblock(ret); - - if (ret < 0) { - PX4_WARN("Error erasing flash sector %u", k_dataman_flash_sector->page); - return; - } - - const ssize_t len = (dm_operations_data.ram_flash.data_end - dm_operations_data.ram_flash.data) + 1; - ret = up_progmem_write(k_dataman_flash_sector->address, dm_operations_data.ram_flash.data, len); - - if (ret < len) { - PX4_WARN("Error writing to flash sector %u, error: %i", k_dataman_flash_sector->page, ret); - return; - } -} - -static void -_ram_flash_shutdown() -{ - if (dm_operations_data.ram_flash.flush_timeout.tv_sec) { - _ram_flash_flush(); - } - - dm_ram_operations.shutdown(); -} - -static int -_ram_flash_wait(px4_sem_t *sem) -{ - if (!dm_operations_data.ram_flash.flush_timeout.tv_sec) { - px4_sem_wait(sem); - return 0; - } - - int ret; - - while ((ret = px4_sem_timedwait(sem, &dm_operations_data.ram_flash.flush_timeout)) == -1 && errno == EINTR); - - if (ret == 0) { - /* a work was queued before timeout */ - return 0; - } - - _ram_flash_flush(); - return 0; -} -#endif - /** Write to the data manager file */ __EXPORT ssize_t dm_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, size_t count) @@ -1238,15 +1031,6 @@ dm_restart(dm_reset_reason reason) return enqueue_work_item_and_wait_for_result(work); } -#if defined(FLASH_BASED_DATAMAN) -__EXPORT int -dm_flash_sector_description_set(const dm_sector_descriptor_t *description) -{ - k_dataman_flash_sector = description; - return 0; -} -#endif - static int task_main(int argc, char *argv[]) { @@ -1260,13 +1044,6 @@ task_main(int argc, char *argv[]) g_dm_ops = &dm_ram_operations; break; -#if defined(FLASH_BASED_DATAMAN) - - case BACKEND_RAM_FLASH: - g_dm_ops = &dm_ram_flash_operations; - break; -#endif - default: PX4_WARN("No valid backend set."); return -1; @@ -1350,14 +1127,6 @@ task_main(int argc, char *argv[]) restart_type_str, max_offset); break; -#if defined(FLASH_BASED_DATAMAN) - - case BACKEND_RAM_FLASH: - PX4_INFO("%s, data manager RAM/Flash size is %d bytes", - restart_type_str, max_offset); - break; -#endif - default: break; } @@ -1504,8 +1273,6 @@ usage() Module to provide persistent storage for the rest of the system in form of a simple database through a C API. Multiple backends are supported: - a file (eg. on the SD card) -- FLASH (if the board supports it) -- FRAM - RAM (this is obviously not persistent) It is used to store structured data of different types: mission waypoints, mission state and geofence polygons. @@ -1526,8 +1293,7 @@ check for geofence violations. PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAM_STRING('f', nullptr, "", "Storage file", true); PRINT_MODULE_USAGE_PARAM_FLAG('r', "Use RAM backend (NOT persistent)", true); - PRINT_MODULE_USAGE_PARAM_FLAG('i', "Use FLASH backend", true); - PRINT_MODULE_USAGE_PARAM_COMMENT("The options -f, -r and -i are mutually exclusive. If nothing is specified, a file 'dataman' is used"); + PRINT_MODULE_USAGE_PARAM_COMMENT("The options -f and -r are mutually exclusive. If nothing is specified, a file 'dataman' is used"); PRINT_MODULE_USAGE_COMMAND_DESCR("poweronrestart", "Restart dataman (on power on)"); PRINT_MODULE_USAGE_COMMAND_DESCR("inflightrestart", "Restart dataman (in flight)"); @@ -1537,7 +1303,7 @@ check for geofence violations. static int backend_check() { if (backend != BACKEND_NONE) { - PX4_WARN("-f, -r and -i are mutually exclusive"); + PX4_WARN("-f and -r are mutually exclusive"); usage(); return -1; } @@ -1566,7 +1332,7 @@ dataman_main(int argc, char *argv[]) /* jump over start and look at options first */ - while ((ch = px4_getopt(argc, argv, "f:ri", &dmoptind, &dmoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "f:r", &dmoptind, &dmoptarg)) != EOF) { switch (ch) { case 'f': if (backend_check()) { @@ -1586,24 +1352,6 @@ dataman_main(int argc, char *argv[]) backend = BACKEND_RAM; break; - case 'i': -#if defined(FLASH_BASED_DATAMAN) - if (backend_check()) { - return -1; - } - - if (!k_dataman_flash_sector) { - PX4_WARN("No flash sector set"); - return -1; - } - - backend = BACKEND_RAM_FLASH; - break; -#else - PX4_WARN("RAM/Flash backend is not available"); - return -1; -#endif - //no break default: usage(); diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h index 8d253c82d3..c7bb0b0c90 100644 --- a/src/modules/dataman/dataman.h +++ b/src/modules/dataman/dataman.h @@ -163,26 +163,6 @@ dm_restart( dm_reset_reason restart_type /* The last reset type */ ); -#if defined(FLASH_BASED_DATAMAN) -typedef struct dm_sector_descriptor_t { - uint8_t page; - uint32_t size; - uint32_t address; -} dm_sector_descriptor_t; - -/** - * Set the flash sector description were data should persist data - * - * Important: do not use a Flash sector from the same bank that STM32 read - * instructions or the CPU will held for sometime during Flash erase and write - * and this could cause your drone to fall. - */ -__EXPORT int -dm_flash_sector_description_set( - const dm_sector_descriptor_t *description -); -#endif - #ifdef __cplusplus } #endif diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 2cfdc6f689..441c3f1b22 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -169,6 +169,7 @@ EKF2::~EKF2() { perf_free(_ecl_ekf_update_perf); perf_free(_ecl_ekf_update_full_perf); + perf_free(_imu_missed_perf); } bool EKF2::multi_init(int imu, int mag) @@ -178,6 +179,7 @@ bool EKF2::multi_init(int imu, int mag) _local_position_pub.advertise(); _global_position_pub.advertise(); _odometry_pub.advertise(); + _wind_pub.advertise(); _ekf2_timestamps_pub.advertise(); _ekf_gps_drift_pub.advertise(); @@ -190,7 +192,6 @@ bool EKF2::multi_init(int imu, int mag) _estimator_status_pub.advertise(); _estimator_status_flags_pub.advertise(); _estimator_visual_odometry_aligned_pub.advertised(); - _wind_pub.advertise(); _yaw_est_pub.advertise(); _vehicle_imu_sub.ChangeInstance(imu); @@ -219,6 +220,7 @@ int EKF2::print_status() _ekf.local_position_is_valid(), _ekf.global_position_is_valid()); perf_print_counter(_ecl_ekf_update_perf); perf_print_counter(_ecl_ekf_update_full_perf); + perf_print_counter(_imu_missed_perf); return 0; } @@ -265,6 +267,28 @@ void EKF2::Run() } } + if (_vehicle_command_sub.updated()) { + vehicle_command_s vehicle_command; + + if (_vehicle_command_sub.update(&vehicle_command)) { + if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN) { + if (!_ekf.control_status_flags().in_air) { + + uint64_t origin_time {}; + double latitude = vehicle_command.param5; + double longitude = vehicle_command.param6; + float altitude = vehicle_command.param7; + + _ekf.setEkfGlobalOrigin(latitude, longitude, altitude); + + // Validate the ekf origin status. + _ekf.getEkfGlobalOrigin(origin_time, latitude, longitude, altitude); + PX4_INFO("New NED origin (LLA): %3.10f, %3.10f, %4.3f\n", latitude, longitude, static_cast(altitude)); + } + } + } + } + bool imu_updated = false; imuSample imu_sample_new {}; @@ -276,8 +300,9 @@ void EKF2::Run() imu_updated = _vehicle_imu_sub.update(&imu); if (imu_updated && (_vehicle_imu_sub.get_last_generation() != last_generation + 1)) { - PX4_ERR("%d - vehicle_imu lost, generation %d -> %d", _instance, last_generation, - _vehicle_imu_sub.get_last_generation()); + perf_count(_imu_missed_perf); + PX4_DEBUG("%d - vehicle_imu lost, generation %d -> %d", _instance, last_generation, + _vehicle_imu_sub.get_last_generation()); } imu_sample_new.time_us = imu.timestamp_sample; @@ -450,6 +475,7 @@ void EKF2::Run() // publish status/logging messages PublishEkfDriftMetrics(now); + PublishEventFlags(now); PublishStates(now); PublishStatus(now); PublishStatusFlags(now); @@ -518,58 +544,109 @@ void EKF2::PublishEkfDriftMetrics(const hrt_abstime ×tamp) } } +void EKF2::PublishEventFlags(const hrt_abstime ×tamp) +{ + // information events + uint32_t information_events = _ekf.information_event_status().value; + bool information_event_updated = false; + + if (information_events != 0) { + information_event_updated = true; + _filter_information_event_changes++; + } + + // warning events + uint32_t warning_events = _ekf.warning_event_status().value; + bool warning_event_updated = false; + + if (warning_events != 0) { + warning_event_updated = true; + _filter_warning_event_changes++; + } + + if (information_event_updated || warning_event_updated) { + estimator_event_flags_s event_flags{}; + event_flags.timestamp_sample = timestamp; + + event_flags.information_event_changes = _filter_information_event_changes; + event_flags.gps_checks_passed = _ekf.information_event_flags().gps_checks_passed; + event_flags.reset_vel_to_gps = _ekf.information_event_flags().reset_vel_to_gps; + event_flags.reset_vel_to_flow = _ekf.information_event_flags().reset_vel_to_flow; + event_flags.reset_vel_to_vision = _ekf.information_event_flags().reset_vel_to_vision; + event_flags.reset_vel_to_zero = _ekf.information_event_flags().reset_vel_to_zero; + event_flags.reset_pos_to_last_known = _ekf.information_event_flags().reset_pos_to_last_known; + event_flags.reset_pos_to_gps = _ekf.information_event_flags().reset_pos_to_gps; + event_flags.reset_pos_to_vision = _ekf.information_event_flags().reset_pos_to_vision; + event_flags.starting_gps_fusion = _ekf.information_event_flags().starting_gps_fusion; + event_flags.starting_vision_pos_fusion = _ekf.information_event_flags().starting_vision_pos_fusion; + event_flags.starting_vision_vel_fusion = _ekf.information_event_flags().starting_vision_vel_fusion; + event_flags.starting_vision_yaw_fusion = _ekf.information_event_flags().starting_vision_yaw_fusion; + event_flags.yaw_aligned_to_imu_gps = _ekf.information_event_flags().yaw_aligned_to_imu_gps; + + event_flags.warning_event_changes = _filter_warning_event_changes; + event_flags.gps_quality_poor = _ekf.warning_event_flags().gps_quality_poor; + event_flags.gps_fusion_timout = _ekf.warning_event_flags().gps_fusion_timout; + event_flags.gps_data_stopped = _ekf.warning_event_flags().gps_data_stopped; + event_flags.gps_data_stopped_using_alternate = _ekf.warning_event_flags().gps_data_stopped_using_alternate; + event_flags.height_sensor_timeout = _ekf.warning_event_flags().height_sensor_timeout; + event_flags.stopping_navigation = _ekf.warning_event_flags().stopping_mag_use; + event_flags.invalid_accel_bias_cov_reset = _ekf.warning_event_flags().invalid_accel_bias_cov_reset; + event_flags.bad_yaw_using_gps_course = _ekf.warning_event_flags().bad_yaw_using_gps_course; + event_flags.stopping_mag_use = _ekf.warning_event_flags().stopping_mag_use; + event_flags.vision_data_stopped = _ekf.warning_event_flags().vision_data_stopped; + event_flags.emergency_yaw_reset_mag_stopped = _ekf.warning_event_flags().emergency_yaw_reset_mag_stopped; + + event_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); + _estimator_event_flags_pub.publish(event_flags); + } + + _ekf.clear_information_events(); + _ekf.clear_warning_events(); +} + void EKF2::PublishGlobalPosition(const hrt_abstime ×tamp) { if (_ekf.global_position_is_valid() && !_preflt_checker.hasFailed()) { // only publish if position has changed by at least 1 mm (map_projection_reproject is relatively expensive) - const Vector3f position = _ekf.getPosition(); + const Vector3f position{_ekf.getPosition()}; if ((_last_local_position_for_gpos - position).longerThan(0.001f)) { - // generate and publish global position data vehicle_global_position_s global_pos; global_pos.timestamp_sample = timestamp; // Position of local NED origin in GPS / WGS84 frame - uint64_t origin_time; - map_projection_reference_s ekf_origin; - float ref_alt; - // true if position (x,y,z) has a valid WGS-84 global reference (ref_lat, ref_lon, alt) - const bool ekf_origin_valid = _ekf.get_ekf_origin(&origin_time, &ekf_origin, &ref_alt); + map_projection_reproject(&_ekf.global_origin(), position(0), position(1), &global_pos.lat, &global_pos.lon); - if (ekf_origin_valid) { + float delta_xy[2]; + _ekf.get_posNE_reset(delta_xy, &global_pos.lat_lon_reset_counter); - map_projection_reproject(&ekf_origin, position(0), position(1), &global_pos.lat, &global_pos.lon); + global_pos.alt = -position(2) + _ekf.getEkfGlobalOriginAltitude(); // Altitude AMSL in meters + global_pos.alt_ellipsoid = filter_altitude_ellipsoid(global_pos.alt); - float delta_xy[2]; - _ekf.get_posNE_reset(delta_xy, &global_pos.lat_lon_reset_counter); + // global altitude has opposite sign of local down position + float delta_z; + uint8_t z_reset_counter; + _ekf.get_posD_reset(&delta_z, &z_reset_counter); + global_pos.delta_alt = -delta_z; - global_pos.alt = -position(2) + ref_alt; // Altitude AMSL in meters - global_pos.alt_ellipsoid = filter_altitude_ellipsoid(global_pos.alt); + _ekf.get_ekf_gpos_accuracy(&global_pos.eph, &global_pos.epv); - // global altitude has opposite sign of local down position - float delta_z; - uint8_t z_reset_counter; - _ekf.get_posD_reset(&delta_z, &z_reset_counter); - global_pos.delta_alt = -delta_z; + if (_ekf.isTerrainEstimateValid()) { + // Terrain altitude in m, WGS84 + global_pos.terrain_alt = _ekf.getEkfGlobalOriginAltitude() - _ekf.getTerrainVertPos(); + global_pos.terrain_alt_valid = true; - _ekf.get_ekf_gpos_accuracy(&global_pos.eph, &global_pos.epv); - - global_pos.terrain_alt_valid = _ekf.isTerrainEstimateValid(); - - if (global_pos.terrain_alt_valid) { - global_pos.terrain_alt = ref_alt - _ekf.getTerrainVertPos(); // Terrain altitude in m, WGS84 - - } else { - global_pos.terrain_alt = 0.0f; // Terrain altitude in m, WGS84 - } - - global_pos.dead_reckoning = _ekf.inertial_dead_reckoning(); // True if this position is estimated through dead-reckoning - global_pos.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); - _global_position_pub.publish(global_pos); - - _last_local_position_for_gpos = position; + } else { + global_pos.terrain_alt = NAN; + global_pos.terrain_alt_valid = false; } + + global_pos.dead_reckoning = _ekf.inertial_dead_reckoning(); // True if this position is estimated through dead-reckoning + global_pos.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); + _global_position_pub.publish(global_pos); + + _last_local_position_for_gpos = position; } } } @@ -665,13 +742,13 @@ void EKF2::PublishLocalPosition(const hrt_abstime ×tamp) lpos.timestamp_sample = timestamp; // Position of body origin in local NED frame - const Vector3f position = _ekf.getPosition(); + const Vector3f position{_ekf.getPosition()}; lpos.x = position(0); lpos.y = position(1); lpos.z = position(2); // Velocity of body origin in local NED frame (m/s) - const Vector3f velocity = _ekf.getVelocity(); + const Vector3f velocity{_ekf.getVelocity()}; lpos.vx = velocity(0); lpos.vy = velocity(1); lpos.vz = velocity(2); @@ -680,7 +757,7 @@ void EKF2::PublishLocalPosition(const hrt_abstime ×tamp) lpos.z_deriv = _ekf.getVerticalPositionDerivative(); // Acceleration of body origin in local frame - Vector3f vel_deriv = _ekf.getVelocityDerivative(); + const Vector3f vel_deriv{_ekf.getVelocityDerivative()}; lpos.ax = vel_deriv(0); lpos.ay = vel_deriv(1); lpos.az = vel_deriv(2); @@ -692,15 +769,22 @@ void EKF2::PublishLocalPosition(const hrt_abstime ×tamp) lpos.v_z_valid = !_preflt_checker.hasVertFailed(); // Position of local NED origin in GPS / WGS84 frame - uint64_t origin_time; - map_projection_reference_s ekf_origin_pos; - const bool ekf_origin_valid = _ekf.get_ekf_origin(&origin_time, &ekf_origin_pos, &lpos.ref_alt); - lpos.ref_timestamp = origin_time; - lpos.ref_lat = math::degrees(ekf_origin_pos.lat_rad); // Reference point latitude in degrees - lpos.ref_lon = math::degrees(ekf_origin_pos.lon_rad); // Reference point longitude in degrees + if (_ekf.global_origin_valid()) { + lpos.ref_timestamp = _ekf.global_origin().timestamp; + lpos.ref_lat = math::degrees(_ekf.global_origin().lat_rad); // Reference point latitude in degrees + lpos.ref_lon = math::degrees(_ekf.global_origin().lon_rad); // Reference point longitude in degrees + lpos.ref_alt = _ekf.getEkfGlobalOriginAltitude(); // Reference point in MSL altitude meters + lpos.xy_global = true; + lpos.z_global = true; - lpos.xy_global = ekf_origin_valid; - lpos.z_global = ekf_origin_valid; + } else { + lpos.ref_timestamp = 0; + lpos.ref_lat = static_cast(NAN); + lpos.ref_lon = static_cast(NAN); + lpos.ref_alt = NAN; + lpos.xy_global = false; + lpos.z_global = false; + } Quatf delta_q_reset; _ekf.get_quat_reset(&delta_q_reset(0), &lpos.heading_reset_counter); @@ -771,14 +855,14 @@ void EKF2::PublishOdometry(const hrt_abstime ×tamp, const imuSample &imu) odom.local_frame = vehicle_odometry_s::LOCAL_FRAME_NED; // Vehicle odometry position - const Vector3f position = _ekf.getPosition(); + const Vector3f position{_ekf.getPosition()}; odom.x = position(0); odom.y = position(1); odom.z = position(2); // Vehicle odometry linear velocity odom.velocity_frame = vehicle_odometry_s::LOCAL_FRAME_FRD; - const Vector3f velocity = _ekf.getVelocity(); + const Vector3f velocity{_ekf.getVelocity()}; odom.vx = velocity(0); odom.vy = velocity(1); odom.vz = velocity(2); @@ -787,8 +871,8 @@ void EKF2::PublishOdometry(const hrt_abstime ×tamp, const imuSample &imu) _ekf.getQuaternion().copyTo(odom.q); // Vehicle odometry angular rates - const Vector3f gyro_bias = _ekf.getGyroBias(); - const Vector3f rates(imu.delta_ang / imu.delta_ang_dt); + const Vector3f gyro_bias{_ekf.getGyroBias()}; + const Vector3f rates{imu.delta_ang / imu.delta_ang_dt}; odom.rollspeed = rates(0) - gyro_bias(0); odom.pitchspeed = rates(1) - gyro_bias(1); odom.yawspeed = rates(2) - gyro_bias(2); diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp index 1952630a09..4bf4ce610d 100644 --- a/src/modules/ekf2/EKF2.hpp +++ b/src/modules/ekf2/EKF2.hpp @@ -64,6 +64,7 @@ #include #include #include +#include #include #include #include @@ -77,6 +78,7 @@ #include #include #include +#include #include #include #include @@ -127,6 +129,7 @@ private: void PublishAttitude(const hrt_abstime ×tamp); void PublishEkfDriftMetrics(const hrt_abstime ×tamp); + void PublishEventFlags(const hrt_abstime ×tamp); void PublishGlobalPosition(const hrt_abstime ×tamp); void PublishInnovations(const hrt_abstime ×tamp, const imuSample &imu); void PublishInnovationTestRatios(const hrt_abstime ×tamp); @@ -173,6 +176,7 @@ private: perf_counter_t _ecl_ekf_update_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL update")}; perf_counter_t _ecl_ekf_update_full_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL full update")}; + perf_counter_t _imu_missed_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")}; // Used to check, save and use learned magnetometer biases hrt_abstime _mag_cal_last_us{0}; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec) @@ -219,6 +223,7 @@ private: uORB::Subscription _optical_flow_sub{ORB_ID(optical_flow)}; uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)}; uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)}; uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; @@ -241,6 +246,8 @@ private: uint32_t _filter_control_status_changes{0}; uint32_t _filter_fault_status_changes{0}; uint32_t _innov_check_fail_status_changes{0}; + uint32_t _filter_warning_event_changes{0}; + uint32_t _filter_information_event_changes{0}; uORB::PublicationMulti _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)}; uORB::PublicationMulti _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)}; @@ -252,6 +259,7 @@ private: uORB::PublicationMulti _estimator_states_pub{ORB_ID(estimator_states)}; uORB::PublicationMulti _estimator_status_pub{ORB_ID(estimator_status)}; uORB::PublicationMulti _estimator_status_flags_pub{ORB_ID(estimator_status_flags)}; + uORB::PublicationMulti _estimator_event_flags_pub{ORB_ID(estimator_event_flags)}; uORB::PublicationMulti _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)}; uORB::PublicationMulti _yaw_est_pub{ORB_ID(yaw_estimator_status)}; diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 6b8dc53826..6395b4f8be 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -41,6 +41,7 @@ /** * Minimum time of arrival delta between non-IMU observations before data is downsampled. + * * Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information. * * @group EKF2 @@ -89,6 +90,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 110); /** * Optical flow measurement delay relative to IMU measurements + * * Assumes measurement is timestamped at trailing edge of integration period * * @group EKF2 @@ -493,6 +495,7 @@ PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0); /** * Horizontal acceleration threshold used by automatic selection of magnetometer fusion method. + * * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion. * * @group EKF2 @@ -505,6 +508,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_ACCLIM, 0.5f); /** * Yaw rate threshold used by automatic selection of magnetometer fusion method. + * * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion. * * @group EKF2 @@ -945,7 +949,9 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Y, 0.0f); PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f); /** -* Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive +* Airspeed fusion threshold. +* +* A value of zero will deactivate airspeed fusion. Any other positive * value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. * Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. * Use EKF2_FUSE_BETA to activate sideslip fusion. @@ -1056,7 +1062,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f); * @value 0 Range aid disabled * @value 1 Range aid enabled */ -PARAM_DEFINE_INT32(EKF2_RNG_AID, 0); +PARAM_DEFINE_INT32(EKF2_RNG_AID, 1); /** * Maximum horizontal velocity allowed for range aid mode. @@ -1122,6 +1128,7 @@ PARAM_DEFINE_FLOAT(EKF2_EVV_GATE, 3.0f); /** * Gate size for vision position fusion + * * Sets the number of standard deviations used by the innovation consistency test. * @group EKF2 * @min 1.0 @@ -1132,7 +1139,8 @@ PARAM_DEFINE_FLOAT(EKF2_EVP_GATE, 5.0f); /** * Specific drag force observation noise variance used by the multi-rotor specific drag force model. - * Increasing it makes the multi-rotor wind estimates adjust more slowly. + * + * Increasing this makes the multi-rotor wind estimates adjust more slowly. * * @group EKF2 * @min 0.5 @@ -1144,6 +1152,7 @@ PARAM_DEFINE_FLOAT(EKF2_DRAG_NOISE, 2.5f); /** * X-axis ballistic coefficient used by the multi-rotor specific drag force model. + * * This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence. * * @group EKF2 @@ -1156,6 +1165,7 @@ PARAM_DEFINE_FLOAT(EKF2_BCOEF_X, 25.0f); /** * Y-axis ballistic coefficient used by the multi-rotor specific drag force model. + * * This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence. * * @group EKF2 @@ -1179,6 +1189,7 @@ PARAM_DEFINE_FLOAT(EKF2_ASPD_MAX, 20.0f); /** * Static pressure position error coefficient for the positive X axis + * * This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. * If the baro height estimate rises during forward flight, then this will be a negative number. * @@ -1191,6 +1202,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_XP, 0.0f); /** * Static pressure position error coefficient for the negative X axis. + * * This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. * If the baro height estimate rises during backwards flight, then this will be a negative number. * @@ -1203,6 +1215,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_XN, 0.0f); /** * Pressure position error coefficient for the positive Y axis. + * * This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. * If the baro height estimate rises during sideways flight to the right, then this will be a negative number. * @@ -1215,6 +1228,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_YP, 0.0f); /** * Pressure position error coefficient for the negative Y axis. + * * This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. * If the baro height estimate rises during sideways flight to the left, then this will be a negative number. * @@ -1227,6 +1241,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_YN, 0.0f); /** * Static pressure position error coefficient for the Z axis. + * * This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis. * * @group EKF2 @@ -1237,7 +1252,9 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_YN, 0.0f); PARAM_DEFINE_FLOAT(EKF2_PCOEF_Z, 0.0f); /** - * Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value. + * Accelerometer bias learning limit. + * + * The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value. * * @group EKF2 * @min 0.0 @@ -1249,6 +1266,7 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_LIM, 0.4f); /** * Maximum IMU accel magnitude that allows IMU bias learning. + * * If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. * This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates. * @@ -1262,6 +1280,7 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_ACCLIM, 25.0f); /** * Maximum IMU gyro angular rate magnitude that allows IMU bias learning. + * * If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. * This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates. * @@ -1275,6 +1294,7 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_GYRLIM, 3.0f); /** * Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning. + * * The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. * This parameter controls the time constant of the decay. * @@ -1342,6 +1362,7 @@ PARAM_DEFINE_INT32(EKF2_SYNT_MAG_Z, 0); /** * Default value of true airspeed used in EKF-GSF AHRS calculation. + * * If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes. * * @group EKF2 diff --git a/src/modules/flight_mode_manager/CMakeLists.txt b/src/modules/flight_mode_manager/CMakeLists.txt index 991f564be1..dd9b3da41d 100644 --- a/src/modules/flight_mode_manager/CMakeLists.txt +++ b/src/modules/flight_mode_manager/CMakeLists.txt @@ -58,7 +58,6 @@ list(APPEND flight_tasks_all ManualPositionSmoothVel AutoLineSmoothVel AutoFollowMe - Offboard Failsafe Descend Transition @@ -108,8 +107,6 @@ add_compile_options( # add subdirectory containing all tasks add_subdirectory(tasks) -add_subdirectory(Takeoff) - px4_add_module( MODULE modules__flight_mode_manager MAIN flight_mode_manager @@ -124,7 +121,6 @@ px4_add_module( ${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.hpp ${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.cpp DEPENDS - Takeoff px4_work_queue WeatherVane ) diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp index 9481062d34..0b411221a2 100644 --- a/src/modules/flight_mode_manager/FlightModeManager.cpp +++ b/src/modules/flight_mode_manager/FlightModeManager.cpp @@ -115,10 +115,6 @@ void FlightModeManager::Run() } } - // an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes - _takeoff.updateTakeoffState(_vehicle_control_mode_sub.get().flag_armed, _vehicle_land_detected_sub.get().landed, false, - 10.f, !_vehicle_control_mode_sub.get().flag_control_climb_rate_enabled, time_stamp_now); - // activate the weathervane controller if required. If activated a flighttask can use it to implement a yaw-rate control strategy // that turns the nose of the vehicle into the wind if (_wv_controller != nullptr) { @@ -162,10 +158,6 @@ void FlightModeManager::updateParams() _current_task.task->handleParameterUpdate(); } - _takeoff.setSpoolupTime(_param_mpc_spoolup_time.get()); - _takeoff.setTakeoffRampTime(_param_mpc_tko_ramp_t.get()); - _takeoff.generateInitialRampValue(_param_mpc_z_vel_p_acc.get()); - if (_wv_controller != nullptr) { _wv_controller->update_parameters(); } @@ -183,13 +175,6 @@ void FlightModeManager::start_flight_task() return; } - // Switch to clean new task when mode switches e.g. to reset state when switching between auto modes - // exclude Orbit mode since the task is initiated in FlightTasks through the vehicle_command and we should not switch out - if (_last_vehicle_nav_state != _vehicle_status_sub.get().nav_state - && _vehicle_status_sub.get().nav_state != vehicle_status_s::NAVIGATION_STATE_ORBIT) { - switchTask(FlightTaskIndex::None); - } - // Only run transition flight task if altitude control is enabled (e.g. in Altitdue, Position, Auto flight mode) if (_vehicle_status_sub.get().in_transition_mode && _vehicle_control_mode_sub.get().flag_control_altitude_enabled) { @@ -212,31 +197,6 @@ void FlightModeManager::start_flight_task() return; } - // offboard - if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD - && (_vehicle_control_mode_sub.get().flag_control_altitude_enabled || - _vehicle_control_mode_sub.get().flag_control_position_enabled || - _vehicle_control_mode_sub.get().flag_control_climb_rate_enabled || - _vehicle_control_mode_sub.get().flag_control_velocity_enabled || - _vehicle_control_mode_sub.get().flag_control_acceleration_enabled)) { - - should_disable_task = false; - FlightTaskError error = switchTask(FlightTaskIndex::Offboard); - - if (error != FlightTaskError::NoError) { - if (prev_failure_count == 0) { - PX4_WARN("Offboard activation failed with error: %s", errorToString(error)); - } - - task_failure = true; - _task_failure_count++; - - } else { - // we want to be in this mode, reset the failure count - _task_failure_count = 0; - } - } - // Auto-follow me if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) { should_disable_task = false; @@ -314,6 +274,12 @@ void FlightModeManager::start_flight_task() case 4: default: + if (_param_mpc_pos_mode.get() != 4) { + PX4_ERR("MPC_POS_MODE %d invalid, resetting", _param_mpc_pos_mode.get()); + _param_mpc_pos_mode.set(4); + _param_mpc_pos_mode.commit(); + } + error = switchTask(FlightTaskIndex::ManualAcceleration); break; } @@ -494,7 +460,7 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt, if (_vehicle_local_position_setpoint_sub.copy(&vehicle_local_position_setpoint)) { const Vector3f vel_sp{vehicle_local_position_setpoint.vx, vehicle_local_position_setpoint.vy, vehicle_local_position_setpoint.vz}; const Vector3f acc_sp{vehicle_local_position_setpoint.acceleration}; - _current_task.task->updateVelocityControllerIO(vel_sp, acc_sp); + _current_task.task->updateVelocityControllerFeedback(vel_sp, acc_sp); } } @@ -511,21 +477,15 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt, // limit altitude according to land detector limitAltitude(setpoint, vehicle_local_position); - const bool not_taken_off = _takeoff.getTakeoffState() < TakeoffState::rampup; - const bool flying = _takeoff.getTakeoffState() >= TakeoffState::flight; - const bool flying_but_ground_contact = flying && _vehicle_land_detected_sub.get().ground_contact; + if (_takeoff_status_sub.updated()) { + takeoff_status_s takeoff_status; - if (not_taken_off || flying_but_ground_contact) { - // we are not flying yet and need to avoid any corrections - reset_setpoint_to_nan(setpoint); - Vector3f(0.f, 0.f, 100.f).copyTo(setpoint.acceleration); // High downwards acceleration to make sure there's no thrust - // set yaw-sp to current yaw - setpoint.yawspeed = 0.f; - // prevent any integrator windup - constraints.reset_integral = true; + if (_takeoff_status_sub.copy(&takeoff_status)) { + _takeoff_state = takeoff_status.takeoff_state; + } } - if (not_taken_off) { + if (_takeoff_state < takeoff_status_s::TAKEOFF_STATE_RAMPUP) { // reactivate the task which will reset the setpoint to current state _current_task.task->reActivate(); } @@ -534,38 +494,9 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt, setpoint.timestamp = hrt_absolute_time(); _trajectory_setpoint_pub.publish(setpoint); - - // Allow ramping from zero thrust on takeoff - if (flying) { - constraints.minimum_thrust = _param_mpc_thr_min.get(); - - } else { - // allow zero thrust when taking off and landing - constraints.minimum_thrust = 0.f; - } - - // fix to prevent the takeoff ramp to ramp to a too high value or get stuck because of NAN - // TODO: this should get obsolete once the takeoff limiting moves into the flight tasks - if (!PX4_ISFINITE(constraints.speed_up) || (constraints.speed_up > _param_mpc_z_vel_max_up.get())) { - constraints.speed_up = _param_mpc_z_vel_max_up.get(); - } - - // limit tilt during takeoff ramupup - if (_takeoff.getTakeoffState() < TakeoffState::flight) { - constraints.tilt = math::radians(_param_mpc_tiltmax_lnd.get()); - } - - // handle smooth takeoff - _takeoff.updateTakeoffState(_vehicle_control_mode_sub.get().flag_armed, _vehicle_land_detected_sub.get().landed, - constraints.want_takeoff, constraints.speed_up, !_vehicle_control_mode_sub.get().flag_control_climb_rate_enabled, - _time_stamp_last_loop); - constraints.speed_up = _takeoff.updateRamp(dt, constraints.speed_up); - - constraints.flight_task = static_cast(_current_task.index); constraints.timestamp = hrt_absolute_time(); _vehicle_constraints_pub.publish(constraints); - // if there's any change in landing gear setpoint publish it landing_gear_s landing_gear = _current_task.task->getGear(); @@ -577,16 +508,6 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt, } _old_landing_gear_position = landing_gear.landing_gear; - - // Publish takeoff status - takeoff_status_s takeoff_status; - takeoff_status.takeoff_state = static_cast(_takeoff.getTakeoffState()); - - if (takeoff_status.takeoff_state != _old_takeoff_state) { - takeoff_status.timestamp = hrt_absolute_time(); - _takeoff_status_pub.publish(takeoff_status); - _old_takeoff_state = takeoff_status.takeoff_state; - } } void FlightModeManager::limitAltitude(vehicle_local_position_setpoint_s &setpoint, @@ -608,15 +529,6 @@ void FlightModeManager::limitAltitude(vehicle_local_position_setpoint_s &setpoin } } -void FlightModeManager::reset_setpoint_to_nan(vehicle_local_position_setpoint_s &setpoint) -{ - setpoint.x = setpoint.y = setpoint.z = NAN; - setpoint.vx = setpoint.vy = setpoint.vz = NAN; - setpoint.yaw = setpoint.yawspeed = NAN; - setpoint.acceleration[0] = setpoint.acceleration[1] = setpoint.acceleration[2] = NAN; - setpoint.thrust[0] = setpoint.thrust[1] = setpoint.thrust[2] = NAN; -} - FlightTaskError FlightModeManager::switchTask(FlightTaskIndex new_task_index) { // switch to the running task, nothing to do diff --git a/src/modules/flight_mode_manager/FlightModeManager.hpp b/src/modules/flight_mode_manager/FlightModeManager.hpp index 8c1278dcbe..5d59b3e171 100644 --- a/src/modules/flight_mode_manager/FlightModeManager.hpp +++ b/src/modules/flight_mode_manager/FlightModeManager.hpp @@ -56,8 +56,6 @@ #include #include -#include "Takeoff/Takeoff.hpp" - #include enum class FlightTaskError : int { @@ -95,7 +93,6 @@ private: void handleCommand(); void generateTrajectorySetpoint(const float dt, const vehicle_local_position_s &vehicle_local_position); void limitAltitude(vehicle_local_position_setpoint_s &setpoint, const vehicle_local_position_s &vehicle_local_position); - void reset_setpoint_to_nan(vehicle_local_position_setpoint_s &setpoint); /** * Switch to a specific task (for normal usage) @@ -133,10 +130,9 @@ private: FlightTaskIndex index{FlightTaskIndex::None}; } _current_task{}; - Takeoff _takeoff; ///< state machine and ramp to bring the vehicle off the ground without a jump WeatherVane *_wv_controller{nullptr}; int8_t _old_landing_gear_position{landing_gear_s::GEAR_KEEP}; - uint8_t _old_takeoff_state{0}; + uint8_t _takeoff_state{takeoff_status_s::TAKEOFF_STATE_UNINITIALIZED}; int _task_failure_count{0}; uint8_t _last_vehicle_nav_state{0}; @@ -145,6 +141,7 @@ private: uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)}; uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)}; uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)}; @@ -156,19 +153,12 @@ private: uORB::SubscriptionData _vehicle_status_sub{ORB_ID(vehicle_status)}; uORB::Publication _landing_gear_pub{ORB_ID(landing_gear)}; - uORB::Publication _takeoff_status_pub{ORB_ID(takeoff_status)}; uORB::Publication _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)}; uORB::Publication _vehicle_command_pub{ORB_ID(vehicle_command)}; uORB::Publication _vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)}; uORB::Publication _vehicle_constraints_pub{ORB_ID(vehicle_constraints)}; DEFINE_PARAMETERS( - (ParamInt) _param_mpc_pos_mode, - (ParamFloat) _param_mpc_tiltmax_lnd, - (ParamFloat) _param_mpc_z_vel_max_up, - (ParamFloat) _param_mpc_spoolup_time, - (ParamFloat) _param_mpc_tko_ramp_t, - (ParamFloat) _param_mpc_z_vel_p_acc, - (ParamFloat) _param_mpc_thr_min + (ParamInt) _param_mpc_pos_mode ); }; diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp index ec31f61d06..bccb40051a 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp @@ -66,7 +66,6 @@ enum class WaypointType : int { takeoff = position_setpoint_s::SETPOINT_TYPE_TAKEOFF, land = position_setpoint_s::SETPOINT_TYPE_LAND, idle = position_setpoint_s::SETPOINT_TYPE_IDLE, - offboard = position_setpoint_s::SETPOINT_TYPE_OFFBOARD, // only part of this structure due to legacy reason. It is not used within the Auto flighttasks follow_target = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET, }; diff --git a/src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.hpp b/src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.hpp index 50f34db88a..678d45f6b1 100644 --- a/src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.hpp +++ b/src/modules/flight_mode_manager/tasks/AutoMapper/FlightTaskAutoMapper.hpp @@ -65,7 +65,6 @@ protected: DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto, (ParamFloat) _param_mpc_land_speed, - (ParamFloat) _param_mpc_tiltmax_lnd, (ParamInt) _param_mpc_land_rc_help, (ParamFloat) _param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp index 5593adf4d5..a6af526492 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp @@ -6,7 +6,7 @@ constexpr uint64_t FlightTask::_timeout; // First index of empty_setpoint corresponds to time-stamp and requires a finite number. const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {}}; -const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}}; +const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, false, {}}; const landing_gear_s FlightTask::empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}}; bool FlightTask::activate(const vehicle_local_position_setpoint_s &last_setpoint) @@ -148,8 +148,15 @@ void FlightTask::_evaluateVehicleLocalPosition() // global frame reference coordinates to enable conversions if (_sub_vehicle_local_position.get().xy_global && _sub_vehicle_local_position.get().z_global) { - globallocalconverter_init(_sub_vehicle_local_position.get().ref_lat, _sub_vehicle_local_position.get().ref_lon, - _sub_vehicle_local_position.get().ref_alt, _sub_vehicle_local_position.get().ref_timestamp); + if (!map_projection_initialized(&_global_local_proj_ref) + || (_global_local_proj_ref.timestamp != _sub_vehicle_local_position.get().ref_timestamp)) { + + map_projection_init_timestamped(&_global_local_proj_ref, + _sub_vehicle_local_position.get().ref_lat, _sub_vehicle_local_position.get().ref_lon, + _sub_vehicle_local_position.get().ref_timestamp); + + _global_local_alt0 = _sub_vehicle_local_position.get().ref_alt; + } } } } @@ -172,9 +179,6 @@ void FlightTask::_setDefaultConstraints() _constraints.speed_xy = _param_mpc_xy_vel_max.get(); _constraints.speed_up = _param_mpc_z_vel_max_up.get(); _constraints.speed_down = _param_mpc_z_vel_max_dn.get(); - _constraints.tilt = NAN; - _constraints.min_distance_to_ground = NAN; - _constraints.max_distance_to_ground = NAN; _constraints.want_takeoff = false; } diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp index 827ea71dc6..0e3a2b4003 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp @@ -53,6 +53,7 @@ #include #include #include +#include #include struct ekf_reset_counters_s { @@ -175,8 +176,8 @@ public: */ virtual void setYawHandler(WeatherVane *ext_yaw_handler) {} - void updateVelocityControllerIO(const matrix::Vector3f &vel_sp, - const matrix::Vector3f &acc_sp) + void updateVelocityControllerFeedback(const matrix::Vector3f &vel_sp, + const matrix::Vector3f &acc_sp) { _velocity_setpoint_feedback = vel_sp; _acceleration_setpoint_feedback = acc_sp; @@ -212,10 +213,15 @@ protected: virtual void _ekfResetHandlerVelocityZ() {}; virtual void _ekfResetHandlerHeading(float delta_psi) {}; + map_projection_reference_s _global_local_proj_ref{}; + float _global_local_alt0{NAN}; + /* Time abstraction */ static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */ + float _time{}; /**< passed time in seconds since the task was activated */ float _deltatime{}; /**< passed time in seconds since the task was last updated */ + hrt_abstime _time_stamp_activate{}; /**< time stamp when task was activated */ hrt_abstime _time_stamp_current{}; /**< time stamp at the beginning of the current task update */ hrt_abstime _time_stamp_last{}; /**< time stamp when task was last updated */ @@ -223,6 +229,7 @@ protected: /* Current vehicle state */ matrix::Vector3f _position; /**< current vehicle position */ matrix::Vector3f _velocity; /**< current vehicle velocity */ + float _yaw{}; /**< current vehicle yaw heading */ float _dist_to_bottom{}; /**< current height above ground level */ float _dist_to_ground{}; /**< equals _dist_to_bottom if valid, height above home otherwise */ @@ -239,8 +246,10 @@ protected: matrix::Vector3f _velocity_setpoint; matrix::Vector3f _acceleration_setpoint; matrix::Vector3f _jerk_setpoint; + float _yaw_setpoint{}; float _yawspeed_setpoint{}; + matrix::Vector3f _velocity_setpoint_feedback; matrix::Vector3f _acceleration_setpoint_feedback; diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp index 546fc64d99..6136eb4cf1 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp @@ -48,10 +48,10 @@ bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoin bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint); if (PX4_ISFINITE(last_setpoint.vx)) { - _velocity_setpoint.xy() = Vector2f(last_setpoint.vx, last_setpoint.vy); + _stick_acceleration_xy.resetVelocity(Vector2f(last_setpoint.vx, last_setpoint.vy)); } else { - _velocity_setpoint.xy() = _velocity.xy(); + _stick_acceleration_xy.resetVelocity(_velocity.xy()); } _stick_acceleration_xy.resetPosition(); diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp index 215fe0cf5d..c13035f363 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp @@ -81,17 +81,17 @@ bool FlightTaskManualAltitude::activate(const vehicle_local_position_setpoint_s void FlightTaskManualAltitude::_updateConstraintsFromEstimator() { if (PX4_ISFINITE(_sub_vehicle_local_position.get().hagl_min)) { - _constraints.min_distance_to_ground = _sub_vehicle_local_position.get().hagl_min; + _min_distance_to_ground = _sub_vehicle_local_position.get().hagl_min; } else { - _constraints.min_distance_to_ground = -INFINITY; + _min_distance_to_ground = -INFINITY; } if (PX4_ISFINITE(_sub_vehicle_local_position.get().hagl_max)) { - _constraints.max_distance_to_ground = _sub_vehicle_local_position.get().hagl_max; + _max_distance_to_ground = _sub_vehicle_local_position.get().hagl_max; } else { - _constraints.max_distance_to_ground = INFINITY; + _max_distance_to_ground = INFINITY; } } @@ -184,7 +184,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock() // Ensure that minimum altitude is respected if // there is a distance sensor and distance to bottom is below minimum. - if (PX4_ISFINITE(_dist_to_bottom) && _dist_to_bottom < _constraints.min_distance_to_ground) { + if (PX4_ISFINITE(_dist_to_bottom) && _dist_to_bottom < _min_distance_to_ground) { _terrainFollowing(apply_brake, stopped); } else { @@ -210,14 +210,10 @@ void FlightTaskManualAltitude::_updateAltitudeLock() void FlightTaskManualAltitude::_respectMinAltitude() { - const bool respectAlt = PX4_ISFINITE(_dist_to_bottom) - && _dist_to_bottom < _constraints.min_distance_to_ground; - // Height above ground needs to be limited (flow / range-finder) - if (respectAlt) { + if (PX4_ISFINITE(_dist_to_bottom) && (_dist_to_bottom < _min_distance_to_ground)) { // increase altitude to minimum flow distance - _position_setpoint(2) = _position(2) - - (_constraints.min_distance_to_ground - _dist_to_bottom); + _position_setpoint(2) = _position(2) - (_min_distance_to_ground - _dist_to_bottom); } } @@ -253,8 +249,8 @@ void FlightTaskManualAltitude::_respectMaxAltitude() // if there is a valid maximum distance to ground, linearly increase speed limit with distance // below the maximum, preserving control loop vertical position error gain. - if (PX4_ISFINITE(_constraints.max_distance_to_ground)) { - _constraints.speed_up = math::constrain(_param_mpc_z_p.get() * (_constraints.max_distance_to_ground - _dist_to_bottom), + if (PX4_ISFINITE(_max_distance_to_ground)) { + _constraints.speed_up = math::constrain(_param_mpc_z_p.get() * (_max_distance_to_ground - _dist_to_bottom), -_max_speed_down, _max_speed_up); } else { @@ -262,17 +258,16 @@ void FlightTaskManualAltitude::_respectMaxAltitude() } // if distance to bottom exceeded maximum distance, slowly approach maximum distance - if (_dist_to_bottom > _constraints.max_distance_to_ground) { + if (_dist_to_bottom > _max_distance_to_ground) { // difference between current distance to ground and maximum distance to ground - const float delta_distance_to_max = _dist_to_bottom - _constraints.max_distance_to_ground; + const float delta_distance_to_max = _dist_to_bottom - _max_distance_to_ground; // set position setpoint to maximum distance to ground - _position_setpoint(2) = _position(2) + delta_distance_to_max; + _position_setpoint(2) = _position(2) + delta_distance_to_max; // limit speed downwards to 0.7m/s _constraints.speed_down = math::min(_max_speed_down, 0.7f); } else { _constraints.speed_down = _max_speed_down; - } } } diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp index 4980ae8d1c..28ac362466 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.hpp @@ -139,6 +139,9 @@ private: bool _terrain_follow{false}; /**< true when the vehicle is following the terrain height */ bool _terrain_hold{false}; /**< true when vehicle is controlling height above a static ground position */ + float _min_distance_to_ground{-INFINITY}; /**< min distance to ground constraint */ + float _max_distance_to_ground{INFINITY}; /**< max distance to ground constraint */ + /** * Distance to ground during terrain following. * If user does not demand velocity change in D-direction and the vehcile diff --git a/src/modules/flight_mode_manager/tasks/Offboard/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/Offboard/CMakeLists.txt deleted file mode 100644 index df9abd8351..0000000000 --- a/src/modules/flight_mode_manager/tasks/Offboard/CMakeLists.txt +++ /dev/null @@ -1,39 +0,0 @@ -############################################################################ -# -# Copyright (c) 2018 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -px4_add_library(FlightTaskOffboard - FlightTaskOffboard.cpp -) - -target_link_libraries(FlightTaskOffboard PUBLIC FlightTask) -target_include_directories(FlightTaskOffboard PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/flight_mode_manager/tasks/Offboard/FlightTaskOffboard.cpp b/src/modules/flight_mode_manager/tasks/Offboard/FlightTaskOffboard.cpp deleted file mode 100644 index f0925a060f..0000000000 --- a/src/modules/flight_mode_manager/tasks/Offboard/FlightTaskOffboard.cpp +++ /dev/null @@ -1,243 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file FlightTaskOffboard.cpp - */ - -#include "FlightTaskOffboard.hpp" -#include -#include - -using namespace matrix; - -bool FlightTaskOffboard::updateInitialize() -{ - bool ret = FlightTask::updateInitialize(); - - // require valid position / velocity in xy - return ret && PX4_ISFINITE(_position(0)) - && PX4_ISFINITE(_position(1)) - && PX4_ISFINITE(_velocity(0)) - && PX4_ISFINITE(_velocity(1)); -} - -bool FlightTaskOffboard::activate(const vehicle_local_position_setpoint_s &last_setpoint) -{ - bool ret = FlightTask::activate(last_setpoint); - _position_setpoint = _position; - _velocity_setpoint.setZero(); - _position_lock.setAll(NAN); - return ret; -} - -bool FlightTaskOffboard::update() -{ - bool ret = FlightTask::update(); - - // reset setpoint for every loop - _resetSetpoints(); - - _sub_triplet_setpoint.update(); - - if (!_sub_triplet_setpoint.get().current.valid) { - _setDefaultConstraints(); - _position_setpoint = _position; - return false; - } - - // Yaw / Yaw-speed - if (_sub_triplet_setpoint.get().current.yaw_valid) { - // yaw control required - _yaw_setpoint = _sub_triplet_setpoint.get().current.yaw; - - if (_sub_triplet_setpoint.get().current.yawspeed_valid) { - // yawspeed is used as feedforward - _yawspeed_setpoint = _sub_triplet_setpoint.get().current.yawspeed; - } - - } else if (_sub_triplet_setpoint.get().current.yawspeed_valid) { - // only yawspeed required - _yawspeed_setpoint = _sub_triplet_setpoint.get().current.yawspeed; - // set yaw setpoint to NAN since not used - _yaw_setpoint = NAN; - - } - - // Loiter - if (_sub_triplet_setpoint.get().current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) { - // loiter just means that the vehicle should keep position - if (!PX4_ISFINITE(_position_lock(0))) { - _position_setpoint = _position_lock = _position; - - } else { - _position_setpoint = _position_lock; - } - - // don't have to continue - return ret; - - } else { - _position_lock.setAll(NAN); - } - - // Takeoff - if (_sub_triplet_setpoint.get().current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) { - // just do takeoff to default altitude - if (!PX4_ISFINITE(_position_lock(0))) { - _position_setpoint = _position_lock = _position; - _position_setpoint(2) = _position_lock(2) = _position(2) - _param_mis_takeoff_alt.get(); - - } else { - _position_setpoint = _position_lock; - } - - // don't have to continue - return ret; - - } else { - _position_lock.setAll(NAN); - } - - // Land - if (_sub_triplet_setpoint.get().current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { - // land with landing speed, but keep position in xy - if (!PX4_ISFINITE(_position_lock(0))) { - _position_setpoint = _position_lock = _position; - _position_setpoint(2) = _position_lock(2) = NAN; - _velocity_setpoint(2) = _param_mpc_land_speed.get(); - - } else { - _position_setpoint = _position_lock; - _velocity_setpoint(2) = _param_mpc_land_speed.get(); - } - - // don't have to continue - return ret; - - } else { - _position_lock.setAll(NAN); - } - - // IDLE - if (_sub_triplet_setpoint.get().current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) { - _position_setpoint.setNaN(); // Don't require any position/velocity setpoints - _velocity_setpoint.setNaN(); - _acceleration_setpoint = Vector3f(0.f, 0.f, 100.f); // High downwards acceleration to make sure there's no thrust - return ret; - } - - // Possible inputs: - // 1. position setpoint - // 2. position setpoint + velocity setpoint (velocity used as feedforward) - // 3. velocity setpoint - // 4. acceleration setpoint -> this will be mapped to normalized thrust setpoint because acceleration is not supported - const bool position_ctrl_xy = _sub_triplet_setpoint.get().current.position_valid - && _sub_vehicle_local_position.get().xy_valid; - const bool position_ctrl_z = _sub_triplet_setpoint.get().current.alt_valid - && _sub_vehicle_local_position.get().z_valid; - const bool velocity_ctrl_xy = _sub_triplet_setpoint.get().current.velocity_valid - && _sub_vehicle_local_position.get().v_xy_valid; - const bool velocity_ctrl_z = _sub_triplet_setpoint.get().current.velocity_valid - && _sub_vehicle_local_position.get().v_z_valid; - const bool feedforward_ctrl_xy = position_ctrl_xy && velocity_ctrl_xy; - const bool feedforward_ctrl_z = position_ctrl_z && velocity_ctrl_z; - const bool acceleration_ctrl = _sub_triplet_setpoint.get().current.acceleration_valid; - - // if nothing is valid in xy, then exit offboard - if (!(position_ctrl_xy || velocity_ctrl_xy || acceleration_ctrl)) { - return false; - } - - // if nothing is valid in z, then exit offboard - if (!(position_ctrl_z || velocity_ctrl_z || acceleration_ctrl)) { - return false; - } - - // XY-direction - if (feedforward_ctrl_xy) { - _position_setpoint(0) = _sub_triplet_setpoint.get().current.x; - _position_setpoint(1) = _sub_triplet_setpoint.get().current.y; - _velocity_setpoint(0) = _sub_triplet_setpoint.get().current.vx; - _velocity_setpoint(1) = _sub_triplet_setpoint.get().current.vy; - - } else if (position_ctrl_xy) { - _position_setpoint(0) = _sub_triplet_setpoint.get().current.x; - _position_setpoint(1) = _sub_triplet_setpoint.get().current.y; - - } else if (velocity_ctrl_xy) { - - if (_sub_triplet_setpoint.get().current.velocity_frame == position_setpoint_s::VELOCITY_FRAME_LOCAL_NED) { - // in local frame: don't require any transformation - _velocity_setpoint(0) = _sub_triplet_setpoint.get().current.vx; - _velocity_setpoint(1) = _sub_triplet_setpoint.get().current.vy; - - } else if (_sub_triplet_setpoint.get().current.velocity_frame == position_setpoint_s::VELOCITY_FRAME_BODY_NED) { - // in body frame: need to transorm first - // Note, this transformation is wrong because body-xy is not neccessarily on the same plane as locale-xy - _velocity_setpoint(0) = cosf(_yaw) * _sub_triplet_setpoint.get().current.vx - sinf( - _yaw) * _sub_triplet_setpoint.get().current.vy; - _velocity_setpoint(1) = sinf(_yaw) * _sub_triplet_setpoint.get().current.vx + cosf( - _yaw) * _sub_triplet_setpoint.get().current.vy; - - } else { - // no valid frame - return false; - } - } - - // Z-direction - if (feedforward_ctrl_z) { - _position_setpoint(2) = _sub_triplet_setpoint.get().current.z; - _velocity_setpoint(2) = _sub_triplet_setpoint.get().current.vz; - - } else if (position_ctrl_z) { - _position_setpoint(2) = _sub_triplet_setpoint.get().current.z; - - } else if (velocity_ctrl_z) { - _velocity_setpoint(2) = _sub_triplet_setpoint.get().current.vz; - } - - // Acceleration - // Note: this is not supported yet and will be mapped to normalized thrust directly. - if (_sub_triplet_setpoint.get().current.acceleration_valid) { - _acceleration_setpoint(0) = _sub_triplet_setpoint.get().current.a_x; - _acceleration_setpoint(1) = _sub_triplet_setpoint.get().current.a_y; - _acceleration_setpoint(2) = _sub_triplet_setpoint.get().current.a_z; - } - - // use default conditions of upwards position or velocity to take off - _constraints.want_takeoff = _checkTakeoff(); - - return ret; -} diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp index 6c20a85b26..1993231fa5 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp @@ -76,21 +76,24 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command) // save current yaw estimate for ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING _initial_heading = _yaw; - // TODO: apply x,y / z independently in geo library // commanded center coordinates - // if(PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6)) { - // map_projection_global_project(command.param5, command.param6, &_center(0), &_center(1)); - // } + if (PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6)) { + if (map_projection_initialized(&_global_local_proj_ref)) { + map_projection_project(&_global_local_proj_ref, + command.param5, command.param6, + &_center(0), &_center(1)); + + } else { + ret = false; + } + } // commanded altitude - // if(PX4_ISFINITE(command.param7)) { - // _position_setpoint(2) = gl_ref.alt - command.param7; - // } + if (PX4_ISFINITE(command.param7)) { + if (map_projection_initialized(&_global_local_proj_ref)) { + _position_setpoint(2) = _global_local_alt0 - command.param7; - if (PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6) && PX4_ISFINITE(command.param7)) { - if (globallocalconverter_tolocal(command.param5, command.param6, command.param7, &_center(0), &_center(1), - &_position_setpoint(2))) { - // global to local conversion failed + } else { ret = false; } } @@ -109,8 +112,12 @@ bool FlightTaskOrbit::sendTelemetry() orbit_status.frame = 0; // MAV_FRAME::MAV_FRAME_GLOBAL orbit_status.yaw_behaviour = _yaw_behaviour; - if (globallocalconverter_toglobal(_center(0), _center(1), _position_setpoint(2), &orbit_status.x, &orbit_status.y, - &orbit_status.z)) { + if (map_projection_initialized(&_global_local_proj_ref)) { + // local -> global + map_projection_reproject(&_global_local_proj_ref, _center(0), _center(1), &orbit_status.x, &orbit_status.y); + orbit_status.z = _global_local_alt0 - _position_setpoint(2); + + } else { return false; // don't send the message if the transformation failed } @@ -160,7 +167,6 @@ bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_set _r = _radius_min; _v = 1.f; _center = _position.xy(); - _center(0) -= _r; _initial_heading = _yaw; _slew_rate_yaw.setForcedValue(_yaw); _slew_rate_yaw.setSlewRate(math::radians(_param_mpc_yawrauto_max.get())); diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp index bed54e5388..ef268801bd 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp +++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp @@ -44,8 +44,8 @@ #include "FlightTaskManualAltitudeSmoothVel.hpp" #include #include -#include -#include +#include "StraightLine.hpp" +#include class FlightTaskOrbit : public FlightTaskManualAltitudeSmoothVel { diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp index 6f79d1d1a8..973471ea4e 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp @@ -99,6 +99,7 @@ void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw, _velocity_setpoint += _acceleration_setpoint * dt; lockPosition(pos, vel_sp_feedback, dt); + _acceleration_setpoint_prev = _acceleration_setpoint; } void StickAccelerationXY::getSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, Vector3f &acc_sp) @@ -111,8 +112,13 @@ void StickAccelerationXY::getSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, Vecto void StickAccelerationXY::applyFeasibilityLimit(const float dt) { // Apply jerk limit - acceleration slew rate - _acceleration_slew_rate_x.setSlewRate(_param_mpc_jerk_max.get()); - _acceleration_slew_rate_y.setSlewRate(_param_mpc_jerk_max.get()); + // Scale each jerk limit with the normalized projection of the acceleration + // setpoint increment to produce a synchronized motion + const Vector2f dir = Vector2f(_acceleration_setpoint - _acceleration_setpoint_prev).unit_or_zero(); + const float jerk_max_x = fabsf(dir(0)) * _param_mpc_jerk_max.get(); + const float jerk_max_y = fabsf(dir(1)) * _param_mpc_jerk_max.get(); + _acceleration_slew_rate_x.setSlewRate(jerk_max_x); + _acceleration_slew_rate_y.setSlewRate(jerk_max_y); _acceleration_setpoint(0) = _acceleration_slew_rate_x.update(_acceleration_setpoint(0), dt); _acceleration_setpoint(1) = _acceleration_slew_rate_y.update(_acceleration_setpoint(1), dt); } @@ -123,7 +129,7 @@ Vector2f StickAccelerationXY::calculateDrag(Vector2f drag_coefficient, const flo _brake_boost_filter.setParameters(dt, .8f); if (stick_xy.norm_squared() < FLT_EPSILON) { - _brake_boost_filter.update(2.f); + _brake_boost_filter.update(math::max(2.f, sqrtf(_param_mpc_vel_manual.get()))); } else { _brake_boost_filter.update(1.f); @@ -149,15 +155,20 @@ void StickAccelerationXY::applyTiltLimit(Vector2f &acceleration) void StickAccelerationXY::lockPosition(const Vector3f &pos, const matrix::Vector2f &vel_sp_feedback, const float dt) { - if (_velocity_setpoint.norm_squared() < FLT_EPSILON) { - if (!PX4_ISFINITE(_position_setpoint(0))) { - _position_setpoint = pos.xy(); - } + const bool moving = _velocity_setpoint.norm_squared() > FLT_EPSILON; + const bool position_locked = PX4_ISFINITE(_position_setpoint(0)) || PX4_ISFINITE(_position_setpoint(1)); - } else { - if (PX4_ISFINITE(_position_setpoint(0))) { - _position_setpoint.setNaN(); - // avoid velocity control jump because of remaining position error when unlocking + // lock position + if (!moving && !position_locked) { + _position_setpoint = pos.xy(); + } + + // open position loop + if (moving && position_locked) { + _position_setpoint.setNaN(); + + // avoid velocity setpoint jump caused by ignoring remaining position error + if (PX4_ISFINITE(vel_sp_feedback(0)) && PX4_ISFINITE(vel_sp_feedback(1))) { _velocity_setpoint = vel_sp_feedback; } } diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp index f7e1b4bbaa..a9eda763c0 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp @@ -73,6 +73,7 @@ private: matrix::Vector2f _position_setpoint; matrix::Vector2f _velocity_setpoint; matrix::Vector2f _acceleration_setpoint; + matrix::Vector2f _acceleration_setpoint_prev; DEFINE_PARAMETERS( (ParamFloat) _param_mpc_vel_manual, diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 74c4ddc3af..028bb3b3b5 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -143,16 +143,7 @@ FixedwingAttitudeControl::vehicle_manual_poll() // Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values if (_manual_control_setpoint_sub.copy(&_manual_control_setpoint)) { - // Check if we are in rattitude mode and the pilot is above the threshold on pitch - if (_vcontrol_mode.flag_control_rattitude_enabled) { - if (fabsf(_manual_control_setpoint.y) > _param_fw_ratt_th.get() - || fabsf(_manual_control_setpoint.x) > _param_fw_ratt_th.get()) { - _vcontrol_mode.flag_control_attitude_enabled = false; - } - } - - if (!_vcontrol_mode.flag_control_climb_rate_enabled && - !_vcontrol_mode.flag_control_offboard_enabled) { + if (!_vcontrol_mode.flag_control_climb_rate_enabled) { if (_vcontrol_mode.flag_control_attitude_enabled) { // STABILIZED mode generate the attitude setpoint from manual user inputs @@ -449,10 +440,15 @@ void FixedwingAttitudeControl::Run() */ float groundspeed = sqrtf(_local_pos.vx * _local_pos.vx + _local_pos.vy * _local_pos.vy); float gspd_scaling_trim = (_param_fw_airspd_min.get() * 0.6f); - float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed); control_input.groundspeed = groundspeed; - control_input.groundspeed_scaler = groundspeed_scaler; + + if (groundspeed > gspd_scaling_trim) { + control_input.groundspeed_scaler = gspd_scaling_trim / groundspeed; + + } else { + control_input.groundspeed_scaler = 1.0f; + } } /* reset body angular rate limits on mode change */ diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp index 35b9341a07..21fe69cd0b 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp @@ -184,8 +184,6 @@ private: (ParamFloat) _param_fw_pr_p, (ParamFloat) _param_fw_psp_off, - (ParamFloat) _param_fw_ratt_th, - (ParamFloat) _param_fw_r_rmax, (ParamFloat) _param_fw_r_tc, (ParamFloat) _param_fw_rll_to_yaw_ff, diff --git a/src/modules/fw_att_control/ecl_pitch_controller.h b/src/modules/fw_att_control/ecl_pitch_controller.h index 06498cfee7..fd09563864 100644 --- a/src/modules/fw_att_control/ecl_pitch_controller.h +++ b/src/modules/fw_att_control/ecl_pitch_controller.h @@ -80,14 +80,8 @@ public: _bodyrate_setpoint = math::constrain(rate, -_max_rate_neg, _max_rate); } - void set_roll_ff(float roll_ff) - { - _roll_ff = roll_ff; - } - protected: float _max_rate_neg{0.0f}; - float _roll_ff{0.0f}; }; #endif // ECL_PITCH_CONTROLLER_H diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 927a7e9c03..4bc2ad6bf8 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -632,20 +632,6 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90); */ PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45); -/** - * Threshold for Rattitude mode - * - * Manual input needed in order to override attitude control rate setpoints - * and instead pass manual stick inputs as rate setpoints - * - * @min 0.0 - * @max 1.0 - * @decimal 2 - * @increment 0.01 - * @group FW Attitude Control - */ -PARAM_DEFINE_FLOAT(FW_RATT_TH, 0.8f); - /** * Roll trim increment at minimum airspeed * diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 26216d7e27..d75aeb2b2e 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -125,6 +125,7 @@ FixedwingPositionControl::parameters_update() _tecs.set_airspeed_error_time_constant(_param_fw_t_tas_error_tc.get()); _tecs.set_ste_rate_time_const(_param_ste_rate_time_const.get()); _tecs.set_speed_derivative_time_constant(_param_tas_rate_time_const.get()); + _tecs.set_seb_rate_ff_gain(_param_seb_rate_ff.get()); // Landing slope @@ -1686,9 +1687,48 @@ FixedwingPositionControl::Run() _alt_reset_counter = _local_pos.vz_reset_counter; _pos_reset_counter = _local_pos.vxy_reset_counter; - if (_pos_sp_triplet_sub.update(&_pos_sp_triplet)) { - // reset the altitude foh (first order hold) logic - _min_current_sp_distance_xy = FLT_MAX; + + if (_control_mode.flag_control_offboard_enabled) { + // Convert Local setpoints to global setpoints + if (!map_projection_initialized(&_global_local_proj_ref) + || (_global_local_proj_ref.timestamp != _local_pos.ref_timestamp)) { + + map_projection_init_timestamped(&_global_local_proj_ref, _local_pos.ref_lat, _local_pos.ref_lon, + _local_pos.ref_timestamp); + _global_local_alt0 = _local_pos.ref_alt; + } + + vehicle_local_position_setpoint_s trajectory_setpoint; + + if (_trajectory_setpoint_sub.update(&trajectory_setpoint)) { + if (PX4_ISFINITE(trajectory_setpoint.x) && PX4_ISFINITE(trajectory_setpoint.y) && PX4_ISFINITE(trajectory_setpoint.z)) { + double lat; + double lon; + + if (map_projection_reproject(&_global_local_proj_ref, trajectory_setpoint.x, trajectory_setpoint.y, &lat, &lon) == 0) { + _pos_sp_triplet = {}; // clear any existing + + _pos_sp_triplet.timestamp = trajectory_setpoint.timestamp; + _pos_sp_triplet.current.timestamp = trajectory_setpoint.timestamp; + _pos_sp_triplet.current.valid = true; + _pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; + _pos_sp_triplet.current.lat = lat; + _pos_sp_triplet.current.lon = lon; + _pos_sp_triplet.current.alt = _global_local_alt0 - trajectory_setpoint.z; + _pos_sp_triplet.current.cruising_speed = NAN; // ignored + _pos_sp_triplet.current.cruising_throttle = NAN; // ignored + } + + } else { + mavlink_log_critical(&_mavlink_log_pub, "Invalid offboard setpoint"); + } + } + + } else { + if (_pos_sp_triplet_sub.update(&_pos_sp_triplet)) { + // reset the altitude foh (first order hold) logic + _min_current_sp_distance_xy = FLT_MAX; + } } airspeed_poll(); @@ -1710,18 +1750,6 @@ FixedwingPositionControl::Run() Vector2d curr_pos(_current_latitude, _current_longitude); Vector2f ground_speed(_local_pos.vx, _local_pos.vy); - //Convert Local setpoints to global setpoints - if (_control_mode.flag_control_offboard_enabled) { - if (!globallocalconverter_initialized()) { - globallocalconverter_init(_local_pos.ref_lat, _local_pos.ref_lon, - _local_pos.ref_alt, _local_pos.ref_timestamp); - - } else { - globallocalconverter_toglobal(_pos_sp_triplet.current.x, _pos_sp_triplet.current.y, _pos_sp_triplet.current.z, - &_pos_sp_triplet.current.lat, &_pos_sp_triplet.current.lon, &_pos_sp_triplet.current.alt); - } - } - /* * Attempt to control position, on success (= sensors present and not in manual mode), * publish setpoint. @@ -1736,8 +1764,7 @@ FixedwingPositionControl::Run() radians(_param_fw_man_p_max.get())); } - if (_control_mode.flag_control_offboard_enabled || - _control_mode.flag_control_position_enabled || + if (_control_mode.flag_control_position_enabled || _control_mode.flag_control_velocity_enabled || _control_mode.flag_control_acceleration_enabled || _control_mode.flag_control_altitude_enabled) { @@ -1874,7 +1901,6 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const hrt_abstime &now, flo /* tell TECS to update its state, but let it know when it cannot actually control the plane */ bool in_air_alt_control = (!_landed && (_control_mode.flag_control_auto_enabled || - _control_mode.flag_control_offboard_enabled || _control_mode.flag_control_velocity_enabled || _control_mode.flag_control_altitude_enabled)); diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp index 7eaf88776b..d6080394cd 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp @@ -85,6 +85,7 @@ #include #include #include +#include #include #include #include @@ -143,6 +144,7 @@ private: uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; + uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)}; uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)}; uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; @@ -168,6 +170,9 @@ private: perf_counter_t _loop_perf; ///< loop performance counter + map_projection_reference_s _global_local_proj_ref{}; + float _global_local_alt0{NAN}; + float _hold_alt{0.0f}; ///< hold altitude for altitude mode float _takeoff_ground_alt{0.0f}; ///< ground altitude at which plane was launched float _hdg_hold_yaw{0.0f}; ///< hold heading for velocity mode @@ -389,6 +394,7 @@ private: (ParamFloat) _param_fw_t_vert_acc, (ParamFloat) _param_ste_rate_time_const, (ParamFloat) _param_tas_rate_time_const, + (ParamFloat) _param_seb_rate_ff, (ParamFloat) _param_fw_thr_alt_scl, (ParamFloat) _param_fw_thr_cruise, diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 229b60b33b..363e5bbb1e 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -321,6 +321,7 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f); /** * Landing heading hold horizontal distance. + * * Set to 0 to disable heading hold. * * @unit m @@ -436,7 +437,7 @@ PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f); * increase airspeed more aggressively. * * @unit m/s - * @min 0.0 + * @min 0.5 * @max 40 * @decimal 1 * @increment 0.5 @@ -451,7 +452,7 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f); * airspeed more aggressively. * * @unit m/s - * @min 0.0 + * @min 0.5 * @max 40 * @decimal 1 * @increment 0.5 @@ -467,7 +468,7 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f); * no other airspeed setpoint sources are present (e.g. through non-centered RC sticks). * * @unit m/s - * @min 0.0 + * @min 0.5 * @max 40 * @decimal 1 * @increment 0.5 @@ -761,3 +762,16 @@ PARAM_DEFINE_FLOAT(FW_T_STE_R_TC, 0.4f); * @group FW TECS */ PARAM_DEFINE_FLOAT(FW_T_TAS_R_TC, 0.2f); + + +/** + * Specific total energy balance rate feedforward gain. + * + * + * @min 0.5 + * @max 3 + * @decimal 2 + * @increment 0.01 + * @group FW TECS + */ +PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f); diff --git a/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c b/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c index f0660e2fd7..5f165d06ca 100644 --- a/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c +++ b/src/modules/fw_pos_control_l1/runway_takeoff/runway_takeoff_params.c @@ -62,6 +62,7 @@ PARAM_DEFINE_INT32(RWTO_HDG, 0); /** * Altitude AGL at which we have enough ground clearance to allow some roll. + * * Until RWTO_NAV_ALT is reached the plane is held level and only * rudder is used to keep the heading (see RWTO_HDG). This should be below * FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0. @@ -77,7 +78,8 @@ PARAM_DEFINE_FLOAT(RWTO_NAV_ALT, 5.0); /** * Max throttle during runway takeoff. - * (Can be used to test taxi on runway) + * + * Can be used to test taxi on runway * * @unit norm * @min 0.0 @@ -90,8 +92,9 @@ PARAM_DEFINE_FLOAT(RWTO_MAX_THR, 1.0); /** * Pitch setpoint during taxi / before takeoff airspeed is reached. - * A taildragger with stearable wheel might need to pitch up - * a little to keep it's wheel on the ground before airspeed + * + * A taildragger with steerable wheel might need to pitch up + * a little to keep its wheel on the ground before airspeed * to takeoff is reached. * * @unit deg @@ -105,6 +108,7 @@ PARAM_DEFINE_FLOAT(RWTO_PSP, 0.0); /** * Max pitch during takeoff. + * * Fixed-wing settings are used if set to 0. Note that there is also a minimum * pitch of 10 degrees during takeoff, so this must be larger if set. * @@ -119,6 +123,7 @@ PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0); /** * Max roll during climbout. + * * Roll is limited during climbout to ensure enough lift and prevents aggressive * navigation before we're on a safe height. * @@ -132,7 +137,8 @@ PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0); PARAM_DEFINE_FLOAT(RWTO_MAX_ROLL, 25.0); /** - * Min. airspeed scaling factor for takeoff. + * Min airspeed scaling factor for takeoff. + * * Pitch up will be commanded when the following airspeed is reached: * FW_AIRSPD_MIN * RWTO_AIRSPD_SCL * diff --git a/src/drivers/tap_esc/CMakeLists.txt b/src/modules/gyro_calibration/CMakeLists.txt similarity index 90% rename from src/drivers/tap_esc/CMakeLists.txt rename to src/modules/gyro_calibration/CMakeLists.txt index 41eb096fb5..5148eab2ce 100644 --- a/src/drivers/tap_esc/CMakeLists.txt +++ b/src/modules/gyro_calibration/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# Copyright (c) 2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -30,15 +30,14 @@ # POSSIBILITY OF SUCH DAMAGE. # ############################################################################ -px4_add_module( - MODULE drivers__tap_esc - MAIN tap_esc - COMPILE_FLAGS - -Wno-missing-field-initializers - SRCS - tap_esc.cpp - tap_esc_common.cpp - DEPENDS - mixer - ) +px4_add_module( + MODULE modules__gyro_calibration + MAIN gyro_calibration + COMPILE_FLAGS + SRCS + GyroCalibration.cpp + GyroCalibration.hpp + DEPENDS + px4_work_queue + ) diff --git a/src/modules/gyro_calibration/GyroCalibration.cpp b/src/modules/gyro_calibration/GyroCalibration.cpp new file mode 100644 index 0000000000..7694322248 --- /dev/null +++ b/src/modules/gyro_calibration/GyroCalibration.cpp @@ -0,0 +1,328 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "GyroCalibration.hpp" + +#include + +using namespace time_literals; +using matrix::Vector3f; + +GyroCalibration::GyroCalibration() : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default) +{ +} + +GyroCalibration::~GyroCalibration() +{ + perf_free(_loop_interval_perf); + perf_free(_calibration_updated_perf); +} + +bool GyroCalibration::init() +{ + ScheduleOnInterval(INTERVAL_US); + return true; +} + +void GyroCalibration::Run() +{ + if (should_exit()) { + ScheduleClear(); + exit_and_cleanup(); + return; + } + + perf_count(_loop_interval_perf); + + if (_vehicle_status_sub.updated()) { + vehicle_status_s vehicle_status; + + if (_vehicle_status_sub.copy(&vehicle_status)) { + const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED); + + if (armed != _armed) { + if (!_armed && armed) { + // disarmed -> armed: run at minimal rate until disarmed + ScheduleOnInterval(10_s); + + } else if (_armed && !armed) { + // armed -> disarmed: start running again + ScheduleOnInterval(INTERVAL_US); + } + + _armed = armed; + Reset(); + } + } + } + + if (_armed) { + // do nothing if armed + return; + } + + if (_vehicle_status_flags_sub.updated()) { + vehicle_status_flags_s vehicle_status_flags; + + if (_vehicle_status_flags_sub.copy(&vehicle_status_flags)) { + if (_system_calibrating != vehicle_status_flags.condition_calibration_enabled) { + Reset(); + _system_calibrating = vehicle_status_flags.condition_calibration_enabled; + } + } + } + + if (_system_calibrating) { + // do nothing if system is calibrating + return; + } + + + // Check if parameters have changed + if (_parameter_update_sub.updated()) { + // clear update + parameter_update_s param_update; + + if (_parameter_update_sub.copy(¶m_update)) { + // minimize updates immediately following parameter changes + _last_calibration_update = param_update.timestamp; + } + + for (auto &cal : _gyro_calibration) { + cal.ParametersUpdate(); + } + } + + + // collect raw data from all available gyroscopes (sensor_gyro) + for (int gyro = 0; gyro < _sensor_gyro_subs.size(); gyro++) { + sensor_gyro_s sensor_gyro; + + while (_sensor_gyro_subs[gyro].update(&sensor_gyro)) { + if (PX4_ISFINITE(sensor_gyro.temperature)) { + if ((fabsf(_temperature[gyro] - sensor_gyro.temperature) > 1.f) || !PX4_ISFINITE(_temperature[gyro])) { + PX4_DEBUG("gyro %d temperature change, resetting all %.6f -> %.6f", gyro, (double)_temperature[gyro], + (double)sensor_gyro.temperature); + + _temperature[gyro] = sensor_gyro.temperature; + + // reset all on any temperature change + Reset(); + } + + } else { + _temperature[gyro] = NAN; + } + + if (_gyro_calibration[gyro].device_id() == sensor_gyro.device_id) { + const Vector3f val{Vector3f{sensor_gyro.x, sensor_gyro.y, sensor_gyro.z} - _gyro_calibration[gyro].thermal_offset()}; + _gyro_mean[gyro].update(val); + + } else { + // setting device id, reset all + _gyro_calibration[gyro].set_device_id(sensor_gyro.device_id); + Reset(); + } + } + } + + + // check all accelerometers for possible movement + for (int accel = 0; accel < _sensor_accel_subs.size(); accel++) { + sensor_accel_s sensor_accel; + + if (_sensor_accel_subs[accel].update(&sensor_accel)) { + const Vector3f acceleration{sensor_accel.x, sensor_accel.y, sensor_accel.z}; + + if ((acceleration - _acceleration[accel]).longerThan(0.5f)) { + // reset all on any change + PX4_DEBUG("accel %d changed, resetting all %.5f", accel, (double)(acceleration - _acceleration[accel]).length()); + + _acceleration[accel] = acceleration; + Reset(); + return; + + } else if (acceleration.longerThan(CONSTANTS_ONE_G * 1.3f)) { + Reset(); + return; + } + } + } + + + // check if sufficient data has been gathered to update calibration + bool sufficient_samples = false; + + for (int gyro = 0; gyro < _sensor_gyro_subs.size(); gyro++) { + if (_gyro_calibration[gyro].device_id() != 0) { + // periodically check variance + if ((_gyro_mean[gyro].count() % 100 == 0)) { + PX4_DEBUG("gyro %d (%d) variance, [%.9f, %.9f, %.9f] %.9f", gyro, _gyro_calibration[gyro].device_id(), + (double)_gyro_mean[gyro].variance()(0), (double)_gyro_mean[gyro].variance()(1), (double)_gyro_mean[gyro].variance()(2), + (double)_gyro_mean[gyro].variance().length()); + + if (_gyro_mean[gyro].variance().longerThan(0.001f)) { + // reset all + Reset(); + return; + } + } + + if (_gyro_mean[gyro].count() > 3000) { + sufficient_samples = true; + + } else { + sufficient_samples = false; + return; + } + } + } + + + // update calibrations for all available gyros + if (sufficient_samples && (hrt_elapsed_time(&_last_calibration_update) > 10_s)) { + bool calibration_updated = false; + + for (int gyro = 0; gyro < _sensor_gyro_subs.size(); gyro++) { + if (_gyro_calibration[gyro].device_id() != 0) { + _gyro_calibration[gyro].set_calibration_index(gyro); + + const Vector3f old_offset{_gyro_calibration[gyro].offset()}; + + if (_gyro_calibration[gyro].set_offset(_gyro_mean[gyro].mean())) { + calibration_updated = true; + + PX4_INFO("gyro %d (%d) updating calibration, [%.4f, %.4f, %.4f] -> [%.4f, %.4f, %.4f] %.1f°C", + gyro, _gyro_calibration[gyro].device_id(), + (double)old_offset(0), (double)old_offset(1), (double)old_offset(2), + (double)_gyro_mean[gyro].mean()(0), (double)_gyro_mean[gyro].mean()(1), (double)_gyro_mean[gyro].mean()(2), + (double)_temperature[gyro]); + + perf_count(_calibration_updated_perf); + } + } + } + + // save all calibrations + if (calibration_updated) { + bool param_save = false; + + for (int gyro = 0; gyro < _sensor_gyro_subs.size(); gyro++) { + if (_gyro_calibration[gyro].device_id() != 0) { + if (_gyro_calibration[gyro].ParametersSave()) { + param_save = true; + } + } + } + + if (param_save) { + param_notify_changes(); + _last_calibration_update = hrt_absolute_time(); + } + } + + Reset(); + } +} + +int GyroCalibration::task_spawn(int argc, char *argv[]) +{ + GyroCalibration *instance = new GyroCalibration(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int GyroCalibration::print_status() +{ + for (int gyro = 0; gyro < _sensor_gyro_subs.size(); gyro++) { + if (_gyro_calibration[gyro].device_id() != 0) { + PX4_INFO_RAW("gyro %d (%d), [%.5f, %.5f, %.5f] var: [%.9f, %.9f, %.9f] %.1f°C (count %d)\n", + gyro, _gyro_calibration[gyro].device_id(), + (double)_gyro_mean[gyro].mean()(0), (double)_gyro_mean[gyro].mean()(1), (double)_gyro_mean[gyro].mean()(2), + (double)_gyro_mean[gyro].variance()(0), (double)_gyro_mean[gyro].variance()(1), (double)_gyro_mean[gyro].variance()(2), + (double)_temperature[gyro], _gyro_mean[gyro].count()); + } + } + + perf_print_counter(_loop_interval_perf); + perf_print_counter(_calibration_updated_perf); + return 0; +} + +int GyroCalibration::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int GyroCalibration::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Simple online gyroscope calibration. + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("gyro_calibration", "system"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int gyro_calibration_main(int argc, char *argv[]) +{ + return GyroCalibration::main(argc, argv); +} diff --git a/src/modules/gyro_calibration/GyroCalibration.hpp b/src/modules/gyro_calibration/GyroCalibration.hpp new file mode 100644 index 0000000000..1b2b925b5e --- /dev/null +++ b/src/modules/gyro_calibration/GyroCalibration.hpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +class GyroCalibration : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem +{ +public: + GyroCalibration(); + ~GyroCalibration() override; + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + bool init(); + + int print_status() override; + +private: + static constexpr hrt_abstime INTERVAL_US = 20000_us; + static constexpr int MAX_SENSORS = 4; + + void Run() override; + + void Reset() + { + for (auto &m : _gyro_mean) { + m.reset(); + } + } + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::Subscription _vehicle_status_sub{ORB_ID::vehicle_status}; + uORB::Subscription _vehicle_status_flags_sub{ORB_ID::vehicle_status_flags}; + + uORB::SubscriptionMultiArray _sensor_accel_subs{ORB_ID::sensor_accel}; + uORB::SubscriptionMultiArray _sensor_gyro_subs{ORB_ID::sensor_gyro}; + + calibration::Gyroscope _gyro_calibration[MAX_SENSORS] {}; + math::WelfordMean _gyro_mean[MAX_SENSORS] {}; + float _temperature[MAX_SENSORS] {}; + + matrix::Vector3f _acceleration[MAX_SENSORS] {}; + + hrt_abstime _last_calibration_update{0}; + + bool _armed{false}; + bool _system_calibrating{false}; + + perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")}; + perf_counter_t _calibration_updated_perf{perf_alloc(PC_COUNT, MODULE_NAME": calibration updated")}; +}; diff --git a/src/drivers/lights/blinkm/parameters.c b/src/modules/gyro_calibration/parameters.c similarity index 89% rename from src/drivers/lights/blinkm/parameters.c rename to src/modules/gyro_calibration/parameters.c index 592743c9cd..dee9df9b74 100644 --- a/src/drivers/lights/blinkm/parameters.c +++ b/src/modules/gyro_calibration/parameters.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * Copyright (c) 2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,11 +32,10 @@ ****************************************************************************/ /** - * BlinkM LED - * - * @reboot_required true - * - * @boolean - * @group Peripheral - */ -PARAM_DEFINE_INT32(LIGHT_EN_BLINKM, 0); +* IMU gyro auto calibration enable. +* +* @boolean +* @reboot_required true +* @group Sensors +*/ +PARAM_DEFINE_INT32(IMU_GYRO_CAL_EN, 1); diff --git a/src/modules/gyro_fft/CMSIS_5/.clang-tidy b/src/modules/gyro_fft/CMSIS_5/.clang-tidy new file mode 100644 index 0000000000..64e1b8f404 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/.clang-tidy @@ -0,0 +1,120 @@ +--- +Checks: '*, + -android*, + -bugprone-integer-division, + -cert-dcl50-cpp, + -cert-env33-c, + -cert-err34-c, + -cert-err58-cpp, + -cert-msc30-c, + -cert-msc50-cpp, + -cert-flp30-c, + -clang-analyzer-core.CallAndMessage, + -clang-analyzer-core.NullDereference, + -clang-analyzer-core.UndefinedBinaryOperatorResult, + -clang-analyzer-core.uninitialized.Assign, + -clang-analyzer-core.VLASize, + -clang-analyzer-cplusplus.NewDelete, + -clang-analyzer-cplusplus.NewDeleteLeaks, + -clang-analyzer-deadcode.DeadStores, + -clang-analyzer-optin.cplusplus.VirtualCall, + -clang-analyzer-optin.performance.Padding, + -clang-analyzer-security.FloatLoopCounter, + -clang-analyzer-security.insecureAPI.strcpy, + -clang-analyzer-unix.API, + -clang-analyzer-unix.cstring.BadSizeArg, + -clang-analyzer-unix.Malloc, + -clang-analyzer-unix.MallocSizeof, + -cppcoreguidelines-c-copy-assignment-signature, + -cppcoreguidelines-interfaces-global-init, + -cppcoreguidelines-no-malloc, + -cppcoreguidelines-owning-memory, + -cppcoreguidelines-pro-bounds-array-to-pointer-decay, + -cppcoreguidelines-pro-bounds-constant-array-index, + -cppcoreguidelines-pro-bounds-pointer-arithmetic, + -cppcoreguidelines-pro-type-const-cast, + -cppcoreguidelines-pro-type-cstyle-cast, + -cppcoreguidelines-pro-type-member-init, + -cppcoreguidelines-pro-type-reinterpret-cast, + -cppcoreguidelines-pro-type-union-access, + -cppcoreguidelines-pro-type-vararg, + -cppcoreguidelines-special-member-functions, + -fuchsia-default-arguments, + -fuchsia-overloaded-operator, + -google-build-using-namespace, + -google-explicit-constructor, + -google-global-names-in-headers, + -google-readability-braces-around-statements, + -google-readability-casting, + -google-readability-function-size, + -google-readability-namespace-comments, + -google-readability-todo, + -google-runtime-int, + -google-runtime-references, + -hicpp-braces-around-statements, + -hicpp-deprecated-headers, + -hicpp-explicit-conversions, + -hicpp-function-size, + -hicpp-member-init, + -hicpp-no-array-decay, + -hicpp-no-assembler, + -hicpp-no-malloc, + -hicpp-signed-bitwise, + -hicpp-special-member-functions, + -hicpp-use-auto, + -hicpp-use-equals-default, + -hicpp-use-equals-delete, + -hicpp-use-override, + -hicpp-vararg, + -llvm-header-guard, + -llvm-include-order, + -llvm-namespace-comment, + -misc-incorrect-roundings, + -misc-macro-parentheses, + -misc-misplaced-widening-cast, + -misc-redundant-expression, + -misc-unconventional-assign-operator, + -misc-unused-parameters, + -modernize-deprecated-headers, + -modernize-loop-convert, + -modernize-pass-by-value, + -modernize-return-braced-init-list, + -modernize-use-auto, + -modernize-use-bool-literals, + -modernize-use-default-member-init, + -modernize-use-emplace, + -modernize-use-equals-default, + -modernize-use-equals-delete, + -modernize-use-override, + -modernize-use-using, + -performance-inefficient-string-concatenation, + -performance-unnecessary-value-param, + -readability-avoid-const-params-in-decls, + -readability-braces-around-statements, + -readability-container-size-empty, + -readability-delete-null-pointer, + -readability-else-after-return, + -readability-function-size, + -readability-implicit-bool-cast, + -readability-implicit-bool-conversion, + -readability-inconsistent-declaration-parameter-name, + -readability-named-parameter, + -readability-non-const-parameter, + -readability-redundant-control-flow, + -readability-redundant-declaration, + -readability-redundant-member-init, + -readability-simplify-boolean-expr, + -readability-static-accessed-through-instance, + -readability-static-definition-in-anonymous-namespace, + ' +WarningsAsErrors: '*' +CheckOptions: + - key: google-readability-braces-around-statements.ShortStatementLines + value: '1' + - key: google-readability-function-size.BranchThreshold + value: '600' + - key: google-readability-function-size.LineThreshold + value: '4000' + - key: google-readability-function-size.StatementThreshold + value: '4000' +... diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_compiler.h b/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_compiler.h new file mode 100644 index 0000000000..adbf296f15 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_compiler.h @@ -0,0 +1,283 @@ +/**************************************************************************//** + * @file cmsis_compiler.h + * @brief CMSIS compiler generic header file + * @version V5.1.0 + * @date 09. October 2018 + ******************************************************************************/ +/* + * Copyright (c) 2009-2018 Arm Limited. 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. + */ + +#ifndef __CMSIS_COMPILER_H +#define __CMSIS_COMPILER_H + +#include + +/* + * Arm Compiler 4/5 + */ +#if defined ( __CC_ARM ) + #include "cmsis_armcc.h" + + +/* + * Arm Compiler 6.6 LTM (armclang) + */ +#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) && (__ARMCC_VERSION < 6100100) + #include "cmsis_armclang_ltm.h" + + /* + * Arm Compiler above 6.10.1 (armclang) + */ +#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6100100) + #include "cmsis_armclang.h" + + +/* + * GNU Compiler + */ +#elif defined ( __GNUC__ ) + #include "cmsis_gcc.h" + + +/* + * IAR Compiler + */ +#elif defined ( __ICCARM__ ) + #include + + +/* + * TI Arm Compiler + */ +#elif defined ( __TI_ARM__ ) + #include + + #ifndef __ASM + #define __ASM __asm + #endif + #ifndef __INLINE + #define __INLINE inline + #endif + #ifndef __STATIC_INLINE + #define __STATIC_INLINE static inline + #endif + #ifndef __STATIC_FORCEINLINE + #define __STATIC_FORCEINLINE __STATIC_INLINE + #endif + #ifndef __NO_RETURN + #define __NO_RETURN __attribute__((noreturn)) + #endif + #ifndef __USED + #define __USED __attribute__((used)) + #endif + #ifndef __WEAK + #define __WEAK __attribute__((weak)) + #endif + #ifndef __PACKED + #define __PACKED __attribute__((packed)) + #endif + #ifndef __PACKED_STRUCT + #define __PACKED_STRUCT struct __attribute__((packed)) + #endif + #ifndef __PACKED_UNION + #define __PACKED_UNION union __attribute__((packed)) + #endif + #ifndef __UNALIGNED_UINT32 /* deprecated */ + struct __attribute__((packed)) T_UINT32 { uint32_t v; }; + #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) + #endif + #ifndef __UNALIGNED_UINT16_WRITE + __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; + #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void*)(addr))->v) = (val)) + #endif + #ifndef __UNALIGNED_UINT16_READ + __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; + #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) + #endif + #ifndef __UNALIGNED_UINT32_WRITE + __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; + #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) + #endif + #ifndef __UNALIGNED_UINT32_READ + __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; + #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) + #endif + #ifndef __ALIGNED + #define __ALIGNED(x) __attribute__((aligned(x))) + #endif + #ifndef __RESTRICT + #define __RESTRICT __restrict + #endif + #ifndef __COMPILER_BARRIER + #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored. + #define __COMPILER_BARRIER() (void)0 + #endif + + +/* + * TASKING Compiler + */ +#elif defined ( __TASKING__ ) + /* + * The CMSIS functions have been implemented as intrinsics in the compiler. + * Please use "carm -?i" to get an up to date list of all intrinsics, + * Including the CMSIS ones. + */ + + #ifndef __ASM + #define __ASM __asm + #endif + #ifndef __INLINE + #define __INLINE inline + #endif + #ifndef __STATIC_INLINE + #define __STATIC_INLINE static inline + #endif + #ifndef __STATIC_FORCEINLINE + #define __STATIC_FORCEINLINE __STATIC_INLINE + #endif + #ifndef __NO_RETURN + #define __NO_RETURN __attribute__((noreturn)) + #endif + #ifndef __USED + #define __USED __attribute__((used)) + #endif + #ifndef __WEAK + #define __WEAK __attribute__((weak)) + #endif + #ifndef __PACKED + #define __PACKED __packed__ + #endif + #ifndef __PACKED_STRUCT + #define __PACKED_STRUCT struct __packed__ + #endif + #ifndef __PACKED_UNION + #define __PACKED_UNION union __packed__ + #endif + #ifndef __UNALIGNED_UINT32 /* deprecated */ + struct __packed__ T_UINT32 { uint32_t v; }; + #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) + #endif + #ifndef __UNALIGNED_UINT16_WRITE + __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; + #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) + #endif + #ifndef __UNALIGNED_UINT16_READ + __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; + #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) + #endif + #ifndef __UNALIGNED_UINT32_WRITE + __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; + #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) + #endif + #ifndef __UNALIGNED_UINT32_READ + __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; + #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) + #endif + #ifndef __ALIGNED + #define __ALIGNED(x) __align(x) + #endif + #ifndef __RESTRICT + #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored. + #define __RESTRICT + #endif + #ifndef __COMPILER_BARRIER + #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored. + #define __COMPILER_BARRIER() (void)0 + #endif + + +/* + * COSMIC Compiler + */ +#elif defined ( __CSMC__ ) + #include + + #ifndef __ASM + #define __ASM _asm + #endif + #ifndef __INLINE + #define __INLINE inline + #endif + #ifndef __STATIC_INLINE + #define __STATIC_INLINE static inline + #endif + #ifndef __STATIC_FORCEINLINE + #define __STATIC_FORCEINLINE __STATIC_INLINE + #endif + #ifndef __NO_RETURN + // NO RETURN is automatically detected hence no warning here + #define __NO_RETURN + #endif + #ifndef __USED + #warning No compiler specific solution for __USED. __USED is ignored. + #define __USED + #endif + #ifndef __WEAK + #define __WEAK __weak + #endif + #ifndef __PACKED + #define __PACKED @packed + #endif + #ifndef __PACKED_STRUCT + #define __PACKED_STRUCT @packed struct + #endif + #ifndef __PACKED_UNION + #define __PACKED_UNION @packed union + #endif + #ifndef __UNALIGNED_UINT32 /* deprecated */ + @packed struct T_UINT32 { uint32_t v; }; + #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) + #endif + #ifndef __UNALIGNED_UINT16_WRITE + __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; + #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) + #endif + #ifndef __UNALIGNED_UINT16_READ + __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; + #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) + #endif + #ifndef __UNALIGNED_UINT32_WRITE + __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; + #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) + #endif + #ifndef __UNALIGNED_UINT32_READ + __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; + #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) + #endif + #ifndef __ALIGNED + #warning No compiler specific solution for __ALIGNED. __ALIGNED is ignored. + #define __ALIGNED(x) + #endif + #ifndef __RESTRICT + #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored. + #define __RESTRICT + #endif + #ifndef __COMPILER_BARRIER + #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored. + #define __COMPILER_BARRIER() (void)0 + #endif + + +#else + #error Unknown compiler. +#endif + + +#endif /* __CMSIS_COMPILER_H */ + diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_gcc.h b/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_gcc.h new file mode 100644 index 0000000000..a2778f58e8 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/Core/Include/cmsis_gcc.h @@ -0,0 +1,2177 @@ +/**************************************************************************//** + * @file cmsis_gcc.h + * @brief CMSIS compiler GCC header file + * @version V5.3.0 + * @date 26. March 2020 + ******************************************************************************/ +/* + * Copyright (c) 2009-2020 Arm Limited. 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. + */ + +#ifndef __CMSIS_GCC_H +#define __CMSIS_GCC_H + +/* ignore some GCC warnings */ +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wsign-conversion" +#pragma GCC diagnostic ignored "-Wconversion" +#pragma GCC diagnostic ignored "-Wunused-parameter" + +/* Fallback for __has_builtin */ +#ifndef __has_builtin + #define __has_builtin(x) (0) +#endif + +/* CMSIS compiler specific defines */ +#ifndef __ASM + #define __ASM __asm +#endif +#ifndef __INLINE + #define __INLINE inline +#endif +#ifndef __STATIC_INLINE + #define __STATIC_INLINE static inline +#endif +#ifndef __STATIC_FORCEINLINE + #define __STATIC_FORCEINLINE __attribute__((always_inline)) static inline +#endif +#ifndef __NO_RETURN + #define __NO_RETURN __attribute__((__noreturn__)) +#endif +#ifndef __USED + #define __USED __attribute__((used)) +#endif +#ifndef __WEAK + #define __WEAK __attribute__((weak)) +#endif +#ifndef __PACKED + #define __PACKED __attribute__((packed, aligned(1))) +#endif +#ifndef __PACKED_STRUCT + #define __PACKED_STRUCT struct __attribute__((packed, aligned(1))) +#endif +#ifndef __PACKED_UNION + #define __PACKED_UNION union __attribute__((packed, aligned(1))) +#endif +#ifndef __UNALIGNED_UINT32 /* deprecated */ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wpacked" + #pragma GCC diagnostic ignored "-Wattributes" + struct __attribute__((packed)) T_UINT32 { uint32_t v; }; + #pragma GCC diagnostic pop + #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) +#endif +#ifndef __UNALIGNED_UINT16_WRITE + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wpacked" + #pragma GCC diagnostic ignored "-Wattributes" + __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; + #pragma GCC diagnostic pop + #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) +#endif +#ifndef __UNALIGNED_UINT16_READ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wpacked" + #pragma GCC diagnostic ignored "-Wattributes" + __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; + #pragma GCC diagnostic pop + #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) +#endif +#ifndef __UNALIGNED_UINT32_WRITE + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wpacked" + #pragma GCC diagnostic ignored "-Wattributes" + __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; + #pragma GCC diagnostic pop + #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) +#endif +#ifndef __UNALIGNED_UINT32_READ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wpacked" + #pragma GCC diagnostic ignored "-Wattributes" + __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; + #pragma GCC diagnostic pop + #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) +#endif +#ifndef __ALIGNED + #define __ALIGNED(x) __attribute__((aligned(x))) +#endif +#ifndef __RESTRICT + #define __RESTRICT __restrict +#endif +#ifndef __COMPILER_BARRIER + #define __COMPILER_BARRIER() __ASM volatile("":::"memory") +#endif + +/* ######################### Startup and Lowlevel Init ######################## */ + +#ifndef __PROGRAM_START + +/** + \brief Initializes data and bss sections + \details This default implementations initialized all data and additional bss + sections relying on .copy.table and .zero.table specified properly + in the used linker script. + + */ +__STATIC_FORCEINLINE __NO_RETURN void __cmsis_start(void) +{ + extern void _start(void) __NO_RETURN; + + typedef struct { + uint32_t const* src; + uint32_t* dest; + uint32_t wlen; + } __copy_table_t; + + typedef struct { + uint32_t* dest; + uint32_t wlen; + } __zero_table_t; + + extern const __copy_table_t __copy_table_start__; + extern const __copy_table_t __copy_table_end__; + extern const __zero_table_t __zero_table_start__; + extern const __zero_table_t __zero_table_end__; + + for (__copy_table_t const* pTable = &__copy_table_start__; pTable < &__copy_table_end__; ++pTable) { + for(uint32_t i=0u; iwlen; ++i) { + pTable->dest[i] = pTable->src[i]; + } + } + + for (__zero_table_t const* pTable = &__zero_table_start__; pTable < &__zero_table_end__; ++pTable) { + for(uint32_t i=0u; iwlen; ++i) { + pTable->dest[i] = 0u; + } + } + + _start(); +} + +#define __PROGRAM_START __cmsis_start +#endif + +#ifndef __INITIAL_SP +#define __INITIAL_SP __StackTop +#endif + +#ifndef __STACK_LIMIT +#define __STACK_LIMIT __StackLimit +#endif + +#ifndef __VECTOR_TABLE +#define __VECTOR_TABLE __Vectors +#endif + +#ifndef __VECTOR_TABLE_ATTRIBUTE +#define __VECTOR_TABLE_ATTRIBUTE __attribute__((used, section(".vectors"))) +#endif + +/* ########################### Core Function Access ########################### */ +/** \ingroup CMSIS_Core_FunctionInterface + \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions + @{ + */ + +/** + \brief Enable IRQ Interrupts + \details Enables IRQ interrupts by clearing the I-bit in the CPSR. + Can only be executed in Privileged modes. + */ +__STATIC_FORCEINLINE void __enable_irq(void) +{ + __ASM volatile ("cpsie i" : : : "memory"); +} + + +/** + \brief Disable IRQ Interrupts + \details Disables IRQ interrupts by setting the I-bit in the CPSR. + Can only be executed in Privileged modes. + */ +__STATIC_FORCEINLINE void __disable_irq(void) +{ + __ASM volatile ("cpsid i" : : : "memory"); +} + + +/** + \brief Get Control Register + \details Returns the content of the Control Register. + \return Control Register value + */ +__STATIC_FORCEINLINE uint32_t __get_CONTROL(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, control" : "=r" (result) ); + return(result); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Get Control Register (non-secure) + \details Returns the content of the non-secure Control Register when in secure mode. + \return non-secure Control Register value + */ +__STATIC_FORCEINLINE uint32_t __TZ_get_CONTROL_NS(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, control_ns" : "=r" (result) ); + return(result); +} +#endif + + +/** + \brief Set Control Register + \details Writes the given value to the Control Register. + \param [in] control Control Register value to set + */ +__STATIC_FORCEINLINE void __set_CONTROL(uint32_t control) +{ + __ASM volatile ("MSR control, %0" : : "r" (control) : "memory"); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Set Control Register (non-secure) + \details Writes the given value to the non-secure Control Register when in secure state. + \param [in] control Control Register value to set + */ +__STATIC_FORCEINLINE void __TZ_set_CONTROL_NS(uint32_t control) +{ + __ASM volatile ("MSR control_ns, %0" : : "r" (control) : "memory"); +} +#endif + + +/** + \brief Get IPSR Register + \details Returns the content of the IPSR Register. + \return IPSR Register value + */ +__STATIC_FORCEINLINE uint32_t __get_IPSR(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, ipsr" : "=r" (result) ); + return(result); +} + + +/** + \brief Get APSR Register + \details Returns the content of the APSR Register. + \return APSR Register value + */ +__STATIC_FORCEINLINE uint32_t __get_APSR(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, apsr" : "=r" (result) ); + return(result); +} + + +/** + \brief Get xPSR Register + \details Returns the content of the xPSR Register. + \return xPSR Register value + */ +__STATIC_FORCEINLINE uint32_t __get_xPSR(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, xpsr" : "=r" (result) ); + return(result); +} + + +/** + \brief Get Process Stack Pointer + \details Returns the current value of the Process Stack Pointer (PSP). + \return PSP Register value + */ +__STATIC_FORCEINLINE uint32_t __get_PSP(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, psp" : "=r" (result) ); + return(result); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Get Process Stack Pointer (non-secure) + \details Returns the current value of the non-secure Process Stack Pointer (PSP) when in secure state. + \return PSP Register value + */ +__STATIC_FORCEINLINE uint32_t __TZ_get_PSP_NS(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, psp_ns" : "=r" (result) ); + return(result); +} +#endif + + +/** + \brief Set Process Stack Pointer + \details Assigns the given value to the Process Stack Pointer (PSP). + \param [in] topOfProcStack Process Stack Pointer value to set + */ +__STATIC_FORCEINLINE void __set_PSP(uint32_t topOfProcStack) +{ + __ASM volatile ("MSR psp, %0" : : "r" (topOfProcStack) : ); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Set Process Stack Pointer (non-secure) + \details Assigns the given value to the non-secure Process Stack Pointer (PSP) when in secure state. + \param [in] topOfProcStack Process Stack Pointer value to set + */ +__STATIC_FORCEINLINE void __TZ_set_PSP_NS(uint32_t topOfProcStack) +{ + __ASM volatile ("MSR psp_ns, %0" : : "r" (topOfProcStack) : ); +} +#endif + + +/** + \brief Get Main Stack Pointer + \details Returns the current value of the Main Stack Pointer (MSP). + \return MSP Register value + */ +__STATIC_FORCEINLINE uint32_t __get_MSP(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, msp" : "=r" (result) ); + return(result); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Get Main Stack Pointer (non-secure) + \details Returns the current value of the non-secure Main Stack Pointer (MSP) when in secure state. + \return MSP Register value + */ +__STATIC_FORCEINLINE uint32_t __TZ_get_MSP_NS(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, msp_ns" : "=r" (result) ); + return(result); +} +#endif + + +/** + \brief Set Main Stack Pointer + \details Assigns the given value to the Main Stack Pointer (MSP). + \param [in] topOfMainStack Main Stack Pointer value to set + */ +__STATIC_FORCEINLINE void __set_MSP(uint32_t topOfMainStack) +{ + __ASM volatile ("MSR msp, %0" : : "r" (topOfMainStack) : ); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Set Main Stack Pointer (non-secure) + \details Assigns the given value to the non-secure Main Stack Pointer (MSP) when in secure state. + \param [in] topOfMainStack Main Stack Pointer value to set + */ +__STATIC_FORCEINLINE void __TZ_set_MSP_NS(uint32_t topOfMainStack) +{ + __ASM volatile ("MSR msp_ns, %0" : : "r" (topOfMainStack) : ); +} +#endif + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Get Stack Pointer (non-secure) + \details Returns the current value of the non-secure Stack Pointer (SP) when in secure state. + \return SP Register value + */ +__STATIC_FORCEINLINE uint32_t __TZ_get_SP_NS(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, sp_ns" : "=r" (result) ); + return(result); +} + + +/** + \brief Set Stack Pointer (non-secure) + \details Assigns the given value to the non-secure Stack Pointer (SP) when in secure state. + \param [in] topOfStack Stack Pointer value to set + */ +__STATIC_FORCEINLINE void __TZ_set_SP_NS(uint32_t topOfStack) +{ + __ASM volatile ("MSR sp_ns, %0" : : "r" (topOfStack) : ); +} +#endif + + +/** + \brief Get Priority Mask + \details Returns the current state of the priority mask bit from the Priority Mask Register. + \return Priority Mask value + */ +__STATIC_FORCEINLINE uint32_t __get_PRIMASK(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, primask" : "=r" (result) ); + return(result); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Get Priority Mask (non-secure) + \details Returns the current state of the non-secure priority mask bit from the Priority Mask Register when in secure state. + \return Priority Mask value + */ +__STATIC_FORCEINLINE uint32_t __TZ_get_PRIMASK_NS(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, primask_ns" : "=r" (result) ); + return(result); +} +#endif + + +/** + \brief Set Priority Mask + \details Assigns the given value to the Priority Mask Register. + \param [in] priMask Priority Mask + */ +__STATIC_FORCEINLINE void __set_PRIMASK(uint32_t priMask) +{ + __ASM volatile ("MSR primask, %0" : : "r" (priMask) : "memory"); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Set Priority Mask (non-secure) + \details Assigns the given value to the non-secure Priority Mask Register when in secure state. + \param [in] priMask Priority Mask + */ +__STATIC_FORCEINLINE void __TZ_set_PRIMASK_NS(uint32_t priMask) +{ + __ASM volatile ("MSR primask_ns, %0" : : "r" (priMask) : "memory"); +} +#endif + + +#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ + (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ + (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) +/** + \brief Enable FIQ + \details Enables FIQ interrupts by clearing the F-bit in the CPSR. + Can only be executed in Privileged modes. + */ +__STATIC_FORCEINLINE void __enable_fault_irq(void) +{ + __ASM volatile ("cpsie f" : : : "memory"); +} + + +/** + \brief Disable FIQ + \details Disables FIQ interrupts by setting the F-bit in the CPSR. + Can only be executed in Privileged modes. + */ +__STATIC_FORCEINLINE void __disable_fault_irq(void) +{ + __ASM volatile ("cpsid f" : : : "memory"); +} + + +/** + \brief Get Base Priority + \details Returns the current value of the Base Priority register. + \return Base Priority register value + */ +__STATIC_FORCEINLINE uint32_t __get_BASEPRI(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, basepri" : "=r" (result) ); + return(result); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Get Base Priority (non-secure) + \details Returns the current value of the non-secure Base Priority register when in secure state. + \return Base Priority register value + */ +__STATIC_FORCEINLINE uint32_t __TZ_get_BASEPRI_NS(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, basepri_ns" : "=r" (result) ); + return(result); +} +#endif + + +/** + \brief Set Base Priority + \details Assigns the given value to the Base Priority register. + \param [in] basePri Base Priority value to set + */ +__STATIC_FORCEINLINE void __set_BASEPRI(uint32_t basePri) +{ + __ASM volatile ("MSR basepri, %0" : : "r" (basePri) : "memory"); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Set Base Priority (non-secure) + \details Assigns the given value to the non-secure Base Priority register when in secure state. + \param [in] basePri Base Priority value to set + */ +__STATIC_FORCEINLINE void __TZ_set_BASEPRI_NS(uint32_t basePri) +{ + __ASM volatile ("MSR basepri_ns, %0" : : "r" (basePri) : "memory"); +} +#endif + + +/** + \brief Set Base Priority with condition + \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled, + or the new value increases the BASEPRI priority level. + \param [in] basePri Base Priority value to set + */ +__STATIC_FORCEINLINE void __set_BASEPRI_MAX(uint32_t basePri) +{ + __ASM volatile ("MSR basepri_max, %0" : : "r" (basePri) : "memory"); +} + + +/** + \brief Get Fault Mask + \details Returns the current value of the Fault Mask register. + \return Fault Mask register value + */ +__STATIC_FORCEINLINE uint32_t __get_FAULTMASK(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, faultmask" : "=r" (result) ); + return(result); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Get Fault Mask (non-secure) + \details Returns the current value of the non-secure Fault Mask register when in secure state. + \return Fault Mask register value + */ +__STATIC_FORCEINLINE uint32_t __TZ_get_FAULTMASK_NS(void) +{ + uint32_t result; + + __ASM volatile ("MRS %0, faultmask_ns" : "=r" (result) ); + return(result); +} +#endif + + +/** + \brief Set Fault Mask + \details Assigns the given value to the Fault Mask register. + \param [in] faultMask Fault Mask value to set + */ +__STATIC_FORCEINLINE void __set_FAULTMASK(uint32_t faultMask) +{ + __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) : "memory"); +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Set Fault Mask (non-secure) + \details Assigns the given value to the non-secure Fault Mask register when in secure state. + \param [in] faultMask Fault Mask value to set + */ +__STATIC_FORCEINLINE void __TZ_set_FAULTMASK_NS(uint32_t faultMask) +{ + __ASM volatile ("MSR faultmask_ns, %0" : : "r" (faultMask) : "memory"); +} +#endif + +#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ + (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ + (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ + + +#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ + (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) + +/** + \brief Get Process Stack Pointer Limit + Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure + Stack Pointer Limit register hence zero is returned always in non-secure + mode. + + \details Returns the current value of the Process Stack Pointer Limit (PSPLIM). + \return PSPLIM Register value + */ +__STATIC_FORCEINLINE uint32_t __get_PSPLIM(void) +{ +#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ + (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) + // without main extensions, the non-secure PSPLIM is RAZ/WI + return 0U; +#else + uint32_t result; + __ASM volatile ("MRS %0, psplim" : "=r" (result) ); + return result; +#endif +} + +#if (defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Get Process Stack Pointer Limit (non-secure) + Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure + Stack Pointer Limit register hence zero is returned always. + + \details Returns the current value of the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. + \return PSPLIM Register value + */ +__STATIC_FORCEINLINE uint32_t __TZ_get_PSPLIM_NS(void) +{ +#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) + // without main extensions, the non-secure PSPLIM is RAZ/WI + return 0U; +#else + uint32_t result; + __ASM volatile ("MRS %0, psplim_ns" : "=r" (result) ); + return result; +#endif +} +#endif + + +/** + \brief Set Process Stack Pointer Limit + Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure + Stack Pointer Limit register hence the write is silently ignored in non-secure + mode. + + \details Assigns the given value to the Process Stack Pointer Limit (PSPLIM). + \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set + */ +__STATIC_FORCEINLINE void __set_PSPLIM(uint32_t ProcStackPtrLimit) +{ +#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ + (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) + // without main extensions, the non-secure PSPLIM is RAZ/WI + (void)ProcStackPtrLimit; +#else + __ASM volatile ("MSR psplim, %0" : : "r" (ProcStackPtrLimit)); +#endif +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Set Process Stack Pointer (non-secure) + Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure + Stack Pointer Limit register hence the write is silently ignored. + + \details Assigns the given value to the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. + \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set + */ +__STATIC_FORCEINLINE void __TZ_set_PSPLIM_NS(uint32_t ProcStackPtrLimit) +{ +#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) + // without main extensions, the non-secure PSPLIM is RAZ/WI + (void)ProcStackPtrLimit; +#else + __ASM volatile ("MSR psplim_ns, %0\n" : : "r" (ProcStackPtrLimit)); +#endif +} +#endif + + +/** + \brief Get Main Stack Pointer Limit + Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure + Stack Pointer Limit register hence zero is returned always in non-secure + mode. + + \details Returns the current value of the Main Stack Pointer Limit (MSPLIM). + \return MSPLIM Register value + */ +__STATIC_FORCEINLINE uint32_t __get_MSPLIM(void) +{ +#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ + (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) + // without main extensions, the non-secure MSPLIM is RAZ/WI + return 0U; +#else + uint32_t result; + __ASM volatile ("MRS %0, msplim" : "=r" (result) ); + return result; +#endif +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Get Main Stack Pointer Limit (non-secure) + Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure + Stack Pointer Limit register hence zero is returned always. + + \details Returns the current value of the non-secure Main Stack Pointer Limit(MSPLIM) when in secure state. + \return MSPLIM Register value + */ +__STATIC_FORCEINLINE uint32_t __TZ_get_MSPLIM_NS(void) +{ +#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) + // without main extensions, the non-secure MSPLIM is RAZ/WI + return 0U; +#else + uint32_t result; + __ASM volatile ("MRS %0, msplim_ns" : "=r" (result) ); + return result; +#endif +} +#endif + + +/** + \brief Set Main Stack Pointer Limit + Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure + Stack Pointer Limit register hence the write is silently ignored in non-secure + mode. + + \details Assigns the given value to the Main Stack Pointer Limit (MSPLIM). + \param [in] MainStackPtrLimit Main Stack Pointer Limit value to set + */ +__STATIC_FORCEINLINE void __set_MSPLIM(uint32_t MainStackPtrLimit) +{ +#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ + (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) + // without main extensions, the non-secure MSPLIM is RAZ/WI + (void)MainStackPtrLimit; +#else + __ASM volatile ("MSR msplim, %0" : : "r" (MainStackPtrLimit)); +#endif +} + + +#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) +/** + \brief Set Main Stack Pointer Limit (non-secure) + Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure + Stack Pointer Limit register hence the write is silently ignored. + + \details Assigns the given value to the non-secure Main Stack Pointer Limit (MSPLIM) when in secure state. + \param [in] MainStackPtrLimit Main Stack Pointer value to set + */ +__STATIC_FORCEINLINE void __TZ_set_MSPLIM_NS(uint32_t MainStackPtrLimit) +{ +#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) + // without main extensions, the non-secure MSPLIM is RAZ/WI + (void)MainStackPtrLimit; +#else + __ASM volatile ("MSR msplim_ns, %0" : : "r" (MainStackPtrLimit)); +#endif +} +#endif + +#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ + (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ + + +/** + \brief Get FPSCR + \details Returns the current value of the Floating Point Status/Control register. + \return Floating Point Status/Control register value + */ +__STATIC_FORCEINLINE uint32_t __get_FPSCR(void) +{ +#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ + (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) +#if __has_builtin(__builtin_arm_get_fpscr) +// Re-enable using built-in when GCC has been fixed +// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2) + /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */ + return __builtin_arm_get_fpscr(); +#else + uint32_t result; + + __ASM volatile ("VMRS %0, fpscr" : "=r" (result) ); + return(result); +#endif +#else + return(0U); +#endif +} + + +/** + \brief Set FPSCR + \details Assigns the given value to the Floating Point Status/Control register. + \param [in] fpscr Floating Point Status/Control value to set + */ +__STATIC_FORCEINLINE void __set_FPSCR(uint32_t fpscr) +{ +#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ + (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) +#if __has_builtin(__builtin_arm_set_fpscr) +// Re-enable using built-in when GCC has been fixed +// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2) + /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */ + __builtin_arm_set_fpscr(fpscr); +#else + __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) : "vfpcc", "memory"); +#endif +#else + (void)fpscr; +#endif +} + + +/*@} end of CMSIS_Core_RegAccFunctions */ + + +/* ########################## Core Instruction Access ######################### */ +/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface + Access to dedicated instructions + @{ +*/ + +/* Define macros for porting to both thumb1 and thumb2. + * For thumb1, use low register (r0-r7), specified by constraint "l" + * Otherwise, use general registers, specified by constraint "r" */ +#if defined (__thumb__) && !defined (__thumb2__) +#define __CMSIS_GCC_OUT_REG(r) "=l" (r) +#define __CMSIS_GCC_RW_REG(r) "+l" (r) +#define __CMSIS_GCC_USE_REG(r) "l" (r) +#else +#define __CMSIS_GCC_OUT_REG(r) "=r" (r) +#define __CMSIS_GCC_RW_REG(r) "+r" (r) +#define __CMSIS_GCC_USE_REG(r) "r" (r) +#endif + +/** + \brief No Operation + \details No Operation does nothing. This instruction can be used for code alignment purposes. + */ +#define __NOP() __ASM volatile ("nop") + +/** + \brief Wait For Interrupt + \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs. + */ +#define __WFI() __ASM volatile ("wfi":::"memory") + + +/** + \brief Wait For Event + \details Wait For Event is a hint instruction that permits the processor to enter + a low-power state until one of a number of events occurs. + */ +#define __WFE() __ASM volatile ("wfe":::"memory") + + +/** + \brief Send Event + \details Send Event is a hint instruction. It causes an event to be signaled to the CPU. + */ +#define __SEV() __ASM volatile ("sev") + + +/** + \brief Instruction Synchronization Barrier + \details Instruction Synchronization Barrier flushes the pipeline in the processor, + so that all instructions following the ISB are fetched from cache or memory, + after the instruction has been completed. + */ +__STATIC_FORCEINLINE void __ISB(void) +{ + __ASM volatile ("isb 0xF":::"memory"); +} + + +/** + \brief Data Synchronization Barrier + \details Acts as a special kind of Data Memory Barrier. + It completes when all explicit memory accesses before this instruction complete. + */ +__STATIC_FORCEINLINE void __DSB(void) +{ + __ASM volatile ("dsb 0xF":::"memory"); +} + + +/** + \brief Data Memory Barrier + \details Ensures the apparent order of the explicit memory operations before + and after the instruction, without ensuring their completion. + */ +__STATIC_FORCEINLINE void __DMB(void) +{ + __ASM volatile ("dmb 0xF":::"memory"); +} + + +/** + \brief Reverse byte order (32 bit) + \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412. + \param [in] value Value to reverse + \return Reversed value + */ +__STATIC_FORCEINLINE uint32_t __REV(uint32_t value) +{ +#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 5) + return __builtin_bswap32(value); +#else + uint32_t result; + + __ASM ("rev %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); + return result; +#endif +} + + +/** + \brief Reverse byte order (16 bit) + \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856. + \param [in] value Value to reverse + \return Reversed value + */ +__STATIC_FORCEINLINE uint32_t __REV16(uint32_t value) +{ + uint32_t result; + + __ASM ("rev16 %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); + return result; +} + + +/** + \brief Reverse byte order (16 bit) + \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000. + \param [in] value Value to reverse + \return Reversed value + */ +__STATIC_FORCEINLINE int16_t __REVSH(int16_t value) +{ +#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) + return (int16_t)__builtin_bswap16(value); +#else + int16_t result; + + __ASM ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); + return result; +#endif +} + + +/** + \brief Rotate Right in unsigned value (32 bit) + \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits. + \param [in] op1 Value to rotate + \param [in] op2 Number of Bits to rotate + \return Rotated value + */ +__STATIC_FORCEINLINE uint32_t __ROR(uint32_t op1, uint32_t op2) +{ + op2 %= 32U; + if (op2 == 0U) + { + return op1; + } + return (op1 >> op2) | (op1 << (32U - op2)); +} + + +/** + \brief Breakpoint + \details Causes the processor to enter Debug state. + Debug tools can use this to investigate system state when the instruction at a particular address is reached. + \param [in] value is ignored by the processor. + If required, a debugger can use it to store additional information about the breakpoint. + */ +#define __BKPT(value) __ASM volatile ("bkpt "#value) + + +/** + \brief Reverse bit order of value + \details Reverses the bit order of the given value. + \param [in] value Value to reverse + \return Reversed value + */ +__STATIC_FORCEINLINE uint32_t __RBIT(uint32_t value) +{ + uint32_t result; + +#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ + (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ + (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) + __ASM ("rbit %0, %1" : "=r" (result) : "r" (value) ); +#else + uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */ + + result = value; /* r will be reversed bits of v; first get LSB of v */ + for (value >>= 1U; value != 0U; value >>= 1U) + { + result <<= 1U; + result |= value & 1U; + s--; + } + result <<= s; /* shift when v's highest bits are zero */ +#endif + return result; +} + + +/** + \brief Count leading zeros + \details Counts the number of leading zeros of a data value. + \param [in] value Value to count the leading zeros + \return number of leading zeros in value + */ +__STATIC_FORCEINLINE uint8_t __CLZ(uint32_t value) +{ + /* Even though __builtin_clz produces a CLZ instruction on ARM, formally + __builtin_clz(0) is undefined behaviour, so handle this case specially. + This guarantees ARM-compatible results if happening to compile on a non-ARM + target, and ensures the compiler doesn't decide to activate any + optimisations using the logic "value was passed to __builtin_clz, so it + is non-zero". + ARM GCC 7.3 and possibly earlier will optimise this test away, leaving a + single CLZ instruction. + */ + if (value == 0U) + { + return 32U; + } + return __builtin_clz(value); +} + + +#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ + (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ + (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ + (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) +/** + \brief LDR Exclusive (8 bit) + \details Executes a exclusive LDR instruction for 8 bit value. + \param [in] ptr Pointer to data + \return value of type uint8_t at (*ptr) + */ +__STATIC_FORCEINLINE uint8_t __LDREXB(volatile uint8_t *addr) +{ + uint32_t result; + +#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) + __ASM volatile ("ldrexb %0, %1" : "=r" (result) : "Q" (*addr) ); +#else + /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not + accepted by assembler. So has to use following less efficient pattern. + */ + __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) : "memory" ); +#endif + return ((uint8_t) result); /* Add explicit type cast here */ +} + + +/** + \brief LDR Exclusive (16 bit) + \details Executes a exclusive LDR instruction for 16 bit values. + \param [in] ptr Pointer to data + \return value of type uint16_t at (*ptr) + */ +__STATIC_FORCEINLINE uint16_t __LDREXH(volatile uint16_t *addr) +{ + uint32_t result; + +#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) + __ASM volatile ("ldrexh %0, %1" : "=r" (result) : "Q" (*addr) ); +#else + /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not + accepted by assembler. So has to use following less efficient pattern. + */ + __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) : "memory" ); +#endif + return ((uint16_t) result); /* Add explicit type cast here */ +} + + +/** + \brief LDR Exclusive (32 bit) + \details Executes a exclusive LDR instruction for 32 bit values. + \param [in] ptr Pointer to data + \return value of type uint32_t at (*ptr) + */ +__STATIC_FORCEINLINE uint32_t __LDREXW(volatile uint32_t *addr) +{ + uint32_t result; + + __ASM volatile ("ldrex %0, %1" : "=r" (result) : "Q" (*addr) ); + return(result); +} + + +/** + \brief STR Exclusive (8 bit) + \details Executes a exclusive STR instruction for 8 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + \return 0 Function succeeded + \return 1 Function failed + */ +__STATIC_FORCEINLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr) +{ + uint32_t result; + + __ASM volatile ("strexb %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) ); + return(result); +} + + +/** + \brief STR Exclusive (16 bit) + \details Executes a exclusive STR instruction for 16 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + \return 0 Function succeeded + \return 1 Function failed + */ +__STATIC_FORCEINLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr) +{ + uint32_t result; + + __ASM volatile ("strexh %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) ); + return(result); +} + + +/** + \brief STR Exclusive (32 bit) + \details Executes a exclusive STR instruction for 32 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + \return 0 Function succeeded + \return 1 Function failed + */ +__STATIC_FORCEINLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr) +{ + uint32_t result; + + __ASM volatile ("strex %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" (value) ); + return(result); +} + + +/** + \brief Remove the exclusive lock + \details Removes the exclusive lock which is created by LDREX. + */ +__STATIC_FORCEINLINE void __CLREX(void) +{ + __ASM volatile ("clrex" ::: "memory"); +} + +#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ + (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ + (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ + (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ + + +#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ + (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ + (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) +/** + \brief Signed Saturate + \details Saturates a signed value. + \param [in] ARG1 Value to be saturated + \param [in] ARG2 Bit position to saturate to (1..32) + \return Saturated value + */ +#define __SSAT(ARG1, ARG2) \ +__extension__ \ +({ \ + int32_t __RES, __ARG1 = (ARG1); \ + __ASM volatile ("ssat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) : "cc" ); \ + __RES; \ + }) + + +/** + \brief Unsigned Saturate + \details Saturates an unsigned value. + \param [in] ARG1 Value to be saturated + \param [in] ARG2 Bit position to saturate to (0..31) + \return Saturated value + */ +#define __USAT(ARG1, ARG2) \ + __extension__ \ +({ \ + uint32_t __RES, __ARG1 = (ARG1); \ + __ASM volatile ("usat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) : "cc" ); \ + __RES; \ + }) + + +/** + \brief Rotate Right with Extend (32 bit) + \details Moves each bit of a bitstring right by one bit. + The carry input is shifted in at the left end of the bitstring. + \param [in] value Value to rotate + \return Rotated value + */ +__STATIC_FORCEINLINE uint32_t __RRX(uint32_t value) +{ + uint32_t result; + + __ASM volatile ("rrx %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); + return(result); +} + + +/** + \brief LDRT Unprivileged (8 bit) + \details Executes a Unprivileged LDRT instruction for 8 bit value. + \param [in] ptr Pointer to data + \return value of type uint8_t at (*ptr) + */ +__STATIC_FORCEINLINE uint8_t __LDRBT(volatile uint8_t *ptr) +{ + uint32_t result; + +#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) + __ASM volatile ("ldrbt %0, %1" : "=r" (result) : "Q" (*ptr) ); +#else + /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not + accepted by assembler. So has to use following less efficient pattern. + */ + __ASM volatile ("ldrbt %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" ); +#endif + return ((uint8_t) result); /* Add explicit type cast here */ +} + + +/** + \brief LDRT Unprivileged (16 bit) + \details Executes a Unprivileged LDRT instruction for 16 bit values. + \param [in] ptr Pointer to data + \return value of type uint16_t at (*ptr) + */ +__STATIC_FORCEINLINE uint16_t __LDRHT(volatile uint16_t *ptr) +{ + uint32_t result; + +#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) + __ASM volatile ("ldrht %0, %1" : "=r" (result) : "Q" (*ptr) ); +#else + /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not + accepted by assembler. So has to use following less efficient pattern. + */ + __ASM volatile ("ldrht %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" ); +#endif + return ((uint16_t) result); /* Add explicit type cast here */ +} + + +/** + \brief LDRT Unprivileged (32 bit) + \details Executes a Unprivileged LDRT instruction for 32 bit values. + \param [in] ptr Pointer to data + \return value of type uint32_t at (*ptr) + */ +__STATIC_FORCEINLINE uint32_t __LDRT(volatile uint32_t *ptr) +{ + uint32_t result; + + __ASM volatile ("ldrt %0, %1" : "=r" (result) : "Q" (*ptr) ); + return(result); +} + + +/** + \brief STRT Unprivileged (8 bit) + \details Executes a Unprivileged STRT instruction for 8 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + */ +__STATIC_FORCEINLINE void __STRBT(uint8_t value, volatile uint8_t *ptr) +{ + __ASM volatile ("strbt %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); +} + + +/** + \brief STRT Unprivileged (16 bit) + \details Executes a Unprivileged STRT instruction for 16 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + */ +__STATIC_FORCEINLINE void __STRHT(uint16_t value, volatile uint16_t *ptr) +{ + __ASM volatile ("strht %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); +} + + +/** + \brief STRT Unprivileged (32 bit) + \details Executes a Unprivileged STRT instruction for 32 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + */ +__STATIC_FORCEINLINE void __STRT(uint32_t value, volatile uint32_t *ptr) +{ + __ASM volatile ("strt %1, %0" : "=Q" (*ptr) : "r" (value) ); +} + +#else /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ + (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ + (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ + +/** + \brief Signed Saturate + \details Saturates a signed value. + \param [in] value Value to be saturated + \param [in] sat Bit position to saturate to (1..32) + \return Saturated value + */ +__STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat) +{ + if ((sat >= 1U) && (sat <= 32U)) + { + const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U); + const int32_t min = -1 - max ; + if (val > max) + { + return max; + } + else if (val < min) + { + return min; + } + } + return val; +} + +/** + \brief Unsigned Saturate + \details Saturates an unsigned value. + \param [in] value Value to be saturated + \param [in] sat Bit position to saturate to (0..31) + \return Saturated value + */ +__STATIC_FORCEINLINE uint32_t __USAT(int32_t val, uint32_t sat) +{ + if (sat <= 31U) + { + const uint32_t max = ((1U << sat) - 1U); + if (val > (int32_t)max) + { + return max; + } + else if (val < 0) + { + return 0U; + } + } + return (uint32_t)val; +} + +#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ + (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ + (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ + + +#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ + (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) +/** + \brief Load-Acquire (8 bit) + \details Executes a LDAB instruction for 8 bit value. + \param [in] ptr Pointer to data + \return value of type uint8_t at (*ptr) + */ +__STATIC_FORCEINLINE uint8_t __LDAB(volatile uint8_t *ptr) +{ + uint32_t result; + + __ASM volatile ("ldab %0, %1" : "=r" (result) : "Q" (*ptr) : "memory" ); + return ((uint8_t) result); +} + + +/** + \brief Load-Acquire (16 bit) + \details Executes a LDAH instruction for 16 bit values. + \param [in] ptr Pointer to data + \return value of type uint16_t at (*ptr) + */ +__STATIC_FORCEINLINE uint16_t __LDAH(volatile uint16_t *ptr) +{ + uint32_t result; + + __ASM volatile ("ldah %0, %1" : "=r" (result) : "Q" (*ptr) : "memory" ); + return ((uint16_t) result); +} + + +/** + \brief Load-Acquire (32 bit) + \details Executes a LDA instruction for 32 bit values. + \param [in] ptr Pointer to data + \return value of type uint32_t at (*ptr) + */ +__STATIC_FORCEINLINE uint32_t __LDA(volatile uint32_t *ptr) +{ + uint32_t result; + + __ASM volatile ("lda %0, %1" : "=r" (result) : "Q" (*ptr) : "memory" ); + return(result); +} + + +/** + \brief Store-Release (8 bit) + \details Executes a STLB instruction for 8 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + */ +__STATIC_FORCEINLINE void __STLB(uint8_t value, volatile uint8_t *ptr) +{ + __ASM volatile ("stlb %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) : "memory" ); +} + + +/** + \brief Store-Release (16 bit) + \details Executes a STLH instruction for 16 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + */ +__STATIC_FORCEINLINE void __STLH(uint16_t value, volatile uint16_t *ptr) +{ + __ASM volatile ("stlh %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) : "memory" ); +} + + +/** + \brief Store-Release (32 bit) + \details Executes a STL instruction for 32 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + */ +__STATIC_FORCEINLINE void __STL(uint32_t value, volatile uint32_t *ptr) +{ + __ASM volatile ("stl %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) : "memory" ); +} + + +/** + \brief Load-Acquire Exclusive (8 bit) + \details Executes a LDAB exclusive instruction for 8 bit value. + \param [in] ptr Pointer to data + \return value of type uint8_t at (*ptr) + */ +__STATIC_FORCEINLINE uint8_t __LDAEXB(volatile uint8_t *ptr) +{ + uint32_t result; + + __ASM volatile ("ldaexb %0, %1" : "=r" (result) : "Q" (*ptr) : "memory" ); + return ((uint8_t) result); +} + + +/** + \brief Load-Acquire Exclusive (16 bit) + \details Executes a LDAH exclusive instruction for 16 bit values. + \param [in] ptr Pointer to data + \return value of type uint16_t at (*ptr) + */ +__STATIC_FORCEINLINE uint16_t __LDAEXH(volatile uint16_t *ptr) +{ + uint32_t result; + + __ASM volatile ("ldaexh %0, %1" : "=r" (result) : "Q" (*ptr) : "memory" ); + return ((uint16_t) result); +} + + +/** + \brief Load-Acquire Exclusive (32 bit) + \details Executes a LDA exclusive instruction for 32 bit values. + \param [in] ptr Pointer to data + \return value of type uint32_t at (*ptr) + */ +__STATIC_FORCEINLINE uint32_t __LDAEX(volatile uint32_t *ptr) +{ + uint32_t result; + + __ASM volatile ("ldaex %0, %1" : "=r" (result) : "Q" (*ptr) : "memory" ); + return(result); +} + + +/** + \brief Store-Release Exclusive (8 bit) + \details Executes a STLB exclusive instruction for 8 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + \return 0 Function succeeded + \return 1 Function failed + */ +__STATIC_FORCEINLINE uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr) +{ + uint32_t result; + + __ASM volatile ("stlexb %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) : "memory" ); + return(result); +} + + +/** + \brief Store-Release Exclusive (16 bit) + \details Executes a STLH exclusive instruction for 16 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + \return 0 Function succeeded + \return 1 Function failed + */ +__STATIC_FORCEINLINE uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr) +{ + uint32_t result; + + __ASM volatile ("stlexh %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) : "memory" ); + return(result); +} + + +/** + \brief Store-Release Exclusive (32 bit) + \details Executes a STL exclusive instruction for 32 bit values. + \param [in] value Value to store + \param [in] ptr Pointer to location + \return 0 Function succeeded + \return 1 Function failed + */ +__STATIC_FORCEINLINE uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr) +{ + uint32_t result; + + __ASM volatile ("stlex %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) : "memory" ); + return(result); +} + +#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ + (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ + +/*@}*/ /* end of group CMSIS_Core_InstructionInterface */ + + +/* ################### Compiler specific Intrinsics ########################### */ +/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics + Access to dedicated SIMD instructions + @{ +*/ + +#if (defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1)) + +__STATIC_FORCEINLINE uint32_t __SADD8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __QADD8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UADD8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + + +__STATIC_FORCEINLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __USUB8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + + +__STATIC_FORCEINLINE uint32_t __SADD16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __QADD16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UADD16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __USUB16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SASX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __QASX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SHASX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UASX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UQASX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UHASX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SSAX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __QSAX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __USAX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __USAD8(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3) +{ + uint32_t result; + + __ASM ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); + return(result); +} + +#define __SSAT16(ARG1, ARG2) \ +({ \ + int32_t __RES, __ARG1 = (ARG1); \ + __ASM volatile ("ssat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) : "cc" ); \ + __RES; \ + }) + +#define __USAT16(ARG1, ARG2) \ +({ \ + uint32_t __RES, __ARG1 = (ARG1); \ + __ASM volatile ("usat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) : "cc" ); \ + __RES; \ + }) + +__STATIC_FORCEINLINE uint32_t __UXTB16(uint32_t op1) +{ + uint32_t result; + + __ASM ("uxtb16 %0, %1" : "=r" (result) : "r" (op1)); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SXTB16(uint32_t op1) +{ + uint32_t result; + + __ASM ("sxtb16 %0, %1" : "=r" (result) : "r" (op1)); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SXTB16_RORn(uint32_t op1, uint32_t rotate) +{ + uint32_t result; + + __ASM ("sxtb16 %0, %1, ROR %2" : "=r" (result) : "r" (op1), "i" (rotate) ); + + return result; +} + +__STATIC_FORCEINLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SMUAD (uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3) +{ + uint32_t result; + + __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3) +{ + uint32_t result; + + __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); + return(result); +} + +__STATIC_FORCEINLINE uint64_t __SMLALD (uint32_t op1, uint32_t op2, uint64_t acc) +{ + union llreg_u{ + uint32_t w32[2]; + uint64_t w64; + } llr; + llr.w64 = acc; + +#ifndef __ARMEB__ /* Little endian */ + __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); +#else /* Big endian */ + __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); +#endif + + return(llr.w64); +} + +__STATIC_FORCEINLINE uint64_t __SMLALDX (uint32_t op1, uint32_t op2, uint64_t acc) +{ + union llreg_u{ + uint32_t w32[2]; + uint64_t w64; + } llr; + llr.w64 = acc; + +#ifndef __ARMEB__ /* Little endian */ + __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); +#else /* Big endian */ + __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); +#endif + + return(llr.w64); +} + +__STATIC_FORCEINLINE uint32_t __SMUSD (uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3) +{ + uint32_t result; + + __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); + return(result); +} + +__STATIC_FORCEINLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3) +{ + uint32_t result; + + __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); + return(result); +} + +__STATIC_FORCEINLINE uint64_t __SMLSLD (uint32_t op1, uint32_t op2, uint64_t acc) +{ + union llreg_u{ + uint32_t w32[2]; + uint64_t w64; + } llr; + llr.w64 = acc; + +#ifndef __ARMEB__ /* Little endian */ + __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); +#else /* Big endian */ + __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); +#endif + + return(llr.w64); +} + +__STATIC_FORCEINLINE uint64_t __SMLSLDX (uint32_t op1, uint32_t op2, uint64_t acc) +{ + union llreg_u{ + uint32_t w32[2]; + uint64_t w64; + } llr; + llr.w64 = acc; + +#ifndef __ARMEB__ /* Little endian */ + __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); +#else /* Big endian */ + __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); +#endif + + return(llr.w64); +} + +__STATIC_FORCEINLINE uint32_t __SEL (uint32_t op1, uint32_t op2) +{ + uint32_t result; + + __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE int32_t __QADD( int32_t op1, int32_t op2) +{ + int32_t result; + + __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +__STATIC_FORCEINLINE int32_t __QSUB( int32_t op1, int32_t op2) +{ + int32_t result; + + __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); + return(result); +} + +#if 0 +#define __PKHBT(ARG1,ARG2,ARG3) \ +({ \ + uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ + __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ + __RES; \ + }) + +#define __PKHTB(ARG1,ARG2,ARG3) \ +({ \ + uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ + if (ARG3 == 0) \ + __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2) ); \ + else \ + __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ + __RES; \ + }) +#endif + +#define __PKHBT(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0x0000FFFFUL) | \ + ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL) ) + +#define __PKHTB(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0xFFFF0000UL) | \ + ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL) ) + +__STATIC_FORCEINLINE int32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3) +{ + int32_t result; + + __ASM ("smmla %0, %1, %2, %3" : "=r" (result): "r" (op1), "r" (op2), "r" (op3) ); + return(result); +} + +#endif /* (__ARM_FEATURE_DSP == 1) */ +/*@} end of group CMSIS_SIMD_intrinsics */ + + +#pragma GCC diagnostic pop + +#endif /* __CMSIS_GCC_H */ diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_common_tables.h b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_common_tables.h new file mode 100644 index 0000000000..721b18dd2d --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_common_tables.h @@ -0,0 +1,517 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_common_tables.h + * Description: Extern declaration for common tables + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 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. + */ + +#ifndef _ARM_COMMON_TABLES_H +#define _ARM_COMMON_TABLES_H + +#include "arm_math.h" + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FFT_ALLOW_TABLES) + /* Double Precision Float CFFT twiddles */ + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREV_1024) + extern const uint16_t armBitRevTable[1024]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_16) + extern const uint64_t twiddleCoefF64_16[32]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_32) + extern const uint64_t twiddleCoefF64_32[64]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_64) + extern const uint64_t twiddleCoefF64_64[128]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_128) + extern const uint64_t twiddleCoefF64_128[256]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_256) + extern const uint64_t twiddleCoefF64_256[512]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_512) + extern const uint64_t twiddleCoefF64_512[1024]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_1024) + extern const uint64_t twiddleCoefF64_1024[2048]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_2048) + extern const uint64_t twiddleCoefF64_2048[4096]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_4096) + extern const uint64_t twiddleCoefF64_4096[8192]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_16) + extern const float32_t twiddleCoef_16[32]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_32) + extern const float32_t twiddleCoef_32[64]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_64) + extern const float32_t twiddleCoef_64[128]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_128) + extern const float32_t twiddleCoef_128[256]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_256) + extern const float32_t twiddleCoef_256[512]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_512) + extern const float32_t twiddleCoef_512[1024]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_1024) + extern const float32_t twiddleCoef_1024[2048]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_2048) + extern const float32_t twiddleCoef_2048[4096]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_4096) + extern const float32_t twiddleCoef_4096[8192]; + #define twiddleCoef twiddleCoef_4096 + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_16) + extern const q31_t twiddleCoef_16_q31[24]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_32) + extern const q31_t twiddleCoef_32_q31[48]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_64) + extern const q31_t twiddleCoef_64_q31[96]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_128) + extern const q31_t twiddleCoef_128_q31[192]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_256) + extern const q31_t twiddleCoef_256_q31[384]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_512) + extern const q31_t twiddleCoef_512_q31[768]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_1024) + extern const q31_t twiddleCoef_1024_q31[1536]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_2048) + extern const q31_t twiddleCoef_2048_q31[3072]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_4096) + extern const q31_t twiddleCoef_4096_q31[6144]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_16) + extern const q15_t twiddleCoef_16_q15[24]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_32) + extern const q15_t twiddleCoef_32_q15[48]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_64) + extern const q15_t twiddleCoef_64_q15[96]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_128) + extern const q15_t twiddleCoef_128_q15[192]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_256) + extern const q15_t twiddleCoef_256_q15[384]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_512) + extern const q15_t twiddleCoef_512_q15[768]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_1024) + extern const q15_t twiddleCoef_1024_q15[1536]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_2048) + extern const q15_t twiddleCoef_2048_q15[3072]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_4096) + extern const q15_t twiddleCoef_4096_q15[6144]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + /* Double Precision Float RFFT twiddles */ + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_32) + extern const uint64_t twiddleCoefF64_rfft_32[32]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_64) + extern const uint64_t twiddleCoefF64_rfft_64[64]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_128) + extern const uint64_t twiddleCoefF64_rfft_128[128]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_256) + extern const uint64_t twiddleCoefF64_rfft_256[256]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_512) + extern const uint64_t twiddleCoefF64_rfft_512[512]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_1024) + extern const uint64_t twiddleCoefF64_rfft_1024[1024]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_2048) + extern const uint64_t twiddleCoefF64_rfft_2048[2048]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_4096) + extern const uint64_t twiddleCoefF64_rfft_4096[4096]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_32) + extern const float32_t twiddleCoef_rfft_32[32]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_64) + extern const float32_t twiddleCoef_rfft_64[64]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_128) + extern const float32_t twiddleCoef_rfft_128[128]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_256) + extern const float32_t twiddleCoef_rfft_256[256]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_512) + extern const float32_t twiddleCoef_rfft_512[512]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_1024) + extern const float32_t twiddleCoef_rfft_1024[1024]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_2048) + extern const float32_t twiddleCoef_rfft_2048[2048]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_4096) + extern const float32_t twiddleCoef_rfft_4096[4096]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + + /* Double precision floating-point bit reversal tables */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_16) + #define ARMBITREVINDEXTABLEF64_16_TABLE_LENGTH ((uint16_t)12) + extern const uint16_t armBitRevIndexTableF64_16[ARMBITREVINDEXTABLEF64_16_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_32) + #define ARMBITREVINDEXTABLEF64_32_TABLE_LENGTH ((uint16_t)24) + extern const uint16_t armBitRevIndexTableF64_32[ARMBITREVINDEXTABLEF64_32_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_64) + #define ARMBITREVINDEXTABLEF64_64_TABLE_LENGTH ((uint16_t)56) + extern const uint16_t armBitRevIndexTableF64_64[ARMBITREVINDEXTABLEF64_64_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_128) + #define ARMBITREVINDEXTABLEF64_128_TABLE_LENGTH ((uint16_t)112) + extern const uint16_t armBitRevIndexTableF64_128[ARMBITREVINDEXTABLEF64_128_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_256) + #define ARMBITREVINDEXTABLEF64_256_TABLE_LENGTH ((uint16_t)240) + extern const uint16_t armBitRevIndexTableF64_256[ARMBITREVINDEXTABLEF64_256_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_512) + #define ARMBITREVINDEXTABLEF64_512_TABLE_LENGTH ((uint16_t)480) + extern const uint16_t armBitRevIndexTableF64_512[ARMBITREVINDEXTABLEF64_512_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_1024) + #define ARMBITREVINDEXTABLEF64_1024_TABLE_LENGTH ((uint16_t)992) + extern const uint16_t armBitRevIndexTableF64_1024[ARMBITREVINDEXTABLEF64_1024_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_2048) + #define ARMBITREVINDEXTABLEF64_2048_TABLE_LENGTH ((uint16_t)1984) + extern const uint16_t armBitRevIndexTableF64_2048[ARMBITREVINDEXTABLEF64_2048_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_4096) + #define ARMBITREVINDEXTABLEF64_4096_TABLE_LENGTH ((uint16_t)4032) + extern const uint16_t armBitRevIndexTableF64_4096[ARMBITREVINDEXTABLEF64_4096_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + /* floating-point bit reversal tables */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_16) + #define ARMBITREVINDEXTABLE_16_TABLE_LENGTH ((uint16_t)20) + extern const uint16_t armBitRevIndexTable16[ARMBITREVINDEXTABLE_16_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_32) + #define ARMBITREVINDEXTABLE_32_TABLE_LENGTH ((uint16_t)48) + extern const uint16_t armBitRevIndexTable32[ARMBITREVINDEXTABLE_32_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_64) + #define ARMBITREVINDEXTABLE_64_TABLE_LENGTH ((uint16_t)56) + extern const uint16_t armBitRevIndexTable64[ARMBITREVINDEXTABLE_64_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_128) + #define ARMBITREVINDEXTABLE_128_TABLE_LENGTH ((uint16_t)208) + extern const uint16_t armBitRevIndexTable128[ARMBITREVINDEXTABLE_128_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_256) + #define ARMBITREVINDEXTABLE_256_TABLE_LENGTH ((uint16_t)440) + extern const uint16_t armBitRevIndexTable256[ARMBITREVINDEXTABLE_256_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_512) + #define ARMBITREVINDEXTABLE_512_TABLE_LENGTH ((uint16_t)448) + extern const uint16_t armBitRevIndexTable512[ARMBITREVINDEXTABLE_512_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_1024) + #define ARMBITREVINDEXTABLE_1024_TABLE_LENGTH ((uint16_t)1800) + extern const uint16_t armBitRevIndexTable1024[ARMBITREVINDEXTABLE_1024_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_2048) + #define ARMBITREVINDEXTABLE_2048_TABLE_LENGTH ((uint16_t)3808) + extern const uint16_t armBitRevIndexTable2048[ARMBITREVINDEXTABLE_2048_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_4096) + #define ARMBITREVINDEXTABLE_4096_TABLE_LENGTH ((uint16_t)4032) + extern const uint16_t armBitRevIndexTable4096[ARMBITREVINDEXTABLE_4096_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + + /* fixed-point bit reversal tables */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_16) + #define ARMBITREVINDEXTABLE_FIXED_16_TABLE_LENGTH ((uint16_t)12) + extern const uint16_t armBitRevIndexTable_fixed_16[ARMBITREVINDEXTABLE_FIXED_16_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_32) + #define ARMBITREVINDEXTABLE_FIXED_32_TABLE_LENGTH ((uint16_t)24) + extern const uint16_t armBitRevIndexTable_fixed_32[ARMBITREVINDEXTABLE_FIXED_32_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_64) + #define ARMBITREVINDEXTABLE_FIXED_64_TABLE_LENGTH ((uint16_t)56) + extern const uint16_t armBitRevIndexTable_fixed_64[ARMBITREVINDEXTABLE_FIXED_64_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_128) + #define ARMBITREVINDEXTABLE_FIXED_128_TABLE_LENGTH ((uint16_t)112) + extern const uint16_t armBitRevIndexTable_fixed_128[ARMBITREVINDEXTABLE_FIXED_128_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_256) + #define ARMBITREVINDEXTABLE_FIXED_256_TABLE_LENGTH ((uint16_t)240) + extern const uint16_t armBitRevIndexTable_fixed_256[ARMBITREVINDEXTABLE_FIXED_256_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_512) + #define ARMBITREVINDEXTABLE_FIXED_512_TABLE_LENGTH ((uint16_t)480) + extern const uint16_t armBitRevIndexTable_fixed_512[ARMBITREVINDEXTABLE_FIXED_512_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_1024) + #define ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH ((uint16_t)992) + extern const uint16_t armBitRevIndexTable_fixed_1024[ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_2048) + #define ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH ((uint16_t)1984) + extern const uint16_t armBitRevIndexTable_fixed_2048[ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_4096) + #define ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH ((uint16_t)4032) + extern const uint16_t armBitRevIndexTable_fixed_4096[ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_REALCOEF_F32) + extern const float32_t realCoefA[8192]; + extern const float32_t realCoefB[8192]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_REALCOEF_Q31) + extern const q31_t realCoefAQ31[8192]; + extern const q31_t realCoefBQ31[8192]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_REALCOEF_Q15) + extern const q15_t realCoefAQ15[8192]; + extern const q15_t realCoefBQ15[8192]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_F32_128) + extern const float32_t Weights_128[256]; + extern const float32_t cos_factors_128[128]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_F32_512) + extern const float32_t Weights_512[1024]; + extern const float32_t cos_factors_512[512]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_F32_2048) + extern const float32_t Weights_2048[4096]; + extern const float32_t cos_factors_2048[2048]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_F32_8192) + extern const float32_t Weights_8192[16384]; + extern const float32_t cos_factors_8192[8192]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q15_128) + extern const q15_t WeightsQ15_128[256]; + extern const q15_t cos_factorsQ15_128[128]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q15_512) + extern const q15_t WeightsQ15_512[1024]; + extern const q15_t cos_factorsQ15_512[512]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q15_2048) + extern const q15_t WeightsQ15_2048[4096]; + extern const q15_t cos_factorsQ15_2048[2048]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q15_8192) + extern const q15_t WeightsQ15_8192[16384]; + extern const q15_t cos_factorsQ15_8192[8192]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q31_128) + extern const q31_t WeightsQ31_128[256]; + extern const q31_t cos_factorsQ31_128[128]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q31_512) + extern const q31_t WeightsQ31_512[1024]; + extern const q31_t cos_factorsQ31_512[512]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q31_2048) + extern const q31_t WeightsQ31_2048[4096]; + extern const q31_t cos_factorsQ31_2048[2048]; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q31_8192) + extern const q31_t WeightsQ31_8192[16384]; + extern const q31_t cos_factorsQ31_8192[8192]; + #endif + +#endif /* if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FAST_ALLOW_TABLES) + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_RECIP_Q15) + extern const q15_t armRecipTableQ15[64]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) defined(ARM_ALL_FAST_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_RECIP_Q31) + extern const q31_t armRecipTableQ31[64]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) defined(ARM_ALL_FAST_TABLES) */ + + /* Tables for Fast Math Sine and Cosine */ + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_F32) + extern const float32_t sinTable_f32[FAST_MATH_TABLE_SIZE + 1]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) defined(ARM_ALL_FAST_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_Q31) + extern const q31_t sinTable_q31[FAST_MATH_TABLE_SIZE + 1]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) defined(ARM_ALL_FAST_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_Q15) + extern const q15_t sinTable_q15[FAST_MATH_TABLE_SIZE + 1]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) defined(ARM_ALL_FAST_TABLES) */ + + #if defined(ARM_MATH_MVEI) + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_FAST_SQRT_Q31_MVE) + extern const q31_t sqrtTable_Q31[256]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) defined(ARM_ALL_FAST_TABLES) */ + #endif + + #if defined(ARM_MATH_MVEI) + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_FAST_SQRT_Q15_MVE) + extern const q15_t sqrtTable_Q15[256]; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) defined(ARM_ALL_FAST_TABLES) */ + #endif + +#endif /* if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FAST_TABLES) */ + +#if (defined(ARM_MATH_MVEF) || defined(ARM_MATH_HELIUM)) && !defined(ARM_MATH_AUTOVECTORIZE) + extern const float32_t exp_tab[8]; + extern const float32_t __logf_lut_f32[8]; +#endif /* (defined(ARM_MATH_MVEF) || defined(ARM_MATH_HELIUM)) && !defined(ARM_MATH_AUTOVECTORIZE) */ + +#if (defined(ARM_MATH_MVEI) || defined(ARM_MATH_HELIUM)) +extern const unsigned char hwLUT[256]; +#endif /* (defined(ARM_MATH_MVEI) || defined(ARM_MATH_HELIUM)) */ + +#endif /* ARM_COMMON_TABLES_H */ + diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_const_structs.h b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_const_structs.h new file mode 100644 index 0000000000..83984c40cd --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_const_structs.h @@ -0,0 +1,76 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_const_structs.h + * Description: Constant structs that are initialized for user convenience. + * For example, some can be given as arguments to the arm_cfft_f32() function. + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 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. + */ + +#ifndef _ARM_CONST_STRUCTS_H +#define _ARM_CONST_STRUCTS_H + +#include "arm_math.h" +#include "arm_common_tables.h" + + extern const arm_cfft_instance_f64 arm_cfft_sR_f64_len16; + extern const arm_cfft_instance_f64 arm_cfft_sR_f64_len32; + extern const arm_cfft_instance_f64 arm_cfft_sR_f64_len64; + extern const arm_cfft_instance_f64 arm_cfft_sR_f64_len128; + extern const arm_cfft_instance_f64 arm_cfft_sR_f64_len256; + extern const arm_cfft_instance_f64 arm_cfft_sR_f64_len512; + extern const arm_cfft_instance_f64 arm_cfft_sR_f64_len1024; + extern const arm_cfft_instance_f64 arm_cfft_sR_f64_len2048; + extern const arm_cfft_instance_f64 arm_cfft_sR_f64_len4096; + + extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len16; + extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len32; + extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len64; + extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len128; + extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len256; + extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len512; + extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len1024; + extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len2048; + extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len4096; + + extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len16; + extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len32; + extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len64; + extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len128; + extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len256; + extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len512; + extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len1024; + extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len2048; + extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len4096; + + extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len16; + extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len32; + extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len64; + extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len128; + extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len256; + extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len512; + extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len1024; + extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len2048; + extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len4096; + +#endif diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_math.h b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_math.h new file mode 100644 index 0000000000..48bee62cd9 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Include/arm_math.h @@ -0,0 +1,8970 @@ +/****************************************************************************** + * @file arm_math.h + * @brief Public header file for CMSIS DSP Library + * @version V1.7.0 + * @date 18. March 2019 + ******************************************************************************/ +/* + * Copyright (c) 2010-2019 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. + */ + +/** + \mainpage CMSIS DSP Software Library + * + * Introduction + * ------------ + * + * This user manual describes the CMSIS DSP software library, + * a suite of common signal processing functions for use on Cortex-M and Cortex-A processor + * based devices. + * + * The library is divided into a number of functions each covering a specific category: + * - Basic math functions + * - Fast math functions + * - Complex math functions + * - Filtering functions + * - Matrix functions + * - Transform functions + * - Motor control functions + * - Statistical functions + * - Support functions + * - Interpolation functions + * - Support Vector Machine functions (SVM) + * - Bayes classifier functions + * - Distance functions + * + * The library has generally separate functions for operating on 8-bit integers, 16-bit integers, + * 32-bit integer and 32-bit floating-point values. + * + * Using the Library + * ------------ + * + * The library installer contains prebuilt versions of the libraries in the Lib folder. + * + * Here is the list of pre-built libraries : + * - arm_cortexM7lfdp_math.lib (Cortex-M7, Little endian, Double Precision Floating Point Unit) + * - arm_cortexM7bfdp_math.lib (Cortex-M7, Big endian, Double Precision Floating Point Unit) + * - arm_cortexM7lfsp_math.lib (Cortex-M7, Little endian, Single Precision Floating Point Unit) + * - arm_cortexM7bfsp_math.lib (Cortex-M7, Big endian and Single Precision Floating Point Unit on) + * - arm_cortexM7l_math.lib (Cortex-M7, Little endian) + * - arm_cortexM7b_math.lib (Cortex-M7, Big endian) + * - arm_cortexM4lf_math.lib (Cortex-M4, Little endian, Floating Point Unit) + * - arm_cortexM4bf_math.lib (Cortex-M4, Big endian, Floating Point Unit) + * - arm_cortexM4l_math.lib (Cortex-M4, Little endian) + * - arm_cortexM4b_math.lib (Cortex-M4, Big endian) + * - arm_cortexM3l_math.lib (Cortex-M3, Little endian) + * - arm_cortexM3b_math.lib (Cortex-M3, Big endian) + * - arm_cortexM0l_math.lib (Cortex-M0 / Cortex-M0+, Little endian) + * - arm_cortexM0b_math.lib (Cortex-M0 / Cortex-M0+, Big endian) + * - arm_ARMv8MBLl_math.lib (Armv8-M Baseline, Little endian) + * - arm_ARMv8MMLl_math.lib (Armv8-M Mainline, Little endian) + * - arm_ARMv8MMLlfsp_math.lib (Armv8-M Mainline, Little endian, Single Precision Floating Point Unit) + * - arm_ARMv8MMLld_math.lib (Armv8-M Mainline, Little endian, DSP instructions) + * - arm_ARMv8MMLldfsp_math.lib (Armv8-M Mainline, Little endian, DSP instructions, Single Precision Floating Point Unit) + * + * The library functions are declared in the public file arm_math.h which is placed in the Include folder. + * Simply include this file and link the appropriate library in the application and begin calling the library functions. The Library supports single + * public header file arm_math.h for Cortex-M cores with little endian and big endian. Same header file will be used for floating point unit(FPU) variants. + * + * + * Examples + * -------- + * + * The library ships with a number of examples which demonstrate how to use the library functions. + * + * Toolchain Support + * ------------ + * + * The library is now tested on Fast Models building with cmake. + * Core M0, M7, A5 are tested. + * + * + * + * Building the Library + * ------------ + * + * The library installer contains a project file to rebuild libraries on MDK toolchain in the CMSIS\\DSP\\Projects\\ARM folder. + * - arm_cortexM_math.uvprojx + * + * + * The libraries can be built by opening the arm_cortexM_math.uvprojx project in MDK-ARM, selecting a specific target, and defining the optional preprocessor macros detailed above. + * + * There is also a work in progress cmake build. The README file is giving more details. + * + * Preprocessor Macros + * ------------ + * + * Each library project have different preprocessor macros. + * + * - ARM_MATH_BIG_ENDIAN: + * + * Define macro ARM_MATH_BIG_ENDIAN to build the library for big endian targets. By default library builds for little endian targets. + * + * - ARM_MATH_MATRIX_CHECK: + * + * Define macro ARM_MATH_MATRIX_CHECK for checking on the input and output sizes of matrices + * + * - ARM_MATH_ROUNDING: + * + * Define macro ARM_MATH_ROUNDING for rounding on support functions + * + * - ARM_MATH_LOOPUNROLL: + * + * Define macro ARM_MATH_LOOPUNROLL to enable manual loop unrolling in DSP functions + * + * - ARM_MATH_NEON: + * + * Define macro ARM_MATH_NEON to enable Neon versions of the DSP functions. + * It is not enabled by default when Neon is available because performances are + * dependent on the compiler and target architecture. + * + * - ARM_MATH_NEON_EXPERIMENTAL: + * + * Define macro ARM_MATH_NEON_EXPERIMENTAL to enable experimental Neon versions of + * of some DSP functions. Experimental Neon versions currently do not have better + * performances than the scalar versions. + * + * - ARM_MATH_HELIUM: + * + * It implies the flags ARM_MATH_MVEF and ARM_MATH_MVEI and ARM_MATH_FLOAT16. + * + * - ARM_MATH_MVEF: + * + * Select Helium versions of the f32 algorithms. + * It implies ARM_MATH_FLOAT16 and ARM_MATH_MVEI. + * + * - ARM_MATH_MVEI: + * + * Select Helium versions of the int and fixed point algorithms. + * + * - ARM_MATH_FLOAT16: + * + * Float16 implementations of some algorithms (Requires MVE extension). + * + *
+ * CMSIS-DSP in ARM::CMSIS Pack + * ----------------------------- + * + * The following files relevant to CMSIS-DSP are present in the ARM::CMSIS Pack directories: + * |File/Folder |Content | + * |---------------------------------|------------------------------------------------------------------------| + * |\b CMSIS\\Documentation\\DSP | This documentation | + * |\b CMSIS\\DSP\\DSP_Lib_TestSuite | DSP_Lib test suite | + * |\b CMSIS\\DSP\\Examples | Example projects demonstrating the usage of the library functions | + * |\b CMSIS\\DSP\\Include | DSP_Lib include files | + * |\b CMSIS\\DSP\\Lib | DSP_Lib binaries | + * |\b CMSIS\\DSP\\Projects | Projects to rebuild DSP_Lib binaries | + * |\b CMSIS\\DSP\\Source | DSP_Lib source files | + * + *
+ * Revision History of CMSIS-DSP + * ------------ + * Please refer to \ref ChangeLog_pg. + */ + + +/** + * @defgroup groupMath Basic Math Functions + */ + +/** + * @defgroup groupFastMath Fast Math Functions + * This set of functions provides a fast approximation to sine, cosine, and square root. + * As compared to most of the other functions in the CMSIS math library, the fast math functions + * operate on individual values and not arrays. + * There are separate functions for Q15, Q31, and floating-point data. + * + */ + +/** + * @defgroup groupCmplxMath Complex Math Functions + * This set of functions operates on complex data vectors. + * The data in the complex arrays is stored in an interleaved fashion + * (real, imag, real, imag, ...). + * In the API functions, the number of samples in a complex array refers + * to the number of complex values; the array contains twice this number of + * real values. + */ + +/** + * @defgroup groupFilters Filtering Functions + */ + +/** + * @defgroup groupMatrix Matrix Functions + * + * This set of functions provides basic matrix math operations. + * The functions operate on matrix data structures. For example, + * the type + * definition for the floating-point matrix structure is shown + * below: + * 
+ *     typedef struct
+ *     {
+ *       uint16_t numRows;     // number of rows of the matrix.
+ *       uint16_t numCols;     // number of columns of the matrix.
+ *       float32_t *pData;     // points to the data of the matrix.
+ *     } arm_matrix_instance_f32;
+ *
+ * There are similar definitions for Q15 and Q31 data types. + * + * The structure specifies the size of the matrix and then points to + * an array of data. The array is of size numRows X numCols + * and the values are arranged in row order. That is, the + * matrix element (i, j) is stored at: + * 
+ *     pData[i*numCols + j]
+ *
+ * + * \par Init Functions + * There is an associated initialization function for each type of matrix + * data structure. + * The initialization function sets the values of the internal structure fields. + * Refer to \ref arm_mat_init_f32(), \ref arm_mat_init_q31() and \ref arm_mat_init_q15() + * for floating-point, Q31 and Q15 types, respectively. + * + * \par + * Use of the initialization function is optional. However, if initialization function is used + * then the instance structure cannot be placed into a const data section. + * To place the instance structure in a const data + * section, manually initialize the data structure. For example: + * 
+ * arm_matrix_instance_f32 S = {nRows, nColumns, pData};
+ * arm_matrix_instance_q31 S = {nRows, nColumns, pData};
+ * arm_matrix_instance_q15 S = {nRows, nColumns, pData};
+ *
+ * where nRows specifies the number of rows, nColumns + * specifies the number of columns, and pData points to the + * data array. + * + * \par Size Checking + * By default all of the matrix functions perform size checking on the input and + * output matrices. For example, the matrix addition function verifies that the + * two input matrices and the output matrix all have the same number of rows and + * columns. If the size check fails the functions return: + * 
+ *     ARM_MATH_SIZE_MISMATCH
+ *
+ * Otherwise the functions return + * 
+ *     ARM_MATH_SUCCESS
+ *
+ * There is some overhead associated with this matrix size checking. + * The matrix size checking is enabled via the \#define + * 
+ *     ARM_MATH_MATRIX_CHECK
+ *
+ * within the library project settings. By default this macro is defined + * and size checking is enabled. By changing the project settings and + * undefining this macro size checking is eliminated and the functions + * run a bit faster. With size checking disabled the functions always + * return ARM_MATH_SUCCESS. + */ + +/** + * @defgroup groupTransforms Transform Functions + */ + +/** + * @defgroup groupController Controller Functions + */ + +/** + * @defgroup groupStats Statistics Functions + */ + +/** + * @defgroup groupSupport Support Functions + */ + +/** + * @defgroup groupInterpolation Interpolation Functions + * These functions perform 1- and 2-dimensional interpolation of data. + * Linear interpolation is used for 1-dimensional data and + * bilinear interpolation is used for 2-dimensional data. + */ + +/** + * @defgroup groupExamples Examples + */ + +/** + * @defgroup groupSVM SVM Functions + * This set of functions is implementing SVM classification on 2 classes. + * The training must be done from scikit-learn. The parameters can be easily + * generated from the scikit-learn object. Some examples are given in + * DSP/Testing/PatternGeneration/SVM.py + * + * If more than 2 classes are needed, the functions in this folder + * will have to be used, as building blocks, to do multi-class classification. + * + * No multi-class classification is provided in this SVM folder. + * + */ + + +/** + * @defgroup groupBayes Bayesian estimators + * + * Implement the naive gaussian Bayes estimator. + * The training must be done from scikit-learn. + * + * The parameters can be easily + * generated from the scikit-learn object. Some examples are given in + * DSP/Testing/PatternGeneration/Bayes.py + */ + +/** + * @defgroup groupDistance Distance functions + * + * Distance functions for use with clustering algorithms. + * There are distance functions for float vectors and boolean vectors. + * + */ + + +#ifndef _ARM_MATH_H +#define _ARM_MATH_H + +#ifdef __cplusplus +extern "C" +{ +#endif + +/* Compiler specific diagnostic adjustment */ +#if defined ( __CC_ARM ) + +#elif defined ( __ARMCC_VERSION ) && ( __ARMCC_VERSION >= 6010050 ) + +#elif defined ( __GNUC__ ) + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wsign-conversion" + #pragma GCC diagnostic ignored "-Wconversion" + #pragma GCC diagnostic ignored "-Wunused-parameter" + +#elif defined ( __ICCARM__ ) + +#elif defined ( __TI_ARM__ ) + +#elif defined ( __CSMC__ ) + +#elif defined ( __TASKING__ ) + +#elif defined ( _MSC_VER ) + +#else + #error Unknown compiler +#endif + + +/* Included for instrinsics definitions */ +#if defined (_MSC_VER ) +#include +#define __STATIC_FORCEINLINE static __forceinline +#define __STATIC_INLINE static __inline +#define __ALIGNED(x) __declspec(align(x)) + +#elif defined (__GNUC_PYTHON__) +#include +#define __ALIGNED(x) __attribute__((aligned(x))) +#define __STATIC_FORCEINLINE static __attribute__((inline)) +#define __STATIC_INLINE static __attribute__((inline)) +#pragma GCC diagnostic ignored "-Wunused-function" +#pragma GCC diagnostic ignored "-Wattributes" + +#else +#include "cmsis_compiler.h" +#endif + + + +#include +#include +#include +#include + + +#define F64_MAX ((float64_t)DBL_MAX) +#define F32_MAX ((float32_t)FLT_MAX) + +#if defined(ARM_MATH_FLOAT16) +#define F16_MAX ((float16_t)FLT_MAX) +#endif + +#define F64_MIN (-DBL_MAX) +#define F32_MIN (-FLT_MAX) + +#if defined(ARM_MATH_FLOAT16) +#define F16_MIN (-(float16_t)FLT_MAX) +#endif + +#define F64_ABSMAX ((float64_t)DBL_MAX) +#define F32_ABSMAX ((float32_t)FLT_MAX) + +#if defined(ARM_MATH_FLOAT16) +#define F16_ABSMAX ((float16_t)FLT_MAX) +#endif + +#define F64_ABSMIN ((float64_t)0.0) +#define F32_ABSMIN ((float32_t)0.0) + +#if defined(ARM_MATH_FLOAT16) +#define F16_ABSMIN ((float16_t)0.0) +#endif + +#define Q31_MAX ((q31_t)(0x7FFFFFFFL)) +#define Q15_MAX ((q15_t)(0x7FFF)) +#define Q7_MAX ((q7_t)(0x7F)) +#define Q31_MIN ((q31_t)(0x80000000L)) +#define Q15_MIN ((q15_t)(0x8000)) +#define Q7_MIN ((q7_t)(0x80)) + +#define Q31_ABSMAX ((q31_t)(0x7FFFFFFFL)) +#define Q15_ABSMAX ((q15_t)(0x7FFF)) +#define Q7_ABSMAX ((q7_t)(0x7F)) +#define Q31_ABSMIN ((q31_t)0) +#define Q15_ABSMIN ((q15_t)0) +#define Q7_ABSMIN ((q7_t)0) + +/* evaluate ARM DSP feature */ +#if (defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1)) + #define ARM_MATH_DSP 1 +#endif + +#if defined(ARM_MATH_NEON) +#include +#endif + +#if defined (ARM_MATH_HELIUM) + #define ARM_MATH_MVEF + #define ARM_MATH_FLOAT16 +#endif + +#if defined (ARM_MATH_MVEF) + #define ARM_MATH_MVEI + #define ARM_MATH_FLOAT16 +#endif + +#if defined (ARM_MATH_HELIUM) || defined(ARM_MATH_MVEF) || defined(ARM_MATH_MVEI) +#include +#endif + + + /** + * @brief Macros required for reciprocal calculation in Normalized LMS + */ + +#define DELTA_Q31 ((q31_t)(0x100)) +#define DELTA_Q15 ((q15_t)0x5) +#define INDEX_MASK 0x0000003F +#ifndef PI + #define PI 3.14159265358979f +#endif + + /** + * @brief Macros required for SINE and COSINE Fast math approximations + */ + +#define FAST_MATH_TABLE_SIZE 512 +#define FAST_MATH_Q31_SHIFT (32 - 10) +#define FAST_MATH_Q15_SHIFT (16 - 10) +#define CONTROLLER_Q31_SHIFT (32 - 9) +#define TABLE_SPACING_Q31 0x400000 +#define TABLE_SPACING_Q15 0x80 + + /** + * @brief Macros required for SINE and COSINE Controller functions + */ + /* 1.31(q31) Fixed value of 2/360 */ + /* -1 to +1 is divided into 360 values so total spacing is (2/360) */ +#define INPUT_SPACING 0xB60B61 + + /** + * @brief Macros for complex numbers + */ + + /* Dimension C vector space */ + #define CMPLX_DIM 2 + + /** + * @brief Error status returned by some functions in the library. + */ + + typedef enum + { + ARM_MATH_SUCCESS = 0, /**< No error */ + ARM_MATH_ARGUMENT_ERROR = -1, /**< One or more arguments are incorrect */ + ARM_MATH_LENGTH_ERROR = -2, /**< Length of data buffer is incorrect */ + ARM_MATH_SIZE_MISMATCH = -3, /**< Size of matrices is not compatible with the operation */ + ARM_MATH_NANINF = -4, /**< Not-a-number (NaN) or infinity is generated */ + ARM_MATH_SINGULAR = -5, /**< Input matrix is singular and cannot be inverted */ + ARM_MATH_TEST_FAILURE = -6 /**< Test Failed */ + } arm_status; + + /** + * @brief 8-bit fractional data type in 1.7 format. + */ + typedef int8_t q7_t; + + /** + * @brief 16-bit fractional data type in 1.15 format. + */ + typedef int16_t q15_t; + + /** + * @brief 32-bit fractional data type in 1.31 format. + */ + typedef int32_t q31_t; + + /** + * @brief 64-bit fractional data type in 1.63 format. + */ + typedef int64_t q63_t; + + /** + * @brief 32-bit floating-point type definition. + */ + typedef float float32_t; + + /** + * @brief 64-bit floating-point type definition. + */ + typedef double float64_t; + + /** + * @brief vector types + */ +#if defined(ARM_MATH_NEON) || defined (ARM_MATH_MVEI) + /** + * @brief 64-bit fractional 128-bit vector data type in 1.63 format + */ + typedef int64x2_t q63x2_t; + + /** + * @brief 32-bit fractional 128-bit vector data type in 1.31 format. + */ + typedef int32x4_t q31x4_t; + + /** + * @brief 16-bit fractional 128-bit vector data type with 16-bit alignement in 1.15 format. + */ + typedef __ALIGNED(2) int16x8_t q15x8_t; + + /** + * @brief 8-bit fractional 128-bit vector data type with 8-bit alignement in 1.7 format. + */ + typedef __ALIGNED(1) int8x16_t q7x16_t; + + /** + * @brief 32-bit fractional 128-bit vector pair data type in 1.31 format. + */ + typedef int32x4x2_t q31x4x2_t; + + /** + * @brief 32-bit fractional 128-bit vector quadruplet data type in 1.31 format. + */ + typedef int32x4x4_t q31x4x4_t; + + /** + * @brief 16-bit fractional 128-bit vector pair data type in 1.15 format. + */ + typedef int16x8x2_t q15x8x2_t; + + /** + * @brief 16-bit fractional 128-bit vector quadruplet data type in 1.15 format. + */ + typedef int16x8x4_t q15x8x4_t; + + /** + * @brief 8-bit fractional 128-bit vector pair data type in 1.7 format. + */ + typedef int8x16x2_t q7x16x2_t; + + /** + * @brief 8-bit fractional 128-bit vector quadruplet data type in 1.7 format. + */ + typedef int8x16x4_t q7x16x4_t; + + /** + * @brief 32-bit fractional data type in 9.23 format. + */ + typedef int32_t q23_t; + + /** + * @brief 32-bit fractional 128-bit vector data type in 9.23 format. + */ + typedef int32x4_t q23x4_t; + + /** + * @brief 64-bit status 128-bit vector data type. + */ + typedef int64x2_t status64x2_t; + + /** + * @brief 32-bit status 128-bit vector data type. + */ + typedef int32x4_t status32x4_t; + + /** + * @brief 16-bit status 128-bit vector data type. + */ + typedef int16x8_t status16x8_t; + + /** + * @brief 8-bit status 128-bit vector data type. + */ + typedef int8x16_t status8x16_t; + + +#endif + +#if defined(ARM_MATH_NEON) || defined(ARM_MATH_MVEF) /* floating point vector*/ + /** + * @brief 32-bit floating-point 128-bit vector type + */ + typedef float32x4_t f32x4_t; + +#if defined(ARM_MATH_FLOAT16) + /** + * @brief 16-bit floating-point 128-bit vector data type + */ + typedef __ALIGNED(2) float16x8_t f16x8_t; +#endif + + /** + * @brief 32-bit floating-point 128-bit vector pair data type + */ + typedef float32x4x2_t f32x4x2_t; + + /** + * @brief 32-bit floating-point 128-bit vector quadruplet data type + */ + typedef float32x4x4_t f32x4x4_t; + +#if defined(ARM_MATH_FLOAT16) + /** + * @brief 16-bit floating-point 128-bit vector pair data type + */ + typedef float16x8x2_t f16x8x2_t; + + /** + * @brief 16-bit floating-point 128-bit vector quadruplet data type + */ + typedef float16x8x4_t f16x8x4_t; +#endif + + /** + * @brief 32-bit ubiquitous 128-bit vector data type + */ + typedef union _any32x4_t + { + float32x4_t f; + int32x4_t i; + } any32x4_t; + +#if defined(ARM_MATH_FLOAT16) + /** + * @brief 16-bit ubiquitous 128-bit vector data type + */ + typedef union _any16x8_t + { + float16x8_t f; + int16x8_t i; + } any16x8_t; +#endif + +#endif + +#if defined(ARM_MATH_NEON) + /** + * @brief 32-bit fractional 64-bit vector data type in 1.31 format. + */ + typedef int32x2_t q31x2_t; + + /** + * @brief 16-bit fractional 64-bit vector data type in 1.15 format. + */ + typedef __ALIGNED(2) int16x4_t q15x4_t; + + /** + * @brief 8-bit fractional 64-bit vector data type in 1.7 format. + */ + typedef __ALIGNED(1) int8x8_t q7x8_t; + + /** + * @brief 32-bit float 64-bit vector data type. + */ + typedef float32x2_t f32x2_t; + +#if defined(ARM_MATH_FLOAT16) + /** + * @brief 16-bit float 64-bit vector data type. + */ + typedef __ALIGNED(2) float16x4_t f16x4_t; +#endif + + /** + * @brief 32-bit floating-point 128-bit vector triplet data type + */ + typedef float32x4x3_t f32x4x3_t; + +#if defined(ARM_MATH_FLOAT16) + /** + * @brief 16-bit floating-point 128-bit vector triplet data type + */ + typedef float16x8x3_t f16x8x3_t; +#endif + + /** + * @brief 32-bit fractional 128-bit vector triplet data type in 1.31 format + */ + typedef int32x4x3_t q31x4x3_t; + + /** + * @brief 16-bit fractional 128-bit vector triplet data type in 1.15 format + */ + typedef int16x8x3_t q15x8x3_t; + + /** + * @brief 8-bit fractional 128-bit vector triplet data type in 1.7 format + */ + typedef int8x16x3_t q7x16x3_t; + + /** + * @brief 32-bit floating-point 64-bit vector pair data type + */ + typedef float32x2x2_t f32x2x2_t; + + /** + * @brief 32-bit floating-point 64-bit vector triplet data type + */ + typedef float32x2x3_t f32x2x3_t; + + /** + * @brief 32-bit floating-point 64-bit vector quadruplet data type + */ + typedef float32x2x4_t f32x2x4_t; + +#if defined(ARM_MATH_FLOAT16) + /** + * @brief 16-bit floating-point 64-bit vector pair data type + */ + typedef float16x4x2_t f16x4x2_t; + + /** + * @brief 16-bit floating-point 64-bit vector triplet data type + */ + typedef float16x4x3_t f16x4x3_t; + + /** + * @brief 16-bit floating-point 64-bit vector quadruplet data type + */ + typedef float16x4x4_t f16x4x4_t; +#endif + + /** + * @brief 32-bit fractional 64-bit vector pair data type in 1.31 format + */ + typedef int32x2x2_t q31x2x2_t; + + /** + * @brief 32-bit fractional 64-bit vector triplet data type in 1.31 format + */ + typedef int32x2x3_t q31x2x3_t; + + /** + * @brief 32-bit fractional 64-bit vector quadruplet data type in 1.31 format + */ + typedef int32x4x3_t q31x2x4_t; + + /** + * @brief 16-bit fractional 64-bit vector pair data type in 1.15 format + */ + typedef int16x4x2_t q15x4x2_t; + + /** + * @brief 16-bit fractional 64-bit vector triplet data type in 1.15 format + */ + typedef int16x4x2_t q15x4x3_t; + + /** + * @brief 16-bit fractional 64-bit vector quadruplet data type in 1.15 format + */ + typedef int16x4x3_t q15x4x4_t; + + /** + * @brief 8-bit fractional 64-bit vector pair data type in 1.7 format + */ + typedef int8x8x2_t q7x8x2_t; + + /** + * @brief 8-bit fractional 64-bit vector triplet data type in 1.7 format + */ + typedef int8x8x3_t q7x8x3_t; + + /** + * @brief 8-bit fractional 64-bit vector quadruplet data type in 1.7 format + */ + typedef int8x8x4_t q7x8x4_t; + + /** + * @brief 32-bit ubiquitous 64-bit vector data type + */ + typedef union _any32x2_t + { + float32x2_t f; + int32x2_t i; + } any32x2_t; + +#if defined(ARM_MATH_FLOAT16) + /** + * @brief 16-bit ubiquitous 64-bit vector data type + */ + typedef union _any16x4_t + { + float16x4_t f; + int16x4_t i; + } any16x4_t; +#endif + + /** + * @brief 32-bit status 64-bit vector data type. + */ + typedef int32x4_t status32x2_t; + + /** + * @brief 16-bit status 64-bit vector data type. + */ + typedef int16x8_t status16x4_t; + + /** + * @brief 8-bit status 64-bit vector data type. + */ + typedef int8x16_t status8x8_t; + +#endif + + + +/** + @brief definition to read/write two 16 bit values. + @deprecated + */ +#if defined ( __CC_ARM ) + #define __SIMD32_TYPE int32_t __packed +#elif defined ( __ARMCC_VERSION ) && ( __ARMCC_VERSION >= 6010050 ) + #define __SIMD32_TYPE int32_t +#elif defined ( __GNUC__ ) + #define __SIMD32_TYPE int32_t +#elif defined ( __ICCARM__ ) + #define __SIMD32_TYPE int32_t __packed +#elif defined ( __TI_ARM__ ) + #define __SIMD32_TYPE int32_t +#elif defined ( __CSMC__ ) + #define __SIMD32_TYPE int32_t +#elif defined ( __TASKING__ ) + #define __SIMD32_TYPE __un(aligned) int32_t +#elif defined(_MSC_VER ) + #define __SIMD32_TYPE int32_t +#else + #error Unknown compiler +#endif + +#define __SIMD32(addr) (*(__SIMD32_TYPE **) & (addr)) +#define __SIMD32_CONST(addr) ( (__SIMD32_TYPE * ) (addr)) +#define _SIMD32_OFFSET(addr) (*(__SIMD32_TYPE * ) (addr)) +#define __SIMD64(addr) (*( int64_t **) & (addr)) + +#define STEP(x) (x) <= 0 ? 0 : 1 +#define SQ(x) ((x) * (x)) + +/* SIMD replacement */ + + +/** + @brief Read 2 Q15 from Q15 pointer. + @param[in] pQ15 points to input value + @return Q31 value + */ +__STATIC_FORCEINLINE q31_t read_q15x2 ( + q15_t * pQ15) +{ + q31_t val; + +#ifdef __ARM_FEATURE_UNALIGNED + memcpy (&val, pQ15, 4); +#else + val = (pQ15[1] << 16) | (pQ15[0] & 0x0FFFF) ; +#endif + + return (val); +} + +/** + @brief Read 2 Q15 from Q15 pointer and increment pointer afterwards. + @param[in] pQ15 points to input value + @return Q31 value + */ +__STATIC_FORCEINLINE q31_t read_q15x2_ia ( + q15_t ** pQ15) +{ + q31_t val; + +#ifdef __ARM_FEATURE_UNALIGNED + memcpy (&val, *pQ15, 4); +#else + val = ((*pQ15)[1] << 16) | ((*pQ15)[0] & 0x0FFFF); +#endif + + *pQ15 += 2; + return (val); +} + +/** + @brief Read 2 Q15 from Q15 pointer and decrement pointer afterwards. + @param[in] pQ15 points to input value + @return Q31 value + */ +__STATIC_FORCEINLINE q31_t read_q15x2_da ( + q15_t ** pQ15) +{ + q31_t val; + +#ifdef __ARM_FEATURE_UNALIGNED + memcpy (&val, *pQ15, 4); +#else + val = ((*pQ15)[1] << 16) | ((*pQ15)[0] & 0x0FFFF); +#endif + + *pQ15 -= 2; + return (val); +} + +/** + @brief Write 2 Q15 to Q15 pointer and increment pointer afterwards. + @param[in] pQ15 points to input value + @param[in] value Q31 value + @return none + */ +__STATIC_FORCEINLINE void write_q15x2_ia ( + q15_t ** pQ15, + q31_t value) +{ + q31_t val = value; +#ifdef __ARM_FEATURE_UNALIGNED + memcpy (*pQ15, &val, 4); +#else + (*pQ15)[0] = (val & 0x0FFFF); + (*pQ15)[1] = (val >> 16) & 0x0FFFF; +#endif + + *pQ15 += 2; +} + +/** + @brief Write 2 Q15 to Q15 pointer. + @param[in] pQ15 points to input value + @param[in] value Q31 value + @return none + */ +__STATIC_FORCEINLINE void write_q15x2 ( + q15_t * pQ15, + q31_t value) +{ + q31_t val = value; + +#ifdef __ARM_FEATURE_UNALIGNED + memcpy (pQ15, &val, 4); +#else + pQ15[0] = val & 0x0FFFF; + pQ15[1] = val >> 16; +#endif +} + + +/** + @brief Read 4 Q7 from Q7 pointer and increment pointer afterwards. + @param[in] pQ7 points to input value + @return Q31 value + */ +__STATIC_FORCEINLINE q31_t read_q7x4_ia ( + q7_t ** pQ7) +{ + q31_t val; + + +#ifdef __ARM_FEATURE_UNALIGNED + memcpy (&val, *pQ7, 4); +#else + val =(((*pQ7)[3] & 0x0FF) << 24) | (((*pQ7)[2] & 0x0FF) << 16) | (((*pQ7)[1] & 0x0FF) << 8) | ((*pQ7)[0] & 0x0FF); +#endif + + *pQ7 += 4; + + return (val); +} + +/** + @brief Read 4 Q7 from Q7 pointer and decrement pointer afterwards. + @param[in] pQ7 points to input value + @return Q31 value + */ +__STATIC_FORCEINLINE q31_t read_q7x4_da ( + q7_t ** pQ7) +{ + q31_t val; +#ifdef __ARM_FEATURE_UNALIGNED + memcpy (&val, *pQ7, 4); +#else + val = ((((*pQ7)[3]) & 0x0FF) << 24) | ((((*pQ7)[2]) & 0x0FF) << 16) | ((((*pQ7)[1]) & 0x0FF) << 8) | ((*pQ7)[0] & 0x0FF); +#endif + *pQ7 -= 4; + + return (val); +} + +/** + @brief Write 4 Q7 to Q7 pointer and increment pointer afterwards. + @param[in] pQ7 points to input value + @param[in] value Q31 value + @return none + */ +__STATIC_FORCEINLINE void write_q7x4_ia ( + q7_t ** pQ7, + q31_t value) +{ + q31_t val = value; +#ifdef __ARM_FEATURE_UNALIGNED + memcpy (*pQ7, &val, 4); +#else + (*pQ7)[0] = val & 0x0FF; + (*pQ7)[1] = (val >> 8) & 0x0FF; + (*pQ7)[2] = (val >> 16) & 0x0FF; + (*pQ7)[3] = (val >> 24) & 0x0FF; + +#endif + *pQ7 += 4; +} + +/* + +Normally those kind of definitions are in a compiler file +in Core or Core_A. + +But for MSVC compiler it is a bit special. The goal is very specific +to CMSIS-DSP and only to allow the use of this library from other +systems like Python or Matlab. + +MSVC is not going to be used to cross-compile to ARM. So, having a MSVC +compiler file in Core or Core_A would not make sense. + +*/ +#if defined ( _MSC_VER ) || defined(__GNUC_PYTHON__) + __STATIC_FORCEINLINE uint8_t __CLZ(uint32_t data) + { + if (data == 0U) { return 32U; } + + uint32_t count = 0U; + uint32_t mask = 0x80000000U; + + while ((data & mask) == 0U) + { + count += 1U; + mask = mask >> 1U; + } + return count; + } + + __STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat) + { + if ((sat >= 1U) && (sat <= 32U)) + { + const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U); + const int32_t min = -1 - max ; + if (val > max) + { + return max; + } + else if (val < min) + { + return min; + } + } + return val; + } + + __STATIC_FORCEINLINE uint32_t __USAT(int32_t val, uint32_t sat) + { + if (sat <= 31U) + { + const uint32_t max = ((1U << sat) - 1U); + if (val > (int32_t)max) + { + return max; + } + else if (val < 0) + { + return 0U; + } + } + return (uint32_t)val; + } +#endif + +#ifndef ARM_MATH_DSP + /** + * @brief definition to pack two 16 bit values. + */ + #define __PKHBT(ARG1, ARG2, ARG3) ( (((int32_t)(ARG1) << 0) & (int32_t)0x0000FFFF) | \ + (((int32_t)(ARG2) << ARG3) & (int32_t)0xFFFF0000) ) + #define __PKHTB(ARG1, ARG2, ARG3) ( (((int32_t)(ARG1) << 0) & (int32_t)0xFFFF0000) | \ + (((int32_t)(ARG2) >> ARG3) & (int32_t)0x0000FFFF) ) +#endif + + /** + * @brief definition to pack four 8 bit values. + */ +#ifndef ARM_MATH_BIG_ENDIAN + #define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v0) << 0) & (int32_t)0x000000FF) | \ + (((int32_t)(v1) << 8) & (int32_t)0x0000FF00) | \ + (((int32_t)(v2) << 16) & (int32_t)0x00FF0000) | \ + (((int32_t)(v3) << 24) & (int32_t)0xFF000000) ) +#else + #define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v3) << 0) & (int32_t)0x000000FF) | \ + (((int32_t)(v2) << 8) & (int32_t)0x0000FF00) | \ + (((int32_t)(v1) << 16) & (int32_t)0x00FF0000) | \ + (((int32_t)(v0) << 24) & (int32_t)0xFF000000) ) +#endif + + + /** + * @brief Clips Q63 to Q31 values. + */ + __STATIC_FORCEINLINE q31_t clip_q63_to_q31( + q63_t x) + { + return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ? + ((0x7FFFFFFF ^ ((q31_t) (x >> 63)))) : (q31_t) x; + } + + /** + * @brief Clips Q63 to Q15 values. + */ + __STATIC_FORCEINLINE q15_t clip_q63_to_q15( + q63_t x) + { + return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ? + ((0x7FFF ^ ((q15_t) (x >> 63)))) : (q15_t) (x >> 15); + } + + /** + * @brief Clips Q31 to Q7 values. + */ + __STATIC_FORCEINLINE q7_t clip_q31_to_q7( + q31_t x) + { + return ((q31_t) (x >> 24) != ((q31_t) x >> 23)) ? + ((0x7F ^ ((q7_t) (x >> 31)))) : (q7_t) x; + } + + /** + * @brief Clips Q31 to Q15 values. + */ + __STATIC_FORCEINLINE q15_t clip_q31_to_q15( + q31_t x) + { + return ((q31_t) (x >> 16) != ((q31_t) x >> 15)) ? + ((0x7FFF ^ ((q15_t) (x >> 31)))) : (q15_t) x; + } + + /** + * @brief Multiplies 32 X 64 and returns 32 bit result in 2.30 format. + */ + __STATIC_FORCEINLINE q63_t mult32x64( + q63_t x, + q31_t y) + { + return ((((q63_t) (x & 0x00000000FFFFFFFF) * y) >> 32) + + (((q63_t) (x >> 32) * y) ) ); + } + + /** + * @brief Function to Calculates 1/in (reciprocal) value of Q31 Data type. + */ + __STATIC_FORCEINLINE uint32_t arm_recip_q31( + q31_t in, + q31_t * dst, + const q31_t * pRecipTable) + { + q31_t out; + uint32_t tempVal; + uint32_t index, i; + uint32_t signBits; + + if (in > 0) + { + signBits = ((uint32_t) (__CLZ( in) - 1)); + } + else + { + signBits = ((uint32_t) (__CLZ(-in) - 1)); + } + + /* Convert input sample to 1.31 format */ + in = (in << signBits); + + /* calculation of index for initial approximated Val */ + index = (uint32_t)(in >> 24); + index = (index & INDEX_MASK); + + /* 1.31 with exp 1 */ + out = pRecipTable[index]; + + /* calculation of reciprocal value */ + /* running approximation for two iterations */ + for (i = 0U; i < 2U; i++) + { + tempVal = (uint32_t) (((q63_t) in * out) >> 31); + tempVal = 0x7FFFFFFFu - tempVal; + /* 1.31 with exp 1 */ + /* out = (q31_t) (((q63_t) out * tempVal) >> 30); */ + out = clip_q63_to_q31(((q63_t) out * tempVal) >> 30); + } + + /* write output */ + *dst = out; + + /* return num of signbits of out = 1/in value */ + return (signBits + 1U); + } + + + /** + * @brief Function to Calculates 1/in (reciprocal) value of Q15 Data type. + */ + __STATIC_FORCEINLINE uint32_t arm_recip_q15( + q15_t in, + q15_t * dst, + const q15_t * pRecipTable) + { + q15_t out = 0; + uint32_t tempVal = 0; + uint32_t index = 0, i = 0; + uint32_t signBits = 0; + + if (in > 0) + { + signBits = ((uint32_t)(__CLZ( in) - 17)); + } + else + { + signBits = ((uint32_t)(__CLZ(-in) - 17)); + } + + /* Convert input sample to 1.15 format */ + in = (in << signBits); + + /* calculation of index for initial approximated Val */ + index = (uint32_t)(in >> 8); + index = (index & INDEX_MASK); + + /* 1.15 with exp 1 */ + out = pRecipTable[index]; + + /* calculation of reciprocal value */ + /* running approximation for two iterations */ + for (i = 0U; i < 2U; i++) + { + tempVal = (uint32_t) (((q31_t) in * out) >> 15); + tempVal = 0x7FFFu - tempVal; + /* 1.15 with exp 1 */ + out = (q15_t) (((q31_t) out * tempVal) >> 14); + /* out = clip_q31_to_q15(((q31_t) out * tempVal) >> 14); */ + } + + /* write output */ + *dst = out; + + /* return num of signbits of out = 1/in value */ + return (signBits + 1); + } + +/** + * @brief Integer exponentiation + * @param[in] x value + * @param[in] nb integer exponent >= 1 + * @return x^nb + * + */ +__STATIC_INLINE float32_t arm_exponent_f32(float32_t x, int32_t nb) +{ + float32_t r = x; + nb --; + while(nb > 0) + { + r = r * x; + nb--; + } + return(r); +} + +/** + * @brief 64-bit to 32-bit unsigned normalization + * @param[in] in is input unsigned long long value + * @param[out] normalized is the 32-bit normalized value + * @param[out] norm is norm scale + */ +__STATIC_INLINE void arm_norm_64_to_32u(uint64_t in, int32_t * normalized, int32_t *norm) +{ + int32_t n1; + int32_t hi = (int32_t) (in >> 32); + int32_t lo = (int32_t) ((in << 32) >> 32); + + n1 = __CLZ(hi) - 32; + if (!n1) + { + /* + * input fits in 32-bit + */ + n1 = __CLZ(lo); + if (!n1) + { + /* + * MSB set, need to scale down by 1 + */ + *norm = -1; + *normalized = (((uint32_t) lo) >> 1); + } else + { + if (n1 == 32) + { + /* + * input is zero + */ + *norm = 0; + *normalized = 0; + } else + { + /* + * 32-bit normalization + */ + *norm = n1 - 1; + *normalized = lo << *norm; + } + } + } else + { + /* + * input fits in 64-bit + */ + n1 = 1 - n1; + *norm = -n1; + /* + * 64 bit normalization + */ + *normalized = (((uint32_t) lo) >> n1) | (hi << (32 - n1)); + } +} + +__STATIC_INLINE q31_t arm_div_q63_to_q31(q63_t num, q31_t den) +{ + q31_t result; + uint64_t absNum; + int32_t normalized; + int32_t norm; + + /* + * if sum fits in 32bits + * avoid costly 64-bit division + */ + absNum = num > 0 ? num : -num; + arm_norm_64_to_32u(absNum, &normalized, &norm); + if (norm > 0) + /* + * 32-bit division + */ + result = (q31_t) num / den; + else + /* + * 64-bit division + */ + result = (q31_t) (num / den); + + return result; +} + + +/* + * @brief C custom defined intrinsic functions + */ +#if !defined (ARM_MATH_DSP) + + /* + * @brief C custom defined QADD8 + */ + __STATIC_FORCEINLINE uint32_t __QADD8( + uint32_t x, + uint32_t y) + { + q31_t r, s, t, u; + + r = __SSAT(((((q31_t)x << 24) >> 24) + (((q31_t)y << 24) >> 24)), 8) & (int32_t)0x000000FF; + s = __SSAT(((((q31_t)x << 16) >> 24) + (((q31_t)y << 16) >> 24)), 8) & (int32_t)0x000000FF; + t = __SSAT(((((q31_t)x << 8) >> 24) + (((q31_t)y << 8) >> 24)), 8) & (int32_t)0x000000FF; + u = __SSAT(((((q31_t)x ) >> 24) + (((q31_t)y ) >> 24)), 8) & (int32_t)0x000000FF; + + return ((uint32_t)((u << 24) | (t << 16) | (s << 8) | (r ))); + } + + + /* + * @brief C custom defined QSUB8 + */ + __STATIC_FORCEINLINE uint32_t __QSUB8( + uint32_t x, + uint32_t y) + { + q31_t r, s, t, u; + + r = __SSAT(((((q31_t)x << 24) >> 24) - (((q31_t)y << 24) >> 24)), 8) & (int32_t)0x000000FF; + s = __SSAT(((((q31_t)x << 16) >> 24) - (((q31_t)y << 16) >> 24)), 8) & (int32_t)0x000000FF; + t = __SSAT(((((q31_t)x << 8) >> 24) - (((q31_t)y << 8) >> 24)), 8) & (int32_t)0x000000FF; + u = __SSAT(((((q31_t)x ) >> 24) - (((q31_t)y ) >> 24)), 8) & (int32_t)0x000000FF; + + return ((uint32_t)((u << 24) | (t << 16) | (s << 8) | (r ))); + } + + + /* + * @brief C custom defined QADD16 + */ + __STATIC_FORCEINLINE uint32_t __QADD16( + uint32_t x, + uint32_t y) + { +/* q31_t r, s; without initialisation 'arm_offset_q15 test' fails but 'intrinsic' tests pass! for armCC */ + q31_t r = 0, s = 0; + + r = __SSAT(((((q31_t)x << 16) >> 16) + (((q31_t)y << 16) >> 16)), 16) & (int32_t)0x0000FFFF; + s = __SSAT(((((q31_t)x ) >> 16) + (((q31_t)y ) >> 16)), 16) & (int32_t)0x0000FFFF; + + return ((uint32_t)((s << 16) | (r ))); + } + + + /* + * @brief C custom defined SHADD16 + */ + __STATIC_FORCEINLINE uint32_t __SHADD16( + uint32_t x, + uint32_t y) + { + q31_t r, s; + + r = (((((q31_t)x << 16) >> 16) + (((q31_t)y << 16) >> 16)) >> 1) & (int32_t)0x0000FFFF; + s = (((((q31_t)x ) >> 16) + (((q31_t)y ) >> 16)) >> 1) & (int32_t)0x0000FFFF; + + return ((uint32_t)((s << 16) | (r ))); + } + + + /* + * @brief C custom defined QSUB16 + */ + __STATIC_FORCEINLINE uint32_t __QSUB16( + uint32_t x, + uint32_t y) + { + q31_t r, s; + + r = __SSAT(((((q31_t)x << 16) >> 16) - (((q31_t)y << 16) >> 16)), 16) & (int32_t)0x0000FFFF; + s = __SSAT(((((q31_t)x ) >> 16) - (((q31_t)y ) >> 16)), 16) & (int32_t)0x0000FFFF; + + return ((uint32_t)((s << 16) | (r ))); + } + + + /* + * @brief C custom defined SHSUB16 + */ + __STATIC_FORCEINLINE uint32_t __SHSUB16( + uint32_t x, + uint32_t y) + { + q31_t r, s; + + r = (((((q31_t)x << 16) >> 16) - (((q31_t)y << 16) >> 16)) >> 1) & (int32_t)0x0000FFFF; + s = (((((q31_t)x ) >> 16) - (((q31_t)y ) >> 16)) >> 1) & (int32_t)0x0000FFFF; + + return ((uint32_t)((s << 16) | (r ))); + } + + + /* + * @brief C custom defined QASX + */ + __STATIC_FORCEINLINE uint32_t __QASX( + uint32_t x, + uint32_t y) + { + q31_t r, s; + + r = __SSAT(((((q31_t)x << 16) >> 16) - (((q31_t)y ) >> 16)), 16) & (int32_t)0x0000FFFF; + s = __SSAT(((((q31_t)x ) >> 16) + (((q31_t)y << 16) >> 16)), 16) & (int32_t)0x0000FFFF; + + return ((uint32_t)((s << 16) | (r ))); + } + + + /* + * @brief C custom defined SHASX + */ + __STATIC_FORCEINLINE uint32_t __SHASX( + uint32_t x, + uint32_t y) + { + q31_t r, s; + + r = (((((q31_t)x << 16) >> 16) - (((q31_t)y ) >> 16)) >> 1) & (int32_t)0x0000FFFF; + s = (((((q31_t)x ) >> 16) + (((q31_t)y << 16) >> 16)) >> 1) & (int32_t)0x0000FFFF; + + return ((uint32_t)((s << 16) | (r ))); + } + + + /* + * @brief C custom defined QSAX + */ + __STATIC_FORCEINLINE uint32_t __QSAX( + uint32_t x, + uint32_t y) + { + q31_t r, s; + + r = __SSAT(((((q31_t)x << 16) >> 16) + (((q31_t)y ) >> 16)), 16) & (int32_t)0x0000FFFF; + s = __SSAT(((((q31_t)x ) >> 16) - (((q31_t)y << 16) >> 16)), 16) & (int32_t)0x0000FFFF; + + return ((uint32_t)((s << 16) | (r ))); + } + + + /* + * @brief C custom defined SHSAX + */ + __STATIC_FORCEINLINE uint32_t __SHSAX( + uint32_t x, + uint32_t y) + { + q31_t r, s; + + r = (((((q31_t)x << 16) >> 16) + (((q31_t)y ) >> 16)) >> 1) & (int32_t)0x0000FFFF; + s = (((((q31_t)x ) >> 16) - (((q31_t)y << 16) >> 16)) >> 1) & (int32_t)0x0000FFFF; + + return ((uint32_t)((s << 16) | (r ))); + } + + + /* + * @brief C custom defined SMUSDX + */ + __STATIC_FORCEINLINE uint32_t __SMUSDX( + uint32_t x, + uint32_t y) + { + return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) - + ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) )); + } + + /* + * @brief C custom defined SMUADX + */ + __STATIC_FORCEINLINE uint32_t __SMUADX( + uint32_t x, + uint32_t y) + { + return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) + + ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) )); + } + + + /* + * @brief C custom defined QADD + */ + __STATIC_FORCEINLINE int32_t __QADD( + int32_t x, + int32_t y) + { + return ((int32_t)(clip_q63_to_q31((q63_t)x + (q31_t)y))); + } + + + /* + * @brief C custom defined QSUB + */ + __STATIC_FORCEINLINE int32_t __QSUB( + int32_t x, + int32_t y) + { + return ((int32_t)(clip_q63_to_q31((q63_t)x - (q31_t)y))); + } + + + /* + * @brief C custom defined SMLAD + */ + __STATIC_FORCEINLINE uint32_t __SMLAD( + uint32_t x, + uint32_t y, + uint32_t sum) + { + return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y << 16) >> 16)) + + ((((q31_t)x ) >> 16) * (((q31_t)y ) >> 16)) + + ( ((q31_t)sum ) ) )); + } + + + /* + * @brief C custom defined SMLADX + */ + __STATIC_FORCEINLINE uint32_t __SMLADX( + uint32_t x, + uint32_t y, + uint32_t sum) + { + return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) + + ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) + + ( ((q31_t)sum ) ) )); + } + + + /* + * @brief C custom defined SMLSDX + */ + __STATIC_FORCEINLINE uint32_t __SMLSDX( + uint32_t x, + uint32_t y, + uint32_t sum) + { + return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) - + ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) + + ( ((q31_t)sum ) ) )); + } + + + /* + * @brief C custom defined SMLALD + */ + __STATIC_FORCEINLINE uint64_t __SMLALD( + uint32_t x, + uint32_t y, + uint64_t sum) + { +/* return (sum + ((q15_t) (x >> 16) * (q15_t) (y >> 16)) + ((q15_t) x * (q15_t) y)); */ + return ((uint64_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y << 16) >> 16)) + + ((((q31_t)x ) >> 16) * (((q31_t)y ) >> 16)) + + ( ((q63_t)sum ) ) )); + } + + + /* + * @brief C custom defined SMLALDX + */ + __STATIC_FORCEINLINE uint64_t __SMLALDX( + uint32_t x, + uint32_t y, + uint64_t sum) + { +/* return (sum + ((q15_t) (x >> 16) * (q15_t) y)) + ((q15_t) x * (q15_t) (y >> 16)); */ + return ((uint64_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) + + ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) + + ( ((q63_t)sum ) ) )); + } + + + /* + * @brief C custom defined SMUAD + */ + __STATIC_FORCEINLINE uint32_t __SMUAD( + uint32_t x, + uint32_t y) + { + return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y << 16) >> 16)) + + ((((q31_t)x ) >> 16) * (((q31_t)y ) >> 16)) )); + } + + + /* + * @brief C custom defined SMUSD + */ + __STATIC_FORCEINLINE uint32_t __SMUSD( + uint32_t x, + uint32_t y) + { + return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y << 16) >> 16)) - + ((((q31_t)x ) >> 16) * (((q31_t)y ) >> 16)) )); + } + + + /* + * @brief C custom defined SXTB16 + */ + __STATIC_FORCEINLINE uint32_t __SXTB16( + uint32_t x) + { + return ((uint32_t)(((((q31_t)x << 24) >> 24) & (q31_t)0x0000FFFF) | + ((((q31_t)x << 8) >> 8) & (q31_t)0xFFFF0000) )); + } + + /* + * @brief C custom defined SMMLA + */ + __STATIC_FORCEINLINE int32_t __SMMLA( + int32_t x, + int32_t y, + int32_t sum) + { + return (sum + (int32_t) (((int64_t) x * y) >> 32)); + } + +#endif /* !defined (ARM_MATH_DSP) */ + + + /** + * @brief Instance structure for the Q7 FIR filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of filter coefficients in the filter. */ + q7_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + const q7_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ + } arm_fir_instance_q7; + + /** + * @brief Instance structure for the Q15 FIR filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of filter coefficients in the filter. */ + q15_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + const q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ + } arm_fir_instance_q15; + + /** + * @brief Instance structure for the Q31 FIR filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of filter coefficients in the filter. */ + q31_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + const q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ + } arm_fir_instance_q31; + + /** + * @brief Instance structure for the floating-point FIR filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of filter coefficients in the filter. */ + float32_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + const float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ + } arm_fir_instance_f32; + + /** + * @brief Processing function for the Q7 FIR filter. + * @param[in] S points to an instance of the Q7 FIR filter structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_fir_q7( + const arm_fir_instance_q7 * S, + const q7_t * pSrc, + q7_t * pDst, + uint32_t blockSize); + + /** + * @brief Initialization function for the Q7 FIR filter. + * @param[in,out] S points to an instance of the Q7 FIR structure. + * @param[in] numTaps Number of filter coefficients in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] blockSize number of samples that are processed. + */ + void arm_fir_init_q7( + arm_fir_instance_q7 * S, + uint16_t numTaps, + const q7_t * pCoeffs, + q7_t * pState, + uint32_t blockSize); + + /** + * @brief Processing function for the Q15 FIR filter. + * @param[in] S points to an instance of the Q15 FIR structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_fir_q15( + const arm_fir_instance_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + /** + * @brief Processing function for the fast Q15 FIR filter (fast version). + * @param[in] S points to an instance of the Q15 FIR filter structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_fir_fast_q15( + const arm_fir_instance_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + /** + * @brief Initialization function for the Q15 FIR filter. + * @param[in,out] S points to an instance of the Q15 FIR filter structure. + * @param[in] numTaps Number of filter coefficients in the filter. Must be even and greater than or equal to 4. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] blockSize number of samples that are processed at a time. + * @return The function returns either + * ARM_MATH_SUCCESS if initialization was successful or + * ARM_MATH_ARGUMENT_ERROR if numTaps is not a supported value. + */ + arm_status arm_fir_init_q15( + arm_fir_instance_q15 * S, + uint16_t numTaps, + const q15_t * pCoeffs, + q15_t * pState, + uint32_t blockSize); + + /** + * @brief Processing function for the Q31 FIR filter. + * @param[in] S points to an instance of the Q31 FIR filter structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_fir_q31( + const arm_fir_instance_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + /** + * @brief Processing function for the fast Q31 FIR filter (fast version). + * @param[in] S points to an instance of the Q31 FIR filter structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_fir_fast_q31( + const arm_fir_instance_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + /** + * @brief Initialization function for the Q31 FIR filter. + * @param[in,out] S points to an instance of the Q31 FIR structure. + * @param[in] numTaps Number of filter coefficients in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] blockSize number of samples that are processed at a time. + */ + void arm_fir_init_q31( + arm_fir_instance_q31 * S, + uint16_t numTaps, + const q31_t * pCoeffs, + q31_t * pState, + uint32_t blockSize); + + /** + * @brief Processing function for the floating-point FIR filter. + * @param[in] S points to an instance of the floating-point FIR structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_fir_f32( + const arm_fir_instance_f32 * S, + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + /** + * @brief Initialization function for the floating-point FIR filter. + * @param[in,out] S points to an instance of the floating-point FIR filter structure. + * @param[in] numTaps Number of filter coefficients in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] blockSize number of samples that are processed at a time. + */ + void arm_fir_init_f32( + arm_fir_instance_f32 * S, + uint16_t numTaps, + const float32_t * pCoeffs, + float32_t * pState, + uint32_t blockSize); + + /** + * @brief Instance structure for the Q15 Biquad cascade filter. + */ + typedef struct + { + int8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ + q15_t *pState; /**< Points to the array of state coefficients. The array is of length 4*numStages. */ + const q15_t *pCoeffs; /**< Points to the array of coefficients. The array is of length 5*numStages. */ + int8_t postShift; /**< Additional shift, in bits, applied to each output sample. */ + } arm_biquad_casd_df1_inst_q15; + + /** + * @brief Instance structure for the Q31 Biquad cascade filter. + */ + typedef struct + { + uint32_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ + q31_t *pState; /**< Points to the array of state coefficients. The array is of length 4*numStages. */ + const q31_t *pCoeffs; /**< Points to the array of coefficients. The array is of length 5*numStages. */ + uint8_t postShift; /**< Additional shift, in bits, applied to each output sample. */ + } arm_biquad_casd_df1_inst_q31; + + /** + * @brief Instance structure for the floating-point Biquad cascade filter. + */ + typedef struct + { + uint32_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ + float32_t *pState; /**< Points to the array of state coefficients. The array is of length 4*numStages. */ + const float32_t *pCoeffs; /**< Points to the array of coefficients. The array is of length 5*numStages. */ + } arm_biquad_casd_df1_inst_f32; + +#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) + /** + * @brief Instance structure for the modified Biquad coefs required by vectorized code. + */ + typedef struct + { + float32_t coeffs[8][4]; /**< Points to the array of modified coefficients. The array is of length 32. There is one per stage */ + } arm_biquad_mod_coef_f32; +#endif + + /** + * @brief Processing function for the Q15 Biquad cascade filter. + * @param[in] S points to an instance of the Q15 Biquad cascade structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_biquad_cascade_df1_q15( + const arm_biquad_casd_df1_inst_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + /** + * @brief Initialization function for the Q15 Biquad cascade filter. + * @param[in,out] S points to an instance of the Q15 Biquad cascade structure. + * @param[in] numStages number of 2nd order stages in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] postShift Shift to be applied to the output. Varies according to the coefficients format + */ + void arm_biquad_cascade_df1_init_q15( + arm_biquad_casd_df1_inst_q15 * S, + uint8_t numStages, + const q15_t * pCoeffs, + q15_t * pState, + int8_t postShift); + + /** + * @brief Fast but less precise processing function for the Q15 Biquad cascade filter for Cortex-M3 and Cortex-M4. + * @param[in] S points to an instance of the Q15 Biquad cascade structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_biquad_cascade_df1_fast_q15( + const arm_biquad_casd_df1_inst_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + /** + * @brief Processing function for the Q31 Biquad cascade filter + * @param[in] S points to an instance of the Q31 Biquad cascade structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_biquad_cascade_df1_q31( + const arm_biquad_casd_df1_inst_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + /** + * @brief Fast but less precise processing function for the Q31 Biquad cascade filter for Cortex-M3 and Cortex-M4. + * @param[in] S points to an instance of the Q31 Biquad cascade structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_biquad_cascade_df1_fast_q31( + const arm_biquad_casd_df1_inst_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + /** + * @brief Initialization function for the Q31 Biquad cascade filter. + * @param[in,out] S points to an instance of the Q31 Biquad cascade structure. + * @param[in] numStages number of 2nd order stages in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] postShift Shift to be applied to the output. Varies according to the coefficients format + */ + void arm_biquad_cascade_df1_init_q31( + arm_biquad_casd_df1_inst_q31 * S, + uint8_t numStages, + const q31_t * pCoeffs, + q31_t * pState, + int8_t postShift); + + /** + * @brief Processing function for the floating-point Biquad cascade filter. + * @param[in] S points to an instance of the floating-point Biquad cascade structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_biquad_cascade_df1_f32( + const arm_biquad_casd_df1_inst_f32 * S, + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + /** + * @brief Initialization function for the floating-point Biquad cascade filter. + * @param[in,out] S points to an instance of the floating-point Biquad cascade structure. + * @param[in] numStages number of 2nd order stages in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pCoeffsMod points to the modified filter coefficients (only MVE version). + * @param[in] pState points to the state buffer. + */ +#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) + void arm_biquad_cascade_df1_mve_init_f32( + arm_biquad_casd_df1_inst_f32 * S, + uint8_t numStages, + const float32_t * pCoeffs, + arm_biquad_mod_coef_f32 * pCoeffsMod, + float32_t * pState); +#endif + + void arm_biquad_cascade_df1_init_f32( + arm_biquad_casd_df1_inst_f32 * S, + uint8_t numStages, + const float32_t * pCoeffs, + float32_t * pState); + + + /** + * @brief Compute the logical bitwise AND of two fixed-point vectors. + * @param[in] pSrcA points to input vector A + * @param[in] pSrcB points to input vector B + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_and_u16( + const uint16_t * pSrcA, + const uint16_t * pSrcB, + uint16_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise AND of two fixed-point vectors. + * @param[in] pSrcA points to input vector A + * @param[in] pSrcB points to input vector B + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_and_u32( + const uint32_t * pSrcA, + const uint32_t * pSrcB, + uint32_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise AND of two fixed-point vectors. + * @param[in] pSrcA points to input vector A + * @param[in] pSrcB points to input vector B + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_and_u8( + const uint8_t * pSrcA, + const uint8_t * pSrcB, + uint8_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise OR of two fixed-point vectors. + * @param[in] pSrcA points to input vector A + * @param[in] pSrcB points to input vector B + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_or_u16( + const uint16_t * pSrcA, + const uint16_t * pSrcB, + uint16_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise OR of two fixed-point vectors. + * @param[in] pSrcA points to input vector A + * @param[in] pSrcB points to input vector B + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_or_u32( + const uint32_t * pSrcA, + const uint32_t * pSrcB, + uint32_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise OR of two fixed-point vectors. + * @param[in] pSrcA points to input vector A + * @param[in] pSrcB points to input vector B + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_or_u8( + const uint8_t * pSrcA, + const uint8_t * pSrcB, + uint8_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise NOT of a fixed-point vector. + * @param[in] pSrc points to input vector + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_not_u16( + const uint16_t * pSrc, + uint16_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise NOT of a fixed-point vector. + * @param[in] pSrc points to input vector + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_not_u32( + const uint32_t * pSrc, + uint32_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise NOT of a fixed-point vector. + * @param[in] pSrc points to input vector + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_not_u8( + const uint8_t * pSrc, + uint8_t * pDst, + uint32_t blockSize); + +/** + * @brief Compute the logical bitwise XOR of two fixed-point vectors. + * @param[in] pSrcA points to input vector A + * @param[in] pSrcB points to input vector B + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_xor_u16( + const uint16_t * pSrcA, + const uint16_t * pSrcB, + uint16_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise XOR of two fixed-point vectors. + * @param[in] pSrcA points to input vector A + * @param[in] pSrcB points to input vector B + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_xor_u32( + const uint32_t * pSrcA, + const uint32_t * pSrcB, + uint32_t * pDst, + uint32_t blockSize); + + /** + * @brief Compute the logical bitwise XOR of two fixed-point vectors. + * @param[in] pSrcA points to input vector A + * @param[in] pSrcB points to input vector B + * @param[out] pDst points to output vector + * @param[in] blockSize number of samples in each vector + * @return none + */ + void arm_xor_u8( + const uint8_t * pSrcA, + const uint8_t * pSrcB, + uint8_t * pDst, + uint32_t blockSize); + + /** + * @brief Struct for specifying sorting algorithm + */ + typedef enum + { + ARM_SORT_BITONIC = 0, + /**< Bitonic sort */ + ARM_SORT_BUBBLE = 1, + /**< Bubble sort */ + ARM_SORT_HEAP = 2, + /**< Heap sort */ + ARM_SORT_INSERTION = 3, + /**< Insertion sort */ + ARM_SORT_QUICK = 4, + /**< Quick sort */ + ARM_SORT_SELECTION = 5 + /**< Selection sort */ + } arm_sort_alg; + + /** + * @brief Struct for specifying sorting algorithm + */ + typedef enum + { + ARM_SORT_DESCENDING = 0, + /**< Descending order (9 to 0) */ + ARM_SORT_ASCENDING = 1 + /**< Ascending order (0 to 9) */ + } arm_sort_dir; + + /** + * @brief Instance structure for the sorting algorithms. + */ + typedef struct + { + arm_sort_alg alg; /**< Sorting algorithm selected */ + arm_sort_dir dir; /**< Sorting order (direction) */ + } arm_sort_instance_f32; + + /** + * @param[in] S points to an instance of the sorting structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_sort_f32( + const arm_sort_instance_f32 * S, + float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + /** + * @param[in,out] S points to an instance of the sorting structure. + * @param[in] alg Selected algorithm. + * @param[in] dir Sorting order. + */ + void arm_sort_init_f32( + arm_sort_instance_f32 * S, + arm_sort_alg alg, + arm_sort_dir dir); + + /** + * @brief Instance structure for the sorting algorithms. + */ + typedef struct + { + arm_sort_dir dir; /**< Sorting order (direction) */ + float32_t * buffer; /**< Working buffer */ + } arm_merge_sort_instance_f32; + + /** + * @param[in] S points to an instance of the sorting structure. + * @param[in,out] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of samples to process. + */ + void arm_merge_sort_f32( + const arm_merge_sort_instance_f32 * S, + float32_t *pSrc, + float32_t *pDst, + uint32_t blockSize); + + /** + * @param[in,out] S points to an instance of the sorting structure. + * @param[in] dir Sorting order. + * @param[in] buffer Working buffer. + */ + void arm_merge_sort_init_f32( + arm_merge_sort_instance_f32 * S, + arm_sort_dir dir, + float32_t * buffer); + + /** + * @brief Struct for specifying cubic spline type + */ + typedef enum + { + ARM_SPLINE_NATURAL = 0, /**< Natural spline */ + ARM_SPLINE_PARABOLIC_RUNOUT = 1 /**< Parabolic runout spline */ + } arm_spline_type; + + /** + * @brief Instance structure for the floating-point cubic spline interpolation. + */ + typedef struct + { + arm_spline_type type; /**< Type (boundary conditions) */ + const float32_t * x; /**< x values */ + const float32_t * y; /**< y values */ + uint32_t n_x; /**< Number of known data points */ + float32_t * coeffs; /**< Coefficients buffer (b,c, and d) */ + } arm_spline_instance_f32; + + /** + * @brief Processing function for the floating-point cubic spline interpolation. + * @param[in] S points to an instance of the floating-point spline structure. + * @param[in] xq points to the x values ot the interpolated data points. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples of output data. + */ + void arm_spline_f32( + arm_spline_instance_f32 * S, + const float32_t * xq, + float32_t * pDst, + uint32_t blockSize); + + /** + * @brief Initialization function for the floating-point cubic spline interpolation. + * @param[in,out] S points to an instance of the floating-point spline structure. + * @param[in] type type of cubic spline interpolation (boundary conditions) + * @param[in] x points to the x values of the known data points. + * @param[in] y points to the y values of the known data points. + * @param[in] n number of known data points. + * @param[in] coeffs coefficients array for b, c, and d + * @param[in] tempBuffer buffer array for internal computations + */ + void arm_spline_init_f32( + arm_spline_instance_f32 * S, + arm_spline_type type, + const float32_t * x, + const float32_t * y, + uint32_t n, + float32_t * coeffs, + float32_t * tempBuffer); + + /** + * @brief Instance structure for the floating-point matrix structure. + */ + typedef struct + { + uint16_t numRows; /**< number of rows of the matrix. */ + uint16_t numCols; /**< number of columns of the matrix. */ + float32_t *pData; /**< points to the data of the matrix. */ + } arm_matrix_instance_f32; + + /** + * @brief Instance structure for the floating-point matrix structure. + */ + typedef struct + { + uint16_t numRows; /**< number of rows of the matrix. */ + uint16_t numCols; /**< number of columns of the matrix. */ + float64_t *pData; /**< points to the data of the matrix. */ + } arm_matrix_instance_f64; + + /** + * @brief Instance structure for the Q15 matrix structure. + */ + typedef struct + { + uint16_t numRows; /**< number of rows of the matrix. */ + uint16_t numCols; /**< number of columns of the matrix. */ + q15_t *pData; /**< points to the data of the matrix. */ + } arm_matrix_instance_q15; + + /** + * @brief Instance structure for the Q31 matrix structure. + */ + typedef struct + { + uint16_t numRows; /**< number of rows of the matrix. */ + uint16_t numCols; /**< number of columns of the matrix. */ + q31_t *pData; /**< points to the data of the matrix. */ + } arm_matrix_instance_q31; + + /** + * @brief Floating-point matrix addition. + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_add_f32( + const arm_matrix_instance_f32 * pSrcA, + const arm_matrix_instance_f32 * pSrcB, + arm_matrix_instance_f32 * pDst); + + /** + * @brief Q15 matrix addition. + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_add_q15( + const arm_matrix_instance_q15 * pSrcA, + const arm_matrix_instance_q15 * pSrcB, + arm_matrix_instance_q15 * pDst); + + /** + * @brief Q31 matrix addition. + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_add_q31( + const arm_matrix_instance_q31 * pSrcA, + const arm_matrix_instance_q31 * pSrcB, + arm_matrix_instance_q31 * pDst); + + /** + * @brief Floating-point, complex, matrix multiplication. + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_cmplx_mult_f32( + const arm_matrix_instance_f32 * pSrcA, + const arm_matrix_instance_f32 * pSrcB, + arm_matrix_instance_f32 * pDst); + + /** + * @brief Q15, complex, matrix multiplication. + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_cmplx_mult_q15( + const arm_matrix_instance_q15 * pSrcA, + const arm_matrix_instance_q15 * pSrcB, + arm_matrix_instance_q15 * pDst, + q15_t * pScratch); + + /** + * @brief Q31, complex, matrix multiplication. + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_cmplx_mult_q31( + const arm_matrix_instance_q31 * pSrcA, + const arm_matrix_instance_q31 * pSrcB, + arm_matrix_instance_q31 * pDst); + + /** + * @brief Floating-point matrix transpose. + * @param[in] pSrc points to the input matrix + * @param[out] pDst points to the output matrix + * @return The function returns either ARM_MATH_SIZE_MISMATCH + * or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_trans_f32( + const arm_matrix_instance_f32 * pSrc, + arm_matrix_instance_f32 * pDst); + + /** + * @brief Q15 matrix transpose. + * @param[in] pSrc points to the input matrix + * @param[out] pDst points to the output matrix + * @return The function returns either ARM_MATH_SIZE_MISMATCH + * or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_trans_q15( + const arm_matrix_instance_q15 * pSrc, + arm_matrix_instance_q15 * pDst); + + /** + * @brief Q31 matrix transpose. + * @param[in] pSrc points to the input matrix + * @param[out] pDst points to the output matrix + * @return The function returns either ARM_MATH_SIZE_MISMATCH + * or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_trans_q31( + const arm_matrix_instance_q31 * pSrc, + arm_matrix_instance_q31 * pDst); + + /** + * @brief Floating-point matrix multiplication + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_mult_f32( + const arm_matrix_instance_f32 * pSrcA, + const arm_matrix_instance_f32 * pSrcB, + arm_matrix_instance_f32 * pDst); + + /** + * @brief Q15 matrix multiplication + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @param[in] pState points to the array for storing intermediate results + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_mult_q15( + const arm_matrix_instance_q15 * pSrcA, + const arm_matrix_instance_q15 * pSrcB, + arm_matrix_instance_q15 * pDst, + q15_t * pState); + + /** + * @brief Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4 + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @param[in] pState points to the array for storing intermediate results + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_mult_fast_q15( + const arm_matrix_instance_q15 * pSrcA, + const arm_matrix_instance_q15 * pSrcB, + arm_matrix_instance_q15 * pDst, + q15_t * pState); + + /** + * @brief Q31 matrix multiplication + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_mult_q31( + const arm_matrix_instance_q31 * pSrcA, + const arm_matrix_instance_q31 * pSrcB, + arm_matrix_instance_q31 * pDst); + + /** + * @brief Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4 + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_mult_fast_q31( + const arm_matrix_instance_q31 * pSrcA, + const arm_matrix_instance_q31 * pSrcB, + arm_matrix_instance_q31 * pDst); + + /** + * @brief Floating-point matrix subtraction + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_sub_f32( + const arm_matrix_instance_f32 * pSrcA, + const arm_matrix_instance_f32 * pSrcB, + arm_matrix_instance_f32 * pDst); + + /** + * @brief Q15 matrix subtraction + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_sub_q15( + const arm_matrix_instance_q15 * pSrcA, + const arm_matrix_instance_q15 * pSrcB, + arm_matrix_instance_q15 * pDst); + + /** + * @brief Q31 matrix subtraction + * @param[in] pSrcA points to the first input matrix structure + * @param[in] pSrcB points to the second input matrix structure + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_sub_q31( + const arm_matrix_instance_q31 * pSrcA, + const arm_matrix_instance_q31 * pSrcB, + arm_matrix_instance_q31 * pDst); + + /** + * @brief Floating-point matrix scaling. + * @param[in] pSrc points to the input matrix + * @param[in] scale scale factor + * @param[out] pDst points to the output matrix + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_scale_f32( + const arm_matrix_instance_f32 * pSrc, + float32_t scale, + arm_matrix_instance_f32 * pDst); + + /** + * @brief Q15 matrix scaling. + * @param[in] pSrc points to input matrix + * @param[in] scaleFract fractional portion of the scale factor + * @param[in] shift number of bits to shift the result by + * @param[out] pDst points to output matrix + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_scale_q15( + const arm_matrix_instance_q15 * pSrc, + q15_t scaleFract, + int32_t shift, + arm_matrix_instance_q15 * pDst); + + /** + * @brief Q31 matrix scaling. + * @param[in] pSrc points to input matrix + * @param[in] scaleFract fractional portion of the scale factor + * @param[in] shift number of bits to shift the result by + * @param[out] pDst points to output matrix structure + * @return The function returns either + * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. + */ +arm_status arm_mat_scale_q31( + const arm_matrix_instance_q31 * pSrc, + q31_t scaleFract, + int32_t shift, + arm_matrix_instance_q31 * pDst); + + /** + * @brief Q31 matrix initialization. + * @param[in,out] S points to an instance of the floating-point matrix structure. + * @param[in] nRows number of rows in the matrix. + * @param[in] nColumns number of columns in the matrix. + * @param[in] pData points to the matrix data array. + */ +void arm_mat_init_q31( + arm_matrix_instance_q31 * S, + uint16_t nRows, + uint16_t nColumns, + q31_t * pData); + + /** + * @brief Q15 matrix initialization. + * @param[in,out] S points to an instance of the floating-point matrix structure. + * @param[in] nRows number of rows in the matrix. + * @param[in] nColumns number of columns in the matrix. + * @param[in] pData points to the matrix data array. + */ +void arm_mat_init_q15( + arm_matrix_instance_q15 * S, + uint16_t nRows, + uint16_t nColumns, + q15_t * pData); + + /** + * @brief Floating-point matrix initialization. + * @param[in,out] S points to an instance of the floating-point matrix structure. + * @param[in] nRows number of rows in the matrix. + * @param[in] nColumns number of columns in the matrix. + * @param[in] pData points to the matrix data array. + */ +void arm_mat_init_f32( + arm_matrix_instance_f32 * S, + uint16_t nRows, + uint16_t nColumns, + float32_t * pData); + + + /** + * @brief Instance structure for the Q15 PID Control. + */ + typedef struct + { + q15_t A0; /**< The derived gain, A0 = Kp + Ki + Kd . */ +#if !defined (ARM_MATH_DSP) + q15_t A1; + q15_t A2; +#else + q31_t A1; /**< The derived gain A1 = -Kp - 2Kd | Kd.*/ +#endif + q15_t state[3]; /**< The state array of length 3. */ + q15_t Kp; /**< The proportional gain. */ + q15_t Ki; /**< The integral gain. */ + q15_t Kd; /**< The derivative gain. */ + } arm_pid_instance_q15; + + /** + * @brief Instance structure for the Q31 PID Control. + */ + typedef struct + { + q31_t A0; /**< The derived gain, A0 = Kp + Ki + Kd . */ + q31_t A1; /**< The derived gain, A1 = -Kp - 2Kd. */ + q31_t A2; /**< The derived gain, A2 = Kd . */ + q31_t state[3]; /**< The state array of length 3. */ + q31_t Kp; /**< The proportional gain. */ + q31_t Ki; /**< The integral gain. */ + q31_t Kd; /**< The derivative gain. */ + } arm_pid_instance_q31; + + /** + * @brief Instance structure for the floating-point PID Control. + */ + typedef struct + { + float32_t A0; /**< The derived gain, A0 = Kp + Ki + Kd . */ + float32_t A1; /**< The derived gain, A1 = -Kp - 2Kd. */ + float32_t A2; /**< The derived gain, A2 = Kd . */ + float32_t state[3]; /**< The state array of length 3. */ + float32_t Kp; /**< The proportional gain. */ + float32_t Ki; /**< The integral gain. */ + float32_t Kd; /**< The derivative gain. */ + } arm_pid_instance_f32; + + + + /** + * @brief Initialization function for the floating-point PID Control. + * @param[in,out] S points to an instance of the PID structure. + * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. + */ + void arm_pid_init_f32( + arm_pid_instance_f32 * S, + int32_t resetStateFlag); + + + /** + * @brief Reset function for the floating-point PID Control. + * @param[in,out] S is an instance of the floating-point PID Control structure + */ + void arm_pid_reset_f32( + arm_pid_instance_f32 * S); + + + /** + * @brief Initialization function for the Q31 PID Control. + * @param[in,out] S points to an instance of the Q15 PID structure. + * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. + */ + void arm_pid_init_q31( + arm_pid_instance_q31 * S, + int32_t resetStateFlag); + + + /** + * @brief Reset function for the Q31 PID Control. + * @param[in,out] S points to an instance of the Q31 PID Control structure + */ + + void arm_pid_reset_q31( + arm_pid_instance_q31 * S); + + + /** + * @brief Initialization function for the Q15 PID Control. + * @param[in,out] S points to an instance of the Q15 PID structure. + * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. + */ + void arm_pid_init_q15( + arm_pid_instance_q15 * S, + int32_t resetStateFlag); + + + /** + * @brief Reset function for the Q15 PID Control. + * @param[in,out] S points to an instance of the q15 PID Control structure + */ + void arm_pid_reset_q15( + arm_pid_instance_q15 * S); + + + /** + * @brief Instance structure for the floating-point Linear Interpolate function. + */ + typedef struct + { + uint32_t nValues; /**< nValues */ + float32_t x1; /**< x1 */ + float32_t xSpacing; /**< xSpacing */ + float32_t *pYData; /**< pointer to the table of Y values */ + } arm_linear_interp_instance_f32; + + /** + * @brief Instance structure for the floating-point bilinear interpolation function. + */ + typedef struct + { + uint16_t numRows; /**< number of rows in the data table. */ + uint16_t numCols; /**< number of columns in the data table. */ + float32_t *pData; /**< points to the data table. */ + } arm_bilinear_interp_instance_f32; + + /** + * @brief Instance structure for the Q31 bilinear interpolation function. + */ + typedef struct + { + uint16_t numRows; /**< number of rows in the data table. */ + uint16_t numCols; /**< number of columns in the data table. */ + q31_t *pData; /**< points to the data table. */ + } arm_bilinear_interp_instance_q31; + + /** + * @brief Instance structure for the Q15 bilinear interpolation function. + */ + typedef struct + { + uint16_t numRows; /**< number of rows in the data table. */ + uint16_t numCols; /**< number of columns in the data table. */ + q15_t *pData; /**< points to the data table. */ + } arm_bilinear_interp_instance_q15; + + /** + * @brief Instance structure for the Q15 bilinear interpolation function. + */ + typedef struct + { + uint16_t numRows; /**< number of rows in the data table. */ + uint16_t numCols; /**< number of columns in the data table. */ + q7_t *pData; /**< points to the data table. */ + } arm_bilinear_interp_instance_q7; + + + /** + * @brief Q7 vector multiplication. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_mult_q7( + const q7_t * pSrcA, + const q7_t * pSrcB, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q15 vector multiplication. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_mult_q15( + const q15_t * pSrcA, + const q15_t * pSrcB, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q31 vector multiplication. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_mult_q31( + const q31_t * pSrcA, + const q31_t * pSrcB, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Floating-point vector multiplication. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_mult_f32( + const float32_t * pSrcA, + const float32_t * pSrcB, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Instance structure for the Q15 CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ + uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ + const q15_t *pTwiddle; /**< points to the Sin twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ + uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ + } arm_cfft_radix2_instance_q15; + +/* Deprecated */ + arm_status arm_cfft_radix2_init_q15( + arm_cfft_radix2_instance_q15 * S, + uint16_t fftLen, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + +/* Deprecated */ + void arm_cfft_radix2_q15( + const arm_cfft_radix2_instance_q15 * S, + q15_t * pSrc); + + + /** + * @brief Instance structure for the Q15 CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ + uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ + const q15_t *pTwiddle; /**< points to the twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ + uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ + } arm_cfft_radix4_instance_q15; + +/* Deprecated */ + arm_status arm_cfft_radix4_init_q15( + arm_cfft_radix4_instance_q15 * S, + uint16_t fftLen, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + +/* Deprecated */ + void arm_cfft_radix4_q15( + const arm_cfft_radix4_instance_q15 * S, + q15_t * pSrc); + + /** + * @brief Instance structure for the Radix-2 Q31 CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ + uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ + const q31_t *pTwiddle; /**< points to the Twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ + uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ + } arm_cfft_radix2_instance_q31; + +/* Deprecated */ + arm_status arm_cfft_radix2_init_q31( + arm_cfft_radix2_instance_q31 * S, + uint16_t fftLen, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + +/* Deprecated */ + void arm_cfft_radix2_q31( + const arm_cfft_radix2_instance_q31 * S, + q31_t * pSrc); + + /** + * @brief Instance structure for the Q31 CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ + uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ + const q31_t *pTwiddle; /**< points to the twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ + uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ + } arm_cfft_radix4_instance_q31; + +/* Deprecated */ + void arm_cfft_radix4_q31( + const arm_cfft_radix4_instance_q31 * S, + q31_t * pSrc); + +/* Deprecated */ + arm_status arm_cfft_radix4_init_q31( + arm_cfft_radix4_instance_q31 * S, + uint16_t fftLen, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + + /** + * @brief Instance structure for the floating-point CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ + uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ + const float32_t *pTwiddle; /**< points to the Twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ + uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ + float32_t onebyfftLen; /**< value of 1/fftLen. */ + } arm_cfft_radix2_instance_f32; + +/* Deprecated */ + arm_status arm_cfft_radix2_init_f32( + arm_cfft_radix2_instance_f32 * S, + uint16_t fftLen, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + +/* Deprecated */ + void arm_cfft_radix2_f32( + const arm_cfft_radix2_instance_f32 * S, + float32_t * pSrc); + + /** + * @brief Instance structure for the floating-point CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ + uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ + const float32_t *pTwiddle; /**< points to the Twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ + uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ + float32_t onebyfftLen; /**< value of 1/fftLen. */ + } arm_cfft_radix4_instance_f32; + +/* Deprecated */ + arm_status arm_cfft_radix4_init_f32( + arm_cfft_radix4_instance_f32 * S, + uint16_t fftLen, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + +/* Deprecated */ + void arm_cfft_radix4_f32( + const arm_cfft_radix4_instance_f32 * S, + float32_t * pSrc); + + /** + * @brief Instance structure for the fixed-point CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + const q15_t *pTwiddle; /**< points to the Twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t bitRevLength; /**< bit reversal table length. */ +#if defined(ARM_MATH_MVEI) + const uint32_t *rearranged_twiddle_tab_stride1_arr; /**< Per stage reordered twiddle pointer (offset 1) */ \ + const uint32_t *rearranged_twiddle_tab_stride2_arr; /**< Per stage reordered twiddle pointer (offset 2) */ \ + const uint32_t *rearranged_twiddle_tab_stride3_arr; /**< Per stage reordered twiddle pointer (offset 3) */ \ + const q15_t *rearranged_twiddle_stride1; /**< reordered twiddle offset 1 storage */ \ + const q15_t *rearranged_twiddle_stride2; /**< reordered twiddle offset 2 storage */ \ + const q15_t *rearranged_twiddle_stride3; +#endif + } arm_cfft_instance_q15; + +arm_status arm_cfft_init_q15( + arm_cfft_instance_q15 * S, + uint16_t fftLen); + +void arm_cfft_q15( + const arm_cfft_instance_q15 * S, + q15_t * p1, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + + /** + * @brief Instance structure for the fixed-point CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + const q31_t *pTwiddle; /**< points to the Twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t bitRevLength; /**< bit reversal table length. */ +#if defined(ARM_MATH_MVEI) + const uint32_t *rearranged_twiddle_tab_stride1_arr; /**< Per stage reordered twiddle pointer (offset 1) */ \ + const uint32_t *rearranged_twiddle_tab_stride2_arr; /**< Per stage reordered twiddle pointer (offset 2) */ \ + const uint32_t *rearranged_twiddle_tab_stride3_arr; /**< Per stage reordered twiddle pointer (offset 3) */ \ + const q31_t *rearranged_twiddle_stride1; /**< reordered twiddle offset 1 storage */ \ + const q31_t *rearranged_twiddle_stride2; /**< reordered twiddle offset 2 storage */ \ + const q31_t *rearranged_twiddle_stride3; +#endif + } arm_cfft_instance_q31; + +arm_status arm_cfft_init_q31( + arm_cfft_instance_q31 * S, + uint16_t fftLen); + +void arm_cfft_q31( + const arm_cfft_instance_q31 * S, + q31_t * p1, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + + /** + * @brief Instance structure for the floating-point CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + const float32_t *pTwiddle; /**< points to the Twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t bitRevLength; /**< bit reversal table length. */ +#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) + const uint32_t *rearranged_twiddle_tab_stride1_arr; /**< Per stage reordered twiddle pointer (offset 1) */ \ + const uint32_t *rearranged_twiddle_tab_stride2_arr; /**< Per stage reordered twiddle pointer (offset 2) */ \ + const uint32_t *rearranged_twiddle_tab_stride3_arr; /**< Per stage reordered twiddle pointer (offset 3) */ \ + const float32_t *rearranged_twiddle_stride1; /**< reordered twiddle offset 1 storage */ \ + const float32_t *rearranged_twiddle_stride2; /**< reordered twiddle offset 2 storage */ \ + const float32_t *rearranged_twiddle_stride3; +#endif + } arm_cfft_instance_f32; + + + arm_status arm_cfft_init_f32( + arm_cfft_instance_f32 * S, + uint16_t fftLen); + + void arm_cfft_f32( + const arm_cfft_instance_f32 * S, + float32_t * p1, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + + + /** + * @brief Instance structure for the Double Precision Floating-point CFFT/CIFFT function. + */ + typedef struct + { + uint16_t fftLen; /**< length of the FFT. */ + const float64_t *pTwiddle; /**< points to the Twiddle factor table. */ + const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ + uint16_t bitRevLength; /**< bit reversal table length. */ + } arm_cfft_instance_f64; + + void arm_cfft_f64( + const arm_cfft_instance_f64 * S, + float64_t * p1, + uint8_t ifftFlag, + uint8_t bitReverseFlag); + + /** + * @brief Instance structure for the Q15 RFFT/RIFFT function. + */ + typedef struct + { + uint32_t fftLenReal; /**< length of the real FFT. */ + uint8_t ifftFlagR; /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */ + uint8_t bitReverseFlagR; /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */ + uint32_t twidCoefRModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ + const q15_t *pTwiddleAReal; /**< points to the real twiddle factor table. */ + const q15_t *pTwiddleBReal; /**< points to the imag twiddle factor table. */ +#if defined(ARM_MATH_MVEI) + arm_cfft_instance_q15 cfftInst; +#else + const arm_cfft_instance_q15 *pCfft; /**< points to the complex FFT instance. */ +#endif + } arm_rfft_instance_q15; + + arm_status arm_rfft_init_q15( + arm_rfft_instance_q15 * S, + uint32_t fftLenReal, + uint32_t ifftFlagR, + uint32_t bitReverseFlag); + + void arm_rfft_q15( + const arm_rfft_instance_q15 * S, + q15_t * pSrc, + q15_t * pDst); + + /** + * @brief Instance structure for the Q31 RFFT/RIFFT function. + */ + typedef struct + { + uint32_t fftLenReal; /**< length of the real FFT. */ + uint8_t ifftFlagR; /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */ + uint8_t bitReverseFlagR; /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */ + uint32_t twidCoefRModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ + const q31_t *pTwiddleAReal; /**< points to the real twiddle factor table. */ + const q31_t *pTwiddleBReal; /**< points to the imag twiddle factor table. */ +#if defined(ARM_MATH_MVEI) + arm_cfft_instance_q31 cfftInst; +#else + const arm_cfft_instance_q31 *pCfft; /**< points to the complex FFT instance. */ +#endif + } arm_rfft_instance_q31; + + arm_status arm_rfft_init_q31( + arm_rfft_instance_q31 * S, + uint32_t fftLenReal, + uint32_t ifftFlagR, + uint32_t bitReverseFlag); + + void arm_rfft_q31( + const arm_rfft_instance_q31 * S, + q31_t * pSrc, + q31_t * pDst); + + /** + * @brief Instance structure for the floating-point RFFT/RIFFT function. + */ + typedef struct + { + uint32_t fftLenReal; /**< length of the real FFT. */ + uint16_t fftLenBy2; /**< length of the complex FFT. */ + uint8_t ifftFlagR; /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */ + uint8_t bitReverseFlagR; /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */ + uint32_t twidCoefRModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ + const float32_t *pTwiddleAReal; /**< points to the real twiddle factor table. */ + const float32_t *pTwiddleBReal; /**< points to the imag twiddle factor table. */ + arm_cfft_radix4_instance_f32 *pCfft; /**< points to the complex FFT instance. */ + } arm_rfft_instance_f32; + + arm_status arm_rfft_init_f32( + arm_rfft_instance_f32 * S, + arm_cfft_radix4_instance_f32 * S_CFFT, + uint32_t fftLenReal, + uint32_t ifftFlagR, + uint32_t bitReverseFlag); + + void arm_rfft_f32( + const arm_rfft_instance_f32 * S, + float32_t * pSrc, + float32_t * pDst); + + /** + * @brief Instance structure for the Double Precision Floating-point RFFT/RIFFT function. + */ +typedef struct + { + arm_cfft_instance_f64 Sint; /**< Internal CFFT structure. */ + uint16_t fftLenRFFT; /**< length of the real sequence */ + const float64_t * pTwiddleRFFT; /**< Twiddle factors real stage */ + } arm_rfft_fast_instance_f64 ; + +arm_status arm_rfft_fast_init_f64 ( + arm_rfft_fast_instance_f64 * S, + uint16_t fftLen); + + +void arm_rfft_fast_f64( + arm_rfft_fast_instance_f64 * S, + float64_t * p, float64_t * pOut, + uint8_t ifftFlag); + + + /** + * @brief Instance structure for the floating-point RFFT/RIFFT function. + */ +typedef struct + { + arm_cfft_instance_f32 Sint; /**< Internal CFFT structure. */ + uint16_t fftLenRFFT; /**< length of the real sequence */ + const float32_t * pTwiddleRFFT; /**< Twiddle factors real stage */ + } arm_rfft_fast_instance_f32 ; + +arm_status arm_rfft_fast_init_f32 ( + arm_rfft_fast_instance_f32 * S, + uint16_t fftLen); + + + void arm_rfft_fast_f32( + const arm_rfft_fast_instance_f32 * S, + float32_t * p, float32_t * pOut, + uint8_t ifftFlag); + + /** + * @brief Instance structure for the floating-point DCT4/IDCT4 function. + */ + typedef struct + { + uint16_t N; /**< length of the DCT4. */ + uint16_t Nby2; /**< half of the length of the DCT4. */ + float32_t normalize; /**< normalizing factor. */ + const float32_t *pTwiddle; /**< points to the twiddle factor table. */ + const float32_t *pCosFactor; /**< points to the cosFactor table. */ + arm_rfft_instance_f32 *pRfft; /**< points to the real FFT instance. */ + arm_cfft_radix4_instance_f32 *pCfft; /**< points to the complex FFT instance. */ + } arm_dct4_instance_f32; + + + /** + * @brief Initialization function for the floating-point DCT4/IDCT4. + * @param[in,out] S points to an instance of floating-point DCT4/IDCT4 structure. + * @param[in] S_RFFT points to an instance of floating-point RFFT/RIFFT structure. + * @param[in] S_CFFT points to an instance of floating-point CFFT/CIFFT structure. + * @param[in] N length of the DCT4. + * @param[in] Nby2 half of the length of the DCT4. + * @param[in] normalize normalizing factor. + * @return arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported transform length. + */ + arm_status arm_dct4_init_f32( + arm_dct4_instance_f32 * S, + arm_rfft_instance_f32 * S_RFFT, + arm_cfft_radix4_instance_f32 * S_CFFT, + uint16_t N, + uint16_t Nby2, + float32_t normalize); + + + /** + * @brief Processing function for the floating-point DCT4/IDCT4. + * @param[in] S points to an instance of the floating-point DCT4/IDCT4 structure. + * @param[in] pState points to state buffer. + * @param[in,out] pInlineBuffer points to the in-place input and output buffer. + */ + void arm_dct4_f32( + const arm_dct4_instance_f32 * S, + float32_t * pState, + float32_t * pInlineBuffer); + + + /** + * @brief Instance structure for the Q31 DCT4/IDCT4 function. + */ + typedef struct + { + uint16_t N; /**< length of the DCT4. */ + uint16_t Nby2; /**< half of the length of the DCT4. */ + q31_t normalize; /**< normalizing factor. */ + const q31_t *pTwiddle; /**< points to the twiddle factor table. */ + const q31_t *pCosFactor; /**< points to the cosFactor table. */ + arm_rfft_instance_q31 *pRfft; /**< points to the real FFT instance. */ + arm_cfft_radix4_instance_q31 *pCfft; /**< points to the complex FFT instance. */ + } arm_dct4_instance_q31; + + + /** + * @brief Initialization function for the Q31 DCT4/IDCT4. + * @param[in,out] S points to an instance of Q31 DCT4/IDCT4 structure. + * @param[in] S_RFFT points to an instance of Q31 RFFT/RIFFT structure + * @param[in] S_CFFT points to an instance of Q31 CFFT/CIFFT structure + * @param[in] N length of the DCT4. + * @param[in] Nby2 half of the length of the DCT4. + * @param[in] normalize normalizing factor. + * @return arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length. + */ + arm_status arm_dct4_init_q31( + arm_dct4_instance_q31 * S, + arm_rfft_instance_q31 * S_RFFT, + arm_cfft_radix4_instance_q31 * S_CFFT, + uint16_t N, + uint16_t Nby2, + q31_t normalize); + + + /** + * @brief Processing function for the Q31 DCT4/IDCT4. + * @param[in] S points to an instance of the Q31 DCT4 structure. + * @param[in] pState points to state buffer. + * @param[in,out] pInlineBuffer points to the in-place input and output buffer. + */ + void arm_dct4_q31( + const arm_dct4_instance_q31 * S, + q31_t * pState, + q31_t * pInlineBuffer); + + + /** + * @brief Instance structure for the Q15 DCT4/IDCT4 function. + */ + typedef struct + { + uint16_t N; /**< length of the DCT4. */ + uint16_t Nby2; /**< half of the length of the DCT4. */ + q15_t normalize; /**< normalizing factor. */ + const q15_t *pTwiddle; /**< points to the twiddle factor table. */ + const q15_t *pCosFactor; /**< points to the cosFactor table. */ + arm_rfft_instance_q15 *pRfft; /**< points to the real FFT instance. */ + arm_cfft_radix4_instance_q15 *pCfft; /**< points to the complex FFT instance. */ + } arm_dct4_instance_q15; + + + /** + * @brief Initialization function for the Q15 DCT4/IDCT4. + * @param[in,out] S points to an instance of Q15 DCT4/IDCT4 structure. + * @param[in] S_RFFT points to an instance of Q15 RFFT/RIFFT structure. + * @param[in] S_CFFT points to an instance of Q15 CFFT/CIFFT structure. + * @param[in] N length of the DCT4. + * @param[in] Nby2 half of the length of the DCT4. + * @param[in] normalize normalizing factor. + * @return arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length. + */ + arm_status arm_dct4_init_q15( + arm_dct4_instance_q15 * S, + arm_rfft_instance_q15 * S_RFFT, + arm_cfft_radix4_instance_q15 * S_CFFT, + uint16_t N, + uint16_t Nby2, + q15_t normalize); + + + /** + * @brief Processing function for the Q15 DCT4/IDCT4. + * @param[in] S points to an instance of the Q15 DCT4 structure. + * @param[in] pState points to state buffer. + * @param[in,out] pInlineBuffer points to the in-place input and output buffer. + */ + void arm_dct4_q15( + const arm_dct4_instance_q15 * S, + q15_t * pState, + q15_t * pInlineBuffer); + + + /** + * @brief Floating-point vector addition. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_add_f32( + const float32_t * pSrcA, + const float32_t * pSrcB, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q7 vector addition. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_add_q7( + const q7_t * pSrcA, + const q7_t * pSrcB, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q15 vector addition. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_add_q15( + const q15_t * pSrcA, + const q15_t * pSrcB, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q31 vector addition. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_add_q31( + const q31_t * pSrcA, + const q31_t * pSrcB, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Floating-point vector subtraction. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_sub_f32( + const float32_t * pSrcA, + const float32_t * pSrcB, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q7 vector subtraction. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_sub_q7( + const q7_t * pSrcA, + const q7_t * pSrcB, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q15 vector subtraction. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_sub_q15( + const q15_t * pSrcA, + const q15_t * pSrcB, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q31 vector subtraction. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in each vector + */ + void arm_sub_q31( + const q31_t * pSrcA, + const q31_t * pSrcB, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Multiplies a floating-point vector by a scalar. + * @param[in] pSrc points to the input vector + * @param[in] scale scale factor to be applied + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_scale_f32( + const float32_t * pSrc, + float32_t scale, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Multiplies a Q7 vector by a scalar. + * @param[in] pSrc points to the input vector + * @param[in] scaleFract fractional portion of the scale value + * @param[in] shift number of bits to shift the result by + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_scale_q7( + const q7_t * pSrc, + q7_t scaleFract, + int8_t shift, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Multiplies a Q15 vector by a scalar. + * @param[in] pSrc points to the input vector + * @param[in] scaleFract fractional portion of the scale value + * @param[in] shift number of bits to shift the result by + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_scale_q15( + const q15_t * pSrc, + q15_t scaleFract, + int8_t shift, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Multiplies a Q31 vector by a scalar. + * @param[in] pSrc points to the input vector + * @param[in] scaleFract fractional portion of the scale value + * @param[in] shift number of bits to shift the result by + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_scale_q31( + const q31_t * pSrc, + q31_t scaleFract, + int8_t shift, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q7 vector absolute value. + * @param[in] pSrc points to the input buffer + * @param[out] pDst points to the output buffer + * @param[in] blockSize number of samples in each vector + */ + void arm_abs_q7( + const q7_t * pSrc, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Floating-point vector absolute value. + * @param[in] pSrc points to the input buffer + * @param[out] pDst points to the output buffer + * @param[in] blockSize number of samples in each vector + */ + void arm_abs_f32( + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q15 vector absolute value. + * @param[in] pSrc points to the input buffer + * @param[out] pDst points to the output buffer + * @param[in] blockSize number of samples in each vector + */ + void arm_abs_q15( + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Q31 vector absolute value. + * @param[in] pSrc points to the input buffer + * @param[out] pDst points to the output buffer + * @param[in] blockSize number of samples in each vector + */ + void arm_abs_q31( + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Dot product of floating-point vectors. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[in] blockSize number of samples in each vector + * @param[out] result output result returned here + */ + void arm_dot_prod_f32( + const float32_t * pSrcA, + const float32_t * pSrcB, + uint32_t blockSize, + float32_t * result); + + + /** + * @brief Dot product of Q7 vectors. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[in] blockSize number of samples in each vector + * @param[out] result output result returned here + */ + void arm_dot_prod_q7( + const q7_t * pSrcA, + const q7_t * pSrcB, + uint32_t blockSize, + q31_t * result); + + + /** + * @brief Dot product of Q15 vectors. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[in] blockSize number of samples in each vector + * @param[out] result output result returned here + */ + void arm_dot_prod_q15( + const q15_t * pSrcA, + const q15_t * pSrcB, + uint32_t blockSize, + q63_t * result); + + + /** + * @brief Dot product of Q31 vectors. + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[in] blockSize number of samples in each vector + * @param[out] result output result returned here + */ + void arm_dot_prod_q31( + const q31_t * pSrcA, + const q31_t * pSrcB, + uint32_t blockSize, + q63_t * result); + + + /** + * @brief Shifts the elements of a Q7 vector a specified number of bits. + * @param[in] pSrc points to the input vector + * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_shift_q7( + const q7_t * pSrc, + int8_t shiftBits, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Shifts the elements of a Q15 vector a specified number of bits. + * @param[in] pSrc points to the input vector + * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_shift_q15( + const q15_t * pSrc, + int8_t shiftBits, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Shifts the elements of a Q31 vector a specified number of bits. + * @param[in] pSrc points to the input vector + * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_shift_q31( + const q31_t * pSrc, + int8_t shiftBits, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Adds a constant offset to a floating-point vector. + * @param[in] pSrc points to the input vector + * @param[in] offset is the offset to be added + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_offset_f32( + const float32_t * pSrc, + float32_t offset, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Adds a constant offset to a Q7 vector. + * @param[in] pSrc points to the input vector + * @param[in] offset is the offset to be added + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_offset_q7( + const q7_t * pSrc, + q7_t offset, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Adds a constant offset to a Q15 vector. + * @param[in] pSrc points to the input vector + * @param[in] offset is the offset to be added + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_offset_q15( + const q15_t * pSrc, + q15_t offset, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Adds a constant offset to a Q31 vector. + * @param[in] pSrc points to the input vector + * @param[in] offset is the offset to be added + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_offset_q31( + const q31_t * pSrc, + q31_t offset, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Negates the elements of a floating-point vector. + * @param[in] pSrc points to the input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_negate_f32( + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Negates the elements of a Q7 vector. + * @param[in] pSrc points to the input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_negate_q7( + const q7_t * pSrc, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Negates the elements of a Q15 vector. + * @param[in] pSrc points to the input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_negate_q15( + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Negates the elements of a Q31 vector. + * @param[in] pSrc points to the input vector + * @param[out] pDst points to the output vector + * @param[in] blockSize number of samples in the vector + */ + void arm_negate_q31( + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Copies the elements of a floating-point vector. + * @param[in] pSrc input pointer + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_copy_f32( + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Copies the elements of a Q7 vector. + * @param[in] pSrc input pointer + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_copy_q7( + const q7_t * pSrc, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Copies the elements of a Q15 vector. + * @param[in] pSrc input pointer + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_copy_q15( + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Copies the elements of a Q31 vector. + * @param[in] pSrc input pointer + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_copy_q31( + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Fills a constant value into a floating-point vector. + * @param[in] value input value to be filled + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_fill_f32( + float32_t value, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Fills a constant value into a Q7 vector. + * @param[in] value input value to be filled + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_fill_q7( + q7_t value, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Fills a constant value into a Q15 vector. + * @param[in] value input value to be filled + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_fill_q15( + q15_t value, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Fills a constant value into a Q31 vector. + * @param[in] value input value to be filled + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_fill_q31( + q31_t value, + q31_t * pDst, + uint32_t blockSize); + + +/** + * @brief Convolution of floating-point sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the location where the output result is written. Length srcALen+srcBLen-1. + */ + void arm_conv_f32( + const float32_t * pSrcA, + uint32_t srcALen, + const float32_t * pSrcB, + uint32_t srcBLen, + float32_t * pDst); + + + /** + * @brief Convolution of Q15 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. + * @param[in] pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. + * @param[in] pScratch2 points to scratch buffer of size min(srcALen, srcBLen). + */ + void arm_conv_opt_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst, + q15_t * pScratch1, + q15_t * pScratch2); + + +/** + * @brief Convolution of Q15 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the location where the output result is written. Length srcALen+srcBLen-1. + */ + void arm_conv_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst); + + + /** + * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4 + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. + */ + void arm_conv_fast_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst); + + + /** + * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4 + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. + * @param[in] pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. + * @param[in] pScratch2 points to scratch buffer of size min(srcALen, srcBLen). + */ + void arm_conv_fast_opt_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst, + q15_t * pScratch1, + q15_t * pScratch2); + + + /** + * @brief Convolution of Q31 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. + */ + void arm_conv_q31( + const q31_t * pSrcA, + uint32_t srcALen, + const q31_t * pSrcB, + uint32_t srcBLen, + q31_t * pDst); + + + /** + * @brief Convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4 + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. + */ + void arm_conv_fast_q31( + const q31_t * pSrcA, + uint32_t srcALen, + const q31_t * pSrcB, + uint32_t srcBLen, + q31_t * pDst); + + + /** + * @brief Convolution of Q7 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. + * @param[in] pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. + * @param[in] pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen). + */ + void arm_conv_opt_q7( + const q7_t * pSrcA, + uint32_t srcALen, + const q7_t * pSrcB, + uint32_t srcBLen, + q7_t * pDst, + q15_t * pScratch1, + q15_t * pScratch2); + + + /** + * @brief Convolution of Q7 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. + */ + void arm_conv_q7( + const q7_t * pSrcA, + uint32_t srcALen, + const q7_t * pSrcB, + uint32_t srcBLen, + q7_t * pDst); + + + /** + * @brief Partial convolution of floating-point sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data + * @param[in] firstIndex is the first output sample to start with. + * @param[in] numPoints is the number of output points to be computed. + * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. + */ + arm_status arm_conv_partial_f32( + const float32_t * pSrcA, + uint32_t srcALen, + const float32_t * pSrcB, + uint32_t srcBLen, + float32_t * pDst, + uint32_t firstIndex, + uint32_t numPoints); + + + /** + * @brief Partial convolution of Q15 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data + * @param[in] firstIndex is the first output sample to start with. + * @param[in] numPoints is the number of output points to be computed. + * @param[in] pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. + * @param[in] pScratch2 points to scratch buffer of size min(srcALen, srcBLen). + * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. + */ + arm_status arm_conv_partial_opt_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst, + uint32_t firstIndex, + uint32_t numPoints, + q15_t * pScratch1, + q15_t * pScratch2); + + + /** + * @brief Partial convolution of Q15 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data + * @param[in] firstIndex is the first output sample to start with. + * @param[in] numPoints is the number of output points to be computed. + * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. + */ + arm_status arm_conv_partial_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst, + uint32_t firstIndex, + uint32_t numPoints); + + + /** + * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4 + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data + * @param[in] firstIndex is the first output sample to start with. + * @param[in] numPoints is the number of output points to be computed. + * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. + */ + arm_status arm_conv_partial_fast_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst, + uint32_t firstIndex, + uint32_t numPoints); + + + /** + * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4 + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data + * @param[in] firstIndex is the first output sample to start with. + * @param[in] numPoints is the number of output points to be computed. + * @param[in] pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. + * @param[in] pScratch2 points to scratch buffer of size min(srcALen, srcBLen). + * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. + */ + arm_status arm_conv_partial_fast_opt_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst, + uint32_t firstIndex, + uint32_t numPoints, + q15_t * pScratch1, + q15_t * pScratch2); + + + /** + * @brief Partial convolution of Q31 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data + * @param[in] firstIndex is the first output sample to start with. + * @param[in] numPoints is the number of output points to be computed. + * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. + */ + arm_status arm_conv_partial_q31( + const q31_t * pSrcA, + uint32_t srcALen, + const q31_t * pSrcB, + uint32_t srcBLen, + q31_t * pDst, + uint32_t firstIndex, + uint32_t numPoints); + + + /** + * @brief Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4 + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data + * @param[in] firstIndex is the first output sample to start with. + * @param[in] numPoints is the number of output points to be computed. + * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. + */ + arm_status arm_conv_partial_fast_q31( + const q31_t * pSrcA, + uint32_t srcALen, + const q31_t * pSrcB, + uint32_t srcBLen, + q31_t * pDst, + uint32_t firstIndex, + uint32_t numPoints); + + + /** + * @brief Partial convolution of Q7 sequences + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data + * @param[in] firstIndex is the first output sample to start with. + * @param[in] numPoints is the number of output points to be computed. + * @param[in] pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. + * @param[in] pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen). + * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. + */ + arm_status arm_conv_partial_opt_q7( + const q7_t * pSrcA, + uint32_t srcALen, + const q7_t * pSrcB, + uint32_t srcBLen, + q7_t * pDst, + uint32_t firstIndex, + uint32_t numPoints, + q15_t * pScratch1, + q15_t * pScratch2); + + +/** + * @brief Partial convolution of Q7 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data + * @param[in] firstIndex is the first output sample to start with. + * @param[in] numPoints is the number of output points to be computed. + * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. + */ + arm_status arm_conv_partial_q7( + const q7_t * pSrcA, + uint32_t srcALen, + const q7_t * pSrcB, + uint32_t srcBLen, + q7_t * pDst, + uint32_t firstIndex, + uint32_t numPoints); + + + /** + * @brief Instance structure for the Q15 FIR decimator. + */ + typedef struct + { + uint8_t M; /**< decimation factor. */ + uint16_t numTaps; /**< number of coefficients in the filter. */ + const q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ + q15_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + } arm_fir_decimate_instance_q15; + + /** + * @brief Instance structure for the Q31 FIR decimator. + */ + typedef struct + { + uint8_t M; /**< decimation factor. */ + uint16_t numTaps; /**< number of coefficients in the filter. */ + const q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ + q31_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + } arm_fir_decimate_instance_q31; + +/** + @brief Instance structure for floating-point FIR decimator. + */ +typedef struct + { + uint8_t M; /**< decimation factor. */ + uint16_t numTaps; /**< number of coefficients in the filter. */ + const float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ + float32_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + } arm_fir_decimate_instance_f32; + + +/** + @brief Processing function for floating-point FIR decimator. + @param[in] S points to an instance of the floating-point FIR decimator structure + @param[in] pSrc points to the block of input data + @param[out] pDst points to the block of output data + @param[in] blockSize number of samples to process + */ +void arm_fir_decimate_f32( + const arm_fir_decimate_instance_f32 * S, + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + +/** + @brief Initialization function for the floating-point FIR decimator. + @param[in,out] S points to an instance of the floating-point FIR decimator structure + @param[in] numTaps number of coefficients in the filter + @param[in] M decimation factor + @param[in] pCoeffs points to the filter coefficients + @param[in] pState points to the state buffer + @param[in] blockSize number of input samples to process per call + @return execution status + - \ref ARM_MATH_SUCCESS : Operation successful + - \ref ARM_MATH_LENGTH_ERROR : blockSize is not a multiple of M + */ +arm_status arm_fir_decimate_init_f32( + arm_fir_decimate_instance_f32 * S, + uint16_t numTaps, + uint8_t M, + const float32_t * pCoeffs, + float32_t * pState, + uint32_t blockSize); + + + /** + * @brief Processing function for the Q15 FIR decimator. + * @param[in] S points to an instance of the Q15 FIR decimator structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_decimate_q15( + const arm_fir_decimate_instance_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4. + * @param[in] S points to an instance of the Q15 FIR decimator structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_decimate_fast_q15( + const arm_fir_decimate_instance_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Initialization function for the Q15 FIR decimator. + * @param[in,out] S points to an instance of the Q15 FIR decimator structure. + * @param[in] numTaps number of coefficients in the filter. + * @param[in] M decimation factor. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] blockSize number of input samples to process per call. + * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if + * blockSize is not a multiple of M. + */ + arm_status arm_fir_decimate_init_q15( + arm_fir_decimate_instance_q15 * S, + uint16_t numTaps, + uint8_t M, + const q15_t * pCoeffs, + q15_t * pState, + uint32_t blockSize); + + + /** + * @brief Processing function for the Q31 FIR decimator. + * @param[in] S points to an instance of the Q31 FIR decimator structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_decimate_q31( + const arm_fir_decimate_instance_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + /** + * @brief Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4. + * @param[in] S points to an instance of the Q31 FIR decimator structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_decimate_fast_q31( + const arm_fir_decimate_instance_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Initialization function for the Q31 FIR decimator. + * @param[in,out] S points to an instance of the Q31 FIR decimator structure. + * @param[in] numTaps number of coefficients in the filter. + * @param[in] M decimation factor. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] blockSize number of input samples to process per call. + * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if + * blockSize is not a multiple of M. + */ + arm_status arm_fir_decimate_init_q31( + arm_fir_decimate_instance_q31 * S, + uint16_t numTaps, + uint8_t M, + const q31_t * pCoeffs, + q31_t * pState, + uint32_t blockSize); + + + /** + * @brief Instance structure for the Q15 FIR interpolator. + */ + typedef struct + { + uint8_t L; /**< upsample factor. */ + uint16_t phaseLength; /**< length of each polyphase filter component. */ + const q15_t *pCoeffs; /**< points to the coefficient array. The array is of length L*phaseLength. */ + q15_t *pState; /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */ + } arm_fir_interpolate_instance_q15; + + /** + * @brief Instance structure for the Q31 FIR interpolator. + */ + typedef struct + { + uint8_t L; /**< upsample factor. */ + uint16_t phaseLength; /**< length of each polyphase filter component. */ + const q31_t *pCoeffs; /**< points to the coefficient array. The array is of length L*phaseLength. */ + q31_t *pState; /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */ + } arm_fir_interpolate_instance_q31; + + /** + * @brief Instance structure for the floating-point FIR interpolator. + */ + typedef struct + { + uint8_t L; /**< upsample factor. */ + uint16_t phaseLength; /**< length of each polyphase filter component. */ + const float32_t *pCoeffs; /**< points to the coefficient array. The array is of length L*phaseLength. */ + float32_t *pState; /**< points to the state variable array. The array is of length phaseLength+numTaps-1. */ + } arm_fir_interpolate_instance_f32; + + + /** + * @brief Processing function for the Q15 FIR interpolator. + * @param[in] S points to an instance of the Q15 FIR interpolator structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_interpolate_q15( + const arm_fir_interpolate_instance_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Initialization function for the Q15 FIR interpolator. + * @param[in,out] S points to an instance of the Q15 FIR interpolator structure. + * @param[in] L upsample factor. + * @param[in] numTaps number of filter coefficients in the filter. + * @param[in] pCoeffs points to the filter coefficient buffer. + * @param[in] pState points to the state buffer. + * @param[in] blockSize number of input samples to process per call. + * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if + * the filter length numTaps is not a multiple of the interpolation factor L. + */ + arm_status arm_fir_interpolate_init_q15( + arm_fir_interpolate_instance_q15 * S, + uint8_t L, + uint16_t numTaps, + const q15_t * pCoeffs, + q15_t * pState, + uint32_t blockSize); + + + /** + * @brief Processing function for the Q31 FIR interpolator. + * @param[in] S points to an instance of the Q15 FIR interpolator structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_interpolate_q31( + const arm_fir_interpolate_instance_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Initialization function for the Q31 FIR interpolator. + * @param[in,out] S points to an instance of the Q31 FIR interpolator structure. + * @param[in] L upsample factor. + * @param[in] numTaps number of filter coefficients in the filter. + * @param[in] pCoeffs points to the filter coefficient buffer. + * @param[in] pState points to the state buffer. + * @param[in] blockSize number of input samples to process per call. + * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if + * the filter length numTaps is not a multiple of the interpolation factor L. + */ + arm_status arm_fir_interpolate_init_q31( + arm_fir_interpolate_instance_q31 * S, + uint8_t L, + uint16_t numTaps, + const q31_t * pCoeffs, + q31_t * pState, + uint32_t blockSize); + + + /** + * @brief Processing function for the floating-point FIR interpolator. + * @param[in] S points to an instance of the floating-point FIR interpolator structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_interpolate_f32( + const arm_fir_interpolate_instance_f32 * S, + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Initialization function for the floating-point FIR interpolator. + * @param[in,out] S points to an instance of the floating-point FIR interpolator structure. + * @param[in] L upsample factor. + * @param[in] numTaps number of filter coefficients in the filter. + * @param[in] pCoeffs points to the filter coefficient buffer. + * @param[in] pState points to the state buffer. + * @param[in] blockSize number of input samples to process per call. + * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if + * the filter length numTaps is not a multiple of the interpolation factor L. + */ + arm_status arm_fir_interpolate_init_f32( + arm_fir_interpolate_instance_f32 * S, + uint8_t L, + uint16_t numTaps, + const float32_t * pCoeffs, + float32_t * pState, + uint32_t blockSize); + + + /** + * @brief Instance structure for the high precision Q31 Biquad cascade filter. + */ + typedef struct + { + uint8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ + q63_t *pState; /**< points to the array of state coefficients. The array is of length 4*numStages. */ + const q31_t *pCoeffs; /**< points to the array of coefficients. The array is of length 5*numStages. */ + uint8_t postShift; /**< additional shift, in bits, applied to each output sample. */ + } arm_biquad_cas_df1_32x64_ins_q31; + + + /** + * @param[in] S points to an instance of the high precision Q31 Biquad cascade filter structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of samples to process. + */ + void arm_biquad_cas_df1_32x64_q31( + const arm_biquad_cas_df1_32x64_ins_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @param[in,out] S points to an instance of the high precision Q31 Biquad cascade filter structure. + * @param[in] numStages number of 2nd order stages in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] postShift shift to be applied to the output. Varies according to the coefficients format + */ + void arm_biquad_cas_df1_32x64_init_q31( + arm_biquad_cas_df1_32x64_ins_q31 * S, + uint8_t numStages, + const q31_t * pCoeffs, + q63_t * pState, + uint8_t postShift); + + + /** + * @brief Instance structure for the floating-point transposed direct form II Biquad cascade filter. + */ + typedef struct + { + uint8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ + float32_t *pState; /**< points to the array of state coefficients. The array is of length 2*numStages. */ + const float32_t *pCoeffs; /**< points to the array of coefficients. The array is of length 5*numStages. */ + } arm_biquad_cascade_df2T_instance_f32; + + /** + * @brief Instance structure for the floating-point transposed direct form II Biquad cascade filter. + */ + typedef struct + { + uint8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ + float32_t *pState; /**< points to the array of state coefficients. The array is of length 4*numStages. */ + const float32_t *pCoeffs; /**< points to the array of coefficients. The array is of length 5*numStages. */ + } arm_biquad_cascade_stereo_df2T_instance_f32; + + /** + * @brief Instance structure for the floating-point transposed direct form II Biquad cascade filter. + */ + typedef struct + { + uint8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ + float64_t *pState; /**< points to the array of state coefficients. The array is of length 2*numStages. */ + const float64_t *pCoeffs; /**< points to the array of coefficients. The array is of length 5*numStages. */ + } arm_biquad_cascade_df2T_instance_f64; + + + /** + * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter. + * @param[in] S points to an instance of the filter data structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of samples to process. + */ + void arm_biquad_cascade_df2T_f32( + const arm_biquad_cascade_df2T_instance_f32 * S, + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter. 2 channels + * @param[in] S points to an instance of the filter data structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of samples to process. + */ + void arm_biquad_cascade_stereo_df2T_f32( + const arm_biquad_cascade_stereo_df2T_instance_f32 * S, + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter. + * @param[in] S points to an instance of the filter data structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of samples to process. + */ + void arm_biquad_cascade_df2T_f64( + const arm_biquad_cascade_df2T_instance_f64 * S, + const float64_t * pSrc, + float64_t * pDst, + uint32_t blockSize); + + +#if defined(ARM_MATH_NEON) +void arm_biquad_cascade_df2T_compute_coefs_f32( + arm_biquad_cascade_df2T_instance_f32 * S, + uint8_t numStages, + float32_t * pCoeffs); +#endif + /** + * @brief Initialization function for the floating-point transposed direct form II Biquad cascade filter. + * @param[in,out] S points to an instance of the filter data structure. + * @param[in] numStages number of 2nd order stages in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + */ + void arm_biquad_cascade_df2T_init_f32( + arm_biquad_cascade_df2T_instance_f32 * S, + uint8_t numStages, + const float32_t * pCoeffs, + float32_t * pState); + + + /** + * @brief Initialization function for the floating-point transposed direct form II Biquad cascade filter. + * @param[in,out] S points to an instance of the filter data structure. + * @param[in] numStages number of 2nd order stages in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + */ + void arm_biquad_cascade_stereo_df2T_init_f32( + arm_biquad_cascade_stereo_df2T_instance_f32 * S, + uint8_t numStages, + const float32_t * pCoeffs, + float32_t * pState); + + + /** + * @brief Initialization function for the floating-point transposed direct form II Biquad cascade filter. + * @param[in,out] S points to an instance of the filter data structure. + * @param[in] numStages number of 2nd order stages in the filter. + * @param[in] pCoeffs points to the filter coefficients. + * @param[in] pState points to the state buffer. + */ + void arm_biquad_cascade_df2T_init_f64( + arm_biquad_cascade_df2T_instance_f64 * S, + uint8_t numStages, + const float64_t * pCoeffs, + float64_t * pState); + + + /** + * @brief Instance structure for the Q15 FIR lattice filter. + */ + typedef struct + { + uint16_t numStages; /**< number of filter stages. */ + q15_t *pState; /**< points to the state variable array. The array is of length numStages. */ + const q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numStages. */ + } arm_fir_lattice_instance_q15; + + /** + * @brief Instance structure for the Q31 FIR lattice filter. + */ + typedef struct + { + uint16_t numStages; /**< number of filter stages. */ + q31_t *pState; /**< points to the state variable array. The array is of length numStages. */ + const q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numStages. */ + } arm_fir_lattice_instance_q31; + + /** + * @brief Instance structure for the floating-point FIR lattice filter. + */ + typedef struct + { + uint16_t numStages; /**< number of filter stages. */ + float32_t *pState; /**< points to the state variable array. The array is of length numStages. */ + const float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numStages. */ + } arm_fir_lattice_instance_f32; + + + /** + * @brief Initialization function for the Q15 FIR lattice filter. + * @param[in] S points to an instance of the Q15 FIR lattice structure. + * @param[in] numStages number of filter stages. + * @param[in] pCoeffs points to the coefficient buffer. The array is of length numStages. + * @param[in] pState points to the state buffer. The array is of length numStages. + */ + void arm_fir_lattice_init_q15( + arm_fir_lattice_instance_q15 * S, + uint16_t numStages, + const q15_t * pCoeffs, + q15_t * pState); + + + /** + * @brief Processing function for the Q15 FIR lattice filter. + * @param[in] S points to an instance of the Q15 FIR lattice structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_fir_lattice_q15( + const arm_fir_lattice_instance_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Initialization function for the Q31 FIR lattice filter. + * @param[in] S points to an instance of the Q31 FIR lattice structure. + * @param[in] numStages number of filter stages. + * @param[in] pCoeffs points to the coefficient buffer. The array is of length numStages. + * @param[in] pState points to the state buffer. The array is of length numStages. + */ + void arm_fir_lattice_init_q31( + arm_fir_lattice_instance_q31 * S, + uint16_t numStages, + const q31_t * pCoeffs, + q31_t * pState); + + + /** + * @brief Processing function for the Q31 FIR lattice filter. + * @param[in] S points to an instance of the Q31 FIR lattice structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of samples to process. + */ + void arm_fir_lattice_q31( + const arm_fir_lattice_instance_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + +/** + * @brief Initialization function for the floating-point FIR lattice filter. + * @param[in] S points to an instance of the floating-point FIR lattice structure. + * @param[in] numStages number of filter stages. + * @param[in] pCoeffs points to the coefficient buffer. The array is of length numStages. + * @param[in] pState points to the state buffer. The array is of length numStages. + */ + void arm_fir_lattice_init_f32( + arm_fir_lattice_instance_f32 * S, + uint16_t numStages, + const float32_t * pCoeffs, + float32_t * pState); + + + /** + * @brief Processing function for the floating-point FIR lattice filter. + * @param[in] S points to an instance of the floating-point FIR lattice structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] blockSize number of samples to process. + */ + void arm_fir_lattice_f32( + const arm_fir_lattice_instance_f32 * S, + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Instance structure for the Q15 IIR lattice filter. + */ + typedef struct + { + uint16_t numStages; /**< number of stages in the filter. */ + q15_t *pState; /**< points to the state variable array. The array is of length numStages+blockSize. */ + q15_t *pkCoeffs; /**< points to the reflection coefficient array. The array is of length numStages. */ + q15_t *pvCoeffs; /**< points to the ladder coefficient array. The array is of length numStages+1. */ + } arm_iir_lattice_instance_q15; + + /** + * @brief Instance structure for the Q31 IIR lattice filter. + */ + typedef struct + { + uint16_t numStages; /**< number of stages in the filter. */ + q31_t *pState; /**< points to the state variable array. The array is of length numStages+blockSize. */ + q31_t *pkCoeffs; /**< points to the reflection coefficient array. The array is of length numStages. */ + q31_t *pvCoeffs; /**< points to the ladder coefficient array. The array is of length numStages+1. */ + } arm_iir_lattice_instance_q31; + + /** + * @brief Instance structure for the floating-point IIR lattice filter. + */ + typedef struct + { + uint16_t numStages; /**< number of stages in the filter. */ + float32_t *pState; /**< points to the state variable array. The array is of length numStages+blockSize. */ + float32_t *pkCoeffs; /**< points to the reflection coefficient array. The array is of length numStages. */ + float32_t *pvCoeffs; /**< points to the ladder coefficient array. The array is of length numStages+1. */ + } arm_iir_lattice_instance_f32; + + + /** + * @brief Processing function for the floating-point IIR lattice filter. + * @param[in] S points to an instance of the floating-point IIR lattice structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_iir_lattice_f32( + const arm_iir_lattice_instance_f32 * S, + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Initialization function for the floating-point IIR lattice filter. + * @param[in] S points to an instance of the floating-point IIR lattice structure. + * @param[in] numStages number of stages in the filter. + * @param[in] pkCoeffs points to the reflection coefficient buffer. The array is of length numStages. + * @param[in] pvCoeffs points to the ladder coefficient buffer. The array is of length numStages+1. + * @param[in] pState points to the state buffer. The array is of length numStages+blockSize-1. + * @param[in] blockSize number of samples to process. + */ + void arm_iir_lattice_init_f32( + arm_iir_lattice_instance_f32 * S, + uint16_t numStages, + float32_t * pkCoeffs, + float32_t * pvCoeffs, + float32_t * pState, + uint32_t blockSize); + + + /** + * @brief Processing function for the Q31 IIR lattice filter. + * @param[in] S points to an instance of the Q31 IIR lattice structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_iir_lattice_q31( + const arm_iir_lattice_instance_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Initialization function for the Q31 IIR lattice filter. + * @param[in] S points to an instance of the Q31 IIR lattice structure. + * @param[in] numStages number of stages in the filter. + * @param[in] pkCoeffs points to the reflection coefficient buffer. The array is of length numStages. + * @param[in] pvCoeffs points to the ladder coefficient buffer. The array is of length numStages+1. + * @param[in] pState points to the state buffer. The array is of length numStages+blockSize. + * @param[in] blockSize number of samples to process. + */ + void arm_iir_lattice_init_q31( + arm_iir_lattice_instance_q31 * S, + uint16_t numStages, + q31_t * pkCoeffs, + q31_t * pvCoeffs, + q31_t * pState, + uint32_t blockSize); + + + /** + * @brief Processing function for the Q15 IIR lattice filter. + * @param[in] S points to an instance of the Q15 IIR lattice structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data. + * @param[in] blockSize number of samples to process. + */ + void arm_iir_lattice_q15( + const arm_iir_lattice_instance_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + +/** + * @brief Initialization function for the Q15 IIR lattice filter. + * @param[in] S points to an instance of the fixed-point Q15 IIR lattice structure. + * @param[in] numStages number of stages in the filter. + * @param[in] pkCoeffs points to reflection coefficient buffer. The array is of length numStages. + * @param[in] pvCoeffs points to ladder coefficient buffer. The array is of length numStages+1. + * @param[in] pState points to state buffer. The array is of length numStages+blockSize. + * @param[in] blockSize number of samples to process per call. + */ + void arm_iir_lattice_init_q15( + arm_iir_lattice_instance_q15 * S, + uint16_t numStages, + q15_t * pkCoeffs, + q15_t * pvCoeffs, + q15_t * pState, + uint32_t blockSize); + + + /** + * @brief Instance structure for the floating-point LMS filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of coefficients in the filter. */ + float32_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ + float32_t mu; /**< step size that controls filter coefficient updates. */ + } arm_lms_instance_f32; + + + /** + * @brief Processing function for floating-point LMS filter. + * @param[in] S points to an instance of the floating-point LMS filter structure. + * @param[in] pSrc points to the block of input data. + * @param[in] pRef points to the block of reference data. + * @param[out] pOut points to the block of output data. + * @param[out] pErr points to the block of error data. + * @param[in] blockSize number of samples to process. + */ + void arm_lms_f32( + const arm_lms_instance_f32 * S, + const float32_t * pSrc, + float32_t * pRef, + float32_t * pOut, + float32_t * pErr, + uint32_t blockSize); + + + /** + * @brief Initialization function for floating-point LMS filter. + * @param[in] S points to an instance of the floating-point LMS filter structure. + * @param[in] numTaps number of filter coefficients. + * @param[in] pCoeffs points to the coefficient buffer. + * @param[in] pState points to state buffer. + * @param[in] mu step size that controls filter coefficient updates. + * @param[in] blockSize number of samples to process. + */ + void arm_lms_init_f32( + arm_lms_instance_f32 * S, + uint16_t numTaps, + float32_t * pCoeffs, + float32_t * pState, + float32_t mu, + uint32_t blockSize); + + + /** + * @brief Instance structure for the Q15 LMS filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of coefficients in the filter. */ + q15_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ + q15_t mu; /**< step size that controls filter coefficient updates. */ + uint32_t postShift; /**< bit shift applied to coefficients. */ + } arm_lms_instance_q15; + + + /** + * @brief Initialization function for the Q15 LMS filter. + * @param[in] S points to an instance of the Q15 LMS filter structure. + * @param[in] numTaps number of filter coefficients. + * @param[in] pCoeffs points to the coefficient buffer. + * @param[in] pState points to the state buffer. + * @param[in] mu step size that controls filter coefficient updates. + * @param[in] blockSize number of samples to process. + * @param[in] postShift bit shift applied to coefficients. + */ + void arm_lms_init_q15( + arm_lms_instance_q15 * S, + uint16_t numTaps, + q15_t * pCoeffs, + q15_t * pState, + q15_t mu, + uint32_t blockSize, + uint32_t postShift); + + + /** + * @brief Processing function for Q15 LMS filter. + * @param[in] S points to an instance of the Q15 LMS filter structure. + * @param[in] pSrc points to the block of input data. + * @param[in] pRef points to the block of reference data. + * @param[out] pOut points to the block of output data. + * @param[out] pErr points to the block of error data. + * @param[in] blockSize number of samples to process. + */ + void arm_lms_q15( + const arm_lms_instance_q15 * S, + const q15_t * pSrc, + q15_t * pRef, + q15_t * pOut, + q15_t * pErr, + uint32_t blockSize); + + + /** + * @brief Instance structure for the Q31 LMS filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of coefficients in the filter. */ + q31_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ + q31_t mu; /**< step size that controls filter coefficient updates. */ + uint32_t postShift; /**< bit shift applied to coefficients. */ + } arm_lms_instance_q31; + + + /** + * @brief Processing function for Q31 LMS filter. + * @param[in] S points to an instance of the Q15 LMS filter structure. + * @param[in] pSrc points to the block of input data. + * @param[in] pRef points to the block of reference data. + * @param[out] pOut points to the block of output data. + * @param[out] pErr points to the block of error data. + * @param[in] blockSize number of samples to process. + */ + void arm_lms_q31( + const arm_lms_instance_q31 * S, + const q31_t * pSrc, + q31_t * pRef, + q31_t * pOut, + q31_t * pErr, + uint32_t blockSize); + + + /** + * @brief Initialization function for Q31 LMS filter. + * @param[in] S points to an instance of the Q31 LMS filter structure. + * @param[in] numTaps number of filter coefficients. + * @param[in] pCoeffs points to coefficient buffer. + * @param[in] pState points to state buffer. + * @param[in] mu step size that controls filter coefficient updates. + * @param[in] blockSize number of samples to process. + * @param[in] postShift bit shift applied to coefficients. + */ + void arm_lms_init_q31( + arm_lms_instance_q31 * S, + uint16_t numTaps, + q31_t * pCoeffs, + q31_t * pState, + q31_t mu, + uint32_t blockSize, + uint32_t postShift); + + + /** + * @brief Instance structure for the floating-point normalized LMS filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of coefficients in the filter. */ + float32_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ + float32_t mu; /**< step size that control filter coefficient updates. */ + float32_t energy; /**< saves previous frame energy. */ + float32_t x0; /**< saves previous input sample. */ + } arm_lms_norm_instance_f32; + + + /** + * @brief Processing function for floating-point normalized LMS filter. + * @param[in] S points to an instance of the floating-point normalized LMS filter structure. + * @param[in] pSrc points to the block of input data. + * @param[in] pRef points to the block of reference data. + * @param[out] pOut points to the block of output data. + * @param[out] pErr points to the block of error data. + * @param[in] blockSize number of samples to process. + */ + void arm_lms_norm_f32( + arm_lms_norm_instance_f32 * S, + const float32_t * pSrc, + float32_t * pRef, + float32_t * pOut, + float32_t * pErr, + uint32_t blockSize); + + + /** + * @brief Initialization function for floating-point normalized LMS filter. + * @param[in] S points to an instance of the floating-point LMS filter structure. + * @param[in] numTaps number of filter coefficients. + * @param[in] pCoeffs points to coefficient buffer. + * @param[in] pState points to state buffer. + * @param[in] mu step size that controls filter coefficient updates. + * @param[in] blockSize number of samples to process. + */ + void arm_lms_norm_init_f32( + arm_lms_norm_instance_f32 * S, + uint16_t numTaps, + float32_t * pCoeffs, + float32_t * pState, + float32_t mu, + uint32_t blockSize); + + + /** + * @brief Instance structure for the Q31 normalized LMS filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of coefficients in the filter. */ + q31_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ + q31_t mu; /**< step size that controls filter coefficient updates. */ + uint8_t postShift; /**< bit shift applied to coefficients. */ + const q31_t *recipTable; /**< points to the reciprocal initial value table. */ + q31_t energy; /**< saves previous frame energy. */ + q31_t x0; /**< saves previous input sample. */ + } arm_lms_norm_instance_q31; + + + /** + * @brief Processing function for Q31 normalized LMS filter. + * @param[in] S points to an instance of the Q31 normalized LMS filter structure. + * @param[in] pSrc points to the block of input data. + * @param[in] pRef points to the block of reference data. + * @param[out] pOut points to the block of output data. + * @param[out] pErr points to the block of error data. + * @param[in] blockSize number of samples to process. + */ + void arm_lms_norm_q31( + arm_lms_norm_instance_q31 * S, + const q31_t * pSrc, + q31_t * pRef, + q31_t * pOut, + q31_t * pErr, + uint32_t blockSize); + + + /** + * @brief Initialization function for Q31 normalized LMS filter. + * @param[in] S points to an instance of the Q31 normalized LMS filter structure. + * @param[in] numTaps number of filter coefficients. + * @param[in] pCoeffs points to coefficient buffer. + * @param[in] pState points to state buffer. + * @param[in] mu step size that controls filter coefficient updates. + * @param[in] blockSize number of samples to process. + * @param[in] postShift bit shift applied to coefficients. + */ + void arm_lms_norm_init_q31( + arm_lms_norm_instance_q31 * S, + uint16_t numTaps, + q31_t * pCoeffs, + q31_t * pState, + q31_t mu, + uint32_t blockSize, + uint8_t postShift); + + + /** + * @brief Instance structure for the Q15 normalized LMS filter. + */ + typedef struct + { + uint16_t numTaps; /**< Number of coefficients in the filter. */ + q15_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ + q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ + q15_t mu; /**< step size that controls filter coefficient updates. */ + uint8_t postShift; /**< bit shift applied to coefficients. */ + const q15_t *recipTable; /**< Points to the reciprocal initial value table. */ + q15_t energy; /**< saves previous frame energy. */ + q15_t x0; /**< saves previous input sample. */ + } arm_lms_norm_instance_q15; + + + /** + * @brief Processing function for Q15 normalized LMS filter. + * @param[in] S points to an instance of the Q15 normalized LMS filter structure. + * @param[in] pSrc points to the block of input data. + * @param[in] pRef points to the block of reference data. + * @param[out] pOut points to the block of output data. + * @param[out] pErr points to the block of error data. + * @param[in] blockSize number of samples to process. + */ + void arm_lms_norm_q15( + arm_lms_norm_instance_q15 * S, + const q15_t * pSrc, + q15_t * pRef, + q15_t * pOut, + q15_t * pErr, + uint32_t blockSize); + + + /** + * @brief Initialization function for Q15 normalized LMS filter. + * @param[in] S points to an instance of the Q15 normalized LMS filter structure. + * @param[in] numTaps number of filter coefficients. + * @param[in] pCoeffs points to coefficient buffer. + * @param[in] pState points to state buffer. + * @param[in] mu step size that controls filter coefficient updates. + * @param[in] blockSize number of samples to process. + * @param[in] postShift bit shift applied to coefficients. + */ + void arm_lms_norm_init_q15( + arm_lms_norm_instance_q15 * S, + uint16_t numTaps, + q15_t * pCoeffs, + q15_t * pState, + q15_t mu, + uint32_t blockSize, + uint8_t postShift); + + + /** + * @brief Correlation of floating-point sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. + */ + void arm_correlate_f32( + const float32_t * pSrcA, + uint32_t srcALen, + const float32_t * pSrcB, + uint32_t srcBLen, + float32_t * pDst); + + +/** + @brief Correlation of Q15 sequences + @param[in] pSrcA points to the first input sequence + @param[in] srcALen length of the first input sequence + @param[in] pSrcB points to the second input sequence + @param[in] srcBLen length of the second input sequence + @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. + @param[in] pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. +*/ +void arm_correlate_opt_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst, + q15_t * pScratch); + + +/** + @brief Correlation of Q15 sequences. + @param[in] pSrcA points to the first input sequence + @param[in] srcALen length of the first input sequence + @param[in] pSrcB points to the second input sequence + @param[in] srcBLen length of the second input sequence + @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. + */ + void arm_correlate_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst); + + +/** + @brief Correlation of Q15 sequences (fast version). + @param[in] pSrcA points to the first input sequence + @param[in] srcALen length of the first input sequence + @param[in] pSrcB points to the second input sequence + @param[in] srcBLen length of the second input sequence + @param[out] pDst points to the location where the output result is written. Length 2 * max(srcALen, srcBLen) - 1. + @return none + */ +void arm_correlate_fast_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst); + + +/** + @brief Correlation of Q15 sequences (fast version). + @param[in] pSrcA points to the first input sequence. + @param[in] srcALen length of the first input sequence. + @param[in] pSrcB points to the second input sequence. + @param[in] srcBLen length of the second input sequence. + @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. + @param[in] pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. + */ +void arm_correlate_fast_opt_q15( + const q15_t * pSrcA, + uint32_t srcALen, + const q15_t * pSrcB, + uint32_t srcBLen, + q15_t * pDst, + q15_t * pScratch); + + + /** + * @brief Correlation of Q31 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. + */ + void arm_correlate_q31( + const q31_t * pSrcA, + uint32_t srcALen, + const q31_t * pSrcB, + uint32_t srcBLen, + q31_t * pDst); + + +/** + @brief Correlation of Q31 sequences (fast version). + @param[in] pSrcA points to the first input sequence + @param[in] srcALen length of the first input sequence + @param[in] pSrcB points to the second input sequence + @param[in] srcBLen length of the second input sequence + @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. + */ +void arm_correlate_fast_q31( + const q31_t * pSrcA, + uint32_t srcALen, + const q31_t * pSrcB, + uint32_t srcBLen, + q31_t * pDst); + + + /** + * @brief Correlation of Q7 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. + * @param[in] pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. + * @param[in] pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen). + */ + void arm_correlate_opt_q7( + const q7_t * pSrcA, + uint32_t srcALen, + const q7_t * pSrcB, + uint32_t srcBLen, + q7_t * pDst, + q15_t * pScratch1, + q15_t * pScratch2); + + + /** + * @brief Correlation of Q7 sequences. + * @param[in] pSrcA points to the first input sequence. + * @param[in] srcALen length of the first input sequence. + * @param[in] pSrcB points to the second input sequence. + * @param[in] srcBLen length of the second input sequence. + * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. + */ + void arm_correlate_q7( + const q7_t * pSrcA, + uint32_t srcALen, + const q7_t * pSrcB, + uint32_t srcBLen, + q7_t * pDst); + + + /** + * @brief Instance structure for the floating-point sparse FIR filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of coefficients in the filter. */ + uint16_t stateIndex; /**< state buffer index. Points to the oldest sample in the state buffer. */ + float32_t *pState; /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */ + const float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ + uint16_t maxDelay; /**< maximum offset specified by the pTapDelay array. */ + int32_t *pTapDelay; /**< points to the array of delay values. The array is of length numTaps. */ + } arm_fir_sparse_instance_f32; + + /** + * @brief Instance structure for the Q31 sparse FIR filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of coefficients in the filter. */ + uint16_t stateIndex; /**< state buffer index. Points to the oldest sample in the state buffer. */ + q31_t *pState; /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */ + const q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ + uint16_t maxDelay; /**< maximum offset specified by the pTapDelay array. */ + int32_t *pTapDelay; /**< points to the array of delay values. The array is of length numTaps. */ + } arm_fir_sparse_instance_q31; + + /** + * @brief Instance structure for the Q15 sparse FIR filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of coefficients in the filter. */ + uint16_t stateIndex; /**< state buffer index. Points to the oldest sample in the state buffer. */ + q15_t *pState; /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */ + const q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ + uint16_t maxDelay; /**< maximum offset specified by the pTapDelay array. */ + int32_t *pTapDelay; /**< points to the array of delay values. The array is of length numTaps. */ + } arm_fir_sparse_instance_q15; + + /** + * @brief Instance structure for the Q7 sparse FIR filter. + */ + typedef struct + { + uint16_t numTaps; /**< number of coefficients in the filter. */ + uint16_t stateIndex; /**< state buffer index. Points to the oldest sample in the state buffer. */ + q7_t *pState; /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */ + const q7_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ + uint16_t maxDelay; /**< maximum offset specified by the pTapDelay array. */ + int32_t *pTapDelay; /**< points to the array of delay values. The array is of length numTaps. */ + } arm_fir_sparse_instance_q7; + + + /** + * @brief Processing function for the floating-point sparse FIR filter. + * @param[in] S points to an instance of the floating-point sparse FIR structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] pScratchIn points to a temporary buffer of size blockSize. + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_sparse_f32( + arm_fir_sparse_instance_f32 * S, + const float32_t * pSrc, + float32_t * pDst, + float32_t * pScratchIn, + uint32_t blockSize); + + + /** + * @brief Initialization function for the floating-point sparse FIR filter. + * @param[in,out] S points to an instance of the floating-point sparse FIR structure. + * @param[in] numTaps number of nonzero coefficients in the filter. + * @param[in] pCoeffs points to the array of filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] pTapDelay points to the array of offset times. + * @param[in] maxDelay maximum offset time supported. + * @param[in] blockSize number of samples that will be processed per block. + */ + void arm_fir_sparse_init_f32( + arm_fir_sparse_instance_f32 * S, + uint16_t numTaps, + const float32_t * pCoeffs, + float32_t * pState, + int32_t * pTapDelay, + uint16_t maxDelay, + uint32_t blockSize); + + + /** + * @brief Processing function for the Q31 sparse FIR filter. + * @param[in] S points to an instance of the Q31 sparse FIR structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] pScratchIn points to a temporary buffer of size blockSize. + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_sparse_q31( + arm_fir_sparse_instance_q31 * S, + const q31_t * pSrc, + q31_t * pDst, + q31_t * pScratchIn, + uint32_t blockSize); + + + /** + * @brief Initialization function for the Q31 sparse FIR filter. + * @param[in,out] S points to an instance of the Q31 sparse FIR structure. + * @param[in] numTaps number of nonzero coefficients in the filter. + * @param[in] pCoeffs points to the array of filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] pTapDelay points to the array of offset times. + * @param[in] maxDelay maximum offset time supported. + * @param[in] blockSize number of samples that will be processed per block. + */ + void arm_fir_sparse_init_q31( + arm_fir_sparse_instance_q31 * S, + uint16_t numTaps, + const q31_t * pCoeffs, + q31_t * pState, + int32_t * pTapDelay, + uint16_t maxDelay, + uint32_t blockSize); + + + /** + * @brief Processing function for the Q15 sparse FIR filter. + * @param[in] S points to an instance of the Q15 sparse FIR structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] pScratchIn points to a temporary buffer of size blockSize. + * @param[in] pScratchOut points to a temporary buffer of size blockSize. + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_sparse_q15( + arm_fir_sparse_instance_q15 * S, + const q15_t * pSrc, + q15_t * pDst, + q15_t * pScratchIn, + q31_t * pScratchOut, + uint32_t blockSize); + + + /** + * @brief Initialization function for the Q15 sparse FIR filter. + * @param[in,out] S points to an instance of the Q15 sparse FIR structure. + * @param[in] numTaps number of nonzero coefficients in the filter. + * @param[in] pCoeffs points to the array of filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] pTapDelay points to the array of offset times. + * @param[in] maxDelay maximum offset time supported. + * @param[in] blockSize number of samples that will be processed per block. + */ + void arm_fir_sparse_init_q15( + arm_fir_sparse_instance_q15 * S, + uint16_t numTaps, + const q15_t * pCoeffs, + q15_t * pState, + int32_t * pTapDelay, + uint16_t maxDelay, + uint32_t blockSize); + + + /** + * @brief Processing function for the Q7 sparse FIR filter. + * @param[in] S points to an instance of the Q7 sparse FIR structure. + * @param[in] pSrc points to the block of input data. + * @param[out] pDst points to the block of output data + * @param[in] pScratchIn points to a temporary buffer of size blockSize. + * @param[in] pScratchOut points to a temporary buffer of size blockSize. + * @param[in] blockSize number of input samples to process per call. + */ + void arm_fir_sparse_q7( + arm_fir_sparse_instance_q7 * S, + const q7_t * pSrc, + q7_t * pDst, + q7_t * pScratchIn, + q31_t * pScratchOut, + uint32_t blockSize); + + + /** + * @brief Initialization function for the Q7 sparse FIR filter. + * @param[in,out] S points to an instance of the Q7 sparse FIR structure. + * @param[in] numTaps number of nonzero coefficients in the filter. + * @param[in] pCoeffs points to the array of filter coefficients. + * @param[in] pState points to the state buffer. + * @param[in] pTapDelay points to the array of offset times. + * @param[in] maxDelay maximum offset time supported. + * @param[in] blockSize number of samples that will be processed per block. + */ + void arm_fir_sparse_init_q7( + arm_fir_sparse_instance_q7 * S, + uint16_t numTaps, + const q7_t * pCoeffs, + q7_t * pState, + int32_t * pTapDelay, + uint16_t maxDelay, + uint32_t blockSize); + + + /** + * @brief Floating-point sin_cos function. + * @param[in] theta input value in degrees + * @param[out] pSinVal points to the processed sine output. + * @param[out] pCosVal points to the processed cos output. + */ + void arm_sin_cos_f32( + float32_t theta, + float32_t * pSinVal, + float32_t * pCosVal); + + + /** + * @brief Q31 sin_cos function. + * @param[in] theta scaled input value in degrees + * @param[out] pSinVal points to the processed sine output. + * @param[out] pCosVal points to the processed cosine output. + */ + void arm_sin_cos_q31( + q31_t theta, + q31_t * pSinVal, + q31_t * pCosVal); + + + /** + * @brief Floating-point complex conjugate. + * @param[in] pSrc points to the input vector + * @param[out] pDst points to the output vector + * @param[in] numSamples number of complex samples in each vector + */ + void arm_cmplx_conj_f32( + const float32_t * pSrc, + float32_t * pDst, + uint32_t numSamples); + + /** + * @brief Q31 complex conjugate. + * @param[in] pSrc points to the input vector + * @param[out] pDst points to the output vector + * @param[in] numSamples number of complex samples in each vector + */ + void arm_cmplx_conj_q31( + const q31_t * pSrc, + q31_t * pDst, + uint32_t numSamples); + + + /** + * @brief Q15 complex conjugate. + * @param[in] pSrc points to the input vector + * @param[out] pDst points to the output vector + * @param[in] numSamples number of complex samples in each vector + */ + void arm_cmplx_conj_q15( + const q15_t * pSrc, + q15_t * pDst, + uint32_t numSamples); + + + /** + * @brief Floating-point complex magnitude squared + * @param[in] pSrc points to the complex input vector + * @param[out] pDst points to the real output vector + * @param[in] numSamples number of complex samples in the input vector + */ + void arm_cmplx_mag_squared_f32( + const float32_t * pSrc, + float32_t * pDst, + uint32_t numSamples); + + + /** + * @brief Q31 complex magnitude squared + * @param[in] pSrc points to the complex input vector + * @param[out] pDst points to the real output vector + * @param[in] numSamples number of complex samples in the input vector + */ + void arm_cmplx_mag_squared_q31( + const q31_t * pSrc, + q31_t * pDst, + uint32_t numSamples); + + + /** + * @brief Q15 complex magnitude squared + * @param[in] pSrc points to the complex input vector + * @param[out] pDst points to the real output vector + * @param[in] numSamples number of complex samples in the input vector + */ + void arm_cmplx_mag_squared_q15( + const q15_t * pSrc, + q15_t * pDst, + uint32_t numSamples); + + + /** + * @ingroup groupController + */ + + /** + * @defgroup PID PID Motor Control + * + * A Proportional Integral Derivative (PID) controller is a generic feedback control + * loop mechanism widely used in industrial control systems. + * A PID controller is the most commonly used type of feedback controller. + * + * This set of functions implements (PID) controllers + * for Q15, Q31, and floating-point data types. The functions operate on a single sample + * of data and each call to the function returns a single processed value. + * S points to an instance of the PID control data structure. in + * is the input sample value. The functions return the output value. + * + * \par Algorithm: + * 
+   *    y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]
+   *    A0 = Kp + Ki + Kd
+   *    A1 = (-Kp ) - (2 * Kd )
+   *    A2 = Kd
+   *
+ * + * \par + * where \c Kp is proportional constant, \c Ki is Integral constant and \c Kd is Derivative constant + * + * \par + * \image html PID.gif "Proportional Integral Derivative Controller" + * + * \par + * The PID controller calculates an "error" value as the difference between + * the measured output and the reference input. + * The controller attempts to minimize the error by adjusting the process control inputs. + * The proportional value determines the reaction to the current error, + * the integral value determines the reaction based on the sum of recent errors, + * and the derivative value determines the reaction based on the rate at which the error has been changing. + * + * \par Instance Structure + * The Gains A0, A1, A2 and state variables for a PID controller are stored together in an instance data structure. + * A separate instance structure must be defined for each PID Controller. + * There are separate instance structure declarations for each of the 3 supported data types. + * + * \par Reset Functions + * There is also an associated reset function for each data type which clears the state array. + * + * \par Initialization Functions + * There is also an associated initialization function for each data type. + * The initialization function performs the following operations: + * - Initializes the Gains A0, A1, A2 from Kp,Ki, Kd gains. + * - Zeros out the values in the state buffer. + * + * \par + * Instance structure cannot be placed into a const data section and it is recommended to use the initialization function. + * + * \par Fixed-Point Behavior + * Care must be taken when using the fixed-point versions of the PID Controller functions. + * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. + * Refer to the function specific documentation below for usage guidelines. + */ + + /** + * @addtogroup PID + * @{ + */ + + /** + * @brief Process function for the floating-point PID Control. + * @param[in,out] S is an instance of the floating-point PID Control structure + * @param[in] in input sample to process + * @return processed output sample. + */ + __STATIC_FORCEINLINE float32_t arm_pid_f32( + arm_pid_instance_f32 * S, + float32_t in) + { + float32_t out; + + /* y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2] */ + out = (S->A0 * in) + + (S->A1 * S->state[0]) + (S->A2 * S->state[1]) + (S->state[2]); + + /* Update state */ + S->state[1] = S->state[0]; + S->state[0] = in; + S->state[2] = out; + + /* return to application */ + return (out); + + } + +/** + @brief Process function for the Q31 PID Control. + @param[in,out] S points to an instance of the Q31 PID Control structure + @param[in] in input sample to process + @return processed output sample. + + \par Scaling and Overflow Behavior + The function is implemented using an internal 64-bit accumulator. + The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. + Thus, if the accumulator result overflows it wraps around rather than clip. + In order to avoid overflows completely the input signal must be scaled down by 2 bits as there are four additions. + After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format. + */ +__STATIC_FORCEINLINE q31_t arm_pid_q31( + arm_pid_instance_q31 * S, + q31_t in) + { + q63_t acc; + q31_t out; + + /* acc = A0 * x[n] */ + acc = (q63_t) S->A0 * in; + + /* acc += A1 * x[n-1] */ + acc += (q63_t) S->A1 * S->state[0]; + + /* acc += A2 * x[n-2] */ + acc += (q63_t) S->A2 * S->state[1]; + + /* convert output to 1.31 format to add y[n-1] */ + out = (q31_t) (acc >> 31U); + + /* out += y[n-1] */ + out += S->state[2]; + + /* Update state */ + S->state[1] = S->state[0]; + S->state[0] = in; + S->state[2] = out; + + /* return to application */ + return (out); + } + + +/** + @brief Process function for the Q15 PID Control. + @param[in,out] S points to an instance of the Q15 PID Control structure + @param[in] in input sample to process + @return processed output sample. + + \par Scaling and Overflow Behavior + The function is implemented using a 64-bit internal accumulator. + Both Gains and state variables are represented in 1.15 format and multiplications yield a 2.30 result. + The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. + There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. + After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. + Lastly, the accumulator is saturated to yield a result in 1.15 format. + */ +__STATIC_FORCEINLINE q15_t arm_pid_q15( + arm_pid_instance_q15 * S, + q15_t in) + { + q63_t acc; + q15_t out; + +#if defined (ARM_MATH_DSP) + /* Implementation of PID controller */ + + /* acc = A0 * x[n] */ + acc = (q31_t) __SMUAD((uint32_t)S->A0, (uint32_t)in); + + /* acc += A1 * x[n-1] + A2 * x[n-2] */ + acc = (q63_t)__SMLALD((uint32_t)S->A1, (uint32_t)read_q15x2 (S->state), (uint64_t)acc); +#else + /* acc = A0 * x[n] */ + acc = ((q31_t) S->A0) * in; + + /* acc += A1 * x[n-1] + A2 * x[n-2] */ + acc += (q31_t) S->A1 * S->state[0]; + acc += (q31_t) S->A2 * S->state[1]; +#endif + + /* acc += y[n-1] */ + acc += (q31_t) S->state[2] << 15; + + /* saturate the output */ + out = (q15_t) (__SSAT((q31_t)(acc >> 15), 16)); + + /* Update state */ + S->state[1] = S->state[0]; + S->state[0] = in; + S->state[2] = out; + + /* return to application */ + return (out); + } + + /** + * @} end of PID group + */ + + + /** + * @brief Floating-point matrix inverse. + * @param[in] src points to the instance of the input floating-point matrix structure. + * @param[out] dst points to the instance of the output floating-point matrix structure. + * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match. + * If the input matrix is singular (does not have an inverse), then the algorithm terminates and returns error status ARM_MATH_SINGULAR. + */ + arm_status arm_mat_inverse_f32( + const arm_matrix_instance_f32 * src, + arm_matrix_instance_f32 * dst); + + + /** + * @brief Floating-point matrix inverse. + * @param[in] src points to the instance of the input floating-point matrix structure. + * @param[out] dst points to the instance of the output floating-point matrix structure. + * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match. + * If the input matrix is singular (does not have an inverse), then the algorithm terminates and returns error status ARM_MATH_SINGULAR. + */ + arm_status arm_mat_inverse_f64( + const arm_matrix_instance_f64 * src, + arm_matrix_instance_f64 * dst); + + + + /** + * @ingroup groupController + */ + + /** + * @defgroup clarke Vector Clarke Transform + * Forward Clarke transform converts the instantaneous stator phases into a two-coordinate time invariant vector. + * Generally the Clarke transform uses three-phase currents Ia, Ib and Ic to calculate currents + * in the two-phase orthogonal stator axis Ialpha and Ibeta. + * When Ialpha is superposed with Ia as shown in the figure below + * \image html clarke.gif Stator current space vector and its components in (a,b). + * and Ia + Ib + Ic = 0, in this condition Ialpha and Ibeta + * can be calculated using only Ia and Ib. + * + * The function operates on a single sample of data and each call to the function returns the processed output. + * The library provides separate functions for Q31 and floating-point data types. + * \par Algorithm + * \image html clarkeFormula.gif + * where Ia and Ib are the instantaneous stator phases and + * pIalpha and pIbeta are the two coordinates of time invariant vector. + * \par Fixed-Point Behavior + * Care must be taken when using the Q31 version of the Clarke transform. + * In particular, the overflow and saturation behavior of the accumulator used must be considered. + * Refer to the function specific documentation below for usage guidelines. + */ + + /** + * @addtogroup clarke + * @{ + */ + + /** + * + * @brief Floating-point Clarke transform + * @param[in] Ia input three-phase coordinate a + * @param[in] Ib input three-phase coordinate b + * @param[out] pIalpha points to output two-phase orthogonal vector axis alpha + * @param[out] pIbeta points to output two-phase orthogonal vector axis beta + * @return none + */ + __STATIC_FORCEINLINE void arm_clarke_f32( + float32_t Ia, + float32_t Ib, + float32_t * pIalpha, + float32_t * pIbeta) + { + /* Calculate pIalpha using the equation, pIalpha = Ia */ + *pIalpha = Ia; + + /* Calculate pIbeta using the equation, pIbeta = (1/sqrt(3)) * Ia + (2/sqrt(3)) * Ib */ + *pIbeta = ((float32_t) 0.57735026919 * Ia + (float32_t) 1.15470053838 * Ib); + } + + +/** + @brief Clarke transform for Q31 version + @param[in] Ia input three-phase coordinate a + @param[in] Ib input three-phase coordinate b + @param[out] pIalpha points to output two-phase orthogonal vector axis alpha + @param[out] pIbeta points to output two-phase orthogonal vector axis beta + @return none + + \par Scaling and Overflow Behavior + The function is implemented using an internal 32-bit accumulator. + The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. + There is saturation on the addition, hence there is no risk of overflow. + */ +__STATIC_FORCEINLINE void arm_clarke_q31( + q31_t Ia, + q31_t Ib, + q31_t * pIalpha, + q31_t * pIbeta) + { + q31_t product1, product2; /* Temporary variables used to store intermediate results */ + + /* Calculating pIalpha from Ia by equation pIalpha = Ia */ + *pIalpha = Ia; + + /* Intermediate product is calculated by (1/(sqrt(3)) * Ia) */ + product1 = (q31_t) (((q63_t) Ia * 0x24F34E8B) >> 30); + + /* Intermediate product is calculated by (2/sqrt(3) * Ib) */ + product2 = (q31_t) (((q63_t) Ib * 0x49E69D16) >> 30); + + /* pIbeta is calculated by adding the intermediate products */ + *pIbeta = __QADD(product1, product2); + } + + /** + * @} end of clarke group + */ + + + /** + * @ingroup groupController + */ + + /** + * @defgroup inv_clarke Vector Inverse Clarke Transform + * Inverse Clarke transform converts the two-coordinate time invariant vector into instantaneous stator phases. + * + * The function operates on a single sample of data and each call to the function returns the processed output. + * The library provides separate functions for Q31 and floating-point data types. + * \par Algorithm + * \image html clarkeInvFormula.gif + * where pIa and pIb are the instantaneous stator phases and + * Ialpha and Ibeta are the two coordinates of time invariant vector. + * \par Fixed-Point Behavior + * Care must be taken when using the Q31 version of the Clarke transform. + * In particular, the overflow and saturation behavior of the accumulator used must be considered. + * Refer to the function specific documentation below for usage guidelines. + */ + + /** + * @addtogroup inv_clarke + * @{ + */ + + /** + * @brief Floating-point Inverse Clarke transform + * @param[in] Ialpha input two-phase orthogonal vector axis alpha + * @param[in] Ibeta input two-phase orthogonal vector axis beta + * @param[out] pIa points to output three-phase coordinate a + * @param[out] pIb points to output three-phase coordinate b + * @return none + */ + __STATIC_FORCEINLINE void arm_inv_clarke_f32( + float32_t Ialpha, + float32_t Ibeta, + float32_t * pIa, + float32_t * pIb) + { + /* Calculating pIa from Ialpha by equation pIa = Ialpha */ + *pIa = Ialpha; + + /* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */ + *pIb = -0.5f * Ialpha + 0.8660254039f * Ibeta; + } + + +/** + @brief Inverse Clarke transform for Q31 version + @param[in] Ialpha input two-phase orthogonal vector axis alpha + @param[in] Ibeta input two-phase orthogonal vector axis beta + @param[out] pIa points to output three-phase coordinate a + @param[out] pIb points to output three-phase coordinate b + @return none + + \par Scaling and Overflow Behavior + The function is implemented using an internal 32-bit accumulator. + The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. + There is saturation on the subtraction, hence there is no risk of overflow. + */ +__STATIC_FORCEINLINE void arm_inv_clarke_q31( + q31_t Ialpha, + q31_t Ibeta, + q31_t * pIa, + q31_t * pIb) + { + q31_t product1, product2; /* Temporary variables used to store intermediate results */ + + /* Calculating pIa from Ialpha by equation pIa = Ialpha */ + *pIa = Ialpha; + + /* Intermediate product is calculated by (1/(2*sqrt(3)) * Ia) */ + product1 = (q31_t) (((q63_t) (Ialpha) * (0x40000000)) >> 31); + + /* Intermediate product is calculated by (1/sqrt(3) * pIb) */ + product2 = (q31_t) (((q63_t) (Ibeta) * (0x6ED9EBA1)) >> 31); + + /* pIb is calculated by subtracting the products */ + *pIb = __QSUB(product2, product1); + } + + /** + * @} end of inv_clarke group + */ + + + + /** + * @ingroup groupController + */ + + /** + * @defgroup park Vector Park Transform + * + * Forward Park transform converts the input two-coordinate vector to flux and torque components. + * The Park transform can be used to realize the transformation of the Ialpha and the Ibeta currents + * from the stationary to the moving reference frame and control the spatial relationship between + * the stator vector current and rotor flux vector. + * If we consider the d axis aligned with the rotor flux, the diagram below shows the + * current vector and the relationship from the two reference frames: + * \image html park.gif "Stator current space vector and its component in (a,b) and in the d,q rotating reference frame" + * + * The function operates on a single sample of data and each call to the function returns the processed output. + * The library provides separate functions for Q31 and floating-point data types. + * \par Algorithm + * \image html parkFormula.gif + * where Ialpha and Ibeta are the stator vector components, + * pId and pIq are rotor vector components and cosVal and sinVal are the + * cosine and sine values of theta (rotor flux position). + * \par Fixed-Point Behavior + * Care must be taken when using the Q31 version of the Park transform. + * In particular, the overflow and saturation behavior of the accumulator used must be considered. + * Refer to the function specific documentation below for usage guidelines. + */ + + /** + * @addtogroup park + * @{ + */ + + /** + * @brief Floating-point Park transform + * @param[in] Ialpha input two-phase vector coordinate alpha + * @param[in] Ibeta input two-phase vector coordinate beta + * @param[out] pId points to output rotor reference frame d + * @param[out] pIq points to output rotor reference frame q + * @param[in] sinVal sine value of rotation angle theta + * @param[in] cosVal cosine value of rotation angle theta + * @return none + * + * The function implements the forward Park transform. + * + */ + __STATIC_FORCEINLINE void arm_park_f32( + float32_t Ialpha, + float32_t Ibeta, + float32_t * pId, + float32_t * pIq, + float32_t sinVal, + float32_t cosVal) + { + /* Calculate pId using the equation, pId = Ialpha * cosVal + Ibeta * sinVal */ + *pId = Ialpha * cosVal + Ibeta * sinVal; + + /* Calculate pIq using the equation, pIq = - Ialpha * sinVal + Ibeta * cosVal */ + *pIq = -Ialpha * sinVal + Ibeta * cosVal; + } + + +/** + @brief Park transform for Q31 version + @param[in] Ialpha input two-phase vector coordinate alpha + @param[in] Ibeta input two-phase vector coordinate beta + @param[out] pId points to output rotor reference frame d + @param[out] pIq points to output rotor reference frame q + @param[in] sinVal sine value of rotation angle theta + @param[in] cosVal cosine value of rotation angle theta + @return none + + \par Scaling and Overflow Behavior + The function is implemented using an internal 32-bit accumulator. + The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. + There is saturation on the addition and subtraction, hence there is no risk of overflow. + */ +__STATIC_FORCEINLINE void arm_park_q31( + q31_t Ialpha, + q31_t Ibeta, + q31_t * pId, + q31_t * pIq, + q31_t sinVal, + q31_t cosVal) + { + q31_t product1, product2; /* Temporary variables used to store intermediate results */ + q31_t product3, product4; /* Temporary variables used to store intermediate results */ + + /* Intermediate product is calculated by (Ialpha * cosVal) */ + product1 = (q31_t) (((q63_t) (Ialpha) * (cosVal)) >> 31); + + /* Intermediate product is calculated by (Ibeta * sinVal) */ + product2 = (q31_t) (((q63_t) (Ibeta) * (sinVal)) >> 31); + + + /* Intermediate product is calculated by (Ialpha * sinVal) */ + product3 = (q31_t) (((q63_t) (Ialpha) * (sinVal)) >> 31); + + /* Intermediate product is calculated by (Ibeta * cosVal) */ + product4 = (q31_t) (((q63_t) (Ibeta) * (cosVal)) >> 31); + + /* Calculate pId by adding the two intermediate products 1 and 2 */ + *pId = __QADD(product1, product2); + + /* Calculate pIq by subtracting the two intermediate products 3 from 4 */ + *pIq = __QSUB(product4, product3); + } + + /** + * @} end of park group + */ + + + /** + * @ingroup groupController + */ + + /** + * @defgroup inv_park Vector Inverse Park transform + * Inverse Park transform converts the input flux and torque components to two-coordinate vector. + * + * The function operates on a single sample of data and each call to the function returns the processed output. + * The library provides separate functions for Q31 and floating-point data types. + * \par Algorithm + * \image html parkInvFormula.gif + * where pIalpha and pIbeta are the stator vector components, + * Id and Iq are rotor vector components and cosVal and sinVal are the + * cosine and sine values of theta (rotor flux position). + * \par Fixed-Point Behavior + * Care must be taken when using the Q31 version of the Park transform. + * In particular, the overflow and saturation behavior of the accumulator used must be considered. + * Refer to the function specific documentation below for usage guidelines. + */ + + /** + * @addtogroup inv_park + * @{ + */ + + /** + * @brief Floating-point Inverse Park transform + * @param[in] Id input coordinate of rotor reference frame d + * @param[in] Iq input coordinate of rotor reference frame q + * @param[out] pIalpha points to output two-phase orthogonal vector axis alpha + * @param[out] pIbeta points to output two-phase orthogonal vector axis beta + * @param[in] sinVal sine value of rotation angle theta + * @param[in] cosVal cosine value of rotation angle theta + * @return none + */ + __STATIC_FORCEINLINE void arm_inv_park_f32( + float32_t Id, + float32_t Iq, + float32_t * pIalpha, + float32_t * pIbeta, + float32_t sinVal, + float32_t cosVal) + { + /* Calculate pIalpha using the equation, pIalpha = Id * cosVal - Iq * sinVal */ + *pIalpha = Id * cosVal - Iq * sinVal; + + /* Calculate pIbeta using the equation, pIbeta = Id * sinVal + Iq * cosVal */ + *pIbeta = Id * sinVal + Iq * cosVal; + } + + +/** + @brief Inverse Park transform for Q31 version + @param[in] Id input coordinate of rotor reference frame d + @param[in] Iq input coordinate of rotor reference frame q + @param[out] pIalpha points to output two-phase orthogonal vector axis alpha + @param[out] pIbeta points to output two-phase orthogonal vector axis beta + @param[in] sinVal sine value of rotation angle theta + @param[in] cosVal cosine value of rotation angle theta + @return none + + @par Scaling and Overflow Behavior + The function is implemented using an internal 32-bit accumulator. + The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. + There is saturation on the addition, hence there is no risk of overflow. + */ +__STATIC_FORCEINLINE void arm_inv_park_q31( + q31_t Id, + q31_t Iq, + q31_t * pIalpha, + q31_t * pIbeta, + q31_t sinVal, + q31_t cosVal) + { + q31_t product1, product2; /* Temporary variables used to store intermediate results */ + q31_t product3, product4; /* Temporary variables used to store intermediate results */ + + /* Intermediate product is calculated by (Id * cosVal) */ + product1 = (q31_t) (((q63_t) (Id) * (cosVal)) >> 31); + + /* Intermediate product is calculated by (Iq * sinVal) */ + product2 = (q31_t) (((q63_t) (Iq) * (sinVal)) >> 31); + + + /* Intermediate product is calculated by (Id * sinVal) */ + product3 = (q31_t) (((q63_t) (Id) * (sinVal)) >> 31); + + /* Intermediate product is calculated by (Iq * cosVal) */ + product4 = (q31_t) (((q63_t) (Iq) * (cosVal)) >> 31); + + /* Calculate pIalpha by using the two intermediate products 1 and 2 */ + *pIalpha = __QSUB(product1, product2); + + /* Calculate pIbeta by using the two intermediate products 3 and 4 */ + *pIbeta = __QADD(product4, product3); + } + + /** + * @} end of Inverse park group + */ + + + /** + * @ingroup groupInterpolation + */ + + /** + * @defgroup LinearInterpolate Linear Interpolation + * + * Linear interpolation is a method of curve fitting using linear polynomials. + * Linear interpolation works by effectively drawing a straight line between two neighboring samples and returning the appropriate point along that line + * + * \par + * \image html LinearInterp.gif "Linear interpolation" + * + * \par + * A Linear Interpolate function calculates an output value(y), for the input(x) + * using linear interpolation of the input values x0, x1( nearest input values) and the output values y0 and y1(nearest output values) + * + * \par Algorithm: + * 
+   *       y = y0 + (x - x0) * ((y1 - y0)/(x1-x0))
+   *       where x0, x1 are nearest values of input x
+   *             y0, y1 are nearest values to output y
+   *
+ * + * \par + * This set of functions implements Linear interpolation process + * for Q7, Q15, Q31, and floating-point data types. The functions operate on a single + * sample of data and each call to the function returns a single processed value. + * S points to an instance of the Linear Interpolate function data structure. + * x is the input sample value. The functions returns the output value. + * + * \par + * if x is outside of the table boundary, Linear interpolation returns first value of the table + * if x is below input range and returns last value of table if x is above range. + */ + + /** + * @addtogroup LinearInterpolate + * @{ + */ + + /** + * @brief Process function for the floating-point Linear Interpolation Function. + * @param[in,out] S is an instance of the floating-point Linear Interpolation structure + * @param[in] x input sample to process + * @return y processed output sample. + * + */ + __STATIC_FORCEINLINE float32_t arm_linear_interp_f32( + arm_linear_interp_instance_f32 * S, + float32_t x) + { + float32_t y; + float32_t x0, x1; /* Nearest input values */ + float32_t y0, y1; /* Nearest output values */ + float32_t xSpacing = S->xSpacing; /* spacing between input values */ + int32_t i; /* Index variable */ + float32_t *pYData = S->pYData; /* pointer to output table */ + + /* Calculation of index */ + i = (int32_t) ((x - S->x1) / xSpacing); + + if (i < 0) + { + /* Iniatilize output for below specified range as least output value of table */ + y = pYData[0]; + } + else if ((uint32_t)i >= (S->nValues - 1)) + { + /* Iniatilize output for above specified range as last output value of table */ + y = pYData[S->nValues - 1]; + } + else + { + /* Calculation of nearest input values */ + x0 = S->x1 + i * xSpacing; + x1 = S->x1 + (i + 1) * xSpacing; + + /* Read of nearest output values */ + y0 = pYData[i]; + y1 = pYData[i + 1]; + + /* Calculation of output */ + y = y0 + (x - x0) * ((y1 - y0) / (x1 - x0)); + + } + + /* returns output value */ + return (y); + } + + + /** + * + * @brief Process function for the Q31 Linear Interpolation Function. + * @param[in] pYData pointer to Q31 Linear Interpolation table + * @param[in] x input sample to process + * @param[in] nValues number of table values + * @return y processed output sample. + * + * \par + * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part. + * This function can support maximum of table size 2^12. + * + */ + __STATIC_FORCEINLINE q31_t arm_linear_interp_q31( + q31_t * pYData, + q31_t x, + uint32_t nValues) + { + q31_t y; /* output */ + q31_t y0, y1; /* Nearest output values */ + q31_t fract; /* fractional part */ + int32_t index; /* Index to read nearest output values */ + + /* Input is in 12.20 format */ + /* 12 bits for the table index */ + /* Index value calculation */ + index = ((x & (q31_t)0xFFF00000) >> 20); + + if (index >= (int32_t)(nValues - 1)) + { + return (pYData[nValues - 1]); + } + else if (index < 0) + { + return (pYData[0]); + } + else + { + /* 20 bits for the fractional part */ + /* shift left by 11 to keep fract in 1.31 format */ + fract = (x & 0x000FFFFF) << 11; + + /* Read two nearest output values from the index in 1.31(q31) format */ + y0 = pYData[index]; + y1 = pYData[index + 1]; + + /* Calculation of y0 * (1-fract) and y is in 2.30 format */ + y = ((q31_t) ((q63_t) y0 * (0x7FFFFFFF - fract) >> 32)); + + /* Calculation of y0 * (1-fract) + y1 *fract and y is in 2.30 format */ + y += ((q31_t) (((q63_t) y1 * fract) >> 32)); + + /* Convert y to 1.31 format */ + return (y << 1U); + } + } + + + /** + * + * @brief Process function for the Q15 Linear Interpolation Function. + * @param[in] pYData pointer to Q15 Linear Interpolation table + * @param[in] x input sample to process + * @param[in] nValues number of table values + * @return y processed output sample. + * + * \par + * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part. + * This function can support maximum of table size 2^12. + * + */ + __STATIC_FORCEINLINE q15_t arm_linear_interp_q15( + q15_t * pYData, + q31_t x, + uint32_t nValues) + { + q63_t y; /* output */ + q15_t y0, y1; /* Nearest output values */ + q31_t fract; /* fractional part */ + int32_t index; /* Index to read nearest output values */ + + /* Input is in 12.20 format */ + /* 12 bits for the table index */ + /* Index value calculation */ + index = ((x & (int32_t)0xFFF00000) >> 20); + + if (index >= (int32_t)(nValues - 1)) + { + return (pYData[nValues - 1]); + } + else if (index < 0) + { + return (pYData[0]); + } + else + { + /* 20 bits for the fractional part */ + /* fract is in 12.20 format */ + fract = (x & 0x000FFFFF); + + /* Read two nearest output values from the index */ + y0 = pYData[index]; + y1 = pYData[index + 1]; + + /* Calculation of y0 * (1-fract) and y is in 13.35 format */ + y = ((q63_t) y0 * (0xFFFFF - fract)); + + /* Calculation of (y0 * (1-fract) + y1 * fract) and y is in 13.35 format */ + y += ((q63_t) y1 * (fract)); + + /* convert y to 1.15 format */ + return (q15_t) (y >> 20); + } + } + + + /** + * + * @brief Process function for the Q7 Linear Interpolation Function. + * @param[in] pYData pointer to Q7 Linear Interpolation table + * @param[in] x input sample to process + * @param[in] nValues number of table values + * @return y processed output sample. + * + * \par + * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part. + * This function can support maximum of table size 2^12. + */ + __STATIC_FORCEINLINE q7_t arm_linear_interp_q7( + q7_t * pYData, + q31_t x, + uint32_t nValues) + { + q31_t y; /* output */ + q7_t y0, y1; /* Nearest output values */ + q31_t fract; /* fractional part */ + uint32_t index; /* Index to read nearest output values */ + + /* Input is in 12.20 format */ + /* 12 bits for the table index */ + /* Index value calculation */ + if (x < 0) + { + return (pYData[0]); + } + index = (x >> 20) & 0xfff; + + if (index >= (nValues - 1)) + { + return (pYData[nValues - 1]); + } + else + { + /* 20 bits for the fractional part */ + /* fract is in 12.20 format */ + fract = (x & 0x000FFFFF); + + /* Read two nearest output values from the index and are in 1.7(q7) format */ + y0 = pYData[index]; + y1 = pYData[index + 1]; + + /* Calculation of y0 * (1-fract ) and y is in 13.27(q27) format */ + y = ((y0 * (0xFFFFF - fract))); + + /* Calculation of y1 * fract + y0 * (1-fract) and y is in 13.27(q27) format */ + y += (y1 * fract); + + /* convert y to 1.7(q7) format */ + return (q7_t) (y >> 20); + } + } + + /** + * @} end of LinearInterpolate group + */ + + /** + * @brief Fast approximation to the trigonometric sine function for floating-point data. + * @param[in] x input value in radians. + * @return sin(x). + */ + float32_t arm_sin_f32( + float32_t x); + + + /** + * @brief Fast approximation to the trigonometric sine function for Q31 data. + * @param[in] x Scaled input value in radians. + * @return sin(x). + */ + q31_t arm_sin_q31( + q31_t x); + + + /** + * @brief Fast approximation to the trigonometric sine function for Q15 data. + * @param[in] x Scaled input value in radians. + * @return sin(x). + */ + q15_t arm_sin_q15( + q15_t x); + + + /** + * @brief Fast approximation to the trigonometric cosine function for floating-point data. + * @param[in] x input value in radians. + * @return cos(x). + */ + float32_t arm_cos_f32( + float32_t x); + + + /** + * @brief Fast approximation to the trigonometric cosine function for Q31 data. + * @param[in] x Scaled input value in radians. + * @return cos(x). + */ + q31_t arm_cos_q31( + q31_t x); + + + /** + * @brief Fast approximation to the trigonometric cosine function for Q15 data. + * @param[in] x Scaled input value in radians. + * @return cos(x). + */ + q15_t arm_cos_q15( + q15_t x); + + +/** + @brief Floating-point vector of log values. + @param[in] pSrc points to the input vector + @param[out] pDst points to the output vector + @param[in] blockSize number of samples in each vector + @return none + */ + void arm_vlog_f32( + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + +/** + @brief Floating-point vector of exp values. + @param[in] pSrc points to the input vector + @param[out] pDst points to the output vector + @param[in] blockSize number of samples in each vector + @return none + */ + void arm_vexp_f32( + const float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + /** + * @ingroup groupFastMath + */ + + + /** + * @defgroup SQRT Square Root + * + * Computes the square root of a number. + * There are separate functions for Q15, Q31, and floating-point data types. + * The square root function is computed using the Newton-Raphson algorithm. + * This is an iterative algorithm of the form: + * 
+   *      x1 = x0 - f(x0)/f'(x0)
+   *
+ * where x1 is the current estimate, + * x0 is the previous estimate, and + * f'(x0) is the derivative of f() evaluated at x0. + * For the square root function, the algorithm reduces to: + * 
+   *     x0 = in/2                         [initial guess]
+   *     x1 = 1/2 * ( x0 + in / x0)        [each iteration]
+   *
+ */ + + + /** + * @addtogroup SQRT + * @{ + */ + +/** + @brief Floating-point square root function. + @param[in] in input value + @param[out] pOut square root of input value + @return execution status + - \ref ARM_MATH_SUCCESS : input value is positive + - \ref ARM_MATH_ARGUMENT_ERROR : input value is negative; *pOut is set to 0 + */ +__STATIC_FORCEINLINE arm_status arm_sqrt_f32( + float32_t in, + float32_t * pOut) + { + if (in >= 0.0f) + { +#if defined ( __CC_ARM ) + #if defined __TARGET_FPU_VFP + *pOut = __sqrtf(in); + #else + *pOut = sqrtf(in); + #endif + +#elif defined ( __ICCARM__ ) + #if defined __ARMVFP__ + __ASM("VSQRT.F32 %0,%1" : "=t"(*pOut) : "t"(in)); + #else + *pOut = sqrtf(in); + #endif + +#else + *pOut = sqrtf(in); +#endif + + return (ARM_MATH_SUCCESS); + } + else + { + *pOut = 0.0f; + return (ARM_MATH_ARGUMENT_ERROR); + } + } + + +/** + @brief Q31 square root function. + @param[in] in input value. The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF + @param[out] pOut points to square root of input value + @return execution status + - \ref ARM_MATH_SUCCESS : input value is positive + - \ref ARM_MATH_ARGUMENT_ERROR : input value is negative; *pOut is set to 0 + */ +arm_status arm_sqrt_q31( + q31_t in, + q31_t * pOut); + + +/** + @brief Q15 square root function. + @param[in] in input value. The range of the input value is [0 +1) or 0x0000 to 0x7FFF + @param[out] pOut points to square root of input value + @return execution status + - \ref ARM_MATH_SUCCESS : input value is positive + - \ref ARM_MATH_ARGUMENT_ERROR : input value is negative; *pOut is set to 0 + */ +arm_status arm_sqrt_q15( + q15_t in, + q15_t * pOut); + + /** + * @brief Vector Floating-point square root function. + * @param[in] pIn input vector. + * @param[out] pOut vector of square roots of input elements. + * @param[in] len length of input vector. + * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if + * in is negative value and returns zero output for negative values. + */ + void arm_vsqrt_f32( + float32_t * pIn, + float32_t * pOut, + uint16_t len); + + void arm_vsqrt_q31( + q31_t * pIn, + q31_t * pOut, + uint16_t len); + + void arm_vsqrt_q15( + q15_t * pIn, + q15_t * pOut, + uint16_t len); + + /** + * @} end of SQRT group + */ + + + /** + * @brief floating-point Circular write function. + */ + __STATIC_FORCEINLINE void arm_circularWrite_f32( + int32_t * circBuffer, + int32_t L, + uint16_t * writeOffset, + int32_t bufferInc, + const int32_t * src, + int32_t srcInc, + uint32_t blockSize) + { + uint32_t i = 0U; + int32_t wOffset; + + /* Copy the value of Index pointer that points + * to the current location where the input samples to be copied */ + wOffset = *writeOffset; + + /* Loop over the blockSize */ + i = blockSize; + + while (i > 0U) + { + /* copy the input sample to the circular buffer */ + circBuffer[wOffset] = *src; + + /* Update the input pointer */ + src += srcInc; + + /* Circularly update wOffset. Watch out for positive and negative value */ + wOffset += bufferInc; + if (wOffset >= L) + wOffset -= L; + + /* Decrement the loop counter */ + i--; + } + + /* Update the index pointer */ + *writeOffset = (uint16_t)wOffset; + } + + + + /** + * @brief floating-point Circular Read function. + */ + __STATIC_FORCEINLINE void arm_circularRead_f32( + int32_t * circBuffer, + int32_t L, + int32_t * readOffset, + int32_t bufferInc, + int32_t * dst, + int32_t * dst_base, + int32_t dst_length, + int32_t dstInc, + uint32_t blockSize) + { + uint32_t i = 0U; + int32_t rOffset; + int32_t* dst_end; + + /* Copy the value of Index pointer that points + * to the current location from where the input samples to be read */ + rOffset = *readOffset; + dst_end = dst_base + dst_length; + + /* Loop over the blockSize */ + i = blockSize; + + while (i > 0U) + { + /* copy the sample from the circular buffer to the destination buffer */ + *dst = circBuffer[rOffset]; + + /* Update the input pointer */ + dst += dstInc; + + if (dst == dst_end) + { + dst = dst_base; + } + + /* Circularly update rOffset. Watch out for positive and negative value */ + rOffset += bufferInc; + + if (rOffset >= L) + { + rOffset -= L; + } + + /* Decrement the loop counter */ + i--; + } + + /* Update the index pointer */ + *readOffset = rOffset; + } + + + /** + * @brief Q15 Circular write function. + */ + __STATIC_FORCEINLINE void arm_circularWrite_q15( + q15_t * circBuffer, + int32_t L, + uint16_t * writeOffset, + int32_t bufferInc, + const q15_t * src, + int32_t srcInc, + uint32_t blockSize) + { + uint32_t i = 0U; + int32_t wOffset; + + /* Copy the value of Index pointer that points + * to the current location where the input samples to be copied */ + wOffset = *writeOffset; + + /* Loop over the blockSize */ + i = blockSize; + + while (i > 0U) + { + /* copy the input sample to the circular buffer */ + circBuffer[wOffset] = *src; + + /* Update the input pointer */ + src += srcInc; + + /* Circularly update wOffset. Watch out for positive and negative value */ + wOffset += bufferInc; + if (wOffset >= L) + wOffset -= L; + + /* Decrement the loop counter */ + i--; + } + + /* Update the index pointer */ + *writeOffset = (uint16_t)wOffset; + } + + + /** + * @brief Q15 Circular Read function. + */ + __STATIC_FORCEINLINE void arm_circularRead_q15( + q15_t * circBuffer, + int32_t L, + int32_t * readOffset, + int32_t bufferInc, + q15_t * dst, + q15_t * dst_base, + int32_t dst_length, + int32_t dstInc, + uint32_t blockSize) + { + uint32_t i = 0; + int32_t rOffset; + q15_t* dst_end; + + /* Copy the value of Index pointer that points + * to the current location from where the input samples to be read */ + rOffset = *readOffset; + + dst_end = dst_base + dst_length; + + /* Loop over the blockSize */ + i = blockSize; + + while (i > 0U) + { + /* copy the sample from the circular buffer to the destination buffer */ + *dst = circBuffer[rOffset]; + + /* Update the input pointer */ + dst += dstInc; + + if (dst == dst_end) + { + dst = dst_base; + } + + /* Circularly update wOffset. Watch out for positive and negative value */ + rOffset += bufferInc; + + if (rOffset >= L) + { + rOffset -= L; + } + + /* Decrement the loop counter */ + i--; + } + + /* Update the index pointer */ + *readOffset = rOffset; + } + + + /** + * @brief Q7 Circular write function. + */ + __STATIC_FORCEINLINE void arm_circularWrite_q7( + q7_t * circBuffer, + int32_t L, + uint16_t * writeOffset, + int32_t bufferInc, + const q7_t * src, + int32_t srcInc, + uint32_t blockSize) + { + uint32_t i = 0U; + int32_t wOffset; + + /* Copy the value of Index pointer that points + * to the current location where the input samples to be copied */ + wOffset = *writeOffset; + + /* Loop over the blockSize */ + i = blockSize; + + while (i > 0U) + { + /* copy the input sample to the circular buffer */ + circBuffer[wOffset] = *src; + + /* Update the input pointer */ + src += srcInc; + + /* Circularly update wOffset. Watch out for positive and negative value */ + wOffset += bufferInc; + if (wOffset >= L) + wOffset -= L; + + /* Decrement the loop counter */ + i--; + } + + /* Update the index pointer */ + *writeOffset = (uint16_t)wOffset; + } + + + /** + * @brief Q7 Circular Read function. + */ + __STATIC_FORCEINLINE void arm_circularRead_q7( + q7_t * circBuffer, + int32_t L, + int32_t * readOffset, + int32_t bufferInc, + q7_t * dst, + q7_t * dst_base, + int32_t dst_length, + int32_t dstInc, + uint32_t blockSize) + { + uint32_t i = 0; + int32_t rOffset; + q7_t* dst_end; + + /* Copy the value of Index pointer that points + * to the current location from where the input samples to be read */ + rOffset = *readOffset; + + dst_end = dst_base + dst_length; + + /* Loop over the blockSize */ + i = blockSize; + + while (i > 0U) + { + /* copy the sample from the circular buffer to the destination buffer */ + *dst = circBuffer[rOffset]; + + /* Update the input pointer */ + dst += dstInc; + + if (dst == dst_end) + { + dst = dst_base; + } + + /* Circularly update rOffset. Watch out for positive and negative value */ + rOffset += bufferInc; + + if (rOffset >= L) + { + rOffset -= L; + } + + /* Decrement the loop counter */ + i--; + } + + /* Update the index pointer */ + *readOffset = rOffset; + } + + + /** + * @brief Sum of the squares of the elements of a Q31 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_power_q31( + const q31_t * pSrc, + uint32_t blockSize, + q63_t * pResult); + + + /** + * @brief Sum of the squares of the elements of a floating-point vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_power_f32( + const float32_t * pSrc, + uint32_t blockSize, + float32_t * pResult); + + + /** + * @brief Sum of the squares of the elements of a Q15 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_power_q15( + const q15_t * pSrc, + uint32_t blockSize, + q63_t * pResult); + + + /** + * @brief Sum of the squares of the elements of a Q7 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_power_q7( + const q7_t * pSrc, + uint32_t blockSize, + q31_t * pResult); + + + /** + * @brief Mean value of a Q7 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_mean_q7( + const q7_t * pSrc, + uint32_t blockSize, + q7_t * pResult); + + + /** + * @brief Mean value of a Q15 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_mean_q15( + const q15_t * pSrc, + uint32_t blockSize, + q15_t * pResult); + + + /** + * @brief Mean value of a Q31 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_mean_q31( + const q31_t * pSrc, + uint32_t blockSize, + q31_t * pResult); + + + /** + * @brief Mean value of a floating-point vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_mean_f32( + const float32_t * pSrc, + uint32_t blockSize, + float32_t * pResult); + + + /** + * @brief Variance of the elements of a floating-point vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_var_f32( + const float32_t * pSrc, + uint32_t blockSize, + float32_t * pResult); + + + /** + * @brief Variance of the elements of a Q31 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_var_q31( + const q31_t * pSrc, + uint32_t blockSize, + q31_t * pResult); + + + /** + * @brief Variance of the elements of a Q15 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_var_q15( + const q15_t * pSrc, + uint32_t blockSize, + q15_t * pResult); + + + /** + * @brief Root Mean Square of the elements of a floating-point vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_rms_f32( + const float32_t * pSrc, + uint32_t blockSize, + float32_t * pResult); + + + /** + * @brief Root Mean Square of the elements of a Q31 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_rms_q31( + const q31_t * pSrc, + uint32_t blockSize, + q31_t * pResult); + + + /** + * @brief Root Mean Square of the elements of a Q15 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_rms_q15( + const q15_t * pSrc, + uint32_t blockSize, + q15_t * pResult); + + + /** + * @brief Standard deviation of the elements of a floating-point vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_std_f32( + const float32_t * pSrc, + uint32_t blockSize, + float32_t * pResult); + + + /** + * @brief Standard deviation of the elements of a Q31 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_std_q31( + const q31_t * pSrc, + uint32_t blockSize, + q31_t * pResult); + + + /** + * @brief Standard deviation of the elements of a Q15 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output value. + */ + void arm_std_q15( + const q15_t * pSrc, + uint32_t blockSize, + q15_t * pResult); + + + /** + * @brief Floating-point complex magnitude + * @param[in] pSrc points to the complex input vector + * @param[out] pDst points to the real output vector + * @param[in] numSamples number of complex samples in the input vector + */ + void arm_cmplx_mag_f32( + const float32_t * pSrc, + float32_t * pDst, + uint32_t numSamples); + + + /** + * @brief Q31 complex magnitude + * @param[in] pSrc points to the complex input vector + * @param[out] pDst points to the real output vector + * @param[in] numSamples number of complex samples in the input vector + */ + void arm_cmplx_mag_q31( + const q31_t * pSrc, + q31_t * pDst, + uint32_t numSamples); + + + /** + * @brief Q15 complex magnitude + * @param[in] pSrc points to the complex input vector + * @param[out] pDst points to the real output vector + * @param[in] numSamples number of complex samples in the input vector + */ + void arm_cmplx_mag_q15( + const q15_t * pSrc, + q15_t * pDst, + uint32_t numSamples); + + + /** + * @brief Q15 complex dot product + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[in] numSamples number of complex samples in each vector + * @param[out] realResult real part of the result returned here + * @param[out] imagResult imaginary part of the result returned here + */ + void arm_cmplx_dot_prod_q15( + const q15_t * pSrcA, + const q15_t * pSrcB, + uint32_t numSamples, + q31_t * realResult, + q31_t * imagResult); + + + /** + * @brief Q31 complex dot product + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[in] numSamples number of complex samples in each vector + * @param[out] realResult real part of the result returned here + * @param[out] imagResult imaginary part of the result returned here + */ + void arm_cmplx_dot_prod_q31( + const q31_t * pSrcA, + const q31_t * pSrcB, + uint32_t numSamples, + q63_t * realResult, + q63_t * imagResult); + + + /** + * @brief Floating-point complex dot product + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[in] numSamples number of complex samples in each vector + * @param[out] realResult real part of the result returned here + * @param[out] imagResult imaginary part of the result returned here + */ + void arm_cmplx_dot_prod_f32( + const float32_t * pSrcA, + const float32_t * pSrcB, + uint32_t numSamples, + float32_t * realResult, + float32_t * imagResult); + + + /** + * @brief Q15 complex-by-real multiplication + * @param[in] pSrcCmplx points to the complex input vector + * @param[in] pSrcReal points to the real input vector + * @param[out] pCmplxDst points to the complex output vector + * @param[in] numSamples number of samples in each vector + */ + void arm_cmplx_mult_real_q15( + const q15_t * pSrcCmplx, + const q15_t * pSrcReal, + q15_t * pCmplxDst, + uint32_t numSamples); + + + /** + * @brief Q31 complex-by-real multiplication + * @param[in] pSrcCmplx points to the complex input vector + * @param[in] pSrcReal points to the real input vector + * @param[out] pCmplxDst points to the complex output vector + * @param[in] numSamples number of samples in each vector + */ + void arm_cmplx_mult_real_q31( + const q31_t * pSrcCmplx, + const q31_t * pSrcReal, + q31_t * pCmplxDst, + uint32_t numSamples); + + + /** + * @brief Floating-point complex-by-real multiplication + * @param[in] pSrcCmplx points to the complex input vector + * @param[in] pSrcReal points to the real input vector + * @param[out] pCmplxDst points to the complex output vector + * @param[in] numSamples number of samples in each vector + */ + void arm_cmplx_mult_real_f32( + const float32_t * pSrcCmplx, + const float32_t * pSrcReal, + float32_t * pCmplxDst, + uint32_t numSamples); + + + /** + * @brief Minimum value of a Q7 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] result is output pointer + * @param[in] index is the array index of the minimum value in the input buffer. + */ + void arm_min_q7( + const q7_t * pSrc, + uint32_t blockSize, + q7_t * result, + uint32_t * index); + + + /** + * @brief Minimum value of a Q15 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output pointer + * @param[in] pIndex is the array index of the minimum value in the input buffer. + */ + void arm_min_q15( + const q15_t * pSrc, + uint32_t blockSize, + q15_t * pResult, + uint32_t * pIndex); + + + /** + * @brief Minimum value of a Q31 vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output pointer + * @param[out] pIndex is the array index of the minimum value in the input buffer. + */ + void arm_min_q31( + const q31_t * pSrc, + uint32_t blockSize, + q31_t * pResult, + uint32_t * pIndex); + + + /** + * @brief Minimum value of a floating-point vector. + * @param[in] pSrc is input pointer + * @param[in] blockSize is the number of samples to process + * @param[out] pResult is output pointer + * @param[out] pIndex is the array index of the minimum value in the input buffer. + */ + void arm_min_f32( + const float32_t * pSrc, + uint32_t blockSize, + float32_t * pResult, + uint32_t * pIndex); + + +/** + * @brief Maximum value of a Q7 vector. + * @param[in] pSrc points to the input buffer + * @param[in] blockSize length of the input vector + * @param[out] pResult maximum value returned here + * @param[out] pIndex index of maximum value returned here + */ + void arm_max_q7( + const q7_t * pSrc, + uint32_t blockSize, + q7_t * pResult, + uint32_t * pIndex); + + +/** + * @brief Maximum value of a Q15 vector. + * @param[in] pSrc points to the input buffer + * @param[in] blockSize length of the input vector + * @param[out] pResult maximum value returned here + * @param[out] pIndex index of maximum value returned here + */ + void arm_max_q15( + const q15_t * pSrc, + uint32_t blockSize, + q15_t * pResult, + uint32_t * pIndex); + + +/** + * @brief Maximum value of a Q31 vector. + * @param[in] pSrc points to the input buffer + * @param[in] blockSize length of the input vector + * @param[out] pResult maximum value returned here + * @param[out] pIndex index of maximum value returned here + */ + void arm_max_q31( + const q31_t * pSrc, + uint32_t blockSize, + q31_t * pResult, + uint32_t * pIndex); + + +/** + * @brief Maximum value of a floating-point vector. + * @param[in] pSrc points to the input buffer + * @param[in] blockSize length of the input vector + * @param[out] pResult maximum value returned here + * @param[out] pIndex index of maximum value returned here + */ + void arm_max_f32( + const float32_t * pSrc, + uint32_t blockSize, + float32_t * pResult, + uint32_t * pIndex); + + /** + @brief Maximum value of a floating-point vector. + @param[in] pSrc points to the input vector + @param[in] blockSize number of samples in input vector + @param[out] pResult maximum value returned here + @return none + */ + void arm_max_no_idx_f32( + const float32_t *pSrc, + uint32_t blockSize, + float32_t *pResult); + + /** + * @brief Q15 complex-by-complex multiplication + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] numSamples number of complex samples in each vector + */ + void arm_cmplx_mult_cmplx_q15( + const q15_t * pSrcA, + const q15_t * pSrcB, + q15_t * pDst, + uint32_t numSamples); + + + /** + * @brief Q31 complex-by-complex multiplication + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] numSamples number of complex samples in each vector + */ + void arm_cmplx_mult_cmplx_q31( + const q31_t * pSrcA, + const q31_t * pSrcB, + q31_t * pDst, + uint32_t numSamples); + + + /** + * @brief Floating-point complex-by-complex multiplication + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[out] pDst points to the output vector + * @param[in] numSamples number of complex samples in each vector + */ + void arm_cmplx_mult_cmplx_f32( + const float32_t * pSrcA, + const float32_t * pSrcB, + float32_t * pDst, + uint32_t numSamples); + + + /** + * @brief Converts the elements of the floating-point vector to Q31 vector. + * @param[in] pSrc points to the floating-point input vector + * @param[out] pDst points to the Q31 output vector + * @param[in] blockSize length of the input vector + */ + void arm_float_to_q31( + const float32_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the floating-point vector to Q15 vector. + * @param[in] pSrc points to the floating-point input vector + * @param[out] pDst points to the Q15 output vector + * @param[in] blockSize length of the input vector + */ + void arm_float_to_q15( + const float32_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the floating-point vector to Q7 vector. + * @param[in] pSrc points to the floating-point input vector + * @param[out] pDst points to the Q7 output vector + * @param[in] blockSize length of the input vector + */ + void arm_float_to_q7( + const float32_t * pSrc, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the Q31 vector to floating-point vector. + * @param[in] pSrc is input pointer + * @param[out] pDst is output pointer + * @param[in] blockSize is the number of samples to process + */ + void arm_q31_to_float( + const q31_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the Q31 vector to Q15 vector. + * @param[in] pSrc is input pointer + * @param[out] pDst is output pointer + * @param[in] blockSize is the number of samples to process + */ + void arm_q31_to_q15( + const q31_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the Q31 vector to Q7 vector. + * @param[in] pSrc is input pointer + * @param[out] pDst is output pointer + * @param[in] blockSize is the number of samples to process + */ + void arm_q31_to_q7( + const q31_t * pSrc, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the Q15 vector to floating-point vector. + * @param[in] pSrc is input pointer + * @param[out] pDst is output pointer + * @param[in] blockSize is the number of samples to process + */ + void arm_q15_to_float( + const q15_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the Q15 vector to Q31 vector. + * @param[in] pSrc is input pointer + * @param[out] pDst is output pointer + * @param[in] blockSize is the number of samples to process + */ + void arm_q15_to_q31( + const q15_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the Q15 vector to Q7 vector. + * @param[in] pSrc is input pointer + * @param[out] pDst is output pointer + * @param[in] blockSize is the number of samples to process + */ + void arm_q15_to_q7( + const q15_t * pSrc, + q7_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the Q7 vector to floating-point vector. + * @param[in] pSrc is input pointer + * @param[out] pDst is output pointer + * @param[in] blockSize is the number of samples to process + */ + void arm_q7_to_float( + const q7_t * pSrc, + float32_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the Q7 vector to Q31 vector. + * @param[in] pSrc input pointer + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_q7_to_q31( + const q7_t * pSrc, + q31_t * pDst, + uint32_t blockSize); + + + /** + * @brief Converts the elements of the Q7 vector to Q15 vector. + * @param[in] pSrc input pointer + * @param[out] pDst output pointer + * @param[in] blockSize number of samples to process + */ + void arm_q7_to_q15( + const q7_t * pSrc, + q15_t * pDst, + uint32_t blockSize); + +/** + * @brief Struct for specifying SVM Kernel + */ +typedef enum +{ + ARM_ML_KERNEL_LINEAR = 0, + /**< Linear kernel */ + ARM_ML_KERNEL_POLYNOMIAL = 1, + /**< Polynomial kernel */ + ARM_ML_KERNEL_RBF = 2, + /**< Radial Basis Function kernel */ + ARM_ML_KERNEL_SIGMOID = 3 + /**< Sigmoid kernel */ +} arm_ml_kernel_type; + + +/** + * @brief Instance structure for linear SVM prediction function. + */ +typedef struct +{ + uint32_t nbOfSupportVectors; /**< Number of support vectors */ + uint32_t vectorDimension; /**< Dimension of vector space */ + float32_t intercept; /**< Intercept */ + const float32_t *dualCoefficients; /**< Dual coefficients */ + const float32_t *supportVectors; /**< Support vectors */ + const int32_t *classes; /**< The two SVM classes */ +} arm_svm_linear_instance_f32; + + +/** + * @brief Instance structure for polynomial SVM prediction function. + */ +typedef struct +{ + uint32_t nbOfSupportVectors; /**< Number of support vectors */ + uint32_t vectorDimension; /**< Dimension of vector space */ + float32_t intercept; /**< Intercept */ + const float32_t *dualCoefficients; /**< Dual coefficients */ + const float32_t *supportVectors; /**< Support vectors */ + const int32_t *classes; /**< The two SVM classes */ + int32_t degree; /**< Polynomial degree */ + float32_t coef0; /**< Polynomial constant */ + float32_t gamma; /**< Gamma factor */ +} arm_svm_polynomial_instance_f32; + +/** + * @brief Instance structure for rbf SVM prediction function. + */ +typedef struct +{ + uint32_t nbOfSupportVectors; /**< Number of support vectors */ + uint32_t vectorDimension; /**< Dimension of vector space */ + float32_t intercept; /**< Intercept */ + const float32_t *dualCoefficients; /**< Dual coefficients */ + const float32_t *supportVectors; /**< Support vectors */ + const int32_t *classes; /**< The two SVM classes */ + float32_t gamma; /**< Gamma factor */ +} arm_svm_rbf_instance_f32; + +/** + * @brief Instance structure for sigmoid SVM prediction function. + */ +typedef struct +{ + uint32_t nbOfSupportVectors; /**< Number of support vectors */ + uint32_t vectorDimension; /**< Dimension of vector space */ + float32_t intercept; /**< Intercept */ + const float32_t *dualCoefficients; /**< Dual coefficients */ + const float32_t *supportVectors; /**< Support vectors */ + const int32_t *classes; /**< The two SVM classes */ + float32_t coef0; /**< Independant constant */ + float32_t gamma; /**< Gamma factor */ +} arm_svm_sigmoid_instance_f32; + +/** + * @brief SVM linear instance init function + * @param[in] S Parameters for SVM functions + * @param[in] nbOfSupportVectors Number of support vectors + * @param[in] vectorDimension Dimension of vector space + * @param[in] intercept Intercept + * @param[in] dualCoefficients Array of dual coefficients + * @param[in] supportVectors Array of support vectors + * @param[in] classes Array of 2 classes ID + * @return none. + * + */ + + +void arm_svm_linear_init_f32(arm_svm_linear_instance_f32 *S, + uint32_t nbOfSupportVectors, + uint32_t vectorDimension, + float32_t intercept, + const float32_t *dualCoefficients, + const float32_t *supportVectors, + const int32_t *classes); + +/** + * @brief SVM linear prediction + * @param[in] S Pointer to an instance of the linear SVM structure. + * @param[in] in Pointer to input vector + * @param[out] pResult Decision value + * @return none. + * + */ + +void arm_svm_linear_predict_f32(const arm_svm_linear_instance_f32 *S, + const float32_t * in, + int32_t * pResult); + + +/** + * @brief SVM polynomial instance init function + * @param[in] S points to an instance of the polynomial SVM structure. + * @param[in] nbOfSupportVectors Number of support vectors + * @param[in] vectorDimension Dimension of vector space + * @param[in] intercept Intercept + * @param[in] dualCoefficients Array of dual coefficients + * @param[in] supportVectors Array of support vectors + * @param[in] classes Array of 2 classes ID + * @param[in] degree Polynomial degree + * @param[in] coef0 coeff0 (scikit-learn terminology) + * @param[in] gamma gamma (scikit-learn terminology) + * @return none. + * + */ + + +void arm_svm_polynomial_init_f32(arm_svm_polynomial_instance_f32 *S, + uint32_t nbOfSupportVectors, + uint32_t vectorDimension, + float32_t intercept, + const float32_t *dualCoefficients, + const float32_t *supportVectors, + const int32_t *classes, + int32_t degree, + float32_t coef0, + float32_t gamma + ); + +/** + * @brief SVM polynomial prediction + * @param[in] S Pointer to an instance of the polynomial SVM structure. + * @param[in] in Pointer to input vector + * @param[out] pResult Decision value + * @return none. + * + */ +void arm_svm_polynomial_predict_f32(const arm_svm_polynomial_instance_f32 *S, + const float32_t * in, + int32_t * pResult); + + +/** + * @brief SVM radial basis function instance init function + * @param[in] S points to an instance of the polynomial SVM structure. + * @param[in] nbOfSupportVectors Number of support vectors + * @param[in] vectorDimension Dimension of vector space + * @param[in] intercept Intercept + * @param[in] dualCoefficients Array of dual coefficients + * @param[in] supportVectors Array of support vectors + * @param[in] classes Array of 2 classes ID + * @param[in] gamma gamma (scikit-learn terminology) + * @return none. + * + */ + +void arm_svm_rbf_init_f32(arm_svm_rbf_instance_f32 *S, + uint32_t nbOfSupportVectors, + uint32_t vectorDimension, + float32_t intercept, + const float32_t *dualCoefficients, + const float32_t *supportVectors, + const int32_t *classes, + float32_t gamma + ); + +/** + * @brief SVM rbf prediction + * @param[in] S Pointer to an instance of the rbf SVM structure. + * @param[in] in Pointer to input vector + * @param[out] pResult decision value + * @return none. + * + */ +void arm_svm_rbf_predict_f32(const arm_svm_rbf_instance_f32 *S, + const float32_t * in, + int32_t * pResult); + +/** + * @brief SVM sigmoid instance init function + * @param[in] S points to an instance of the rbf SVM structure. + * @param[in] nbOfSupportVectors Number of support vectors + * @param[in] vectorDimension Dimension of vector space + * @param[in] intercept Intercept + * @param[in] dualCoefficients Array of dual coefficients + * @param[in] supportVectors Array of support vectors + * @param[in] classes Array of 2 classes ID + * @param[in] coef0 coeff0 (scikit-learn terminology) + * @param[in] gamma gamma (scikit-learn terminology) + * @return none. + * + */ + +void arm_svm_sigmoid_init_f32(arm_svm_sigmoid_instance_f32 *S, + uint32_t nbOfSupportVectors, + uint32_t vectorDimension, + float32_t intercept, + const float32_t *dualCoefficients, + const float32_t *supportVectors, + const int32_t *classes, + float32_t coef0, + float32_t gamma + ); + +/** + * @brief SVM sigmoid prediction + * @param[in] S Pointer to an instance of the rbf SVM structure. + * @param[in] in Pointer to input vector + * @param[out] pResult Decision value + * @return none. + * + */ +void arm_svm_sigmoid_predict_f32(const arm_svm_sigmoid_instance_f32 *S, + const float32_t * in, + int32_t * pResult); + + + +/** + * @brief Instance structure for Naive Gaussian Bayesian estimator. + */ +typedef struct +{ + uint32_t vectorDimension; /**< Dimension of vector space */ + uint32_t numberOfClasses; /**< Number of different classes */ + const float32_t *theta; /**< Mean values for the Gaussians */ + const float32_t *sigma; /**< Variances for the Gaussians */ + const float32_t *classPriors; /**< Class prior probabilities */ + float32_t epsilon; /**< Additive value to variances */ +} arm_gaussian_naive_bayes_instance_f32; + +/** + * @brief Naive Gaussian Bayesian Estimator + * + * @param[in] S points to a naive bayes instance structure + * @param[in] in points to the elements of the input vector. + * @param[in] pBuffer points to a buffer of length numberOfClasses + * @return The predicted class + * + */ + + +uint32_t arm_gaussian_naive_bayes_predict_f32(const arm_gaussian_naive_bayes_instance_f32 *S, + const float32_t * in, + float32_t *pBuffer); + +/** + * @brief Computation of the LogSumExp + * + * In probabilistic computations, the dynamic of the probability values can be very + * wide because they come from gaussian functions. + * To avoid underflow and overflow issues, the values are represented by their log. + * In this representation, multiplying the original exp values is easy : their logs are added. + * But adding the original exp values is requiring some special handling and it is the + * goal of the LogSumExp function. + * + * If the values are x1...xn, the function is computing: + * + * ln(exp(x1) + ... + exp(xn)) and the computation is done in such a way that + * rounding issues are minimised. + * + * The max xm of the values is extracted and the function is computing: + * xm + ln(exp(x1 - xm) + ... + exp(xn - xm)) + * + * @param[in] *in Pointer to an array of input values. + * @param[in] blockSize Number of samples in the input array. + * @return LogSumExp + * + */ + + +float32_t arm_logsumexp_f32(const float32_t *in, uint32_t blockSize); + +/** + * @brief Dot product with log arithmetic + * + * Vectors are containing the log of the samples + * + * @param[in] pSrcA points to the first input vector + * @param[in] pSrcB points to the second input vector + * @param[in] blockSize number of samples in each vector + * @param[in] pTmpBuffer temporary buffer of length blockSize + * @return The log of the dot product . + * + */ + + +float32_t arm_logsumexp_dot_prod_f32(const float32_t * pSrcA, + const float32_t * pSrcB, + uint32_t blockSize, + float32_t *pTmpBuffer); + +/** + * @brief Entropy + * + * @param[in] pSrcA Array of input values. + * @param[in] blockSize Number of samples in the input array. + * @return Entropy -Sum(p ln p) + * + */ + + +float32_t arm_entropy_f32(const float32_t * pSrcA,uint32_t blockSize); + + +/** + * @brief Entropy + * + * @param[in] pSrcA Array of input values. + * @param[in] blockSize Number of samples in the input array. + * @return Entropy -Sum(p ln p) + * + */ + + +float64_t arm_entropy_f64(const float64_t * pSrcA, uint32_t blockSize); + + +/** + * @brief Kullback-Leibler + * + * @param[in] pSrcA Pointer to an array of input values for probability distribution A. + * @param[in] pSrcB Pointer to an array of input values for probability distribution B. + * @param[in] blockSize Number of samples in the input array. + * @return Kullback-Leibler Divergence D(A || B) + * + */ +float32_t arm_kullback_leibler_f32(const float32_t * pSrcA + ,const float32_t * pSrcB + ,uint32_t blockSize); + + +/** + * @brief Kullback-Leibler + * + * @param[in] pSrcA Pointer to an array of input values for probability distribution A. + * @param[in] pSrcB Pointer to an array of input values for probability distribution B. + * @param[in] blockSize Number of samples in the input array. + * @return Kullback-Leibler Divergence D(A || B) + * + */ +float64_t arm_kullback_leibler_f64(const float64_t * pSrcA, + const float64_t * pSrcB, + uint32_t blockSize); + + +/** + * @brief Weighted sum + * + * + * @param[in] *in Array of input values. + * @param[in] *weigths Weights + * @param[in] blockSize Number of samples in the input array. + * @return Weighted sum + * + */ +float32_t arm_weighted_sum_f32(const float32_t *in + , const float32_t *weigths + , uint32_t blockSize); + + +/** + * @brief Barycenter + * + * + * @param[in] in List of vectors + * @param[in] weights Weights of the vectors + * @param[out] out Barycenter + * @param[in] nbVectors Number of vectors + * @param[in] vecDim Dimension of space (vector dimension) + * @return None + * + */ +void arm_barycenter_f32(const float32_t *in + , const float32_t *weights + , float32_t *out + , uint32_t nbVectors + , uint32_t vecDim); + +/** + * @brief Euclidean distance between two vectors + * @param[in] pA First vector + * @param[in] pB Second vector + * @param[in] blockSize vector length + * @return distance + * + */ + +float32_t arm_euclidean_distance_f32(const float32_t *pA,const float32_t *pB, uint32_t blockSize); + +/** + * @brief Bray-Curtis distance between two vectors + * @param[in] pA First vector + * @param[in] pB Second vector + * @param[in] blockSize vector length + * @return distance + * + */ +float32_t arm_braycurtis_distance_f32(const float32_t *pA,const float32_t *pB, uint32_t blockSize); + +/** + * @brief Canberra distance between two vectors + * + * This function may divide by zero when samples pA[i] and pB[i] are both zero. + * The result of the computation will be correct. So the division per zero may be + * ignored. + * + * @param[in] pA First vector + * @param[in] pB Second vector + * @param[in] blockSize vector length + * @return distance + * + */ +float32_t arm_canberra_distance_f32(const float32_t *pA,const float32_t *pB, uint32_t blockSize); + + +/** + * @brief Chebyshev distance between two vectors + * @param[in] pA First vector + * @param[in] pB Second vector + * @param[in] blockSize vector length + * @return distance + * + */ +float32_t arm_chebyshev_distance_f32(const float32_t *pA,const float32_t *pB, uint32_t blockSize); + + +/** + * @brief Cityblock (Manhattan) distance between two vectors + * @param[in] pA First vector + * @param[in] pB Second vector + * @param[in] blockSize vector length + * @return distance + * + */ +float32_t arm_cityblock_distance_f32(const float32_t *pA,const float32_t *pB, uint32_t blockSize); + +/** + * @brief Correlation distance between two vectors + * + * The input vectors are modified in place ! + * + * @param[in] pA First vector + * @param[in] pB Second vector + * @param[in] blockSize vector length + * @return distance + * + */ +float32_t arm_correlation_distance_f32(float32_t *pA,float32_t *pB, uint32_t blockSize); + +/** + * @brief Cosine distance between two vectors + * + * @param[in] pA First vector + * @param[in] pB Second vector + * @param[in] blockSize vector length + * @return distance + * + */ + +float32_t arm_cosine_distance_f32(const float32_t *pA,const float32_t *pB, uint32_t blockSize); + +/** + * @brief Jensen-Shannon distance between two vectors + * + * This function is assuming that elements of second vector are > 0 + * and 0 only when the corresponding element of first vector is 0. + * Otherwise the result of the computation does not make sense + * and for speed reasons, the cases returning NaN or Infinity are not + * managed. + * + * When the function is computing x log (x / y) with x 0 and y 0, + * it will compute the right value (0) but a division per zero will occur + * and shoudl be ignored in client code. + * + * @param[in] pA First vector + * @param[in] pB Second vector + * @param[in] blockSize vector length + * @return distance + * + */ + +float32_t arm_jensenshannon_distance_f32(const float32_t *pA,const float32_t *pB,uint32_t blockSize); + +/** + * @brief Minkowski distance between two vectors + * + * @param[in] pA First vector + * @param[in] pB Second vector + * @param[in] n Norm order (>= 2) + * @param[in] blockSize vector length + * @return distance + * + */ + + + +float32_t arm_minkowski_distance_f32(const float32_t *pA,const float32_t *pB, int32_t order, uint32_t blockSize); + +/** + * @brief Dice distance between two vectors + * + * @param[in] pA First vector of packed booleans + * @param[in] pB Second vector of packed booleans + * @param[in] order Distance order + * @param[in] blockSize Number of samples + * @return distance + * + */ + + +float32_t arm_dice_distance(const uint32_t *pA, const uint32_t *pB, uint32_t numberOfBools); + +/** + * @brief Hamming distance between two vectors + * + * @param[in] pA First vector of packed booleans + * @param[in] pB Second vector of packed booleans + * @param[in] numberOfBools Number of booleans + * @return distance + * + */ + +float32_t arm_hamming_distance(const uint32_t *pA, const uint32_t *pB, uint32_t numberOfBools); + +/** + * @brief Jaccard distance between two vectors + * + * @param[in] pA First vector of packed booleans + * @param[in] pB Second vector of packed booleans + * @param[in] numberOfBools Number of booleans + * @return distance + * + */ + +float32_t arm_jaccard_distance(const uint32_t *pA, const uint32_t *pB, uint32_t numberOfBools); + +/** + * @brief Kulsinski distance between two vectors + * + * @param[in] pA First vector of packed booleans + * @param[in] pB Second vector of packed booleans + * @param[in] numberOfBools Number of booleans + * @return distance + * + */ + +float32_t arm_kulsinski_distance(const uint32_t *pA, const uint32_t *pB, uint32_t numberOfBools); + +/** + * @brief Roger Stanimoto distance between two vectors + * + * @param[in] pA First vector of packed booleans + * @param[in] pB Second vector of packed booleans + * @param[in] numberOfBools Number of booleans + * @return distance + * + */ + +float32_t arm_rogerstanimoto_distance(const uint32_t *pA, const uint32_t *pB, uint32_t numberOfBools); + +/** + * @brief Russell-Rao distance between two vectors + * + * @param[in] pA First vector of packed booleans + * @param[in] pB Second vector of packed booleans + * @param[in] numberOfBools Number of booleans + * @return distance + * + */ + +float32_t arm_russellrao_distance(const uint32_t *pA, const uint32_t *pB, uint32_t numberOfBools); + +/** + * @brief Sokal-Michener distance between two vectors + * + * @param[in] pA First vector of packed booleans + * @param[in] pB Second vector of packed booleans + * @param[in] numberOfBools Number of booleans + * @return distance + * + */ + +float32_t arm_sokalmichener_distance(const uint32_t *pA, const uint32_t *pB, uint32_t numberOfBools); + +/** + * @brief Sokal-Sneath distance between two vectors + * + * @param[in] pA First vector of packed booleans + * @param[in] pB Second vector of packed booleans + * @param[in] numberOfBools Number of booleans + * @return distance + * + */ + +float32_t arm_sokalsneath_distance(const uint32_t *pA, const uint32_t *pB, uint32_t numberOfBools); + +/** + * @brief Yule distance between two vectors + * + * @param[in] pA First vector of packed booleans + * @param[in] pB Second vector of packed booleans + * @param[in] numberOfBools Number of booleans + * @return distance + * + */ + +float32_t arm_yule_distance(const uint32_t *pA, const uint32_t *pB, uint32_t numberOfBools); + + + /** + * @ingroup groupInterpolation + */ + + /** + * @defgroup BilinearInterpolate Bilinear Interpolation + * + * Bilinear interpolation is an extension of linear interpolation applied to a two dimensional grid. + * The underlying function f(x, y) is sampled on a regular grid and the interpolation process + * determines values between the grid points. + * Bilinear interpolation is equivalent to two step linear interpolation, first in the x-dimension and then in the y-dimension. + * Bilinear interpolation is often used in image processing to rescale images. + * The CMSIS DSP library provides bilinear interpolation functions for Q7, Q15, Q31, and floating-point data types. + * + * Algorithm + * \par + * The instance structure used by the bilinear interpolation functions describes a two dimensional data table. + * For floating-point, the instance structure is defined as: + * 
+   *   typedef struct
+   *   {
+   *     uint16_t numRows;
+   *     uint16_t numCols;
+   *     float32_t *pData;
+   * } arm_bilinear_interp_instance_f32;
+   *
+ * + * \par + * where numRows specifies the number of rows in the table; + * numCols specifies the number of columns in the table; + * and pData points to an array of size numRows*numCols values. + * The data table pTable is organized in row order and the supplied data values fall on integer indexes. + * That is, table element (x,y) is located at pTable[x + y*numCols] where x and y are integers. + * + * \par + * Let (x, y) specify the desired interpolation point. Then define: + * 
+   *     XF = floor(x)
+   *     YF = floor(y)
+   *
+ * \par + * The interpolated output point is computed as: + * 
+   *  f(x, y) = f(XF, YF) * (1-(x-XF)) * (1-(y-YF))
+   *           + f(XF+1, YF) * (x-XF)*(1-(y-YF))
+   *           + f(XF, YF+1) * (1-(x-XF))*(y-YF)
+   *           + f(XF+1, YF+1) * (x-XF)*(y-YF)
+   *
+ * Note that the coordinates (x, y) contain integer and fractional components. + * The integer components specify which portion of the table to use while the + * fractional components control the interpolation processor. + * + * \par + * if (x,y) are outside of the table boundary, Bilinear interpolation returns zero output. + */ + + + /** + * @addtogroup BilinearInterpolate + * @{ + */ + + /** + * @brief Floating-point bilinear interpolation. + * @param[in,out] S points to an instance of the interpolation structure. + * @param[in] X interpolation coordinate. + * @param[in] Y interpolation coordinate. + * @return out interpolated value. + */ + __STATIC_FORCEINLINE float32_t arm_bilinear_interp_f32( + const arm_bilinear_interp_instance_f32 * S, + float32_t X, + float32_t Y) + { + float32_t out; + float32_t f00, f01, f10, f11; + float32_t *pData = S->pData; + int32_t xIndex, yIndex, index; + float32_t xdiff, ydiff; + float32_t b1, b2, b3, b4; + + xIndex = (int32_t) X; + yIndex = (int32_t) Y; + + /* Care taken for table outside boundary */ + /* Returns zero output when values are outside table boundary */ + if (xIndex < 0 || xIndex > (S->numCols - 2) || yIndex < 0 || yIndex > (S->numRows - 2)) + { + return (0); + } + + /* Calculation of index for two nearest points in X-direction */ + index = (xIndex ) + (yIndex ) * S->numCols; + + + /* Read two nearest points in X-direction */ + f00 = pData[index]; + f01 = pData[index + 1]; + + /* Calculation of index for two nearest points in Y-direction */ + index = (xIndex ) + (yIndex+1) * S->numCols; + + + /* Read two nearest points in Y-direction */ + f10 = pData[index]; + f11 = pData[index + 1]; + + /* Calculation of intermediate values */ + b1 = f00; + b2 = f01 - f00; + b3 = f10 - f00; + b4 = f00 - f01 - f10 + f11; + + /* Calculation of fractional part in X */ + xdiff = X - xIndex; + + /* Calculation of fractional part in Y */ + ydiff = Y - yIndex; + + /* Calculation of bi-linear interpolated output */ + out = b1 + b2 * xdiff + b3 * ydiff + b4 * xdiff * ydiff; + + /* return to application */ + return (out); + } + + + /** + * @brief Q31 bilinear interpolation. + * @param[in,out] S points to an instance of the interpolation structure. + * @param[in] X interpolation coordinate in 12.20 format. + * @param[in] Y interpolation coordinate in 12.20 format. + * @return out interpolated value. + */ + __STATIC_FORCEINLINE q31_t arm_bilinear_interp_q31( + arm_bilinear_interp_instance_q31 * S, + q31_t X, + q31_t Y) + { + q31_t out; /* Temporary output */ + q31_t acc = 0; /* output */ + q31_t xfract, yfract; /* X, Y fractional parts */ + q31_t x1, x2, y1, y2; /* Nearest output values */ + int32_t rI, cI; /* Row and column indices */ + q31_t *pYData = S->pData; /* pointer to output table values */ + uint32_t nCols = S->numCols; /* num of rows */ + + /* Input is in 12.20 format */ + /* 12 bits for the table index */ + /* Index value calculation */ + rI = ((X & (q31_t)0xFFF00000) >> 20); + + /* Input is in 12.20 format */ + /* 12 bits for the table index */ + /* Index value calculation */ + cI = ((Y & (q31_t)0xFFF00000) >> 20); + + /* Care taken for table outside boundary */ + /* Returns zero output when values are outside table boundary */ + if (rI < 0 || rI > (S->numCols - 2) || cI < 0 || cI > (S->numRows - 2)) + { + return (0); + } + + /* 20 bits for the fractional part */ + /* shift left xfract by 11 to keep 1.31 format */ + xfract = (X & 0x000FFFFF) << 11U; + + /* Read two nearest output values from the index */ + x1 = pYData[(rI) + (int32_t)nCols * (cI) ]; + x2 = pYData[(rI) + (int32_t)nCols * (cI) + 1]; + + /* 20 bits for the fractional part */ + /* shift left yfract by 11 to keep 1.31 format */ + yfract = (Y & 0x000FFFFF) << 11U; + + /* Read two nearest output values from the index */ + y1 = pYData[(rI) + (int32_t)nCols * (cI + 1) ]; + y2 = pYData[(rI) + (int32_t)nCols * (cI + 1) + 1]; + + /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 3.29(q29) format */ + out = ((q31_t) (((q63_t) x1 * (0x7FFFFFFF - xfract)) >> 32)); + acc = ((q31_t) (((q63_t) out * (0x7FFFFFFF - yfract)) >> 32)); + + /* x2 * (xfract) * (1-yfract) in 3.29(q29) and adding to acc */ + out = ((q31_t) ((q63_t) x2 * (0x7FFFFFFF - yfract) >> 32)); + acc += ((q31_t) ((q63_t) out * (xfract) >> 32)); + + /* y1 * (1 - xfract) * (yfract) in 3.29(q29) and adding to acc */ + out = ((q31_t) ((q63_t) y1 * (0x7FFFFFFF - xfract) >> 32)); + acc += ((q31_t) ((q63_t) out * (yfract) >> 32)); + + /* y2 * (xfract) * (yfract) in 3.29(q29) and adding to acc */ + out = ((q31_t) ((q63_t) y2 * (xfract) >> 32)); + acc += ((q31_t) ((q63_t) out * (yfract) >> 32)); + + /* Convert acc to 1.31(q31) format */ + return ((q31_t)(acc << 2)); + } + + + /** + * @brief Q15 bilinear interpolation. + * @param[in,out] S points to an instance of the interpolation structure. + * @param[in] X interpolation coordinate in 12.20 format. + * @param[in] Y interpolation coordinate in 12.20 format. + * @return out interpolated value. + */ + __STATIC_FORCEINLINE q15_t arm_bilinear_interp_q15( + arm_bilinear_interp_instance_q15 * S, + q31_t X, + q31_t Y) + { + q63_t acc = 0; /* output */ + q31_t out; /* Temporary output */ + q15_t x1, x2, y1, y2; /* Nearest output values */ + q31_t xfract, yfract; /* X, Y fractional parts */ + int32_t rI, cI; /* Row and column indices */ + q15_t *pYData = S->pData; /* pointer to output table values */ + uint32_t nCols = S->numCols; /* num of rows */ + + /* Input is in 12.20 format */ + /* 12 bits for the table index */ + /* Index value calculation */ + rI = ((X & (q31_t)0xFFF00000) >> 20); + + /* Input is in 12.20 format */ + /* 12 bits for the table index */ + /* Index value calculation */ + cI = ((Y & (q31_t)0xFFF00000) >> 20); + + /* Care taken for table outside boundary */ + /* Returns zero output when values are outside table boundary */ + if (rI < 0 || rI > (S->numCols - 2) || cI < 0 || cI > (S->numRows - 2)) + { + return (0); + } + + /* 20 bits for the fractional part */ + /* xfract should be in 12.20 format */ + xfract = (X & 0x000FFFFF); + + /* Read two nearest output values from the index */ + x1 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI) ]; + x2 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI) + 1]; + + /* 20 bits for the fractional part */ + /* yfract should be in 12.20 format */ + yfract = (Y & 0x000FFFFF); + + /* Read two nearest output values from the index */ + y1 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI + 1) ]; + y2 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI + 1) + 1]; + + /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 13.51 format */ + + /* x1 is in 1.15(q15), xfract in 12.20 format and out is in 13.35 format */ + /* convert 13.35 to 13.31 by right shifting and out is in 1.31 */ + out = (q31_t) (((q63_t) x1 * (0x0FFFFF - xfract)) >> 4U); + acc = ((q63_t) out * (0x0FFFFF - yfract)); + + /* x2 * (xfract) * (1-yfract) in 1.51 and adding to acc */ + out = (q31_t) (((q63_t) x2 * (0x0FFFFF - yfract)) >> 4U); + acc += ((q63_t) out * (xfract)); + + /* y1 * (1 - xfract) * (yfract) in 1.51 and adding to acc */ + out = (q31_t) (((q63_t) y1 * (0x0FFFFF - xfract)) >> 4U); + acc += ((q63_t) out * (yfract)); + + /* y2 * (xfract) * (yfract) in 1.51 and adding to acc */ + out = (q31_t) (((q63_t) y2 * (xfract)) >> 4U); + acc += ((q63_t) out * (yfract)); + + /* acc is in 13.51 format and down shift acc by 36 times */ + /* Convert out to 1.15 format */ + return ((q15_t)(acc >> 36)); + } + + + /** + * @brief Q7 bilinear interpolation. + * @param[in,out] S points to an instance of the interpolation structure. + * @param[in] X interpolation coordinate in 12.20 format. + * @param[in] Y interpolation coordinate in 12.20 format. + * @return out interpolated value. + */ + __STATIC_FORCEINLINE q7_t arm_bilinear_interp_q7( + arm_bilinear_interp_instance_q7 * S, + q31_t X, + q31_t Y) + { + q63_t acc = 0; /* output */ + q31_t out; /* Temporary output */ + q31_t xfract, yfract; /* X, Y fractional parts */ + q7_t x1, x2, y1, y2; /* Nearest output values */ + int32_t rI, cI; /* Row and column indices */ + q7_t *pYData = S->pData; /* pointer to output table values */ + uint32_t nCols = S->numCols; /* num of rows */ + + /* Input is in 12.20 format */ + /* 12 bits for the table index */ + /* Index value calculation */ + rI = ((X & (q31_t)0xFFF00000) >> 20); + + /* Input is in 12.20 format */ + /* 12 bits for the table index */ + /* Index value calculation */ + cI = ((Y & (q31_t)0xFFF00000) >> 20); + + /* Care taken for table outside boundary */ + /* Returns zero output when values are outside table boundary */ + if (rI < 0 || rI > (S->numCols - 2) || cI < 0 || cI > (S->numRows - 2)) + { + return (0); + } + + /* 20 bits for the fractional part */ + /* xfract should be in 12.20 format */ + xfract = (X & (q31_t)0x000FFFFF); + + /* Read two nearest output values from the index */ + x1 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI) ]; + x2 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI) + 1]; + + /* 20 bits for the fractional part */ + /* yfract should be in 12.20 format */ + yfract = (Y & (q31_t)0x000FFFFF); + + /* Read two nearest output values from the index */ + y1 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI + 1) ]; + y2 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI + 1) + 1]; + + /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 16.47 format */ + out = ((x1 * (0xFFFFF - xfract))); + acc = (((q63_t) out * (0xFFFFF - yfract))); + + /* x2 * (xfract) * (1-yfract) in 2.22 and adding to acc */ + out = ((x2 * (0xFFFFF - yfract))); + acc += (((q63_t) out * (xfract))); + + /* y1 * (1 - xfract) * (yfract) in 2.22 and adding to acc */ + out = ((y1 * (0xFFFFF - xfract))); + acc += (((q63_t) out * (yfract))); + + /* y2 * (xfract) * (yfract) in 2.22 and adding to acc */ + out = ((y2 * (yfract))); + acc += (((q63_t) out * (xfract))); + + /* acc in 16.47 format and down shift by 40 to convert to 1.7 format */ + return ((q7_t)(acc >> 40)); + } + + /** + * @} end of BilinearInterpolate group + */ + + +/* SMMLAR */ +#define multAcc_32x32_keep32_R(a, x, y) \ + a = (q31_t) (((((q63_t) a) << 32) + ((q63_t) x * y) + 0x80000000LL ) >> 32) + +/* SMMLSR */ +#define multSub_32x32_keep32_R(a, x, y) \ + a = (q31_t) (((((q63_t) a) << 32) - ((q63_t) x * y) + 0x80000000LL ) >> 32) + +/* SMMULR */ +#define mult_32x32_keep32_R(a, x, y) \ + a = (q31_t) (((q63_t) x * y + 0x80000000LL ) >> 32) + +/* SMMLA */ +#define multAcc_32x32_keep32(a, x, y) \ + a += (q31_t) (((q63_t) x * y) >> 32) + +/* SMMLS */ +#define multSub_32x32_keep32(a, x, y) \ + a -= (q31_t) (((q63_t) x * y) >> 32) + +/* SMMUL */ +#define mult_32x32_keep32(a, x, y) \ + a = (q31_t) (((q63_t) x * y ) >> 32) + + +#if defined ( __CC_ARM ) + /* Enter low optimization region - place directly above function definition */ + #if defined( __ARM_ARCH_7EM__ ) + #define LOW_OPTIMIZATION_ENTER \ + _Pragma ("push") \ + _Pragma ("O1") + #else + #define LOW_OPTIMIZATION_ENTER + #endif + + /* Exit low optimization region - place directly after end of function definition */ + #if defined ( __ARM_ARCH_7EM__ ) + #define LOW_OPTIMIZATION_EXIT \ + _Pragma ("pop") + #else + #define LOW_OPTIMIZATION_EXIT + #endif + + /* Enter low optimization region - place directly above function definition */ + #define IAR_ONLY_LOW_OPTIMIZATION_ENTER + + /* Exit low optimization region - place directly after end of function definition */ + #define IAR_ONLY_LOW_OPTIMIZATION_EXIT + +#elif defined (__ARMCC_VERSION ) && ( __ARMCC_VERSION >= 6010050 ) + #define LOW_OPTIMIZATION_ENTER + #define LOW_OPTIMIZATION_EXIT + #define IAR_ONLY_LOW_OPTIMIZATION_ENTER + #define IAR_ONLY_LOW_OPTIMIZATION_EXIT + +#elif defined ( __GNUC__ ) + #define LOW_OPTIMIZATION_ENTER \ + __attribute__(( optimize("-O1") )) + #define LOW_OPTIMIZATION_EXIT + #define IAR_ONLY_LOW_OPTIMIZATION_ENTER + #define IAR_ONLY_LOW_OPTIMIZATION_EXIT + +#elif defined ( __ICCARM__ ) + /* Enter low optimization region - place directly above function definition */ + #if defined ( __ARM_ARCH_7EM__ ) + #define LOW_OPTIMIZATION_ENTER \ + _Pragma ("optimize=low") + #else + #define LOW_OPTIMIZATION_ENTER + #endif + + /* Exit low optimization region - place directly after end of function definition */ + #define LOW_OPTIMIZATION_EXIT + + /* Enter low optimization region - place directly above function definition */ + #if defined ( __ARM_ARCH_7EM__ ) + #define IAR_ONLY_LOW_OPTIMIZATION_ENTER \ + _Pragma ("optimize=low") + #else + #define IAR_ONLY_LOW_OPTIMIZATION_ENTER + #endif + + /* Exit low optimization region - place directly after end of function definition */ + #define IAR_ONLY_LOW_OPTIMIZATION_EXIT + +#elif defined ( __TI_ARM__ ) + #define LOW_OPTIMIZATION_ENTER + #define LOW_OPTIMIZATION_EXIT + #define IAR_ONLY_LOW_OPTIMIZATION_ENTER + #define IAR_ONLY_LOW_OPTIMIZATION_EXIT + +#elif defined ( __CSMC__ ) + #define LOW_OPTIMIZATION_ENTER + #define LOW_OPTIMIZATION_EXIT + #define IAR_ONLY_LOW_OPTIMIZATION_ENTER + #define IAR_ONLY_LOW_OPTIMIZATION_EXIT + +#elif defined ( __TASKING__ ) + #define LOW_OPTIMIZATION_ENTER + #define LOW_OPTIMIZATION_EXIT + #define IAR_ONLY_LOW_OPTIMIZATION_ENTER + #define IAR_ONLY_LOW_OPTIMIZATION_EXIT + +#elif defined ( _MSC_VER ) || defined(__GNUC_PYTHON__) + #define LOW_OPTIMIZATION_ENTER + #define LOW_OPTIMIZATION_EXIT + #define IAR_ONLY_LOW_OPTIMIZATION_ENTER + #define IAR_ONLY_LOW_OPTIMIZATION_EXIT +#endif + + + +/* Compiler specific diagnostic adjustment */ +#if defined ( __CC_ARM ) + +#elif defined ( __ARMCC_VERSION ) && ( __ARMCC_VERSION >= 6010050 ) + +#elif defined ( __GNUC__ ) +#pragma GCC diagnostic pop + +#elif defined ( __ICCARM__ ) + +#elif defined ( __TI_ARM__ ) + +#elif defined ( __CSMC__ ) + +#elif defined ( __TASKING__ ) + +#elif defined ( _MSC_VER ) + +#else + #error Unknown compiler +#endif + +#ifdef __cplusplus +} +#endif + + +#endif /* _ARM_MATH_H */ + +/** + * + * End of file. + */ diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/BasicMathFunctions/arm_mult_q15.c b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/BasicMathFunctions/arm_mult_q15.c new file mode 100644 index 0000000000..8e9dc79deb --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/BasicMathFunctions/arm_mult_q15.c @@ -0,0 +1,192 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_mult_q15.c + * Description: Q15 vector multiplication + * + * $Date: 18. March 2019 + * $Revision: V1.6.0 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2019 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 "arm_math.h" + +/** + @ingroup groupMath + */ + +/** + @addtogroup BasicMult + @{ + */ + +/** + @brief Q15 vector multiplication + @param[in] pSrcA points to first input vector + @param[in] pSrcB points to second input vector + @param[out] pDst points to output vector + @param[in] blockSize number of samples in each vector + @return none + + @par Scaling and Overflow Behavior + The function uses saturating arithmetic. + Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated. + */ +#if defined(ARM_MATH_MVEI) + +#include "arm_helium_utils.h" + +void arm_mult_q15( + const q15_t * pSrcA, + const q15_t * pSrcB, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counters */ + q15x8_t vecA, vecB; + + /* Compute 8 outputs at a time */ + blkCnt = blockSize >> 3; + while (blkCnt > 0U) + { + /* + * C = A * B + * Multiply the inputs and then store the results in the destination buffer. + */ + vecA = vld1q(pSrcA); + vecB = vld1q(pSrcB); + vst1q(pDst, vqdmulhq(vecA, vecB)); + /* + * Decrement the blockSize loop counter + */ + blkCnt--; + /* + * advance vector source and destination pointers + */ + pSrcA += 8; + pSrcB += 8; + pDst += 8; + } + /* + * tail + */ + blkCnt = blockSize & 7; + if (blkCnt > 0U) + { + mve_pred16_t p0 = vctp16q(blkCnt); + vecA = vld1q(pSrcA); + vecB = vld1q(pSrcB); + vstrhq_p(pDst, vqdmulhq(vecA, vecB), p0); + } +} + +#else +void arm_mult_q15( + const q15_t * pSrcA, + const q15_t * pSrcB, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* Loop counter */ + +#if defined (ARM_MATH_LOOPUNROLL) + +#if defined (ARM_MATH_DSP) + q31_t inA1, inA2, inB1, inB2; /* Temporary input variables */ + q15_t out1, out2, out3, out4; /* Temporary output variables */ + q31_t mul1, mul2, mul3, mul4; /* Temporary variables */ +#endif + + /* Loop unrolling: Compute 4 outputs at a time */ + blkCnt = blockSize >> 2U; + + while (blkCnt > 0U) + { + /* C = A * B */ + +#if defined (ARM_MATH_DSP) + /* read 2 samples at a time from sourceA */ + inA1 = read_q15x2_ia ((q15_t **) &pSrcA); + /* read 2 samples at a time from sourceB */ + inB1 = read_q15x2_ia ((q15_t **) &pSrcB); + /* read 2 samples at a time from sourceA */ + inA2 = read_q15x2_ia ((q15_t **) &pSrcA); + /* read 2 samples at a time from sourceB */ + inB2 = read_q15x2_ia ((q15_t **) &pSrcB); + + /* multiply mul = sourceA * sourceB */ + mul1 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16)); + mul2 = (q31_t) ((q15_t) (inA1 ) * (q15_t) (inB1 )); + mul3 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB2 >> 16)); + mul4 = (q31_t) ((q15_t) (inA2 ) * (q15_t) (inB2 )); + + /* saturate result to 16 bit */ + out1 = (q15_t) __SSAT(mul1 >> 15, 16); + out2 = (q15_t) __SSAT(mul2 >> 15, 16); + out3 = (q15_t) __SSAT(mul3 >> 15, 16); + out4 = (q15_t) __SSAT(mul4 >> 15, 16); + + /* store result to destination */ +#ifndef ARM_MATH_BIG_ENDIAN + write_q15x2_ia (&pDst, __PKHBT(out2, out1, 16)); + write_q15x2_ia (&pDst, __PKHBT(out4, out3, 16)); +#else + write_q15x2_ia (&pDst, __PKHBT(out1, out2, 16)); + write_q15x2_ia (&pDst, __PKHBT(out3, out4, 16)); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + +#else + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); +#endif + + /* Decrement loop counter */ + blkCnt--; + } + + /* Loop unrolling: Compute remaining outputs */ + blkCnt = blockSize % 0x4U; + +#else + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #if defined (ARM_MATH_LOOPUNROLL) */ + + while (blkCnt > 0U) + { + /* C = A * B */ + + /* Multiply inputs and store result in destination buffer. */ + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); + + /* Decrement loop counter */ + blkCnt--; + } + +} +#endif /* defined(ARM_MATH_MVEI) */ + +/** + @} end of BasicMult group + */ diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/CommonTables/arm_common_tables.c b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/CommonTables/arm_common_tables.c new file mode 100644 index 0000000000..140e26358b --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/CommonTables/arm_common_tables.c @@ -0,0 +1,70552 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_common_tables.c + * Description: common tables like fft twiddle factors, Bitreverse, reciprocal etc + * + * $Date: 18. March 2019 + * $Revision: V1.6.0 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2019 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 "arm_math.h" +#include "arm_common_tables.h" + +/** + @ingroup ComplexFFT + */ + +/** + @addtogroup CFFT_CIFFT Complex FFT Tables + @{ + */ + +/** + @par + Pseudo code for Generation of Bit reversal Table is + @par + 
for (l = 1; l <= N/4; l++)
+  {
+    for (i = 0; i< logN2; i++)
+    {
+      a[i] = l & (1 << i);
+    }
+    for (j = 0; j < logN2; j++)
+    {
+      if (a[j] != 0)
+      y[l] += (1 << ((logN2 - 1) - j));
+    }
+    y[l] = y[l] >> 1;
+   }
+ @par + where N = 4096, logN2 = 12 + @par + N is the maximum FFT Size supported +*/ + +/** + @brief Table for bit reversal process +*/ +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FFT_ALLOW_TABLES) + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREV_1024) +const uint16_t armBitRevTable[1024] = { + 0x400, 0x200, 0x600, 0x100, 0x500, 0x300, 0x700, 0x080, 0x480, 0x280, + 0x680, 0x180, 0x580, 0x380, 0x780, 0x040, 0x440, 0x240, 0x640, 0x140, + 0x540, 0x340, 0x740, 0x0c0, 0x4c0, 0x2c0, 0x6c0, 0x1c0, 0x5c0, 0x3c0, + 0x7c0, 0x020, 0x420, 0x220, 0x620, 0x120, 0x520, 0x320, 0x720, 0x0a0, + 0x4a0, 0x2a0, 0x6a0, 0x1a0, 0x5a0, 0x3a0, 0x7a0, 0x060, 0x460, 0x260, + 0x660, 0x160, 0x560, 0x360, 0x760, 0x0e0, 0x4e0, 0x2e0, 0x6e0, 0x1e0, + 0x5e0, 0x3e0, 0x7e0, 0x010, 0x410, 0x210, 0x610, 0x110, 0x510, 0x310, + 0x710, 0x090, 0x490, 0x290, 0x690, 0x190, 0x590, 0x390, 0x790, 0x050, + 0x450, 0x250, 0x650, 0x150, 0x550, 0x350, 0x750, 0x0d0, 0x4d0, 0x2d0, + 0x6d0, 0x1d0, 0x5d0, 0x3d0, 0x7d0, 0x030, 0x430, 0x230, 0x630, 0x130, + 0x530, 0x330, 0x730, 0x0b0, 0x4b0, 0x2b0, 0x6b0, 0x1b0, 0x5b0, 0x3b0, + 0x7b0, 0x070, 0x470, 0x270, 0x670, 0x170, 0x570, 0x370, 0x770, 0x0f0, + 0x4f0, 0x2f0, 0x6f0, 0x1f0, 0x5f0, 0x3f0, 0x7f0, 0x008, 0x408, 0x208, + 0x608, 0x108, 0x508, 0x308, 0x708, 0x088, 0x488, 0x288, 0x688, 0x188, + 0x588, 0x388, 0x788, 0x048, 0x448, 0x248, 0x648, 0x148, 0x548, 0x348, + 0x748, 0x0c8, 0x4c8, 0x2c8, 0x6c8, 0x1c8, 0x5c8, 0x3c8, 0x7c8, 0x028, + 0x428, 0x228, 0x628, 0x128, 0x528, 0x328, 0x728, 0x0a8, 0x4a8, 0x2a8, + 0x6a8, 0x1a8, 0x5a8, 0x3a8, 0x7a8, 0x068, 0x468, 0x268, 0x668, 0x168, + 0x568, 0x368, 0x768, 0x0e8, 0x4e8, 0x2e8, 0x6e8, 0x1e8, 0x5e8, 0x3e8, + 0x7e8, 0x018, 0x418, 0x218, 0x618, 0x118, 0x518, 0x318, 0x718, 0x098, + 0x498, 0x298, 0x698, 0x198, 0x598, 0x398, 0x798, 0x058, 0x458, 0x258, + 0x658, 0x158, 0x558, 0x358, 0x758, 0x0d8, 0x4d8, 0x2d8, 0x6d8, 0x1d8, + 0x5d8, 0x3d8, 0x7d8, 0x038, 0x438, 0x238, 0x638, 0x138, 0x538, 0x338, + 0x738, 0x0b8, 0x4b8, 0x2b8, 0x6b8, 0x1b8, 0x5b8, 0x3b8, 0x7b8, 0x078, + 0x478, 0x278, 0x678, 0x178, 0x578, 0x378, 0x778, 0x0f8, 0x4f8, 0x2f8, + 0x6f8, 0x1f8, 0x5f8, 0x3f8, 0x7f8, 0x004, 0x404, 0x204, 0x604, 0x104, + 0x504, 0x304, 0x704, 0x084, 0x484, 0x284, 0x684, 0x184, 0x584, 0x384, + 0x784, 0x044, 0x444, 0x244, 0x644, 0x144, 0x544, 0x344, 0x744, 0x0c4, + 0x4c4, 0x2c4, 0x6c4, 0x1c4, 0x5c4, 0x3c4, 0x7c4, 0x024, 0x424, 0x224, + 0x624, 0x124, 0x524, 0x324, 0x724, 0x0a4, 0x4a4, 0x2a4, 0x6a4, 0x1a4, + 0x5a4, 0x3a4, 0x7a4, 0x064, 0x464, 0x264, 0x664, 0x164, 0x564, 0x364, + 0x764, 0x0e4, 0x4e4, 0x2e4, 0x6e4, 0x1e4, 0x5e4, 0x3e4, 0x7e4, 0x014, + 0x414, 0x214, 0x614, 0x114, 0x514, 0x314, 0x714, 0x094, 0x494, 0x294, + 0x694, 0x194, 0x594, 0x394, 0x794, 0x054, 0x454, 0x254, 0x654, 0x154, + 0x554, 0x354, 0x754, 0x0d4, 0x4d4, 0x2d4, 0x6d4, 0x1d4, 0x5d4, 0x3d4, + 0x7d4, 0x034, 0x434, 0x234, 0x634, 0x134, 0x534, 0x334, 0x734, 0x0b4, + 0x4b4, 0x2b4, 0x6b4, 0x1b4, 0x5b4, 0x3b4, 0x7b4, 0x074, 0x474, 0x274, + 0x674, 0x174, 0x574, 0x374, 0x774, 0x0f4, 0x4f4, 0x2f4, 0x6f4, 0x1f4, + 0x5f4, 0x3f4, 0x7f4, 0x00c, 0x40c, 0x20c, 0x60c, 0x10c, 0x50c, 0x30c, + 0x70c, 0x08c, 0x48c, 0x28c, 0x68c, 0x18c, 0x58c, 0x38c, 0x78c, 0x04c, + 0x44c, 0x24c, 0x64c, 0x14c, 0x54c, 0x34c, 0x74c, 0x0cc, 0x4cc, 0x2cc, + 0x6cc, 0x1cc, 0x5cc, 0x3cc, 0x7cc, 0x02c, 0x42c, 0x22c, 0x62c, 0x12c, + 0x52c, 0x32c, 0x72c, 0x0ac, 0x4ac, 0x2ac, 0x6ac, 0x1ac, 0x5ac, 0x3ac, + 0x7ac, 0x06c, 0x46c, 0x26c, 0x66c, 0x16c, 0x56c, 0x36c, 0x76c, 0x0ec, + 0x4ec, 0x2ec, 0x6ec, 0x1ec, 0x5ec, 0x3ec, 0x7ec, 0x01c, 0x41c, 0x21c, + 0x61c, 0x11c, 0x51c, 0x31c, 0x71c, 0x09c, 0x49c, 0x29c, 0x69c, 0x19c, + 0x59c, 0x39c, 0x79c, 0x05c, 0x45c, 0x25c, 0x65c, 0x15c, 0x55c, 0x35c, + 0x75c, 0x0dc, 0x4dc, 0x2dc, 0x6dc, 0x1dc, 0x5dc, 0x3dc, 0x7dc, 0x03c, + 0x43c, 0x23c, 0x63c, 0x13c, 0x53c, 0x33c, 0x73c, 0x0bc, 0x4bc, 0x2bc, + 0x6bc, 0x1bc, 0x5bc, 0x3bc, 0x7bc, 0x07c, 0x47c, 0x27c, 0x67c, 0x17c, + 0x57c, 0x37c, 0x77c, 0x0fc, 0x4fc, 0x2fc, 0x6fc, 0x1fc, 0x5fc, 0x3fc, + 0x7fc, 0x002, 0x402, 0x202, 0x602, 0x102, 0x502, 0x302, 0x702, 0x082, + 0x482, 0x282, 0x682, 0x182, 0x582, 0x382, 0x782, 0x042, 0x442, 0x242, + 0x642, 0x142, 0x542, 0x342, 0x742, 0x0c2, 0x4c2, 0x2c2, 0x6c2, 0x1c2, + 0x5c2, 0x3c2, 0x7c2, 0x022, 0x422, 0x222, 0x622, 0x122, 0x522, 0x322, + 0x722, 0x0a2, 0x4a2, 0x2a2, 0x6a2, 0x1a2, 0x5a2, 0x3a2, 0x7a2, 0x062, + 0x462, 0x262, 0x662, 0x162, 0x562, 0x362, 0x762, 0x0e2, 0x4e2, 0x2e2, + 0x6e2, 0x1e2, 0x5e2, 0x3e2, 0x7e2, 0x012, 0x412, 0x212, 0x612, 0x112, + 0x512, 0x312, 0x712, 0x092, 0x492, 0x292, 0x692, 0x192, 0x592, 0x392, + 0x792, 0x052, 0x452, 0x252, 0x652, 0x152, 0x552, 0x352, 0x752, 0x0d2, + 0x4d2, 0x2d2, 0x6d2, 0x1d2, 0x5d2, 0x3d2, 0x7d2, 0x032, 0x432, 0x232, + 0x632, 0x132, 0x532, 0x332, 0x732, 0x0b2, 0x4b2, 0x2b2, 0x6b2, 0x1b2, + 0x5b2, 0x3b2, 0x7b2, 0x072, 0x472, 0x272, 0x672, 0x172, 0x572, 0x372, + 0x772, 0x0f2, 0x4f2, 0x2f2, 0x6f2, 0x1f2, 0x5f2, 0x3f2, 0x7f2, 0x00a, + 0x40a, 0x20a, 0x60a, 0x10a, 0x50a, 0x30a, 0x70a, 0x08a, 0x48a, 0x28a, + 0x68a, 0x18a, 0x58a, 0x38a, 0x78a, 0x04a, 0x44a, 0x24a, 0x64a, 0x14a, + 0x54a, 0x34a, 0x74a, 0x0ca, 0x4ca, 0x2ca, 0x6ca, 0x1ca, 0x5ca, 0x3ca, + 0x7ca, 0x02a, 0x42a, 0x22a, 0x62a, 0x12a, 0x52a, 0x32a, 0x72a, 0x0aa, + 0x4aa, 0x2aa, 0x6aa, 0x1aa, 0x5aa, 0x3aa, 0x7aa, 0x06a, 0x46a, 0x26a, + 0x66a, 0x16a, 0x56a, 0x36a, 0x76a, 0x0ea, 0x4ea, 0x2ea, 0x6ea, 0x1ea, + 0x5ea, 0x3ea, 0x7ea, 0x01a, 0x41a, 0x21a, 0x61a, 0x11a, 0x51a, 0x31a, + 0x71a, 0x09a, 0x49a, 0x29a, 0x69a, 0x19a, 0x59a, 0x39a, 0x79a, 0x5a, + 0x45a, 0x25a, 0x65a, 0x15a, 0x55a, 0x35a, 0x75a, 0x0da, 0x4da, 0x2da, + 0x6da, 0x1da, 0x5da, 0x3da, 0x7da, 0x03a, 0x43a, 0x23a, 0x63a, 0x13a, + 0x53a, 0x33a, 0x73a, 0x0ba, 0x4ba, 0x2ba, 0x6ba, 0x1ba, 0x5ba, 0x3ba, + 0x7ba, 0x07a, 0x47a, 0x27a, 0x67a, 0x17a, 0x57a, 0x37a, 0x77a, 0x0fa, + 0x4fa, 0x2fa, 0x6fa, 0x1fa, 0x5fa, 0x3fa, 0x7fa, 0x006, 0x406, 0x206, + 0x606, 0x106, 0x506, 0x306, 0x706, 0x086, 0x486, 0x286, 0x686, 0x186, + 0x586, 0x386, 0x786, 0x046, 0x446, 0x246, 0x646, 0x146, 0x546, 0x346, + 0x746, 0x0c6, 0x4c6, 0x2c6, 0x6c6, 0x1c6, 0x5c6, 0x3c6, 0x7c6, 0x026, + 0x426, 0x226, 0x626, 0x126, 0x526, 0x326, 0x726, 0x0a6, 0x4a6, 0x2a6, + 0x6a6, 0x1a6, 0x5a6, 0x3a6, 0x7a6, 0x066, 0x466, 0x266, 0x666, 0x166, + 0x566, 0x366, 0x766, 0x0e6, 0x4e6, 0x2e6, 0x6e6, 0x1e6, 0x5e6, 0x3e6, + 0x7e6, 0x016, 0x416, 0x216, 0x616, 0x116, 0x516, 0x316, 0x716, 0x096, + 0x496, 0x296, 0x696, 0x196, 0x596, 0x396, 0x796, 0x056, 0x456, 0x256, + 0x656, 0x156, 0x556, 0x356, 0x756, 0x0d6, 0x4d6, 0x2d6, 0x6d6, 0x1d6, + 0x5d6, 0x3d6, 0x7d6, 0x036, 0x436, 0x236, 0x636, 0x136, 0x536, 0x336, + 0x736, 0x0b6, 0x4b6, 0x2b6, 0x6b6, 0x1b6, 0x5b6, 0x3b6, 0x7b6, 0x076, + 0x476, 0x276, 0x676, 0x176, 0x576, 0x376, 0x776, 0x0f6, 0x4f6, 0x2f6, + 0x6f6, 0x1f6, 0x5f6, 0x3f6, 0x7f6, 0x00e, 0x40e, 0x20e, 0x60e, 0x10e, + 0x50e, 0x30e, 0x70e, 0x08e, 0x48e, 0x28e, 0x68e, 0x18e, 0x58e, 0x38e, + 0x78e, 0x04e, 0x44e, 0x24e, 0x64e, 0x14e, 0x54e, 0x34e, 0x74e, 0x0ce, + 0x4ce, 0x2ce, 0x6ce, 0x1ce, 0x5ce, 0x3ce, 0x7ce, 0x02e, 0x42e, 0x22e, + 0x62e, 0x12e, 0x52e, 0x32e, 0x72e, 0x0ae, 0x4ae, 0x2ae, 0x6ae, 0x1ae, + 0x5ae, 0x3ae, 0x7ae, 0x06e, 0x46e, 0x26e, 0x66e, 0x16e, 0x56e, 0x36e, + 0x76e, 0x0ee, 0x4ee, 0x2ee, 0x6ee, 0x1ee, 0x5ee, 0x3ee, 0x7ee, 0x01e, + 0x41e, 0x21e, 0x61e, 0x11e, 0x51e, 0x31e, 0x71e, 0x09e, 0x49e, 0x29e, + 0x69e, 0x19e, 0x59e, 0x39e, 0x79e, 0x05e, 0x45e, 0x25e, 0x65e, 0x15e, + 0x55e, 0x35e, 0x75e, 0x0de, 0x4de, 0x2de, 0x6de, 0x1de, 0x5de, 0x3de, + 0x7de, 0x03e, 0x43e, 0x23e, 0x63e, 0x13e, 0x53e, 0x33e, 0x73e, 0x0be, + 0x4be, 0x2be, 0x6be, 0x1be, 0x5be, 0x3be, 0x7be, 0x07e, 0x47e, 0x27e, + 0x67e, 0x17e, 0x57e, 0x37e, 0x77e, 0x0fe, 0x4fe, 0x2fe, 0x6fe, 0x1fe, + 0x5fe, 0x3fe, 0x7fe, 0x001 +}; +#endif + +/** + @brief Double Precision Floating-point Twiddle factors Table Generation +*/ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_16) +/** + @par + Example code for Double Precision Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i < N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(double)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(double)N);
+  }
+ @par + where N = 16, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_16[32] = { + 0x3ff0000000000000, 0x0000000000000000, // 1, 0' + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268' + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711' + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388' + 0x0000000000000000, 0x3ff0000000000000, // 0, 1' + 0xbfd87de2a6aea963, 0x3fed906bcf328d46, //-0.38268, 0.92388' + 0xbfe6a09e667f3bcc, 0x3fe6a09e667f3bcc, //-0.70711, 0.70711' + 0xbfed906bcf328d46, 0x3fd87de2a6aea963, //-0.92388, 0.38268' + 0xbff0000000000000, 0x0000000000000000, // -1, 0' + 0xbfed906bcf328d46, 0xbfd87de2a6aea963, //-0.92388,-0.38268' + 0xbfe6a09e667f3bcc, 0xbfe6a09e667f3bcc, //-0.70711,-0.70711' + 0xbfd87de2a6aea963, 0xbfed906bcf328d46, //-0.38268,-0.92388' + 0x0000000000000000, 0xbff0000000000000, // 0, -1' + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268,-0.92388' + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711,-0.70711' + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388,-0.38268' +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_32) + +/** + @par + Example code for Double Precision Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/N);
+  }
+ @par + where N = 32, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_32[64] = { + 0x3ff0000000000000, 0x0000000000000000, // 1, 0' + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509' + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268' + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557' + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711' + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147' + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388' + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079' + 0x0000000000000000, 0x3ff0000000000000, // 0, 1' + 0xbfc8f8b83c69a60a, 0x3fef6297cff75cb0, //-0.19509, 0.98079' + 0xbfd87de2a6aea963, 0x3fed906bcf328d46, //-0.38268, 0.92388' + 0xbfe1c73b39ae68c8, 0x3fea9b66290ea1a3, //-0.55557, 0.83147' + 0xbfe6a09e667f3bcc, 0x3fe6a09e667f3bcc, //-0.70711, 0.70711' + 0xbfea9b66290ea1a3, 0x3fe1c73b39ae68c8, //-0.83147, 0.55557' + 0xbfed906bcf328d46, 0x3fd87de2a6aea963, //-0.92388, 0.38268' + 0xbfef6297cff75cb0, 0x3fc8f8b83c69a60a, //-0.98079, 0.19509' + 0xbff0000000000000, 0x0000000000000000, // -1, 0' + 0xbfef6297cff75cb0, 0xbfc8f8b83c69a60a, //-0.98079,-0.19509' + 0xbfed906bcf328d46, 0xbfd87de2a6aea963, //-0.92388,-0.38268' + 0xbfea9b66290ea1a3, 0xbfe1c73b39ae68c8, //-0.83147,-0.55557' + 0xbfe6a09e667f3bcc, 0xbfe6a09e667f3bcc, //-0.70711,-0.70711' + 0xbfe1c73b39ae68c8, 0xbfea9b66290ea1a3, //-0.55557,-0.83147' + 0xbfd87de2a6aea963, 0xbfed906bcf328d46, //-0.38268,-0.92388' + 0xbfc8f8b83c69a60a, 0xbfef6297cff75cb0, //-0.19509,-0.98079' + 0x0000000000000000, 0xbff0000000000000, // 0, -1' + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509,-0.98079' + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268,-0.92388' + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557,-0.83147' + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711,-0.70711' + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147,-0.55557' + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388,-0.38268' + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079,-0.19509' +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_64) +/** + @par + Example code for Double Precision Floating-point Twiddle factors Generation: + @par + 
for(i = 0; i < N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 64, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_64[128] = { + 0x3ff0000000000000, 0x0000000000000000, // 1, 0' + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017' + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509' + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028' + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268' + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714' + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557' + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439' + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711' + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301' + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147' + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192' + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388' + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694' + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079' + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518' + 0x0000000000000000, 0x3ff0000000000000, // 0, 1' + 0xbfb917a6bc29b42c, 0x3fefd88da3d12526, //-0.098017, 0.99518' + 0xbfc8f8b83c69a60a, 0x3fef6297cff75cb0, // -0.19509, 0.98079' + 0xbfd294062ed59f05, 0x3fee9f4156c62dda, // -0.29028, 0.95694' + 0xbfd87de2a6aea963, 0x3fed906bcf328d46, // -0.38268, 0.92388' + 0xbfde2b5d3806f63b, 0x3fec38b2f180bdb1, // -0.4714, 0.88192' + 0xbfe1c73b39ae68c8, 0x3fea9b66290ea1a3, // -0.55557, 0.83147' + 0xbfe44cf325091dd6, 0x3fe8bc806b151741, // -0.63439, 0.77301' + 0xbfe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // -0.70711, 0.70711' + 0xbfe8bc806b151741, 0x3fe44cf325091dd6, // -0.77301, 0.63439' + 0xbfea9b66290ea1a3, 0x3fe1c73b39ae68c8, // -0.83147, 0.55557' + 0xbfec38b2f180bdb1, 0x3fde2b5d3806f63b, // -0.88192, 0.4714' + 0xbfed906bcf328d46, 0x3fd87de2a6aea963, // -0.92388, 0.38268' + 0xbfee9f4156c62dda, 0x3fd294062ed59f05, // -0.95694, 0.29028' + 0xbfef6297cff75cb0, 0x3fc8f8b83c69a60a, // -0.98079, 0.19509' + 0xbfefd88da3d12526, 0x3fb917a6bc29b42c, // -0.99518, 0.098017' + 0xbff0000000000000, 0x0000000000000000, // -1, 0' + 0xbfefd88da3d12526, 0xbfb917a6bc29b42c, // -0.99518,-0.098017' + 0xbfef6297cff75cb0, 0xbfc8f8b83c69a60a, // -0.98079, -0.19509' + 0xbfee9f4156c62dda, 0xbfd294062ed59f05, // -0.95694, -0.29028' + 0xbfed906bcf328d46, 0xbfd87de2a6aea963, // -0.92388, -0.38268' + 0xbfec38b2f180bdb1, 0xbfde2b5d3806f63b, // -0.88192, -0.4714' + 0xbfea9b66290ea1a3, 0xbfe1c73b39ae68c8, // -0.83147, -0.55557' + 0xbfe8bc806b151741, 0xbfe44cf325091dd6, // -0.77301, -0.63439' + 0xbfe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // -0.70711, -0.70711' + 0xbfe44cf325091dd6, 0xbfe8bc806b151741, // -0.63439, -0.77301' + 0xbfe1c73b39ae68c8, 0xbfea9b66290ea1a3, // -0.55557, -0.83147' + 0xbfde2b5d3806f63b, 0xbfec38b2f180bdb1, // -0.4714, -0.88192' + 0xbfd87de2a6aea963, 0xbfed906bcf328d46, // -0.38268, -0.92388' + 0xbfd294062ed59f05, 0xbfee9f4156c62dda, // -0.29028, -0.95694' + 0xbfc8f8b83c69a60a, 0xbfef6297cff75cb0, // -0.19509, -0.98079' + 0xbfb917a6bc29b42c, 0xbfefd88da3d12526, //-0.098017, -0.99518' + 0x0000000000000000, 0xbff0000000000000, // 0, -1' + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518' + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079' + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694' + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388' + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192' + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147' + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301' + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711' + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439' + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557' + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714' + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268' + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028' + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509' + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518,-0.098017' + }; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_128) +/** + @par + Example code for Double Precision Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 128, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_128[256] = { + 0x3ff0000000000000, 0x0000000000000000, // 1, 0' + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068' + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017' + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673' + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509' + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298' + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028' + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689' + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268' + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756' + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714' + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141' + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557' + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957' + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439' + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156' + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711' + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095' + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301' + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321' + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147' + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773' + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192' + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399' + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388' + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154' + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694' + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003' + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079' + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918' + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518' + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, // 0.049068, 0.9988' + 0x0000000000000000, 0x3ff0000000000000, // 0, 1' + 0xbfa91f65f10dd814, 0x3feff621e3796d7e, //-0.049068, 0.9988' + 0xbfb917a6bc29b42c, 0x3fefd88da3d12526, //-0.098017, 0.99518' + 0xbfc2c8106e8e613a, 0x3fefa7557f08a517, // -0.14673, 0.98918' + 0xbfc8f8b83c69a60a, 0x3fef6297cff75cb0, // -0.19509, 0.98079' + 0xbfcf19f97b215f1a, 0x3fef0a7efb9230d7, // -0.24298, 0.97003' + 0xbfd294062ed59f05, 0x3fee9f4156c62dda, // -0.29028, 0.95694' + 0xbfd58f9a75ab1fdd, 0x3fee212104f686e5, // -0.33689, 0.94154' + 0xbfd87de2a6aea963, 0x3fed906bcf328d46, // -0.38268, 0.92388' + 0xbfdb5d1009e15cc0, 0x3feced7af43cc773, // -0.42756, 0.90399' + 0xbfde2b5d3806f63b, 0x3fec38b2f180bdb1, // -0.4714, 0.88192' + 0xbfe073879922ffed, 0x3feb728345196e3e, // -0.5141, 0.85773' + 0xbfe1c73b39ae68c8, 0x3fea9b66290ea1a3, // -0.55557, 0.83147' + 0xbfe30ff7fce17035, 0x3fe9b3e047f38741, // -0.5957, 0.80321' + 0xbfe44cf325091dd6, 0x3fe8bc806b151741, // -0.63439, 0.77301' + 0xbfe57d69348cec9f, 0x3fe7b5df226aafb0, // -0.67156, 0.74095' + 0xbfe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // -0.70711, 0.70711' + 0xbfe7b5df226aafb0, 0x3fe57d69348cec9f, // -0.74095, 0.67156' + 0xbfe8bc806b151741, 0x3fe44cf325091dd6, // -0.77301, 0.63439' + 0xbfe9b3e047f38741, 0x3fe30ff7fce17035, // -0.80321, 0.5957' + 0xbfea9b66290ea1a3, 0x3fe1c73b39ae68c8, // -0.83147, 0.55557' + 0xbfeb728345196e3e, 0x3fe073879922ffed, // -0.85773, 0.5141' + 0xbfec38b2f180bdb1, 0x3fde2b5d3806f63b, // -0.88192, 0.4714' + 0xbfeced7af43cc773, 0x3fdb5d1009e15cc0, // -0.90399, 0.42756' + 0xbfed906bcf328d46, 0x3fd87de2a6aea963, // -0.92388, 0.38268' + 0xbfee212104f686e5, 0x3fd58f9a75ab1fdd, // -0.94154, 0.33689' + 0xbfee9f4156c62dda, 0x3fd294062ed59f05, // -0.95694, 0.29028' + 0xbfef0a7efb9230d7, 0x3fcf19f97b215f1a, // -0.97003, 0.24298' + 0xbfef6297cff75cb0, 0x3fc8f8b83c69a60a, // -0.98079, 0.19509' + 0xbfefa7557f08a517, 0x3fc2c8106e8e613a, // -0.98918, 0.14673' + 0xbfefd88da3d12526, 0x3fb917a6bc29b42c, // -0.99518, 0.098017' + 0xbfeff621e3796d7e, 0x3fa91f65f10dd814, // -0.9988, 0.049068' + 0xbff0000000000000, 0x0000000000000000, // -1, 0' + 0xbfeff621e3796d7e, 0xbfa91f65f10dd814, // -0.9988,-0.049068' + 0xbfefd88da3d12526, 0xbfb917a6bc29b42c, // -0.99518,-0.098017' + 0xbfefa7557f08a517, 0xbfc2c8106e8e613a, // -0.98918, -0.14673' + 0xbfef6297cff75cb0, 0xbfc8f8b83c69a60a, // -0.98079, -0.19509' + 0xbfef0a7efb9230d7, 0xbfcf19f97b215f1a, // -0.97003, -0.24298' + 0xbfee9f4156c62dda, 0xbfd294062ed59f05, // -0.95694, -0.29028' + 0xbfee212104f686e5, 0xbfd58f9a75ab1fdd, // -0.94154, -0.33689' + 0xbfed906bcf328d46, 0xbfd87de2a6aea963, // -0.92388, -0.38268' + 0xbfeced7af43cc773, 0xbfdb5d1009e15cc0, // -0.90399, -0.42756' + 0xbfec38b2f180bdb1, 0xbfde2b5d3806f63b, // -0.88192, -0.4714' + 0xbfeb728345196e3e, 0xbfe073879922ffed, // -0.85773, -0.5141' + 0xbfea9b66290ea1a3, 0xbfe1c73b39ae68c8, // -0.83147, -0.55557' + 0xbfe9b3e047f38741, 0xbfe30ff7fce17035, // -0.80321, -0.5957' + 0xbfe8bc806b151741, 0xbfe44cf325091dd6, // -0.77301, -0.63439' + 0xbfe7b5df226aafb0, 0xbfe57d69348cec9f, // -0.74095, -0.67156' + 0xbfe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // -0.70711, -0.70711' + 0xbfe57d69348cec9f, 0xbfe7b5df226aafb0, // -0.67156, -0.74095' + 0xbfe44cf325091dd6, 0xbfe8bc806b151741, // -0.63439, -0.77301' + 0xbfe30ff7fce17035, 0xbfe9b3e047f38741, // -0.5957, -0.80321' + 0xbfe1c73b39ae68c8, 0xbfea9b66290ea1a3, // -0.55557, -0.83147' + 0xbfe073879922ffed, 0xbfeb728345196e3e, // -0.5141, -0.85773' + 0xbfde2b5d3806f63b, 0xbfec38b2f180bdb1, // -0.4714, -0.88192' + 0xbfdb5d1009e15cc0, 0xbfeced7af43cc773, // -0.42756, -0.90399' + 0xbfd87de2a6aea963, 0xbfed906bcf328d46, // -0.38268, -0.92388' + 0xbfd58f9a75ab1fdd, 0xbfee212104f686e5, // -0.33689, -0.94154' + 0xbfd294062ed59f05, 0xbfee9f4156c62dda, // -0.29028, -0.95694' + 0xbfcf19f97b215f1a, 0xbfef0a7efb9230d7, // -0.24298, -0.97003' + 0xbfc8f8b83c69a60a, 0xbfef6297cff75cb0, // -0.19509, -0.98079' + 0xbfc2c8106e8e613a, 0xbfefa7557f08a517, // -0.14673, -0.98918' + 0xbfb917a6bc29b42c, 0xbfefd88da3d12526, //-0.098017, -0.99518' + 0xbfa91f65f10dd814, 0xbfeff621e3796d7e, //-0.049068, -0.9988' + 0x0000000000000000, 0xbff0000000000000, // 0, -1' + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, // 0.049068, -0.9988' + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518' + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918' + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079' + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003' + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694' + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154' + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388' + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399' + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192' + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773' + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147' + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321' + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301' + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095' + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711' + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156' + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439' + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957' + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557' + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141' + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714' + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756' + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268' + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689' + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028' + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298' + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509' + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673' + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518,-0.098017' + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988,-0.049068' +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_256) +/** + @par + Example code for Double Precision Floating-point Twiddle factors Generation: + @par + 
for(i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 256, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_256[512] = { + 0x3ff0000000000000, 0x0000000000000000, // 1, 0 + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541 + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068 + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565 + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017 + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241 + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673 + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096 + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509 + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191 + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298 + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671 + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028 + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368 + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689 + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599 + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268 + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524 + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756 + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961 + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714 + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929 + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141 + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535 + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557 + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581 + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957 + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523 + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439 + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317 + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156 + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954 + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711 + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425 + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095 + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721 + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301 + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835 + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321 + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758 + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147 + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485 + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773 + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009 + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192 + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322 + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399 + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421 + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388 + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299 + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154 + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953 + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694 + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378 + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003 + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757 + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079 + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528 + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918 + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248 + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518 + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, // 0.073565, 0.99729 + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, // 0.049068, 0.9988 + 0x3f992155f7a3667e, 0x3feffd886084cd0d, // 0.024541, 0.9997 + 0x0000000000000000, 0x3ff0000000000000, // 0, 1 + 0xbf992155f7a3667e, 0x3feffd886084cd0d, //-0.024541, 0.9997 + 0xbfa91f65f10dd814, 0x3feff621e3796d7e, //-0.049068, 0.9988 + 0xbfb2d52092ce19f6, 0x3fefe9cdad01883a, //-0.073565, 0.99729 + 0xbfb917a6bc29b42c, 0x3fefd88da3d12526, //-0.098017, 0.99518 + 0xbfbf564e56a9730e, 0x3fefc26470e19fd3, // -0.12241, 0.99248 + 0xbfc2c8106e8e613a, 0x3fefa7557f08a517, // -0.14673, 0.98918 + 0xbfc5e214448b3fc6, 0x3fef8764fa714ba9, // -0.17096, 0.98528 + 0xbfc8f8b83c69a60a, 0x3fef6297cff75cb0, // -0.19509, 0.98079 + 0xbfcc0b826a7e4f63, 0x3fef38f3ac64e589, // -0.2191, 0.9757 + 0xbfcf19f97b215f1a, 0x3fef0a7efb9230d7, // -0.24298, 0.97003 + 0xbfd111d262b1f677, 0x3feed740e7684963, // -0.26671, 0.96378 + 0xbfd294062ed59f05, 0x3fee9f4156c62dda, // -0.29028, 0.95694 + 0xbfd4135c94176602, 0x3fee6288ec48e112, // -0.31368, 0.94953 + 0xbfd58f9a75ab1fdd, 0x3fee212104f686e5, // -0.33689, 0.94154 + 0xbfd7088530fa459e, 0x3feddb13b6ccc23d, // -0.3599, 0.93299 + 0xbfd87de2a6aea963, 0x3fed906bcf328d46, // -0.38268, 0.92388 + 0xbfd9ef7943a8ed8a, 0x3fed4134d14dc93a, // -0.40524, 0.91421 + 0xbfdb5d1009e15cc0, 0x3feced7af43cc773, // -0.42756, 0.90399 + 0xbfdcc66e9931c45d, 0x3fec954b213411f5, // -0.44961, 0.89322 + 0xbfde2b5d3806f63b, 0x3fec38b2f180bdb1, // -0.4714, 0.88192 + 0xbfdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // -0.4929, 0.87009 + 0xbfe073879922ffed, 0x3feb728345196e3e, // -0.5141, 0.85773 + 0xbfe11eb3541b4b22, 0x3feb090a58150200, // -0.535, 0.84485 + 0xbfe1c73b39ae68c8, 0x3fea9b66290ea1a3, // -0.55557, 0.83147 + 0xbfe26d054cdd12df, 0x3fea29a7a0462782, // -0.57581, 0.81758 + 0xbfe30ff7fce17035, 0x3fe9b3e047f38741, // -0.5957, 0.80321 + 0xbfe3affa292050b9, 0x3fe93a22499263fc, // -0.61523, 0.78835 + 0xbfe44cf325091dd6, 0x3fe8bc806b151741, // -0.63439, 0.77301 + 0xbfe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // -0.65317, 0.75721 + 0xbfe57d69348cec9f, 0x3fe7b5df226aafb0, // -0.67156, 0.74095 + 0xbfe610b7551d2cde, 0x3fe72d0837efff97, // -0.68954, 0.72425 + 0xbfe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // -0.70711, 0.70711 + 0xbfe72d0837efff97, 0x3fe610b7551d2cde, // -0.72425, 0.68954 + 0xbfe7b5df226aafb0, 0x3fe57d69348cec9f, // -0.74095, 0.67156 + 0xbfe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // -0.75721, 0.65317 + 0xbfe8bc806b151741, 0x3fe44cf325091dd6, // -0.77301, 0.63439 + 0xbfe93a22499263fc, 0x3fe3affa292050b9, // -0.78835, 0.61523 + 0xbfe9b3e047f38741, 0x3fe30ff7fce17035, // -0.80321, 0.5957 + 0xbfea29a7a0462782, 0x3fe26d054cdd12df, // -0.81758, 0.57581 + 0xbfea9b66290ea1a3, 0x3fe1c73b39ae68c8, // -0.83147, 0.55557 + 0xbfeb090a58150200, 0x3fe11eb3541b4b22, // -0.84485, 0.535 + 0xbfeb728345196e3e, 0x3fe073879922ffed, // -0.85773, 0.5141 + 0xbfebd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // -0.87009, 0.4929 + 0xbfec38b2f180bdb1, 0x3fde2b5d3806f63b, // -0.88192, 0.4714 + 0xbfec954b213411f5, 0x3fdcc66e9931c45d, // -0.89322, 0.44961 + 0xbfeced7af43cc773, 0x3fdb5d1009e15cc0, // -0.90399, 0.42756 + 0xbfed4134d14dc93a, 0x3fd9ef7943a8ed8a, // -0.91421, 0.40524 + 0xbfed906bcf328d46, 0x3fd87de2a6aea963, // -0.92388, 0.38268 + 0xbfeddb13b6ccc23d, 0x3fd7088530fa459e, // -0.93299, 0.3599 + 0xbfee212104f686e5, 0x3fd58f9a75ab1fdd, // -0.94154, 0.33689 + 0xbfee6288ec48e112, 0x3fd4135c94176602, // -0.94953, 0.31368 + 0xbfee9f4156c62dda, 0x3fd294062ed59f05, // -0.95694, 0.29028 + 0xbfeed740e7684963, 0x3fd111d262b1f677, // -0.96378, 0.26671 + 0xbfef0a7efb9230d7, 0x3fcf19f97b215f1a, // -0.97003, 0.24298 + 0xbfef38f3ac64e589, 0x3fcc0b826a7e4f63, // -0.9757, 0.2191 + 0xbfef6297cff75cb0, 0x3fc8f8b83c69a60a, // -0.98079, 0.19509 + 0xbfef8764fa714ba9, 0x3fc5e214448b3fc6, // -0.98528, 0.17096 + 0xbfefa7557f08a517, 0x3fc2c8106e8e613a, // -0.98918, 0.14673 + 0xbfefc26470e19fd3, 0x3fbf564e56a9730e, // -0.99248, 0.12241 + 0xbfefd88da3d12526, 0x3fb917a6bc29b42c, // -0.99518, 0.098017 + 0xbfefe9cdad01883a, 0x3fb2d52092ce19f6, // -0.99729, 0.073565 + 0xbfeff621e3796d7e, 0x3fa91f65f10dd814, // -0.9988, 0.049068 + 0xbfeffd886084cd0d, 0x3f992155f7a3667e, // -0.9997, 0.024541 + 0xbff0000000000000, 0x0000000000000000, // -1, 0 + 0xbfeffd886084cd0d, 0xbf992155f7a3667e, // -0.9997,-0.024541 + 0xbfeff621e3796d7e, 0xbfa91f65f10dd814, // -0.9988,-0.049068 + 0xbfefe9cdad01883a, 0xbfb2d52092ce19f6, // -0.99729,-0.073565 + 0xbfefd88da3d12526, 0xbfb917a6bc29b42c, // -0.99518,-0.098017 + 0xbfefc26470e19fd3, 0xbfbf564e56a9730e, // -0.99248, -0.12241 + 0xbfefa7557f08a517, 0xbfc2c8106e8e613a, // -0.98918, -0.14673 + 0xbfef8764fa714ba9, 0xbfc5e214448b3fc6, // -0.98528, -0.17096 + 0xbfef6297cff75cb0, 0xbfc8f8b83c69a60a, // -0.98079, -0.19509 + 0xbfef38f3ac64e589, 0xbfcc0b826a7e4f63, // -0.9757, -0.2191 + 0xbfef0a7efb9230d7, 0xbfcf19f97b215f1a, // -0.97003, -0.24298 + 0xbfeed740e7684963, 0xbfd111d262b1f677, // -0.96378, -0.26671 + 0xbfee9f4156c62dda, 0xbfd294062ed59f05, // -0.95694, -0.29028 + 0xbfee6288ec48e112, 0xbfd4135c94176602, // -0.94953, -0.31368 + 0xbfee212104f686e5, 0xbfd58f9a75ab1fdd, // -0.94154, -0.33689 + 0xbfeddb13b6ccc23d, 0xbfd7088530fa459e, // -0.93299, -0.3599 + 0xbfed906bcf328d46, 0xbfd87de2a6aea963, // -0.92388, -0.38268 + 0xbfed4134d14dc93a, 0xbfd9ef7943a8ed8a, // -0.91421, -0.40524 + 0xbfeced7af43cc773, 0xbfdb5d1009e15cc0, // -0.90399, -0.42756 + 0xbfec954b213411f5, 0xbfdcc66e9931c45d, // -0.89322, -0.44961 + 0xbfec38b2f180bdb1, 0xbfde2b5d3806f63b, // -0.88192, -0.4714 + 0xbfebd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // -0.87009, -0.4929 + 0xbfeb728345196e3e, 0xbfe073879922ffed, // -0.85773, -0.5141 + 0xbfeb090a58150200, 0xbfe11eb3541b4b22, // -0.84485, -0.535 + 0xbfea9b66290ea1a3, 0xbfe1c73b39ae68c8, // -0.83147, -0.55557 + 0xbfea29a7a0462782, 0xbfe26d054cdd12df, // -0.81758, -0.57581 + 0xbfe9b3e047f38741, 0xbfe30ff7fce17035, // -0.80321, -0.5957 + 0xbfe93a22499263fc, 0xbfe3affa292050b9, // -0.78835, -0.61523 + 0xbfe8bc806b151741, 0xbfe44cf325091dd6, // -0.77301, -0.63439 + 0xbfe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // -0.75721, -0.65317 + 0xbfe7b5df226aafb0, 0xbfe57d69348cec9f, // -0.74095, -0.67156 + 0xbfe72d0837efff97, 0xbfe610b7551d2cde, // -0.72425, -0.68954 + 0xbfe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // -0.70711, -0.70711 + 0xbfe610b7551d2cde, 0xbfe72d0837efff97, // -0.68954, -0.72425 + 0xbfe57d69348cec9f, 0xbfe7b5df226aafb0, // -0.67156, -0.74095 + 0xbfe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // -0.65317, -0.75721 + 0xbfe44cf325091dd6, 0xbfe8bc806b151741, // -0.63439, -0.77301 + 0xbfe3affa292050b9, 0xbfe93a22499263fc, // -0.61523, -0.78835 + 0xbfe30ff7fce17035, 0xbfe9b3e047f38741, // -0.5957, -0.80321 + 0xbfe26d054cdd12df, 0xbfea29a7a0462782, // -0.57581, -0.81758 + 0xbfe1c73b39ae68c8, 0xbfea9b66290ea1a3, // -0.55557, -0.83147 + 0xbfe11eb3541b4b22, 0xbfeb090a58150200, // -0.535, -0.84485 + 0xbfe073879922ffed, 0xbfeb728345196e3e, // -0.5141, -0.85773 + 0xbfdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // -0.4929, -0.87009 + 0xbfde2b5d3806f63b, 0xbfec38b2f180bdb1, // -0.4714, -0.88192 + 0xbfdcc66e9931c45d, 0xbfec954b213411f5, // -0.44961, -0.89322 + 0xbfdb5d1009e15cc0, 0xbfeced7af43cc773, // -0.42756, -0.90399 + 0xbfd9ef7943a8ed8a, 0xbfed4134d14dc93a, // -0.40524, -0.91421 + 0xbfd87de2a6aea963, 0xbfed906bcf328d46, // -0.38268, -0.92388 + 0xbfd7088530fa459e, 0xbfeddb13b6ccc23d, // -0.3599, -0.93299 + 0xbfd58f9a75ab1fdd, 0xbfee212104f686e5, // -0.33689, -0.94154 + 0xbfd4135c94176602, 0xbfee6288ec48e112, // -0.31368, -0.94953 + 0xbfd294062ed59f05, 0xbfee9f4156c62dda, // -0.29028, -0.95694 + 0xbfd111d262b1f677, 0xbfeed740e7684963, // -0.26671, -0.96378 + 0xbfcf19f97b215f1a, 0xbfef0a7efb9230d7, // -0.24298, -0.97003 + 0xbfcc0b826a7e4f63, 0xbfef38f3ac64e589, // -0.2191, -0.9757 + 0xbfc8f8b83c69a60a, 0xbfef6297cff75cb0, // -0.19509, -0.98079 + 0xbfc5e214448b3fc6, 0xbfef8764fa714ba9, // -0.17096, -0.98528 + 0xbfc2c8106e8e613a, 0xbfefa7557f08a517, // -0.14673, -0.98918 + 0xbfbf564e56a9730e, 0xbfefc26470e19fd3, // -0.12241, -0.99248 + 0xbfb917a6bc29b42c, 0xbfefd88da3d12526, //-0.098017, -0.99518 + 0xbfb2d52092ce19f6, 0xbfefe9cdad01883a, //-0.073565, -0.99729 + 0xbfa91f65f10dd814, 0xbfeff621e3796d7e, //-0.049068, -0.9988 + 0xbf992155f7a3667e, 0xbfeffd886084cd0d, //-0.024541, -0.9997 + 0x0000000000000000, 0xbff0000000000000, // 0, -1 + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, // 0.024541, -0.9997 + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, // 0.049068, -0.9988 + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, // 0.073565, -0.99729 + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518 + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248 + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918 + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528 + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079 + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757 + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003 + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378 + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694 + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953 + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154 + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299 + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388 + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421 + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399 + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322 + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192 + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009 + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773 + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485 + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147 + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758 + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321 + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835 + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301 + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721 + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095 + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425 + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711 + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954 + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156 + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317 + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439 + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523 + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957 + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581 + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557 + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535 + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141 + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929 + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714 + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961 + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756 + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524 + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268 + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599 + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689 + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368 + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028 + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671 + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298 + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191 + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509 + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096 + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673 + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241 + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518,-0.098017 + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729,-0.073565 + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988,-0.049068 + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997,-0.024541 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_512) +/** + @par + Example code for Double Precision Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 512, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_512[1024] = { + 0x3ff0000000000000, 0x0000000000000000, // 1, 0 + 0x3fefff62169b92db, 0x3f8921d1fcdec784, // 0.99992, 0.012272 + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541 + 0x3feffa72effef75d, 0x3fa2d865759455cd, // 0.99932, 0.036807 + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068 + 0x3feff095658e71ad, 0x3faf656e79f820e0, // 0.99812, 0.061321 + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565 + 0x3fefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // 0.99631, 0.085797 + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017 + 0x3fefce15fd6da67b, 0x3fbc3785c79ec2d5, // 0.99391, 0.11022 + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241 + 0x3fefb5797195d741, 0x3fc139f0cedaf576, // 0.9909, 0.13458 + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673 + 0x3fef97f924c9099b, 0x3fc45576b1293e5a, // 0.9873, 0.15886 + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096 + 0x3fef7599a3a12077, 0x3fc76dd9de50bf31, // 0.98311, 0.18304 + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509 + 0x3fef4e603b0b2f2d, 0x3fca82a025b00451, // 0.97832, 0.20711 + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191 + 0x3fef2252f7763ada, 0x3fcd934fe5454311, // 0.97294, 0.23106 + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298 + 0x3feef178a3e473c2, 0x3fd04fb80e37fdae, // 0.96698, 0.25487 + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671 + 0x3feebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // 0.96043, 0.27852 + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028 + 0x3fee817bab4cd10d, 0x3fd35410c2e18152, // 0.95331, 0.30201 + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368 + 0x3fee426a4b2bc17e, 0x3fd4d1e24278e76a, // 0.94561, 0.32531 + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689 + 0x3fedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // 0.93734, 0.34842 + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599 + 0x3fedb6526238a09b, 0x3fd7c3a9311dcce7, // 0.92851, 0.37132 + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268 + 0x3fed696173c9e68b, 0x3fd9372a63bc93d7, // 0.91911, 0.39399 + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524 + 0x3fed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // 0.90917, 0.41643 + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756 + 0x3fecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // 0.89867, 0.43862 + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961 + 0x3fec678b3488739b, 0x3fdd79775b86e389, // 0.88764, 0.46054 + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714 + 0x3fec08c426725549, 0x3fdedc1952ef78d5, // 0.87607, 0.48218 + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929 + 0x3feba5aa673590d2, 0x3fe01cfc874c3eb7, // 0.86397, 0.50354 + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141 + 0x3feb3e4d3ef55712, 0x3fe0c9704d5d898f, // 0.85136, 0.52459 + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535 + 0x3fead2bc9e21d511, 0x3fe1734d63dedb49, // 0.83822, 0.54532 + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557 + 0x3fea63091b02fae2, 0x3fe21a799933eb58, // 0.82459, 0.56573 + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581 + 0x3fe9ef43ef29af94, 0x3fe2bedb25faf3ea, // 0.81046, 0.5858 + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957 + 0x3fe9777ef4c7d742, 0x3fe36058b10659f3, // 0.79584, 0.60551 + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523 + 0x3fe8fbcca3ef940d, 0x3fe3fed9534556d4, // 0.78074, 0.62486 + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439 + 0x3fe87c400fba2ebf, 0x3fe49a449b9b0938, // 0.76517, 0.64383 + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317 + 0x3fe7f8ece3571771, 0x3fe5328292a35596, // 0.74914, 0.66242 + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156 + 0x3fe771e75f037261, 0x3fe5c77bbe65018c, // 0.73265, 0.6806 + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954 + 0x3fe6e74454eaa8ae, 0x3fe6591925f0783e, // 0.71573, 0.69838 + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711 + 0x3fe6591925f0783e, 0x3fe6e74454eaa8ae, // 0.69838, 0.71573 + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425 + 0x3fe5c77bbe65018c, 0x3fe771e75f037261, // 0.6806, 0.73265 + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095 + 0x3fe5328292a35596, 0x3fe7f8ece3571771, // 0.66242, 0.74914 + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721 + 0x3fe49a449b9b0938, 0x3fe87c400fba2ebf, // 0.64383, 0.76517 + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301 + 0x3fe3fed9534556d4, 0x3fe8fbcca3ef940d, // 0.62486, 0.78074 + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835 + 0x3fe36058b10659f3, 0x3fe9777ef4c7d742, // 0.60551, 0.79584 + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321 + 0x3fe2bedb25faf3ea, 0x3fe9ef43ef29af94, // 0.5858, 0.81046 + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758 + 0x3fe21a799933eb58, 0x3fea63091b02fae2, // 0.56573, 0.82459 + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147 + 0x3fe1734d63dedb49, 0x3fead2bc9e21d511, // 0.54532, 0.83822 + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485 + 0x3fe0c9704d5d898f, 0x3feb3e4d3ef55712, // 0.52459, 0.85136 + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773 + 0x3fe01cfc874c3eb7, 0x3feba5aa673590d2, // 0.50354, 0.86397 + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009 + 0x3fdedc1952ef78d5, 0x3fec08c426725549, // 0.48218, 0.87607 + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192 + 0x3fdd79775b86e389, 0x3fec678b3488739b, // 0.46054, 0.88764 + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322 + 0x3fdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // 0.43862, 0.89867 + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399 + 0x3fdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // 0.41643, 0.90917 + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421 + 0x3fd9372a63bc93d7, 0x3fed696173c9e68b, // 0.39399, 0.91911 + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388 + 0x3fd7c3a9311dcce7, 0x3fedb6526238a09b, // 0.37132, 0.92851 + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299 + 0x3fd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // 0.34842, 0.93734 + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154 + 0x3fd4d1e24278e76a, 0x3fee426a4b2bc17e, // 0.32531, 0.94561 + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953 + 0x3fd35410c2e18152, 0x3fee817bab4cd10d, // 0.30201, 0.95331 + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694 + 0x3fd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // 0.27852, 0.96043 + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378 + 0x3fd04fb80e37fdae, 0x3feef178a3e473c2, // 0.25487, 0.96698 + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003 + 0x3fcd934fe5454311, 0x3fef2252f7763ada, // 0.23106, 0.97294 + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757 + 0x3fca82a025b00451, 0x3fef4e603b0b2f2d, // 0.20711, 0.97832 + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079 + 0x3fc76dd9de50bf31, 0x3fef7599a3a12077, // 0.18304, 0.98311 + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528 + 0x3fc45576b1293e5a, 0x3fef97f924c9099b, // 0.15886, 0.9873 + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918 + 0x3fc139f0cedaf576, 0x3fefb5797195d741, // 0.13458, 0.9909 + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248 + 0x3fbc3785c79ec2d5, 0x3fefce15fd6da67b, // 0.11022, 0.99391 + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518 + 0x3fb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // 0.085797, 0.99631 + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, // 0.073565, 0.99729 + 0x3faf656e79f820e0, 0x3feff095658e71ad, // 0.061321, 0.99812 + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, // 0.049068, 0.9988 + 0x3fa2d865759455cd, 0x3feffa72effef75d, // 0.036807, 0.99932 + 0x3f992155f7a3667e, 0x3feffd886084cd0d, // 0.024541, 0.9997 + 0x3f8921d1fcdec784, 0x3fefff62169b92db, // 0.012272, 0.99992 + 0x0000000000000000, 0x3ff0000000000000, // 0, 1 + 0xbf8921d1fcdec784, 0x3fefff62169b92db, //-0.012272, 0.99992 + 0xbf992155f7a3667e, 0x3feffd886084cd0d, //-0.024541, 0.9997 + 0xbfa2d865759455cd, 0x3feffa72effef75d, //-0.036807, 0.99932 + 0xbfa91f65f10dd814, 0x3feff621e3796d7e, //-0.049068, 0.9988 + 0xbfaf656e79f820e0, 0x3feff095658e71ad, //-0.061321, 0.99812 + 0xbfb2d52092ce19f6, 0x3fefe9cdad01883a, //-0.073565, 0.99729 + 0xbfb5f6d00a9aa419, 0x3fefe1cafcbd5b09, //-0.085797, 0.99631 + 0xbfb917a6bc29b42c, 0x3fefd88da3d12526, //-0.098017, 0.99518 + 0xbfbc3785c79ec2d5, 0x3fefce15fd6da67b, // -0.11022, 0.99391 + 0xbfbf564e56a9730e, 0x3fefc26470e19fd3, // -0.12241, 0.99248 + 0xbfc139f0cedaf576, 0x3fefb5797195d741, // -0.13458, 0.9909 + 0xbfc2c8106e8e613a, 0x3fefa7557f08a517, // -0.14673, 0.98918 + 0xbfc45576b1293e5a, 0x3fef97f924c9099b, // -0.15886, 0.9873 + 0xbfc5e214448b3fc6, 0x3fef8764fa714ba9, // -0.17096, 0.98528 + 0xbfc76dd9de50bf31, 0x3fef7599a3a12077, // -0.18304, 0.98311 + 0xbfc8f8b83c69a60a, 0x3fef6297cff75cb0, // -0.19509, 0.98079 + 0xbfca82a025b00451, 0x3fef4e603b0b2f2d, // -0.20711, 0.97832 + 0xbfcc0b826a7e4f63, 0x3fef38f3ac64e589, // -0.2191, 0.9757 + 0xbfcd934fe5454311, 0x3fef2252f7763ada, // -0.23106, 0.97294 + 0xbfcf19f97b215f1a, 0x3fef0a7efb9230d7, // -0.24298, 0.97003 + 0xbfd04fb80e37fdae, 0x3feef178a3e473c2, // -0.25487, 0.96698 + 0xbfd111d262b1f677, 0x3feed740e7684963, // -0.26671, 0.96378 + 0xbfd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // -0.27852, 0.96043 + 0xbfd294062ed59f05, 0x3fee9f4156c62dda, // -0.29028, 0.95694 + 0xbfd35410c2e18152, 0x3fee817bab4cd10d, // -0.30201, 0.95331 + 0xbfd4135c94176602, 0x3fee6288ec48e112, // -0.31368, 0.94953 + 0xbfd4d1e24278e76a, 0x3fee426a4b2bc17e, // -0.32531, 0.94561 + 0xbfd58f9a75ab1fdd, 0x3fee212104f686e5, // -0.33689, 0.94154 + 0xbfd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // -0.34842, 0.93734 + 0xbfd7088530fa459e, 0x3feddb13b6ccc23d, // -0.3599, 0.93299 + 0xbfd7c3a9311dcce7, 0x3fedb6526238a09b, // -0.37132, 0.92851 + 0xbfd87de2a6aea963, 0x3fed906bcf328d46, // -0.38268, 0.92388 + 0xbfd9372a63bc93d7, 0x3fed696173c9e68b, // -0.39399, 0.91911 + 0xbfd9ef7943a8ed8a, 0x3fed4134d14dc93a, // -0.40524, 0.91421 + 0xbfdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // -0.41643, 0.90917 + 0xbfdb5d1009e15cc0, 0x3feced7af43cc773, // -0.42756, 0.90399 + 0xbfdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // -0.43862, 0.89867 + 0xbfdcc66e9931c45d, 0x3fec954b213411f5, // -0.44961, 0.89322 + 0xbfdd79775b86e389, 0x3fec678b3488739b, // -0.46054, 0.88764 + 0xbfde2b5d3806f63b, 0x3fec38b2f180bdb1, // -0.4714, 0.88192 + 0xbfdedc1952ef78d5, 0x3fec08c426725549, // -0.48218, 0.87607 + 0xbfdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // -0.4929, 0.87009 + 0xbfe01cfc874c3eb7, 0x3feba5aa673590d2, // -0.50354, 0.86397 + 0xbfe073879922ffed, 0x3feb728345196e3e, // -0.5141, 0.85773 + 0xbfe0c9704d5d898f, 0x3feb3e4d3ef55712, // -0.52459, 0.85136 + 0xbfe11eb3541b4b22, 0x3feb090a58150200, // -0.535, 0.84485 + 0xbfe1734d63dedb49, 0x3fead2bc9e21d511, // -0.54532, 0.83822 + 0xbfe1c73b39ae68c8, 0x3fea9b66290ea1a3, // -0.55557, 0.83147 + 0xbfe21a799933eb58, 0x3fea63091b02fae2, // -0.56573, 0.82459 + 0xbfe26d054cdd12df, 0x3fea29a7a0462782, // -0.57581, 0.81758 + 0xbfe2bedb25faf3ea, 0x3fe9ef43ef29af94, // -0.5858, 0.81046 + 0xbfe30ff7fce17035, 0x3fe9b3e047f38741, // -0.5957, 0.80321 + 0xbfe36058b10659f3, 0x3fe9777ef4c7d742, // -0.60551, 0.79584 + 0xbfe3affa292050b9, 0x3fe93a22499263fc, // -0.61523, 0.78835 + 0xbfe3fed9534556d4, 0x3fe8fbcca3ef940d, // -0.62486, 0.78074 + 0xbfe44cf325091dd6, 0x3fe8bc806b151741, // -0.63439, 0.77301 + 0xbfe49a449b9b0938, 0x3fe87c400fba2ebf, // -0.64383, 0.76517 + 0xbfe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // -0.65317, 0.75721 + 0xbfe5328292a35596, 0x3fe7f8ece3571771, // -0.66242, 0.74914 + 0xbfe57d69348cec9f, 0x3fe7b5df226aafb0, // -0.67156, 0.74095 + 0xbfe5c77bbe65018c, 0x3fe771e75f037261, // -0.6806, 0.73265 + 0xbfe610b7551d2cde, 0x3fe72d0837efff97, // -0.68954, 0.72425 + 0xbfe6591925f0783e, 0x3fe6e74454eaa8ae, // -0.69838, 0.71573 + 0xbfe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // -0.70711, 0.70711 + 0xbfe6e74454eaa8ae, 0x3fe6591925f0783e, // -0.71573, 0.69838 + 0xbfe72d0837efff97, 0x3fe610b7551d2cde, // -0.72425, 0.68954 + 0xbfe771e75f037261, 0x3fe5c77bbe65018c, // -0.73265, 0.6806 + 0xbfe7b5df226aafb0, 0x3fe57d69348cec9f, // -0.74095, 0.67156 + 0xbfe7f8ece3571771, 0x3fe5328292a35596, // -0.74914, 0.66242 + 0xbfe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // -0.75721, 0.65317 + 0xbfe87c400fba2ebf, 0x3fe49a449b9b0938, // -0.76517, 0.64383 + 0xbfe8bc806b151741, 0x3fe44cf325091dd6, // -0.77301, 0.63439 + 0xbfe8fbcca3ef940d, 0x3fe3fed9534556d4, // -0.78074, 0.62486 + 0xbfe93a22499263fc, 0x3fe3affa292050b9, // -0.78835, 0.61523 + 0xbfe9777ef4c7d742, 0x3fe36058b10659f3, // -0.79584, 0.60551 + 0xbfe9b3e047f38741, 0x3fe30ff7fce17035, // -0.80321, 0.5957 + 0xbfe9ef43ef29af94, 0x3fe2bedb25faf3ea, // -0.81046, 0.5858 + 0xbfea29a7a0462782, 0x3fe26d054cdd12df, // -0.81758, 0.57581 + 0xbfea63091b02fae2, 0x3fe21a799933eb58, // -0.82459, 0.56573 + 0xbfea9b66290ea1a3, 0x3fe1c73b39ae68c8, // -0.83147, 0.55557 + 0xbfead2bc9e21d511, 0x3fe1734d63dedb49, // -0.83822, 0.54532 + 0xbfeb090a58150200, 0x3fe11eb3541b4b22, // -0.84485, 0.535 + 0xbfeb3e4d3ef55712, 0x3fe0c9704d5d898f, // -0.85136, 0.52459 + 0xbfeb728345196e3e, 0x3fe073879922ffed, // -0.85773, 0.5141 + 0xbfeba5aa673590d2, 0x3fe01cfc874c3eb7, // -0.86397, 0.50354 + 0xbfebd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // -0.87009, 0.4929 + 0xbfec08c426725549, 0x3fdedc1952ef78d5, // -0.87607, 0.48218 + 0xbfec38b2f180bdb1, 0x3fde2b5d3806f63b, // -0.88192, 0.4714 + 0xbfec678b3488739b, 0x3fdd79775b86e389, // -0.88764, 0.46054 + 0xbfec954b213411f5, 0x3fdcc66e9931c45d, // -0.89322, 0.44961 + 0xbfecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // -0.89867, 0.43862 + 0xbfeced7af43cc773, 0x3fdb5d1009e15cc0, // -0.90399, 0.42756 + 0xbfed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // -0.90917, 0.41643 + 0xbfed4134d14dc93a, 0x3fd9ef7943a8ed8a, // -0.91421, 0.40524 + 0xbfed696173c9e68b, 0x3fd9372a63bc93d7, // -0.91911, 0.39399 + 0xbfed906bcf328d46, 0x3fd87de2a6aea963, // -0.92388, 0.38268 + 0xbfedb6526238a09b, 0x3fd7c3a9311dcce7, // -0.92851, 0.37132 + 0xbfeddb13b6ccc23d, 0x3fd7088530fa459e, // -0.93299, 0.3599 + 0xbfedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // -0.93734, 0.34842 + 0xbfee212104f686e5, 0x3fd58f9a75ab1fdd, // -0.94154, 0.33689 + 0xbfee426a4b2bc17e, 0x3fd4d1e24278e76a, // -0.94561, 0.32531 + 0xbfee6288ec48e112, 0x3fd4135c94176602, // -0.94953, 0.31368 + 0xbfee817bab4cd10d, 0x3fd35410c2e18152, // -0.95331, 0.30201 + 0xbfee9f4156c62dda, 0x3fd294062ed59f05, // -0.95694, 0.29028 + 0xbfeebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // -0.96043, 0.27852 + 0xbfeed740e7684963, 0x3fd111d262b1f677, // -0.96378, 0.26671 + 0xbfeef178a3e473c2, 0x3fd04fb80e37fdae, // -0.96698, 0.25487 + 0xbfef0a7efb9230d7, 0x3fcf19f97b215f1a, // -0.97003, 0.24298 + 0xbfef2252f7763ada, 0x3fcd934fe5454311, // -0.97294, 0.23106 + 0xbfef38f3ac64e589, 0x3fcc0b826a7e4f63, // -0.9757, 0.2191 + 0xbfef4e603b0b2f2d, 0x3fca82a025b00451, // -0.97832, 0.20711 + 0xbfef6297cff75cb0, 0x3fc8f8b83c69a60a, // -0.98079, 0.19509 + 0xbfef7599a3a12077, 0x3fc76dd9de50bf31, // -0.98311, 0.18304 + 0xbfef8764fa714ba9, 0x3fc5e214448b3fc6, // -0.98528, 0.17096 + 0xbfef97f924c9099b, 0x3fc45576b1293e5a, // -0.9873, 0.15886 + 0xbfefa7557f08a517, 0x3fc2c8106e8e613a, // -0.98918, 0.14673 + 0xbfefb5797195d741, 0x3fc139f0cedaf576, // -0.9909, 0.13458 + 0xbfefc26470e19fd3, 0x3fbf564e56a9730e, // -0.99248, 0.12241 + 0xbfefce15fd6da67b, 0x3fbc3785c79ec2d5, // -0.99391, 0.11022 + 0xbfefd88da3d12526, 0x3fb917a6bc29b42c, // -0.99518, 0.098017 + 0xbfefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // -0.99631, 0.085797 + 0xbfefe9cdad01883a, 0x3fb2d52092ce19f6, // -0.99729, 0.073565 + 0xbfeff095658e71ad, 0x3faf656e79f820e0, // -0.99812, 0.061321 + 0xbfeff621e3796d7e, 0x3fa91f65f10dd814, // -0.9988, 0.049068 + 0xbfeffa72effef75d, 0x3fa2d865759455cd, // -0.99932, 0.036807 + 0xbfeffd886084cd0d, 0x3f992155f7a3667e, // -0.9997, 0.024541 + 0xbfefff62169b92db, 0x3f8921d1fcdec784, // -0.99992, 0.012272 + 0xbff0000000000000, 0x0000000000000000, // -1, 0 + 0xbfefff62169b92db, 0xbf8921d1fcdec784, // -0.99992,-0.012272 + 0xbfeffd886084cd0d, 0xbf992155f7a3667e, // -0.9997,-0.024541 + 0xbfeffa72effef75d, 0xbfa2d865759455cd, // -0.99932,-0.036807 + 0xbfeff621e3796d7e, 0xbfa91f65f10dd814, // -0.9988,-0.049068 + 0xbfeff095658e71ad, 0xbfaf656e79f820e0, // -0.99812,-0.061321 + 0xbfefe9cdad01883a, 0xbfb2d52092ce19f6, // -0.99729,-0.073565 + 0xbfefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // -0.99631,-0.085797 + 0xbfefd88da3d12526, 0xbfb917a6bc29b42c, // -0.99518,-0.098017 + 0xbfefce15fd6da67b, 0xbfbc3785c79ec2d5, // -0.99391, -0.11022 + 0xbfefc26470e19fd3, 0xbfbf564e56a9730e, // -0.99248, -0.12241 + 0xbfefb5797195d741, 0xbfc139f0cedaf576, // -0.9909, -0.13458 + 0xbfefa7557f08a517, 0xbfc2c8106e8e613a, // -0.98918, -0.14673 + 0xbfef97f924c9099b, 0xbfc45576b1293e5a, // -0.9873, -0.15886 + 0xbfef8764fa714ba9, 0xbfc5e214448b3fc6, // -0.98528, -0.17096 + 0xbfef7599a3a12077, 0xbfc76dd9de50bf31, // -0.98311, -0.18304 + 0xbfef6297cff75cb0, 0xbfc8f8b83c69a60a, // -0.98079, -0.19509 + 0xbfef4e603b0b2f2d, 0xbfca82a025b00451, // -0.97832, -0.20711 + 0xbfef38f3ac64e589, 0xbfcc0b826a7e4f63, // -0.9757, -0.2191 + 0xbfef2252f7763ada, 0xbfcd934fe5454311, // -0.97294, -0.23106 + 0xbfef0a7efb9230d7, 0xbfcf19f97b215f1a, // -0.97003, -0.24298 + 0xbfeef178a3e473c2, 0xbfd04fb80e37fdae, // -0.96698, -0.25487 + 0xbfeed740e7684963, 0xbfd111d262b1f677, // -0.96378, -0.26671 + 0xbfeebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // -0.96043, -0.27852 + 0xbfee9f4156c62dda, 0xbfd294062ed59f05, // -0.95694, -0.29028 + 0xbfee817bab4cd10d, 0xbfd35410c2e18152, // -0.95331, -0.30201 + 0xbfee6288ec48e112, 0xbfd4135c94176602, // -0.94953, -0.31368 + 0xbfee426a4b2bc17e, 0xbfd4d1e24278e76a, // -0.94561, -0.32531 + 0xbfee212104f686e5, 0xbfd58f9a75ab1fdd, // -0.94154, -0.33689 + 0xbfedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // -0.93734, -0.34842 + 0xbfeddb13b6ccc23d, 0xbfd7088530fa459e, // -0.93299, -0.3599 + 0xbfedb6526238a09b, 0xbfd7c3a9311dcce7, // -0.92851, -0.37132 + 0xbfed906bcf328d46, 0xbfd87de2a6aea963, // -0.92388, -0.38268 + 0xbfed696173c9e68b, 0xbfd9372a63bc93d7, // -0.91911, -0.39399 + 0xbfed4134d14dc93a, 0xbfd9ef7943a8ed8a, // -0.91421, -0.40524 + 0xbfed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // -0.90917, -0.41643 + 0xbfeced7af43cc773, 0xbfdb5d1009e15cc0, // -0.90399, -0.42756 + 0xbfecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // -0.89867, -0.43862 + 0xbfec954b213411f5, 0xbfdcc66e9931c45d, // -0.89322, -0.44961 + 0xbfec678b3488739b, 0xbfdd79775b86e389, // -0.88764, -0.46054 + 0xbfec38b2f180bdb1, 0xbfde2b5d3806f63b, // -0.88192, -0.4714 + 0xbfec08c426725549, 0xbfdedc1952ef78d5, // -0.87607, -0.48218 + 0xbfebd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // -0.87009, -0.4929 + 0xbfeba5aa673590d2, 0xbfe01cfc874c3eb7, // -0.86397, -0.50354 + 0xbfeb728345196e3e, 0xbfe073879922ffed, // -0.85773, -0.5141 + 0xbfeb3e4d3ef55712, 0xbfe0c9704d5d898f, // -0.85136, -0.52459 + 0xbfeb090a58150200, 0xbfe11eb3541b4b22, // -0.84485, -0.535 + 0xbfead2bc9e21d511, 0xbfe1734d63dedb49, // -0.83822, -0.54532 + 0xbfea9b66290ea1a3, 0xbfe1c73b39ae68c8, // -0.83147, -0.55557 + 0xbfea63091b02fae2, 0xbfe21a799933eb58, // -0.82459, -0.56573 + 0xbfea29a7a0462782, 0xbfe26d054cdd12df, // -0.81758, -0.57581 + 0xbfe9ef43ef29af94, 0xbfe2bedb25faf3ea, // -0.81046, -0.5858 + 0xbfe9b3e047f38741, 0xbfe30ff7fce17035, // -0.80321, -0.5957 + 0xbfe9777ef4c7d742, 0xbfe36058b10659f3, // -0.79584, -0.60551 + 0xbfe93a22499263fc, 0xbfe3affa292050b9, // -0.78835, -0.61523 + 0xbfe8fbcca3ef940d, 0xbfe3fed9534556d4, // -0.78074, -0.62486 + 0xbfe8bc806b151741, 0xbfe44cf325091dd6, // -0.77301, -0.63439 + 0xbfe87c400fba2ebf, 0xbfe49a449b9b0938, // -0.76517, -0.64383 + 0xbfe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // -0.75721, -0.65317 + 0xbfe7f8ece3571771, 0xbfe5328292a35596, // -0.74914, -0.66242 + 0xbfe7b5df226aafb0, 0xbfe57d69348cec9f, // -0.74095, -0.67156 + 0xbfe771e75f037261, 0xbfe5c77bbe65018c, // -0.73265, -0.6806 + 0xbfe72d0837efff97, 0xbfe610b7551d2cde, // -0.72425, -0.68954 + 0xbfe6e74454eaa8ae, 0xbfe6591925f0783e, // -0.71573, -0.69838 + 0xbfe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // -0.70711, -0.70711 + 0xbfe6591925f0783e, 0xbfe6e74454eaa8ae, // -0.69838, -0.71573 + 0xbfe610b7551d2cde, 0xbfe72d0837efff97, // -0.68954, -0.72425 + 0xbfe5c77bbe65018c, 0xbfe771e75f037261, // -0.6806, -0.73265 + 0xbfe57d69348cec9f, 0xbfe7b5df226aafb0, // -0.67156, -0.74095 + 0xbfe5328292a35596, 0xbfe7f8ece3571771, // -0.66242, -0.74914 + 0xbfe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // -0.65317, -0.75721 + 0xbfe49a449b9b0938, 0xbfe87c400fba2ebf, // -0.64383, -0.76517 + 0xbfe44cf325091dd6, 0xbfe8bc806b151741, // -0.63439, -0.77301 + 0xbfe3fed9534556d4, 0xbfe8fbcca3ef940d, // -0.62486, -0.78074 + 0xbfe3affa292050b9, 0xbfe93a22499263fc, // -0.61523, -0.78835 + 0xbfe36058b10659f3, 0xbfe9777ef4c7d742, // -0.60551, -0.79584 + 0xbfe30ff7fce17035, 0xbfe9b3e047f38741, // -0.5957, -0.80321 + 0xbfe2bedb25faf3ea, 0xbfe9ef43ef29af94, // -0.5858, -0.81046 + 0xbfe26d054cdd12df, 0xbfea29a7a0462782, // -0.57581, -0.81758 + 0xbfe21a799933eb58, 0xbfea63091b02fae2, // -0.56573, -0.82459 + 0xbfe1c73b39ae68c8, 0xbfea9b66290ea1a3, // -0.55557, -0.83147 + 0xbfe1734d63dedb49, 0xbfead2bc9e21d511, // -0.54532, -0.83822 + 0xbfe11eb3541b4b22, 0xbfeb090a58150200, // -0.535, -0.84485 + 0xbfe0c9704d5d898f, 0xbfeb3e4d3ef55712, // -0.52459, -0.85136 + 0xbfe073879922ffed, 0xbfeb728345196e3e, // -0.5141, -0.85773 + 0xbfe01cfc874c3eb7, 0xbfeba5aa673590d2, // -0.50354, -0.86397 + 0xbfdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // -0.4929, -0.87009 + 0xbfdedc1952ef78d5, 0xbfec08c426725549, // -0.48218, -0.87607 + 0xbfde2b5d3806f63b, 0xbfec38b2f180bdb1, // -0.4714, -0.88192 + 0xbfdd79775b86e389, 0xbfec678b3488739b, // -0.46054, -0.88764 + 0xbfdcc66e9931c45d, 0xbfec954b213411f5, // -0.44961, -0.89322 + 0xbfdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // -0.43862, -0.89867 + 0xbfdb5d1009e15cc0, 0xbfeced7af43cc773, // -0.42756, -0.90399 + 0xbfdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // -0.41643, -0.90917 + 0xbfd9ef7943a8ed8a, 0xbfed4134d14dc93a, // -0.40524, -0.91421 + 0xbfd9372a63bc93d7, 0xbfed696173c9e68b, // -0.39399, -0.91911 + 0xbfd87de2a6aea963, 0xbfed906bcf328d46, // -0.38268, -0.92388 + 0xbfd7c3a9311dcce7, 0xbfedb6526238a09b, // -0.37132, -0.92851 + 0xbfd7088530fa459e, 0xbfeddb13b6ccc23d, // -0.3599, -0.93299 + 0xbfd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // -0.34842, -0.93734 + 0xbfd58f9a75ab1fdd, 0xbfee212104f686e5, // -0.33689, -0.94154 + 0xbfd4d1e24278e76a, 0xbfee426a4b2bc17e, // -0.32531, -0.94561 + 0xbfd4135c94176602, 0xbfee6288ec48e112, // -0.31368, -0.94953 + 0xbfd35410c2e18152, 0xbfee817bab4cd10d, // -0.30201, -0.95331 + 0xbfd294062ed59f05, 0xbfee9f4156c62dda, // -0.29028, -0.95694 + 0xbfd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // -0.27852, -0.96043 + 0xbfd111d262b1f677, 0xbfeed740e7684963, // -0.26671, -0.96378 + 0xbfd04fb80e37fdae, 0xbfeef178a3e473c2, // -0.25487, -0.96698 + 0xbfcf19f97b215f1a, 0xbfef0a7efb9230d7, // -0.24298, -0.97003 + 0xbfcd934fe5454311, 0xbfef2252f7763ada, // -0.23106, -0.97294 + 0xbfcc0b826a7e4f63, 0xbfef38f3ac64e589, // -0.2191, -0.9757 + 0xbfca82a025b00451, 0xbfef4e603b0b2f2d, // -0.20711, -0.97832 + 0xbfc8f8b83c69a60a, 0xbfef6297cff75cb0, // -0.19509, -0.98079 + 0xbfc76dd9de50bf31, 0xbfef7599a3a12077, // -0.18304, -0.98311 + 0xbfc5e214448b3fc6, 0xbfef8764fa714ba9, // -0.17096, -0.98528 + 0xbfc45576b1293e5a, 0xbfef97f924c9099b, // -0.15886, -0.9873 + 0xbfc2c8106e8e613a, 0xbfefa7557f08a517, // -0.14673, -0.98918 + 0xbfc139f0cedaf576, 0xbfefb5797195d741, // -0.13458, -0.9909 + 0xbfbf564e56a9730e, 0xbfefc26470e19fd3, // -0.12241, -0.99248 + 0xbfbc3785c79ec2d5, 0xbfefce15fd6da67b, // -0.11022, -0.99391 + 0xbfb917a6bc29b42c, 0xbfefd88da3d12526, //-0.098017, -0.99518 + 0xbfb5f6d00a9aa419, 0xbfefe1cafcbd5b09, //-0.085797, -0.99631 + 0xbfb2d52092ce19f6, 0xbfefe9cdad01883a, //-0.073565, -0.99729 + 0xbfaf656e79f820e0, 0xbfeff095658e71ad, //-0.061321, -0.99812 + 0xbfa91f65f10dd814, 0xbfeff621e3796d7e, //-0.049068, -0.9988 + 0xbfa2d865759455cd, 0xbfeffa72effef75d, //-0.036807, -0.99932 + 0xbf992155f7a3667e, 0xbfeffd886084cd0d, //-0.024541, -0.9997 + 0xbf8921d1fcdec784, 0xbfefff62169b92db, //-0.012272, -0.99992 + 0x0000000000000000, 0xbff0000000000000, // 0, -1 + 0x3f8921d1fcdec784, 0xbfefff62169b92db, // 0.012272, -0.99992 + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, // 0.024541, -0.9997 + 0x3fa2d865759455cd, 0xbfeffa72effef75d, // 0.036807, -0.99932 + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, // 0.049068, -0.9988 + 0x3faf656e79f820e0, 0xbfeff095658e71ad, // 0.061321, -0.99812 + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, // 0.073565, -0.99729 + 0x3fb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // 0.085797, -0.99631 + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518 + 0x3fbc3785c79ec2d5, 0xbfefce15fd6da67b, // 0.11022, -0.99391 + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248 + 0x3fc139f0cedaf576, 0xbfefb5797195d741, // 0.13458, -0.9909 + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918 + 0x3fc45576b1293e5a, 0xbfef97f924c9099b, // 0.15886, -0.9873 + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528 + 0x3fc76dd9de50bf31, 0xbfef7599a3a12077, // 0.18304, -0.98311 + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079 + 0x3fca82a025b00451, 0xbfef4e603b0b2f2d, // 0.20711, -0.97832 + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757 + 0x3fcd934fe5454311, 0xbfef2252f7763ada, // 0.23106, -0.97294 + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003 + 0x3fd04fb80e37fdae, 0xbfeef178a3e473c2, // 0.25487, -0.96698 + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378 + 0x3fd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // 0.27852, -0.96043 + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694 + 0x3fd35410c2e18152, 0xbfee817bab4cd10d, // 0.30201, -0.95331 + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953 + 0x3fd4d1e24278e76a, 0xbfee426a4b2bc17e, // 0.32531, -0.94561 + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154 + 0x3fd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // 0.34842, -0.93734 + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299 + 0x3fd7c3a9311dcce7, 0xbfedb6526238a09b, // 0.37132, -0.92851 + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388 + 0x3fd9372a63bc93d7, 0xbfed696173c9e68b, // 0.39399, -0.91911 + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421 + 0x3fdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // 0.41643, -0.90917 + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399 + 0x3fdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // 0.43862, -0.89867 + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322 + 0x3fdd79775b86e389, 0xbfec678b3488739b, // 0.46054, -0.88764 + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192 + 0x3fdedc1952ef78d5, 0xbfec08c426725549, // 0.48218, -0.87607 + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009 + 0x3fe01cfc874c3eb7, 0xbfeba5aa673590d2, // 0.50354, -0.86397 + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773 + 0x3fe0c9704d5d898f, 0xbfeb3e4d3ef55712, // 0.52459, -0.85136 + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485 + 0x3fe1734d63dedb49, 0xbfead2bc9e21d511, // 0.54532, -0.83822 + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147 + 0x3fe21a799933eb58, 0xbfea63091b02fae2, // 0.56573, -0.82459 + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758 + 0x3fe2bedb25faf3ea, 0xbfe9ef43ef29af94, // 0.5858, -0.81046 + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321 + 0x3fe36058b10659f3, 0xbfe9777ef4c7d742, // 0.60551, -0.79584 + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835 + 0x3fe3fed9534556d4, 0xbfe8fbcca3ef940d, // 0.62486, -0.78074 + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301 + 0x3fe49a449b9b0938, 0xbfe87c400fba2ebf, // 0.64383, -0.76517 + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721 + 0x3fe5328292a35596, 0xbfe7f8ece3571771, // 0.66242, -0.74914 + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095 + 0x3fe5c77bbe65018c, 0xbfe771e75f037261, // 0.6806, -0.73265 + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425 + 0x3fe6591925f0783e, 0xbfe6e74454eaa8ae, // 0.69838, -0.71573 + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711 + 0x3fe6e74454eaa8ae, 0xbfe6591925f0783e, // 0.71573, -0.69838 + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954 + 0x3fe771e75f037261, 0xbfe5c77bbe65018c, // 0.73265, -0.6806 + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156 + 0x3fe7f8ece3571771, 0xbfe5328292a35596, // 0.74914, -0.66242 + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317 + 0x3fe87c400fba2ebf, 0xbfe49a449b9b0938, // 0.76517, -0.64383 + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439 + 0x3fe8fbcca3ef940d, 0xbfe3fed9534556d4, // 0.78074, -0.62486 + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523 + 0x3fe9777ef4c7d742, 0xbfe36058b10659f3, // 0.79584, -0.60551 + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957 + 0x3fe9ef43ef29af94, 0xbfe2bedb25faf3ea, // 0.81046, -0.5858 + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581 + 0x3fea63091b02fae2, 0xbfe21a799933eb58, // 0.82459, -0.56573 + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557 + 0x3fead2bc9e21d511, 0xbfe1734d63dedb49, // 0.83822, -0.54532 + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535 + 0x3feb3e4d3ef55712, 0xbfe0c9704d5d898f, // 0.85136, -0.52459 + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141 + 0x3feba5aa673590d2, 0xbfe01cfc874c3eb7, // 0.86397, -0.50354 + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929 + 0x3fec08c426725549, 0xbfdedc1952ef78d5, // 0.87607, -0.48218 + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714 + 0x3fec678b3488739b, 0xbfdd79775b86e389, // 0.88764, -0.46054 + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961 + 0x3fecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // 0.89867, -0.43862 + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756 + 0x3fed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // 0.90917, -0.41643 + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524 + 0x3fed696173c9e68b, 0xbfd9372a63bc93d7, // 0.91911, -0.39399 + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268 + 0x3fedb6526238a09b, 0xbfd7c3a9311dcce7, // 0.92851, -0.37132 + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599 + 0x3fedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // 0.93734, -0.34842 + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689 + 0x3fee426a4b2bc17e, 0xbfd4d1e24278e76a, // 0.94561, -0.32531 + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368 + 0x3fee817bab4cd10d, 0xbfd35410c2e18152, // 0.95331, -0.30201 + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028 + 0x3feebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // 0.96043, -0.27852 + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671 + 0x3feef178a3e473c2, 0xbfd04fb80e37fdae, // 0.96698, -0.25487 + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298 + 0x3fef2252f7763ada, 0xbfcd934fe5454311, // 0.97294, -0.23106 + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191 + 0x3fef4e603b0b2f2d, 0xbfca82a025b00451, // 0.97832, -0.20711 + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509 + 0x3fef7599a3a12077, 0xbfc76dd9de50bf31, // 0.98311, -0.18304 + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096 + 0x3fef97f924c9099b, 0xbfc45576b1293e5a, // 0.9873, -0.15886 + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673 + 0x3fefb5797195d741, 0xbfc139f0cedaf576, // 0.9909, -0.13458 + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241 + 0x3fefce15fd6da67b, 0xbfbc3785c79ec2d5, // 0.99391, -0.11022 + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518,-0.098017 + 0x3fefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // 0.99631,-0.085797 + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729,-0.073565 + 0x3feff095658e71ad, 0xbfaf656e79f820e0, // 0.99812,-0.061321 + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988,-0.049068 + 0x3feffa72effef75d, 0xbfa2d865759455cd, // 0.99932,-0.036807 + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997,-0.024541 + 0x3fefff62169b92db, 0xbf8921d1fcdec784, // 0.99992,-0.012272 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_1024) +/** + @par + Example code for Double Precision Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 1024, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_1024[2048] = { + 0x3ff0000000000000, 0x0000000000000000, // 1, 0 + 0x3fefffd8858e8a92, 0x3f7921f0fe670071, // 0.99998, 0.0061359 + 0x3fefff62169b92db, 0x3f8921d1fcdec784, // 0.99992, 0.012272 + 0x3feffe9cb44b51a1, 0x3f92d936bbe30efd, // 0.99983, 0.018407 + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541 + 0x3feffc251df1d3f8, 0x3f9f693731d1cf01, // 0.99953, 0.030675 + 0x3feffa72effef75d, 0x3fa2d865759455cd, // 0.99932, 0.036807 + 0x3feff871dadb81df, 0x3fa5fc00d290cd43, // 0.99908, 0.042938 + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068 + 0x3feff3830f8d575c, 0x3fac428d12c0d7e3, // 0.99848, 0.055195 + 0x3feff095658e71ad, 0x3faf656e79f820e0, // 0.99812, 0.061321 + 0x3fefed58ecb673c4, 0x3fb1440134d709b2, // 0.99772, 0.067444 + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565 + 0x3fefe5f3af2e3940, 0x3fb4661179272096, // 0.99682, 0.079682 + 0x3fefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // 0.99631, 0.085797 + 0x3fefdd539ff1f456, 0x3fb787586a5d5b21, // 0.99577, 0.091909 + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017 + 0x3fefd37914220b84, 0x3fbaa7b724495c04, // 0.99456, 0.10412 + 0x3fefce15fd6da67b, 0x3fbc3785c79ec2d5, // 0.99391, 0.11022 + 0x3fefc8646cfeb721, 0x3fbdc70ecbae9fc8, // 0.99321, 0.11632 + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241 + 0x3fefbc1617e44186, 0x3fc072a047ba831d, // 0.99171, 0.1285 + 0x3fefb5797195d741, 0x3fc139f0cedaf576, // 0.9909, 0.13458 + 0x3fefae8e8e46cfbb, 0x3fc20116d4ec7bce, // 0.99006, 0.14066 + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673 + 0x3fef9fce55adb2c8, 0x3fc38edbb0cd8d14, // 0.98826, 0.1528 + 0x3fef97f924c9099b, 0x3fc45576b1293e5a, // 0.9873, 0.15886 + 0x3fef8fd5ffae41db, 0x3fc51bdf8597c5f2, // 0.98631, 0.16491 + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096 + 0x3fef7ea629e63d6e, 0x3fc6a81304f64ab2, // 0.98421, 0.177 + 0x3fef7599a3a12077, 0x3fc76dd9de50bf31, // 0.98311, 0.18304 + 0x3fef6c3f7df5bbb7, 0x3fc83366e89c64c5, // 0.98196, 0.18907 + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509 + 0x3fef58a2b1789e84, 0x3fc9bdcbf2dc4366, // 0.97957, 0.2011 + 0x3fef4e603b0b2f2d, 0x3fca82a025b00451, // 0.97832, 0.20711 + 0x3fef43d085ff92dd, 0x3fcb4732ef3d6722, // 0.97703, 0.21311 + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191 + 0x3fef2dc9c9089a9d, 0x3fcccf8cb312b286, // 0.97434, 0.22508 + 0x3fef2252f7763ada, 0x3fcd934fe5454311, // 0.97294, 0.23106 + 0x3fef168f53f7205d, 0x3fce56ca1e101a1b, // 0.9715, 0.23702 + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298 + 0x3feefe220c0b95ec, 0x3fcfdcdc1adfedf8, // 0.96852, 0.24893 + 0x3feef178a3e473c2, 0x3fd04fb80e37fdae, // 0.96698, 0.25487 + 0x3feee482e25a9dbc, 0x3fd0b0d9cfdbdb90, // 0.96539, 0.26079 + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671 + 0x3feec9b2d3c3bf84, 0x3fd172a0d7765177, // 0.96212, 0.27262 + 0x3feebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // 0.96043, 0.27852 + 0x3feeadb2e8e7a88e, 0x3fd233bbabc3bb72, // 0.9587, 0.28441 + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028 + 0x3fee9084361df7f3, 0x3fd2f422daec0386, // 0.95514, 0.29615 + 0x3fee817bab4cd10d, 0x3fd35410c2e18152, // 0.95331, 0.30201 + 0x3fee7227db6a9744, 0x3fd3b3cefa0414b7, // 0.95144, 0.30785 + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368 + 0x3fee529f04729ffc, 0x3fd472b8a5571054, // 0.94759, 0.3195 + 0x3fee426a4b2bc17e, 0x3fd4d1e24278e76a, // 0.94561, 0.32531 + 0x3fee31eae870ce25, 0x3fd530d880af3c24, // 0.94359, 0.33111 + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689 + 0x3fee100cca2980ac, 0x3fd5ee27379ea693, // 0.93946, 0.34266 + 0x3fedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // 0.93734, 0.34842 + 0x3feded05f7de47da, 0x3fd6aa9d7dc77e16, // 0.93518, 0.35416 + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599 + 0x3fedc8d7cb410260, 0x3fd766340f2418f6, // 0.93077, 0.36561 + 0x3fedb6526238a09b, 0x3fd7c3a9311dcce7, // 0.92851, 0.37132 + 0x3feda383a9668988, 0x3fd820e3b04eaac4, // 0.92621, 0.37701 + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268 + 0x3fed7d0b02b8ecf9, 0x3fd8daa52ec8a4af, // 0.92151, 0.38835 + 0x3fed696173c9e68b, 0x3fd9372a63bc93d7, // 0.91911, 0.39399 + 0x3fed556f52e93eb1, 0x3fd993716141bdfe, // 0.91668, 0.39962 + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524 + 0x3fed2cb220e0ef9f, 0x3fda4b4127dea1e4, // 0.91171, 0.41084 + 0x3fed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // 0.90917, 0.41643 + 0x3fed02d4feb2bd92, 0x3fdb020d6c7f4009, // 0.9066, 0.422 + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756 + 0x3fecd7d9898b32f6, 0x3fdbb7cf2304bd01, // 0.90135, 0.43309 + 0x3fecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // 0.89867, 0.43862 + 0x3fecabc169a0b901, 0x3fdc6c7f4997000a, // 0.89597, 0.44412 + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961 + 0x3fec7e8e52233cf3, 0x3fdd2016e8e9db5b, // 0.89045, 0.45508 + 0x3fec678b3488739b, 0x3fdd79775b86e389, // 0.88764, 0.46054 + 0x3fec5042012b6907, 0x3fddd28f1481cc58, // 0.8848, 0.46598 + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714 + 0x3fec20de3fa971b0, 0x3fde83e0eaf85113, // 0.87901, 0.4768 + 0x3fec08c426725549, 0x3fdedc1952ef78d5, // 0.87607, 0.48218 + 0x3febf064e15377dd, 0x3fdf3405963fd068, // 0.87309, 0.48755 + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929 + 0x3febbed7c49380ea, 0x3fdfe2f64be7120f, // 0.86705, 0.49823 + 0x3feba5aa673590d2, 0x3fe01cfc874c3eb7, // 0.86397, 0.50354 + 0x3feb8c38d27504e9, 0x3fe0485626ae221a, // 0.86087, 0.50883 + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141 + 0x3feb5889fe921405, 0x3fe09e907417c5e1, // 0.85456, 0.51936 + 0x3feb3e4d3ef55712, 0x3fe0c9704d5d898f, // 0.85136, 0.52459 + 0x3feb23cd470013b4, 0x3fe0f426bb2a8e7d, // 0.84812, 0.5298 + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535 + 0x3feaee04b43c1474, 0x3fe14915af336ceb, // 0.84155, 0.54017 + 0x3fead2bc9e21d511, 0x3fe1734d63dedb49, // 0.83822, 0.54532 + 0x3feab7325916c0d4, 0x3fe19d5a09f2b9b8, // 0.83486, 0.55046 + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557 + 0x3fea7f58529fe69d, 0x3fe1f0f08bbc861b, // 0.82805, 0.56066 + 0x3fea63091b02fae2, 0x3fe21a799933eb58, // 0.82459, 0.56573 + 0x3fea4678c8119ac8, 0x3fe243d5fb98ac1f, // 0.8211, 0.57078 + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581 + 0x3fea0c95eabaf937, 0x3fe2960727629ca8, // 0.81404, 0.58081 + 0x3fe9ef43ef29af94, 0x3fe2bedb25faf3ea, // 0.81046, 0.5858 + 0x3fe9d1b1f5ea80d6, 0x3fe2e780e3e8ea16, // 0.80685, 0.59076 + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957 + 0x3fe995cf2ed80d22, 0x3fe338400d0c8e57, // 0.79954, 0.60062 + 0x3fe9777ef4c7d742, 0x3fe36058b10659f3, // 0.79584, 0.60551 + 0x3fe958efe48e6dd7, 0x3fe3884185dfeb22, // 0.79211, 0.61038 + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523 + 0x3fe91b166fd49da2, 0x3fe3d78238c58343, // 0.78456, 0.62006 + 0x3fe8fbcca3ef940d, 0x3fe3fed9534556d4, // 0.78074, 0.62486 + 0x3fe8dc45331698cc, 0x3fe425ff178e6bb1, // 0.77689, 0.62964 + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439 + 0x3fe89c7e9a4dd4ab, 0x3fe473b51b987347, // 0.7691, 0.63912 + 0x3fe87c400fba2ebf, 0x3fe49a449b9b0938, // 0.76517, 0.64383 + 0x3fe85bc51ae958cc, 0x3fe4c0a145ec0004, // 0.7612, 0.64851 + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317 + 0x3fe81a1b33b57acc, 0x3fe50cc09f59a09b, // 0.75319, 0.65781 + 0x3fe7f8ece3571771, 0x3fe5328292a35596, // 0.74914, 0.66242 + 0x3fe7d7836cc33db2, 0x3fe5581038975137, // 0.74506, 0.667 + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156 + 0x3fe79400574f55e4, 0x3fe5a28d2a5d7250, // 0.73682, 0.67609 + 0x3fe771e75f037261, 0x3fe5c77bbe65018c, // 0.73265, 0.6806 + 0x3fe74f948da8d28d, 0x3fe5ec3495837074, // 0.72846, 0.68508 + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954 + 0x3fe70a42b3176d7a, 0x3fe63503a31c1be8, // 0.72, 0.69397 + 0x3fe6e74454eaa8ae, 0x3fe6591925f0783e, // 0.71573, 0.69838 + 0x3fe6c40d73c18275, 0x3fe67cf78491af10, // 0.71143, 0.70275 + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711 + 0x3fe67cf78491af10, 0x3fe6c40d73c18275, // 0.70275, 0.71143 + 0x3fe6591925f0783e, 0x3fe6e74454eaa8ae, // 0.69838, 0.71573 + 0x3fe63503a31c1be8, 0x3fe70a42b3176d7a, // 0.69397, 0.72 + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425 + 0x3fe5ec3495837074, 0x3fe74f948da8d28d, // 0.68508, 0.72846 + 0x3fe5c77bbe65018c, 0x3fe771e75f037261, // 0.6806, 0.73265 + 0x3fe5a28d2a5d7250, 0x3fe79400574f55e4, // 0.67609, 0.73682 + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095 + 0x3fe5581038975137, 0x3fe7d7836cc33db2, // 0.667, 0.74506 + 0x3fe5328292a35596, 0x3fe7f8ece3571771, // 0.66242, 0.74914 + 0x3fe50cc09f59a09b, 0x3fe81a1b33b57acc, // 0.65781, 0.75319 + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721 + 0x3fe4c0a145ec0004, 0x3fe85bc51ae958cc, // 0.64851, 0.7612 + 0x3fe49a449b9b0938, 0x3fe87c400fba2ebf, // 0.64383, 0.76517 + 0x3fe473b51b987347, 0x3fe89c7e9a4dd4ab, // 0.63912, 0.7691 + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301 + 0x3fe425ff178e6bb1, 0x3fe8dc45331698cc, // 0.62964, 0.77689 + 0x3fe3fed9534556d4, 0x3fe8fbcca3ef940d, // 0.62486, 0.78074 + 0x3fe3d78238c58343, 0x3fe91b166fd49da2, // 0.62006, 0.78456 + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835 + 0x3fe3884185dfeb22, 0x3fe958efe48e6dd7, // 0.61038, 0.79211 + 0x3fe36058b10659f3, 0x3fe9777ef4c7d742, // 0.60551, 0.79584 + 0x3fe338400d0c8e57, 0x3fe995cf2ed80d22, // 0.60062, 0.79954 + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321 + 0x3fe2e780e3e8ea16, 0x3fe9d1b1f5ea80d6, // 0.59076, 0.80685 + 0x3fe2bedb25faf3ea, 0x3fe9ef43ef29af94, // 0.5858, 0.81046 + 0x3fe2960727629ca8, 0x3fea0c95eabaf937, // 0.58081, 0.81404 + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758 + 0x3fe243d5fb98ac1f, 0x3fea4678c8119ac8, // 0.57078, 0.8211 + 0x3fe21a799933eb58, 0x3fea63091b02fae2, // 0.56573, 0.82459 + 0x3fe1f0f08bbc861b, 0x3fea7f58529fe69d, // 0.56066, 0.82805 + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147 + 0x3fe19d5a09f2b9b8, 0x3feab7325916c0d4, // 0.55046, 0.83486 + 0x3fe1734d63dedb49, 0x3fead2bc9e21d511, // 0.54532, 0.83822 + 0x3fe14915af336ceb, 0x3feaee04b43c1474, // 0.54017, 0.84155 + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485 + 0x3fe0f426bb2a8e7d, 0x3feb23cd470013b4, // 0.5298, 0.84812 + 0x3fe0c9704d5d898f, 0x3feb3e4d3ef55712, // 0.52459, 0.85136 + 0x3fe09e907417c5e1, 0x3feb5889fe921405, // 0.51936, 0.85456 + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773 + 0x3fe0485626ae221a, 0x3feb8c38d27504e9, // 0.50883, 0.86087 + 0x3fe01cfc874c3eb7, 0x3feba5aa673590d2, // 0.50354, 0.86397 + 0x3fdfe2f64be7120f, 0x3febbed7c49380ea, // 0.49823, 0.86705 + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009 + 0x3fdf3405963fd068, 0x3febf064e15377dd, // 0.48755, 0.87309 + 0x3fdedc1952ef78d5, 0x3fec08c426725549, // 0.48218, 0.87607 + 0x3fde83e0eaf85113, 0x3fec20de3fa971b0, // 0.4768, 0.87901 + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192 + 0x3fddd28f1481cc58, 0x3fec5042012b6907, // 0.46598, 0.8848 + 0x3fdd79775b86e389, 0x3fec678b3488739b, // 0.46054, 0.88764 + 0x3fdd2016e8e9db5b, 0x3fec7e8e52233cf3, // 0.45508, 0.89045 + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322 + 0x3fdc6c7f4997000a, 0x3fecabc169a0b901, // 0.44412, 0.89597 + 0x3fdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // 0.43862, 0.89867 + 0x3fdbb7cf2304bd01, 0x3fecd7d9898b32f6, // 0.43309, 0.90135 + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399 + 0x3fdb020d6c7f4009, 0x3fed02d4feb2bd92, // 0.422, 0.9066 + 0x3fdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // 0.41643, 0.90917 + 0x3fda4b4127dea1e4, 0x3fed2cb220e0ef9f, // 0.41084, 0.91171 + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421 + 0x3fd993716141bdfe, 0x3fed556f52e93eb1, // 0.39962, 0.91668 + 0x3fd9372a63bc93d7, 0x3fed696173c9e68b, // 0.39399, 0.91911 + 0x3fd8daa52ec8a4af, 0x3fed7d0b02b8ecf9, // 0.38835, 0.92151 + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388 + 0x3fd820e3b04eaac4, 0x3feda383a9668988, // 0.37701, 0.92621 + 0x3fd7c3a9311dcce7, 0x3fedb6526238a09b, // 0.37132, 0.92851 + 0x3fd766340f2418f6, 0x3fedc8d7cb410260, // 0.36561, 0.93077 + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299 + 0x3fd6aa9d7dc77e16, 0x3feded05f7de47da, // 0.35416, 0.93518 + 0x3fd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // 0.34842, 0.93734 + 0x3fd5ee27379ea693, 0x3fee100cca2980ac, // 0.34266, 0.93946 + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154 + 0x3fd530d880af3c24, 0x3fee31eae870ce25, // 0.33111, 0.94359 + 0x3fd4d1e24278e76a, 0x3fee426a4b2bc17e, // 0.32531, 0.94561 + 0x3fd472b8a5571054, 0x3fee529f04729ffc, // 0.3195, 0.94759 + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953 + 0x3fd3b3cefa0414b7, 0x3fee7227db6a9744, // 0.30785, 0.95144 + 0x3fd35410c2e18152, 0x3fee817bab4cd10d, // 0.30201, 0.95331 + 0x3fd2f422daec0386, 0x3fee9084361df7f3, // 0.29615, 0.95514 + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694 + 0x3fd233bbabc3bb72, 0x3feeadb2e8e7a88e, // 0.28441, 0.9587 + 0x3fd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // 0.27852, 0.96043 + 0x3fd172a0d7765177, 0x3feec9b2d3c3bf84, // 0.27262, 0.96212 + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378 + 0x3fd0b0d9cfdbdb90, 0x3feee482e25a9dbc, // 0.26079, 0.96539 + 0x3fd04fb80e37fdae, 0x3feef178a3e473c2, // 0.25487, 0.96698 + 0x3fcfdcdc1adfedf8, 0x3feefe220c0b95ec, // 0.24893, 0.96852 + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003 + 0x3fce56ca1e101a1b, 0x3fef168f53f7205d, // 0.23702, 0.9715 + 0x3fcd934fe5454311, 0x3fef2252f7763ada, // 0.23106, 0.97294 + 0x3fcccf8cb312b286, 0x3fef2dc9c9089a9d, // 0.22508, 0.97434 + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757 + 0x3fcb4732ef3d6722, 0x3fef43d085ff92dd, // 0.21311, 0.97703 + 0x3fca82a025b00451, 0x3fef4e603b0b2f2d, // 0.20711, 0.97832 + 0x3fc9bdcbf2dc4366, 0x3fef58a2b1789e84, // 0.2011, 0.97957 + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079 + 0x3fc83366e89c64c5, 0x3fef6c3f7df5bbb7, // 0.18907, 0.98196 + 0x3fc76dd9de50bf31, 0x3fef7599a3a12077, // 0.18304, 0.98311 + 0x3fc6a81304f64ab2, 0x3fef7ea629e63d6e, // 0.177, 0.98421 + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528 + 0x3fc51bdf8597c5f2, 0x3fef8fd5ffae41db, // 0.16491, 0.98631 + 0x3fc45576b1293e5a, 0x3fef97f924c9099b, // 0.15886, 0.9873 + 0x3fc38edbb0cd8d14, 0x3fef9fce55adb2c8, // 0.1528, 0.98826 + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918 + 0x3fc20116d4ec7bce, 0x3fefae8e8e46cfbb, // 0.14066, 0.99006 + 0x3fc139f0cedaf576, 0x3fefb5797195d741, // 0.13458, 0.9909 + 0x3fc072a047ba831d, 0x3fefbc1617e44186, // 0.1285, 0.99171 + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248 + 0x3fbdc70ecbae9fc8, 0x3fefc8646cfeb721, // 0.11632, 0.99321 + 0x3fbc3785c79ec2d5, 0x3fefce15fd6da67b, // 0.11022, 0.99391 + 0x3fbaa7b724495c04, 0x3fefd37914220b84, // 0.10412, 0.99456 + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518 + 0x3fb787586a5d5b21, 0x3fefdd539ff1f456, // 0.091909, 0.99577 + 0x3fb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // 0.085797, 0.99631 + 0x3fb4661179272096, 0x3fefe5f3af2e3940, // 0.079682, 0.99682 + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, // 0.073565, 0.99729 + 0x3fb1440134d709b2, 0x3fefed58ecb673c4, // 0.067444, 0.99772 + 0x3faf656e79f820e0, 0x3feff095658e71ad, // 0.061321, 0.99812 + 0x3fac428d12c0d7e3, 0x3feff3830f8d575c, // 0.055195, 0.99848 + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, // 0.049068, 0.9988 + 0x3fa5fc00d290cd43, 0x3feff871dadb81df, // 0.042938, 0.99908 + 0x3fa2d865759455cd, 0x3feffa72effef75d, // 0.036807, 0.99932 + 0x3f9f693731d1cf01, 0x3feffc251df1d3f8, // 0.030675, 0.99953 + 0x3f992155f7a3667e, 0x3feffd886084cd0d, // 0.024541, 0.9997 + 0x3f92d936bbe30efd, 0x3feffe9cb44b51a1, // 0.018407, 0.99983 + 0x3f8921d1fcdec784, 0x3fefff62169b92db, // 0.012272, 0.99992 + 0x3f7921f0fe670071, 0x3fefffd8858e8a92, // 0.0061359, 0.99998 + 0x0000000000000000, 0x3ff0000000000000, // 0, 1 + 0xbf7921f0fe670071, 0x3fefffd8858e8a92, //-0.0061359, 0.99998 + 0xbf8921d1fcdec784, 0x3fefff62169b92db, // -0.012272, 0.99992 + 0xbf92d936bbe30efd, 0x3feffe9cb44b51a1, // -0.018407, 0.99983 + 0xbf992155f7a3667e, 0x3feffd886084cd0d, // -0.024541, 0.9997 + 0xbf9f693731d1cf01, 0x3feffc251df1d3f8, // -0.030675, 0.99953 + 0xbfa2d865759455cd, 0x3feffa72effef75d, // -0.036807, 0.99932 + 0xbfa5fc00d290cd43, 0x3feff871dadb81df, // -0.042938, 0.99908 + 0xbfa91f65f10dd814, 0x3feff621e3796d7e, // -0.049068, 0.9988 + 0xbfac428d12c0d7e3, 0x3feff3830f8d575c, // -0.055195, 0.99848 + 0xbfaf656e79f820e0, 0x3feff095658e71ad, // -0.061321, 0.99812 + 0xbfb1440134d709b2, 0x3fefed58ecb673c4, // -0.067444, 0.99772 + 0xbfb2d52092ce19f6, 0x3fefe9cdad01883a, // -0.073565, 0.99729 + 0xbfb4661179272096, 0x3fefe5f3af2e3940, // -0.079682, 0.99682 + 0xbfb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // -0.085797, 0.99631 + 0xbfb787586a5d5b21, 0x3fefdd539ff1f456, // -0.091909, 0.99577 + 0xbfb917a6bc29b42c, 0x3fefd88da3d12526, // -0.098017, 0.99518 + 0xbfbaa7b724495c04, 0x3fefd37914220b84, // -0.10412, 0.99456 + 0xbfbc3785c79ec2d5, 0x3fefce15fd6da67b, // -0.11022, 0.99391 + 0xbfbdc70ecbae9fc8, 0x3fefc8646cfeb721, // -0.11632, 0.99321 + 0xbfbf564e56a9730e, 0x3fefc26470e19fd3, // -0.12241, 0.99248 + 0xbfc072a047ba831d, 0x3fefbc1617e44186, // -0.1285, 0.99171 + 0xbfc139f0cedaf576, 0x3fefb5797195d741, // -0.13458, 0.9909 + 0xbfc20116d4ec7bce, 0x3fefae8e8e46cfbb, // -0.14066, 0.99006 + 0xbfc2c8106e8e613a, 0x3fefa7557f08a517, // -0.14673, 0.98918 + 0xbfc38edbb0cd8d14, 0x3fef9fce55adb2c8, // -0.1528, 0.98826 + 0xbfc45576b1293e5a, 0x3fef97f924c9099b, // -0.15886, 0.9873 + 0xbfc51bdf8597c5f2, 0x3fef8fd5ffae41db, // -0.16491, 0.98631 + 0xbfc5e214448b3fc6, 0x3fef8764fa714ba9, // -0.17096, 0.98528 + 0xbfc6a81304f64ab2, 0x3fef7ea629e63d6e, // -0.177, 0.98421 + 0xbfc76dd9de50bf31, 0x3fef7599a3a12077, // -0.18304, 0.98311 + 0xbfc83366e89c64c5, 0x3fef6c3f7df5bbb7, // -0.18907, 0.98196 + 0xbfc8f8b83c69a60a, 0x3fef6297cff75cb0, // -0.19509, 0.98079 + 0xbfc9bdcbf2dc4366, 0x3fef58a2b1789e84, // -0.2011, 0.97957 + 0xbfca82a025b00451, 0x3fef4e603b0b2f2d, // -0.20711, 0.97832 + 0xbfcb4732ef3d6722, 0x3fef43d085ff92dd, // -0.21311, 0.97703 + 0xbfcc0b826a7e4f63, 0x3fef38f3ac64e589, // -0.2191, 0.9757 + 0xbfcccf8cb312b286, 0x3fef2dc9c9089a9d, // -0.22508, 0.97434 + 0xbfcd934fe5454311, 0x3fef2252f7763ada, // -0.23106, 0.97294 + 0xbfce56ca1e101a1b, 0x3fef168f53f7205d, // -0.23702, 0.9715 + 0xbfcf19f97b215f1a, 0x3fef0a7efb9230d7, // -0.24298, 0.97003 + 0xbfcfdcdc1adfedf8, 0x3feefe220c0b95ec, // -0.24893, 0.96852 + 0xbfd04fb80e37fdae, 0x3feef178a3e473c2, // -0.25487, 0.96698 + 0xbfd0b0d9cfdbdb90, 0x3feee482e25a9dbc, // -0.26079, 0.96539 + 0xbfd111d262b1f677, 0x3feed740e7684963, // -0.26671, 0.96378 + 0xbfd172a0d7765177, 0x3feec9b2d3c3bf84, // -0.27262, 0.96212 + 0xbfd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // -0.27852, 0.96043 + 0xbfd233bbabc3bb72, 0x3feeadb2e8e7a88e, // -0.28441, 0.9587 + 0xbfd294062ed59f05, 0x3fee9f4156c62dda, // -0.29028, 0.95694 + 0xbfd2f422daec0386, 0x3fee9084361df7f3, // -0.29615, 0.95514 + 0xbfd35410c2e18152, 0x3fee817bab4cd10d, // -0.30201, 0.95331 + 0xbfd3b3cefa0414b7, 0x3fee7227db6a9744, // -0.30785, 0.95144 + 0xbfd4135c94176602, 0x3fee6288ec48e112, // -0.31368, 0.94953 + 0xbfd472b8a5571054, 0x3fee529f04729ffc, // -0.3195, 0.94759 + 0xbfd4d1e24278e76a, 0x3fee426a4b2bc17e, // -0.32531, 0.94561 + 0xbfd530d880af3c24, 0x3fee31eae870ce25, // -0.33111, 0.94359 + 0xbfd58f9a75ab1fdd, 0x3fee212104f686e5, // -0.33689, 0.94154 + 0xbfd5ee27379ea693, 0x3fee100cca2980ac, // -0.34266, 0.93946 + 0xbfd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // -0.34842, 0.93734 + 0xbfd6aa9d7dc77e16, 0x3feded05f7de47da, // -0.35416, 0.93518 + 0xbfd7088530fa459e, 0x3feddb13b6ccc23d, // -0.3599, 0.93299 + 0xbfd766340f2418f6, 0x3fedc8d7cb410260, // -0.36561, 0.93077 + 0xbfd7c3a9311dcce7, 0x3fedb6526238a09b, // -0.37132, 0.92851 + 0xbfd820e3b04eaac4, 0x3feda383a9668988, // -0.37701, 0.92621 + 0xbfd87de2a6aea963, 0x3fed906bcf328d46, // -0.38268, 0.92388 + 0xbfd8daa52ec8a4af, 0x3fed7d0b02b8ecf9, // -0.38835, 0.92151 + 0xbfd9372a63bc93d7, 0x3fed696173c9e68b, // -0.39399, 0.91911 + 0xbfd993716141bdfe, 0x3fed556f52e93eb1, // -0.39962, 0.91668 + 0xbfd9ef7943a8ed8a, 0x3fed4134d14dc93a, // -0.40524, 0.91421 + 0xbfda4b4127dea1e4, 0x3fed2cb220e0ef9f, // -0.41084, 0.91171 + 0xbfdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // -0.41643, 0.90917 + 0xbfdb020d6c7f4009, 0x3fed02d4feb2bd92, // -0.422, 0.9066 + 0xbfdb5d1009e15cc0, 0x3feced7af43cc773, // -0.42756, 0.90399 + 0xbfdbb7cf2304bd01, 0x3fecd7d9898b32f6, // -0.43309, 0.90135 + 0xbfdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // -0.43862, 0.89867 + 0xbfdc6c7f4997000a, 0x3fecabc169a0b901, // -0.44412, 0.89597 + 0xbfdcc66e9931c45d, 0x3fec954b213411f5, // -0.44961, 0.89322 + 0xbfdd2016e8e9db5b, 0x3fec7e8e52233cf3, // -0.45508, 0.89045 + 0xbfdd79775b86e389, 0x3fec678b3488739b, // -0.46054, 0.88764 + 0xbfddd28f1481cc58, 0x3fec5042012b6907, // -0.46598, 0.8848 + 0xbfde2b5d3806f63b, 0x3fec38b2f180bdb1, // -0.4714, 0.88192 + 0xbfde83e0eaf85113, 0x3fec20de3fa971b0, // -0.4768, 0.87901 + 0xbfdedc1952ef78d5, 0x3fec08c426725549, // -0.48218, 0.87607 + 0xbfdf3405963fd068, 0x3febf064e15377dd, // -0.48755, 0.87309 + 0xbfdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // -0.4929, 0.87009 + 0xbfdfe2f64be7120f, 0x3febbed7c49380ea, // -0.49823, 0.86705 + 0xbfe01cfc874c3eb7, 0x3feba5aa673590d2, // -0.50354, 0.86397 + 0xbfe0485626ae221a, 0x3feb8c38d27504e9, // -0.50883, 0.86087 + 0xbfe073879922ffed, 0x3feb728345196e3e, // -0.5141, 0.85773 + 0xbfe09e907417c5e1, 0x3feb5889fe921405, // -0.51936, 0.85456 + 0xbfe0c9704d5d898f, 0x3feb3e4d3ef55712, // -0.52459, 0.85136 + 0xbfe0f426bb2a8e7d, 0x3feb23cd470013b4, // -0.5298, 0.84812 + 0xbfe11eb3541b4b22, 0x3feb090a58150200, // -0.535, 0.84485 + 0xbfe14915af336ceb, 0x3feaee04b43c1474, // -0.54017, 0.84155 + 0xbfe1734d63dedb49, 0x3fead2bc9e21d511, // -0.54532, 0.83822 + 0xbfe19d5a09f2b9b8, 0x3feab7325916c0d4, // -0.55046, 0.83486 + 0xbfe1c73b39ae68c8, 0x3fea9b66290ea1a3, // -0.55557, 0.83147 + 0xbfe1f0f08bbc861b, 0x3fea7f58529fe69d, // -0.56066, 0.82805 + 0xbfe21a799933eb58, 0x3fea63091b02fae2, // -0.56573, 0.82459 + 0xbfe243d5fb98ac1f, 0x3fea4678c8119ac8, // -0.57078, 0.8211 + 0xbfe26d054cdd12df, 0x3fea29a7a0462782, // -0.57581, 0.81758 + 0xbfe2960727629ca8, 0x3fea0c95eabaf937, // -0.58081, 0.81404 + 0xbfe2bedb25faf3ea, 0x3fe9ef43ef29af94, // -0.5858, 0.81046 + 0xbfe2e780e3e8ea16, 0x3fe9d1b1f5ea80d6, // -0.59076, 0.80685 + 0xbfe30ff7fce17035, 0x3fe9b3e047f38741, // -0.5957, 0.80321 + 0xbfe338400d0c8e57, 0x3fe995cf2ed80d22, // -0.60062, 0.79954 + 0xbfe36058b10659f3, 0x3fe9777ef4c7d742, // -0.60551, 0.79584 + 0xbfe3884185dfeb22, 0x3fe958efe48e6dd7, // -0.61038, 0.79211 + 0xbfe3affa292050b9, 0x3fe93a22499263fc, // -0.61523, 0.78835 + 0xbfe3d78238c58343, 0x3fe91b166fd49da2, // -0.62006, 0.78456 + 0xbfe3fed9534556d4, 0x3fe8fbcca3ef940d, // -0.62486, 0.78074 + 0xbfe425ff178e6bb1, 0x3fe8dc45331698cc, // -0.62964, 0.77689 + 0xbfe44cf325091dd6, 0x3fe8bc806b151741, // -0.63439, 0.77301 + 0xbfe473b51b987347, 0x3fe89c7e9a4dd4ab, // -0.63912, 0.7691 + 0xbfe49a449b9b0938, 0x3fe87c400fba2ebf, // -0.64383, 0.76517 + 0xbfe4c0a145ec0004, 0x3fe85bc51ae958cc, // -0.64851, 0.7612 + 0xbfe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // -0.65317, 0.75721 + 0xbfe50cc09f59a09b, 0x3fe81a1b33b57acc, // -0.65781, 0.75319 + 0xbfe5328292a35596, 0x3fe7f8ece3571771, // -0.66242, 0.74914 + 0xbfe5581038975137, 0x3fe7d7836cc33db2, // -0.667, 0.74506 + 0xbfe57d69348cec9f, 0x3fe7b5df226aafb0, // -0.67156, 0.74095 + 0xbfe5a28d2a5d7250, 0x3fe79400574f55e4, // -0.67609, 0.73682 + 0xbfe5c77bbe65018c, 0x3fe771e75f037261, // -0.6806, 0.73265 + 0xbfe5ec3495837074, 0x3fe74f948da8d28d, // -0.68508, 0.72846 + 0xbfe610b7551d2cde, 0x3fe72d0837efff97, // -0.68954, 0.72425 + 0xbfe63503a31c1be8, 0x3fe70a42b3176d7a, // -0.69397, 0.72 + 0xbfe6591925f0783e, 0x3fe6e74454eaa8ae, // -0.69838, 0.71573 + 0xbfe67cf78491af10, 0x3fe6c40d73c18275, // -0.70275, 0.71143 + 0xbfe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // -0.70711, 0.70711 + 0xbfe6c40d73c18275, 0x3fe67cf78491af10, // -0.71143, 0.70275 + 0xbfe6e74454eaa8ae, 0x3fe6591925f0783e, // -0.71573, 0.69838 + 0xbfe70a42b3176d7a, 0x3fe63503a31c1be8, // -0.72, 0.69397 + 0xbfe72d0837efff97, 0x3fe610b7551d2cde, // -0.72425, 0.68954 + 0xbfe74f948da8d28d, 0x3fe5ec3495837074, // -0.72846, 0.68508 + 0xbfe771e75f037261, 0x3fe5c77bbe65018c, // -0.73265, 0.6806 + 0xbfe79400574f55e4, 0x3fe5a28d2a5d7250, // -0.73682, 0.67609 + 0xbfe7b5df226aafb0, 0x3fe57d69348cec9f, // -0.74095, 0.67156 + 0xbfe7d7836cc33db2, 0x3fe5581038975137, // -0.74506, 0.667 + 0xbfe7f8ece3571771, 0x3fe5328292a35596, // -0.74914, 0.66242 + 0xbfe81a1b33b57acc, 0x3fe50cc09f59a09b, // -0.75319, 0.65781 + 0xbfe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // -0.75721, 0.65317 + 0xbfe85bc51ae958cc, 0x3fe4c0a145ec0004, // -0.7612, 0.64851 + 0xbfe87c400fba2ebf, 0x3fe49a449b9b0938, // -0.76517, 0.64383 + 0xbfe89c7e9a4dd4ab, 0x3fe473b51b987347, // -0.7691, 0.63912 + 0xbfe8bc806b151741, 0x3fe44cf325091dd6, // -0.77301, 0.63439 + 0xbfe8dc45331698cc, 0x3fe425ff178e6bb1, // -0.77689, 0.62964 + 0xbfe8fbcca3ef940d, 0x3fe3fed9534556d4, // -0.78074, 0.62486 + 0xbfe91b166fd49da2, 0x3fe3d78238c58343, // -0.78456, 0.62006 + 0xbfe93a22499263fc, 0x3fe3affa292050b9, // -0.78835, 0.61523 + 0xbfe958efe48e6dd7, 0x3fe3884185dfeb22, // -0.79211, 0.61038 + 0xbfe9777ef4c7d742, 0x3fe36058b10659f3, // -0.79584, 0.60551 + 0xbfe995cf2ed80d22, 0x3fe338400d0c8e57, // -0.79954, 0.60062 + 0xbfe9b3e047f38741, 0x3fe30ff7fce17035, // -0.80321, 0.5957 + 0xbfe9d1b1f5ea80d6, 0x3fe2e780e3e8ea16, // -0.80685, 0.59076 + 0xbfe9ef43ef29af94, 0x3fe2bedb25faf3ea, // -0.81046, 0.5858 + 0xbfea0c95eabaf937, 0x3fe2960727629ca8, // -0.81404, 0.58081 + 0xbfea29a7a0462782, 0x3fe26d054cdd12df, // -0.81758, 0.57581 + 0xbfea4678c8119ac8, 0x3fe243d5fb98ac1f, // -0.8211, 0.57078 + 0xbfea63091b02fae2, 0x3fe21a799933eb58, // -0.82459, 0.56573 + 0xbfea7f58529fe69d, 0x3fe1f0f08bbc861b, // -0.82805, 0.56066 + 0xbfea9b66290ea1a3, 0x3fe1c73b39ae68c8, // -0.83147, 0.55557 + 0xbfeab7325916c0d4, 0x3fe19d5a09f2b9b8, // -0.83486, 0.55046 + 0xbfead2bc9e21d511, 0x3fe1734d63dedb49, // -0.83822, 0.54532 + 0xbfeaee04b43c1474, 0x3fe14915af336ceb, // -0.84155, 0.54017 + 0xbfeb090a58150200, 0x3fe11eb3541b4b22, // -0.84485, 0.535 + 0xbfeb23cd470013b4, 0x3fe0f426bb2a8e7d, // -0.84812, 0.5298 + 0xbfeb3e4d3ef55712, 0x3fe0c9704d5d898f, // -0.85136, 0.52459 + 0xbfeb5889fe921405, 0x3fe09e907417c5e1, // -0.85456, 0.51936 + 0xbfeb728345196e3e, 0x3fe073879922ffed, // -0.85773, 0.5141 + 0xbfeb8c38d27504e9, 0x3fe0485626ae221a, // -0.86087, 0.50883 + 0xbfeba5aa673590d2, 0x3fe01cfc874c3eb7, // -0.86397, 0.50354 + 0xbfebbed7c49380ea, 0x3fdfe2f64be7120f, // -0.86705, 0.49823 + 0xbfebd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // -0.87009, 0.4929 + 0xbfebf064e15377dd, 0x3fdf3405963fd068, // -0.87309, 0.48755 + 0xbfec08c426725549, 0x3fdedc1952ef78d5, // -0.87607, 0.48218 + 0xbfec20de3fa971b0, 0x3fde83e0eaf85113, // -0.87901, 0.4768 + 0xbfec38b2f180bdb1, 0x3fde2b5d3806f63b, // -0.88192, 0.4714 + 0xbfec5042012b6907, 0x3fddd28f1481cc58, // -0.8848, 0.46598 + 0xbfec678b3488739b, 0x3fdd79775b86e389, // -0.88764, 0.46054 + 0xbfec7e8e52233cf3, 0x3fdd2016e8e9db5b, // -0.89045, 0.45508 + 0xbfec954b213411f5, 0x3fdcc66e9931c45d, // -0.89322, 0.44961 + 0xbfecabc169a0b901, 0x3fdc6c7f4997000a, // -0.89597, 0.44412 + 0xbfecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // -0.89867, 0.43862 + 0xbfecd7d9898b32f6, 0x3fdbb7cf2304bd01, // -0.90135, 0.43309 + 0xbfeced7af43cc773, 0x3fdb5d1009e15cc0, // -0.90399, 0.42756 + 0xbfed02d4feb2bd92, 0x3fdb020d6c7f4009, // -0.9066, 0.422 + 0xbfed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // -0.90917, 0.41643 + 0xbfed2cb220e0ef9f, 0x3fda4b4127dea1e4, // -0.91171, 0.41084 + 0xbfed4134d14dc93a, 0x3fd9ef7943a8ed8a, // -0.91421, 0.40524 + 0xbfed556f52e93eb1, 0x3fd993716141bdfe, // -0.91668, 0.39962 + 0xbfed696173c9e68b, 0x3fd9372a63bc93d7, // -0.91911, 0.39399 + 0xbfed7d0b02b8ecf9, 0x3fd8daa52ec8a4af, // -0.92151, 0.38835 + 0xbfed906bcf328d46, 0x3fd87de2a6aea963, // -0.92388, 0.38268 + 0xbfeda383a9668988, 0x3fd820e3b04eaac4, // -0.92621, 0.37701 + 0xbfedb6526238a09b, 0x3fd7c3a9311dcce7, // -0.92851, 0.37132 + 0xbfedc8d7cb410260, 0x3fd766340f2418f6, // -0.93077, 0.36561 + 0xbfeddb13b6ccc23d, 0x3fd7088530fa459e, // -0.93299, 0.3599 + 0xbfeded05f7de47da, 0x3fd6aa9d7dc77e16, // -0.93518, 0.35416 + 0xbfedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // -0.93734, 0.34842 + 0xbfee100cca2980ac, 0x3fd5ee27379ea693, // -0.93946, 0.34266 + 0xbfee212104f686e5, 0x3fd58f9a75ab1fdd, // -0.94154, 0.33689 + 0xbfee31eae870ce25, 0x3fd530d880af3c24, // -0.94359, 0.33111 + 0xbfee426a4b2bc17e, 0x3fd4d1e24278e76a, // -0.94561, 0.32531 + 0xbfee529f04729ffc, 0x3fd472b8a5571054, // -0.94759, 0.3195 + 0xbfee6288ec48e112, 0x3fd4135c94176602, // -0.94953, 0.31368 + 0xbfee7227db6a9744, 0x3fd3b3cefa0414b7, // -0.95144, 0.30785 + 0xbfee817bab4cd10d, 0x3fd35410c2e18152, // -0.95331, 0.30201 + 0xbfee9084361df7f3, 0x3fd2f422daec0386, // -0.95514, 0.29615 + 0xbfee9f4156c62dda, 0x3fd294062ed59f05, // -0.95694, 0.29028 + 0xbfeeadb2e8e7a88e, 0x3fd233bbabc3bb72, // -0.9587, 0.28441 + 0xbfeebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // -0.96043, 0.27852 + 0xbfeec9b2d3c3bf84, 0x3fd172a0d7765177, // -0.96212, 0.27262 + 0xbfeed740e7684963, 0x3fd111d262b1f677, // -0.96378, 0.26671 + 0xbfeee482e25a9dbc, 0x3fd0b0d9cfdbdb90, // -0.96539, 0.26079 + 0xbfeef178a3e473c2, 0x3fd04fb80e37fdae, // -0.96698, 0.25487 + 0xbfeefe220c0b95ec, 0x3fcfdcdc1adfedf8, // -0.96852, 0.24893 + 0xbfef0a7efb9230d7, 0x3fcf19f97b215f1a, // -0.97003, 0.24298 + 0xbfef168f53f7205d, 0x3fce56ca1e101a1b, // -0.9715, 0.23702 + 0xbfef2252f7763ada, 0x3fcd934fe5454311, // -0.97294, 0.23106 + 0xbfef2dc9c9089a9d, 0x3fcccf8cb312b286, // -0.97434, 0.22508 + 0xbfef38f3ac64e589, 0x3fcc0b826a7e4f63, // -0.9757, 0.2191 + 0xbfef43d085ff92dd, 0x3fcb4732ef3d6722, // -0.97703, 0.21311 + 0xbfef4e603b0b2f2d, 0x3fca82a025b00451, // -0.97832, 0.20711 + 0xbfef58a2b1789e84, 0x3fc9bdcbf2dc4366, // -0.97957, 0.2011 + 0xbfef6297cff75cb0, 0x3fc8f8b83c69a60a, // -0.98079, 0.19509 + 0xbfef6c3f7df5bbb7, 0x3fc83366e89c64c5, // -0.98196, 0.18907 + 0xbfef7599a3a12077, 0x3fc76dd9de50bf31, // -0.98311, 0.18304 + 0xbfef7ea629e63d6e, 0x3fc6a81304f64ab2, // -0.98421, 0.177 + 0xbfef8764fa714ba9, 0x3fc5e214448b3fc6, // -0.98528, 0.17096 + 0xbfef8fd5ffae41db, 0x3fc51bdf8597c5f2, // -0.98631, 0.16491 + 0xbfef97f924c9099b, 0x3fc45576b1293e5a, // -0.9873, 0.15886 + 0xbfef9fce55adb2c8, 0x3fc38edbb0cd8d14, // -0.98826, 0.1528 + 0xbfefa7557f08a517, 0x3fc2c8106e8e613a, // -0.98918, 0.14673 + 0xbfefae8e8e46cfbb, 0x3fc20116d4ec7bce, // -0.99006, 0.14066 + 0xbfefb5797195d741, 0x3fc139f0cedaf576, // -0.9909, 0.13458 + 0xbfefbc1617e44186, 0x3fc072a047ba831d, // -0.99171, 0.1285 + 0xbfefc26470e19fd3, 0x3fbf564e56a9730e, // -0.99248, 0.12241 + 0xbfefc8646cfeb721, 0x3fbdc70ecbae9fc8, // -0.99321, 0.11632 + 0xbfefce15fd6da67b, 0x3fbc3785c79ec2d5, // -0.99391, 0.11022 + 0xbfefd37914220b84, 0x3fbaa7b724495c04, // -0.99456, 0.10412 + 0xbfefd88da3d12526, 0x3fb917a6bc29b42c, // -0.99518, 0.098017 + 0xbfefdd539ff1f456, 0x3fb787586a5d5b21, // -0.99577, 0.091909 + 0xbfefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // -0.99631, 0.085797 + 0xbfefe5f3af2e3940, 0x3fb4661179272096, // -0.99682, 0.079682 + 0xbfefe9cdad01883a, 0x3fb2d52092ce19f6, // -0.99729, 0.073565 + 0xbfefed58ecb673c4, 0x3fb1440134d709b2, // -0.99772, 0.067444 + 0xbfeff095658e71ad, 0x3faf656e79f820e0, // -0.99812, 0.061321 + 0xbfeff3830f8d575c, 0x3fac428d12c0d7e3, // -0.99848, 0.055195 + 0xbfeff621e3796d7e, 0x3fa91f65f10dd814, // -0.9988, 0.049068 + 0xbfeff871dadb81df, 0x3fa5fc00d290cd43, // -0.99908, 0.042938 + 0xbfeffa72effef75d, 0x3fa2d865759455cd, // -0.99932, 0.036807 + 0xbfeffc251df1d3f8, 0x3f9f693731d1cf01, // -0.99953, 0.030675 + 0xbfeffd886084cd0d, 0x3f992155f7a3667e, // -0.9997, 0.024541 + 0xbfeffe9cb44b51a1, 0x3f92d936bbe30efd, // -0.99983, 0.018407 + 0xbfefff62169b92db, 0x3f8921d1fcdec784, // -0.99992, 0.012272 + 0xbfefffd8858e8a92, 0x3f7921f0fe670071, // -0.99998, 0.0061359 + 0xbff0000000000000, 0x0000000000000000, // -1, 0 + 0xbfefffd8858e8a92, 0xbf7921f0fe670071, // -0.99998,-0.0061359 + 0xbfefff62169b92db, 0xbf8921d1fcdec784, // -0.99992, -0.012272 + 0xbfeffe9cb44b51a1, 0xbf92d936bbe30efd, // -0.99983, -0.018407 + 0xbfeffd886084cd0d, 0xbf992155f7a3667e, // -0.9997, -0.024541 + 0xbfeffc251df1d3f8, 0xbf9f693731d1cf01, // -0.99953, -0.030675 + 0xbfeffa72effef75d, 0xbfa2d865759455cd, // -0.99932, -0.036807 + 0xbfeff871dadb81df, 0xbfa5fc00d290cd43, // -0.99908, -0.042938 + 0xbfeff621e3796d7e, 0xbfa91f65f10dd814, // -0.9988, -0.049068 + 0xbfeff3830f8d575c, 0xbfac428d12c0d7e3, // -0.99848, -0.055195 + 0xbfeff095658e71ad, 0xbfaf656e79f820e0, // -0.99812, -0.061321 + 0xbfefed58ecb673c4, 0xbfb1440134d709b2, // -0.99772, -0.067444 + 0xbfefe9cdad01883a, 0xbfb2d52092ce19f6, // -0.99729, -0.073565 + 0xbfefe5f3af2e3940, 0xbfb4661179272096, // -0.99682, -0.079682 + 0xbfefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // -0.99631, -0.085797 + 0xbfefdd539ff1f456, 0xbfb787586a5d5b21, // -0.99577, -0.091909 + 0xbfefd88da3d12526, 0xbfb917a6bc29b42c, // -0.99518, -0.098017 + 0xbfefd37914220b84, 0xbfbaa7b724495c04, // -0.99456, -0.10412 + 0xbfefce15fd6da67b, 0xbfbc3785c79ec2d5, // -0.99391, -0.11022 + 0xbfefc8646cfeb721, 0xbfbdc70ecbae9fc8, // -0.99321, -0.11632 + 0xbfefc26470e19fd3, 0xbfbf564e56a9730e, // -0.99248, -0.12241 + 0xbfefbc1617e44186, 0xbfc072a047ba831d, // -0.99171, -0.1285 + 0xbfefb5797195d741, 0xbfc139f0cedaf576, // -0.9909, -0.13458 + 0xbfefae8e8e46cfbb, 0xbfc20116d4ec7bce, // -0.99006, -0.14066 + 0xbfefa7557f08a517, 0xbfc2c8106e8e613a, // -0.98918, -0.14673 + 0xbfef9fce55adb2c8, 0xbfc38edbb0cd8d14, // -0.98826, -0.1528 + 0xbfef97f924c9099b, 0xbfc45576b1293e5a, // -0.9873, -0.15886 + 0xbfef8fd5ffae41db, 0xbfc51bdf8597c5f2, // -0.98631, -0.16491 + 0xbfef8764fa714ba9, 0xbfc5e214448b3fc6, // -0.98528, -0.17096 + 0xbfef7ea629e63d6e, 0xbfc6a81304f64ab2, // -0.98421, -0.177 + 0xbfef7599a3a12077, 0xbfc76dd9de50bf31, // -0.98311, -0.18304 + 0xbfef6c3f7df5bbb7, 0xbfc83366e89c64c5, // -0.98196, -0.18907 + 0xbfef6297cff75cb0, 0xbfc8f8b83c69a60a, // -0.98079, -0.19509 + 0xbfef58a2b1789e84, 0xbfc9bdcbf2dc4366, // -0.97957, -0.2011 + 0xbfef4e603b0b2f2d, 0xbfca82a025b00451, // -0.97832, -0.20711 + 0xbfef43d085ff92dd, 0xbfcb4732ef3d6722, // -0.97703, -0.21311 + 0xbfef38f3ac64e589, 0xbfcc0b826a7e4f63, // -0.9757, -0.2191 + 0xbfef2dc9c9089a9d, 0xbfcccf8cb312b286, // -0.97434, -0.22508 + 0xbfef2252f7763ada, 0xbfcd934fe5454311, // -0.97294, -0.23106 + 0xbfef168f53f7205d, 0xbfce56ca1e101a1b, // -0.9715, -0.23702 + 0xbfef0a7efb9230d7, 0xbfcf19f97b215f1a, // -0.97003, -0.24298 + 0xbfeefe220c0b95ec, 0xbfcfdcdc1adfedf8, // -0.96852, -0.24893 + 0xbfeef178a3e473c2, 0xbfd04fb80e37fdae, // -0.96698, -0.25487 + 0xbfeee482e25a9dbc, 0xbfd0b0d9cfdbdb90, // -0.96539, -0.26079 + 0xbfeed740e7684963, 0xbfd111d262b1f677, // -0.96378, -0.26671 + 0xbfeec9b2d3c3bf84, 0xbfd172a0d7765177, // -0.96212, -0.27262 + 0xbfeebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // -0.96043, -0.27852 + 0xbfeeadb2e8e7a88e, 0xbfd233bbabc3bb72, // -0.9587, -0.28441 + 0xbfee9f4156c62dda, 0xbfd294062ed59f05, // -0.95694, -0.29028 + 0xbfee9084361df7f3, 0xbfd2f422daec0386, // -0.95514, -0.29615 + 0xbfee817bab4cd10d, 0xbfd35410c2e18152, // -0.95331, -0.30201 + 0xbfee7227db6a9744, 0xbfd3b3cefa0414b7, // -0.95144, -0.30785 + 0xbfee6288ec48e112, 0xbfd4135c94176602, // -0.94953, -0.31368 + 0xbfee529f04729ffc, 0xbfd472b8a5571054, // -0.94759, -0.3195 + 0xbfee426a4b2bc17e, 0xbfd4d1e24278e76a, // -0.94561, -0.32531 + 0xbfee31eae870ce25, 0xbfd530d880af3c24, // -0.94359, -0.33111 + 0xbfee212104f686e5, 0xbfd58f9a75ab1fdd, // -0.94154, -0.33689 + 0xbfee100cca2980ac, 0xbfd5ee27379ea693, // -0.93946, -0.34266 + 0xbfedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // -0.93734, -0.34842 + 0xbfeded05f7de47da, 0xbfd6aa9d7dc77e16, // -0.93518, -0.35416 + 0xbfeddb13b6ccc23d, 0xbfd7088530fa459e, // -0.93299, -0.3599 + 0xbfedc8d7cb410260, 0xbfd766340f2418f6, // -0.93077, -0.36561 + 0xbfedb6526238a09b, 0xbfd7c3a9311dcce7, // -0.92851, -0.37132 + 0xbfeda383a9668988, 0xbfd820e3b04eaac4, // -0.92621, -0.37701 + 0xbfed906bcf328d46, 0xbfd87de2a6aea963, // -0.92388, -0.38268 + 0xbfed7d0b02b8ecf9, 0xbfd8daa52ec8a4af, // -0.92151, -0.38835 + 0xbfed696173c9e68b, 0xbfd9372a63bc93d7, // -0.91911, -0.39399 + 0xbfed556f52e93eb1, 0xbfd993716141bdfe, // -0.91668, -0.39962 + 0xbfed4134d14dc93a, 0xbfd9ef7943a8ed8a, // -0.91421, -0.40524 + 0xbfed2cb220e0ef9f, 0xbfda4b4127dea1e4, // -0.91171, -0.41084 + 0xbfed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // -0.90917, -0.41643 + 0xbfed02d4feb2bd92, 0xbfdb020d6c7f4009, // -0.9066, -0.422 + 0xbfeced7af43cc773, 0xbfdb5d1009e15cc0, // -0.90399, -0.42756 + 0xbfecd7d9898b32f6, 0xbfdbb7cf2304bd01, // -0.90135, -0.43309 + 0xbfecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // -0.89867, -0.43862 + 0xbfecabc169a0b901, 0xbfdc6c7f4997000a, // -0.89597, -0.44412 + 0xbfec954b213411f5, 0xbfdcc66e9931c45d, // -0.89322, -0.44961 + 0xbfec7e8e52233cf3, 0xbfdd2016e8e9db5b, // -0.89045, -0.45508 + 0xbfec678b3488739b, 0xbfdd79775b86e389, // -0.88764, -0.46054 + 0xbfec5042012b6907, 0xbfddd28f1481cc58, // -0.8848, -0.46598 + 0xbfec38b2f180bdb1, 0xbfde2b5d3806f63b, // -0.88192, -0.4714 + 0xbfec20de3fa971b0, 0xbfde83e0eaf85113, // -0.87901, -0.4768 + 0xbfec08c426725549, 0xbfdedc1952ef78d5, // -0.87607, -0.48218 + 0xbfebf064e15377dd, 0xbfdf3405963fd068, // -0.87309, -0.48755 + 0xbfebd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // -0.87009, -0.4929 + 0xbfebbed7c49380ea, 0xbfdfe2f64be7120f, // -0.86705, -0.49823 + 0xbfeba5aa673590d2, 0xbfe01cfc874c3eb7, // -0.86397, -0.50354 + 0xbfeb8c38d27504e9, 0xbfe0485626ae221a, // -0.86087, -0.50883 + 0xbfeb728345196e3e, 0xbfe073879922ffed, // -0.85773, -0.5141 + 0xbfeb5889fe921405, 0xbfe09e907417c5e1, // -0.85456, -0.51936 + 0xbfeb3e4d3ef55712, 0xbfe0c9704d5d898f, // -0.85136, -0.52459 + 0xbfeb23cd470013b4, 0xbfe0f426bb2a8e7d, // -0.84812, -0.5298 + 0xbfeb090a58150200, 0xbfe11eb3541b4b22, // -0.84485, -0.535 + 0xbfeaee04b43c1474, 0xbfe14915af336ceb, // -0.84155, -0.54017 + 0xbfead2bc9e21d511, 0xbfe1734d63dedb49, // -0.83822, -0.54532 + 0xbfeab7325916c0d4, 0xbfe19d5a09f2b9b8, // -0.83486, -0.55046 + 0xbfea9b66290ea1a3, 0xbfe1c73b39ae68c8, // -0.83147, -0.55557 + 0xbfea7f58529fe69d, 0xbfe1f0f08bbc861b, // -0.82805, -0.56066 + 0xbfea63091b02fae2, 0xbfe21a799933eb58, // -0.82459, -0.56573 + 0xbfea4678c8119ac8, 0xbfe243d5fb98ac1f, // -0.8211, -0.57078 + 0xbfea29a7a0462782, 0xbfe26d054cdd12df, // -0.81758, -0.57581 + 0xbfea0c95eabaf937, 0xbfe2960727629ca8, // -0.81404, -0.58081 + 0xbfe9ef43ef29af94, 0xbfe2bedb25faf3ea, // -0.81046, -0.5858 + 0xbfe9d1b1f5ea80d6, 0xbfe2e780e3e8ea16, // -0.80685, -0.59076 + 0xbfe9b3e047f38741, 0xbfe30ff7fce17035, // -0.80321, -0.5957 + 0xbfe995cf2ed80d22, 0xbfe338400d0c8e57, // -0.79954, -0.60062 + 0xbfe9777ef4c7d742, 0xbfe36058b10659f3, // -0.79584, -0.60551 + 0xbfe958efe48e6dd7, 0xbfe3884185dfeb22, // -0.79211, -0.61038 + 0xbfe93a22499263fc, 0xbfe3affa292050b9, // -0.78835, -0.61523 + 0xbfe91b166fd49da2, 0xbfe3d78238c58343, // -0.78456, -0.62006 + 0xbfe8fbcca3ef940d, 0xbfe3fed9534556d4, // -0.78074, -0.62486 + 0xbfe8dc45331698cc, 0xbfe425ff178e6bb1, // -0.77689, -0.62964 + 0xbfe8bc806b151741, 0xbfe44cf325091dd6, // -0.77301, -0.63439 + 0xbfe89c7e9a4dd4ab, 0xbfe473b51b987347, // -0.7691, -0.63912 + 0xbfe87c400fba2ebf, 0xbfe49a449b9b0938, // -0.76517, -0.64383 + 0xbfe85bc51ae958cc, 0xbfe4c0a145ec0004, // -0.7612, -0.64851 + 0xbfe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // -0.75721, -0.65317 + 0xbfe81a1b33b57acc, 0xbfe50cc09f59a09b, // -0.75319, -0.65781 + 0xbfe7f8ece3571771, 0xbfe5328292a35596, // -0.74914, -0.66242 + 0xbfe7d7836cc33db2, 0xbfe5581038975137, // -0.74506, -0.667 + 0xbfe7b5df226aafb0, 0xbfe57d69348cec9f, // -0.74095, -0.67156 + 0xbfe79400574f55e4, 0xbfe5a28d2a5d7250, // -0.73682, -0.67609 + 0xbfe771e75f037261, 0xbfe5c77bbe65018c, // -0.73265, -0.6806 + 0xbfe74f948da8d28d, 0xbfe5ec3495837074, // -0.72846, -0.68508 + 0xbfe72d0837efff97, 0xbfe610b7551d2cde, // -0.72425, -0.68954 + 0xbfe70a42b3176d7a, 0xbfe63503a31c1be8, // -0.72, -0.69397 + 0xbfe6e74454eaa8ae, 0xbfe6591925f0783e, // -0.71573, -0.69838 + 0xbfe6c40d73c18275, 0xbfe67cf78491af10, // -0.71143, -0.70275 + 0xbfe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // -0.70711, -0.70711 + 0xbfe67cf78491af10, 0xbfe6c40d73c18275, // -0.70275, -0.71143 + 0xbfe6591925f0783e, 0xbfe6e74454eaa8ae, // -0.69838, -0.71573 + 0xbfe63503a31c1be8, 0xbfe70a42b3176d7a, // -0.69397, -0.72 + 0xbfe610b7551d2cde, 0xbfe72d0837efff97, // -0.68954, -0.72425 + 0xbfe5ec3495837074, 0xbfe74f948da8d28d, // -0.68508, -0.72846 + 0xbfe5c77bbe65018c, 0xbfe771e75f037261, // -0.6806, -0.73265 + 0xbfe5a28d2a5d7250, 0xbfe79400574f55e4, // -0.67609, -0.73682 + 0xbfe57d69348cec9f, 0xbfe7b5df226aafb0, // -0.67156, -0.74095 + 0xbfe5581038975137, 0xbfe7d7836cc33db2, // -0.667, -0.74506 + 0xbfe5328292a35596, 0xbfe7f8ece3571771, // -0.66242, -0.74914 + 0xbfe50cc09f59a09b, 0xbfe81a1b33b57acc, // -0.65781, -0.75319 + 0xbfe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // -0.65317, -0.75721 + 0xbfe4c0a145ec0004, 0xbfe85bc51ae958cc, // -0.64851, -0.7612 + 0xbfe49a449b9b0938, 0xbfe87c400fba2ebf, // -0.64383, -0.76517 + 0xbfe473b51b987347, 0xbfe89c7e9a4dd4ab, // -0.63912, -0.7691 + 0xbfe44cf325091dd6, 0xbfe8bc806b151741, // -0.63439, -0.77301 + 0xbfe425ff178e6bb1, 0xbfe8dc45331698cc, // -0.62964, -0.77689 + 0xbfe3fed9534556d4, 0xbfe8fbcca3ef940d, // -0.62486, -0.78074 + 0xbfe3d78238c58343, 0xbfe91b166fd49da2, // -0.62006, -0.78456 + 0xbfe3affa292050b9, 0xbfe93a22499263fc, // -0.61523, -0.78835 + 0xbfe3884185dfeb22, 0xbfe958efe48e6dd7, // -0.61038, -0.79211 + 0xbfe36058b10659f3, 0xbfe9777ef4c7d742, // -0.60551, -0.79584 + 0xbfe338400d0c8e57, 0xbfe995cf2ed80d22, // -0.60062, -0.79954 + 0xbfe30ff7fce17035, 0xbfe9b3e047f38741, // -0.5957, -0.80321 + 0xbfe2e780e3e8ea16, 0xbfe9d1b1f5ea80d6, // -0.59076, -0.80685 + 0xbfe2bedb25faf3ea, 0xbfe9ef43ef29af94, // -0.5858, -0.81046 + 0xbfe2960727629ca8, 0xbfea0c95eabaf937, // -0.58081, -0.81404 + 0xbfe26d054cdd12df, 0xbfea29a7a0462782, // -0.57581, -0.81758 + 0xbfe243d5fb98ac1f, 0xbfea4678c8119ac8, // -0.57078, -0.8211 + 0xbfe21a799933eb58, 0xbfea63091b02fae2, // -0.56573, -0.82459 + 0xbfe1f0f08bbc861b, 0xbfea7f58529fe69d, // -0.56066, -0.82805 + 0xbfe1c73b39ae68c8, 0xbfea9b66290ea1a3, // -0.55557, -0.83147 + 0xbfe19d5a09f2b9b8, 0xbfeab7325916c0d4, // -0.55046, -0.83486 + 0xbfe1734d63dedb49, 0xbfead2bc9e21d511, // -0.54532, -0.83822 + 0xbfe14915af336ceb, 0xbfeaee04b43c1474, // -0.54017, -0.84155 + 0xbfe11eb3541b4b22, 0xbfeb090a58150200, // -0.535, -0.84485 + 0xbfe0f426bb2a8e7d, 0xbfeb23cd470013b4, // -0.5298, -0.84812 + 0xbfe0c9704d5d898f, 0xbfeb3e4d3ef55712, // -0.52459, -0.85136 + 0xbfe09e907417c5e1, 0xbfeb5889fe921405, // -0.51936, -0.85456 + 0xbfe073879922ffed, 0xbfeb728345196e3e, // -0.5141, -0.85773 + 0xbfe0485626ae221a, 0xbfeb8c38d27504e9, // -0.50883, -0.86087 + 0xbfe01cfc874c3eb7, 0xbfeba5aa673590d2, // -0.50354, -0.86397 + 0xbfdfe2f64be7120f, 0xbfebbed7c49380ea, // -0.49823, -0.86705 + 0xbfdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // -0.4929, -0.87009 + 0xbfdf3405963fd068, 0xbfebf064e15377dd, // -0.48755, -0.87309 + 0xbfdedc1952ef78d5, 0xbfec08c426725549, // -0.48218, -0.87607 + 0xbfde83e0eaf85113, 0xbfec20de3fa971b0, // -0.4768, -0.87901 + 0xbfde2b5d3806f63b, 0xbfec38b2f180bdb1, // -0.4714, -0.88192 + 0xbfddd28f1481cc58, 0xbfec5042012b6907, // -0.46598, -0.8848 + 0xbfdd79775b86e389, 0xbfec678b3488739b, // -0.46054, -0.88764 + 0xbfdd2016e8e9db5b, 0xbfec7e8e52233cf3, // -0.45508, -0.89045 + 0xbfdcc66e9931c45d, 0xbfec954b213411f5, // -0.44961, -0.89322 + 0xbfdc6c7f4997000a, 0xbfecabc169a0b901, // -0.44412, -0.89597 + 0xbfdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // -0.43862, -0.89867 + 0xbfdbb7cf2304bd01, 0xbfecd7d9898b32f6, // -0.43309, -0.90135 + 0xbfdb5d1009e15cc0, 0xbfeced7af43cc773, // -0.42756, -0.90399 + 0xbfdb020d6c7f4009, 0xbfed02d4feb2bd92, // -0.422, -0.9066 + 0xbfdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // -0.41643, -0.90917 + 0xbfda4b4127dea1e4, 0xbfed2cb220e0ef9f, // -0.41084, -0.91171 + 0xbfd9ef7943a8ed8a, 0xbfed4134d14dc93a, // -0.40524, -0.91421 + 0xbfd993716141bdfe, 0xbfed556f52e93eb1, // -0.39962, -0.91668 + 0xbfd9372a63bc93d7, 0xbfed696173c9e68b, // -0.39399, -0.91911 + 0xbfd8daa52ec8a4af, 0xbfed7d0b02b8ecf9, // -0.38835, -0.92151 + 0xbfd87de2a6aea963, 0xbfed906bcf328d46, // -0.38268, -0.92388 + 0xbfd820e3b04eaac4, 0xbfeda383a9668988, // -0.37701, -0.92621 + 0xbfd7c3a9311dcce7, 0xbfedb6526238a09b, // -0.37132, -0.92851 + 0xbfd766340f2418f6, 0xbfedc8d7cb410260, // -0.36561, -0.93077 + 0xbfd7088530fa459e, 0xbfeddb13b6ccc23d, // -0.3599, -0.93299 + 0xbfd6aa9d7dc77e16, 0xbfeded05f7de47da, // -0.35416, -0.93518 + 0xbfd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // -0.34842, -0.93734 + 0xbfd5ee27379ea693, 0xbfee100cca2980ac, // -0.34266, -0.93946 + 0xbfd58f9a75ab1fdd, 0xbfee212104f686e5, // -0.33689, -0.94154 + 0xbfd530d880af3c24, 0xbfee31eae870ce25, // -0.33111, -0.94359 + 0xbfd4d1e24278e76a, 0xbfee426a4b2bc17e, // -0.32531, -0.94561 + 0xbfd472b8a5571054, 0xbfee529f04729ffc, // -0.3195, -0.94759 + 0xbfd4135c94176602, 0xbfee6288ec48e112, // -0.31368, -0.94953 + 0xbfd3b3cefa0414b7, 0xbfee7227db6a9744, // -0.30785, -0.95144 + 0xbfd35410c2e18152, 0xbfee817bab4cd10d, // -0.30201, -0.95331 + 0xbfd2f422daec0386, 0xbfee9084361df7f3, // -0.29615, -0.95514 + 0xbfd294062ed59f05, 0xbfee9f4156c62dda, // -0.29028, -0.95694 + 0xbfd233bbabc3bb72, 0xbfeeadb2e8e7a88e, // -0.28441, -0.9587 + 0xbfd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // -0.27852, -0.96043 + 0xbfd172a0d7765177, 0xbfeec9b2d3c3bf84, // -0.27262, -0.96212 + 0xbfd111d262b1f677, 0xbfeed740e7684963, // -0.26671, -0.96378 + 0xbfd0b0d9cfdbdb90, 0xbfeee482e25a9dbc, // -0.26079, -0.96539 + 0xbfd04fb80e37fdae, 0xbfeef178a3e473c2, // -0.25487, -0.96698 + 0xbfcfdcdc1adfedf8, 0xbfeefe220c0b95ec, // -0.24893, -0.96852 + 0xbfcf19f97b215f1a, 0xbfef0a7efb9230d7, // -0.24298, -0.97003 + 0xbfce56ca1e101a1b, 0xbfef168f53f7205d, // -0.23702, -0.9715 + 0xbfcd934fe5454311, 0xbfef2252f7763ada, // -0.23106, -0.97294 + 0xbfcccf8cb312b286, 0xbfef2dc9c9089a9d, // -0.22508, -0.97434 + 0xbfcc0b826a7e4f63, 0xbfef38f3ac64e589, // -0.2191, -0.9757 + 0xbfcb4732ef3d6722, 0xbfef43d085ff92dd, // -0.21311, -0.97703 + 0xbfca82a025b00451, 0xbfef4e603b0b2f2d, // -0.20711, -0.97832 + 0xbfc9bdcbf2dc4366, 0xbfef58a2b1789e84, // -0.2011, -0.97957 + 0xbfc8f8b83c69a60a, 0xbfef6297cff75cb0, // -0.19509, -0.98079 + 0xbfc83366e89c64c5, 0xbfef6c3f7df5bbb7, // -0.18907, -0.98196 + 0xbfc76dd9de50bf31, 0xbfef7599a3a12077, // -0.18304, -0.98311 + 0xbfc6a81304f64ab2, 0xbfef7ea629e63d6e, // -0.177, -0.98421 + 0xbfc5e214448b3fc6, 0xbfef8764fa714ba9, // -0.17096, -0.98528 + 0xbfc51bdf8597c5f2, 0xbfef8fd5ffae41db, // -0.16491, -0.98631 + 0xbfc45576b1293e5a, 0xbfef97f924c9099b, // -0.15886, -0.9873 + 0xbfc38edbb0cd8d14, 0xbfef9fce55adb2c8, // -0.1528, -0.98826 + 0xbfc2c8106e8e613a, 0xbfefa7557f08a517, // -0.14673, -0.98918 + 0xbfc20116d4ec7bce, 0xbfefae8e8e46cfbb, // -0.14066, -0.99006 + 0xbfc139f0cedaf576, 0xbfefb5797195d741, // -0.13458, -0.9909 + 0xbfc072a047ba831d, 0xbfefbc1617e44186, // -0.1285, -0.99171 + 0xbfbf564e56a9730e, 0xbfefc26470e19fd3, // -0.12241, -0.99248 + 0xbfbdc70ecbae9fc8, 0xbfefc8646cfeb721, // -0.11632, -0.99321 + 0xbfbc3785c79ec2d5, 0xbfefce15fd6da67b, // -0.11022, -0.99391 + 0xbfbaa7b724495c04, 0xbfefd37914220b84, // -0.10412, -0.99456 + 0xbfb917a6bc29b42c, 0xbfefd88da3d12526, // -0.098017, -0.99518 + 0xbfb787586a5d5b21, 0xbfefdd539ff1f456, // -0.091909, -0.99577 + 0xbfb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // -0.085797, -0.99631 + 0xbfb4661179272096, 0xbfefe5f3af2e3940, // -0.079682, -0.99682 + 0xbfb2d52092ce19f6, 0xbfefe9cdad01883a, // -0.073565, -0.99729 + 0xbfb1440134d709b2, 0xbfefed58ecb673c4, // -0.067444, -0.99772 + 0xbfaf656e79f820e0, 0xbfeff095658e71ad, // -0.061321, -0.99812 + 0xbfac428d12c0d7e3, 0xbfeff3830f8d575c, // -0.055195, -0.99848 + 0xbfa91f65f10dd814, 0xbfeff621e3796d7e, // -0.049068, -0.9988 + 0xbfa5fc00d290cd43, 0xbfeff871dadb81df, // -0.042938, -0.99908 + 0xbfa2d865759455cd, 0xbfeffa72effef75d, // -0.036807, -0.99932 + 0xbf9f693731d1cf01, 0xbfeffc251df1d3f8, // -0.030675, -0.99953 + 0xbf992155f7a3667e, 0xbfeffd886084cd0d, // -0.024541, -0.9997 + 0xbf92d936bbe30efd, 0xbfeffe9cb44b51a1, // -0.018407, -0.99983 + 0xbf8921d1fcdec784, 0xbfefff62169b92db, // -0.012272, -0.99992 + 0xbf7921f0fe670071, 0xbfefffd8858e8a92, //-0.0061359, -0.99998 + 0x0000000000000000, 0xbff0000000000000, // 0, -1 + 0x3f7921f0fe670071, 0xbfefffd8858e8a92, // 0.0061359, -0.99998 + 0x3f8921d1fcdec784, 0xbfefff62169b92db, // 0.012272, -0.99992 + 0x3f92d936bbe30efd, 0xbfeffe9cb44b51a1, // 0.018407, -0.99983 + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, // 0.024541, -0.9997 + 0x3f9f693731d1cf01, 0xbfeffc251df1d3f8, // 0.030675, -0.99953 + 0x3fa2d865759455cd, 0xbfeffa72effef75d, // 0.036807, -0.99932 + 0x3fa5fc00d290cd43, 0xbfeff871dadb81df, // 0.042938, -0.99908 + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, // 0.049068, -0.9988 + 0x3fac428d12c0d7e3, 0xbfeff3830f8d575c, // 0.055195, -0.99848 + 0x3faf656e79f820e0, 0xbfeff095658e71ad, // 0.061321, -0.99812 + 0x3fb1440134d709b2, 0xbfefed58ecb673c4, // 0.067444, -0.99772 + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, // 0.073565, -0.99729 + 0x3fb4661179272096, 0xbfefe5f3af2e3940, // 0.079682, -0.99682 + 0x3fb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // 0.085797, -0.99631 + 0x3fb787586a5d5b21, 0xbfefdd539ff1f456, // 0.091909, -0.99577 + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518 + 0x3fbaa7b724495c04, 0xbfefd37914220b84, // 0.10412, -0.99456 + 0x3fbc3785c79ec2d5, 0xbfefce15fd6da67b, // 0.11022, -0.99391 + 0x3fbdc70ecbae9fc8, 0xbfefc8646cfeb721, // 0.11632, -0.99321 + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248 + 0x3fc072a047ba831d, 0xbfefbc1617e44186, // 0.1285, -0.99171 + 0x3fc139f0cedaf576, 0xbfefb5797195d741, // 0.13458, -0.9909 + 0x3fc20116d4ec7bce, 0xbfefae8e8e46cfbb, // 0.14066, -0.99006 + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918 + 0x3fc38edbb0cd8d14, 0xbfef9fce55adb2c8, // 0.1528, -0.98826 + 0x3fc45576b1293e5a, 0xbfef97f924c9099b, // 0.15886, -0.9873 + 0x3fc51bdf8597c5f2, 0xbfef8fd5ffae41db, // 0.16491, -0.98631 + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528 + 0x3fc6a81304f64ab2, 0xbfef7ea629e63d6e, // 0.177, -0.98421 + 0x3fc76dd9de50bf31, 0xbfef7599a3a12077, // 0.18304, -0.98311 + 0x3fc83366e89c64c5, 0xbfef6c3f7df5bbb7, // 0.18907, -0.98196 + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079 + 0x3fc9bdcbf2dc4366, 0xbfef58a2b1789e84, // 0.2011, -0.97957 + 0x3fca82a025b00451, 0xbfef4e603b0b2f2d, // 0.20711, -0.97832 + 0x3fcb4732ef3d6722, 0xbfef43d085ff92dd, // 0.21311, -0.97703 + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757 + 0x3fcccf8cb312b286, 0xbfef2dc9c9089a9d, // 0.22508, -0.97434 + 0x3fcd934fe5454311, 0xbfef2252f7763ada, // 0.23106, -0.97294 + 0x3fce56ca1e101a1b, 0xbfef168f53f7205d, // 0.23702, -0.9715 + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003 + 0x3fcfdcdc1adfedf8, 0xbfeefe220c0b95ec, // 0.24893, -0.96852 + 0x3fd04fb80e37fdae, 0xbfeef178a3e473c2, // 0.25487, -0.96698 + 0x3fd0b0d9cfdbdb90, 0xbfeee482e25a9dbc, // 0.26079, -0.96539 + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378 + 0x3fd172a0d7765177, 0xbfeec9b2d3c3bf84, // 0.27262, -0.96212 + 0x3fd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // 0.27852, -0.96043 + 0x3fd233bbabc3bb72, 0xbfeeadb2e8e7a88e, // 0.28441, -0.9587 + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694 + 0x3fd2f422daec0386, 0xbfee9084361df7f3, // 0.29615, -0.95514 + 0x3fd35410c2e18152, 0xbfee817bab4cd10d, // 0.30201, -0.95331 + 0x3fd3b3cefa0414b7, 0xbfee7227db6a9744, // 0.30785, -0.95144 + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953 + 0x3fd472b8a5571054, 0xbfee529f04729ffc, // 0.3195, -0.94759 + 0x3fd4d1e24278e76a, 0xbfee426a4b2bc17e, // 0.32531, -0.94561 + 0x3fd530d880af3c24, 0xbfee31eae870ce25, // 0.33111, -0.94359 + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154 + 0x3fd5ee27379ea693, 0xbfee100cca2980ac, // 0.34266, -0.93946 + 0x3fd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // 0.34842, -0.93734 + 0x3fd6aa9d7dc77e16, 0xbfeded05f7de47da, // 0.35416, -0.93518 + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299 + 0x3fd766340f2418f6, 0xbfedc8d7cb410260, // 0.36561, -0.93077 + 0x3fd7c3a9311dcce7, 0xbfedb6526238a09b, // 0.37132, -0.92851 + 0x3fd820e3b04eaac4, 0xbfeda383a9668988, // 0.37701, -0.92621 + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388 + 0x3fd8daa52ec8a4af, 0xbfed7d0b02b8ecf9, // 0.38835, -0.92151 + 0x3fd9372a63bc93d7, 0xbfed696173c9e68b, // 0.39399, -0.91911 + 0x3fd993716141bdfe, 0xbfed556f52e93eb1, // 0.39962, -0.91668 + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421 + 0x3fda4b4127dea1e4, 0xbfed2cb220e0ef9f, // 0.41084, -0.91171 + 0x3fdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // 0.41643, -0.90917 + 0x3fdb020d6c7f4009, 0xbfed02d4feb2bd92, // 0.422, -0.9066 + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399 + 0x3fdbb7cf2304bd01, 0xbfecd7d9898b32f6, // 0.43309, -0.90135 + 0x3fdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // 0.43862, -0.89867 + 0x3fdc6c7f4997000a, 0xbfecabc169a0b901, // 0.44412, -0.89597 + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322 + 0x3fdd2016e8e9db5b, 0xbfec7e8e52233cf3, // 0.45508, -0.89045 + 0x3fdd79775b86e389, 0xbfec678b3488739b, // 0.46054, -0.88764 + 0x3fddd28f1481cc58, 0xbfec5042012b6907, // 0.46598, -0.8848 + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192 + 0x3fde83e0eaf85113, 0xbfec20de3fa971b0, // 0.4768, -0.87901 + 0x3fdedc1952ef78d5, 0xbfec08c426725549, // 0.48218, -0.87607 + 0x3fdf3405963fd068, 0xbfebf064e15377dd, // 0.48755, -0.87309 + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009 + 0x3fdfe2f64be7120f, 0xbfebbed7c49380ea, // 0.49823, -0.86705 + 0x3fe01cfc874c3eb7, 0xbfeba5aa673590d2, // 0.50354, -0.86397 + 0x3fe0485626ae221a, 0xbfeb8c38d27504e9, // 0.50883, -0.86087 + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773 + 0x3fe09e907417c5e1, 0xbfeb5889fe921405, // 0.51936, -0.85456 + 0x3fe0c9704d5d898f, 0xbfeb3e4d3ef55712, // 0.52459, -0.85136 + 0x3fe0f426bb2a8e7d, 0xbfeb23cd470013b4, // 0.5298, -0.84812 + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485 + 0x3fe14915af336ceb, 0xbfeaee04b43c1474, // 0.54017, -0.84155 + 0x3fe1734d63dedb49, 0xbfead2bc9e21d511, // 0.54532, -0.83822 + 0x3fe19d5a09f2b9b8, 0xbfeab7325916c0d4, // 0.55046, -0.83486 + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147 + 0x3fe1f0f08bbc861b, 0xbfea7f58529fe69d, // 0.56066, -0.82805 + 0x3fe21a799933eb58, 0xbfea63091b02fae2, // 0.56573, -0.82459 + 0x3fe243d5fb98ac1f, 0xbfea4678c8119ac8, // 0.57078, -0.8211 + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758 + 0x3fe2960727629ca8, 0xbfea0c95eabaf937, // 0.58081, -0.81404 + 0x3fe2bedb25faf3ea, 0xbfe9ef43ef29af94, // 0.5858, -0.81046 + 0x3fe2e780e3e8ea16, 0xbfe9d1b1f5ea80d6, // 0.59076, -0.80685 + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321 + 0x3fe338400d0c8e57, 0xbfe995cf2ed80d22, // 0.60062, -0.79954 + 0x3fe36058b10659f3, 0xbfe9777ef4c7d742, // 0.60551, -0.79584 + 0x3fe3884185dfeb22, 0xbfe958efe48e6dd7, // 0.61038, -0.79211 + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835 + 0x3fe3d78238c58343, 0xbfe91b166fd49da2, // 0.62006, -0.78456 + 0x3fe3fed9534556d4, 0xbfe8fbcca3ef940d, // 0.62486, -0.78074 + 0x3fe425ff178e6bb1, 0xbfe8dc45331698cc, // 0.62964, -0.77689 + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301 + 0x3fe473b51b987347, 0xbfe89c7e9a4dd4ab, // 0.63912, -0.7691 + 0x3fe49a449b9b0938, 0xbfe87c400fba2ebf, // 0.64383, -0.76517 + 0x3fe4c0a145ec0004, 0xbfe85bc51ae958cc, // 0.64851, -0.7612 + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721 + 0x3fe50cc09f59a09b, 0xbfe81a1b33b57acc, // 0.65781, -0.75319 + 0x3fe5328292a35596, 0xbfe7f8ece3571771, // 0.66242, -0.74914 + 0x3fe5581038975137, 0xbfe7d7836cc33db2, // 0.667, -0.74506 + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095 + 0x3fe5a28d2a5d7250, 0xbfe79400574f55e4, // 0.67609, -0.73682 + 0x3fe5c77bbe65018c, 0xbfe771e75f037261, // 0.6806, -0.73265 + 0x3fe5ec3495837074, 0xbfe74f948da8d28d, // 0.68508, -0.72846 + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425 + 0x3fe63503a31c1be8, 0xbfe70a42b3176d7a, // 0.69397, -0.72 + 0x3fe6591925f0783e, 0xbfe6e74454eaa8ae, // 0.69838, -0.71573 + 0x3fe67cf78491af10, 0xbfe6c40d73c18275, // 0.70275, -0.71143 + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711 + 0x3fe6c40d73c18275, 0xbfe67cf78491af10, // 0.71143, -0.70275 + 0x3fe6e74454eaa8ae, 0xbfe6591925f0783e, // 0.71573, -0.69838 + 0x3fe70a42b3176d7a, 0xbfe63503a31c1be8, // 0.72, -0.69397 + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954 + 0x3fe74f948da8d28d, 0xbfe5ec3495837074, // 0.72846, -0.68508 + 0x3fe771e75f037261, 0xbfe5c77bbe65018c, // 0.73265, -0.6806 + 0x3fe79400574f55e4, 0xbfe5a28d2a5d7250, // 0.73682, -0.67609 + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156 + 0x3fe7d7836cc33db2, 0xbfe5581038975137, // 0.74506, -0.667 + 0x3fe7f8ece3571771, 0xbfe5328292a35596, // 0.74914, -0.66242 + 0x3fe81a1b33b57acc, 0xbfe50cc09f59a09b, // 0.75319, -0.65781 + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317 + 0x3fe85bc51ae958cc, 0xbfe4c0a145ec0004, // 0.7612, -0.64851 + 0x3fe87c400fba2ebf, 0xbfe49a449b9b0938, // 0.76517, -0.64383 + 0x3fe89c7e9a4dd4ab, 0xbfe473b51b987347, // 0.7691, -0.63912 + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439 + 0x3fe8dc45331698cc, 0xbfe425ff178e6bb1, // 0.77689, -0.62964 + 0x3fe8fbcca3ef940d, 0xbfe3fed9534556d4, // 0.78074, -0.62486 + 0x3fe91b166fd49da2, 0xbfe3d78238c58343, // 0.78456, -0.62006 + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523 + 0x3fe958efe48e6dd7, 0xbfe3884185dfeb22, // 0.79211, -0.61038 + 0x3fe9777ef4c7d742, 0xbfe36058b10659f3, // 0.79584, -0.60551 + 0x3fe995cf2ed80d22, 0xbfe338400d0c8e57, // 0.79954, -0.60062 + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957 + 0x3fe9d1b1f5ea80d6, 0xbfe2e780e3e8ea16, // 0.80685, -0.59076 + 0x3fe9ef43ef29af94, 0xbfe2bedb25faf3ea, // 0.81046, -0.5858 + 0x3fea0c95eabaf937, 0xbfe2960727629ca8, // 0.81404, -0.58081 + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581 + 0x3fea4678c8119ac8, 0xbfe243d5fb98ac1f, // 0.8211, -0.57078 + 0x3fea63091b02fae2, 0xbfe21a799933eb58, // 0.82459, -0.56573 + 0x3fea7f58529fe69d, 0xbfe1f0f08bbc861b, // 0.82805, -0.56066 + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557 + 0x3feab7325916c0d4, 0xbfe19d5a09f2b9b8, // 0.83486, -0.55046 + 0x3fead2bc9e21d511, 0xbfe1734d63dedb49, // 0.83822, -0.54532 + 0x3feaee04b43c1474, 0xbfe14915af336ceb, // 0.84155, -0.54017 + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535 + 0x3feb23cd470013b4, 0xbfe0f426bb2a8e7d, // 0.84812, -0.5298 + 0x3feb3e4d3ef55712, 0xbfe0c9704d5d898f, // 0.85136, -0.52459 + 0x3feb5889fe921405, 0xbfe09e907417c5e1, // 0.85456, -0.51936 + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141 + 0x3feb8c38d27504e9, 0xbfe0485626ae221a, // 0.86087, -0.50883 + 0x3feba5aa673590d2, 0xbfe01cfc874c3eb7, // 0.86397, -0.50354 + 0x3febbed7c49380ea, 0xbfdfe2f64be7120f, // 0.86705, -0.49823 + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929 + 0x3febf064e15377dd, 0xbfdf3405963fd068, // 0.87309, -0.48755 + 0x3fec08c426725549, 0xbfdedc1952ef78d5, // 0.87607, -0.48218 + 0x3fec20de3fa971b0, 0xbfde83e0eaf85113, // 0.87901, -0.4768 + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714 + 0x3fec5042012b6907, 0xbfddd28f1481cc58, // 0.8848, -0.46598 + 0x3fec678b3488739b, 0xbfdd79775b86e389, // 0.88764, -0.46054 + 0x3fec7e8e52233cf3, 0xbfdd2016e8e9db5b, // 0.89045, -0.45508 + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961 + 0x3fecabc169a0b901, 0xbfdc6c7f4997000a, // 0.89597, -0.44412 + 0x3fecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // 0.89867, -0.43862 + 0x3fecd7d9898b32f6, 0xbfdbb7cf2304bd01, // 0.90135, -0.43309 + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756 + 0x3fed02d4feb2bd92, 0xbfdb020d6c7f4009, // 0.9066, -0.422 + 0x3fed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // 0.90917, -0.41643 + 0x3fed2cb220e0ef9f, 0xbfda4b4127dea1e4, // 0.91171, -0.41084 + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524 + 0x3fed556f52e93eb1, 0xbfd993716141bdfe, // 0.91668, -0.39962 + 0x3fed696173c9e68b, 0xbfd9372a63bc93d7, // 0.91911, -0.39399 + 0x3fed7d0b02b8ecf9, 0xbfd8daa52ec8a4af, // 0.92151, -0.38835 + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268 + 0x3feda383a9668988, 0xbfd820e3b04eaac4, // 0.92621, -0.37701 + 0x3fedb6526238a09b, 0xbfd7c3a9311dcce7, // 0.92851, -0.37132 + 0x3fedc8d7cb410260, 0xbfd766340f2418f6, // 0.93077, -0.36561 + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599 + 0x3feded05f7de47da, 0xbfd6aa9d7dc77e16, // 0.93518, -0.35416 + 0x3fedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // 0.93734, -0.34842 + 0x3fee100cca2980ac, 0xbfd5ee27379ea693, // 0.93946, -0.34266 + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689 + 0x3fee31eae870ce25, 0xbfd530d880af3c24, // 0.94359, -0.33111 + 0x3fee426a4b2bc17e, 0xbfd4d1e24278e76a, // 0.94561, -0.32531 + 0x3fee529f04729ffc, 0xbfd472b8a5571054, // 0.94759, -0.3195 + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368 + 0x3fee7227db6a9744, 0xbfd3b3cefa0414b7, // 0.95144, -0.30785 + 0x3fee817bab4cd10d, 0xbfd35410c2e18152, // 0.95331, -0.30201 + 0x3fee9084361df7f3, 0xbfd2f422daec0386, // 0.95514, -0.29615 + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028 + 0x3feeadb2e8e7a88e, 0xbfd233bbabc3bb72, // 0.9587, -0.28441 + 0x3feebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // 0.96043, -0.27852 + 0x3feec9b2d3c3bf84, 0xbfd172a0d7765177, // 0.96212, -0.27262 + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671 + 0x3feee482e25a9dbc, 0xbfd0b0d9cfdbdb90, // 0.96539, -0.26079 + 0x3feef178a3e473c2, 0xbfd04fb80e37fdae, // 0.96698, -0.25487 + 0x3feefe220c0b95ec, 0xbfcfdcdc1adfedf8, // 0.96852, -0.24893 + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298 + 0x3fef168f53f7205d, 0xbfce56ca1e101a1b, // 0.9715, -0.23702 + 0x3fef2252f7763ada, 0xbfcd934fe5454311, // 0.97294, -0.23106 + 0x3fef2dc9c9089a9d, 0xbfcccf8cb312b286, // 0.97434, -0.22508 + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191 + 0x3fef43d085ff92dd, 0xbfcb4732ef3d6722, // 0.97703, -0.21311 + 0x3fef4e603b0b2f2d, 0xbfca82a025b00451, // 0.97832, -0.20711 + 0x3fef58a2b1789e84, 0xbfc9bdcbf2dc4366, // 0.97957, -0.2011 + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509 + 0x3fef6c3f7df5bbb7, 0xbfc83366e89c64c5, // 0.98196, -0.18907 + 0x3fef7599a3a12077, 0xbfc76dd9de50bf31, // 0.98311, -0.18304 + 0x3fef7ea629e63d6e, 0xbfc6a81304f64ab2, // 0.98421, -0.177 + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096 + 0x3fef8fd5ffae41db, 0xbfc51bdf8597c5f2, // 0.98631, -0.16491 + 0x3fef97f924c9099b, 0xbfc45576b1293e5a, // 0.9873, -0.15886 + 0x3fef9fce55adb2c8, 0xbfc38edbb0cd8d14, // 0.98826, -0.1528 + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673 + 0x3fefae8e8e46cfbb, 0xbfc20116d4ec7bce, // 0.99006, -0.14066 + 0x3fefb5797195d741, 0xbfc139f0cedaf576, // 0.9909, -0.13458 + 0x3fefbc1617e44186, 0xbfc072a047ba831d, // 0.99171, -0.1285 + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241 + 0x3fefc8646cfeb721, 0xbfbdc70ecbae9fc8, // 0.99321, -0.11632 + 0x3fefce15fd6da67b, 0xbfbc3785c79ec2d5, // 0.99391, -0.11022 + 0x3fefd37914220b84, 0xbfbaa7b724495c04, // 0.99456, -0.10412 + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518, -0.098017 + 0x3fefdd539ff1f456, 0xbfb787586a5d5b21, // 0.99577, -0.091909 + 0x3fefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // 0.99631, -0.085797 + 0x3fefe5f3af2e3940, 0xbfb4661179272096, // 0.99682, -0.079682 + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729, -0.073565 + 0x3fefed58ecb673c4, 0xbfb1440134d709b2, // 0.99772, -0.067444 + 0x3feff095658e71ad, 0xbfaf656e79f820e0, // 0.99812, -0.061321 + 0x3feff3830f8d575c, 0xbfac428d12c0d7e3, // 0.99848, -0.055195 + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988, -0.049068 + 0x3feff871dadb81df, 0xbfa5fc00d290cd43, // 0.99908, -0.042938 + 0x3feffa72effef75d, 0xbfa2d865759455cd, // 0.99932, -0.036807 + 0x3feffc251df1d3f8, 0xbf9f693731d1cf01, // 0.99953, -0.030675 + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997, -0.024541 + 0x3feffe9cb44b51a1, 0xbf92d936bbe30efd, // 0.99983, -0.018407 + 0x3fefff62169b92db, 0xbf8921d1fcdec784, // 0.99992, -0.012272 + 0x3fefffd8858e8a92, 0xbf7921f0fe670071, // 0.99998,-0.0061359 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_2048) +/** + @par + Example code for Double Precision Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 2048, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_2048[4096] = { + 0x3ff0000000000000, 0x0000000000000000, // 1, 0 + 0x3feffff621621d02, 0x3f6921f8becca4ba, // 1, 0.003068 + 0x3fefffd8858e8a92, 0x3f7921f0fe670071, // 0.99998, 0.0061359 + 0x3fefffa72c978c4f, 0x3f82d96b0e509703, // 0.99996, 0.0092038 + 0x3fefff62169b92db, 0x3f8921d1fcdec784, // 0.99992, 0.012272 + 0x3fefff0943c53bd1, 0x3f8f6a296ab997ca, // 0.99988, 0.015339 + 0x3feffe9cb44b51a1, 0x3f92d936bbe30efd, // 0.99983, 0.018407 + 0x3feffe1c6870cb77, 0x3f95fd4d21fab226, // 0.99977, 0.021474 + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541 + 0x3feffce09ce2a679, 0x3f9c454f4ce53b1c, // 0.99962, 0.027608 + 0x3feffc251df1d3f8, 0x3f9f693731d1cf01, // 0.99953, 0.030675 + 0x3feffb55e425fdae, 0x3fa14685db42c17e, // 0.99943, 0.033741 + 0x3feffa72effef75d, 0x3fa2d865759455cd, // 0.99932, 0.036807 + 0x3feff97c4208c014, 0x3fa46a396ff86179, // 0.9992, 0.039873 + 0x3feff871dadb81df, 0x3fa5fc00d290cd43, // 0.99908, 0.042938 + 0x3feff753bb1b9164, 0x3fa78dbaa5874685, // 0.99894, 0.046003 + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068 + 0x3feff4dc54b1bed3, 0x3faab101bd5f8317, // 0.99864, 0.052132 + 0x3feff3830f8d575c, 0x3fac428d12c0d7e3, // 0.99848, 0.055195 + 0x3feff21614e131ed, 0x3fadd406f9808ec8, // 0.9983, 0.058258 + 0x3feff095658e71ad, 0x3faf656e79f820e0, // 0.99812, 0.061321 + 0x3fefef0102826191, 0x3fb07b614e463064, // 0.99793, 0.064383 + 0x3fefed58ecb673c4, 0x3fb1440134d709b2, // 0.99772, 0.067444 + 0x3fefeb9d2530410f, 0x3fb20c9674ed444c, // 0.99751, 0.070505 + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565 + 0x3fefe7ea85482d60, 0x3fb39d9f12c5a299, // 0.99706, 0.076624 + 0x3fefe5f3af2e3940, 0x3fb4661179272096, // 0.99682, 0.079682 + 0x3fefe3e92be9d886, 0x3fb52e774a4d4d0a, // 0.99657, 0.08274 + 0x3fefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // 0.99631, 0.085797 + 0x3fefdf9922f73307, 0x3fb6bf1b3e79b129, // 0.99604, 0.088854 + 0x3fefdd539ff1f456, 0x3fb787586a5d5b21, // 0.99577, 0.091909 + 0x3fefdafa7514538c, 0x3fb84f8712c130a0, // 0.99548, 0.094963 + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017 + 0x3fefd60d2da75c9e, 0x3fb9dfb6eb24a85c, // 0.99488, 0.10107 + 0x3fefd37914220b84, 0x3fbaa7b724495c04, // 0.99456, 0.10412 + 0x3fefd0d158d86087, 0x3fbb6fa6ec38f64c, // 0.99424, 0.10717 + 0x3fefce15fd6da67b, 0x3fbc3785c79ec2d5, // 0.99391, 0.11022 + 0x3fefcb4703914354, 0x3fbcff533b307dc1, // 0.99356, 0.11327 + 0x3fefc8646cfeb721, 0x3fbdc70ecbae9fc8, // 0.99321, 0.11632 + 0x3fefc56e3b7d9af6, 0x3fbe8eb7fde4aa3e, // 0.99285, 0.11937 + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241 + 0x3fefbf470f0a8d88, 0x3fc00ee8ad6fb85b, // 0.9921, 0.12545 + 0x3fefbc1617e44186, 0x3fc072a047ba831d, // 0.99171, 0.1285 + 0x3fefb8d18d66adb7, 0x3fc0d64dbcb26786, // 0.99131, 0.13154 + 0x3fefb5797195d741, 0x3fc139f0cedaf576, // 0.9909, 0.13458 + 0x3fefb20dc681d54d, 0x3fc19d8940be24e7, // 0.99049, 0.13762 + 0x3fefae8e8e46cfbb, 0x3fc20116d4ec7bce, // 0.99006, 0.14066 + 0x3fefaafbcb0cfddc, 0x3fc264994dfd340a, // 0.98962, 0.1437 + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673 + 0x3fefa39bac7a1791, 0x3fc32b7bf94516a7, // 0.98872, 0.14976 + 0x3fef9fce55adb2c8, 0x3fc38edbb0cd8d14, // 0.98826, 0.1528 + 0x3fef9bed7cfbde29, 0x3fc3f22f57db4893, // 0.98778, 0.15583 + 0x3fef97f924c9099b, 0x3fc45576b1293e5a, // 0.9873, 0.15886 + 0x3fef93f14f85ac08, 0x3fc4b8b17f79fa88, // 0.98681, 0.16189 + 0x3fef8fd5ffae41db, 0x3fc51bdf8597c5f2, // 0.98631, 0.16491 + 0x3fef8ba737cb4b78, 0x3fc57f008654cbde, // 0.9858, 0.16794 + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096 + 0x3fef830f4a40c60c, 0x3fc6451a831d830d, // 0.98475, 0.17398 + 0x3fef7ea629e63d6e, 0x3fc6a81304f64ab2, // 0.98421, 0.177 + 0x3fef7a299c1a322a, 0x3fc70afd8d08c4ff, // 0.98366, 0.18002 + 0x3fef7599a3a12077, 0x3fc76dd9de50bf31, // 0.98311, 0.18304 + 0x3fef70f6434b7eb7, 0x3fc7d0a7bbd2cb1b, // 0.98254, 0.18606 + 0x3fef6c3f7df5bbb7, 0x3fc83366e89c64c5, // 0.98196, 0.18907 + 0x3fef677556883cee, 0x3fc8961727c41804, // 0.98138, 0.19208 + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509 + 0x3fef5da6ed43685d, 0x3fc95b49e9b62af9, // 0.98018, 0.1981 + 0x3fef58a2b1789e84, 0x3fc9bdcbf2dc4366, // 0.97957, 0.2011 + 0x3fef538b1faf2d07, 0x3fca203e1b1831da, // 0.97895, 0.20411 + 0x3fef4e603b0b2f2d, 0x3fca82a025b00451, // 0.97832, 0.20711 + 0x3fef492206bcabb4, 0x3fcae4f1d5f3b9ab, // 0.97768, 0.21011 + 0x3fef43d085ff92dd, 0x3fcb4732ef3d6722, // 0.97703, 0.21311 + 0x3fef3e6bbc1bbc65, 0x3fcba96334f15dad, // 0.97637, 0.21611 + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191 + 0x3fef33685a3aaef0, 0x3fcc6d90535d74dc, // 0.97503, 0.22209 + 0x3fef2dc9c9089a9d, 0x3fcccf8cb312b286, // 0.97434, 0.22508 + 0x3fef2817fc4609ce, 0x3fcd31774d2cbdee, // 0.97364, 0.22807 + 0x3fef2252f7763ada, 0x3fcd934fe5454311, // 0.97294, 0.23106 + 0x3fef1c7abe284708, 0x3fcdf5163f01099a, // 0.97223, 0.23404 + 0x3fef168f53f7205d, 0x3fce56ca1e101a1b, // 0.9715, 0.23702 + 0x3fef1090bc898f5f, 0x3fceb86b462de348, // 0.97077, 0.24 + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298 + 0x3fef045a14cf738c, 0x3fcf7b7480bd3801, // 0.96928, 0.24596 + 0x3feefe220c0b95ec, 0x3fcfdcdc1adfedf8, // 0.96852, 0.24893 + 0x3feef7d6e51ca3c0, 0x3fd01f1806b9fdd2, // 0.96775, 0.2519 + 0x3feef178a3e473c2, 0x3fd04fb80e37fdae, // 0.96698, 0.25487 + 0x3feeeb074c50a544, 0x3fd0804e05eb661e, // 0.96619, 0.25783 + 0x3feee482e25a9dbc, 0x3fd0b0d9cfdbdb90, // 0.96539, 0.26079 + 0x3feeddeb6a078651, 0x3fd0e15b4e1749cd, // 0.96459, 0.26375 + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671 + 0x3feed0835e999009, 0x3fd1423eefc69378, // 0.96295, 0.26967 + 0x3feec9b2d3c3bf84, 0x3fd172a0d7765177, // 0.96212, 0.27262 + 0x3feec2cf4b1af6b2, 0x3fd1a2f7fbe8f243, // 0.96128, 0.27557 + 0x3feebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // 0.96043, 0.27852 + 0x3feeb4cf515b8811, 0x3fd2038583d727bd, // 0.95957, 0.28146 + 0x3feeadb2e8e7a88e, 0x3fd233bbabc3bb72, // 0.9587, 0.28441 + 0x3feea68393e65800, 0x3fd263e6995554ba, // 0.95783, 0.28735 + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028 + 0x3fee97ec36016b30, 0x3fd2c41a4e954520, // 0.95605, 0.29322 + 0x3fee9084361df7f3, 0x3fd2f422daec0386, // 0.95514, 0.29615 + 0x3fee89095bad6025, 0x3fd3241fb638baaf, // 0.95423, 0.29908 + 0x3fee817bab4cd10d, 0x3fd35410c2e18152, // 0.95331, 0.30201 + 0x3fee79db29a5165a, 0x3fd383f5e353b6aa, // 0.95238, 0.30493 + 0x3fee7227db6a9744, 0x3fd3b3cefa0414b7, // 0.95144, 0.30785 + 0x3fee6a61c55d53a7, 0x3fd3e39be96ec271, // 0.95049, 0.31077 + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368 + 0x3fee5a9d550467d3, 0x3fd44310dc8936f0, // 0.94856, 0.31659 + 0x3fee529f04729ffc, 0x3fd472b8a5571054, // 0.94759, 0.3195 + 0x3fee4a8dff81ce5e, 0x3fd4a253d11b82f3, // 0.9466, 0.32241 + 0x3fee426a4b2bc17e, 0x3fd4d1e24278e76a, // 0.94561, 0.32531 + 0x3fee3a33ec75ce85, 0x3fd50163dc197047, // 0.9446, 0.32821 + 0x3fee31eae870ce25, 0x3fd530d880af3c24, // 0.94359, 0.33111 + 0x3fee298f4439197a, 0x3fd5604012f467b4, // 0.94257, 0.334 + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689 + 0x3fee18a02fdc66d9, 0x3fd5bee78b9db3b6, // 0.94051, 0.33978 + 0x3fee100cca2980ac, 0x3fd5ee27379ea693, // 0.93946, 0.34266 + 0x3fee0766d9280f54, 0x3fd61d595c88c203, // 0.9384, 0.34554 + 0x3fedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // 0.93734, 0.34842 + 0x3fedf5e36a9ba59c, 0x3fd67b949cad63ca, // 0.93627, 0.35129 + 0x3feded05f7de47da, 0x3fd6aa9d7dc77e16, // 0.93518, 0.35416 + 0x3fede4160f6d8d81, 0x3fd6d998638a0cb5, // 0.93409, 0.35703 + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599 + 0x3fedd1fef38a915a, 0x3fd73763c9261092, // 0.93188, 0.36276 + 0x3fedc8d7cb410260, 0x3fd766340f2418f6, // 0.93077, 0.36561 + 0x3fedbf9e4395759a, 0x3fd794f5e613dfae, // 0.92964, 0.36847 + 0x3fedb6526238a09b, 0x3fd7c3a9311dcce7, // 0.92851, 0.37132 + 0x3fedacf42ce68ab9, 0x3fd7f24dd37341e3, // 0.92736, 0.37416 + 0x3feda383a9668988, 0x3fd820e3b04eaac4, // 0.92621, 0.37701 + 0x3fed9a00dd8b3d46, 0x3fd84f6aaaf3903f, // 0.92505, 0.37985 + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268 + 0x3fed86c48445a450, 0x3fd8ac4b86d5ed44, // 0.9227, 0.38552 + 0x3fed7d0b02b8ecf9, 0x3fd8daa52ec8a4af, // 0.92151, 0.38835 + 0x3fed733f508c0dff, 0x3fd908ef81ef7bd1, // 0.92032, 0.39117 + 0x3fed696173c9e68b, 0x3fd9372a63bc93d7, // 0.91911, 0.39399 + 0x3fed5f7172888a7f, 0x3fd96555b7ab948f, // 0.9179, 0.39681 + 0x3fed556f52e93eb1, 0x3fd993716141bdfe, // 0.91668, 0.39962 + 0x3fed4b5b1b187524, 0x3fd9c17d440df9f2, // 0.91545, 0.40243 + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524 + 0x3fed36fc7bcbfbdc, 0x3fda1d6543b50ac0, // 0.91296, 0.40804 + 0x3fed2cb220e0ef9f, 0x3fda4b4127dea1e4, // 0.91171, 0.41084 + 0x3fed2255c6e5a4e1, 0x3fda790cd3dbf31a, // 0.91044, 0.41364 + 0x3fed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // 0.90917, 0.41643 + 0x3fed0d672f59d2b9, 0x3fdad473125cdc08, // 0.90789, 0.41922 + 0x3fed02d4feb2bd92, 0x3fdb020d6c7f4009, // 0.9066, 0.422 + 0x3fecf830e8ce467b, 0x3fdb2f971db31972, // 0.9053, 0.42478 + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756 + 0x3fece2b32799a060, 0x3fdb8a7814fd5693, // 0.90267, 0.43033 + 0x3fecd7d9898b32f6, 0x3fdbb7cf2304bd01, // 0.90135, 0.43309 + 0x3fecccee20c2de9f, 0x3fdbe51517ffc0d9, // 0.90002, 0.43586 + 0x3fecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // 0.89867, 0.43862 + 0x3fecb6e20a00da99, 0x3fdc3f6d47263129, // 0.89732, 0.44137 + 0x3fecabc169a0b901, 0x3fdc6c7f4997000a, // 0.89597, 0.44412 + 0x3feca08f19b9c449, 0x3fdc997fc3865388, // 0.8946, 0.44687 + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961 + 0x3fec89f587029c13, 0x3fdcf34baee1cd21, // 0.89184, 0.45235 + 0x3fec7e8e52233cf3, 0x3fdd2016e8e9db5b, // 0.89045, 0.45508 + 0x3fec7315899eaad7, 0x3fdd4cd02ba8609c, // 0.88905, 0.45781 + 0x3fec678b3488739b, 0x3fdd79775b86e389, // 0.88764, 0.46054 + 0x3fec5bef59fef85a, 0x3fdda60c5cfa10d8, // 0.88622, 0.46326 + 0x3fec5042012b6907, 0x3fddd28f1481cc58, // 0.8848, 0.46598 + 0x3fec44833141c004, 0x3fddfeff66a941de, // 0.88336, 0.46869 + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714 + 0x3fec2cd14931e3f1, 0x3fde57a86d3cd824, // 0.88047, 0.4741 + 0x3fec20de3fa971b0, 0x3fde83e0eaf85113, // 0.87901, 0.4768 + 0x3fec14d9dc465e58, 0x3fdeb00695f25620, // 0.87755, 0.47949 + 0x3fec08c426725549, 0x3fdedc1952ef78d5, // 0.87607, 0.48218 + 0x3febfc9d25a1b147, 0x3fdf081906bff7fd, // 0.87459, 0.48487 + 0x3febf064e15377dd, 0x3fdf3405963fd068, // 0.87309, 0.48755 + 0x3febe41b611154c1, 0x3fdf5fdee656cda3, // 0.8716, 0.49023 + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929 + 0x3febcb54cb0d2327, 0x3fdfb7575c24d2de, // 0.86857, 0.49557 + 0x3febbed7c49380ea, 0x3fdfe2f64be7120f, // 0.86705, 0.49823 + 0x3febb249a0b6c40d, 0x3fe00740c82b82e0, // 0.86551, 0.50089 + 0x3feba5aa673590d2, 0x3fe01cfc874c3eb7, // 0.86397, 0.50354 + 0x3feb98fa1fd9155e, 0x3fe032ae55edbd95, // 0.86242, 0.50619 + 0x3feb8c38d27504e9, 0x3fe0485626ae221a, // 0.86087, 0.50883 + 0x3feb7f6686e792ea, 0x3fe05df3ec31b8b6, // 0.8593, 0.51147 + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141 + 0x3feb658f14fdbc47, 0x3fe089112032b08c, // 0.85615, 0.51673 + 0x3feb5889fe921405, 0x3fe09e907417c5e1, // 0.85456, 0.51936 + 0x3feb4b7409de7925, 0x3fe0b405878f85ec, // 0.85296, 0.52198 + 0x3feb3e4d3ef55712, 0x3fe0c9704d5d898f, // 0.85136, 0.52459 + 0x3feb3115a5f37bf4, 0x3fe0ded0b84bc4b5, // 0.84974, 0.5272 + 0x3feb23cd470013b4, 0x3fe0f426bb2a8e7d, // 0.84812, 0.5298 + 0x3feb16742a4ca2f5, 0x3fe1097248d0a956, // 0.84649, 0.5324 + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535 + 0x3feafb8fd89f57b6, 0x3fe133e9cfee254e, // 0.84321, 0.53759 + 0x3feaee04b43c1474, 0x3fe14915af336ceb, // 0.84155, 0.54017 + 0x3feae068f345ecef, 0x3fe15e36e4dbe2bc, // 0.83989, 0.54275 + 0x3fead2bc9e21d511, 0x3fe1734d63dedb49, // 0.83822, 0.54532 + 0x3feac4ffbd3efac8, 0x3fe188591f3a46e5, // 0.83655, 0.54789 + 0x3feab7325916c0d4, 0x3fe19d5a09f2b9b8, // 0.83486, 0.55046 + 0x3feaa9547a2cb98e, 0x3fe1b250171373be, // 0.83317, 0.55302 + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557 + 0x3fea8d676e545ad2, 0x3fe1dc1b64dc4872, // 0.82976, 0.55812 + 0x3fea7f58529fe69d, 0x3fe1f0f08bbc861b, // 0.82805, 0.56066 + 0x3fea7138de9d60f5, 0x3fe205baa17560d6, // 0.82632, 0.5632 + 0x3fea63091b02fae2, 0x3fe21a799933eb58, // 0.82459, 0.56573 + 0x3fea54c91090f524, 0x3fe22f2d662c13e1, // 0.82285, 0.56826 + 0x3fea4678c8119ac8, 0x3fe243d5fb98ac1f, // 0.8211, 0.57078 + 0x3fea38184a593bc6, 0x3fe258734cbb7110, // 0.81935, 0.5733 + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581 + 0x3fea1b26d2c0a75e, 0x3fe2818bef4d3cba, // 0.81581, 0.57831 + 0x3fea0c95eabaf937, 0x3fe2960727629ca8, // 0.81404, 0.58081 + 0x3fe9fdf4f13149de, 0x3fe2aa76e87aeb58, // 0.81225, 0.58331 + 0x3fe9ef43ef29af94, 0x3fe2bedb25faf3ea, // 0.81046, 0.5858 + 0x3fe9e082edb42472, 0x3fe2d333d34e9bb7, // 0.80866, 0.58828 + 0x3fe9d1b1f5ea80d6, 0x3fe2e780e3e8ea16, // 0.80685, 0.59076 + 0x3fe9c2d110f075c3, 0x3fe2fbc24b441015, // 0.80503, 0.59323 + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957 + 0x3fe9a4dfa42b06b2, 0x3fe32421ec49a620, // 0.80138, 0.59816 + 0x3fe995cf2ed80d22, 0x3fe338400d0c8e57, // 0.79954, 0.60062 + 0x3fe986aef1457594, 0x3fe34c5252c14de1, // 0.79769, 0.60307 + 0x3fe9777ef4c7d742, 0x3fe36058b10659f3, // 0.79584, 0.60551 + 0x3fe9683f42bd7fe1, 0x3fe374531b817f8d, // 0.79398, 0.60795 + 0x3fe958efe48e6dd7, 0x3fe3884185dfeb22, // 0.79211, 0.61038 + 0x3fe94990e3ac4a6c, 0x3fe39c23e3d63029, // 0.79023, 0.61281 + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523 + 0x3fe92aa41fc5a815, 0x3fe3c3c44981c517, // 0.78646, 0.61765 + 0x3fe91b166fd49da2, 0x3fe3d78238c58343, // 0.78456, 0.62006 + 0x3fe90b7943575efe, 0x3fe3eb33eabe0680, // 0.78265, 0.62246 + 0x3fe8fbcca3ef940d, 0x3fe3fed9534556d4, // 0.78074, 0.62486 + 0x3fe8ec109b486c49, 0x3fe41272663d108c, // 0.77882, 0.62725 + 0x3fe8dc45331698cc, 0x3fe425ff178e6bb1, // 0.77689, 0.62964 + 0x3fe8cc6a75184655, 0x3fe4397f5b2a4380, // 0.77495, 0.63202 + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439 + 0x3fe8ac871ede1d88, 0x3fe4605a692b32a2, // 0.77106, 0.63676 + 0x3fe89c7e9a4dd4ab, 0x3fe473b51b987347, // 0.7691, 0.63912 + 0x3fe88c66e7481ba1, 0x3fe48703306091fe, // 0.76714, 0.64148 + 0x3fe87c400fba2ebf, 0x3fe49a449b9b0938, // 0.76517, 0.64383 + 0x3fe86c0a1d9aa195, 0x3fe4ad79516722f0, // 0.76319, 0.64618 + 0x3fe85bc51ae958cc, 0x3fe4c0a145ec0004, // 0.7612, 0.64851 + 0x3fe84b7111af83f9, 0x3fe4d3bc6d589f80, // 0.75921, 0.65085 + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317 + 0x3fe82a9c13f545ff, 0x3fe4f9cc25cca486, // 0.7552, 0.65549 + 0x3fe81a1b33b57acc, 0x3fe50cc09f59a09b, // 0.75319, 0.65781 + 0x3fe8098b756e52fa, 0x3fe51fa81cd99aa6, // 0.75117, 0.66011 + 0x3fe7f8ece3571771, 0x3fe5328292a35596, // 0.74914, 0.66242 + 0x3fe7e83f87b03686, 0x3fe5454ff5159dfb, // 0.7471, 0.66471 + 0x3fe7d7836cc33db2, 0x3fe5581038975137, // 0.74506, 0.667 + 0x3fe7c6b89ce2d333, 0x3fe56ac35197649e, // 0.74301, 0.66928 + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156 + 0x3fe7a4f707bf97d2, 0x3fe59001d5f723df, // 0.73889, 0.67383 + 0x3fe79400574f55e4, 0x3fe5a28d2a5d7250, // 0.73682, 0.67609 + 0x3fe782fb1b90b35b, 0x3fe5b50b264f7448, // 0.73474, 0.67835 + 0x3fe771e75f037261, 0x3fe5c77bbe65018c, // 0.73265, 0.6806 + 0x3fe760c52c304764, 0x3fe5d9dee73e345c, // 0.73056, 0.68285 + 0x3fe74f948da8d28d, 0x3fe5ec3495837074, // 0.72846, 0.68508 + 0x3fe73e558e079942, 0x3fe5fe7cbde56a0f, // 0.72636, 0.68732 + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954 + 0x3fe71bac960e41bf, 0x3fe622e44fec22ff, // 0.72213, 0.69176 + 0x3fe70a42b3176d7a, 0x3fe63503a31c1be8, // 0.72, 0.69397 + 0x3fe6f8ca99c95b75, 0x3fe64715437f535b, // 0.71787, 0.69618 + 0x3fe6e74454eaa8ae, 0x3fe6591925f0783e, // 0.71573, 0.69838 + 0x3fe6d5afef4aafcc, 0x3fe66b0f3f52b386, // 0.71358, 0.70057 + 0x3fe6c40d73c18275, 0x3fe67cf78491af10, // 0.71143, 0.70275 + 0x3fe6b25ced2fe29c, 0x3fe68ed1eaa19c71, // 0.70927, 0.70493 + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711 + 0x3fe68ed1eaa19c71, 0x3fe6b25ced2fe29c, // 0.70493, 0.70927 + 0x3fe67cf78491af10, 0x3fe6c40d73c18275, // 0.70275, 0.71143 + 0x3fe66b0f3f52b386, 0x3fe6d5afef4aafcc, // 0.70057, 0.71358 + 0x3fe6591925f0783e, 0x3fe6e74454eaa8ae, // 0.69838, 0.71573 + 0x3fe64715437f535b, 0x3fe6f8ca99c95b75, // 0.69618, 0.71787 + 0x3fe63503a31c1be8, 0x3fe70a42b3176d7a, // 0.69397, 0.72 + 0x3fe622e44fec22ff, 0x3fe71bac960e41bf, // 0.69176, 0.72213 + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425 + 0x3fe5fe7cbde56a0f, 0x3fe73e558e079942, // 0.68732, 0.72636 + 0x3fe5ec3495837074, 0x3fe74f948da8d28d, // 0.68508, 0.72846 + 0x3fe5d9dee73e345c, 0x3fe760c52c304764, // 0.68285, 0.73056 + 0x3fe5c77bbe65018c, 0x3fe771e75f037261, // 0.6806, 0.73265 + 0x3fe5b50b264f7448, 0x3fe782fb1b90b35b, // 0.67835, 0.73474 + 0x3fe5a28d2a5d7250, 0x3fe79400574f55e4, // 0.67609, 0.73682 + 0x3fe59001d5f723df, 0x3fe7a4f707bf97d2, // 0.67383, 0.73889 + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095 + 0x3fe56ac35197649e, 0x3fe7c6b89ce2d333, // 0.66928, 0.74301 + 0x3fe5581038975137, 0x3fe7d7836cc33db2, // 0.667, 0.74506 + 0x3fe5454ff5159dfb, 0x3fe7e83f87b03686, // 0.66471, 0.7471 + 0x3fe5328292a35596, 0x3fe7f8ece3571771, // 0.66242, 0.74914 + 0x3fe51fa81cd99aa6, 0x3fe8098b756e52fa, // 0.66011, 0.75117 + 0x3fe50cc09f59a09b, 0x3fe81a1b33b57acc, // 0.65781, 0.75319 + 0x3fe4f9cc25cca486, 0x3fe82a9c13f545ff, // 0.65549, 0.7552 + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721 + 0x3fe4d3bc6d589f80, 0x3fe84b7111af83f9, // 0.65085, 0.75921 + 0x3fe4c0a145ec0004, 0x3fe85bc51ae958cc, // 0.64851, 0.7612 + 0x3fe4ad79516722f0, 0x3fe86c0a1d9aa195, // 0.64618, 0.76319 + 0x3fe49a449b9b0938, 0x3fe87c400fba2ebf, // 0.64383, 0.76517 + 0x3fe48703306091fe, 0x3fe88c66e7481ba1, // 0.64148, 0.76714 + 0x3fe473b51b987347, 0x3fe89c7e9a4dd4ab, // 0.63912, 0.7691 + 0x3fe4605a692b32a2, 0x3fe8ac871ede1d88, // 0.63676, 0.77106 + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301 + 0x3fe4397f5b2a4380, 0x3fe8cc6a75184655, // 0.63202, 0.77495 + 0x3fe425ff178e6bb1, 0x3fe8dc45331698cc, // 0.62964, 0.77689 + 0x3fe41272663d108c, 0x3fe8ec109b486c49, // 0.62725, 0.77882 + 0x3fe3fed9534556d4, 0x3fe8fbcca3ef940d, // 0.62486, 0.78074 + 0x3fe3eb33eabe0680, 0x3fe90b7943575efe, // 0.62246, 0.78265 + 0x3fe3d78238c58343, 0x3fe91b166fd49da2, // 0.62006, 0.78456 + 0x3fe3c3c44981c517, 0x3fe92aa41fc5a815, // 0.61765, 0.78646 + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835 + 0x3fe39c23e3d63029, 0x3fe94990e3ac4a6c, // 0.61281, 0.79023 + 0x3fe3884185dfeb22, 0x3fe958efe48e6dd7, // 0.61038, 0.79211 + 0x3fe374531b817f8d, 0x3fe9683f42bd7fe1, // 0.60795, 0.79398 + 0x3fe36058b10659f3, 0x3fe9777ef4c7d742, // 0.60551, 0.79584 + 0x3fe34c5252c14de1, 0x3fe986aef1457594, // 0.60307, 0.79769 + 0x3fe338400d0c8e57, 0x3fe995cf2ed80d22, // 0.60062, 0.79954 + 0x3fe32421ec49a620, 0x3fe9a4dfa42b06b2, // 0.59816, 0.80138 + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321 + 0x3fe2fbc24b441015, 0x3fe9c2d110f075c3, // 0.59323, 0.80503 + 0x3fe2e780e3e8ea16, 0x3fe9d1b1f5ea80d6, // 0.59076, 0.80685 + 0x3fe2d333d34e9bb7, 0x3fe9e082edb42472, // 0.58828, 0.80866 + 0x3fe2bedb25faf3ea, 0x3fe9ef43ef29af94, // 0.5858, 0.81046 + 0x3fe2aa76e87aeb58, 0x3fe9fdf4f13149de, // 0.58331, 0.81225 + 0x3fe2960727629ca8, 0x3fea0c95eabaf937, // 0.58081, 0.81404 + 0x3fe2818bef4d3cba, 0x3fea1b26d2c0a75e, // 0.57831, 0.81581 + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758 + 0x3fe258734cbb7110, 0x3fea38184a593bc6, // 0.5733, 0.81935 + 0x3fe243d5fb98ac1f, 0x3fea4678c8119ac8, // 0.57078, 0.8211 + 0x3fe22f2d662c13e1, 0x3fea54c91090f524, // 0.56826, 0.82285 + 0x3fe21a799933eb58, 0x3fea63091b02fae2, // 0.56573, 0.82459 + 0x3fe205baa17560d6, 0x3fea7138de9d60f5, // 0.5632, 0.82632 + 0x3fe1f0f08bbc861b, 0x3fea7f58529fe69d, // 0.56066, 0.82805 + 0x3fe1dc1b64dc4872, 0x3fea8d676e545ad2, // 0.55812, 0.82976 + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147 + 0x3fe1b250171373be, 0x3feaa9547a2cb98e, // 0.55302, 0.83317 + 0x3fe19d5a09f2b9b8, 0x3feab7325916c0d4, // 0.55046, 0.83486 + 0x3fe188591f3a46e5, 0x3feac4ffbd3efac8, // 0.54789, 0.83655 + 0x3fe1734d63dedb49, 0x3fead2bc9e21d511, // 0.54532, 0.83822 + 0x3fe15e36e4dbe2bc, 0x3feae068f345ecef, // 0.54275, 0.83989 + 0x3fe14915af336ceb, 0x3feaee04b43c1474, // 0.54017, 0.84155 + 0x3fe133e9cfee254e, 0x3feafb8fd89f57b6, // 0.53759, 0.84321 + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485 + 0x3fe1097248d0a956, 0x3feb16742a4ca2f5, // 0.5324, 0.84649 + 0x3fe0f426bb2a8e7d, 0x3feb23cd470013b4, // 0.5298, 0.84812 + 0x3fe0ded0b84bc4b5, 0x3feb3115a5f37bf4, // 0.5272, 0.84974 + 0x3fe0c9704d5d898f, 0x3feb3e4d3ef55712, // 0.52459, 0.85136 + 0x3fe0b405878f85ec, 0x3feb4b7409de7925, // 0.52198, 0.85296 + 0x3fe09e907417c5e1, 0x3feb5889fe921405, // 0.51936, 0.85456 + 0x3fe089112032b08c, 0x3feb658f14fdbc47, // 0.51673, 0.85615 + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773 + 0x3fe05df3ec31b8b6, 0x3feb7f6686e792ea, // 0.51147, 0.8593 + 0x3fe0485626ae221a, 0x3feb8c38d27504e9, // 0.50883, 0.86087 + 0x3fe032ae55edbd95, 0x3feb98fa1fd9155e, // 0.50619, 0.86242 + 0x3fe01cfc874c3eb7, 0x3feba5aa673590d2, // 0.50354, 0.86397 + 0x3fe00740c82b82e0, 0x3febb249a0b6c40d, // 0.50089, 0.86551 + 0x3fdfe2f64be7120f, 0x3febbed7c49380ea, // 0.49823, 0.86705 + 0x3fdfb7575c24d2de, 0x3febcb54cb0d2327, // 0.49557, 0.86857 + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009 + 0x3fdf5fdee656cda3, 0x3febe41b611154c1, // 0.49023, 0.8716 + 0x3fdf3405963fd068, 0x3febf064e15377dd, // 0.48755, 0.87309 + 0x3fdf081906bff7fd, 0x3febfc9d25a1b147, // 0.48487, 0.87459 + 0x3fdedc1952ef78d5, 0x3fec08c426725549, // 0.48218, 0.87607 + 0x3fdeb00695f25620, 0x3fec14d9dc465e58, // 0.47949, 0.87755 + 0x3fde83e0eaf85113, 0x3fec20de3fa971b0, // 0.4768, 0.87901 + 0x3fde57a86d3cd824, 0x3fec2cd14931e3f1, // 0.4741, 0.88047 + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192 + 0x3fddfeff66a941de, 0x3fec44833141c004, // 0.46869, 0.88336 + 0x3fddd28f1481cc58, 0x3fec5042012b6907, // 0.46598, 0.8848 + 0x3fdda60c5cfa10d8, 0x3fec5bef59fef85a, // 0.46326, 0.88622 + 0x3fdd79775b86e389, 0x3fec678b3488739b, // 0.46054, 0.88764 + 0x3fdd4cd02ba8609c, 0x3fec7315899eaad7, // 0.45781, 0.88905 + 0x3fdd2016e8e9db5b, 0x3fec7e8e52233cf3, // 0.45508, 0.89045 + 0x3fdcf34baee1cd21, 0x3fec89f587029c13, // 0.45235, 0.89184 + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322 + 0x3fdc997fc3865388, 0x3feca08f19b9c449, // 0.44687, 0.8946 + 0x3fdc6c7f4997000a, 0x3fecabc169a0b901, // 0.44412, 0.89597 + 0x3fdc3f6d47263129, 0x3fecb6e20a00da99, // 0.44137, 0.89732 + 0x3fdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // 0.43862, 0.89867 + 0x3fdbe51517ffc0d9, 0x3fecccee20c2de9f, // 0.43586, 0.90002 + 0x3fdbb7cf2304bd01, 0x3fecd7d9898b32f6, // 0.43309, 0.90135 + 0x3fdb8a7814fd5693, 0x3fece2b32799a060, // 0.43033, 0.90267 + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399 + 0x3fdb2f971db31972, 0x3fecf830e8ce467b, // 0.42478, 0.9053 + 0x3fdb020d6c7f4009, 0x3fed02d4feb2bd92, // 0.422, 0.9066 + 0x3fdad473125cdc08, 0x3fed0d672f59d2b9, // 0.41922, 0.90789 + 0x3fdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // 0.41643, 0.90917 + 0x3fda790cd3dbf31a, 0x3fed2255c6e5a4e1, // 0.41364, 0.91044 + 0x3fda4b4127dea1e4, 0x3fed2cb220e0ef9f, // 0.41084, 0.91171 + 0x3fda1d6543b50ac0, 0x3fed36fc7bcbfbdc, // 0.40804, 0.91296 + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421 + 0x3fd9c17d440df9f2, 0x3fed4b5b1b187524, // 0.40243, 0.91545 + 0x3fd993716141bdfe, 0x3fed556f52e93eb1, // 0.39962, 0.91668 + 0x3fd96555b7ab948f, 0x3fed5f7172888a7f, // 0.39681, 0.9179 + 0x3fd9372a63bc93d7, 0x3fed696173c9e68b, // 0.39399, 0.91911 + 0x3fd908ef81ef7bd1, 0x3fed733f508c0dff, // 0.39117, 0.92032 + 0x3fd8daa52ec8a4af, 0x3fed7d0b02b8ecf9, // 0.38835, 0.92151 + 0x3fd8ac4b86d5ed44, 0x3fed86c48445a450, // 0.38552, 0.9227 + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388 + 0x3fd84f6aaaf3903f, 0x3fed9a00dd8b3d46, // 0.37985, 0.92505 + 0x3fd820e3b04eaac4, 0x3feda383a9668988, // 0.37701, 0.92621 + 0x3fd7f24dd37341e3, 0x3fedacf42ce68ab9, // 0.37416, 0.92736 + 0x3fd7c3a9311dcce7, 0x3fedb6526238a09b, // 0.37132, 0.92851 + 0x3fd794f5e613dfae, 0x3fedbf9e4395759a, // 0.36847, 0.92964 + 0x3fd766340f2418f6, 0x3fedc8d7cb410260, // 0.36561, 0.93077 + 0x3fd73763c9261092, 0x3fedd1fef38a915a, // 0.36276, 0.93188 + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299 + 0x3fd6d998638a0cb5, 0x3fede4160f6d8d81, // 0.35703, 0.93409 + 0x3fd6aa9d7dc77e16, 0x3feded05f7de47da, // 0.35416, 0.93518 + 0x3fd67b949cad63ca, 0x3fedf5e36a9ba59c, // 0.35129, 0.93627 + 0x3fd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // 0.34842, 0.93734 + 0x3fd61d595c88c203, 0x3fee0766d9280f54, // 0.34554, 0.9384 + 0x3fd5ee27379ea693, 0x3fee100cca2980ac, // 0.34266, 0.93946 + 0x3fd5bee78b9db3b6, 0x3fee18a02fdc66d9, // 0.33978, 0.94051 + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154 + 0x3fd5604012f467b4, 0x3fee298f4439197a, // 0.334, 0.94257 + 0x3fd530d880af3c24, 0x3fee31eae870ce25, // 0.33111, 0.94359 + 0x3fd50163dc197047, 0x3fee3a33ec75ce85, // 0.32821, 0.9446 + 0x3fd4d1e24278e76a, 0x3fee426a4b2bc17e, // 0.32531, 0.94561 + 0x3fd4a253d11b82f3, 0x3fee4a8dff81ce5e, // 0.32241, 0.9466 + 0x3fd472b8a5571054, 0x3fee529f04729ffc, // 0.3195, 0.94759 + 0x3fd44310dc8936f0, 0x3fee5a9d550467d3, // 0.31659, 0.94856 + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953 + 0x3fd3e39be96ec271, 0x3fee6a61c55d53a7, // 0.31077, 0.95049 + 0x3fd3b3cefa0414b7, 0x3fee7227db6a9744, // 0.30785, 0.95144 + 0x3fd383f5e353b6aa, 0x3fee79db29a5165a, // 0.30493, 0.95238 + 0x3fd35410c2e18152, 0x3fee817bab4cd10d, // 0.30201, 0.95331 + 0x3fd3241fb638baaf, 0x3fee89095bad6025, // 0.29908, 0.95423 + 0x3fd2f422daec0386, 0x3fee9084361df7f3, // 0.29615, 0.95514 + 0x3fd2c41a4e954520, 0x3fee97ec36016b30, // 0.29322, 0.95605 + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694 + 0x3fd263e6995554ba, 0x3feea68393e65800, // 0.28735, 0.95783 + 0x3fd233bbabc3bb72, 0x3feeadb2e8e7a88e, // 0.28441, 0.9587 + 0x3fd2038583d727bd, 0x3feeb4cf515b8811, // 0.28146, 0.95957 + 0x3fd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // 0.27852, 0.96043 + 0x3fd1a2f7fbe8f243, 0x3feec2cf4b1af6b2, // 0.27557, 0.96128 + 0x3fd172a0d7765177, 0x3feec9b2d3c3bf84, // 0.27262, 0.96212 + 0x3fd1423eefc69378, 0x3feed0835e999009, // 0.26967, 0.96295 + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378 + 0x3fd0e15b4e1749cd, 0x3feeddeb6a078651, // 0.26375, 0.96459 + 0x3fd0b0d9cfdbdb90, 0x3feee482e25a9dbc, // 0.26079, 0.96539 + 0x3fd0804e05eb661e, 0x3feeeb074c50a544, // 0.25783, 0.96619 + 0x3fd04fb80e37fdae, 0x3feef178a3e473c2, // 0.25487, 0.96698 + 0x3fd01f1806b9fdd2, 0x3feef7d6e51ca3c0, // 0.2519, 0.96775 + 0x3fcfdcdc1adfedf8, 0x3feefe220c0b95ec, // 0.24893, 0.96852 + 0x3fcf7b7480bd3801, 0x3fef045a14cf738c, // 0.24596, 0.96928 + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003 + 0x3fceb86b462de348, 0x3fef1090bc898f5f, // 0.24, 0.97077 + 0x3fce56ca1e101a1b, 0x3fef168f53f7205d, // 0.23702, 0.9715 + 0x3fcdf5163f01099a, 0x3fef1c7abe284708, // 0.23404, 0.97223 + 0x3fcd934fe5454311, 0x3fef2252f7763ada, // 0.23106, 0.97294 + 0x3fcd31774d2cbdee, 0x3fef2817fc4609ce, // 0.22807, 0.97364 + 0x3fcccf8cb312b286, 0x3fef2dc9c9089a9d, // 0.22508, 0.97434 + 0x3fcc6d90535d74dc, 0x3fef33685a3aaef0, // 0.22209, 0.97503 + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757 + 0x3fcba96334f15dad, 0x3fef3e6bbc1bbc65, // 0.21611, 0.97637 + 0x3fcb4732ef3d6722, 0x3fef43d085ff92dd, // 0.21311, 0.97703 + 0x3fcae4f1d5f3b9ab, 0x3fef492206bcabb4, // 0.21011, 0.97768 + 0x3fca82a025b00451, 0x3fef4e603b0b2f2d, // 0.20711, 0.97832 + 0x3fca203e1b1831da, 0x3fef538b1faf2d07, // 0.20411, 0.97895 + 0x3fc9bdcbf2dc4366, 0x3fef58a2b1789e84, // 0.2011, 0.97957 + 0x3fc95b49e9b62af9, 0x3fef5da6ed43685d, // 0.1981, 0.98018 + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079 + 0x3fc8961727c41804, 0x3fef677556883cee, // 0.19208, 0.98138 + 0x3fc83366e89c64c5, 0x3fef6c3f7df5bbb7, // 0.18907, 0.98196 + 0x3fc7d0a7bbd2cb1b, 0x3fef70f6434b7eb7, // 0.18606, 0.98254 + 0x3fc76dd9de50bf31, 0x3fef7599a3a12077, // 0.18304, 0.98311 + 0x3fc70afd8d08c4ff, 0x3fef7a299c1a322a, // 0.18002, 0.98366 + 0x3fc6a81304f64ab2, 0x3fef7ea629e63d6e, // 0.177, 0.98421 + 0x3fc6451a831d830d, 0x3fef830f4a40c60c, // 0.17398, 0.98475 + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528 + 0x3fc57f008654cbde, 0x3fef8ba737cb4b78, // 0.16794, 0.9858 + 0x3fc51bdf8597c5f2, 0x3fef8fd5ffae41db, // 0.16491, 0.98631 + 0x3fc4b8b17f79fa88, 0x3fef93f14f85ac08, // 0.16189, 0.98681 + 0x3fc45576b1293e5a, 0x3fef97f924c9099b, // 0.15886, 0.9873 + 0x3fc3f22f57db4893, 0x3fef9bed7cfbde29, // 0.15583, 0.98778 + 0x3fc38edbb0cd8d14, 0x3fef9fce55adb2c8, // 0.1528, 0.98826 + 0x3fc32b7bf94516a7, 0x3fefa39bac7a1791, // 0.14976, 0.98872 + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918 + 0x3fc264994dfd340a, 0x3fefaafbcb0cfddc, // 0.1437, 0.98962 + 0x3fc20116d4ec7bce, 0x3fefae8e8e46cfbb, // 0.14066, 0.99006 + 0x3fc19d8940be24e7, 0x3fefb20dc681d54d, // 0.13762, 0.99049 + 0x3fc139f0cedaf576, 0x3fefb5797195d741, // 0.13458, 0.9909 + 0x3fc0d64dbcb26786, 0x3fefb8d18d66adb7, // 0.13154, 0.99131 + 0x3fc072a047ba831d, 0x3fefbc1617e44186, // 0.1285, 0.99171 + 0x3fc00ee8ad6fb85b, 0x3fefbf470f0a8d88, // 0.12545, 0.9921 + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248 + 0x3fbe8eb7fde4aa3e, 0x3fefc56e3b7d9af6, // 0.11937, 0.99285 + 0x3fbdc70ecbae9fc8, 0x3fefc8646cfeb721, // 0.11632, 0.99321 + 0x3fbcff533b307dc1, 0x3fefcb4703914354, // 0.11327, 0.99356 + 0x3fbc3785c79ec2d5, 0x3fefce15fd6da67b, // 0.11022, 0.99391 + 0x3fbb6fa6ec38f64c, 0x3fefd0d158d86087, // 0.10717, 0.99424 + 0x3fbaa7b724495c04, 0x3fefd37914220b84, // 0.10412, 0.99456 + 0x3fb9dfb6eb24a85c, 0x3fefd60d2da75c9e, // 0.10107, 0.99488 + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518 + 0x3fb84f8712c130a0, 0x3fefdafa7514538c, // 0.094963, 0.99548 + 0x3fb787586a5d5b21, 0x3fefdd539ff1f456, // 0.091909, 0.99577 + 0x3fb6bf1b3e79b129, 0x3fefdf9922f73307, // 0.088854, 0.99604 + 0x3fb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // 0.085797, 0.99631 + 0x3fb52e774a4d4d0a, 0x3fefe3e92be9d886, // 0.08274, 0.99657 + 0x3fb4661179272096, 0x3fefe5f3af2e3940, // 0.079682, 0.99682 + 0x3fb39d9f12c5a299, 0x3fefe7ea85482d60, // 0.076624, 0.99706 + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, // 0.073565, 0.99729 + 0x3fb20c9674ed444c, 0x3fefeb9d2530410f, // 0.070505, 0.99751 + 0x3fb1440134d709b2, 0x3fefed58ecb673c4, // 0.067444, 0.99772 + 0x3fb07b614e463064, 0x3fefef0102826191, // 0.064383, 0.99793 + 0x3faf656e79f820e0, 0x3feff095658e71ad, // 0.061321, 0.99812 + 0x3fadd406f9808ec8, 0x3feff21614e131ed, // 0.058258, 0.9983 + 0x3fac428d12c0d7e3, 0x3feff3830f8d575c, // 0.055195, 0.99848 + 0x3faab101bd5f8317, 0x3feff4dc54b1bed3, // 0.052132, 0.99864 + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, // 0.049068, 0.9988 + 0x3fa78dbaa5874685, 0x3feff753bb1b9164, // 0.046003, 0.99894 + 0x3fa5fc00d290cd43, 0x3feff871dadb81df, // 0.042938, 0.99908 + 0x3fa46a396ff86179, 0x3feff97c4208c014, // 0.039873, 0.9992 + 0x3fa2d865759455cd, 0x3feffa72effef75d, // 0.036807, 0.99932 + 0x3fa14685db42c17e, 0x3feffb55e425fdae, // 0.033741, 0.99943 + 0x3f9f693731d1cf01, 0x3feffc251df1d3f8, // 0.030675, 0.99953 + 0x3f9c454f4ce53b1c, 0x3feffce09ce2a679, // 0.027608, 0.99962 + 0x3f992155f7a3667e, 0x3feffd886084cd0d, // 0.024541, 0.9997 + 0x3f95fd4d21fab226, 0x3feffe1c6870cb77, // 0.021474, 0.99977 + 0x3f92d936bbe30efd, 0x3feffe9cb44b51a1, // 0.018407, 0.99983 + 0x3f8f6a296ab997ca, 0x3fefff0943c53bd1, // 0.015339, 0.99988 + 0x3f8921d1fcdec784, 0x3fefff62169b92db, // 0.012272, 0.99992 + 0x3f82d96b0e509703, 0x3fefffa72c978c4f, // 0.0092038, 0.99996 + 0x3f7921f0fe670071, 0x3fefffd8858e8a92, // 0.0061359, 0.99998 + 0x3f6921f8becca4ba, 0x3feffff621621d02, // 0.003068, 1 + 0x0000000000000000, 0x3ff0000000000000, // 0, 1 + 0xbf6921f8becca4ba, 0x3feffff621621d02, // -0.003068, 1 + 0xbf7921f0fe670071, 0x3fefffd8858e8a92, //-0.0061359, 0.99998 + 0xbf82d96b0e509703, 0x3fefffa72c978c4f, //-0.0092038, 0.99996 + 0xbf8921d1fcdec784, 0x3fefff62169b92db, // -0.012272, 0.99992 + 0xbf8f6a296ab997ca, 0x3fefff0943c53bd1, // -0.015339, 0.99988 + 0xbf92d936bbe30efd, 0x3feffe9cb44b51a1, // -0.018407, 0.99983 + 0xbf95fd4d21fab226, 0x3feffe1c6870cb77, // -0.021474, 0.99977 + 0xbf992155f7a3667e, 0x3feffd886084cd0d, // -0.024541, 0.9997 + 0xbf9c454f4ce53b1c, 0x3feffce09ce2a679, // -0.027608, 0.99962 + 0xbf9f693731d1cf01, 0x3feffc251df1d3f8, // -0.030675, 0.99953 + 0xbfa14685db42c17e, 0x3feffb55e425fdae, // -0.033741, 0.99943 + 0xbfa2d865759455cd, 0x3feffa72effef75d, // -0.036807, 0.99932 + 0xbfa46a396ff86179, 0x3feff97c4208c014, // -0.039873, 0.9992 + 0xbfa5fc00d290cd43, 0x3feff871dadb81df, // -0.042938, 0.99908 + 0xbfa78dbaa5874685, 0x3feff753bb1b9164, // -0.046003, 0.99894 + 0xbfa91f65f10dd814, 0x3feff621e3796d7e, // -0.049068, 0.9988 + 0xbfaab101bd5f8317, 0x3feff4dc54b1bed3, // -0.052132, 0.99864 + 0xbfac428d12c0d7e3, 0x3feff3830f8d575c, // -0.055195, 0.99848 + 0xbfadd406f9808ec8, 0x3feff21614e131ed, // -0.058258, 0.9983 + 0xbfaf656e79f820e0, 0x3feff095658e71ad, // -0.061321, 0.99812 + 0xbfb07b614e463064, 0x3fefef0102826191, // -0.064383, 0.99793 + 0xbfb1440134d709b2, 0x3fefed58ecb673c4, // -0.067444, 0.99772 + 0xbfb20c9674ed444c, 0x3fefeb9d2530410f, // -0.070505, 0.99751 + 0xbfb2d52092ce19f6, 0x3fefe9cdad01883a, // -0.073565, 0.99729 + 0xbfb39d9f12c5a299, 0x3fefe7ea85482d60, // -0.076624, 0.99706 + 0xbfb4661179272096, 0x3fefe5f3af2e3940, // -0.079682, 0.99682 + 0xbfb52e774a4d4d0a, 0x3fefe3e92be9d886, // -0.08274, 0.99657 + 0xbfb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // -0.085797, 0.99631 + 0xbfb6bf1b3e79b129, 0x3fefdf9922f73307, // -0.088854, 0.99604 + 0xbfb787586a5d5b21, 0x3fefdd539ff1f456, // -0.091909, 0.99577 + 0xbfb84f8712c130a0, 0x3fefdafa7514538c, // -0.094963, 0.99548 + 0xbfb917a6bc29b42c, 0x3fefd88da3d12526, // -0.098017, 0.99518 + 0xbfb9dfb6eb24a85c, 0x3fefd60d2da75c9e, // -0.10107, 0.99488 + 0xbfbaa7b724495c04, 0x3fefd37914220b84, // -0.10412, 0.99456 + 0xbfbb6fa6ec38f64c, 0x3fefd0d158d86087, // -0.10717, 0.99424 + 0xbfbc3785c79ec2d5, 0x3fefce15fd6da67b, // -0.11022, 0.99391 + 0xbfbcff533b307dc1, 0x3fefcb4703914354, // -0.11327, 0.99356 + 0xbfbdc70ecbae9fc8, 0x3fefc8646cfeb721, // -0.11632, 0.99321 + 0xbfbe8eb7fde4aa3e, 0x3fefc56e3b7d9af6, // -0.11937, 0.99285 + 0xbfbf564e56a9730e, 0x3fefc26470e19fd3, // -0.12241, 0.99248 + 0xbfc00ee8ad6fb85b, 0x3fefbf470f0a8d88, // -0.12545, 0.9921 + 0xbfc072a047ba831d, 0x3fefbc1617e44186, // -0.1285, 0.99171 + 0xbfc0d64dbcb26786, 0x3fefb8d18d66adb7, // -0.13154, 0.99131 + 0xbfc139f0cedaf576, 0x3fefb5797195d741, // -0.13458, 0.9909 + 0xbfc19d8940be24e7, 0x3fefb20dc681d54d, // -0.13762, 0.99049 + 0xbfc20116d4ec7bce, 0x3fefae8e8e46cfbb, // -0.14066, 0.99006 + 0xbfc264994dfd340a, 0x3fefaafbcb0cfddc, // -0.1437, 0.98962 + 0xbfc2c8106e8e613a, 0x3fefa7557f08a517, // -0.14673, 0.98918 + 0xbfc32b7bf94516a7, 0x3fefa39bac7a1791, // -0.14976, 0.98872 + 0xbfc38edbb0cd8d14, 0x3fef9fce55adb2c8, // -0.1528, 0.98826 + 0xbfc3f22f57db4893, 0x3fef9bed7cfbde29, // -0.15583, 0.98778 + 0xbfc45576b1293e5a, 0x3fef97f924c9099b, // -0.15886, 0.9873 + 0xbfc4b8b17f79fa88, 0x3fef93f14f85ac08, // -0.16189, 0.98681 + 0xbfc51bdf8597c5f2, 0x3fef8fd5ffae41db, // -0.16491, 0.98631 + 0xbfc57f008654cbde, 0x3fef8ba737cb4b78, // -0.16794, 0.9858 + 0xbfc5e214448b3fc6, 0x3fef8764fa714ba9, // -0.17096, 0.98528 + 0xbfc6451a831d830d, 0x3fef830f4a40c60c, // -0.17398, 0.98475 + 0xbfc6a81304f64ab2, 0x3fef7ea629e63d6e, // -0.177, 0.98421 + 0xbfc70afd8d08c4ff, 0x3fef7a299c1a322a, // -0.18002, 0.98366 + 0xbfc76dd9de50bf31, 0x3fef7599a3a12077, // -0.18304, 0.98311 + 0xbfc7d0a7bbd2cb1b, 0x3fef70f6434b7eb7, // -0.18606, 0.98254 + 0xbfc83366e89c64c5, 0x3fef6c3f7df5bbb7, // -0.18907, 0.98196 + 0xbfc8961727c41804, 0x3fef677556883cee, // -0.19208, 0.98138 + 0xbfc8f8b83c69a60a, 0x3fef6297cff75cb0, // -0.19509, 0.98079 + 0xbfc95b49e9b62af9, 0x3fef5da6ed43685d, // -0.1981, 0.98018 + 0xbfc9bdcbf2dc4366, 0x3fef58a2b1789e84, // -0.2011, 0.97957 + 0xbfca203e1b1831da, 0x3fef538b1faf2d07, // -0.20411, 0.97895 + 0xbfca82a025b00451, 0x3fef4e603b0b2f2d, // -0.20711, 0.97832 + 0xbfcae4f1d5f3b9ab, 0x3fef492206bcabb4, // -0.21011, 0.97768 + 0xbfcb4732ef3d6722, 0x3fef43d085ff92dd, // -0.21311, 0.97703 + 0xbfcba96334f15dad, 0x3fef3e6bbc1bbc65, // -0.21611, 0.97637 + 0xbfcc0b826a7e4f63, 0x3fef38f3ac64e589, // -0.2191, 0.9757 + 0xbfcc6d90535d74dc, 0x3fef33685a3aaef0, // -0.22209, 0.97503 + 0xbfcccf8cb312b286, 0x3fef2dc9c9089a9d, // -0.22508, 0.97434 + 0xbfcd31774d2cbdee, 0x3fef2817fc4609ce, // -0.22807, 0.97364 + 0xbfcd934fe5454311, 0x3fef2252f7763ada, // -0.23106, 0.97294 + 0xbfcdf5163f01099a, 0x3fef1c7abe284708, // -0.23404, 0.97223 + 0xbfce56ca1e101a1b, 0x3fef168f53f7205d, // -0.23702, 0.9715 + 0xbfceb86b462de348, 0x3fef1090bc898f5f, // -0.24, 0.97077 + 0xbfcf19f97b215f1a, 0x3fef0a7efb9230d7, // -0.24298, 0.97003 + 0xbfcf7b7480bd3801, 0x3fef045a14cf738c, // -0.24596, 0.96928 + 0xbfcfdcdc1adfedf8, 0x3feefe220c0b95ec, // -0.24893, 0.96852 + 0xbfd01f1806b9fdd2, 0x3feef7d6e51ca3c0, // -0.2519, 0.96775 + 0xbfd04fb80e37fdae, 0x3feef178a3e473c2, // -0.25487, 0.96698 + 0xbfd0804e05eb661e, 0x3feeeb074c50a544, // -0.25783, 0.96619 + 0xbfd0b0d9cfdbdb90, 0x3feee482e25a9dbc, // -0.26079, 0.96539 + 0xbfd0e15b4e1749cd, 0x3feeddeb6a078651, // -0.26375, 0.96459 + 0xbfd111d262b1f677, 0x3feed740e7684963, // -0.26671, 0.96378 + 0xbfd1423eefc69378, 0x3feed0835e999009, // -0.26967, 0.96295 + 0xbfd172a0d7765177, 0x3feec9b2d3c3bf84, // -0.27262, 0.96212 + 0xbfd1a2f7fbe8f243, 0x3feec2cf4b1af6b2, // -0.27557, 0.96128 + 0xbfd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // -0.27852, 0.96043 + 0xbfd2038583d727bd, 0x3feeb4cf515b8811, // -0.28146, 0.95957 + 0xbfd233bbabc3bb72, 0x3feeadb2e8e7a88e, // -0.28441, 0.9587 + 0xbfd263e6995554ba, 0x3feea68393e65800, // -0.28735, 0.95783 + 0xbfd294062ed59f05, 0x3fee9f4156c62dda, // -0.29028, 0.95694 + 0xbfd2c41a4e954520, 0x3fee97ec36016b30, // -0.29322, 0.95605 + 0xbfd2f422daec0386, 0x3fee9084361df7f3, // -0.29615, 0.95514 + 0xbfd3241fb638baaf, 0x3fee89095bad6025, // -0.29908, 0.95423 + 0xbfd35410c2e18152, 0x3fee817bab4cd10d, // -0.30201, 0.95331 + 0xbfd383f5e353b6aa, 0x3fee79db29a5165a, // -0.30493, 0.95238 + 0xbfd3b3cefa0414b7, 0x3fee7227db6a9744, // -0.30785, 0.95144 + 0xbfd3e39be96ec271, 0x3fee6a61c55d53a7, // -0.31077, 0.95049 + 0xbfd4135c94176602, 0x3fee6288ec48e112, // -0.31368, 0.94953 + 0xbfd44310dc8936f0, 0x3fee5a9d550467d3, // -0.31659, 0.94856 + 0xbfd472b8a5571054, 0x3fee529f04729ffc, // -0.3195, 0.94759 + 0xbfd4a253d11b82f3, 0x3fee4a8dff81ce5e, // -0.32241, 0.9466 + 0xbfd4d1e24278e76a, 0x3fee426a4b2bc17e, // -0.32531, 0.94561 + 0xbfd50163dc197047, 0x3fee3a33ec75ce85, // -0.32821, 0.9446 + 0xbfd530d880af3c24, 0x3fee31eae870ce25, // -0.33111, 0.94359 + 0xbfd5604012f467b4, 0x3fee298f4439197a, // -0.334, 0.94257 + 0xbfd58f9a75ab1fdd, 0x3fee212104f686e5, // -0.33689, 0.94154 + 0xbfd5bee78b9db3b6, 0x3fee18a02fdc66d9, // -0.33978, 0.94051 + 0xbfd5ee27379ea693, 0x3fee100cca2980ac, // -0.34266, 0.93946 + 0xbfd61d595c88c203, 0x3fee0766d9280f54, // -0.34554, 0.9384 + 0xbfd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // -0.34842, 0.93734 + 0xbfd67b949cad63ca, 0x3fedf5e36a9ba59c, // -0.35129, 0.93627 + 0xbfd6aa9d7dc77e16, 0x3feded05f7de47da, // -0.35416, 0.93518 + 0xbfd6d998638a0cb5, 0x3fede4160f6d8d81, // -0.35703, 0.93409 + 0xbfd7088530fa459e, 0x3feddb13b6ccc23d, // -0.3599, 0.93299 + 0xbfd73763c9261092, 0x3fedd1fef38a915a, // -0.36276, 0.93188 + 0xbfd766340f2418f6, 0x3fedc8d7cb410260, // -0.36561, 0.93077 + 0xbfd794f5e613dfae, 0x3fedbf9e4395759a, // -0.36847, 0.92964 + 0xbfd7c3a9311dcce7, 0x3fedb6526238a09b, // -0.37132, 0.92851 + 0xbfd7f24dd37341e3, 0x3fedacf42ce68ab9, // -0.37416, 0.92736 + 0xbfd820e3b04eaac4, 0x3feda383a9668988, // -0.37701, 0.92621 + 0xbfd84f6aaaf3903f, 0x3fed9a00dd8b3d46, // -0.37985, 0.92505 + 0xbfd87de2a6aea963, 0x3fed906bcf328d46, // -0.38268, 0.92388 + 0xbfd8ac4b86d5ed44, 0x3fed86c48445a450, // -0.38552, 0.9227 + 0xbfd8daa52ec8a4af, 0x3fed7d0b02b8ecf9, // -0.38835, 0.92151 + 0xbfd908ef81ef7bd1, 0x3fed733f508c0dff, // -0.39117, 0.92032 + 0xbfd9372a63bc93d7, 0x3fed696173c9e68b, // -0.39399, 0.91911 + 0xbfd96555b7ab948f, 0x3fed5f7172888a7f, // -0.39681, 0.9179 + 0xbfd993716141bdfe, 0x3fed556f52e93eb1, // -0.39962, 0.91668 + 0xbfd9c17d440df9f2, 0x3fed4b5b1b187524, // -0.40243, 0.91545 + 0xbfd9ef7943a8ed8a, 0x3fed4134d14dc93a, // -0.40524, 0.91421 + 0xbfda1d6543b50ac0, 0x3fed36fc7bcbfbdc, // -0.40804, 0.91296 + 0xbfda4b4127dea1e4, 0x3fed2cb220e0ef9f, // -0.41084, 0.91171 + 0xbfda790cd3dbf31a, 0x3fed2255c6e5a4e1, // -0.41364, 0.91044 + 0xbfdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // -0.41643, 0.90917 + 0xbfdad473125cdc08, 0x3fed0d672f59d2b9, // -0.41922, 0.90789 + 0xbfdb020d6c7f4009, 0x3fed02d4feb2bd92, // -0.422, 0.9066 + 0xbfdb2f971db31972, 0x3fecf830e8ce467b, // -0.42478, 0.9053 + 0xbfdb5d1009e15cc0, 0x3feced7af43cc773, // -0.42756, 0.90399 + 0xbfdb8a7814fd5693, 0x3fece2b32799a060, // -0.43033, 0.90267 + 0xbfdbb7cf2304bd01, 0x3fecd7d9898b32f6, // -0.43309, 0.90135 + 0xbfdbe51517ffc0d9, 0x3fecccee20c2de9f, // -0.43586, 0.90002 + 0xbfdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // -0.43862, 0.89867 + 0xbfdc3f6d47263129, 0x3fecb6e20a00da99, // -0.44137, 0.89732 + 0xbfdc6c7f4997000a, 0x3fecabc169a0b901, // -0.44412, 0.89597 + 0xbfdc997fc3865388, 0x3feca08f19b9c449, // -0.44687, 0.8946 + 0xbfdcc66e9931c45d, 0x3fec954b213411f5, // -0.44961, 0.89322 + 0xbfdcf34baee1cd21, 0x3fec89f587029c13, // -0.45235, 0.89184 + 0xbfdd2016e8e9db5b, 0x3fec7e8e52233cf3, // -0.45508, 0.89045 + 0xbfdd4cd02ba8609c, 0x3fec7315899eaad7, // -0.45781, 0.88905 + 0xbfdd79775b86e389, 0x3fec678b3488739b, // -0.46054, 0.88764 + 0xbfdda60c5cfa10d8, 0x3fec5bef59fef85a, // -0.46326, 0.88622 + 0xbfddd28f1481cc58, 0x3fec5042012b6907, // -0.46598, 0.8848 + 0xbfddfeff66a941de, 0x3fec44833141c004, // -0.46869, 0.88336 + 0xbfde2b5d3806f63b, 0x3fec38b2f180bdb1, // -0.4714, 0.88192 + 0xbfde57a86d3cd824, 0x3fec2cd14931e3f1, // -0.4741, 0.88047 + 0xbfde83e0eaf85113, 0x3fec20de3fa971b0, // -0.4768, 0.87901 + 0xbfdeb00695f25620, 0x3fec14d9dc465e58, // -0.47949, 0.87755 + 0xbfdedc1952ef78d5, 0x3fec08c426725549, // -0.48218, 0.87607 + 0xbfdf081906bff7fd, 0x3febfc9d25a1b147, // -0.48487, 0.87459 + 0xbfdf3405963fd068, 0x3febf064e15377dd, // -0.48755, 0.87309 + 0xbfdf5fdee656cda3, 0x3febe41b611154c1, // -0.49023, 0.8716 + 0xbfdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // -0.4929, 0.87009 + 0xbfdfb7575c24d2de, 0x3febcb54cb0d2327, // -0.49557, 0.86857 + 0xbfdfe2f64be7120f, 0x3febbed7c49380ea, // -0.49823, 0.86705 + 0xbfe00740c82b82e0, 0x3febb249a0b6c40d, // -0.50089, 0.86551 + 0xbfe01cfc874c3eb7, 0x3feba5aa673590d2, // -0.50354, 0.86397 + 0xbfe032ae55edbd95, 0x3feb98fa1fd9155e, // -0.50619, 0.86242 + 0xbfe0485626ae221a, 0x3feb8c38d27504e9, // -0.50883, 0.86087 + 0xbfe05df3ec31b8b6, 0x3feb7f6686e792ea, // -0.51147, 0.8593 + 0xbfe073879922ffed, 0x3feb728345196e3e, // -0.5141, 0.85773 + 0xbfe089112032b08c, 0x3feb658f14fdbc47, // -0.51673, 0.85615 + 0xbfe09e907417c5e1, 0x3feb5889fe921405, // -0.51936, 0.85456 + 0xbfe0b405878f85ec, 0x3feb4b7409de7925, // -0.52198, 0.85296 + 0xbfe0c9704d5d898f, 0x3feb3e4d3ef55712, // -0.52459, 0.85136 + 0xbfe0ded0b84bc4b5, 0x3feb3115a5f37bf4, // -0.5272, 0.84974 + 0xbfe0f426bb2a8e7d, 0x3feb23cd470013b4, // -0.5298, 0.84812 + 0xbfe1097248d0a956, 0x3feb16742a4ca2f5, // -0.5324, 0.84649 + 0xbfe11eb3541b4b22, 0x3feb090a58150200, // -0.535, 0.84485 + 0xbfe133e9cfee254e, 0x3feafb8fd89f57b6, // -0.53759, 0.84321 + 0xbfe14915af336ceb, 0x3feaee04b43c1474, // -0.54017, 0.84155 + 0xbfe15e36e4dbe2bc, 0x3feae068f345ecef, // -0.54275, 0.83989 + 0xbfe1734d63dedb49, 0x3fead2bc9e21d511, // -0.54532, 0.83822 + 0xbfe188591f3a46e5, 0x3feac4ffbd3efac8, // -0.54789, 0.83655 + 0xbfe19d5a09f2b9b8, 0x3feab7325916c0d4, // -0.55046, 0.83486 + 0xbfe1b250171373be, 0x3feaa9547a2cb98e, // -0.55302, 0.83317 + 0xbfe1c73b39ae68c8, 0x3fea9b66290ea1a3, // -0.55557, 0.83147 + 0xbfe1dc1b64dc4872, 0x3fea8d676e545ad2, // -0.55812, 0.82976 + 0xbfe1f0f08bbc861b, 0x3fea7f58529fe69d, // -0.56066, 0.82805 + 0xbfe205baa17560d6, 0x3fea7138de9d60f5, // -0.5632, 0.82632 + 0xbfe21a799933eb58, 0x3fea63091b02fae2, // -0.56573, 0.82459 + 0xbfe22f2d662c13e1, 0x3fea54c91090f524, // -0.56826, 0.82285 + 0xbfe243d5fb98ac1f, 0x3fea4678c8119ac8, // -0.57078, 0.8211 + 0xbfe258734cbb7110, 0x3fea38184a593bc6, // -0.5733, 0.81935 + 0xbfe26d054cdd12df, 0x3fea29a7a0462782, // -0.57581, 0.81758 + 0xbfe2818bef4d3cba, 0x3fea1b26d2c0a75e, // -0.57831, 0.81581 + 0xbfe2960727629ca8, 0x3fea0c95eabaf937, // -0.58081, 0.81404 + 0xbfe2aa76e87aeb58, 0x3fe9fdf4f13149de, // -0.58331, 0.81225 + 0xbfe2bedb25faf3ea, 0x3fe9ef43ef29af94, // -0.5858, 0.81046 + 0xbfe2d333d34e9bb7, 0x3fe9e082edb42472, // -0.58828, 0.80866 + 0xbfe2e780e3e8ea16, 0x3fe9d1b1f5ea80d6, // -0.59076, 0.80685 + 0xbfe2fbc24b441015, 0x3fe9c2d110f075c3, // -0.59323, 0.80503 + 0xbfe30ff7fce17035, 0x3fe9b3e047f38741, // -0.5957, 0.80321 + 0xbfe32421ec49a620, 0x3fe9a4dfa42b06b2, // -0.59816, 0.80138 + 0xbfe338400d0c8e57, 0x3fe995cf2ed80d22, // -0.60062, 0.79954 + 0xbfe34c5252c14de1, 0x3fe986aef1457594, // -0.60307, 0.79769 + 0xbfe36058b10659f3, 0x3fe9777ef4c7d742, // -0.60551, 0.79584 + 0xbfe374531b817f8d, 0x3fe9683f42bd7fe1, // -0.60795, 0.79398 + 0xbfe3884185dfeb22, 0x3fe958efe48e6dd7, // -0.61038, 0.79211 + 0xbfe39c23e3d63029, 0x3fe94990e3ac4a6c, // -0.61281, 0.79023 + 0xbfe3affa292050b9, 0x3fe93a22499263fc, // -0.61523, 0.78835 + 0xbfe3c3c44981c517, 0x3fe92aa41fc5a815, // -0.61765, 0.78646 + 0xbfe3d78238c58343, 0x3fe91b166fd49da2, // -0.62006, 0.78456 + 0xbfe3eb33eabe0680, 0x3fe90b7943575efe, // -0.62246, 0.78265 + 0xbfe3fed9534556d4, 0x3fe8fbcca3ef940d, // -0.62486, 0.78074 + 0xbfe41272663d108c, 0x3fe8ec109b486c49, // -0.62725, 0.77882 + 0xbfe425ff178e6bb1, 0x3fe8dc45331698cc, // -0.62964, 0.77689 + 0xbfe4397f5b2a4380, 0x3fe8cc6a75184655, // -0.63202, 0.77495 + 0xbfe44cf325091dd6, 0x3fe8bc806b151741, // -0.63439, 0.77301 + 0xbfe4605a692b32a2, 0x3fe8ac871ede1d88, // -0.63676, 0.77106 + 0xbfe473b51b987347, 0x3fe89c7e9a4dd4ab, // -0.63912, 0.7691 + 0xbfe48703306091fe, 0x3fe88c66e7481ba1, // -0.64148, 0.76714 + 0xbfe49a449b9b0938, 0x3fe87c400fba2ebf, // -0.64383, 0.76517 + 0xbfe4ad79516722f0, 0x3fe86c0a1d9aa195, // -0.64618, 0.76319 + 0xbfe4c0a145ec0004, 0x3fe85bc51ae958cc, // -0.64851, 0.7612 + 0xbfe4d3bc6d589f80, 0x3fe84b7111af83f9, // -0.65085, 0.75921 + 0xbfe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // -0.65317, 0.75721 + 0xbfe4f9cc25cca486, 0x3fe82a9c13f545ff, // -0.65549, 0.7552 + 0xbfe50cc09f59a09b, 0x3fe81a1b33b57acc, // -0.65781, 0.75319 + 0xbfe51fa81cd99aa6, 0x3fe8098b756e52fa, // -0.66011, 0.75117 + 0xbfe5328292a35596, 0x3fe7f8ece3571771, // -0.66242, 0.74914 + 0xbfe5454ff5159dfb, 0x3fe7e83f87b03686, // -0.66471, 0.7471 + 0xbfe5581038975137, 0x3fe7d7836cc33db2, // -0.667, 0.74506 + 0xbfe56ac35197649e, 0x3fe7c6b89ce2d333, // -0.66928, 0.74301 + 0xbfe57d69348cec9f, 0x3fe7b5df226aafb0, // -0.67156, 0.74095 + 0xbfe59001d5f723df, 0x3fe7a4f707bf97d2, // -0.67383, 0.73889 + 0xbfe5a28d2a5d7250, 0x3fe79400574f55e4, // -0.67609, 0.73682 + 0xbfe5b50b264f7448, 0x3fe782fb1b90b35b, // -0.67835, 0.73474 + 0xbfe5c77bbe65018c, 0x3fe771e75f037261, // -0.6806, 0.73265 + 0xbfe5d9dee73e345c, 0x3fe760c52c304764, // -0.68285, 0.73056 + 0xbfe5ec3495837074, 0x3fe74f948da8d28d, // -0.68508, 0.72846 + 0xbfe5fe7cbde56a0f, 0x3fe73e558e079942, // -0.68732, 0.72636 + 0xbfe610b7551d2cde, 0x3fe72d0837efff97, // -0.68954, 0.72425 + 0xbfe622e44fec22ff, 0x3fe71bac960e41bf, // -0.69176, 0.72213 + 0xbfe63503a31c1be8, 0x3fe70a42b3176d7a, // -0.69397, 0.72 + 0xbfe64715437f535b, 0x3fe6f8ca99c95b75, // -0.69618, 0.71787 + 0xbfe6591925f0783e, 0x3fe6e74454eaa8ae, // -0.69838, 0.71573 + 0xbfe66b0f3f52b386, 0x3fe6d5afef4aafcc, // -0.70057, 0.71358 + 0xbfe67cf78491af10, 0x3fe6c40d73c18275, // -0.70275, 0.71143 + 0xbfe68ed1eaa19c71, 0x3fe6b25ced2fe29c, // -0.70493, 0.70927 + 0xbfe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // -0.70711, 0.70711 + 0xbfe6b25ced2fe29c, 0x3fe68ed1eaa19c71, // -0.70927, 0.70493 + 0xbfe6c40d73c18275, 0x3fe67cf78491af10, // -0.71143, 0.70275 + 0xbfe6d5afef4aafcc, 0x3fe66b0f3f52b386, // -0.71358, 0.70057 + 0xbfe6e74454eaa8ae, 0x3fe6591925f0783e, // -0.71573, 0.69838 + 0xbfe6f8ca99c95b75, 0x3fe64715437f535b, // -0.71787, 0.69618 + 0xbfe70a42b3176d7a, 0x3fe63503a31c1be8, // -0.72, 0.69397 + 0xbfe71bac960e41bf, 0x3fe622e44fec22ff, // -0.72213, 0.69176 + 0xbfe72d0837efff97, 0x3fe610b7551d2cde, // -0.72425, 0.68954 + 0xbfe73e558e079942, 0x3fe5fe7cbde56a0f, // -0.72636, 0.68732 + 0xbfe74f948da8d28d, 0x3fe5ec3495837074, // -0.72846, 0.68508 + 0xbfe760c52c304764, 0x3fe5d9dee73e345c, // -0.73056, 0.68285 + 0xbfe771e75f037261, 0x3fe5c77bbe65018c, // -0.73265, 0.6806 + 0xbfe782fb1b90b35b, 0x3fe5b50b264f7448, // -0.73474, 0.67835 + 0xbfe79400574f55e4, 0x3fe5a28d2a5d7250, // -0.73682, 0.67609 + 0xbfe7a4f707bf97d2, 0x3fe59001d5f723df, // -0.73889, 0.67383 + 0xbfe7b5df226aafb0, 0x3fe57d69348cec9f, // -0.74095, 0.67156 + 0xbfe7c6b89ce2d333, 0x3fe56ac35197649e, // -0.74301, 0.66928 + 0xbfe7d7836cc33db2, 0x3fe5581038975137, // -0.74506, 0.667 + 0xbfe7e83f87b03686, 0x3fe5454ff5159dfb, // -0.7471, 0.66471 + 0xbfe7f8ece3571771, 0x3fe5328292a35596, // -0.74914, 0.66242 + 0xbfe8098b756e52fa, 0x3fe51fa81cd99aa6, // -0.75117, 0.66011 + 0xbfe81a1b33b57acc, 0x3fe50cc09f59a09b, // -0.75319, 0.65781 + 0xbfe82a9c13f545ff, 0x3fe4f9cc25cca486, // -0.7552, 0.65549 + 0xbfe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // -0.75721, 0.65317 + 0xbfe84b7111af83f9, 0x3fe4d3bc6d589f80, // -0.75921, 0.65085 + 0xbfe85bc51ae958cc, 0x3fe4c0a145ec0004, // -0.7612, 0.64851 + 0xbfe86c0a1d9aa195, 0x3fe4ad79516722f0, // -0.76319, 0.64618 + 0xbfe87c400fba2ebf, 0x3fe49a449b9b0938, // -0.76517, 0.64383 + 0xbfe88c66e7481ba1, 0x3fe48703306091fe, // -0.76714, 0.64148 + 0xbfe89c7e9a4dd4ab, 0x3fe473b51b987347, // -0.7691, 0.63912 + 0xbfe8ac871ede1d88, 0x3fe4605a692b32a2, // -0.77106, 0.63676 + 0xbfe8bc806b151741, 0x3fe44cf325091dd6, // -0.77301, 0.63439 + 0xbfe8cc6a75184655, 0x3fe4397f5b2a4380, // -0.77495, 0.63202 + 0xbfe8dc45331698cc, 0x3fe425ff178e6bb1, // -0.77689, 0.62964 + 0xbfe8ec109b486c49, 0x3fe41272663d108c, // -0.77882, 0.62725 + 0xbfe8fbcca3ef940d, 0x3fe3fed9534556d4, // -0.78074, 0.62486 + 0xbfe90b7943575efe, 0x3fe3eb33eabe0680, // -0.78265, 0.62246 + 0xbfe91b166fd49da2, 0x3fe3d78238c58343, // -0.78456, 0.62006 + 0xbfe92aa41fc5a815, 0x3fe3c3c44981c517, // -0.78646, 0.61765 + 0xbfe93a22499263fc, 0x3fe3affa292050b9, // -0.78835, 0.61523 + 0xbfe94990e3ac4a6c, 0x3fe39c23e3d63029, // -0.79023, 0.61281 + 0xbfe958efe48e6dd7, 0x3fe3884185dfeb22, // -0.79211, 0.61038 + 0xbfe9683f42bd7fe1, 0x3fe374531b817f8d, // -0.79398, 0.60795 + 0xbfe9777ef4c7d742, 0x3fe36058b10659f3, // -0.79584, 0.60551 + 0xbfe986aef1457594, 0x3fe34c5252c14de1, // -0.79769, 0.60307 + 0xbfe995cf2ed80d22, 0x3fe338400d0c8e57, // -0.79954, 0.60062 + 0xbfe9a4dfa42b06b2, 0x3fe32421ec49a620, // -0.80138, 0.59816 + 0xbfe9b3e047f38741, 0x3fe30ff7fce17035, // -0.80321, 0.5957 + 0xbfe9c2d110f075c3, 0x3fe2fbc24b441015, // -0.80503, 0.59323 + 0xbfe9d1b1f5ea80d6, 0x3fe2e780e3e8ea16, // -0.80685, 0.59076 + 0xbfe9e082edb42472, 0x3fe2d333d34e9bb7, // -0.80866, 0.58828 + 0xbfe9ef43ef29af94, 0x3fe2bedb25faf3ea, // -0.81046, 0.5858 + 0xbfe9fdf4f13149de, 0x3fe2aa76e87aeb58, // -0.81225, 0.58331 + 0xbfea0c95eabaf937, 0x3fe2960727629ca8, // -0.81404, 0.58081 + 0xbfea1b26d2c0a75e, 0x3fe2818bef4d3cba, // -0.81581, 0.57831 + 0xbfea29a7a0462782, 0x3fe26d054cdd12df, // -0.81758, 0.57581 + 0xbfea38184a593bc6, 0x3fe258734cbb7110, // -0.81935, 0.5733 + 0xbfea4678c8119ac8, 0x3fe243d5fb98ac1f, // -0.8211, 0.57078 + 0xbfea54c91090f524, 0x3fe22f2d662c13e1, // -0.82285, 0.56826 + 0xbfea63091b02fae2, 0x3fe21a799933eb58, // -0.82459, 0.56573 + 0xbfea7138de9d60f5, 0x3fe205baa17560d6, // -0.82632, 0.5632 + 0xbfea7f58529fe69d, 0x3fe1f0f08bbc861b, // -0.82805, 0.56066 + 0xbfea8d676e545ad2, 0x3fe1dc1b64dc4872, // -0.82976, 0.55812 + 0xbfea9b66290ea1a3, 0x3fe1c73b39ae68c8, // -0.83147, 0.55557 + 0xbfeaa9547a2cb98e, 0x3fe1b250171373be, // -0.83317, 0.55302 + 0xbfeab7325916c0d4, 0x3fe19d5a09f2b9b8, // -0.83486, 0.55046 + 0xbfeac4ffbd3efac8, 0x3fe188591f3a46e5, // -0.83655, 0.54789 + 0xbfead2bc9e21d511, 0x3fe1734d63dedb49, // -0.83822, 0.54532 + 0xbfeae068f345ecef, 0x3fe15e36e4dbe2bc, // -0.83989, 0.54275 + 0xbfeaee04b43c1474, 0x3fe14915af336ceb, // -0.84155, 0.54017 + 0xbfeafb8fd89f57b6, 0x3fe133e9cfee254e, // -0.84321, 0.53759 + 0xbfeb090a58150200, 0x3fe11eb3541b4b22, // -0.84485, 0.535 + 0xbfeb16742a4ca2f5, 0x3fe1097248d0a956, // -0.84649, 0.5324 + 0xbfeb23cd470013b4, 0x3fe0f426bb2a8e7d, // -0.84812, 0.5298 + 0xbfeb3115a5f37bf4, 0x3fe0ded0b84bc4b5, // -0.84974, 0.5272 + 0xbfeb3e4d3ef55712, 0x3fe0c9704d5d898f, // -0.85136, 0.52459 + 0xbfeb4b7409de7925, 0x3fe0b405878f85ec, // -0.85296, 0.52198 + 0xbfeb5889fe921405, 0x3fe09e907417c5e1, // -0.85456, 0.51936 + 0xbfeb658f14fdbc47, 0x3fe089112032b08c, // -0.85615, 0.51673 + 0xbfeb728345196e3e, 0x3fe073879922ffed, // -0.85773, 0.5141 + 0xbfeb7f6686e792ea, 0x3fe05df3ec31b8b6, // -0.8593, 0.51147 + 0xbfeb8c38d27504e9, 0x3fe0485626ae221a, // -0.86087, 0.50883 + 0xbfeb98fa1fd9155e, 0x3fe032ae55edbd95, // -0.86242, 0.50619 + 0xbfeba5aa673590d2, 0x3fe01cfc874c3eb7, // -0.86397, 0.50354 + 0xbfebb249a0b6c40d, 0x3fe00740c82b82e0, // -0.86551, 0.50089 + 0xbfebbed7c49380ea, 0x3fdfe2f64be7120f, // -0.86705, 0.49823 + 0xbfebcb54cb0d2327, 0x3fdfb7575c24d2de, // -0.86857, 0.49557 + 0xbfebd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // -0.87009, 0.4929 + 0xbfebe41b611154c1, 0x3fdf5fdee656cda3, // -0.8716, 0.49023 + 0xbfebf064e15377dd, 0x3fdf3405963fd068, // -0.87309, 0.48755 + 0xbfebfc9d25a1b147, 0x3fdf081906bff7fd, // -0.87459, 0.48487 + 0xbfec08c426725549, 0x3fdedc1952ef78d5, // -0.87607, 0.48218 + 0xbfec14d9dc465e58, 0x3fdeb00695f25620, // -0.87755, 0.47949 + 0xbfec20de3fa971b0, 0x3fde83e0eaf85113, // -0.87901, 0.4768 + 0xbfec2cd14931e3f1, 0x3fde57a86d3cd824, // -0.88047, 0.4741 + 0xbfec38b2f180bdb1, 0x3fde2b5d3806f63b, // -0.88192, 0.4714 + 0xbfec44833141c004, 0x3fddfeff66a941de, // -0.88336, 0.46869 + 0xbfec5042012b6907, 0x3fddd28f1481cc58, // -0.8848, 0.46598 + 0xbfec5bef59fef85a, 0x3fdda60c5cfa10d8, // -0.88622, 0.46326 + 0xbfec678b3488739b, 0x3fdd79775b86e389, // -0.88764, 0.46054 + 0xbfec7315899eaad7, 0x3fdd4cd02ba8609c, // -0.88905, 0.45781 + 0xbfec7e8e52233cf3, 0x3fdd2016e8e9db5b, // -0.89045, 0.45508 + 0xbfec89f587029c13, 0x3fdcf34baee1cd21, // -0.89184, 0.45235 + 0xbfec954b213411f5, 0x3fdcc66e9931c45d, // -0.89322, 0.44961 + 0xbfeca08f19b9c449, 0x3fdc997fc3865388, // -0.8946, 0.44687 + 0xbfecabc169a0b901, 0x3fdc6c7f4997000a, // -0.89597, 0.44412 + 0xbfecb6e20a00da99, 0x3fdc3f6d47263129, // -0.89732, 0.44137 + 0xbfecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // -0.89867, 0.43862 + 0xbfecccee20c2de9f, 0x3fdbe51517ffc0d9, // -0.90002, 0.43586 + 0xbfecd7d9898b32f6, 0x3fdbb7cf2304bd01, // -0.90135, 0.43309 + 0xbfece2b32799a060, 0x3fdb8a7814fd5693, // -0.90267, 0.43033 + 0xbfeced7af43cc773, 0x3fdb5d1009e15cc0, // -0.90399, 0.42756 + 0xbfecf830e8ce467b, 0x3fdb2f971db31972, // -0.9053, 0.42478 + 0xbfed02d4feb2bd92, 0x3fdb020d6c7f4009, // -0.9066, 0.422 + 0xbfed0d672f59d2b9, 0x3fdad473125cdc08, // -0.90789, 0.41922 + 0xbfed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // -0.90917, 0.41643 + 0xbfed2255c6e5a4e1, 0x3fda790cd3dbf31a, // -0.91044, 0.41364 + 0xbfed2cb220e0ef9f, 0x3fda4b4127dea1e4, // -0.91171, 0.41084 + 0xbfed36fc7bcbfbdc, 0x3fda1d6543b50ac0, // -0.91296, 0.40804 + 0xbfed4134d14dc93a, 0x3fd9ef7943a8ed8a, // -0.91421, 0.40524 + 0xbfed4b5b1b187524, 0x3fd9c17d440df9f2, // -0.91545, 0.40243 + 0xbfed556f52e93eb1, 0x3fd993716141bdfe, // -0.91668, 0.39962 + 0xbfed5f7172888a7f, 0x3fd96555b7ab948f, // -0.9179, 0.39681 + 0xbfed696173c9e68b, 0x3fd9372a63bc93d7, // -0.91911, 0.39399 + 0xbfed733f508c0dff, 0x3fd908ef81ef7bd1, // -0.92032, 0.39117 + 0xbfed7d0b02b8ecf9, 0x3fd8daa52ec8a4af, // -0.92151, 0.38835 + 0xbfed86c48445a450, 0x3fd8ac4b86d5ed44, // -0.9227, 0.38552 + 0xbfed906bcf328d46, 0x3fd87de2a6aea963, // -0.92388, 0.38268 + 0xbfed9a00dd8b3d46, 0x3fd84f6aaaf3903f, // -0.92505, 0.37985 + 0xbfeda383a9668988, 0x3fd820e3b04eaac4, // -0.92621, 0.37701 + 0xbfedacf42ce68ab9, 0x3fd7f24dd37341e3, // -0.92736, 0.37416 + 0xbfedb6526238a09b, 0x3fd7c3a9311dcce7, // -0.92851, 0.37132 + 0xbfedbf9e4395759a, 0x3fd794f5e613dfae, // -0.92964, 0.36847 + 0xbfedc8d7cb410260, 0x3fd766340f2418f6, // -0.93077, 0.36561 + 0xbfedd1fef38a915a, 0x3fd73763c9261092, // -0.93188, 0.36276 + 0xbfeddb13b6ccc23d, 0x3fd7088530fa459e, // -0.93299, 0.3599 + 0xbfede4160f6d8d81, 0x3fd6d998638a0cb5, // -0.93409, 0.35703 + 0xbfeded05f7de47da, 0x3fd6aa9d7dc77e16, // -0.93518, 0.35416 + 0xbfedf5e36a9ba59c, 0x3fd67b949cad63ca, // -0.93627, 0.35129 + 0xbfedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // -0.93734, 0.34842 + 0xbfee0766d9280f54, 0x3fd61d595c88c203, // -0.9384, 0.34554 + 0xbfee100cca2980ac, 0x3fd5ee27379ea693, // -0.93946, 0.34266 + 0xbfee18a02fdc66d9, 0x3fd5bee78b9db3b6, // -0.94051, 0.33978 + 0xbfee212104f686e5, 0x3fd58f9a75ab1fdd, // -0.94154, 0.33689 + 0xbfee298f4439197a, 0x3fd5604012f467b4, // -0.94257, 0.334 + 0xbfee31eae870ce25, 0x3fd530d880af3c24, // -0.94359, 0.33111 + 0xbfee3a33ec75ce85, 0x3fd50163dc197047, // -0.9446, 0.32821 + 0xbfee426a4b2bc17e, 0x3fd4d1e24278e76a, // -0.94561, 0.32531 + 0xbfee4a8dff81ce5e, 0x3fd4a253d11b82f3, // -0.9466, 0.32241 + 0xbfee529f04729ffc, 0x3fd472b8a5571054, // -0.94759, 0.3195 + 0xbfee5a9d550467d3, 0x3fd44310dc8936f0, // -0.94856, 0.31659 + 0xbfee6288ec48e112, 0x3fd4135c94176602, // -0.94953, 0.31368 + 0xbfee6a61c55d53a7, 0x3fd3e39be96ec271, // -0.95049, 0.31077 + 0xbfee7227db6a9744, 0x3fd3b3cefa0414b7, // -0.95144, 0.30785 + 0xbfee79db29a5165a, 0x3fd383f5e353b6aa, // -0.95238, 0.30493 + 0xbfee817bab4cd10d, 0x3fd35410c2e18152, // -0.95331, 0.30201 + 0xbfee89095bad6025, 0x3fd3241fb638baaf, // -0.95423, 0.29908 + 0xbfee9084361df7f3, 0x3fd2f422daec0386, // -0.95514, 0.29615 + 0xbfee97ec36016b30, 0x3fd2c41a4e954520, // -0.95605, 0.29322 + 0xbfee9f4156c62dda, 0x3fd294062ed59f05, // -0.95694, 0.29028 + 0xbfeea68393e65800, 0x3fd263e6995554ba, // -0.95783, 0.28735 + 0xbfeeadb2e8e7a88e, 0x3fd233bbabc3bb72, // -0.9587, 0.28441 + 0xbfeeb4cf515b8811, 0x3fd2038583d727bd, // -0.95957, 0.28146 + 0xbfeebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // -0.96043, 0.27852 + 0xbfeec2cf4b1af6b2, 0x3fd1a2f7fbe8f243, // -0.96128, 0.27557 + 0xbfeec9b2d3c3bf84, 0x3fd172a0d7765177, // -0.96212, 0.27262 + 0xbfeed0835e999009, 0x3fd1423eefc69378, // -0.96295, 0.26967 + 0xbfeed740e7684963, 0x3fd111d262b1f677, // -0.96378, 0.26671 + 0xbfeeddeb6a078651, 0x3fd0e15b4e1749cd, // -0.96459, 0.26375 + 0xbfeee482e25a9dbc, 0x3fd0b0d9cfdbdb90, // -0.96539, 0.26079 + 0xbfeeeb074c50a544, 0x3fd0804e05eb661e, // -0.96619, 0.25783 + 0xbfeef178a3e473c2, 0x3fd04fb80e37fdae, // -0.96698, 0.25487 + 0xbfeef7d6e51ca3c0, 0x3fd01f1806b9fdd2, // -0.96775, 0.2519 + 0xbfeefe220c0b95ec, 0x3fcfdcdc1adfedf8, // -0.96852, 0.24893 + 0xbfef045a14cf738c, 0x3fcf7b7480bd3801, // -0.96928, 0.24596 + 0xbfef0a7efb9230d7, 0x3fcf19f97b215f1a, // -0.97003, 0.24298 + 0xbfef1090bc898f5f, 0x3fceb86b462de348, // -0.97077, 0.24 + 0xbfef168f53f7205d, 0x3fce56ca1e101a1b, // -0.9715, 0.23702 + 0xbfef1c7abe284708, 0x3fcdf5163f01099a, // -0.97223, 0.23404 + 0xbfef2252f7763ada, 0x3fcd934fe5454311, // -0.97294, 0.23106 + 0xbfef2817fc4609ce, 0x3fcd31774d2cbdee, // -0.97364, 0.22807 + 0xbfef2dc9c9089a9d, 0x3fcccf8cb312b286, // -0.97434, 0.22508 + 0xbfef33685a3aaef0, 0x3fcc6d90535d74dc, // -0.97503, 0.22209 + 0xbfef38f3ac64e589, 0x3fcc0b826a7e4f63, // -0.9757, 0.2191 + 0xbfef3e6bbc1bbc65, 0x3fcba96334f15dad, // -0.97637, 0.21611 + 0xbfef43d085ff92dd, 0x3fcb4732ef3d6722, // -0.97703, 0.21311 + 0xbfef492206bcabb4, 0x3fcae4f1d5f3b9ab, // -0.97768, 0.21011 + 0xbfef4e603b0b2f2d, 0x3fca82a025b00451, // -0.97832, 0.20711 + 0xbfef538b1faf2d07, 0x3fca203e1b1831da, // -0.97895, 0.20411 + 0xbfef58a2b1789e84, 0x3fc9bdcbf2dc4366, // -0.97957, 0.2011 + 0xbfef5da6ed43685d, 0x3fc95b49e9b62af9, // -0.98018, 0.1981 + 0xbfef6297cff75cb0, 0x3fc8f8b83c69a60a, // -0.98079, 0.19509 + 0xbfef677556883cee, 0x3fc8961727c41804, // -0.98138, 0.19208 + 0xbfef6c3f7df5bbb7, 0x3fc83366e89c64c5, // -0.98196, 0.18907 + 0xbfef70f6434b7eb7, 0x3fc7d0a7bbd2cb1b, // -0.98254, 0.18606 + 0xbfef7599a3a12077, 0x3fc76dd9de50bf31, // -0.98311, 0.18304 + 0xbfef7a299c1a322a, 0x3fc70afd8d08c4ff, // -0.98366, 0.18002 + 0xbfef7ea629e63d6e, 0x3fc6a81304f64ab2, // -0.98421, 0.177 + 0xbfef830f4a40c60c, 0x3fc6451a831d830d, // -0.98475, 0.17398 + 0xbfef8764fa714ba9, 0x3fc5e214448b3fc6, // -0.98528, 0.17096 + 0xbfef8ba737cb4b78, 0x3fc57f008654cbde, // -0.9858, 0.16794 + 0xbfef8fd5ffae41db, 0x3fc51bdf8597c5f2, // -0.98631, 0.16491 + 0xbfef93f14f85ac08, 0x3fc4b8b17f79fa88, // -0.98681, 0.16189 + 0xbfef97f924c9099b, 0x3fc45576b1293e5a, // -0.9873, 0.15886 + 0xbfef9bed7cfbde29, 0x3fc3f22f57db4893, // -0.98778, 0.15583 + 0xbfef9fce55adb2c8, 0x3fc38edbb0cd8d14, // -0.98826, 0.1528 + 0xbfefa39bac7a1791, 0x3fc32b7bf94516a7, // -0.98872, 0.14976 + 0xbfefa7557f08a517, 0x3fc2c8106e8e613a, // -0.98918, 0.14673 + 0xbfefaafbcb0cfddc, 0x3fc264994dfd340a, // -0.98962, 0.1437 + 0xbfefae8e8e46cfbb, 0x3fc20116d4ec7bce, // -0.99006, 0.14066 + 0xbfefb20dc681d54d, 0x3fc19d8940be24e7, // -0.99049, 0.13762 + 0xbfefb5797195d741, 0x3fc139f0cedaf576, // -0.9909, 0.13458 + 0xbfefb8d18d66adb7, 0x3fc0d64dbcb26786, // -0.99131, 0.13154 + 0xbfefbc1617e44186, 0x3fc072a047ba831d, // -0.99171, 0.1285 + 0xbfefbf470f0a8d88, 0x3fc00ee8ad6fb85b, // -0.9921, 0.12545 + 0xbfefc26470e19fd3, 0x3fbf564e56a9730e, // -0.99248, 0.12241 + 0xbfefc56e3b7d9af6, 0x3fbe8eb7fde4aa3e, // -0.99285, 0.11937 + 0xbfefc8646cfeb721, 0x3fbdc70ecbae9fc8, // -0.99321, 0.11632 + 0xbfefcb4703914354, 0x3fbcff533b307dc1, // -0.99356, 0.11327 + 0xbfefce15fd6da67b, 0x3fbc3785c79ec2d5, // -0.99391, 0.11022 + 0xbfefd0d158d86087, 0x3fbb6fa6ec38f64c, // -0.99424, 0.10717 + 0xbfefd37914220b84, 0x3fbaa7b724495c04, // -0.99456, 0.10412 + 0xbfefd60d2da75c9e, 0x3fb9dfb6eb24a85c, // -0.99488, 0.10107 + 0xbfefd88da3d12526, 0x3fb917a6bc29b42c, // -0.99518, 0.098017 + 0xbfefdafa7514538c, 0x3fb84f8712c130a0, // -0.99548, 0.094963 + 0xbfefdd539ff1f456, 0x3fb787586a5d5b21, // -0.99577, 0.091909 + 0xbfefdf9922f73307, 0x3fb6bf1b3e79b129, // -0.99604, 0.088854 + 0xbfefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // -0.99631, 0.085797 + 0xbfefe3e92be9d886, 0x3fb52e774a4d4d0a, // -0.99657, 0.08274 + 0xbfefe5f3af2e3940, 0x3fb4661179272096, // -0.99682, 0.079682 + 0xbfefe7ea85482d60, 0x3fb39d9f12c5a299, // -0.99706, 0.076624 + 0xbfefe9cdad01883a, 0x3fb2d52092ce19f6, // -0.99729, 0.073565 + 0xbfefeb9d2530410f, 0x3fb20c9674ed444c, // -0.99751, 0.070505 + 0xbfefed58ecb673c4, 0x3fb1440134d709b2, // -0.99772, 0.067444 + 0xbfefef0102826191, 0x3fb07b614e463064, // -0.99793, 0.064383 + 0xbfeff095658e71ad, 0x3faf656e79f820e0, // -0.99812, 0.061321 + 0xbfeff21614e131ed, 0x3fadd406f9808ec8, // -0.9983, 0.058258 + 0xbfeff3830f8d575c, 0x3fac428d12c0d7e3, // -0.99848, 0.055195 + 0xbfeff4dc54b1bed3, 0x3faab101bd5f8317, // -0.99864, 0.052132 + 0xbfeff621e3796d7e, 0x3fa91f65f10dd814, // -0.9988, 0.049068 + 0xbfeff753bb1b9164, 0x3fa78dbaa5874685, // -0.99894, 0.046003 + 0xbfeff871dadb81df, 0x3fa5fc00d290cd43, // -0.99908, 0.042938 + 0xbfeff97c4208c014, 0x3fa46a396ff86179, // -0.9992, 0.039873 + 0xbfeffa72effef75d, 0x3fa2d865759455cd, // -0.99932, 0.036807 + 0xbfeffb55e425fdae, 0x3fa14685db42c17e, // -0.99943, 0.033741 + 0xbfeffc251df1d3f8, 0x3f9f693731d1cf01, // -0.99953, 0.030675 + 0xbfeffce09ce2a679, 0x3f9c454f4ce53b1c, // -0.99962, 0.027608 + 0xbfeffd886084cd0d, 0x3f992155f7a3667e, // -0.9997, 0.024541 + 0xbfeffe1c6870cb77, 0x3f95fd4d21fab226, // -0.99977, 0.021474 + 0xbfeffe9cb44b51a1, 0x3f92d936bbe30efd, // -0.99983, 0.018407 + 0xbfefff0943c53bd1, 0x3f8f6a296ab997ca, // -0.99988, 0.015339 + 0xbfefff62169b92db, 0x3f8921d1fcdec784, // -0.99992, 0.012272 + 0xbfefffa72c978c4f, 0x3f82d96b0e509703, // -0.99996, 0.0092038 + 0xbfefffd8858e8a92, 0x3f7921f0fe670071, // -0.99998, 0.0061359 + 0xbfeffff621621d02, 0x3f6921f8becca4ba, // -1, 0.003068 + 0xbff0000000000000, 0x0000000000000000, // -1, 0 + 0xbfeffff621621d02, 0xbf6921f8becca4ba, // -1, -0.003068 + 0xbfefffd8858e8a92, 0xbf7921f0fe670071, // -0.99998,-0.0061359 + 0xbfefffa72c978c4f, 0xbf82d96b0e509703, // -0.99996,-0.0092038 + 0xbfefff62169b92db, 0xbf8921d1fcdec784, // -0.99992, -0.012272 + 0xbfefff0943c53bd1, 0xbf8f6a296ab997ca, // -0.99988, -0.015339 + 0xbfeffe9cb44b51a1, 0xbf92d936bbe30efd, // -0.99983, -0.018407 + 0xbfeffe1c6870cb77, 0xbf95fd4d21fab226, // -0.99977, -0.021474 + 0xbfeffd886084cd0d, 0xbf992155f7a3667e, // -0.9997, -0.024541 + 0xbfeffce09ce2a679, 0xbf9c454f4ce53b1c, // -0.99962, -0.027608 + 0xbfeffc251df1d3f8, 0xbf9f693731d1cf01, // -0.99953, -0.030675 + 0xbfeffb55e425fdae, 0xbfa14685db42c17e, // -0.99943, -0.033741 + 0xbfeffa72effef75d, 0xbfa2d865759455cd, // -0.99932, -0.036807 + 0xbfeff97c4208c014, 0xbfa46a396ff86179, // -0.9992, -0.039873 + 0xbfeff871dadb81df, 0xbfa5fc00d290cd43, // -0.99908, -0.042938 + 0xbfeff753bb1b9164, 0xbfa78dbaa5874685, // -0.99894, -0.046003 + 0xbfeff621e3796d7e, 0xbfa91f65f10dd814, // -0.9988, -0.049068 + 0xbfeff4dc54b1bed3, 0xbfaab101bd5f8317, // -0.99864, -0.052132 + 0xbfeff3830f8d575c, 0xbfac428d12c0d7e3, // -0.99848, -0.055195 + 0xbfeff21614e131ed, 0xbfadd406f9808ec8, // -0.9983, -0.058258 + 0xbfeff095658e71ad, 0xbfaf656e79f820e0, // -0.99812, -0.061321 + 0xbfefef0102826191, 0xbfb07b614e463064, // -0.99793, -0.064383 + 0xbfefed58ecb673c4, 0xbfb1440134d709b2, // -0.99772, -0.067444 + 0xbfefeb9d2530410f, 0xbfb20c9674ed444c, // -0.99751, -0.070505 + 0xbfefe9cdad01883a, 0xbfb2d52092ce19f6, // -0.99729, -0.073565 + 0xbfefe7ea85482d60, 0xbfb39d9f12c5a299, // -0.99706, -0.076624 + 0xbfefe5f3af2e3940, 0xbfb4661179272096, // -0.99682, -0.079682 + 0xbfefe3e92be9d886, 0xbfb52e774a4d4d0a, // -0.99657, -0.08274 + 0xbfefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // -0.99631, -0.085797 + 0xbfefdf9922f73307, 0xbfb6bf1b3e79b129, // -0.99604, -0.088854 + 0xbfefdd539ff1f456, 0xbfb787586a5d5b21, // -0.99577, -0.091909 + 0xbfefdafa7514538c, 0xbfb84f8712c130a0, // -0.99548, -0.094963 + 0xbfefd88da3d12526, 0xbfb917a6bc29b42c, // -0.99518, -0.098017 + 0xbfefd60d2da75c9e, 0xbfb9dfb6eb24a85c, // -0.99488, -0.10107 + 0xbfefd37914220b84, 0xbfbaa7b724495c04, // -0.99456, -0.10412 + 0xbfefd0d158d86087, 0xbfbb6fa6ec38f64c, // -0.99424, -0.10717 + 0xbfefce15fd6da67b, 0xbfbc3785c79ec2d5, // -0.99391, -0.11022 + 0xbfefcb4703914354, 0xbfbcff533b307dc1, // -0.99356, -0.11327 + 0xbfefc8646cfeb721, 0xbfbdc70ecbae9fc8, // -0.99321, -0.11632 + 0xbfefc56e3b7d9af6, 0xbfbe8eb7fde4aa3e, // -0.99285, -0.11937 + 0xbfefc26470e19fd3, 0xbfbf564e56a9730e, // -0.99248, -0.12241 + 0xbfefbf470f0a8d88, 0xbfc00ee8ad6fb85b, // -0.9921, -0.12545 + 0xbfefbc1617e44186, 0xbfc072a047ba831d, // -0.99171, -0.1285 + 0xbfefb8d18d66adb7, 0xbfc0d64dbcb26786, // -0.99131, -0.13154 + 0xbfefb5797195d741, 0xbfc139f0cedaf576, // -0.9909, -0.13458 + 0xbfefb20dc681d54d, 0xbfc19d8940be24e7, // -0.99049, -0.13762 + 0xbfefae8e8e46cfbb, 0xbfc20116d4ec7bce, // -0.99006, -0.14066 + 0xbfefaafbcb0cfddc, 0xbfc264994dfd340a, // -0.98962, -0.1437 + 0xbfefa7557f08a517, 0xbfc2c8106e8e613a, // -0.98918, -0.14673 + 0xbfefa39bac7a1791, 0xbfc32b7bf94516a7, // -0.98872, -0.14976 + 0xbfef9fce55adb2c8, 0xbfc38edbb0cd8d14, // -0.98826, -0.1528 + 0xbfef9bed7cfbde29, 0xbfc3f22f57db4893, // -0.98778, -0.15583 + 0xbfef97f924c9099b, 0xbfc45576b1293e5a, // -0.9873, -0.15886 + 0xbfef93f14f85ac08, 0xbfc4b8b17f79fa88, // -0.98681, -0.16189 + 0xbfef8fd5ffae41db, 0xbfc51bdf8597c5f2, // -0.98631, -0.16491 + 0xbfef8ba737cb4b78, 0xbfc57f008654cbde, // -0.9858, -0.16794 + 0xbfef8764fa714ba9, 0xbfc5e214448b3fc6, // -0.98528, -0.17096 + 0xbfef830f4a40c60c, 0xbfc6451a831d830d, // -0.98475, -0.17398 + 0xbfef7ea629e63d6e, 0xbfc6a81304f64ab2, // -0.98421, -0.177 + 0xbfef7a299c1a322a, 0xbfc70afd8d08c4ff, // -0.98366, -0.18002 + 0xbfef7599a3a12077, 0xbfc76dd9de50bf31, // -0.98311, -0.18304 + 0xbfef70f6434b7eb7, 0xbfc7d0a7bbd2cb1b, // -0.98254, -0.18606 + 0xbfef6c3f7df5bbb7, 0xbfc83366e89c64c5, // -0.98196, -0.18907 + 0xbfef677556883cee, 0xbfc8961727c41804, // -0.98138, -0.19208 + 0xbfef6297cff75cb0, 0xbfc8f8b83c69a60a, // -0.98079, -0.19509 + 0xbfef5da6ed43685d, 0xbfc95b49e9b62af9, // -0.98018, -0.1981 + 0xbfef58a2b1789e84, 0xbfc9bdcbf2dc4366, // -0.97957, -0.2011 + 0xbfef538b1faf2d07, 0xbfca203e1b1831da, // -0.97895, -0.20411 + 0xbfef4e603b0b2f2d, 0xbfca82a025b00451, // -0.97832, -0.20711 + 0xbfef492206bcabb4, 0xbfcae4f1d5f3b9ab, // -0.97768, -0.21011 + 0xbfef43d085ff92dd, 0xbfcb4732ef3d6722, // -0.97703, -0.21311 + 0xbfef3e6bbc1bbc65, 0xbfcba96334f15dad, // -0.97637, -0.21611 + 0xbfef38f3ac64e589, 0xbfcc0b826a7e4f63, // -0.9757, -0.2191 + 0xbfef33685a3aaef0, 0xbfcc6d90535d74dc, // -0.97503, -0.22209 + 0xbfef2dc9c9089a9d, 0xbfcccf8cb312b286, // -0.97434, -0.22508 + 0xbfef2817fc4609ce, 0xbfcd31774d2cbdee, // -0.97364, -0.22807 + 0xbfef2252f7763ada, 0xbfcd934fe5454311, // -0.97294, -0.23106 + 0xbfef1c7abe284708, 0xbfcdf5163f01099a, // -0.97223, -0.23404 + 0xbfef168f53f7205d, 0xbfce56ca1e101a1b, // -0.9715, -0.23702 + 0xbfef1090bc898f5f, 0xbfceb86b462de348, // -0.97077, -0.24 + 0xbfef0a7efb9230d7, 0xbfcf19f97b215f1a, // -0.97003, -0.24298 + 0xbfef045a14cf738c, 0xbfcf7b7480bd3801, // -0.96928, -0.24596 + 0xbfeefe220c0b95ec, 0xbfcfdcdc1adfedf8, // -0.96852, -0.24893 + 0xbfeef7d6e51ca3c0, 0xbfd01f1806b9fdd2, // -0.96775, -0.2519 + 0xbfeef178a3e473c2, 0xbfd04fb80e37fdae, // -0.96698, -0.25487 + 0xbfeeeb074c50a544, 0xbfd0804e05eb661e, // -0.96619, -0.25783 + 0xbfeee482e25a9dbc, 0xbfd0b0d9cfdbdb90, // -0.96539, -0.26079 + 0xbfeeddeb6a078651, 0xbfd0e15b4e1749cd, // -0.96459, -0.26375 + 0xbfeed740e7684963, 0xbfd111d262b1f677, // -0.96378, -0.26671 + 0xbfeed0835e999009, 0xbfd1423eefc69378, // -0.96295, -0.26967 + 0xbfeec9b2d3c3bf84, 0xbfd172a0d7765177, // -0.96212, -0.27262 + 0xbfeec2cf4b1af6b2, 0xbfd1a2f7fbe8f243, // -0.96128, -0.27557 + 0xbfeebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // -0.96043, -0.27852 + 0xbfeeb4cf515b8811, 0xbfd2038583d727bd, // -0.95957, -0.28146 + 0xbfeeadb2e8e7a88e, 0xbfd233bbabc3bb72, // -0.9587, -0.28441 + 0xbfeea68393e65800, 0xbfd263e6995554ba, // -0.95783, -0.28735 + 0xbfee9f4156c62dda, 0xbfd294062ed59f05, // -0.95694, -0.29028 + 0xbfee97ec36016b30, 0xbfd2c41a4e954520, // -0.95605, -0.29322 + 0xbfee9084361df7f3, 0xbfd2f422daec0386, // -0.95514, -0.29615 + 0xbfee89095bad6025, 0xbfd3241fb638baaf, // -0.95423, -0.29908 + 0xbfee817bab4cd10d, 0xbfd35410c2e18152, // -0.95331, -0.30201 + 0xbfee79db29a5165a, 0xbfd383f5e353b6aa, // -0.95238, -0.30493 + 0xbfee7227db6a9744, 0xbfd3b3cefa0414b7, // -0.95144, -0.30785 + 0xbfee6a61c55d53a7, 0xbfd3e39be96ec271, // -0.95049, -0.31077 + 0xbfee6288ec48e112, 0xbfd4135c94176602, // -0.94953, -0.31368 + 0xbfee5a9d550467d3, 0xbfd44310dc8936f0, // -0.94856, -0.31659 + 0xbfee529f04729ffc, 0xbfd472b8a5571054, // -0.94759, -0.3195 + 0xbfee4a8dff81ce5e, 0xbfd4a253d11b82f3, // -0.9466, -0.32241 + 0xbfee426a4b2bc17e, 0xbfd4d1e24278e76a, // -0.94561, -0.32531 + 0xbfee3a33ec75ce85, 0xbfd50163dc197047, // -0.9446, -0.32821 + 0xbfee31eae870ce25, 0xbfd530d880af3c24, // -0.94359, -0.33111 + 0xbfee298f4439197a, 0xbfd5604012f467b4, // -0.94257, -0.334 + 0xbfee212104f686e5, 0xbfd58f9a75ab1fdd, // -0.94154, -0.33689 + 0xbfee18a02fdc66d9, 0xbfd5bee78b9db3b6, // -0.94051, -0.33978 + 0xbfee100cca2980ac, 0xbfd5ee27379ea693, // -0.93946, -0.34266 + 0xbfee0766d9280f54, 0xbfd61d595c88c203, // -0.9384, -0.34554 + 0xbfedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // -0.93734, -0.34842 + 0xbfedf5e36a9ba59c, 0xbfd67b949cad63ca, // -0.93627, -0.35129 + 0xbfeded05f7de47da, 0xbfd6aa9d7dc77e16, // -0.93518, -0.35416 + 0xbfede4160f6d8d81, 0xbfd6d998638a0cb5, // -0.93409, -0.35703 + 0xbfeddb13b6ccc23d, 0xbfd7088530fa459e, // -0.93299, -0.3599 + 0xbfedd1fef38a915a, 0xbfd73763c9261092, // -0.93188, -0.36276 + 0xbfedc8d7cb410260, 0xbfd766340f2418f6, // -0.93077, -0.36561 + 0xbfedbf9e4395759a, 0xbfd794f5e613dfae, // -0.92964, -0.36847 + 0xbfedb6526238a09b, 0xbfd7c3a9311dcce7, // -0.92851, -0.37132 + 0xbfedacf42ce68ab9, 0xbfd7f24dd37341e3, // -0.92736, -0.37416 + 0xbfeda383a9668988, 0xbfd820e3b04eaac4, // -0.92621, -0.37701 + 0xbfed9a00dd8b3d46, 0xbfd84f6aaaf3903f, // -0.92505, -0.37985 + 0xbfed906bcf328d46, 0xbfd87de2a6aea963, // -0.92388, -0.38268 + 0xbfed86c48445a450, 0xbfd8ac4b86d5ed44, // -0.9227, -0.38552 + 0xbfed7d0b02b8ecf9, 0xbfd8daa52ec8a4af, // -0.92151, -0.38835 + 0xbfed733f508c0dff, 0xbfd908ef81ef7bd1, // -0.92032, -0.39117 + 0xbfed696173c9e68b, 0xbfd9372a63bc93d7, // -0.91911, -0.39399 + 0xbfed5f7172888a7f, 0xbfd96555b7ab948f, // -0.9179, -0.39681 + 0xbfed556f52e93eb1, 0xbfd993716141bdfe, // -0.91668, -0.39962 + 0xbfed4b5b1b187524, 0xbfd9c17d440df9f2, // -0.91545, -0.40243 + 0xbfed4134d14dc93a, 0xbfd9ef7943a8ed8a, // -0.91421, -0.40524 + 0xbfed36fc7bcbfbdc, 0xbfda1d6543b50ac0, // -0.91296, -0.40804 + 0xbfed2cb220e0ef9f, 0xbfda4b4127dea1e4, // -0.91171, -0.41084 + 0xbfed2255c6e5a4e1, 0xbfda790cd3dbf31a, // -0.91044, -0.41364 + 0xbfed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // -0.90917, -0.41643 + 0xbfed0d672f59d2b9, 0xbfdad473125cdc08, // -0.90789, -0.41922 + 0xbfed02d4feb2bd92, 0xbfdb020d6c7f4009, // -0.9066, -0.422 + 0xbfecf830e8ce467b, 0xbfdb2f971db31972, // -0.9053, -0.42478 + 0xbfeced7af43cc773, 0xbfdb5d1009e15cc0, // -0.90399, -0.42756 + 0xbfece2b32799a060, 0xbfdb8a7814fd5693, // -0.90267, -0.43033 + 0xbfecd7d9898b32f6, 0xbfdbb7cf2304bd01, // -0.90135, -0.43309 + 0xbfecccee20c2de9f, 0xbfdbe51517ffc0d9, // -0.90002, -0.43586 + 0xbfecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // -0.89867, -0.43862 + 0xbfecb6e20a00da99, 0xbfdc3f6d47263129, // -0.89732, -0.44137 + 0xbfecabc169a0b901, 0xbfdc6c7f4997000a, // -0.89597, -0.44412 + 0xbfeca08f19b9c449, 0xbfdc997fc3865388, // -0.8946, -0.44687 + 0xbfec954b213411f5, 0xbfdcc66e9931c45d, // -0.89322, -0.44961 + 0xbfec89f587029c13, 0xbfdcf34baee1cd21, // -0.89184, -0.45235 + 0xbfec7e8e52233cf3, 0xbfdd2016e8e9db5b, // -0.89045, -0.45508 + 0xbfec7315899eaad7, 0xbfdd4cd02ba8609c, // -0.88905, -0.45781 + 0xbfec678b3488739b, 0xbfdd79775b86e389, // -0.88764, -0.46054 + 0xbfec5bef59fef85a, 0xbfdda60c5cfa10d8, // -0.88622, -0.46326 + 0xbfec5042012b6907, 0xbfddd28f1481cc58, // -0.8848, -0.46598 + 0xbfec44833141c004, 0xbfddfeff66a941de, // -0.88336, -0.46869 + 0xbfec38b2f180bdb1, 0xbfde2b5d3806f63b, // -0.88192, -0.4714 + 0xbfec2cd14931e3f1, 0xbfde57a86d3cd824, // -0.88047, -0.4741 + 0xbfec20de3fa971b0, 0xbfde83e0eaf85113, // -0.87901, -0.4768 + 0xbfec14d9dc465e58, 0xbfdeb00695f25620, // -0.87755, -0.47949 + 0xbfec08c426725549, 0xbfdedc1952ef78d5, // -0.87607, -0.48218 + 0xbfebfc9d25a1b147, 0xbfdf081906bff7fd, // -0.87459, -0.48487 + 0xbfebf064e15377dd, 0xbfdf3405963fd068, // -0.87309, -0.48755 + 0xbfebe41b611154c1, 0xbfdf5fdee656cda3, // -0.8716, -0.49023 + 0xbfebd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // -0.87009, -0.4929 + 0xbfebcb54cb0d2327, 0xbfdfb7575c24d2de, // -0.86857, -0.49557 + 0xbfebbed7c49380ea, 0xbfdfe2f64be7120f, // -0.86705, -0.49823 + 0xbfebb249a0b6c40d, 0xbfe00740c82b82e0, // -0.86551, -0.50089 + 0xbfeba5aa673590d2, 0xbfe01cfc874c3eb7, // -0.86397, -0.50354 + 0xbfeb98fa1fd9155e, 0xbfe032ae55edbd95, // -0.86242, -0.50619 + 0xbfeb8c38d27504e9, 0xbfe0485626ae221a, // -0.86087, -0.50883 + 0xbfeb7f6686e792ea, 0xbfe05df3ec31b8b6, // -0.8593, -0.51147 + 0xbfeb728345196e3e, 0xbfe073879922ffed, // -0.85773, -0.5141 + 0xbfeb658f14fdbc47, 0xbfe089112032b08c, // -0.85615, -0.51673 + 0xbfeb5889fe921405, 0xbfe09e907417c5e1, // -0.85456, -0.51936 + 0xbfeb4b7409de7925, 0xbfe0b405878f85ec, // -0.85296, -0.52198 + 0xbfeb3e4d3ef55712, 0xbfe0c9704d5d898f, // -0.85136, -0.52459 + 0xbfeb3115a5f37bf4, 0xbfe0ded0b84bc4b5, // -0.84974, -0.5272 + 0xbfeb23cd470013b4, 0xbfe0f426bb2a8e7d, // -0.84812, -0.5298 + 0xbfeb16742a4ca2f5, 0xbfe1097248d0a956, // -0.84649, -0.5324 + 0xbfeb090a58150200, 0xbfe11eb3541b4b22, // -0.84485, -0.535 + 0xbfeafb8fd89f57b6, 0xbfe133e9cfee254e, // -0.84321, -0.53759 + 0xbfeaee04b43c1474, 0xbfe14915af336ceb, // -0.84155, -0.54017 + 0xbfeae068f345ecef, 0xbfe15e36e4dbe2bc, // -0.83989, -0.54275 + 0xbfead2bc9e21d511, 0xbfe1734d63dedb49, // -0.83822, -0.54532 + 0xbfeac4ffbd3efac8, 0xbfe188591f3a46e5, // -0.83655, -0.54789 + 0xbfeab7325916c0d4, 0xbfe19d5a09f2b9b8, // -0.83486, -0.55046 + 0xbfeaa9547a2cb98e, 0xbfe1b250171373be, // -0.83317, -0.55302 + 0xbfea9b66290ea1a3, 0xbfe1c73b39ae68c8, // -0.83147, -0.55557 + 0xbfea8d676e545ad2, 0xbfe1dc1b64dc4872, // -0.82976, -0.55812 + 0xbfea7f58529fe69d, 0xbfe1f0f08bbc861b, // -0.82805, -0.56066 + 0xbfea7138de9d60f5, 0xbfe205baa17560d6, // -0.82632, -0.5632 + 0xbfea63091b02fae2, 0xbfe21a799933eb58, // -0.82459, -0.56573 + 0xbfea54c91090f524, 0xbfe22f2d662c13e1, // -0.82285, -0.56826 + 0xbfea4678c8119ac8, 0xbfe243d5fb98ac1f, // -0.8211, -0.57078 + 0xbfea38184a593bc6, 0xbfe258734cbb7110, // -0.81935, -0.5733 + 0xbfea29a7a0462782, 0xbfe26d054cdd12df, // -0.81758, -0.57581 + 0xbfea1b26d2c0a75e, 0xbfe2818bef4d3cba, // -0.81581, -0.57831 + 0xbfea0c95eabaf937, 0xbfe2960727629ca8, // -0.81404, -0.58081 + 0xbfe9fdf4f13149de, 0xbfe2aa76e87aeb58, // -0.81225, -0.58331 + 0xbfe9ef43ef29af94, 0xbfe2bedb25faf3ea, // -0.81046, -0.5858 + 0xbfe9e082edb42472, 0xbfe2d333d34e9bb7, // -0.80866, -0.58828 + 0xbfe9d1b1f5ea80d6, 0xbfe2e780e3e8ea16, // -0.80685, -0.59076 + 0xbfe9c2d110f075c3, 0xbfe2fbc24b441015, // -0.80503, -0.59323 + 0xbfe9b3e047f38741, 0xbfe30ff7fce17035, // -0.80321, -0.5957 + 0xbfe9a4dfa42b06b2, 0xbfe32421ec49a620, // -0.80138, -0.59816 + 0xbfe995cf2ed80d22, 0xbfe338400d0c8e57, // -0.79954, -0.60062 + 0xbfe986aef1457594, 0xbfe34c5252c14de1, // -0.79769, -0.60307 + 0xbfe9777ef4c7d742, 0xbfe36058b10659f3, // -0.79584, -0.60551 + 0xbfe9683f42bd7fe1, 0xbfe374531b817f8d, // -0.79398, -0.60795 + 0xbfe958efe48e6dd7, 0xbfe3884185dfeb22, // -0.79211, -0.61038 + 0xbfe94990e3ac4a6c, 0xbfe39c23e3d63029, // -0.79023, -0.61281 + 0xbfe93a22499263fc, 0xbfe3affa292050b9, // -0.78835, -0.61523 + 0xbfe92aa41fc5a815, 0xbfe3c3c44981c517, // -0.78646, -0.61765 + 0xbfe91b166fd49da2, 0xbfe3d78238c58343, // -0.78456, -0.62006 + 0xbfe90b7943575efe, 0xbfe3eb33eabe0680, // -0.78265, -0.62246 + 0xbfe8fbcca3ef940d, 0xbfe3fed9534556d4, // -0.78074, -0.62486 + 0xbfe8ec109b486c49, 0xbfe41272663d108c, // -0.77882, -0.62725 + 0xbfe8dc45331698cc, 0xbfe425ff178e6bb1, // -0.77689, -0.62964 + 0xbfe8cc6a75184655, 0xbfe4397f5b2a4380, // -0.77495, -0.63202 + 0xbfe8bc806b151741, 0xbfe44cf325091dd6, // -0.77301, -0.63439 + 0xbfe8ac871ede1d88, 0xbfe4605a692b32a2, // -0.77106, -0.63676 + 0xbfe89c7e9a4dd4ab, 0xbfe473b51b987347, // -0.7691, -0.63912 + 0xbfe88c66e7481ba1, 0xbfe48703306091fe, // -0.76714, -0.64148 + 0xbfe87c400fba2ebf, 0xbfe49a449b9b0938, // -0.76517, -0.64383 + 0xbfe86c0a1d9aa195, 0xbfe4ad79516722f0, // -0.76319, -0.64618 + 0xbfe85bc51ae958cc, 0xbfe4c0a145ec0004, // -0.7612, -0.64851 + 0xbfe84b7111af83f9, 0xbfe4d3bc6d589f80, // -0.75921, -0.65085 + 0xbfe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // -0.75721, -0.65317 + 0xbfe82a9c13f545ff, 0xbfe4f9cc25cca486, // -0.7552, -0.65549 + 0xbfe81a1b33b57acc, 0xbfe50cc09f59a09b, // -0.75319, -0.65781 + 0xbfe8098b756e52fa, 0xbfe51fa81cd99aa6, // -0.75117, -0.66011 + 0xbfe7f8ece3571771, 0xbfe5328292a35596, // -0.74914, -0.66242 + 0xbfe7e83f87b03686, 0xbfe5454ff5159dfb, // -0.7471, -0.66471 + 0xbfe7d7836cc33db2, 0xbfe5581038975137, // -0.74506, -0.667 + 0xbfe7c6b89ce2d333, 0xbfe56ac35197649e, // -0.74301, -0.66928 + 0xbfe7b5df226aafb0, 0xbfe57d69348cec9f, // -0.74095, -0.67156 + 0xbfe7a4f707bf97d2, 0xbfe59001d5f723df, // -0.73889, -0.67383 + 0xbfe79400574f55e4, 0xbfe5a28d2a5d7250, // -0.73682, -0.67609 + 0xbfe782fb1b90b35b, 0xbfe5b50b264f7448, // -0.73474, -0.67835 + 0xbfe771e75f037261, 0xbfe5c77bbe65018c, // -0.73265, -0.6806 + 0xbfe760c52c304764, 0xbfe5d9dee73e345c, // -0.73056, -0.68285 + 0xbfe74f948da8d28d, 0xbfe5ec3495837074, // -0.72846, -0.68508 + 0xbfe73e558e079942, 0xbfe5fe7cbde56a0f, // -0.72636, -0.68732 + 0xbfe72d0837efff97, 0xbfe610b7551d2cde, // -0.72425, -0.68954 + 0xbfe71bac960e41bf, 0xbfe622e44fec22ff, // -0.72213, -0.69176 + 0xbfe70a42b3176d7a, 0xbfe63503a31c1be8, // -0.72, -0.69397 + 0xbfe6f8ca99c95b75, 0xbfe64715437f535b, // -0.71787, -0.69618 + 0xbfe6e74454eaa8ae, 0xbfe6591925f0783e, // -0.71573, -0.69838 + 0xbfe6d5afef4aafcc, 0xbfe66b0f3f52b386, // -0.71358, -0.70057 + 0xbfe6c40d73c18275, 0xbfe67cf78491af10, // -0.71143, -0.70275 + 0xbfe6b25ced2fe29c, 0xbfe68ed1eaa19c71, // -0.70927, -0.70493 + 0xbfe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // -0.70711, -0.70711 + 0xbfe68ed1eaa19c71, 0xbfe6b25ced2fe29c, // -0.70493, -0.70927 + 0xbfe67cf78491af10, 0xbfe6c40d73c18275, // -0.70275, -0.71143 + 0xbfe66b0f3f52b386, 0xbfe6d5afef4aafcc, // -0.70057, -0.71358 + 0xbfe6591925f0783e, 0xbfe6e74454eaa8ae, // -0.69838, -0.71573 + 0xbfe64715437f535b, 0xbfe6f8ca99c95b75, // -0.69618, -0.71787 + 0xbfe63503a31c1be8, 0xbfe70a42b3176d7a, // -0.69397, -0.72 + 0xbfe622e44fec22ff, 0xbfe71bac960e41bf, // -0.69176, -0.72213 + 0xbfe610b7551d2cde, 0xbfe72d0837efff97, // -0.68954, -0.72425 + 0xbfe5fe7cbde56a0f, 0xbfe73e558e079942, // -0.68732, -0.72636 + 0xbfe5ec3495837074, 0xbfe74f948da8d28d, // -0.68508, -0.72846 + 0xbfe5d9dee73e345c, 0xbfe760c52c304764, // -0.68285, -0.73056 + 0xbfe5c77bbe65018c, 0xbfe771e75f037261, // -0.6806, -0.73265 + 0xbfe5b50b264f7448, 0xbfe782fb1b90b35b, // -0.67835, -0.73474 + 0xbfe5a28d2a5d7250, 0xbfe79400574f55e4, // -0.67609, -0.73682 + 0xbfe59001d5f723df, 0xbfe7a4f707bf97d2, // -0.67383, -0.73889 + 0xbfe57d69348cec9f, 0xbfe7b5df226aafb0, // -0.67156, -0.74095 + 0xbfe56ac35197649e, 0xbfe7c6b89ce2d333, // -0.66928, -0.74301 + 0xbfe5581038975137, 0xbfe7d7836cc33db2, // -0.667, -0.74506 + 0xbfe5454ff5159dfb, 0xbfe7e83f87b03686, // -0.66471, -0.7471 + 0xbfe5328292a35596, 0xbfe7f8ece3571771, // -0.66242, -0.74914 + 0xbfe51fa81cd99aa6, 0xbfe8098b756e52fa, // -0.66011, -0.75117 + 0xbfe50cc09f59a09b, 0xbfe81a1b33b57acc, // -0.65781, -0.75319 + 0xbfe4f9cc25cca486, 0xbfe82a9c13f545ff, // -0.65549, -0.7552 + 0xbfe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // -0.65317, -0.75721 + 0xbfe4d3bc6d589f80, 0xbfe84b7111af83f9, // -0.65085, -0.75921 + 0xbfe4c0a145ec0004, 0xbfe85bc51ae958cc, // -0.64851, -0.7612 + 0xbfe4ad79516722f0, 0xbfe86c0a1d9aa195, // -0.64618, -0.76319 + 0xbfe49a449b9b0938, 0xbfe87c400fba2ebf, // -0.64383, -0.76517 + 0xbfe48703306091fe, 0xbfe88c66e7481ba1, // -0.64148, -0.76714 + 0xbfe473b51b987347, 0xbfe89c7e9a4dd4ab, // -0.63912, -0.7691 + 0xbfe4605a692b32a2, 0xbfe8ac871ede1d88, // -0.63676, -0.77106 + 0xbfe44cf325091dd6, 0xbfe8bc806b151741, // -0.63439, -0.77301 + 0xbfe4397f5b2a4380, 0xbfe8cc6a75184655, // -0.63202, -0.77495 + 0xbfe425ff178e6bb1, 0xbfe8dc45331698cc, // -0.62964, -0.77689 + 0xbfe41272663d108c, 0xbfe8ec109b486c49, // -0.62725, -0.77882 + 0xbfe3fed9534556d4, 0xbfe8fbcca3ef940d, // -0.62486, -0.78074 + 0xbfe3eb33eabe0680, 0xbfe90b7943575efe, // -0.62246, -0.78265 + 0xbfe3d78238c58343, 0xbfe91b166fd49da2, // -0.62006, -0.78456 + 0xbfe3c3c44981c517, 0xbfe92aa41fc5a815, // -0.61765, -0.78646 + 0xbfe3affa292050b9, 0xbfe93a22499263fc, // -0.61523, -0.78835 + 0xbfe39c23e3d63029, 0xbfe94990e3ac4a6c, // -0.61281, -0.79023 + 0xbfe3884185dfeb22, 0xbfe958efe48e6dd7, // -0.61038, -0.79211 + 0xbfe374531b817f8d, 0xbfe9683f42bd7fe1, // -0.60795, -0.79398 + 0xbfe36058b10659f3, 0xbfe9777ef4c7d742, // -0.60551, -0.79584 + 0xbfe34c5252c14de1, 0xbfe986aef1457594, // -0.60307, -0.79769 + 0xbfe338400d0c8e57, 0xbfe995cf2ed80d22, // -0.60062, -0.79954 + 0xbfe32421ec49a620, 0xbfe9a4dfa42b06b2, // -0.59816, -0.80138 + 0xbfe30ff7fce17035, 0xbfe9b3e047f38741, // -0.5957, -0.80321 + 0xbfe2fbc24b441015, 0xbfe9c2d110f075c3, // -0.59323, -0.80503 + 0xbfe2e780e3e8ea16, 0xbfe9d1b1f5ea80d6, // -0.59076, -0.80685 + 0xbfe2d333d34e9bb7, 0xbfe9e082edb42472, // -0.58828, -0.80866 + 0xbfe2bedb25faf3ea, 0xbfe9ef43ef29af94, // -0.5858, -0.81046 + 0xbfe2aa76e87aeb58, 0xbfe9fdf4f13149de, // -0.58331, -0.81225 + 0xbfe2960727629ca8, 0xbfea0c95eabaf937, // -0.58081, -0.81404 + 0xbfe2818bef4d3cba, 0xbfea1b26d2c0a75e, // -0.57831, -0.81581 + 0xbfe26d054cdd12df, 0xbfea29a7a0462782, // -0.57581, -0.81758 + 0xbfe258734cbb7110, 0xbfea38184a593bc6, // -0.5733, -0.81935 + 0xbfe243d5fb98ac1f, 0xbfea4678c8119ac8, // -0.57078, -0.8211 + 0xbfe22f2d662c13e1, 0xbfea54c91090f524, // -0.56826, -0.82285 + 0xbfe21a799933eb58, 0xbfea63091b02fae2, // -0.56573, -0.82459 + 0xbfe205baa17560d6, 0xbfea7138de9d60f5, // -0.5632, -0.82632 + 0xbfe1f0f08bbc861b, 0xbfea7f58529fe69d, // -0.56066, -0.82805 + 0xbfe1dc1b64dc4872, 0xbfea8d676e545ad2, // -0.55812, -0.82976 + 0xbfe1c73b39ae68c8, 0xbfea9b66290ea1a3, // -0.55557, -0.83147 + 0xbfe1b250171373be, 0xbfeaa9547a2cb98e, // -0.55302, -0.83317 + 0xbfe19d5a09f2b9b8, 0xbfeab7325916c0d4, // -0.55046, -0.83486 + 0xbfe188591f3a46e5, 0xbfeac4ffbd3efac8, // -0.54789, -0.83655 + 0xbfe1734d63dedb49, 0xbfead2bc9e21d511, // -0.54532, -0.83822 + 0xbfe15e36e4dbe2bc, 0xbfeae068f345ecef, // -0.54275, -0.83989 + 0xbfe14915af336ceb, 0xbfeaee04b43c1474, // -0.54017, -0.84155 + 0xbfe133e9cfee254e, 0xbfeafb8fd89f57b6, // -0.53759, -0.84321 + 0xbfe11eb3541b4b22, 0xbfeb090a58150200, // -0.535, -0.84485 + 0xbfe1097248d0a956, 0xbfeb16742a4ca2f5, // -0.5324, -0.84649 + 0xbfe0f426bb2a8e7d, 0xbfeb23cd470013b4, // -0.5298, -0.84812 + 0xbfe0ded0b84bc4b5, 0xbfeb3115a5f37bf4, // -0.5272, -0.84974 + 0xbfe0c9704d5d898f, 0xbfeb3e4d3ef55712, // -0.52459, -0.85136 + 0xbfe0b405878f85ec, 0xbfeb4b7409de7925, // -0.52198, -0.85296 + 0xbfe09e907417c5e1, 0xbfeb5889fe921405, // -0.51936, -0.85456 + 0xbfe089112032b08c, 0xbfeb658f14fdbc47, // -0.51673, -0.85615 + 0xbfe073879922ffed, 0xbfeb728345196e3e, // -0.5141, -0.85773 + 0xbfe05df3ec31b8b6, 0xbfeb7f6686e792ea, // -0.51147, -0.8593 + 0xbfe0485626ae221a, 0xbfeb8c38d27504e9, // -0.50883, -0.86087 + 0xbfe032ae55edbd95, 0xbfeb98fa1fd9155e, // -0.50619, -0.86242 + 0xbfe01cfc874c3eb7, 0xbfeba5aa673590d2, // -0.50354, -0.86397 + 0xbfe00740c82b82e0, 0xbfebb249a0b6c40d, // -0.50089, -0.86551 + 0xbfdfe2f64be7120f, 0xbfebbed7c49380ea, // -0.49823, -0.86705 + 0xbfdfb7575c24d2de, 0xbfebcb54cb0d2327, // -0.49557, -0.86857 + 0xbfdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // -0.4929, -0.87009 + 0xbfdf5fdee656cda3, 0xbfebe41b611154c1, // -0.49023, -0.8716 + 0xbfdf3405963fd068, 0xbfebf064e15377dd, // -0.48755, -0.87309 + 0xbfdf081906bff7fd, 0xbfebfc9d25a1b147, // -0.48487, -0.87459 + 0xbfdedc1952ef78d5, 0xbfec08c426725549, // -0.48218, -0.87607 + 0xbfdeb00695f25620, 0xbfec14d9dc465e58, // -0.47949, -0.87755 + 0xbfde83e0eaf85113, 0xbfec20de3fa971b0, // -0.4768, -0.87901 + 0xbfde57a86d3cd824, 0xbfec2cd14931e3f1, // -0.4741, -0.88047 + 0xbfde2b5d3806f63b, 0xbfec38b2f180bdb1, // -0.4714, -0.88192 + 0xbfddfeff66a941de, 0xbfec44833141c004, // -0.46869, -0.88336 + 0xbfddd28f1481cc58, 0xbfec5042012b6907, // -0.46598, -0.8848 + 0xbfdda60c5cfa10d8, 0xbfec5bef59fef85a, // -0.46326, -0.88622 + 0xbfdd79775b86e389, 0xbfec678b3488739b, // -0.46054, -0.88764 + 0xbfdd4cd02ba8609c, 0xbfec7315899eaad7, // -0.45781, -0.88905 + 0xbfdd2016e8e9db5b, 0xbfec7e8e52233cf3, // -0.45508, -0.89045 + 0xbfdcf34baee1cd21, 0xbfec89f587029c13, // -0.45235, -0.89184 + 0xbfdcc66e9931c45d, 0xbfec954b213411f5, // -0.44961, -0.89322 + 0xbfdc997fc3865388, 0xbfeca08f19b9c449, // -0.44687, -0.8946 + 0xbfdc6c7f4997000a, 0xbfecabc169a0b901, // -0.44412, -0.89597 + 0xbfdc3f6d47263129, 0xbfecb6e20a00da99, // -0.44137, -0.89732 + 0xbfdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // -0.43862, -0.89867 + 0xbfdbe51517ffc0d9, 0xbfecccee20c2de9f, // -0.43586, -0.90002 + 0xbfdbb7cf2304bd01, 0xbfecd7d9898b32f6, // -0.43309, -0.90135 + 0xbfdb8a7814fd5693, 0xbfece2b32799a060, // -0.43033, -0.90267 + 0xbfdb5d1009e15cc0, 0xbfeced7af43cc773, // -0.42756, -0.90399 + 0xbfdb2f971db31972, 0xbfecf830e8ce467b, // -0.42478, -0.9053 + 0xbfdb020d6c7f4009, 0xbfed02d4feb2bd92, // -0.422, -0.9066 + 0xbfdad473125cdc08, 0xbfed0d672f59d2b9, // -0.41922, -0.90789 + 0xbfdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // -0.41643, -0.90917 + 0xbfda790cd3dbf31a, 0xbfed2255c6e5a4e1, // -0.41364, -0.91044 + 0xbfda4b4127dea1e4, 0xbfed2cb220e0ef9f, // -0.41084, -0.91171 + 0xbfda1d6543b50ac0, 0xbfed36fc7bcbfbdc, // -0.40804, -0.91296 + 0xbfd9ef7943a8ed8a, 0xbfed4134d14dc93a, // -0.40524, -0.91421 + 0xbfd9c17d440df9f2, 0xbfed4b5b1b187524, // -0.40243, -0.91545 + 0xbfd993716141bdfe, 0xbfed556f52e93eb1, // -0.39962, -0.91668 + 0xbfd96555b7ab948f, 0xbfed5f7172888a7f, // -0.39681, -0.9179 + 0xbfd9372a63bc93d7, 0xbfed696173c9e68b, // -0.39399, -0.91911 + 0xbfd908ef81ef7bd1, 0xbfed733f508c0dff, // -0.39117, -0.92032 + 0xbfd8daa52ec8a4af, 0xbfed7d0b02b8ecf9, // -0.38835, -0.92151 + 0xbfd8ac4b86d5ed44, 0xbfed86c48445a450, // -0.38552, -0.9227 + 0xbfd87de2a6aea963, 0xbfed906bcf328d46, // -0.38268, -0.92388 + 0xbfd84f6aaaf3903f, 0xbfed9a00dd8b3d46, // -0.37985, -0.92505 + 0xbfd820e3b04eaac4, 0xbfeda383a9668988, // -0.37701, -0.92621 + 0xbfd7f24dd37341e3, 0xbfedacf42ce68ab9, // -0.37416, -0.92736 + 0xbfd7c3a9311dcce7, 0xbfedb6526238a09b, // -0.37132, -0.92851 + 0xbfd794f5e613dfae, 0xbfedbf9e4395759a, // -0.36847, -0.92964 + 0xbfd766340f2418f6, 0xbfedc8d7cb410260, // -0.36561, -0.93077 + 0xbfd73763c9261092, 0xbfedd1fef38a915a, // -0.36276, -0.93188 + 0xbfd7088530fa459e, 0xbfeddb13b6ccc23d, // -0.3599, -0.93299 + 0xbfd6d998638a0cb5, 0xbfede4160f6d8d81, // -0.35703, -0.93409 + 0xbfd6aa9d7dc77e16, 0xbfeded05f7de47da, // -0.35416, -0.93518 + 0xbfd67b949cad63ca, 0xbfedf5e36a9ba59c, // -0.35129, -0.93627 + 0xbfd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // -0.34842, -0.93734 + 0xbfd61d595c88c203, 0xbfee0766d9280f54, // -0.34554, -0.9384 + 0xbfd5ee27379ea693, 0xbfee100cca2980ac, // -0.34266, -0.93946 + 0xbfd5bee78b9db3b6, 0xbfee18a02fdc66d9, // -0.33978, -0.94051 + 0xbfd58f9a75ab1fdd, 0xbfee212104f686e5, // -0.33689, -0.94154 + 0xbfd5604012f467b4, 0xbfee298f4439197a, // -0.334, -0.94257 + 0xbfd530d880af3c24, 0xbfee31eae870ce25, // -0.33111, -0.94359 + 0xbfd50163dc197047, 0xbfee3a33ec75ce85, // -0.32821, -0.9446 + 0xbfd4d1e24278e76a, 0xbfee426a4b2bc17e, // -0.32531, -0.94561 + 0xbfd4a253d11b82f3, 0xbfee4a8dff81ce5e, // -0.32241, -0.9466 + 0xbfd472b8a5571054, 0xbfee529f04729ffc, // -0.3195, -0.94759 + 0xbfd44310dc8936f0, 0xbfee5a9d550467d3, // -0.31659, -0.94856 + 0xbfd4135c94176602, 0xbfee6288ec48e112, // -0.31368, -0.94953 + 0xbfd3e39be96ec271, 0xbfee6a61c55d53a7, // -0.31077, -0.95049 + 0xbfd3b3cefa0414b7, 0xbfee7227db6a9744, // -0.30785, -0.95144 + 0xbfd383f5e353b6aa, 0xbfee79db29a5165a, // -0.30493, -0.95238 + 0xbfd35410c2e18152, 0xbfee817bab4cd10d, // -0.30201, -0.95331 + 0xbfd3241fb638baaf, 0xbfee89095bad6025, // -0.29908, -0.95423 + 0xbfd2f422daec0386, 0xbfee9084361df7f3, // -0.29615, -0.95514 + 0xbfd2c41a4e954520, 0xbfee97ec36016b30, // -0.29322, -0.95605 + 0xbfd294062ed59f05, 0xbfee9f4156c62dda, // -0.29028, -0.95694 + 0xbfd263e6995554ba, 0xbfeea68393e65800, // -0.28735, -0.95783 + 0xbfd233bbabc3bb72, 0xbfeeadb2e8e7a88e, // -0.28441, -0.9587 + 0xbfd2038583d727bd, 0xbfeeb4cf515b8811, // -0.28146, -0.95957 + 0xbfd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // -0.27852, -0.96043 + 0xbfd1a2f7fbe8f243, 0xbfeec2cf4b1af6b2, // -0.27557, -0.96128 + 0xbfd172a0d7765177, 0xbfeec9b2d3c3bf84, // -0.27262, -0.96212 + 0xbfd1423eefc69378, 0xbfeed0835e999009, // -0.26967, -0.96295 + 0xbfd111d262b1f677, 0xbfeed740e7684963, // -0.26671, -0.96378 + 0xbfd0e15b4e1749cd, 0xbfeeddeb6a078651, // -0.26375, -0.96459 + 0xbfd0b0d9cfdbdb90, 0xbfeee482e25a9dbc, // -0.26079, -0.96539 + 0xbfd0804e05eb661e, 0xbfeeeb074c50a544, // -0.25783, -0.96619 + 0xbfd04fb80e37fdae, 0xbfeef178a3e473c2, // -0.25487, -0.96698 + 0xbfd01f1806b9fdd2, 0xbfeef7d6e51ca3c0, // -0.2519, -0.96775 + 0xbfcfdcdc1adfedf8, 0xbfeefe220c0b95ec, // -0.24893, -0.96852 + 0xbfcf7b7480bd3801, 0xbfef045a14cf738c, // -0.24596, -0.96928 + 0xbfcf19f97b215f1a, 0xbfef0a7efb9230d7, // -0.24298, -0.97003 + 0xbfceb86b462de348, 0xbfef1090bc898f5f, // -0.24, -0.97077 + 0xbfce56ca1e101a1b, 0xbfef168f53f7205d, // -0.23702, -0.9715 + 0xbfcdf5163f01099a, 0xbfef1c7abe284708, // -0.23404, -0.97223 + 0xbfcd934fe5454311, 0xbfef2252f7763ada, // -0.23106, -0.97294 + 0xbfcd31774d2cbdee, 0xbfef2817fc4609ce, // -0.22807, -0.97364 + 0xbfcccf8cb312b286, 0xbfef2dc9c9089a9d, // -0.22508, -0.97434 + 0xbfcc6d90535d74dc, 0xbfef33685a3aaef0, // -0.22209, -0.97503 + 0xbfcc0b826a7e4f63, 0xbfef38f3ac64e589, // -0.2191, -0.9757 + 0xbfcba96334f15dad, 0xbfef3e6bbc1bbc65, // -0.21611, -0.97637 + 0xbfcb4732ef3d6722, 0xbfef43d085ff92dd, // -0.21311, -0.97703 + 0xbfcae4f1d5f3b9ab, 0xbfef492206bcabb4, // -0.21011, -0.97768 + 0xbfca82a025b00451, 0xbfef4e603b0b2f2d, // -0.20711, -0.97832 + 0xbfca203e1b1831da, 0xbfef538b1faf2d07, // -0.20411, -0.97895 + 0xbfc9bdcbf2dc4366, 0xbfef58a2b1789e84, // -0.2011, -0.97957 + 0xbfc95b49e9b62af9, 0xbfef5da6ed43685d, // -0.1981, -0.98018 + 0xbfc8f8b83c69a60a, 0xbfef6297cff75cb0, // -0.19509, -0.98079 + 0xbfc8961727c41804, 0xbfef677556883cee, // -0.19208, -0.98138 + 0xbfc83366e89c64c5, 0xbfef6c3f7df5bbb7, // -0.18907, -0.98196 + 0xbfc7d0a7bbd2cb1b, 0xbfef70f6434b7eb7, // -0.18606, -0.98254 + 0xbfc76dd9de50bf31, 0xbfef7599a3a12077, // -0.18304, -0.98311 + 0xbfc70afd8d08c4ff, 0xbfef7a299c1a322a, // -0.18002, -0.98366 + 0xbfc6a81304f64ab2, 0xbfef7ea629e63d6e, // -0.177, -0.98421 + 0xbfc6451a831d830d, 0xbfef830f4a40c60c, // -0.17398, -0.98475 + 0xbfc5e214448b3fc6, 0xbfef8764fa714ba9, // -0.17096, -0.98528 + 0xbfc57f008654cbde, 0xbfef8ba737cb4b78, // -0.16794, -0.9858 + 0xbfc51bdf8597c5f2, 0xbfef8fd5ffae41db, // -0.16491, -0.98631 + 0xbfc4b8b17f79fa88, 0xbfef93f14f85ac08, // -0.16189, -0.98681 + 0xbfc45576b1293e5a, 0xbfef97f924c9099b, // -0.15886, -0.9873 + 0xbfc3f22f57db4893, 0xbfef9bed7cfbde29, // -0.15583, -0.98778 + 0xbfc38edbb0cd8d14, 0xbfef9fce55adb2c8, // -0.1528, -0.98826 + 0xbfc32b7bf94516a7, 0xbfefa39bac7a1791, // -0.14976, -0.98872 + 0xbfc2c8106e8e613a, 0xbfefa7557f08a517, // -0.14673, -0.98918 + 0xbfc264994dfd340a, 0xbfefaafbcb0cfddc, // -0.1437, -0.98962 + 0xbfc20116d4ec7bce, 0xbfefae8e8e46cfbb, // -0.14066, -0.99006 + 0xbfc19d8940be24e7, 0xbfefb20dc681d54d, // -0.13762, -0.99049 + 0xbfc139f0cedaf576, 0xbfefb5797195d741, // -0.13458, -0.9909 + 0xbfc0d64dbcb26786, 0xbfefb8d18d66adb7, // -0.13154, -0.99131 + 0xbfc072a047ba831d, 0xbfefbc1617e44186, // -0.1285, -0.99171 + 0xbfc00ee8ad6fb85b, 0xbfefbf470f0a8d88, // -0.12545, -0.9921 + 0xbfbf564e56a9730e, 0xbfefc26470e19fd3, // -0.12241, -0.99248 + 0xbfbe8eb7fde4aa3e, 0xbfefc56e3b7d9af6, // -0.11937, -0.99285 + 0xbfbdc70ecbae9fc8, 0xbfefc8646cfeb721, // -0.11632, -0.99321 + 0xbfbcff533b307dc1, 0xbfefcb4703914354, // -0.11327, -0.99356 + 0xbfbc3785c79ec2d5, 0xbfefce15fd6da67b, // -0.11022, -0.99391 + 0xbfbb6fa6ec38f64c, 0xbfefd0d158d86087, // -0.10717, -0.99424 + 0xbfbaa7b724495c04, 0xbfefd37914220b84, // -0.10412, -0.99456 + 0xbfb9dfb6eb24a85c, 0xbfefd60d2da75c9e, // -0.10107, -0.99488 + 0xbfb917a6bc29b42c, 0xbfefd88da3d12526, // -0.098017, -0.99518 + 0xbfb84f8712c130a0, 0xbfefdafa7514538c, // -0.094963, -0.99548 + 0xbfb787586a5d5b21, 0xbfefdd539ff1f456, // -0.091909, -0.99577 + 0xbfb6bf1b3e79b129, 0xbfefdf9922f73307, // -0.088854, -0.99604 + 0xbfb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // -0.085797, -0.99631 + 0xbfb52e774a4d4d0a, 0xbfefe3e92be9d886, // -0.08274, -0.99657 + 0xbfb4661179272096, 0xbfefe5f3af2e3940, // -0.079682, -0.99682 + 0xbfb39d9f12c5a299, 0xbfefe7ea85482d60, // -0.076624, -0.99706 + 0xbfb2d52092ce19f6, 0xbfefe9cdad01883a, // -0.073565, -0.99729 + 0xbfb20c9674ed444c, 0xbfefeb9d2530410f, // -0.070505, -0.99751 + 0xbfb1440134d709b2, 0xbfefed58ecb673c4, // -0.067444, -0.99772 + 0xbfb07b614e463064, 0xbfefef0102826191, // -0.064383, -0.99793 + 0xbfaf656e79f820e0, 0xbfeff095658e71ad, // -0.061321, -0.99812 + 0xbfadd406f9808ec8, 0xbfeff21614e131ed, // -0.058258, -0.9983 + 0xbfac428d12c0d7e3, 0xbfeff3830f8d575c, // -0.055195, -0.99848 + 0xbfaab101bd5f8317, 0xbfeff4dc54b1bed3, // -0.052132, -0.99864 + 0xbfa91f65f10dd814, 0xbfeff621e3796d7e, // -0.049068, -0.9988 + 0xbfa78dbaa5874685, 0xbfeff753bb1b9164, // -0.046003, -0.99894 + 0xbfa5fc00d290cd43, 0xbfeff871dadb81df, // -0.042938, -0.99908 + 0xbfa46a396ff86179, 0xbfeff97c4208c014, // -0.039873, -0.9992 + 0xbfa2d865759455cd, 0xbfeffa72effef75d, // -0.036807, -0.99932 + 0xbfa14685db42c17e, 0xbfeffb55e425fdae, // -0.033741, -0.99943 + 0xbf9f693731d1cf01, 0xbfeffc251df1d3f8, // -0.030675, -0.99953 + 0xbf9c454f4ce53b1c, 0xbfeffce09ce2a679, // -0.027608, -0.99962 + 0xbf992155f7a3667e, 0xbfeffd886084cd0d, // -0.024541, -0.9997 + 0xbf95fd4d21fab226, 0xbfeffe1c6870cb77, // -0.021474, -0.99977 + 0xbf92d936bbe30efd, 0xbfeffe9cb44b51a1, // -0.018407, -0.99983 + 0xbf8f6a296ab997ca, 0xbfefff0943c53bd1, // -0.015339, -0.99988 + 0xbf8921d1fcdec784, 0xbfefff62169b92db, // -0.012272, -0.99992 + 0xbf82d96b0e509703, 0xbfefffa72c978c4f, //-0.0092038, -0.99996 + 0xbf7921f0fe670071, 0xbfefffd8858e8a92, //-0.0061359, -0.99998 + 0xbf6921f8becca4ba, 0xbfeffff621621d02, // -0.003068, -1 + 0x0000000000000000, 0xbff0000000000000, // 0, -1 + 0x3f6921f8becca4ba, 0xbfeffff621621d02, // 0.003068, -1 + 0x3f7921f0fe670071, 0xbfefffd8858e8a92, // 0.0061359, -0.99998 + 0x3f82d96b0e509703, 0xbfefffa72c978c4f, // 0.0092038, -0.99996 + 0x3f8921d1fcdec784, 0xbfefff62169b92db, // 0.012272, -0.99992 + 0x3f8f6a296ab997ca, 0xbfefff0943c53bd1, // 0.015339, -0.99988 + 0x3f92d936bbe30efd, 0xbfeffe9cb44b51a1, // 0.018407, -0.99983 + 0x3f95fd4d21fab226, 0xbfeffe1c6870cb77, // 0.021474, -0.99977 + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, // 0.024541, -0.9997 + 0x3f9c454f4ce53b1c, 0xbfeffce09ce2a679, // 0.027608, -0.99962 + 0x3f9f693731d1cf01, 0xbfeffc251df1d3f8, // 0.030675, -0.99953 + 0x3fa14685db42c17e, 0xbfeffb55e425fdae, // 0.033741, -0.99943 + 0x3fa2d865759455cd, 0xbfeffa72effef75d, // 0.036807, -0.99932 + 0x3fa46a396ff86179, 0xbfeff97c4208c014, // 0.039873, -0.9992 + 0x3fa5fc00d290cd43, 0xbfeff871dadb81df, // 0.042938, -0.99908 + 0x3fa78dbaa5874685, 0xbfeff753bb1b9164, // 0.046003, -0.99894 + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, // 0.049068, -0.9988 + 0x3faab101bd5f8317, 0xbfeff4dc54b1bed3, // 0.052132, -0.99864 + 0x3fac428d12c0d7e3, 0xbfeff3830f8d575c, // 0.055195, -0.99848 + 0x3fadd406f9808ec8, 0xbfeff21614e131ed, // 0.058258, -0.9983 + 0x3faf656e79f820e0, 0xbfeff095658e71ad, // 0.061321, -0.99812 + 0x3fb07b614e463064, 0xbfefef0102826191, // 0.064383, -0.99793 + 0x3fb1440134d709b2, 0xbfefed58ecb673c4, // 0.067444, -0.99772 + 0x3fb20c9674ed444c, 0xbfefeb9d2530410f, // 0.070505, -0.99751 + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, // 0.073565, -0.99729 + 0x3fb39d9f12c5a299, 0xbfefe7ea85482d60, // 0.076624, -0.99706 + 0x3fb4661179272096, 0xbfefe5f3af2e3940, // 0.079682, -0.99682 + 0x3fb52e774a4d4d0a, 0xbfefe3e92be9d886, // 0.08274, -0.99657 + 0x3fb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // 0.085797, -0.99631 + 0x3fb6bf1b3e79b129, 0xbfefdf9922f73307, // 0.088854, -0.99604 + 0x3fb787586a5d5b21, 0xbfefdd539ff1f456, // 0.091909, -0.99577 + 0x3fb84f8712c130a0, 0xbfefdafa7514538c, // 0.094963, -0.99548 + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518 + 0x3fb9dfb6eb24a85c, 0xbfefd60d2da75c9e, // 0.10107, -0.99488 + 0x3fbaa7b724495c04, 0xbfefd37914220b84, // 0.10412, -0.99456 + 0x3fbb6fa6ec38f64c, 0xbfefd0d158d86087, // 0.10717, -0.99424 + 0x3fbc3785c79ec2d5, 0xbfefce15fd6da67b, // 0.11022, -0.99391 + 0x3fbcff533b307dc1, 0xbfefcb4703914354, // 0.11327, -0.99356 + 0x3fbdc70ecbae9fc8, 0xbfefc8646cfeb721, // 0.11632, -0.99321 + 0x3fbe8eb7fde4aa3e, 0xbfefc56e3b7d9af6, // 0.11937, -0.99285 + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248 + 0x3fc00ee8ad6fb85b, 0xbfefbf470f0a8d88, // 0.12545, -0.9921 + 0x3fc072a047ba831d, 0xbfefbc1617e44186, // 0.1285, -0.99171 + 0x3fc0d64dbcb26786, 0xbfefb8d18d66adb7, // 0.13154, -0.99131 + 0x3fc139f0cedaf576, 0xbfefb5797195d741, // 0.13458, -0.9909 + 0x3fc19d8940be24e7, 0xbfefb20dc681d54d, // 0.13762, -0.99049 + 0x3fc20116d4ec7bce, 0xbfefae8e8e46cfbb, // 0.14066, -0.99006 + 0x3fc264994dfd340a, 0xbfefaafbcb0cfddc, // 0.1437, -0.98962 + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918 + 0x3fc32b7bf94516a7, 0xbfefa39bac7a1791, // 0.14976, -0.98872 + 0x3fc38edbb0cd8d14, 0xbfef9fce55adb2c8, // 0.1528, -0.98826 + 0x3fc3f22f57db4893, 0xbfef9bed7cfbde29, // 0.15583, -0.98778 + 0x3fc45576b1293e5a, 0xbfef97f924c9099b, // 0.15886, -0.9873 + 0x3fc4b8b17f79fa88, 0xbfef93f14f85ac08, // 0.16189, -0.98681 + 0x3fc51bdf8597c5f2, 0xbfef8fd5ffae41db, // 0.16491, -0.98631 + 0x3fc57f008654cbde, 0xbfef8ba737cb4b78, // 0.16794, -0.9858 + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528 + 0x3fc6451a831d830d, 0xbfef830f4a40c60c, // 0.17398, -0.98475 + 0x3fc6a81304f64ab2, 0xbfef7ea629e63d6e, // 0.177, -0.98421 + 0x3fc70afd8d08c4ff, 0xbfef7a299c1a322a, // 0.18002, -0.98366 + 0x3fc76dd9de50bf31, 0xbfef7599a3a12077, // 0.18304, -0.98311 + 0x3fc7d0a7bbd2cb1b, 0xbfef70f6434b7eb7, // 0.18606, -0.98254 + 0x3fc83366e89c64c5, 0xbfef6c3f7df5bbb7, // 0.18907, -0.98196 + 0x3fc8961727c41804, 0xbfef677556883cee, // 0.19208, -0.98138 + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079 + 0x3fc95b49e9b62af9, 0xbfef5da6ed43685d, // 0.1981, -0.98018 + 0x3fc9bdcbf2dc4366, 0xbfef58a2b1789e84, // 0.2011, -0.97957 + 0x3fca203e1b1831da, 0xbfef538b1faf2d07, // 0.20411, -0.97895 + 0x3fca82a025b00451, 0xbfef4e603b0b2f2d, // 0.20711, -0.97832 + 0x3fcae4f1d5f3b9ab, 0xbfef492206bcabb4, // 0.21011, -0.97768 + 0x3fcb4732ef3d6722, 0xbfef43d085ff92dd, // 0.21311, -0.97703 + 0x3fcba96334f15dad, 0xbfef3e6bbc1bbc65, // 0.21611, -0.97637 + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757 + 0x3fcc6d90535d74dc, 0xbfef33685a3aaef0, // 0.22209, -0.97503 + 0x3fcccf8cb312b286, 0xbfef2dc9c9089a9d, // 0.22508, -0.97434 + 0x3fcd31774d2cbdee, 0xbfef2817fc4609ce, // 0.22807, -0.97364 + 0x3fcd934fe5454311, 0xbfef2252f7763ada, // 0.23106, -0.97294 + 0x3fcdf5163f01099a, 0xbfef1c7abe284708, // 0.23404, -0.97223 + 0x3fce56ca1e101a1b, 0xbfef168f53f7205d, // 0.23702, -0.9715 + 0x3fceb86b462de348, 0xbfef1090bc898f5f, // 0.24, -0.97077 + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003 + 0x3fcf7b7480bd3801, 0xbfef045a14cf738c, // 0.24596, -0.96928 + 0x3fcfdcdc1adfedf8, 0xbfeefe220c0b95ec, // 0.24893, -0.96852 + 0x3fd01f1806b9fdd2, 0xbfeef7d6e51ca3c0, // 0.2519, -0.96775 + 0x3fd04fb80e37fdae, 0xbfeef178a3e473c2, // 0.25487, -0.96698 + 0x3fd0804e05eb661e, 0xbfeeeb074c50a544, // 0.25783, -0.96619 + 0x3fd0b0d9cfdbdb90, 0xbfeee482e25a9dbc, // 0.26079, -0.96539 + 0x3fd0e15b4e1749cd, 0xbfeeddeb6a078651, // 0.26375, -0.96459 + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378 + 0x3fd1423eefc69378, 0xbfeed0835e999009, // 0.26967, -0.96295 + 0x3fd172a0d7765177, 0xbfeec9b2d3c3bf84, // 0.27262, -0.96212 + 0x3fd1a2f7fbe8f243, 0xbfeec2cf4b1af6b2, // 0.27557, -0.96128 + 0x3fd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // 0.27852, -0.96043 + 0x3fd2038583d727bd, 0xbfeeb4cf515b8811, // 0.28146, -0.95957 + 0x3fd233bbabc3bb72, 0xbfeeadb2e8e7a88e, // 0.28441, -0.9587 + 0x3fd263e6995554ba, 0xbfeea68393e65800, // 0.28735, -0.95783 + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694 + 0x3fd2c41a4e954520, 0xbfee97ec36016b30, // 0.29322, -0.95605 + 0x3fd2f422daec0386, 0xbfee9084361df7f3, // 0.29615, -0.95514 + 0x3fd3241fb638baaf, 0xbfee89095bad6025, // 0.29908, -0.95423 + 0x3fd35410c2e18152, 0xbfee817bab4cd10d, // 0.30201, -0.95331 + 0x3fd383f5e353b6aa, 0xbfee79db29a5165a, // 0.30493, -0.95238 + 0x3fd3b3cefa0414b7, 0xbfee7227db6a9744, // 0.30785, -0.95144 + 0x3fd3e39be96ec271, 0xbfee6a61c55d53a7, // 0.31077, -0.95049 + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953 + 0x3fd44310dc8936f0, 0xbfee5a9d550467d3, // 0.31659, -0.94856 + 0x3fd472b8a5571054, 0xbfee529f04729ffc, // 0.3195, -0.94759 + 0x3fd4a253d11b82f3, 0xbfee4a8dff81ce5e, // 0.32241, -0.9466 + 0x3fd4d1e24278e76a, 0xbfee426a4b2bc17e, // 0.32531, -0.94561 + 0x3fd50163dc197047, 0xbfee3a33ec75ce85, // 0.32821, -0.9446 + 0x3fd530d880af3c24, 0xbfee31eae870ce25, // 0.33111, -0.94359 + 0x3fd5604012f467b4, 0xbfee298f4439197a, // 0.334, -0.94257 + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154 + 0x3fd5bee78b9db3b6, 0xbfee18a02fdc66d9, // 0.33978, -0.94051 + 0x3fd5ee27379ea693, 0xbfee100cca2980ac, // 0.34266, -0.93946 + 0x3fd61d595c88c203, 0xbfee0766d9280f54, // 0.34554, -0.9384 + 0x3fd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // 0.34842, -0.93734 + 0x3fd67b949cad63ca, 0xbfedf5e36a9ba59c, // 0.35129, -0.93627 + 0x3fd6aa9d7dc77e16, 0xbfeded05f7de47da, // 0.35416, -0.93518 + 0x3fd6d998638a0cb5, 0xbfede4160f6d8d81, // 0.35703, -0.93409 + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299 + 0x3fd73763c9261092, 0xbfedd1fef38a915a, // 0.36276, -0.93188 + 0x3fd766340f2418f6, 0xbfedc8d7cb410260, // 0.36561, -0.93077 + 0x3fd794f5e613dfae, 0xbfedbf9e4395759a, // 0.36847, -0.92964 + 0x3fd7c3a9311dcce7, 0xbfedb6526238a09b, // 0.37132, -0.92851 + 0x3fd7f24dd37341e3, 0xbfedacf42ce68ab9, // 0.37416, -0.92736 + 0x3fd820e3b04eaac4, 0xbfeda383a9668988, // 0.37701, -0.92621 + 0x3fd84f6aaaf3903f, 0xbfed9a00dd8b3d46, // 0.37985, -0.92505 + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388 + 0x3fd8ac4b86d5ed44, 0xbfed86c48445a450, // 0.38552, -0.9227 + 0x3fd8daa52ec8a4af, 0xbfed7d0b02b8ecf9, // 0.38835, -0.92151 + 0x3fd908ef81ef7bd1, 0xbfed733f508c0dff, // 0.39117, -0.92032 + 0x3fd9372a63bc93d7, 0xbfed696173c9e68b, // 0.39399, -0.91911 + 0x3fd96555b7ab948f, 0xbfed5f7172888a7f, // 0.39681, -0.9179 + 0x3fd993716141bdfe, 0xbfed556f52e93eb1, // 0.39962, -0.91668 + 0x3fd9c17d440df9f2, 0xbfed4b5b1b187524, // 0.40243, -0.91545 + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421 + 0x3fda1d6543b50ac0, 0xbfed36fc7bcbfbdc, // 0.40804, -0.91296 + 0x3fda4b4127dea1e4, 0xbfed2cb220e0ef9f, // 0.41084, -0.91171 + 0x3fda790cd3dbf31a, 0xbfed2255c6e5a4e1, // 0.41364, -0.91044 + 0x3fdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // 0.41643, -0.90917 + 0x3fdad473125cdc08, 0xbfed0d672f59d2b9, // 0.41922, -0.90789 + 0x3fdb020d6c7f4009, 0xbfed02d4feb2bd92, // 0.422, -0.9066 + 0x3fdb2f971db31972, 0xbfecf830e8ce467b, // 0.42478, -0.9053 + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399 + 0x3fdb8a7814fd5693, 0xbfece2b32799a060, // 0.43033, -0.90267 + 0x3fdbb7cf2304bd01, 0xbfecd7d9898b32f6, // 0.43309, -0.90135 + 0x3fdbe51517ffc0d9, 0xbfecccee20c2de9f, // 0.43586, -0.90002 + 0x3fdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // 0.43862, -0.89867 + 0x3fdc3f6d47263129, 0xbfecb6e20a00da99, // 0.44137, -0.89732 + 0x3fdc6c7f4997000a, 0xbfecabc169a0b901, // 0.44412, -0.89597 + 0x3fdc997fc3865388, 0xbfeca08f19b9c449, // 0.44687, -0.8946 + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322 + 0x3fdcf34baee1cd21, 0xbfec89f587029c13, // 0.45235, -0.89184 + 0x3fdd2016e8e9db5b, 0xbfec7e8e52233cf3, // 0.45508, -0.89045 + 0x3fdd4cd02ba8609c, 0xbfec7315899eaad7, // 0.45781, -0.88905 + 0x3fdd79775b86e389, 0xbfec678b3488739b, // 0.46054, -0.88764 + 0x3fdda60c5cfa10d8, 0xbfec5bef59fef85a, // 0.46326, -0.88622 + 0x3fddd28f1481cc58, 0xbfec5042012b6907, // 0.46598, -0.8848 + 0x3fddfeff66a941de, 0xbfec44833141c004, // 0.46869, -0.88336 + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192 + 0x3fde57a86d3cd824, 0xbfec2cd14931e3f1, // 0.4741, -0.88047 + 0x3fde83e0eaf85113, 0xbfec20de3fa971b0, // 0.4768, -0.87901 + 0x3fdeb00695f25620, 0xbfec14d9dc465e58, // 0.47949, -0.87755 + 0x3fdedc1952ef78d5, 0xbfec08c426725549, // 0.48218, -0.87607 + 0x3fdf081906bff7fd, 0xbfebfc9d25a1b147, // 0.48487, -0.87459 + 0x3fdf3405963fd068, 0xbfebf064e15377dd, // 0.48755, -0.87309 + 0x3fdf5fdee656cda3, 0xbfebe41b611154c1, // 0.49023, -0.8716 + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009 + 0x3fdfb7575c24d2de, 0xbfebcb54cb0d2327, // 0.49557, -0.86857 + 0x3fdfe2f64be7120f, 0xbfebbed7c49380ea, // 0.49823, -0.86705 + 0x3fe00740c82b82e0, 0xbfebb249a0b6c40d, // 0.50089, -0.86551 + 0x3fe01cfc874c3eb7, 0xbfeba5aa673590d2, // 0.50354, -0.86397 + 0x3fe032ae55edbd95, 0xbfeb98fa1fd9155e, // 0.50619, -0.86242 + 0x3fe0485626ae221a, 0xbfeb8c38d27504e9, // 0.50883, -0.86087 + 0x3fe05df3ec31b8b6, 0xbfeb7f6686e792ea, // 0.51147, -0.8593 + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773 + 0x3fe089112032b08c, 0xbfeb658f14fdbc47, // 0.51673, -0.85615 + 0x3fe09e907417c5e1, 0xbfeb5889fe921405, // 0.51936, -0.85456 + 0x3fe0b405878f85ec, 0xbfeb4b7409de7925, // 0.52198, -0.85296 + 0x3fe0c9704d5d898f, 0xbfeb3e4d3ef55712, // 0.52459, -0.85136 + 0x3fe0ded0b84bc4b5, 0xbfeb3115a5f37bf4, // 0.5272, -0.84974 + 0x3fe0f426bb2a8e7d, 0xbfeb23cd470013b4, // 0.5298, -0.84812 + 0x3fe1097248d0a956, 0xbfeb16742a4ca2f5, // 0.5324, -0.84649 + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485 + 0x3fe133e9cfee254e, 0xbfeafb8fd89f57b6, // 0.53759, -0.84321 + 0x3fe14915af336ceb, 0xbfeaee04b43c1474, // 0.54017, -0.84155 + 0x3fe15e36e4dbe2bc, 0xbfeae068f345ecef, // 0.54275, -0.83989 + 0x3fe1734d63dedb49, 0xbfead2bc9e21d511, // 0.54532, -0.83822 + 0x3fe188591f3a46e5, 0xbfeac4ffbd3efac8, // 0.54789, -0.83655 + 0x3fe19d5a09f2b9b8, 0xbfeab7325916c0d4, // 0.55046, -0.83486 + 0x3fe1b250171373be, 0xbfeaa9547a2cb98e, // 0.55302, -0.83317 + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147 + 0x3fe1dc1b64dc4872, 0xbfea8d676e545ad2, // 0.55812, -0.82976 + 0x3fe1f0f08bbc861b, 0xbfea7f58529fe69d, // 0.56066, -0.82805 + 0x3fe205baa17560d6, 0xbfea7138de9d60f5, // 0.5632, -0.82632 + 0x3fe21a799933eb58, 0xbfea63091b02fae2, // 0.56573, -0.82459 + 0x3fe22f2d662c13e1, 0xbfea54c91090f524, // 0.56826, -0.82285 + 0x3fe243d5fb98ac1f, 0xbfea4678c8119ac8, // 0.57078, -0.8211 + 0x3fe258734cbb7110, 0xbfea38184a593bc6, // 0.5733, -0.81935 + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758 + 0x3fe2818bef4d3cba, 0xbfea1b26d2c0a75e, // 0.57831, -0.81581 + 0x3fe2960727629ca8, 0xbfea0c95eabaf937, // 0.58081, -0.81404 + 0x3fe2aa76e87aeb58, 0xbfe9fdf4f13149de, // 0.58331, -0.81225 + 0x3fe2bedb25faf3ea, 0xbfe9ef43ef29af94, // 0.5858, -0.81046 + 0x3fe2d333d34e9bb7, 0xbfe9e082edb42472, // 0.58828, -0.80866 + 0x3fe2e780e3e8ea16, 0xbfe9d1b1f5ea80d6, // 0.59076, -0.80685 + 0x3fe2fbc24b441015, 0xbfe9c2d110f075c3, // 0.59323, -0.80503 + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321 + 0x3fe32421ec49a620, 0xbfe9a4dfa42b06b2, // 0.59816, -0.80138 + 0x3fe338400d0c8e57, 0xbfe995cf2ed80d22, // 0.60062, -0.79954 + 0x3fe34c5252c14de1, 0xbfe986aef1457594, // 0.60307, -0.79769 + 0x3fe36058b10659f3, 0xbfe9777ef4c7d742, // 0.60551, -0.79584 + 0x3fe374531b817f8d, 0xbfe9683f42bd7fe1, // 0.60795, -0.79398 + 0x3fe3884185dfeb22, 0xbfe958efe48e6dd7, // 0.61038, -0.79211 + 0x3fe39c23e3d63029, 0xbfe94990e3ac4a6c, // 0.61281, -0.79023 + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835 + 0x3fe3c3c44981c517, 0xbfe92aa41fc5a815, // 0.61765, -0.78646 + 0x3fe3d78238c58343, 0xbfe91b166fd49da2, // 0.62006, -0.78456 + 0x3fe3eb33eabe0680, 0xbfe90b7943575efe, // 0.62246, -0.78265 + 0x3fe3fed9534556d4, 0xbfe8fbcca3ef940d, // 0.62486, -0.78074 + 0x3fe41272663d108c, 0xbfe8ec109b486c49, // 0.62725, -0.77882 + 0x3fe425ff178e6bb1, 0xbfe8dc45331698cc, // 0.62964, -0.77689 + 0x3fe4397f5b2a4380, 0xbfe8cc6a75184655, // 0.63202, -0.77495 + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301 + 0x3fe4605a692b32a2, 0xbfe8ac871ede1d88, // 0.63676, -0.77106 + 0x3fe473b51b987347, 0xbfe89c7e9a4dd4ab, // 0.63912, -0.7691 + 0x3fe48703306091fe, 0xbfe88c66e7481ba1, // 0.64148, -0.76714 + 0x3fe49a449b9b0938, 0xbfe87c400fba2ebf, // 0.64383, -0.76517 + 0x3fe4ad79516722f0, 0xbfe86c0a1d9aa195, // 0.64618, -0.76319 + 0x3fe4c0a145ec0004, 0xbfe85bc51ae958cc, // 0.64851, -0.7612 + 0x3fe4d3bc6d589f80, 0xbfe84b7111af83f9, // 0.65085, -0.75921 + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721 + 0x3fe4f9cc25cca486, 0xbfe82a9c13f545ff, // 0.65549, -0.7552 + 0x3fe50cc09f59a09b, 0xbfe81a1b33b57acc, // 0.65781, -0.75319 + 0x3fe51fa81cd99aa6, 0xbfe8098b756e52fa, // 0.66011, -0.75117 + 0x3fe5328292a35596, 0xbfe7f8ece3571771, // 0.66242, -0.74914 + 0x3fe5454ff5159dfb, 0xbfe7e83f87b03686, // 0.66471, -0.7471 + 0x3fe5581038975137, 0xbfe7d7836cc33db2, // 0.667, -0.74506 + 0x3fe56ac35197649e, 0xbfe7c6b89ce2d333, // 0.66928, -0.74301 + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095 + 0x3fe59001d5f723df, 0xbfe7a4f707bf97d2, // 0.67383, -0.73889 + 0x3fe5a28d2a5d7250, 0xbfe79400574f55e4, // 0.67609, -0.73682 + 0x3fe5b50b264f7448, 0xbfe782fb1b90b35b, // 0.67835, -0.73474 + 0x3fe5c77bbe65018c, 0xbfe771e75f037261, // 0.6806, -0.73265 + 0x3fe5d9dee73e345c, 0xbfe760c52c304764, // 0.68285, -0.73056 + 0x3fe5ec3495837074, 0xbfe74f948da8d28d, // 0.68508, -0.72846 + 0x3fe5fe7cbde56a0f, 0xbfe73e558e079942, // 0.68732, -0.72636 + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425 + 0x3fe622e44fec22ff, 0xbfe71bac960e41bf, // 0.69176, -0.72213 + 0x3fe63503a31c1be8, 0xbfe70a42b3176d7a, // 0.69397, -0.72 + 0x3fe64715437f535b, 0xbfe6f8ca99c95b75, // 0.69618, -0.71787 + 0x3fe6591925f0783e, 0xbfe6e74454eaa8ae, // 0.69838, -0.71573 + 0x3fe66b0f3f52b386, 0xbfe6d5afef4aafcc, // 0.70057, -0.71358 + 0x3fe67cf78491af10, 0xbfe6c40d73c18275, // 0.70275, -0.71143 + 0x3fe68ed1eaa19c71, 0xbfe6b25ced2fe29c, // 0.70493, -0.70927 + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711 + 0x3fe6b25ced2fe29c, 0xbfe68ed1eaa19c71, // 0.70927, -0.70493 + 0x3fe6c40d73c18275, 0xbfe67cf78491af10, // 0.71143, -0.70275 + 0x3fe6d5afef4aafcc, 0xbfe66b0f3f52b386, // 0.71358, -0.70057 + 0x3fe6e74454eaa8ae, 0xbfe6591925f0783e, // 0.71573, -0.69838 + 0x3fe6f8ca99c95b75, 0xbfe64715437f535b, // 0.71787, -0.69618 + 0x3fe70a42b3176d7a, 0xbfe63503a31c1be8, // 0.72, -0.69397 + 0x3fe71bac960e41bf, 0xbfe622e44fec22ff, // 0.72213, -0.69176 + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954 + 0x3fe73e558e079942, 0xbfe5fe7cbde56a0f, // 0.72636, -0.68732 + 0x3fe74f948da8d28d, 0xbfe5ec3495837074, // 0.72846, -0.68508 + 0x3fe760c52c304764, 0xbfe5d9dee73e345c, // 0.73056, -0.68285 + 0x3fe771e75f037261, 0xbfe5c77bbe65018c, // 0.73265, -0.6806 + 0x3fe782fb1b90b35b, 0xbfe5b50b264f7448, // 0.73474, -0.67835 + 0x3fe79400574f55e4, 0xbfe5a28d2a5d7250, // 0.73682, -0.67609 + 0x3fe7a4f707bf97d2, 0xbfe59001d5f723df, // 0.73889, -0.67383 + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156 + 0x3fe7c6b89ce2d333, 0xbfe56ac35197649e, // 0.74301, -0.66928 + 0x3fe7d7836cc33db2, 0xbfe5581038975137, // 0.74506, -0.667 + 0x3fe7e83f87b03686, 0xbfe5454ff5159dfb, // 0.7471, -0.66471 + 0x3fe7f8ece3571771, 0xbfe5328292a35596, // 0.74914, -0.66242 + 0x3fe8098b756e52fa, 0xbfe51fa81cd99aa6, // 0.75117, -0.66011 + 0x3fe81a1b33b57acc, 0xbfe50cc09f59a09b, // 0.75319, -0.65781 + 0x3fe82a9c13f545ff, 0xbfe4f9cc25cca486, // 0.7552, -0.65549 + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317 + 0x3fe84b7111af83f9, 0xbfe4d3bc6d589f80, // 0.75921, -0.65085 + 0x3fe85bc51ae958cc, 0xbfe4c0a145ec0004, // 0.7612, -0.64851 + 0x3fe86c0a1d9aa195, 0xbfe4ad79516722f0, // 0.76319, -0.64618 + 0x3fe87c400fba2ebf, 0xbfe49a449b9b0938, // 0.76517, -0.64383 + 0x3fe88c66e7481ba1, 0xbfe48703306091fe, // 0.76714, -0.64148 + 0x3fe89c7e9a4dd4ab, 0xbfe473b51b987347, // 0.7691, -0.63912 + 0x3fe8ac871ede1d88, 0xbfe4605a692b32a2, // 0.77106, -0.63676 + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439 + 0x3fe8cc6a75184655, 0xbfe4397f5b2a4380, // 0.77495, -0.63202 + 0x3fe8dc45331698cc, 0xbfe425ff178e6bb1, // 0.77689, -0.62964 + 0x3fe8ec109b486c49, 0xbfe41272663d108c, // 0.77882, -0.62725 + 0x3fe8fbcca3ef940d, 0xbfe3fed9534556d4, // 0.78074, -0.62486 + 0x3fe90b7943575efe, 0xbfe3eb33eabe0680, // 0.78265, -0.62246 + 0x3fe91b166fd49da2, 0xbfe3d78238c58343, // 0.78456, -0.62006 + 0x3fe92aa41fc5a815, 0xbfe3c3c44981c517, // 0.78646, -0.61765 + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523 + 0x3fe94990e3ac4a6c, 0xbfe39c23e3d63029, // 0.79023, -0.61281 + 0x3fe958efe48e6dd7, 0xbfe3884185dfeb22, // 0.79211, -0.61038 + 0x3fe9683f42bd7fe1, 0xbfe374531b817f8d, // 0.79398, -0.60795 + 0x3fe9777ef4c7d742, 0xbfe36058b10659f3, // 0.79584, -0.60551 + 0x3fe986aef1457594, 0xbfe34c5252c14de1, // 0.79769, -0.60307 + 0x3fe995cf2ed80d22, 0xbfe338400d0c8e57, // 0.79954, -0.60062 + 0x3fe9a4dfa42b06b2, 0xbfe32421ec49a620, // 0.80138, -0.59816 + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957 + 0x3fe9c2d110f075c3, 0xbfe2fbc24b441015, // 0.80503, -0.59323 + 0x3fe9d1b1f5ea80d6, 0xbfe2e780e3e8ea16, // 0.80685, -0.59076 + 0x3fe9e082edb42472, 0xbfe2d333d34e9bb7, // 0.80866, -0.58828 + 0x3fe9ef43ef29af94, 0xbfe2bedb25faf3ea, // 0.81046, -0.5858 + 0x3fe9fdf4f13149de, 0xbfe2aa76e87aeb58, // 0.81225, -0.58331 + 0x3fea0c95eabaf937, 0xbfe2960727629ca8, // 0.81404, -0.58081 + 0x3fea1b26d2c0a75e, 0xbfe2818bef4d3cba, // 0.81581, -0.57831 + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581 + 0x3fea38184a593bc6, 0xbfe258734cbb7110, // 0.81935, -0.5733 + 0x3fea4678c8119ac8, 0xbfe243d5fb98ac1f, // 0.8211, -0.57078 + 0x3fea54c91090f524, 0xbfe22f2d662c13e1, // 0.82285, -0.56826 + 0x3fea63091b02fae2, 0xbfe21a799933eb58, // 0.82459, -0.56573 + 0x3fea7138de9d60f5, 0xbfe205baa17560d6, // 0.82632, -0.5632 + 0x3fea7f58529fe69d, 0xbfe1f0f08bbc861b, // 0.82805, -0.56066 + 0x3fea8d676e545ad2, 0xbfe1dc1b64dc4872, // 0.82976, -0.55812 + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557 + 0x3feaa9547a2cb98e, 0xbfe1b250171373be, // 0.83317, -0.55302 + 0x3feab7325916c0d4, 0xbfe19d5a09f2b9b8, // 0.83486, -0.55046 + 0x3feac4ffbd3efac8, 0xbfe188591f3a46e5, // 0.83655, -0.54789 + 0x3fead2bc9e21d511, 0xbfe1734d63dedb49, // 0.83822, -0.54532 + 0x3feae068f345ecef, 0xbfe15e36e4dbe2bc, // 0.83989, -0.54275 + 0x3feaee04b43c1474, 0xbfe14915af336ceb, // 0.84155, -0.54017 + 0x3feafb8fd89f57b6, 0xbfe133e9cfee254e, // 0.84321, -0.53759 + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535 + 0x3feb16742a4ca2f5, 0xbfe1097248d0a956, // 0.84649, -0.5324 + 0x3feb23cd470013b4, 0xbfe0f426bb2a8e7d, // 0.84812, -0.5298 + 0x3feb3115a5f37bf4, 0xbfe0ded0b84bc4b5, // 0.84974, -0.5272 + 0x3feb3e4d3ef55712, 0xbfe0c9704d5d898f, // 0.85136, -0.52459 + 0x3feb4b7409de7925, 0xbfe0b405878f85ec, // 0.85296, -0.52198 + 0x3feb5889fe921405, 0xbfe09e907417c5e1, // 0.85456, -0.51936 + 0x3feb658f14fdbc47, 0xbfe089112032b08c, // 0.85615, -0.51673 + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141 + 0x3feb7f6686e792ea, 0xbfe05df3ec31b8b6, // 0.8593, -0.51147 + 0x3feb8c38d27504e9, 0xbfe0485626ae221a, // 0.86087, -0.50883 + 0x3feb98fa1fd9155e, 0xbfe032ae55edbd95, // 0.86242, -0.50619 + 0x3feba5aa673590d2, 0xbfe01cfc874c3eb7, // 0.86397, -0.50354 + 0x3febb249a0b6c40d, 0xbfe00740c82b82e0, // 0.86551, -0.50089 + 0x3febbed7c49380ea, 0xbfdfe2f64be7120f, // 0.86705, -0.49823 + 0x3febcb54cb0d2327, 0xbfdfb7575c24d2de, // 0.86857, -0.49557 + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929 + 0x3febe41b611154c1, 0xbfdf5fdee656cda3, // 0.8716, -0.49023 + 0x3febf064e15377dd, 0xbfdf3405963fd068, // 0.87309, -0.48755 + 0x3febfc9d25a1b147, 0xbfdf081906bff7fd, // 0.87459, -0.48487 + 0x3fec08c426725549, 0xbfdedc1952ef78d5, // 0.87607, -0.48218 + 0x3fec14d9dc465e58, 0xbfdeb00695f25620, // 0.87755, -0.47949 + 0x3fec20de3fa971b0, 0xbfde83e0eaf85113, // 0.87901, -0.4768 + 0x3fec2cd14931e3f1, 0xbfde57a86d3cd824, // 0.88047, -0.4741 + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714 + 0x3fec44833141c004, 0xbfddfeff66a941de, // 0.88336, -0.46869 + 0x3fec5042012b6907, 0xbfddd28f1481cc58, // 0.8848, -0.46598 + 0x3fec5bef59fef85a, 0xbfdda60c5cfa10d8, // 0.88622, -0.46326 + 0x3fec678b3488739b, 0xbfdd79775b86e389, // 0.88764, -0.46054 + 0x3fec7315899eaad7, 0xbfdd4cd02ba8609c, // 0.88905, -0.45781 + 0x3fec7e8e52233cf3, 0xbfdd2016e8e9db5b, // 0.89045, -0.45508 + 0x3fec89f587029c13, 0xbfdcf34baee1cd21, // 0.89184, -0.45235 + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961 + 0x3feca08f19b9c449, 0xbfdc997fc3865388, // 0.8946, -0.44687 + 0x3fecabc169a0b901, 0xbfdc6c7f4997000a, // 0.89597, -0.44412 + 0x3fecb6e20a00da99, 0xbfdc3f6d47263129, // 0.89732, -0.44137 + 0x3fecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // 0.89867, -0.43862 + 0x3fecccee20c2de9f, 0xbfdbe51517ffc0d9, // 0.90002, -0.43586 + 0x3fecd7d9898b32f6, 0xbfdbb7cf2304bd01, // 0.90135, -0.43309 + 0x3fece2b32799a060, 0xbfdb8a7814fd5693, // 0.90267, -0.43033 + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756 + 0x3fecf830e8ce467b, 0xbfdb2f971db31972, // 0.9053, -0.42478 + 0x3fed02d4feb2bd92, 0xbfdb020d6c7f4009, // 0.9066, -0.422 + 0x3fed0d672f59d2b9, 0xbfdad473125cdc08, // 0.90789, -0.41922 + 0x3fed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // 0.90917, -0.41643 + 0x3fed2255c6e5a4e1, 0xbfda790cd3dbf31a, // 0.91044, -0.41364 + 0x3fed2cb220e0ef9f, 0xbfda4b4127dea1e4, // 0.91171, -0.41084 + 0x3fed36fc7bcbfbdc, 0xbfda1d6543b50ac0, // 0.91296, -0.40804 + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524 + 0x3fed4b5b1b187524, 0xbfd9c17d440df9f2, // 0.91545, -0.40243 + 0x3fed556f52e93eb1, 0xbfd993716141bdfe, // 0.91668, -0.39962 + 0x3fed5f7172888a7f, 0xbfd96555b7ab948f, // 0.9179, -0.39681 + 0x3fed696173c9e68b, 0xbfd9372a63bc93d7, // 0.91911, -0.39399 + 0x3fed733f508c0dff, 0xbfd908ef81ef7bd1, // 0.92032, -0.39117 + 0x3fed7d0b02b8ecf9, 0xbfd8daa52ec8a4af, // 0.92151, -0.38835 + 0x3fed86c48445a450, 0xbfd8ac4b86d5ed44, // 0.9227, -0.38552 + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268 + 0x3fed9a00dd8b3d46, 0xbfd84f6aaaf3903f, // 0.92505, -0.37985 + 0x3feda383a9668988, 0xbfd820e3b04eaac4, // 0.92621, -0.37701 + 0x3fedacf42ce68ab9, 0xbfd7f24dd37341e3, // 0.92736, -0.37416 + 0x3fedb6526238a09b, 0xbfd7c3a9311dcce7, // 0.92851, -0.37132 + 0x3fedbf9e4395759a, 0xbfd794f5e613dfae, // 0.92964, -0.36847 + 0x3fedc8d7cb410260, 0xbfd766340f2418f6, // 0.93077, -0.36561 + 0x3fedd1fef38a915a, 0xbfd73763c9261092, // 0.93188, -0.36276 + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599 + 0x3fede4160f6d8d81, 0xbfd6d998638a0cb5, // 0.93409, -0.35703 + 0x3feded05f7de47da, 0xbfd6aa9d7dc77e16, // 0.93518, -0.35416 + 0x3fedf5e36a9ba59c, 0xbfd67b949cad63ca, // 0.93627, -0.35129 + 0x3fedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // 0.93734, -0.34842 + 0x3fee0766d9280f54, 0xbfd61d595c88c203, // 0.9384, -0.34554 + 0x3fee100cca2980ac, 0xbfd5ee27379ea693, // 0.93946, -0.34266 + 0x3fee18a02fdc66d9, 0xbfd5bee78b9db3b6, // 0.94051, -0.33978 + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689 + 0x3fee298f4439197a, 0xbfd5604012f467b4, // 0.94257, -0.334 + 0x3fee31eae870ce25, 0xbfd530d880af3c24, // 0.94359, -0.33111 + 0x3fee3a33ec75ce85, 0xbfd50163dc197047, // 0.9446, -0.32821 + 0x3fee426a4b2bc17e, 0xbfd4d1e24278e76a, // 0.94561, -0.32531 + 0x3fee4a8dff81ce5e, 0xbfd4a253d11b82f3, // 0.9466, -0.32241 + 0x3fee529f04729ffc, 0xbfd472b8a5571054, // 0.94759, -0.3195 + 0x3fee5a9d550467d3, 0xbfd44310dc8936f0, // 0.94856, -0.31659 + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368 + 0x3fee6a61c55d53a7, 0xbfd3e39be96ec271, // 0.95049, -0.31077 + 0x3fee7227db6a9744, 0xbfd3b3cefa0414b7, // 0.95144, -0.30785 + 0x3fee79db29a5165a, 0xbfd383f5e353b6aa, // 0.95238, -0.30493 + 0x3fee817bab4cd10d, 0xbfd35410c2e18152, // 0.95331, -0.30201 + 0x3fee89095bad6025, 0xbfd3241fb638baaf, // 0.95423, -0.29908 + 0x3fee9084361df7f3, 0xbfd2f422daec0386, // 0.95514, -0.29615 + 0x3fee97ec36016b30, 0xbfd2c41a4e954520, // 0.95605, -0.29322 + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028 + 0x3feea68393e65800, 0xbfd263e6995554ba, // 0.95783, -0.28735 + 0x3feeadb2e8e7a88e, 0xbfd233bbabc3bb72, // 0.9587, -0.28441 + 0x3feeb4cf515b8811, 0xbfd2038583d727bd, // 0.95957, -0.28146 + 0x3feebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // 0.96043, -0.27852 + 0x3feec2cf4b1af6b2, 0xbfd1a2f7fbe8f243, // 0.96128, -0.27557 + 0x3feec9b2d3c3bf84, 0xbfd172a0d7765177, // 0.96212, -0.27262 + 0x3feed0835e999009, 0xbfd1423eefc69378, // 0.96295, -0.26967 + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671 + 0x3feeddeb6a078651, 0xbfd0e15b4e1749cd, // 0.96459, -0.26375 + 0x3feee482e25a9dbc, 0xbfd0b0d9cfdbdb90, // 0.96539, -0.26079 + 0x3feeeb074c50a544, 0xbfd0804e05eb661e, // 0.96619, -0.25783 + 0x3feef178a3e473c2, 0xbfd04fb80e37fdae, // 0.96698, -0.25487 + 0x3feef7d6e51ca3c0, 0xbfd01f1806b9fdd2, // 0.96775, -0.2519 + 0x3feefe220c0b95ec, 0xbfcfdcdc1adfedf8, // 0.96852, -0.24893 + 0x3fef045a14cf738c, 0xbfcf7b7480bd3801, // 0.96928, -0.24596 + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298 + 0x3fef1090bc898f5f, 0xbfceb86b462de348, // 0.97077, -0.24 + 0x3fef168f53f7205d, 0xbfce56ca1e101a1b, // 0.9715, -0.23702 + 0x3fef1c7abe284708, 0xbfcdf5163f01099a, // 0.97223, -0.23404 + 0x3fef2252f7763ada, 0xbfcd934fe5454311, // 0.97294, -0.23106 + 0x3fef2817fc4609ce, 0xbfcd31774d2cbdee, // 0.97364, -0.22807 + 0x3fef2dc9c9089a9d, 0xbfcccf8cb312b286, // 0.97434, -0.22508 + 0x3fef33685a3aaef0, 0xbfcc6d90535d74dc, // 0.97503, -0.22209 + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191 + 0x3fef3e6bbc1bbc65, 0xbfcba96334f15dad, // 0.97637, -0.21611 + 0x3fef43d085ff92dd, 0xbfcb4732ef3d6722, // 0.97703, -0.21311 + 0x3fef492206bcabb4, 0xbfcae4f1d5f3b9ab, // 0.97768, -0.21011 + 0x3fef4e603b0b2f2d, 0xbfca82a025b00451, // 0.97832, -0.20711 + 0x3fef538b1faf2d07, 0xbfca203e1b1831da, // 0.97895, -0.20411 + 0x3fef58a2b1789e84, 0xbfc9bdcbf2dc4366, // 0.97957, -0.2011 + 0x3fef5da6ed43685d, 0xbfc95b49e9b62af9, // 0.98018, -0.1981 + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509 + 0x3fef677556883cee, 0xbfc8961727c41804, // 0.98138, -0.19208 + 0x3fef6c3f7df5bbb7, 0xbfc83366e89c64c5, // 0.98196, -0.18907 + 0x3fef70f6434b7eb7, 0xbfc7d0a7bbd2cb1b, // 0.98254, -0.18606 + 0x3fef7599a3a12077, 0xbfc76dd9de50bf31, // 0.98311, -0.18304 + 0x3fef7a299c1a322a, 0xbfc70afd8d08c4ff, // 0.98366, -0.18002 + 0x3fef7ea629e63d6e, 0xbfc6a81304f64ab2, // 0.98421, -0.177 + 0x3fef830f4a40c60c, 0xbfc6451a831d830d, // 0.98475, -0.17398 + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096 + 0x3fef8ba737cb4b78, 0xbfc57f008654cbde, // 0.9858, -0.16794 + 0x3fef8fd5ffae41db, 0xbfc51bdf8597c5f2, // 0.98631, -0.16491 + 0x3fef93f14f85ac08, 0xbfc4b8b17f79fa88, // 0.98681, -0.16189 + 0x3fef97f924c9099b, 0xbfc45576b1293e5a, // 0.9873, -0.15886 + 0x3fef9bed7cfbde29, 0xbfc3f22f57db4893, // 0.98778, -0.15583 + 0x3fef9fce55adb2c8, 0xbfc38edbb0cd8d14, // 0.98826, -0.1528 + 0x3fefa39bac7a1791, 0xbfc32b7bf94516a7, // 0.98872, -0.14976 + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673 + 0x3fefaafbcb0cfddc, 0xbfc264994dfd340a, // 0.98962, -0.1437 + 0x3fefae8e8e46cfbb, 0xbfc20116d4ec7bce, // 0.99006, -0.14066 + 0x3fefb20dc681d54d, 0xbfc19d8940be24e7, // 0.99049, -0.13762 + 0x3fefb5797195d741, 0xbfc139f0cedaf576, // 0.9909, -0.13458 + 0x3fefb8d18d66adb7, 0xbfc0d64dbcb26786, // 0.99131, -0.13154 + 0x3fefbc1617e44186, 0xbfc072a047ba831d, // 0.99171, -0.1285 + 0x3fefbf470f0a8d88, 0xbfc00ee8ad6fb85b, // 0.9921, -0.12545 + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241 + 0x3fefc56e3b7d9af6, 0xbfbe8eb7fde4aa3e, // 0.99285, -0.11937 + 0x3fefc8646cfeb721, 0xbfbdc70ecbae9fc8, // 0.99321, -0.11632 + 0x3fefcb4703914354, 0xbfbcff533b307dc1, // 0.99356, -0.11327 + 0x3fefce15fd6da67b, 0xbfbc3785c79ec2d5, // 0.99391, -0.11022 + 0x3fefd0d158d86087, 0xbfbb6fa6ec38f64c, // 0.99424, -0.10717 + 0x3fefd37914220b84, 0xbfbaa7b724495c04, // 0.99456, -0.10412 + 0x3fefd60d2da75c9e, 0xbfb9dfb6eb24a85c, // 0.99488, -0.10107 + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518, -0.098017 + 0x3fefdafa7514538c, 0xbfb84f8712c130a0, // 0.99548, -0.094963 + 0x3fefdd539ff1f456, 0xbfb787586a5d5b21, // 0.99577, -0.091909 + 0x3fefdf9922f73307, 0xbfb6bf1b3e79b129, // 0.99604, -0.088854 + 0x3fefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // 0.99631, -0.085797 + 0x3fefe3e92be9d886, 0xbfb52e774a4d4d0a, // 0.99657, -0.08274 + 0x3fefe5f3af2e3940, 0xbfb4661179272096, // 0.99682, -0.079682 + 0x3fefe7ea85482d60, 0xbfb39d9f12c5a299, // 0.99706, -0.076624 + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729, -0.073565 + 0x3fefeb9d2530410f, 0xbfb20c9674ed444c, // 0.99751, -0.070505 + 0x3fefed58ecb673c4, 0xbfb1440134d709b2, // 0.99772, -0.067444 + 0x3fefef0102826191, 0xbfb07b614e463064, // 0.99793, -0.064383 + 0x3feff095658e71ad, 0xbfaf656e79f820e0, // 0.99812, -0.061321 + 0x3feff21614e131ed, 0xbfadd406f9808ec8, // 0.9983, -0.058258 + 0x3feff3830f8d575c, 0xbfac428d12c0d7e3, // 0.99848, -0.055195 + 0x3feff4dc54b1bed3, 0xbfaab101bd5f8317, // 0.99864, -0.052132 + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988, -0.049068 + 0x3feff753bb1b9164, 0xbfa78dbaa5874685, // 0.99894, -0.046003 + 0x3feff871dadb81df, 0xbfa5fc00d290cd43, // 0.99908, -0.042938 + 0x3feff97c4208c014, 0xbfa46a396ff86179, // 0.9992, -0.039873 + 0x3feffa72effef75d, 0xbfa2d865759455cd, // 0.99932, -0.036807 + 0x3feffb55e425fdae, 0xbfa14685db42c17e, // 0.99943, -0.033741 + 0x3feffc251df1d3f8, 0xbf9f693731d1cf01, // 0.99953, -0.030675 + 0x3feffce09ce2a679, 0xbf9c454f4ce53b1c, // 0.99962, -0.027608 + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997, -0.024541 + 0x3feffe1c6870cb77, 0xbf95fd4d21fab226, // 0.99977, -0.021474 + 0x3feffe9cb44b51a1, 0xbf92d936bbe30efd, // 0.99983, -0.018407 + 0x3fefff0943c53bd1, 0xbf8f6a296ab997ca, // 0.99988, -0.015339 + 0x3fefff62169b92db, 0xbf8921d1fcdec784, // 0.99992, -0.012272 + 0x3fefffa72c978c4f, 0xbf82d96b0e509703, // 0.99996,-0.0092038 + 0x3fefffd8858e8a92, 0xbf7921f0fe670071, // 0.99998,-0.0061359 + 0x3feffff621621d02, 0xbf6921f8becca4ba, // 1, -0.003068 + +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F64_4096) +/** + @par + Example code for Double Precision Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 4096, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_4096[8192] = { + 0x3ff0000000000000, 0x0000000000000000, // 1, 0 + 0x3feffffd88586ee6, 0x3f5921faaee6472d, // 1, 0.001534 + 0x3feffff621621d02, 0x3f6921f8becca4ba, // 1, 0.003068 + 0x3fefffe9cb1e2e8d, 0x3f72d97822f996bc, // 0.99999, 0.0046019 + 0x3fefffd8858e8a92, 0x3f7921f0fe670071, // 0.99998, 0.0061359 + 0x3fefffc250b5daef, 0x3f7f6a65f9a2a3c5, // 0.99997, 0.0076698 + 0x3fefffa72c978c4f, 0x3f82d96b0e509703, // 0.99996, 0.0092038 + 0x3fefff871937ce2f, 0x3f85fda037ac05e0, // 0.99994, 0.010738 + 0x3fefff62169b92db, 0x3f8921d1fcdec784, // 0.99992, 0.012272 + 0x3fefff3824c88f6f, 0x3f8c45ffe1e48ad9, // 0.9999, 0.013805 + 0x3fefff0943c53bd1, 0x3f8f6a296ab997ca, // 0.99988, 0.015339 + 0x3feffed57398d2b7, 0x3f9147270dad7132, // 0.99986, 0.016873 + 0x3feffe9cb44b51a1, 0x3f92d936bbe30efd, // 0.99983, 0.018407 + 0x3feffe5f05e578db, 0x3f946b4381fce81c, // 0.9998, 0.01994 + 0x3feffe1c6870cb77, 0x3f95fd4d21fab226, // 0.99977, 0.021474 + 0x3feffdd4dbf78f52, 0x3f978f535ddc9f03, // 0.99974, 0.023008 + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541 + 0x3feffd36f624500c, 0x3f9ab354b1504fca, // 0.99966, 0.026075 + 0x3feffce09ce2a679, 0x3f9c454f4ce53b1c, // 0.99962, 0.027608 + 0x3feffc8554cd213a, 0x3f9dd7458c64ab39, // 0.99958, 0.029142 + 0x3feffc251df1d3f8, 0x3f9f693731d1cf01, // 0.99953, 0.030675 + 0x3feffbbff85f9515, 0x3fa07d91ff984580, // 0.99948, 0.032208 + 0x3feffb55e425fdae, 0x3fa14685db42c17e, // 0.99943, 0.033741 + 0x3feffae6e1556998, 0x3fa20f770ceb11c6, // 0.99938, 0.035274 + 0x3feffa72effef75d, 0x3fa2d865759455cd, // 0.99932, 0.036807 + 0x3feff9fa10348837, 0x3fa3a150f6421afc, // 0.99926, 0.03834 + 0x3feff97c4208c014, 0x3fa46a396ff86179, // 0.9992, 0.039873 + 0x3feff8f9858f058b, 0x3fa5331ec3bba0eb, // 0.99914, 0.041406 + 0x3feff871dadb81df, 0x3fa5fc00d290cd43, // 0.99908, 0.042938 + 0x3feff7e5420320f9, 0x3fa6c4df7d7d5b84, // 0.99901, 0.044471 + 0x3feff753bb1b9164, 0x3fa78dbaa5874685, // 0.99894, 0.046003 + 0x3feff6bd463b444d, 0x3fa856922bb513c1, // 0.99887, 0.047535 + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068 + 0x3feff58192ee0358, 0x3fa9e835d6993c87, // 0.99872, 0.0506 + 0x3feff4dc54b1bed3, 0x3faab101bd5f8317, // 0.99864, 0.052132 + 0x3feff43228de1b77, 0x3fab79c986698b78, // 0.99856, 0.053664 + 0x3feff3830f8d575c, 0x3fac428d12c0d7e3, // 0.99848, 0.055195 + 0x3feff2cf08da7321, 0x3fad0b4c436f91d0, // 0.99839, 0.056727 + 0x3feff21614e131ed, 0x3fadd406f9808ec8, // 0.9983, 0.058258 + 0x3feff15833be1965, 0x3fae9cbd15ff5527, // 0.99821, 0.05979 + 0x3feff095658e71ad, 0x3faf656e79f820e0, // 0.99812, 0.061321 + 0x3fefefcdaa704562, 0x3fb0170d833bf421, // 0.99802, 0.062852 + 0x3fefef0102826191, 0x3fb07b614e463064, // 0.99793, 0.064383 + 0x3fefee2f6de455ba, 0x3fb0dfb28ea201e6, // 0.99783, 0.065913 + 0x3fefed58ecb673c4, 0x3fb1440134d709b2, // 0.99772, 0.067444 + 0x3fefec7d7f19cffc, 0x3fb1a84d316d4f8a, // 0.99762, 0.068974 + 0x3fefeb9d2530410f, 0x3fb20c9674ed444c, // 0.99751, 0.070505 + 0x3fefeab7df1c6005, 0x3fb270dcefdfc45b, // 0.9974, 0.072035 + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565 + 0x3fefe8de8f03d75c, 0x3fb339614e41ffa5, // 0.99718, 0.075094 + 0x3fefe7ea85482d60, 0x3fb39d9f12c5a299, // 0.99706, 0.076624 + 0x3fefe6f18ff42c84, 0x3fb401d9d0e3a507, // 0.99694, 0.078153 + 0x3fefe5f3af2e3940, 0x3fb4661179272096, // 0.99682, 0.079682 + 0x3fefe4f0e31d7a4a, 0x3fb4ca45fc1ba8b6, // 0.9967, 0.081211 + 0x3fefe3e92be9d886, 0x3fb52e774a4d4d0a, // 0.99657, 0.08274 + 0x3fefe2dc89bbff08, 0x3fb592a554489bc8, // 0.99644, 0.084269 + 0x3fefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // 0.99631, 0.085797 + 0x3fefe0b485181be3, 0x3fb65af75dd0f87b, // 0.99618, 0.087326 + 0x3fefdf9922f73307, 0x3fb6bf1b3e79b129, // 0.99604, 0.088854 + 0x3fefde78d68653fd, 0x3fb7233b9d236e71, // 0.99591, 0.090381 + 0x3fefdd539ff1f456, 0x3fb787586a5d5b21, // 0.99577, 0.091909 + 0x3fefdc297f674ba9, 0x3fb7eb7196b72ee4, // 0.99563, 0.093436 + 0x3fefdafa7514538c, 0x3fb84f8712c130a0, // 0.99548, 0.094963 + 0x3fefd9c68127c78c, 0x3fb8b398cf0c38e0, // 0.99533, 0.09649 + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017 + 0x3fefd74fdd40abbf, 0x3fb97bb0caaba56f, // 0.99503, 0.099544 + 0x3fefd60d2da75c9e, 0x3fb9dfb6eb24a85c, // 0.99488, 0.10107 + 0x3fefd4c59536fae4, 0x3fba43b90e27f3c4, // 0.99472, 0.1026 + 0x3fefd37914220b84, 0x3fbaa7b724495c04, // 0.99456, 0.10412 + 0x3fefd227aa9bd53b, 0x3fbb0bb11e1d5559, // 0.9944, 0.10565 + 0x3fefd0d158d86087, 0x3fbb6fa6ec38f64c, // 0.99424, 0.10717 + 0x3fefcf761f0c77a3, 0x3fbbd3987f31fa0e, // 0.99407, 0.1087 + 0x3fefce15fd6da67b, 0x3fbc3785c79ec2d5, // 0.99391, 0.11022 + 0x3fefccb0f4323aa3, 0x3fbc9b6eb6165c42, // 0.99374, 0.11175 + 0x3fefcb4703914354, 0x3fbcff533b307dc1, // 0.99356, 0.11327 + 0x3fefc9d82bc2915e, 0x3fbd633347858ce4, // 0.99339, 0.11479 + 0x3fefc8646cfeb721, 0x3fbdc70ecbae9fc8, // 0.99321, 0.11632 + 0x3fefc6ebc77f0887, 0x3fbe2ae5b8457f77, // 0.99303, 0.11784 + 0x3fefc56e3b7d9af6, 0x3fbe8eb7fde4aa3e, // 0.99285, 0.11937 + 0x3fefc3ebc935454c, 0x3fbef2858d27561b, // 0.99267, 0.12089 + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241 + 0x3fefc0d832bf043a, 0x3fbfba124b07ad85, // 0.99229, 0.12393 + 0x3fefbf470f0a8d88, 0x3fc00ee8ad6fb85b, // 0.9921, 0.12545 + 0x3fefbdb106021816, 0x3fc040c5bb67747e, // 0.99191, 0.12698 + 0x3fefbc1617e44186, 0x3fc072a047ba831d, // 0.99171, 0.1285 + 0x3fefba7644f068b5, 0x3fc0a4784ab8bf1d, // 0.99151, 0.13002 + 0x3fefb8d18d66adb7, 0x3fc0d64dbcb26786, // 0.99131, 0.13154 + 0x3fefb727f187f1c7, 0x3fc1082095f820b0, // 0.99111, 0.13306 + 0x3fefb5797195d741, 0x3fc139f0cedaf576, // 0.9909, 0.13458 + 0x3fefb3c60dd2c199, 0x3fc16bbe5fac5865, // 0.9907, 0.1361 + 0x3fefb20dc681d54d, 0x3fc19d8940be24e7, // 0.99049, 0.13762 + 0x3fefb0509be6f7db, 0x3fc1cf516a62a077, // 0.99027, 0.13914 + 0x3fefae8e8e46cfbb, 0x3fc20116d4ec7bce, // 0.99006, 0.14066 + 0x3fefacc79de6c44f, 0x3fc232d978aed413, // 0.98984, 0.14218 + 0x3fefaafbcb0cfddc, 0x3fc264994dfd340a, // 0.98962, 0.1437 + 0x3fefa92b1600657c, 0x3fc296564d2b953e, // 0.9894, 0.14521 + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673 + 0x3fefa57b066e2754, 0x3fc2f9c7aa7a72af, // 0.98895, 0.14825 + 0x3fefa39bac7a1791, 0x3fc32b7bf94516a7, // 0.98872, 0.14976 + 0x3fefa1b7717661d5, 0x3fc35d2d53440db2, // 0.98849, 0.15128 + 0x3fef9fce55adb2c8, 0x3fc38edbb0cd8d14, // 0.98826, 0.1528 + 0x3fef9de0596b77a3, 0x3fc3c0870a383ff6, // 0.98802, 0.15431 + 0x3fef9bed7cfbde29, 0x3fc3f22f57db4893, // 0.98778, 0.15583 + 0x3fef99f5c0abd496, 0x3fc423d4920e4166, // 0.98754, 0.15734 + 0x3fef97f924c9099b, 0x3fc45576b1293e5a, // 0.9873, 0.15886 + 0x3fef95f7a9a1ec47, 0x3fc48715ad84cdf5, // 0.98706, 0.16037 + 0x3fef93f14f85ac08, 0x3fc4b8b17f79fa88, // 0.98681, 0.16189 + 0x3fef91e616c43891, 0x3fc4ea4a1f624b61, // 0.98656, 0.1634 + 0x3fef8fd5ffae41db, 0x3fc51bdf8597c5f2, // 0.98631, 0.16491 + 0x3fef8dc10a95380d, 0x3fc54d71aa74ef02, // 0.98605, 0.16643 + 0x3fef8ba737cb4b78, 0x3fc57f008654cbde, // 0.9858, 0.16794 + 0x3fef898887a36c84, 0x3fc5b08c1192e381, // 0.98554, 0.16945 + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096 + 0x3fef853c9089595e, 0x3fc61399179a6e94, // 0.98501, 0.17247 + 0x3fef830f4a40c60c, 0x3fc6451a831d830d, // 0.98475, 0.17398 + 0x3fef80dd27ed8204, 0x3fc676987f7216b8, // 0.98448, 0.17549 + 0x3fef7ea629e63d6e, 0x3fc6a81304f64ab2, // 0.98421, 0.177 + 0x3fef7c6a50826840, 0x3fc6d98a0c08c8da, // 0.98394, 0.17851 + 0x3fef7a299c1a322a, 0x3fc70afd8d08c4ff, // 0.98366, 0.18002 + 0x3fef77e40d068a90, 0x3fc73c6d8055fe0a, // 0.98339, 0.18153 + 0x3fef7599a3a12077, 0x3fc76dd9de50bf31, // 0.98311, 0.18304 + 0x3fef734a60446279, 0x3fc79f429f59e11d, // 0.98282, 0.18455 + 0x3fef70f6434b7eb7, 0x3fc7d0a7bbd2cb1b, // 0.98254, 0.18606 + 0x3fef6e9d4d1262ca, 0x3fc802092c1d744b, // 0.98225, 0.18756 + 0x3fef6c3f7df5bbb7, 0x3fc83366e89c64c5, // 0.98196, 0.18907 + 0x3fef69dcd652f5de, 0x3fc864c0e9b2b6cf, // 0.98167, 0.19057 + 0x3fef677556883cee, 0x3fc8961727c41804, // 0.98138, 0.19208 + 0x3fef6508fef47bd5, 0x3fc8c7699b34ca7e, // 0.98108, 0.19359 + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509 + 0x3fef6021c9f148c2, 0x3fc92a0303c8194f, // 0.98048, 0.19659 + 0x3fef5da6ed43685d, 0x3fc95b49e9b62af9, // 0.98018, 0.1981 + 0x3fef5b273a4fa2d9, 0x3fc98c8ce69a7aec, // 0.97988, 0.1996 + 0x3fef58a2b1789e84, 0x3fc9bdcbf2dc4366, // 0.97957, 0.2011 + 0x3fef56195321c090, 0x3fc9ef0706e35a35, // 0.97926, 0.20261 + 0x3fef538b1faf2d07, 0x3fca203e1b1831da, // 0.97895, 0.20411 + 0x3fef50f81785c6b9, 0x3fca517127e3dabc, // 0.97863, 0.20561 + 0x3fef4e603b0b2f2d, 0x3fca82a025b00451, // 0.97832, 0.20711 + 0x3fef4bc38aa5c694, 0x3fcab3cb0ce6fe44, // 0.978, 0.20861 + 0x3fef492206bcabb4, 0x3fcae4f1d5f3b9ab, // 0.97768, 0.21011 + 0x3fef467bafb7bbe0, 0x3fcb16147941ca2a, // 0.97735, 0.21161 + 0x3fef43d085ff92dd, 0x3fcb4732ef3d6722, // 0.97703, 0.21311 + 0x3fef412089fd8adc, 0x3fcb784d30536cda, // 0.9767, 0.21461 + 0x3fef3e6bbc1bbc65, 0x3fcba96334f15dad, // 0.97637, 0.21611 + 0x3fef3bb21cc4fe47, 0x3fcbda74f5856330, // 0.97604, 0.2176 + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191 + 0x3fef36306b67c556, 0x3fcc3c8b8c4b9dd7, // 0.97536, 0.2206 + 0x3fef33685a3aaef0, 0x3fcc6d90535d74dc, // 0.97503, 0.22209 + 0x3fef309b794b719f, 0x3fcc9e90b824a6a9, // 0.97468, 0.22359 + 0x3fef2dc9c9089a9d, 0x3fcccf8cb312b286, // 0.97434, 0.22508 + 0x3fef2af349e17507, 0x3fcd00843c99c5f9, // 0.97399, 0.22658 + 0x3fef2817fc4609ce, 0x3fcd31774d2cbdee, // 0.97364, 0.22807 + 0x3fef2537e0a71f9f, 0x3fcd6265dd3f27e3, // 0.97329, 0.22957 + 0x3fef2252f7763ada, 0x3fcd934fe5454311, // 0.97294, 0.23106 + 0x3fef1f6941259d7a, 0x3fcdc4355db40195, // 0.97258, 0.23255 + 0x3fef1c7abe284708, 0x3fcdf5163f01099a, // 0.97223, 0.23404 + 0x3fef19876ef1f486, 0x3fce25f281a2b684, // 0.97187, 0.23553 + 0x3fef168f53f7205d, 0x3fce56ca1e101a1b, // 0.9715, 0.23702 + 0x3fef13926dad024e, 0x3fce879d0cc0fdaf, // 0.97114, 0.23851 + 0x3fef1090bc898f5f, 0x3fceb86b462de348, // 0.97077, 0.24 + 0x3fef0d8a410379c5, 0x3fcee934c2d006c7, // 0.9704, 0.24149 + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298 + 0x3fef076eecade0fa, 0x3fcf4ab9679c9f5c, // 0.96966, 0.24447 + 0x3fef045a14cf738c, 0x3fcf7b7480bd3801, // 0.96928, 0.24596 + 0x3fef014074708ed3, 0x3fcfac2abeff57ff, // 0.9689, 0.24744 + 0x3feefe220c0b95ec, 0x3fcfdcdc1adfedf8, // 0.96852, 0.24893 + 0x3feefafedc1ba8b7, 0x3fd006c4466e54af, // 0.96814, 0.25041 + 0x3feef7d6e51ca3c0, 0x3fd01f1806b9fdd2, // 0.96775, 0.2519 + 0x3feef4aa278b2032, 0x3fd037694a928cac, // 0.96737, 0.25338 + 0x3feef178a3e473c2, 0x3fd04fb80e37fdae, // 0.96698, 0.25487 + 0x3feeee425aa6b09a, 0x3fd068044deab002, // 0.96658, 0.25635 + 0x3feeeb074c50a544, 0x3fd0804e05eb661e, // 0.96619, 0.25783 + 0x3feee7c77961dc9e, 0x3fd09895327b465e, // 0.96579, 0.25931 + 0x3feee482e25a9dbc, 0x3fd0b0d9cfdbdb90, // 0.96539, 0.26079 + 0x3feee13987bbebdc, 0x3fd0c91bda4f158d, // 0.96499, 0.26227 + 0x3feeddeb6a078651, 0x3fd0e15b4e1749cd, // 0.96459, 0.26375 + 0x3feeda9889bfe86a, 0x3fd0f998277733f7, // 0.96418, 0.26523 + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671 + 0x3feed3e483849c51, 0x3fd12a09fc0b1b12, // 0.96337, 0.26819 + 0x3feed0835e999009, 0x3fd1423eefc69378, // 0.96295, 0.26967 + 0x3feecd1d792c8f10, 0x3fd15a713a28b9d9, // 0.96254, 0.27115 + 0x3feec9b2d3c3bf84, 0x3fd172a0d7765177, // 0.96212, 0.27262 + 0x3feec6436ee60309, 0x3fd18acdc3f4873a, // 0.9617, 0.2741 + 0x3feec2cf4b1af6b2, 0x3fd1a2f7fbe8f243, // 0.96128, 0.27557 + 0x3feebf5668eaf2ef, 0x3fd1bb1f7b999480, // 0.96086, 0.27705 + 0x3feebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // 0.96043, 0.27852 + 0x3feeb8566b810f2a, 0x3fd1eb6643499fbb, // 0.96, 0.27999 + 0x3feeb4cf515b8811, 0x3fd2038583d727bd, // 0.95957, 0.28146 + 0x3feeb1437af9bb34, 0x3fd21ba1fd3d2623, // 0.95914, 0.28294 + 0x3feeadb2e8e7a88e, 0x3fd233bbabc3bb72, // 0.9587, 0.28441 + 0x3feeaa1d9bb20af3, 0x3fd24bd28bb37672, // 0.95827, 0.28588 + 0x3feea68393e65800, 0x3fd263e6995554ba, // 0.95783, 0.28735 + 0x3feea2e4d212c000, 0x3fd27bf7d0f2c346, // 0.95738, 0.28882 + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028 + 0x3fee9b99229046f8, 0x3fd2ac11af483572, // 0.95649, 0.29175 + 0x3fee97ec36016b30, 0x3fd2c41a4e954520, // 0.95605, 0.29322 + 0x3fee943a91aab4b4, 0x3fd2dc200907fe51, // 0.95559, 0.29469 + 0x3fee9084361df7f3, 0x3fd2f422daec0386, // 0.95514, 0.29615 + 0x3fee8cc923edc388, 0x3fd30c22c08d6a13, // 0.95469, 0.29762 + 0x3fee89095bad6025, 0x3fd3241fb638baaf, // 0.95423, 0.29908 + 0x3fee8544ddf0d075, 0x3fd33c19b83af207, // 0.95377, 0.30054 + 0x3fee817bab4cd10d, 0x3fd35410c2e18152, // 0.95331, 0.30201 + 0x3fee7dadc456d850, 0x3fd36c04d27a4edf, // 0.95284, 0.30347 + 0x3fee79db29a5165a, 0x3fd383f5e353b6aa, // 0.95238, 0.30493 + 0x3fee7603dbce74e9, 0x3fd39be3f1bc8aef, // 0.95191, 0.30639 + 0x3fee7227db6a9744, 0x3fd3b3cefa0414b7, // 0.95144, 0.30785 + 0x3fee6e472911da27, 0x3fd3cbb6f87a146e, // 0.95096, 0.30931 + 0x3fee6a61c55d53a7, 0x3fd3e39be96ec271, // 0.95049, 0.31077 + 0x3fee6677b0e6d31e, 0x3fd3fb7dc932cfa4, // 0.95001, 0.31222 + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368 + 0x3fee5e95781ebf1c, 0x3fd42b38466e2928, // 0.94905, 0.31514 + 0x3fee5a9d550467d3, 0x3fd44310dc8936f0, // 0.94856, 0.31659 + 0x3fee56a083968eb1, 0x3fd45ae652bb2800, // 0.94807, 0.31805 + 0x3fee529f04729ffc, 0x3fd472b8a5571054, // 0.94759, 0.3195 + 0x3fee4e98d836c0af, 0x3fd48a87d0b07fd7, // 0.94709, 0.32096 + 0x3fee4a8dff81ce5e, 0x3fd4a253d11b82f3, // 0.9466, 0.32241 + 0x3fee467e7af35f23, 0x3fd4ba1ca2eca31c, // 0.94611, 0.32386 + 0x3fee426a4b2bc17e, 0x3fd4d1e24278e76a, // 0.94561, 0.32531 + 0x3fee3e5170cbfc46, 0x3fd4e9a4ac15d520, // 0.94511, 0.32676 + 0x3fee3a33ec75ce85, 0x3fd50163dc197047, // 0.9446, 0.32821 + 0x3fee3611becbaf69, 0x3fd5191fceda3c35, // 0.9441, 0.32966 + 0x3fee31eae870ce25, 0x3fd530d880af3c24, // 0.94359, 0.33111 + 0x3fee2dbf6a0911d9, 0x3fd5488dedeff3be, // 0.94308, 0.33255 + 0x3fee298f4439197a, 0x3fd5604012f467b4, // 0.94257, 0.334 + 0x3fee255a77a63bb8, 0x3fd577eeec151e47, // 0.94206, 0.33545 + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689 + 0x3fee1ce2ecd0c0d8, 0x3fd5a742ac0ff78d, // 0.94103, 0.33833 + 0x3fee18a02fdc66d9, 0x3fd5bee78b9db3b6, // 0.94051, 0.33978 + 0x3fee1458cec1ad83, 0x3fd5d68910aee686, // 0.93998, 0.34122 + 0x3fee100cca2980ac, 0x3fd5ee27379ea693, // 0.93946, 0.34266 + 0x3fee0bbc22bd8349, 0x3fd605c1fcc88f63, // 0.93893, 0.3441 + 0x3fee0766d9280f54, 0x3fd61d595c88c203, // 0.9384, 0.34554 + 0x3fee030cee1435b8, 0x3fd634ed533be58e, // 0.93787, 0.34698 + 0x3fedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // 0.93734, 0.34842 + 0x3fedfa4b3621271d, 0x3fd6640af6f03d9e, // 0.9368, 0.34986 + 0x3fedf5e36a9ba59c, 0x3fd67b949cad63ca, // 0.93627, 0.35129 + 0x3fedf177004b2534, 0x3fd6931acad55f51, // 0.93573, 0.35273 + 0x3feded05f7de47da, 0x3fd6aa9d7dc77e16, // 0.93518, 0.35416 + 0x3fede890520465ce, 0x3fd6c21cb1e39771, // 0.93464, 0.3556 + 0x3fede4160f6d8d81, 0x3fd6d998638a0cb5, // 0.93409, 0.35703 + 0x3feddf9730ca837b, 0x3fd6f1108f1bc9c5, // 0.93354, 0.35846 + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599 + 0x3fedd68ba2267a25, 0x3fd71ff6458782ec, // 0.93244, 0.36133 + 0x3fedd1fef38a915a, 0x3fd73763c9261092, // 0.93188, 0.36276 + 0x3fedcd6dabaca3a5, 0x3fd74ecdb8390a3e, // 0.93133, 0.36418 + 0x3fedc8d7cb410260, 0x3fd766340f2418f6, // 0.93077, 0.36561 + 0x3fedc43d52fcb453, 0x3fd77d96ca4b73a6, // 0.93021, 0.36704 + 0x3fedbf9e4395759a, 0x3fd794f5e613dfae, // 0.92964, 0.36847 + 0x3fedbafa9dc1b78d, 0x3fd7ac515ee2b172, // 0.92907, 0.36989 + 0x3fedb6526238a09b, 0x3fd7c3a9311dcce7, // 0.92851, 0.37132 + 0x3fedb1a591b20c38, 0x3fd7dafd592ba621, // 0.92794, 0.37274 + 0x3fedacf42ce68ab9, 0x3fd7f24dd37341e3, // 0.92736, 0.37416 + 0x3feda83e348f613b, 0x3fd8099a9c5c362d, // 0.92679, 0.37559 + 0x3feda383a9668988, 0x3fd820e3b04eaac4, // 0.92621, 0.37701 + 0x3fed9ec48c26b1f3, 0x3fd838290bb359c8, // 0.92563, 0.37843 + 0x3fed9a00dd8b3d46, 0x3fd84f6aaaf3903f, // 0.92505, 0.37985 + 0x3fed95389e50429b, 0x3fd866a88a792ea0, // 0.92447, 0.38127 + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268 + 0x3fed8b9a70ef9cb4, 0x3fd89518fbff098e, // 0.92329, 0.3841 + 0x3fed86c48445a450, 0x3fd8ac4b86d5ed44, // 0.9227, 0.38552 + 0x3fed81ea09f38b63, 0x3fd8c37a439f884f, // 0.92211, 0.38693 + 0x3fed7d0b02b8ecf9, 0x3fd8daa52ec8a4af, // 0.92151, 0.38835 + 0x3fed78276f5617c6, 0x3fd8f1cc44bea329, // 0.92092, 0.38976 + 0x3fed733f508c0dff, 0x3fd908ef81ef7bd1, // 0.92032, 0.39117 + 0x3fed6e52a71c8547, 0x3fd9200ee2c9be97, // 0.91972, 0.39258 + 0x3fed696173c9e68b, 0x3fd9372a63bc93d7, // 0.91911, 0.39399 + 0x3fed646bb7574de5, 0x3fd94e420137bce3, // 0.91851, 0.3954 + 0x3fed5f7172888a7f, 0x3fd96555b7ab948f, // 0.9179, 0.39681 + 0x3fed5a72a6221e73, 0x3fd97c6583890fc2, // 0.91729, 0.39822 + 0x3fed556f52e93eb1, 0x3fd993716141bdfe, // 0.91668, 0.39962 + 0x3fed506779a3d2d9, 0x3fd9aa794d47c9ee, // 0.91606, 0.40103 + 0x3fed4b5b1b187524, 0x3fd9c17d440df9f2, // 0.91545, 0.40243 + 0x3fed464a380e7242, 0x3fd9d87d4207b0ab, // 0.91483, 0.40384 + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524 + 0x3fed3c1ae79f2b4e, 0x3fda067145664d57, // 0.91359, 0.40664 + 0x3fed36fc7bcbfbdc, 0x3fda1d6543b50ac0, // 0.91296, 0.40804 + 0x3fed31d98e9e503a, 0x3fda34553b0afee5, // 0.91234, 0.40944 + 0x3fed2cb220e0ef9f, 0x3fda4b4127dea1e4, // 0.91171, 0.41084 + 0x3fed2786335f52fc, 0x3fda622906a70b63, // 0.91107, 0.41224 + 0x3fed2255c6e5a4e1, 0x3fda790cd3dbf31a, // 0.91044, 0.41364 + 0x3fed1d20dc40c15c, 0x3fda8fec8bf5b166, // 0.90981, 0.41503 + 0x3fed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // 0.90917, 0.41643 + 0x3fed12a98fac410c, 0x3fdabd9faebc3980, // 0.90853, 0.41782 + 0x3fed0d672f59d2b9, 0x3fdad473125cdc08, // 0.90789, 0.41922 + 0x3fed082054168bac, 0x3fdaeb4252ca07ab, // 0.90724, 0.42061 + 0x3fed02d4feb2bd92, 0x3fdb020d6c7f4009, // 0.9066, 0.422 + 0x3fecfd852fff6ad4, 0x3fdb18d45bf8aca6, // 0.90595, 0.42339 + 0x3fecf830e8ce467b, 0x3fdb2f971db31972, // 0.9053, 0.42478 + 0x3fecf2d829f1b40e, 0x3fdb4655ae2bf757, // 0.90464, 0.42617 + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756 + 0x3fece819488344ce, 0x3fdb73c62d520624, // 0.90333, 0.42894 + 0x3fece2b32799a060, 0x3fdb8a7814fd5693, // 0.90267, 0.43033 + 0x3fecdd489254fe65, 0x3fdba125bd63583e, // 0.90201, 0.43171 + 0x3fecd7d9898b32f6, 0x3fdbb7cf2304bd01, // 0.90135, 0.43309 + 0x3fecd2660e12c1e6, 0x3fdbce744262deee, // 0.90068, 0.43448 + 0x3fecccee20c2de9f, 0x3fdbe51517ffc0d9, // 0.90002, 0.43586 + 0x3fecc771c2736c09, 0x3fdbfbb1a05e0edc, // 0.89935, 0.43724 + 0x3fecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // 0.89867, 0.43862 + 0x3fecbc6bb638d10b, 0x3fdc28ddbb6cf145, // 0.898, 0.43999 + 0x3fecb6e20a00da99, 0x3fdc3f6d47263129, // 0.89732, 0.44137 + 0x3fecb153f02fb87d, 0x3fdc55f877b23537, // 0.89665, 0.44275 + 0x3fecabc169a0b901, 0x3fdc6c7f4997000a, // 0.89597, 0.44412 + 0x3feca62a772fd919, 0x3fdc8301b95b40c2, // 0.89528, 0.4455 + 0x3feca08f19b9c449, 0x3fdc997fc3865388, // 0.8946, 0.44687 + 0x3fec9aef521bd480, 0x3fdcaff964a0421d, // 0.89391, 0.44824 + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961 + 0x3fec8fa287e13305, 0x3fdcdcdf5dc440ce, // 0.89253, 0.45098 + 0x3fec89f587029c13, 0x3fdcf34baee1cd21, // 0.89184, 0.45235 + 0x3fec84441f785f61, 0x3fdd09b389152ec1, // 0.89115, 0.45372 + 0x3fec7e8e52233cf3, 0x3fdd2016e8e9db5b, // 0.89045, 0.45508 + 0x3fec78d41fe4a267, 0x3fdd3675caebf962, // 0.88975, 0.45645 + 0x3fec7315899eaad7, 0x3fdd4cd02ba8609c, // 0.88905, 0.45781 + 0x3fec6d5290341eb2, 0x3fdd632607ac9aa9, // 0.88835, 0.45918 + 0x3fec678b3488739b, 0x3fdd79775b86e389, // 0.88764, 0.46054 + 0x3fec61bf777fcc48, 0x3fdd8fc423c62a25, // 0.88693, 0.4619 + 0x3fec5bef59fef85a, 0x3fdda60c5cfa10d8, // 0.88622, 0.46326 + 0x3fec561adceb743e, 0x3fddbc5003b2edf8, // 0.88551, 0.46462 + 0x3fec5042012b6907, 0x3fddd28f1481cc58, // 0.8848, 0.46598 + 0x3fec4a64c7a5ac4c, 0x3fdde8c98bf86bd6, // 0.88408, 0.46733 + 0x3fec44833141c004, 0x3fddfeff66a941de, // 0.88336, 0.46869 + 0x3fec3e9d3ee7d262, 0x3fde1530a12779f4, // 0.88264, 0.47004 + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714 + 0x3fec32c449f60831, 0x3fde418527dc4ffa, // 0.8812, 0.47275 + 0x3fec2cd14931e3f1, 0x3fde57a86d3cd824, // 0.88047, 0.4741 + 0x3fec26d9f01f2eaf, 0x3fde6dc704be97e2, // 0.87974, 0.47545 + 0x3fec20de3fa971b0, 0x3fde83e0eaf85113, // 0.87901, 0.4768 + 0x3fec1ade38bce19b, 0x3fde99f61c817eda, // 0.87828, 0.47815 + 0x3fec14d9dc465e58, 0x3fdeb00695f25620, // 0.87755, 0.47949 + 0x3fec0ed12b3372e9, 0x3fdec61253e3c61b, // 0.87681, 0.48084 + 0x3fec08c426725549, 0x3fdedc1952ef78d5, // 0.87607, 0.48218 + 0x3fec02b2cef1e641, 0x3fdef21b8fafd3b5, // 0.87533, 0.48353 + 0x3febfc9d25a1b147, 0x3fdf081906bff7fd, // 0.87459, 0.48487 + 0x3febf6832b71ec5b, 0x3fdf1e11b4bbc35c, // 0.87384, 0.48621 + 0x3febf064e15377dd, 0x3fdf3405963fd068, // 0.87309, 0.48755 + 0x3febea424837de6d, 0x3fdf49f4a7e97729, // 0.87235, 0.48889 + 0x3febe41b611154c1, 0x3fdf5fdee656cda3, // 0.8716, 0.49023 + 0x3febddf02cd2b983, 0x3fdf75c44e26a852, // 0.87084, 0.49156 + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929 + 0x3febd18ce0dc19d6, 0x3fdfa1808c6cf7e0, // 0.86933, 0.49423 + 0x3febcb54cb0d2327, 0x3fdfb7575c24d2de, // 0.86857, 0.49557 + 0x3febc5186bf8361d, 0x3fdfcd2947c1ff57, // 0.86781, 0.4969 + 0x3febbed7c49380ea, 0x3fdfe2f64be7120f, // 0.86705, 0.49823 + 0x3febb892d5d5dad5, 0x3fdff8be6537615e, // 0.86628, 0.49956 + 0x3febb249a0b6c40d, 0x3fe00740c82b82e0, // 0.86551, 0.50089 + 0x3febabfc262e6586, 0x3fe0121fe4f56d2c, // 0.86474, 0.50221 + 0x3feba5aa673590d2, 0x3fe01cfc874c3eb7, // 0.86397, 0.50354 + 0x3feb9f5464c5bffc, 0x3fe027d6ad83287e, // 0.8632, 0.50486 + 0x3feb98fa1fd9155e, 0x3fe032ae55edbd95, // 0.86242, 0.50619 + 0x3feb929b996a5b7f, 0x3fe03d837edff370, // 0.86165, 0.50751 + 0x3feb8c38d27504e9, 0x3fe0485626ae221a, // 0.86087, 0.50883 + 0x3feb85d1cbf52c02, 0x3fe053264bad0483, // 0.86009, 0.51015 + 0x3feb7f6686e792ea, 0x3fe05df3ec31b8b6, // 0.8593, 0.51147 + 0x3feb78f70449a34b, 0x3fe068bf0691c028, // 0.85852, 0.51279 + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141 + 0x3feb6c0b4a55ac17, 0x3fe07e4da23bc102, // 0.85694, 0.51542 + 0x3feb658f14fdbc47, 0x3fe089112032b08c, // 0.85615, 0.51673 + 0x3feb5f0ea611a532, 0x3fe093d2115ee018, // 0.85535, 0.51804 + 0x3feb5889fe921405, 0x3fe09e907417c5e1, // 0.85456, 0.51936 + 0x3feb52011f805c92, 0x3fe0a94c46b53d0b, // 0.85376, 0.52067 + 0x3feb4b7409de7925, 0x3fe0b405878f85ec, // 0.85296, 0.52198 + 0x3feb44e2beaf0a61, 0x3fe0bebc34ff4646, // 0.85216, 0.52328 + 0x3feb3e4d3ef55712, 0x3fe0c9704d5d898f, // 0.85136, 0.52459 + 0x3feb37b38bb54c09, 0x3fe0d421cf03c12b, // 0.85055, 0.5259 + 0x3feb3115a5f37bf4, 0x3fe0ded0b84bc4b5, // 0.84974, 0.5272 + 0x3feb2a738eb51f33, 0x3fe0e97d078fd23b, // 0.84893, 0.5285 + 0x3feb23cd470013b4, 0x3fe0f426bb2a8e7d, // 0.84812, 0.5298 + 0x3feb1d22cfdadcc6, 0x3fe0fecdd1770537, // 0.84731, 0.5311 + 0x3feb16742a4ca2f5, 0x3fe1097248d0a956, // 0.84649, 0.5324 + 0x3feb0fc1575d33db, 0x3fe114141f935545, // 0.84567, 0.5337 + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535 + 0x3feb024f2d7d24a9, 0x3fe1294fe4c5350a, // 0.84403, 0.53629 + 0x3feafb8fd89f57b6, 0x3fe133e9cfee254e, // 0.84321, 0.53759 + 0x3feaf4cc5a85fb73, 0x3fe13e8113f396c1, // 0.84238, 0.53888 + 0x3feaee04b43c1474, 0x3fe14915af336ceb, // 0.84155, 0.54017 + 0x3feae738e6cd4b67, 0x3fe153a7a00bf453, // 0.84073, 0.54146 + 0x3feae068f345ecef, 0x3fe15e36e4dbe2bc, // 0.83989, 0.54275 + 0x3fead994dab2e979, 0x3fe168c37c025764, // 0.83906, 0.54404 + 0x3fead2bc9e21d511, 0x3fe1734d63dedb49, // 0.83822, 0.54532 + 0x3feacbe03ea0e73b, 0x3fe17dd49ad16161, // 0.83739, 0.54661 + 0x3feac4ffbd3efac8, 0x3fe188591f3a46e5, // 0.83655, 0.54789 + 0x3feabe1b1b0b8dac, 0x3fe192daef7a5386, // 0.83571, 0.54918 + 0x3feab7325916c0d4, 0x3fe19d5a09f2b9b8, // 0.83486, 0.55046 + 0x3feab045787157ff, 0x3fe1a7d66d0516e6, // 0.83402, 0.55174 + 0x3feaa9547a2cb98e, 0x3fe1b250171373be, // 0.83317, 0.55302 + 0x3feaa25f5f5aee60, 0x3fe1bcc706804467, // 0.83232, 0.55429 + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557 + 0x3fea9468d85b20ae, 0x3fe1d1acaf012cc2, // 0.83062, 0.55685 + 0x3fea8d676e545ad2, 0x3fe1dc1b64dc4872, // 0.82976, 0.55812 + 0x3fea8661ec0ee133, 0x3fe1e68759a3e074, // 0.8289, 0.55939 + 0x3fea7f58529fe69d, 0x3fe1f0f08bbc861b, // 0.82805, 0.56066 + 0x3fea784aa31d3f55, 0x3fe1fb56f98b37b8, // 0.82718, 0.56193 + 0x3fea7138de9d60f5, 0x3fe205baa17560d6, // 0.82632, 0.5632 + 0x3fea6a230637623b, 0x3fe2101b81e0da78, // 0.82546, 0.56447 + 0x3fea63091b02fae2, 0x3fe21a799933eb58, // 0.82459, 0.56573 + 0x3fea5beb1e188375, 0x3fe224d4e5d5482e, // 0.82372, 0.567 + 0x3fea54c91090f524, 0x3fe22f2d662c13e1, // 0.82285, 0.56826 + 0x3fea4da2f385e997, 0x3fe23983189fdfd5, // 0.82198, 0.56952 + 0x3fea4678c8119ac8, 0x3fe243d5fb98ac1f, // 0.8211, 0.57078 + 0x3fea3f4a8f4ee2d2, 0x3fe24e260d7ee7c9, // 0.82023, 0.57204 + 0x3fea38184a593bc6, 0x3fe258734cbb7110, // 0.81935, 0.5733 + 0x3fea30e1fa4cbf81, 0x3fe262bdb7b795a2, // 0.81847, 0.57455 + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581 + 0x3fea22693d62ccb9, 0x3fe2774a0a961612, // 0.8167, 0.57706 + 0x3fea1b26d2c0a75e, 0x3fe2818bef4d3cba, // 0.81581, 0.57831 + 0x3fea13e0617e4ec7, 0x3fe28bcaf96d94ba, // 0.81493, 0.57956 + 0x3fea0c95eabaf937, 0x3fe2960727629ca8, // 0.81404, 0.58081 + 0x3fea05476f967bb5, 0x3fe2a040779843fb, // 0.81314, 0.58206 + 0x3fe9fdf4f13149de, 0x3fe2aa76e87aeb58, // 0.81225, 0.58331 + 0x3fe9f69e70ac75bc, 0x3fe2b4aa787764c4, // 0.81135, 0.58455 + 0x3fe9ef43ef29af94, 0x3fe2bedb25faf3ea, // 0.81046, 0.5858 + 0x3fe9e7e56dcb45bd, 0x3fe2c908ef734e57, // 0.80956, 0.58704 + 0x3fe9e082edb42472, 0x3fe2d333d34e9bb7, // 0.80866, 0.58828 + 0x3fe9d91c7007d5a6, 0x3fe2dd5bcffb7616, // 0.80775, 0.58952 + 0x3fe9d1b1f5ea80d6, 0x3fe2e780e3e8ea16, // 0.80685, 0.59076 + 0x3fe9ca438080eadb, 0x3fe2f1a30d86773a, // 0.80594, 0.592 + 0x3fe9c2d110f075c3, 0x3fe2fbc24b441015, // 0.80503, 0.59323 + 0x3fe9bb5aa85f2098, 0x3fe305de9b921a94, // 0.80412, 0.59447 + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957 + 0x3fe9ac61f0d4e247, 0x3fe31a0e6da35e44, // 0.80229, 0.59693 + 0x3fe9a4dfa42b06b2, 0x3fe32421ec49a620, // 0.80138, 0.59816 + 0x3fe99d59631e65d5, 0x3fe32e3277467d6b, // 0.80046, 0.59939 + 0x3fe995cf2ed80d22, 0x3fe338400d0c8e57, // 0.79954, 0.60062 + 0x3fe98e410881a600, 0x3fe3424aac0ef7d6, // 0.79861, 0.60184 + 0x3fe986aef1457594, 0x3fe34c5252c14de1, // 0.79769, 0.60307 + 0x3fe97f18ea4e5c9e, 0x3fe35656ff9799ae, // 0.79676, 0.60429 + 0x3fe9777ef4c7d742, 0x3fe36058b10659f3, // 0.79584, 0.60551 + 0x3fe96fe111ddfce0, 0x3fe36a576582831b, // 0.79491, 0.60673 + 0x3fe9683f42bd7fe1, 0x3fe374531b817f8d, // 0.79398, 0.60795 + 0x3fe960998893ad8c, 0x3fe37e4bd1792fe2, // 0.79304, 0.60917 + 0x3fe958efe48e6dd7, 0x3fe3884185dfeb22, // 0.79211, 0.61038 + 0x3fe9514257dc4335, 0x3fe39234372c7f04, // 0.79117, 0.6116 + 0x3fe94990e3ac4a6c, 0x3fe39c23e3d63029, // 0.79023, 0.61281 + 0x3fe941db892e3a65, 0x3fe3a6108a54ba58, // 0.78929, 0.61402 + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523 + 0x3fe932652609b1cf, 0x3fe3b9e0beb19e18, // 0.7874, 0.61644 + 0x3fe92aa41fc5a815, 0x3fe3c3c44981c517, // 0.78646, 0.61765 + 0x3fe922df37f8646a, 0x3fe3cda4c80a6076, // 0.78551, 0.61885 + 0x3fe91b166fd49da2, 0x3fe3d78238c58343, // 0.78456, 0.62006 + 0x3fe91349c88da398, 0x3fe3e15c9a2db922, // 0.7836, 0.62126 + 0x3fe90b7943575efe, 0x3fe3eb33eabe0680, // 0.78265, 0.62246 + 0x3fe903a4e1665133, 0x3fe3f50828f1e8d2, // 0.78169, 0.62366 + 0x3fe8fbcca3ef940d, 0x3fe3fed9534556d4, // 0.78074, 0.62486 + 0x3fe8f3f08c28d9ac, 0x3fe408a76834c0c0, // 0.77978, 0.62606 + 0x3fe8ec109b486c49, 0x3fe41272663d108c, // 0.77882, 0.62725 + 0x3fe8e42cd2852e0a, 0x3fe41c3a4bdbaa26, // 0.77785, 0.62845 + 0x3fe8dc45331698cc, 0x3fe425ff178e6bb1, // 0.77689, 0.62964 + 0x3fe8d459be34bdfa, 0x3fe42fc0c7d3adbb, // 0.77592, 0.63083 + 0x3fe8cc6a75184655, 0x3fe4397f5b2a4380, // 0.77495, 0.63202 + 0x3fe8c47758fa71cb, 0x3fe4433ad0117b1d, // 0.77398, 0.63321 + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439 + 0x3fe8b485aca2a468, 0x3fe456a858917046, // 0.77204, 0.63558 + 0x3fe8ac871ede1d88, 0x3fe4605a692b32a2, // 0.77106, 0.63676 + 0x3fe8a484c3031d50, 0x3fe46a095557a0f1, // 0.77008, 0.63794 + 0x3fe89c7e9a4dd4ab, 0x3fe473b51b987347, // 0.7691, 0.63912 + 0x3fe89474a5fb0a84, 0x3fe47d5dba6fde01, // 0.76812, 0.6403 + 0x3fe88c66e7481ba1, 0x3fe48703306091fe, // 0.76714, 0.64148 + 0x3fe884555f72fa6b, 0x3fe490a57bedbcdf, // 0.76615, 0.64266 + 0x3fe87c400fba2ebf, 0x3fe49a449b9b0938, // 0.76517, 0.64383 + 0x3fe87426f95cd5bd, 0x3fe4a3e08dec9ed6, // 0.76418, 0.645 + 0x3fe86c0a1d9aa195, 0x3fe4ad79516722f0, // 0.76319, 0.64618 + 0x3fe863e97db3d95a, 0x3fe4b70ee48fb869, // 0.7622, 0.64735 + 0x3fe85bc51ae958cc, 0x3fe4c0a145ec0004, // 0.7612, 0.64851 + 0x3fe8539cf67c9029, 0x3fe4ca30740218a3, // 0.76021, 0.64968 + 0x3fe84b7111af83f9, 0x3fe4d3bc6d589f80, // 0.75921, 0.65085 + 0x3fe843416dc4cce2, 0x3fe4dd453076b064, // 0.75821, 0.65201 + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317 + 0x3fe832d6eda3a3e0, 0x3fe4f04d0e2859aa, // 0.75621, 0.65433 + 0x3fe82a9c13f545ff, 0x3fe4f9cc25cca486, // 0.7552, 0.65549 + 0x3fe8225d803964e5, 0x3fe503480159ded2, // 0.75419, 0.65665 + 0x3fe81a1b33b57acc, 0x3fe50cc09f59a09b, // 0.75319, 0.65781 + 0x3fe811d52faf94dc, 0x3fe51635fe5601d7, // 0.75218, 0.65896 + 0x3fe8098b756e52fa, 0x3fe51fa81cd99aa6, // 0.75117, 0.66011 + 0x3fe8013e0638e795, 0x3fe52916f96f8388, // 0.75015, 0.66127 + 0x3fe7f8ece3571771, 0x3fe5328292a35596, // 0.74914, 0.66242 + 0x3fe7f0980e113978, 0x3fe53beae7012abe, // 0.74812, 0.66356 + 0x3fe7e83f87b03686, 0x3fe5454ff5159dfb, // 0.7471, 0.66471 + 0x3fe7dfe3517d8937, 0x3fe54eb1bb6dcb8f, // 0.74608, 0.66586 + 0x3fe7d7836cc33db2, 0x3fe5581038975137, // 0.74506, 0.667 + 0x3fe7cf1fdacbf179, 0x3fe5616b6b204e6e, // 0.74403, 0.66814 + 0x3fe7c6b89ce2d333, 0x3fe56ac35197649e, // 0.74301, 0.66928 + 0x3fe7be4db453a27c, 0x3fe57417ea8bb75c, // 0.74198, 0.67042 + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156 + 0x3fe7ad6ce874dbb6, 0x3fe586b72e2b2cfd, // 0.73992, 0.67269 + 0x3fe7a4f707bf97d2, 0x3fe59001d5f723df, // 0.73889, 0.67383 + 0x3fe79c7d8198e56e, 0x3fe599492a81ffbc, // 0.73785, 0.67496 + 0x3fe79400574f55e4, 0x3fe5a28d2a5d7250, // 0.73682, 0.67609 + 0x3fe78b7f8a320a52, 0x3fe5abcdd41bb0d8, // 0.73578, 0.67722 + 0x3fe782fb1b90b35b, 0x3fe5b50b264f7448, // 0.73474, 0.67835 + 0x3fe77a730cbb9100, 0x3fe5be451f8bf980, // 0.7337, 0.67948 + 0x3fe771e75f037261, 0x3fe5c77bbe65018c, // 0.73265, 0.6806 + 0x3fe7695813b9b594, 0x3fe5d0af016ed1d4, // 0.73161, 0.68172 + 0x3fe760c52c304764, 0x3fe5d9dee73e345c, // 0.73056, 0.68285 + 0x3fe7582ea9b9a329, 0x3fe5e30b6e6877f3, // 0.72951, 0.68397 + 0x3fe74f948da8d28d, 0x3fe5ec3495837074, // 0.72846, 0.68508 + 0x3fe746f6d9516d59, 0x3fe5f55a5b2576f8, // 0.72741, 0.6862 + 0x3fe73e558e079942, 0x3fe5fe7cbde56a0f, // 0.72636, 0.68732 + 0x3fe735b0ad2009b2, 0x3fe6079bbc5aadfa, // 0.7253, 0.68843 + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954 + 0x3fe7245c2fcd492a, 0x3fe619cf86c55702, // 0.72319, 0.69065 + 0x3fe71bac960e41bf, 0x3fe622e44fec22ff, // 0.72213, 0.69176 + 0x3fe712f96c09d18d, 0x3fe62bf5af2b0dfd, // 0.72107, 0.69287 + 0x3fe70a42b3176d7a, 0x3fe63503a31c1be8, // 0.72, 0.69397 + 0x3fe701886c8f16e6, 0x3fe63e0e2a59d7aa, // 0.71894, 0.69508 + 0x3fe6f8ca99c95b75, 0x3fe64715437f535b, // 0.71787, 0.69618 + 0x3fe6f0093c1f54de, 0x3fe65018ed28287f, // 0.7168, 0.69728 + 0x3fe6e74454eaa8ae, 0x3fe6591925f0783e, // 0.71573, 0.69838 + 0x3fe6de7be585881d, 0x3fe66215ec74eb91, // 0.71466, 0.69947 + 0x3fe6d5afef4aafcc, 0x3fe66b0f3f52b386, // 0.71358, 0.70057 + 0x3fe6cce07395679f, 0x3fe674051d27896c, // 0.71251, 0.70166 + 0x3fe6c40d73c18275, 0x3fe67cf78491af10, // 0.71143, 0.70275 + 0x3fe6bb36f12b5e06, 0x3fe685e6742feeef, // 0.71035, 0.70385 + 0x3fe6b25ced2fe29c, 0x3fe68ed1eaa19c71, // 0.70927, 0.70493 + 0x3fe6a97f692c82ea, 0x3fe697b9e686941c, // 0.70819, 0.70602 + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711 + 0x3fe697b9e686941c, 0x3fe6a97f692c82ea, // 0.70602, 0.70819 + 0x3fe68ed1eaa19c71, 0x3fe6b25ced2fe29c, // 0.70493, 0.70927 + 0x3fe685e6742feeef, 0x3fe6bb36f12b5e06, // 0.70385, 0.71035 + 0x3fe67cf78491af10, 0x3fe6c40d73c18275, // 0.70275, 0.71143 + 0x3fe674051d27896c, 0x3fe6cce07395679f, // 0.70166, 0.71251 + 0x3fe66b0f3f52b386, 0x3fe6d5afef4aafcc, // 0.70057, 0.71358 + 0x3fe66215ec74eb91, 0x3fe6de7be585881d, // 0.69947, 0.71466 + 0x3fe6591925f0783e, 0x3fe6e74454eaa8ae, // 0.69838, 0.71573 + 0x3fe65018ed28287f, 0x3fe6f0093c1f54de, // 0.69728, 0.7168 + 0x3fe64715437f535b, 0x3fe6f8ca99c95b75, // 0.69618, 0.71787 + 0x3fe63e0e2a59d7aa, 0x3fe701886c8f16e6, // 0.69508, 0.71894 + 0x3fe63503a31c1be8, 0x3fe70a42b3176d7a, // 0.69397, 0.72 + 0x3fe62bf5af2b0dfd, 0x3fe712f96c09d18d, // 0.69287, 0.72107 + 0x3fe622e44fec22ff, 0x3fe71bac960e41bf, // 0.69176, 0.72213 + 0x3fe619cf86c55702, 0x3fe7245c2fcd492a, // 0.69065, 0.72319 + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425 + 0x3fe6079bbc5aadfa, 0x3fe735b0ad2009b2, // 0.68843, 0.7253 + 0x3fe5fe7cbde56a0f, 0x3fe73e558e079942, // 0.68732, 0.72636 + 0x3fe5f55a5b2576f8, 0x3fe746f6d9516d59, // 0.6862, 0.72741 + 0x3fe5ec3495837074, 0x3fe74f948da8d28d, // 0.68508, 0.72846 + 0x3fe5e30b6e6877f3, 0x3fe7582ea9b9a329, // 0.68397, 0.72951 + 0x3fe5d9dee73e345c, 0x3fe760c52c304764, // 0.68285, 0.73056 + 0x3fe5d0af016ed1d4, 0x3fe7695813b9b594, // 0.68172, 0.73161 + 0x3fe5c77bbe65018c, 0x3fe771e75f037261, // 0.6806, 0.73265 + 0x3fe5be451f8bf980, 0x3fe77a730cbb9100, // 0.67948, 0.7337 + 0x3fe5b50b264f7448, 0x3fe782fb1b90b35b, // 0.67835, 0.73474 + 0x3fe5abcdd41bb0d8, 0x3fe78b7f8a320a52, // 0.67722, 0.73578 + 0x3fe5a28d2a5d7250, 0x3fe79400574f55e4, // 0.67609, 0.73682 + 0x3fe599492a81ffbc, 0x3fe79c7d8198e56e, // 0.67496, 0.73785 + 0x3fe59001d5f723df, 0x3fe7a4f707bf97d2, // 0.67383, 0.73889 + 0x3fe586b72e2b2cfd, 0x3fe7ad6ce874dbb6, // 0.67269, 0.73992 + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095 + 0x3fe57417ea8bb75c, 0x3fe7be4db453a27c, // 0.67042, 0.74198 + 0x3fe56ac35197649e, 0x3fe7c6b89ce2d333, // 0.66928, 0.74301 + 0x3fe5616b6b204e6e, 0x3fe7cf1fdacbf179, // 0.66814, 0.74403 + 0x3fe5581038975137, 0x3fe7d7836cc33db2, // 0.667, 0.74506 + 0x3fe54eb1bb6dcb8f, 0x3fe7dfe3517d8937, // 0.66586, 0.74608 + 0x3fe5454ff5159dfb, 0x3fe7e83f87b03686, // 0.66471, 0.7471 + 0x3fe53beae7012abe, 0x3fe7f0980e113978, // 0.66356, 0.74812 + 0x3fe5328292a35596, 0x3fe7f8ece3571771, // 0.66242, 0.74914 + 0x3fe52916f96f8388, 0x3fe8013e0638e795, // 0.66127, 0.75015 + 0x3fe51fa81cd99aa6, 0x3fe8098b756e52fa, // 0.66011, 0.75117 + 0x3fe51635fe5601d7, 0x3fe811d52faf94dc, // 0.65896, 0.75218 + 0x3fe50cc09f59a09b, 0x3fe81a1b33b57acc, // 0.65781, 0.75319 + 0x3fe503480159ded2, 0x3fe8225d803964e5, // 0.65665, 0.75419 + 0x3fe4f9cc25cca486, 0x3fe82a9c13f545ff, // 0.65549, 0.7552 + 0x3fe4f04d0e2859aa, 0x3fe832d6eda3a3e0, // 0.65433, 0.75621 + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721 + 0x3fe4dd453076b064, 0x3fe843416dc4cce2, // 0.65201, 0.75821 + 0x3fe4d3bc6d589f80, 0x3fe84b7111af83f9, // 0.65085, 0.75921 + 0x3fe4ca30740218a3, 0x3fe8539cf67c9029, // 0.64968, 0.76021 + 0x3fe4c0a145ec0004, 0x3fe85bc51ae958cc, // 0.64851, 0.7612 + 0x3fe4b70ee48fb869, 0x3fe863e97db3d95a, // 0.64735, 0.7622 + 0x3fe4ad79516722f0, 0x3fe86c0a1d9aa195, // 0.64618, 0.76319 + 0x3fe4a3e08dec9ed6, 0x3fe87426f95cd5bd, // 0.645, 0.76418 + 0x3fe49a449b9b0938, 0x3fe87c400fba2ebf, // 0.64383, 0.76517 + 0x3fe490a57bedbcdf, 0x3fe884555f72fa6b, // 0.64266, 0.76615 + 0x3fe48703306091fe, 0x3fe88c66e7481ba1, // 0.64148, 0.76714 + 0x3fe47d5dba6fde01, 0x3fe89474a5fb0a84, // 0.6403, 0.76812 + 0x3fe473b51b987347, 0x3fe89c7e9a4dd4ab, // 0.63912, 0.7691 + 0x3fe46a095557a0f1, 0x3fe8a484c3031d50, // 0.63794, 0.77008 + 0x3fe4605a692b32a2, 0x3fe8ac871ede1d88, // 0.63676, 0.77106 + 0x3fe456a858917046, 0x3fe8b485aca2a468, // 0.63558, 0.77204 + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301 + 0x3fe4433ad0117b1d, 0x3fe8c47758fa71cb, // 0.63321, 0.77398 + 0x3fe4397f5b2a4380, 0x3fe8cc6a75184655, // 0.63202, 0.77495 + 0x3fe42fc0c7d3adbb, 0x3fe8d459be34bdfa, // 0.63083, 0.77592 + 0x3fe425ff178e6bb1, 0x3fe8dc45331698cc, // 0.62964, 0.77689 + 0x3fe41c3a4bdbaa26, 0x3fe8e42cd2852e0a, // 0.62845, 0.77785 + 0x3fe41272663d108c, 0x3fe8ec109b486c49, // 0.62725, 0.77882 + 0x3fe408a76834c0c0, 0x3fe8f3f08c28d9ac, // 0.62606, 0.77978 + 0x3fe3fed9534556d4, 0x3fe8fbcca3ef940d, // 0.62486, 0.78074 + 0x3fe3f50828f1e8d2, 0x3fe903a4e1665133, // 0.62366, 0.78169 + 0x3fe3eb33eabe0680, 0x3fe90b7943575efe, // 0.62246, 0.78265 + 0x3fe3e15c9a2db922, 0x3fe91349c88da398, // 0.62126, 0.7836 + 0x3fe3d78238c58343, 0x3fe91b166fd49da2, // 0.62006, 0.78456 + 0x3fe3cda4c80a6076, 0x3fe922df37f8646a, // 0.61885, 0.78551 + 0x3fe3c3c44981c517, 0x3fe92aa41fc5a815, // 0.61765, 0.78646 + 0x3fe3b9e0beb19e18, 0x3fe932652609b1cf, // 0.61644, 0.7874 + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835 + 0x3fe3a6108a54ba58, 0x3fe941db892e3a65, // 0.61402, 0.78929 + 0x3fe39c23e3d63029, 0x3fe94990e3ac4a6c, // 0.61281, 0.79023 + 0x3fe39234372c7f04, 0x3fe9514257dc4335, // 0.6116, 0.79117 + 0x3fe3884185dfeb22, 0x3fe958efe48e6dd7, // 0.61038, 0.79211 + 0x3fe37e4bd1792fe2, 0x3fe960998893ad8c, // 0.60917, 0.79304 + 0x3fe374531b817f8d, 0x3fe9683f42bd7fe1, // 0.60795, 0.79398 + 0x3fe36a576582831b, 0x3fe96fe111ddfce0, // 0.60673, 0.79491 + 0x3fe36058b10659f3, 0x3fe9777ef4c7d742, // 0.60551, 0.79584 + 0x3fe35656ff9799ae, 0x3fe97f18ea4e5c9e, // 0.60429, 0.79676 + 0x3fe34c5252c14de1, 0x3fe986aef1457594, // 0.60307, 0.79769 + 0x3fe3424aac0ef7d6, 0x3fe98e410881a600, // 0.60184, 0.79861 + 0x3fe338400d0c8e57, 0x3fe995cf2ed80d22, // 0.60062, 0.79954 + 0x3fe32e3277467d6b, 0x3fe99d59631e65d5, // 0.59939, 0.80046 + 0x3fe32421ec49a620, 0x3fe9a4dfa42b06b2, // 0.59816, 0.80138 + 0x3fe31a0e6da35e44, 0x3fe9ac61f0d4e247, // 0.59693, 0.80229 + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321 + 0x3fe305de9b921a94, 0x3fe9bb5aa85f2098, // 0.59447, 0.80412 + 0x3fe2fbc24b441015, 0x3fe9c2d110f075c3, // 0.59323, 0.80503 + 0x3fe2f1a30d86773a, 0x3fe9ca438080eadb, // 0.592, 0.80594 + 0x3fe2e780e3e8ea16, 0x3fe9d1b1f5ea80d6, // 0.59076, 0.80685 + 0x3fe2dd5bcffb7616, 0x3fe9d91c7007d5a6, // 0.58952, 0.80775 + 0x3fe2d333d34e9bb7, 0x3fe9e082edb42472, // 0.58828, 0.80866 + 0x3fe2c908ef734e57, 0x3fe9e7e56dcb45bd, // 0.58704, 0.80956 + 0x3fe2bedb25faf3ea, 0x3fe9ef43ef29af94, // 0.5858, 0.81046 + 0x3fe2b4aa787764c4, 0x3fe9f69e70ac75bc, // 0.58455, 0.81135 + 0x3fe2aa76e87aeb58, 0x3fe9fdf4f13149de, // 0.58331, 0.81225 + 0x3fe2a040779843fb, 0x3fea05476f967bb5, // 0.58206, 0.81314 + 0x3fe2960727629ca8, 0x3fea0c95eabaf937, // 0.58081, 0.81404 + 0x3fe28bcaf96d94ba, 0x3fea13e0617e4ec7, // 0.57956, 0.81493 + 0x3fe2818bef4d3cba, 0x3fea1b26d2c0a75e, // 0.57831, 0.81581 + 0x3fe2774a0a961612, 0x3fea22693d62ccb9, // 0.57706, 0.8167 + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758 + 0x3fe262bdb7b795a2, 0x3fea30e1fa4cbf81, // 0.57455, 0.81847 + 0x3fe258734cbb7110, 0x3fea38184a593bc6, // 0.5733, 0.81935 + 0x3fe24e260d7ee7c9, 0x3fea3f4a8f4ee2d2, // 0.57204, 0.82023 + 0x3fe243d5fb98ac1f, 0x3fea4678c8119ac8, // 0.57078, 0.8211 + 0x3fe23983189fdfd5, 0x3fea4da2f385e997, // 0.56952, 0.82198 + 0x3fe22f2d662c13e1, 0x3fea54c91090f524, // 0.56826, 0.82285 + 0x3fe224d4e5d5482e, 0x3fea5beb1e188375, // 0.567, 0.82372 + 0x3fe21a799933eb58, 0x3fea63091b02fae2, // 0.56573, 0.82459 + 0x3fe2101b81e0da78, 0x3fea6a230637623b, // 0.56447, 0.82546 + 0x3fe205baa17560d6, 0x3fea7138de9d60f5, // 0.5632, 0.82632 + 0x3fe1fb56f98b37b8, 0x3fea784aa31d3f55, // 0.56193, 0.82718 + 0x3fe1f0f08bbc861b, 0x3fea7f58529fe69d, // 0.56066, 0.82805 + 0x3fe1e68759a3e074, 0x3fea8661ec0ee133, // 0.55939, 0.8289 + 0x3fe1dc1b64dc4872, 0x3fea8d676e545ad2, // 0.55812, 0.82976 + 0x3fe1d1acaf012cc2, 0x3fea9468d85b20ae, // 0.55685, 0.83062 + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147 + 0x3fe1bcc706804467, 0x3feaa25f5f5aee60, // 0.55429, 0.83232 + 0x3fe1b250171373be, 0x3feaa9547a2cb98e, // 0.55302, 0.83317 + 0x3fe1a7d66d0516e6, 0x3feab045787157ff, // 0.55174, 0.83402 + 0x3fe19d5a09f2b9b8, 0x3feab7325916c0d4, // 0.55046, 0.83486 + 0x3fe192daef7a5386, 0x3feabe1b1b0b8dac, // 0.54918, 0.83571 + 0x3fe188591f3a46e5, 0x3feac4ffbd3efac8, // 0.54789, 0.83655 + 0x3fe17dd49ad16161, 0x3feacbe03ea0e73b, // 0.54661, 0.83739 + 0x3fe1734d63dedb49, 0x3fead2bc9e21d511, // 0.54532, 0.83822 + 0x3fe168c37c025764, 0x3fead994dab2e979, // 0.54404, 0.83906 + 0x3fe15e36e4dbe2bc, 0x3feae068f345ecef, // 0.54275, 0.83989 + 0x3fe153a7a00bf453, 0x3feae738e6cd4b67, // 0.54146, 0.84073 + 0x3fe14915af336ceb, 0x3feaee04b43c1474, // 0.54017, 0.84155 + 0x3fe13e8113f396c1, 0x3feaf4cc5a85fb73, // 0.53888, 0.84238 + 0x3fe133e9cfee254e, 0x3feafb8fd89f57b6, // 0.53759, 0.84321 + 0x3fe1294fe4c5350a, 0x3feb024f2d7d24a9, // 0.53629, 0.84403 + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485 + 0x3fe114141f935545, 0x3feb0fc1575d33db, // 0.5337, 0.84567 + 0x3fe1097248d0a956, 0x3feb16742a4ca2f5, // 0.5324, 0.84649 + 0x3fe0fecdd1770537, 0x3feb1d22cfdadcc6, // 0.5311, 0.84731 + 0x3fe0f426bb2a8e7d, 0x3feb23cd470013b4, // 0.5298, 0.84812 + 0x3fe0e97d078fd23b, 0x3feb2a738eb51f33, // 0.5285, 0.84893 + 0x3fe0ded0b84bc4b5, 0x3feb3115a5f37bf4, // 0.5272, 0.84974 + 0x3fe0d421cf03c12b, 0x3feb37b38bb54c09, // 0.5259, 0.85055 + 0x3fe0c9704d5d898f, 0x3feb3e4d3ef55712, // 0.52459, 0.85136 + 0x3fe0bebc34ff4646, 0x3feb44e2beaf0a61, // 0.52328, 0.85216 + 0x3fe0b405878f85ec, 0x3feb4b7409de7925, // 0.52198, 0.85296 + 0x3fe0a94c46b53d0b, 0x3feb52011f805c92, // 0.52067, 0.85376 + 0x3fe09e907417c5e1, 0x3feb5889fe921405, // 0.51936, 0.85456 + 0x3fe093d2115ee018, 0x3feb5f0ea611a532, // 0.51804, 0.85535 + 0x3fe089112032b08c, 0x3feb658f14fdbc47, // 0.51673, 0.85615 + 0x3fe07e4da23bc102, 0x3feb6c0b4a55ac17, // 0.51542, 0.85694 + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773 + 0x3fe068bf0691c028, 0x3feb78f70449a34b, // 0.51279, 0.85852 + 0x3fe05df3ec31b8b6, 0x3feb7f6686e792ea, // 0.51147, 0.8593 + 0x3fe053264bad0483, 0x3feb85d1cbf52c02, // 0.51015, 0.86009 + 0x3fe0485626ae221a, 0x3feb8c38d27504e9, // 0.50883, 0.86087 + 0x3fe03d837edff370, 0x3feb929b996a5b7f, // 0.50751, 0.86165 + 0x3fe032ae55edbd95, 0x3feb98fa1fd9155e, // 0.50619, 0.86242 + 0x3fe027d6ad83287e, 0x3feb9f5464c5bffc, // 0.50486, 0.8632 + 0x3fe01cfc874c3eb7, 0x3feba5aa673590d2, // 0.50354, 0.86397 + 0x3fe0121fe4f56d2c, 0x3febabfc262e6586, // 0.50221, 0.86474 + 0x3fe00740c82b82e0, 0x3febb249a0b6c40d, // 0.50089, 0.86551 + 0x3fdff8be6537615e, 0x3febb892d5d5dad5, // 0.49956, 0.86628 + 0x3fdfe2f64be7120f, 0x3febbed7c49380ea, // 0.49823, 0.86705 + 0x3fdfcd2947c1ff57, 0x3febc5186bf8361d, // 0.4969, 0.86781 + 0x3fdfb7575c24d2de, 0x3febcb54cb0d2327, // 0.49557, 0.86857 + 0x3fdfa1808c6cf7e0, 0x3febd18ce0dc19d6, // 0.49423, 0.86933 + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009 + 0x3fdf75c44e26a852, 0x3febddf02cd2b983, // 0.49156, 0.87084 + 0x3fdf5fdee656cda3, 0x3febe41b611154c1, // 0.49023, 0.8716 + 0x3fdf49f4a7e97729, 0x3febea424837de6d, // 0.48889, 0.87235 + 0x3fdf3405963fd068, 0x3febf064e15377dd, // 0.48755, 0.87309 + 0x3fdf1e11b4bbc35c, 0x3febf6832b71ec5b, // 0.48621, 0.87384 + 0x3fdf081906bff7fd, 0x3febfc9d25a1b147, // 0.48487, 0.87459 + 0x3fdef21b8fafd3b5, 0x3fec02b2cef1e641, // 0.48353, 0.87533 + 0x3fdedc1952ef78d5, 0x3fec08c426725549, // 0.48218, 0.87607 + 0x3fdec61253e3c61b, 0x3fec0ed12b3372e9, // 0.48084, 0.87681 + 0x3fdeb00695f25620, 0x3fec14d9dc465e58, // 0.47949, 0.87755 + 0x3fde99f61c817eda, 0x3fec1ade38bce19b, // 0.47815, 0.87828 + 0x3fde83e0eaf85113, 0x3fec20de3fa971b0, // 0.4768, 0.87901 + 0x3fde6dc704be97e2, 0x3fec26d9f01f2eaf, // 0.47545, 0.87974 + 0x3fde57a86d3cd824, 0x3fec2cd14931e3f1, // 0.4741, 0.88047 + 0x3fde418527dc4ffa, 0x3fec32c449f60831, // 0.47275, 0.8812 + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192 + 0x3fde1530a12779f4, 0x3fec3e9d3ee7d262, // 0.47004, 0.88264 + 0x3fddfeff66a941de, 0x3fec44833141c004, // 0.46869, 0.88336 + 0x3fdde8c98bf86bd6, 0x3fec4a64c7a5ac4c, // 0.46733, 0.88408 + 0x3fddd28f1481cc58, 0x3fec5042012b6907, // 0.46598, 0.8848 + 0x3fddbc5003b2edf8, 0x3fec561adceb743e, // 0.46462, 0.88551 + 0x3fdda60c5cfa10d8, 0x3fec5bef59fef85a, // 0.46326, 0.88622 + 0x3fdd8fc423c62a25, 0x3fec61bf777fcc48, // 0.4619, 0.88693 + 0x3fdd79775b86e389, 0x3fec678b3488739b, // 0.46054, 0.88764 + 0x3fdd632607ac9aa9, 0x3fec6d5290341eb2, // 0.45918, 0.88835 + 0x3fdd4cd02ba8609c, 0x3fec7315899eaad7, // 0.45781, 0.88905 + 0x3fdd3675caebf962, 0x3fec78d41fe4a267, // 0.45645, 0.88975 + 0x3fdd2016e8e9db5b, 0x3fec7e8e52233cf3, // 0.45508, 0.89045 + 0x3fdd09b389152ec1, 0x3fec84441f785f61, // 0.45372, 0.89115 + 0x3fdcf34baee1cd21, 0x3fec89f587029c13, // 0.45235, 0.89184 + 0x3fdcdcdf5dc440ce, 0x3fec8fa287e13305, // 0.45098, 0.89253 + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322 + 0x3fdcaff964a0421d, 0x3fec9aef521bd480, // 0.44824, 0.89391 + 0x3fdc997fc3865388, 0x3feca08f19b9c449, // 0.44687, 0.8946 + 0x3fdc8301b95b40c2, 0x3feca62a772fd919, // 0.4455, 0.89528 + 0x3fdc6c7f4997000a, 0x3fecabc169a0b901, // 0.44412, 0.89597 + 0x3fdc55f877b23537, 0x3fecb153f02fb87d, // 0.44275, 0.89665 + 0x3fdc3f6d47263129, 0x3fecb6e20a00da99, // 0.44137, 0.89732 + 0x3fdc28ddbb6cf145, 0x3fecbc6bb638d10b, // 0.43999, 0.898 + 0x3fdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // 0.43862, 0.89867 + 0x3fdbfbb1a05e0edc, 0x3fecc771c2736c09, // 0.43724, 0.89935 + 0x3fdbe51517ffc0d9, 0x3fecccee20c2de9f, // 0.43586, 0.90002 + 0x3fdbce744262deee, 0x3fecd2660e12c1e6, // 0.43448, 0.90068 + 0x3fdbb7cf2304bd01, 0x3fecd7d9898b32f6, // 0.43309, 0.90135 + 0x3fdba125bd63583e, 0x3fecdd489254fe65, // 0.43171, 0.90201 + 0x3fdb8a7814fd5693, 0x3fece2b32799a060, // 0.43033, 0.90267 + 0x3fdb73c62d520624, 0x3fece819488344ce, // 0.42894, 0.90333 + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399 + 0x3fdb4655ae2bf757, 0x3fecf2d829f1b40e, // 0.42617, 0.90464 + 0x3fdb2f971db31972, 0x3fecf830e8ce467b, // 0.42478, 0.9053 + 0x3fdb18d45bf8aca6, 0x3fecfd852fff6ad4, // 0.42339, 0.90595 + 0x3fdb020d6c7f4009, 0x3fed02d4feb2bd92, // 0.422, 0.9066 + 0x3fdaeb4252ca07ab, 0x3fed082054168bac, // 0.42061, 0.90724 + 0x3fdad473125cdc08, 0x3fed0d672f59d2b9, // 0.41922, 0.90789 + 0x3fdabd9faebc3980, 0x3fed12a98fac410c, // 0.41782, 0.90853 + 0x3fdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // 0.41643, 0.90917 + 0x3fda8fec8bf5b166, 0x3fed1d20dc40c15c, // 0.41503, 0.90981 + 0x3fda790cd3dbf31a, 0x3fed2255c6e5a4e1, // 0.41364, 0.91044 + 0x3fda622906a70b63, 0x3fed2786335f52fc, // 0.41224, 0.91107 + 0x3fda4b4127dea1e4, 0x3fed2cb220e0ef9f, // 0.41084, 0.91171 + 0x3fda34553b0afee5, 0x3fed31d98e9e503a, // 0.40944, 0.91234 + 0x3fda1d6543b50ac0, 0x3fed36fc7bcbfbdc, // 0.40804, 0.91296 + 0x3fda067145664d57, 0x3fed3c1ae79f2b4e, // 0.40664, 0.91359 + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421 + 0x3fd9d87d4207b0ab, 0x3fed464a380e7242, // 0.40384, 0.91483 + 0x3fd9c17d440df9f2, 0x3fed4b5b1b187524, // 0.40243, 0.91545 + 0x3fd9aa794d47c9ee, 0x3fed506779a3d2d9, // 0.40103, 0.91606 + 0x3fd993716141bdfe, 0x3fed556f52e93eb1, // 0.39962, 0.91668 + 0x3fd97c6583890fc2, 0x3fed5a72a6221e73, // 0.39822, 0.91729 + 0x3fd96555b7ab948f, 0x3fed5f7172888a7f, // 0.39681, 0.9179 + 0x3fd94e420137bce3, 0x3fed646bb7574de5, // 0.3954, 0.91851 + 0x3fd9372a63bc93d7, 0x3fed696173c9e68b, // 0.39399, 0.91911 + 0x3fd9200ee2c9be97, 0x3fed6e52a71c8547, // 0.39258, 0.91972 + 0x3fd908ef81ef7bd1, 0x3fed733f508c0dff, // 0.39117, 0.92032 + 0x3fd8f1cc44bea329, 0x3fed78276f5617c6, // 0.38976, 0.92092 + 0x3fd8daa52ec8a4af, 0x3fed7d0b02b8ecf9, // 0.38835, 0.92151 + 0x3fd8c37a439f884f, 0x3fed81ea09f38b63, // 0.38693, 0.92211 + 0x3fd8ac4b86d5ed44, 0x3fed86c48445a450, // 0.38552, 0.9227 + 0x3fd89518fbff098e, 0x3fed8b9a70ef9cb4, // 0.3841, 0.92329 + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388 + 0x3fd866a88a792ea0, 0x3fed95389e50429b, // 0.38127, 0.92447 + 0x3fd84f6aaaf3903f, 0x3fed9a00dd8b3d46, // 0.37985, 0.92505 + 0x3fd838290bb359c8, 0x3fed9ec48c26b1f3, // 0.37843, 0.92563 + 0x3fd820e3b04eaac4, 0x3feda383a9668988, // 0.37701, 0.92621 + 0x3fd8099a9c5c362d, 0x3feda83e348f613b, // 0.37559, 0.92679 + 0x3fd7f24dd37341e3, 0x3fedacf42ce68ab9, // 0.37416, 0.92736 + 0x3fd7dafd592ba621, 0x3fedb1a591b20c38, // 0.37274, 0.92794 + 0x3fd7c3a9311dcce7, 0x3fedb6526238a09b, // 0.37132, 0.92851 + 0x3fd7ac515ee2b172, 0x3fedbafa9dc1b78d, // 0.36989, 0.92907 + 0x3fd794f5e613dfae, 0x3fedbf9e4395759a, // 0.36847, 0.92964 + 0x3fd77d96ca4b73a6, 0x3fedc43d52fcb453, // 0.36704, 0.93021 + 0x3fd766340f2418f6, 0x3fedc8d7cb410260, // 0.36561, 0.93077 + 0x3fd74ecdb8390a3e, 0x3fedcd6dabaca3a5, // 0.36418, 0.93133 + 0x3fd73763c9261092, 0x3fedd1fef38a915a, // 0.36276, 0.93188 + 0x3fd71ff6458782ec, 0x3fedd68ba2267a25, // 0.36133, 0.93244 + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299 + 0x3fd6f1108f1bc9c5, 0x3feddf9730ca837b, // 0.35846, 0.93354 + 0x3fd6d998638a0cb5, 0x3fede4160f6d8d81, // 0.35703, 0.93409 + 0x3fd6c21cb1e39771, 0x3fede890520465ce, // 0.3556, 0.93464 + 0x3fd6aa9d7dc77e16, 0x3feded05f7de47da, // 0.35416, 0.93518 + 0x3fd6931acad55f51, 0x3fedf177004b2534, // 0.35273, 0.93573 + 0x3fd67b949cad63ca, 0x3fedf5e36a9ba59c, // 0.35129, 0.93627 + 0x3fd6640af6f03d9e, 0x3fedfa4b3621271d, // 0.34986, 0.9368 + 0x3fd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // 0.34842, 0.93734 + 0x3fd634ed533be58e, 0x3fee030cee1435b8, // 0.34698, 0.93787 + 0x3fd61d595c88c203, 0x3fee0766d9280f54, // 0.34554, 0.9384 + 0x3fd605c1fcc88f63, 0x3fee0bbc22bd8349, // 0.3441, 0.93893 + 0x3fd5ee27379ea693, 0x3fee100cca2980ac, // 0.34266, 0.93946 + 0x3fd5d68910aee686, 0x3fee1458cec1ad83, // 0.34122, 0.93998 + 0x3fd5bee78b9db3b6, 0x3fee18a02fdc66d9, // 0.33978, 0.94051 + 0x3fd5a742ac0ff78d, 0x3fee1ce2ecd0c0d8, // 0.33833, 0.94103 + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154 + 0x3fd577eeec151e47, 0x3fee255a77a63bb8, // 0.33545, 0.94206 + 0x3fd5604012f467b4, 0x3fee298f4439197a, // 0.334, 0.94257 + 0x3fd5488dedeff3be, 0x3fee2dbf6a0911d9, // 0.33255, 0.94308 + 0x3fd530d880af3c24, 0x3fee31eae870ce25, // 0.33111, 0.94359 + 0x3fd5191fceda3c35, 0x3fee3611becbaf69, // 0.32966, 0.9441 + 0x3fd50163dc197047, 0x3fee3a33ec75ce85, // 0.32821, 0.9446 + 0x3fd4e9a4ac15d520, 0x3fee3e5170cbfc46, // 0.32676, 0.94511 + 0x3fd4d1e24278e76a, 0x3fee426a4b2bc17e, // 0.32531, 0.94561 + 0x3fd4ba1ca2eca31c, 0x3fee467e7af35f23, // 0.32386, 0.94611 + 0x3fd4a253d11b82f3, 0x3fee4a8dff81ce5e, // 0.32241, 0.9466 + 0x3fd48a87d0b07fd7, 0x3fee4e98d836c0af, // 0.32096, 0.94709 + 0x3fd472b8a5571054, 0x3fee529f04729ffc, // 0.3195, 0.94759 + 0x3fd45ae652bb2800, 0x3fee56a083968eb1, // 0.31805, 0.94807 + 0x3fd44310dc8936f0, 0x3fee5a9d550467d3, // 0.31659, 0.94856 + 0x3fd42b38466e2928, 0x3fee5e95781ebf1c, // 0.31514, 0.94905 + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953 + 0x3fd3fb7dc932cfa4, 0x3fee6677b0e6d31e, // 0.31222, 0.95001 + 0x3fd3e39be96ec271, 0x3fee6a61c55d53a7, // 0.31077, 0.95049 + 0x3fd3cbb6f87a146e, 0x3fee6e472911da27, // 0.30931, 0.95096 + 0x3fd3b3cefa0414b7, 0x3fee7227db6a9744, // 0.30785, 0.95144 + 0x3fd39be3f1bc8aef, 0x3fee7603dbce74e9, // 0.30639, 0.95191 + 0x3fd383f5e353b6aa, 0x3fee79db29a5165a, // 0.30493, 0.95238 + 0x3fd36c04d27a4edf, 0x3fee7dadc456d850, // 0.30347, 0.95284 + 0x3fd35410c2e18152, 0x3fee817bab4cd10d, // 0.30201, 0.95331 + 0x3fd33c19b83af207, 0x3fee8544ddf0d075, // 0.30054, 0.95377 + 0x3fd3241fb638baaf, 0x3fee89095bad6025, // 0.29908, 0.95423 + 0x3fd30c22c08d6a13, 0x3fee8cc923edc388, // 0.29762, 0.95469 + 0x3fd2f422daec0386, 0x3fee9084361df7f3, // 0.29615, 0.95514 + 0x3fd2dc200907fe51, 0x3fee943a91aab4b4, // 0.29469, 0.95559 + 0x3fd2c41a4e954520, 0x3fee97ec36016b30, // 0.29322, 0.95605 + 0x3fd2ac11af483572, 0x3fee9b99229046f8, // 0.29175, 0.95649 + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694 + 0x3fd27bf7d0f2c346, 0x3feea2e4d212c000, // 0.28882, 0.95738 + 0x3fd263e6995554ba, 0x3feea68393e65800, // 0.28735, 0.95783 + 0x3fd24bd28bb37672, 0x3feeaa1d9bb20af3, // 0.28588, 0.95827 + 0x3fd233bbabc3bb72, 0x3feeadb2e8e7a88e, // 0.28441, 0.9587 + 0x3fd21ba1fd3d2623, 0x3feeb1437af9bb34, // 0.28294, 0.95914 + 0x3fd2038583d727bd, 0x3feeb4cf515b8811, // 0.28146, 0.95957 + 0x3fd1eb6643499fbb, 0x3feeb8566b810f2a, // 0.27999, 0.96 + 0x3fd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // 0.27852, 0.96043 + 0x3fd1bb1f7b999480, 0x3feebf5668eaf2ef, // 0.27705, 0.96086 + 0x3fd1a2f7fbe8f243, 0x3feec2cf4b1af6b2, // 0.27557, 0.96128 + 0x3fd18acdc3f4873a, 0x3feec6436ee60309, // 0.2741, 0.9617 + 0x3fd172a0d7765177, 0x3feec9b2d3c3bf84, // 0.27262, 0.96212 + 0x3fd15a713a28b9d9, 0x3feecd1d792c8f10, // 0.27115, 0.96254 + 0x3fd1423eefc69378, 0x3feed0835e999009, // 0.26967, 0.96295 + 0x3fd12a09fc0b1b12, 0x3feed3e483849c51, // 0.26819, 0.96337 + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378 + 0x3fd0f998277733f7, 0x3feeda9889bfe86a, // 0.26523, 0.96418 + 0x3fd0e15b4e1749cd, 0x3feeddeb6a078651, // 0.26375, 0.96459 + 0x3fd0c91bda4f158d, 0x3feee13987bbebdc, // 0.26227, 0.96499 + 0x3fd0b0d9cfdbdb90, 0x3feee482e25a9dbc, // 0.26079, 0.96539 + 0x3fd09895327b465e, 0x3feee7c77961dc9e, // 0.25931, 0.96579 + 0x3fd0804e05eb661e, 0x3feeeb074c50a544, // 0.25783, 0.96619 + 0x3fd068044deab002, 0x3feeee425aa6b09a, // 0.25635, 0.96658 + 0x3fd04fb80e37fdae, 0x3feef178a3e473c2, // 0.25487, 0.96698 + 0x3fd037694a928cac, 0x3feef4aa278b2032, // 0.25338, 0.96737 + 0x3fd01f1806b9fdd2, 0x3feef7d6e51ca3c0, // 0.2519, 0.96775 + 0x3fd006c4466e54af, 0x3feefafedc1ba8b7, // 0.25041, 0.96814 + 0x3fcfdcdc1adfedf8, 0x3feefe220c0b95ec, // 0.24893, 0.96852 + 0x3fcfac2abeff57ff, 0x3fef014074708ed3, // 0.24744, 0.9689 + 0x3fcf7b7480bd3801, 0x3fef045a14cf738c, // 0.24596, 0.96928 + 0x3fcf4ab9679c9f5c, 0x3fef076eecade0fa, // 0.24447, 0.96966 + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003 + 0x3fcee934c2d006c7, 0x3fef0d8a410379c5, // 0.24149, 0.9704 + 0x3fceb86b462de348, 0x3fef1090bc898f5f, // 0.24, 0.97077 + 0x3fce879d0cc0fdaf, 0x3fef13926dad024e, // 0.23851, 0.97114 + 0x3fce56ca1e101a1b, 0x3fef168f53f7205d, // 0.23702, 0.9715 + 0x3fce25f281a2b684, 0x3fef19876ef1f486, // 0.23553, 0.97187 + 0x3fcdf5163f01099a, 0x3fef1c7abe284708, // 0.23404, 0.97223 + 0x3fcdc4355db40195, 0x3fef1f6941259d7a, // 0.23255, 0.97258 + 0x3fcd934fe5454311, 0x3fef2252f7763ada, // 0.23106, 0.97294 + 0x3fcd6265dd3f27e3, 0x3fef2537e0a71f9f, // 0.22957, 0.97329 + 0x3fcd31774d2cbdee, 0x3fef2817fc4609ce, // 0.22807, 0.97364 + 0x3fcd00843c99c5f9, 0x3fef2af349e17507, // 0.22658, 0.97399 + 0x3fcccf8cb312b286, 0x3fef2dc9c9089a9d, // 0.22508, 0.97434 + 0x3fcc9e90b824a6a9, 0x3fef309b794b719f, // 0.22359, 0.97468 + 0x3fcc6d90535d74dc, 0x3fef33685a3aaef0, // 0.22209, 0.97503 + 0x3fcc3c8b8c4b9dd7, 0x3fef36306b67c556, // 0.2206, 0.97536 + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757 + 0x3fcbda74f5856330, 0x3fef3bb21cc4fe47, // 0.2176, 0.97604 + 0x3fcba96334f15dad, 0x3fef3e6bbc1bbc65, // 0.21611, 0.97637 + 0x3fcb784d30536cda, 0x3fef412089fd8adc, // 0.21461, 0.9767 + 0x3fcb4732ef3d6722, 0x3fef43d085ff92dd, // 0.21311, 0.97703 + 0x3fcb16147941ca2a, 0x3fef467bafb7bbe0, // 0.21161, 0.97735 + 0x3fcae4f1d5f3b9ab, 0x3fef492206bcabb4, // 0.21011, 0.97768 + 0x3fcab3cb0ce6fe44, 0x3fef4bc38aa5c694, // 0.20861, 0.978 + 0x3fca82a025b00451, 0x3fef4e603b0b2f2d, // 0.20711, 0.97832 + 0x3fca517127e3dabc, 0x3fef50f81785c6b9, // 0.20561, 0.97863 + 0x3fca203e1b1831da, 0x3fef538b1faf2d07, // 0.20411, 0.97895 + 0x3fc9ef0706e35a35, 0x3fef56195321c090, // 0.20261, 0.97926 + 0x3fc9bdcbf2dc4366, 0x3fef58a2b1789e84, // 0.2011, 0.97957 + 0x3fc98c8ce69a7aec, 0x3fef5b273a4fa2d9, // 0.1996, 0.97988 + 0x3fc95b49e9b62af9, 0x3fef5da6ed43685d, // 0.1981, 0.98018 + 0x3fc92a0303c8194f, 0x3fef6021c9f148c2, // 0.19659, 0.98048 + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079 + 0x3fc8c7699b34ca7e, 0x3fef6508fef47bd5, // 0.19359, 0.98108 + 0x3fc8961727c41804, 0x3fef677556883cee, // 0.19208, 0.98138 + 0x3fc864c0e9b2b6cf, 0x3fef69dcd652f5de, // 0.19057, 0.98167 + 0x3fc83366e89c64c5, 0x3fef6c3f7df5bbb7, // 0.18907, 0.98196 + 0x3fc802092c1d744b, 0x3fef6e9d4d1262ca, // 0.18756, 0.98225 + 0x3fc7d0a7bbd2cb1b, 0x3fef70f6434b7eb7, // 0.18606, 0.98254 + 0x3fc79f429f59e11d, 0x3fef734a60446279, // 0.18455, 0.98282 + 0x3fc76dd9de50bf31, 0x3fef7599a3a12077, // 0.18304, 0.98311 + 0x3fc73c6d8055fe0a, 0x3fef77e40d068a90, // 0.18153, 0.98339 + 0x3fc70afd8d08c4ff, 0x3fef7a299c1a322a, // 0.18002, 0.98366 + 0x3fc6d98a0c08c8da, 0x3fef7c6a50826840, // 0.17851, 0.98394 + 0x3fc6a81304f64ab2, 0x3fef7ea629e63d6e, // 0.177, 0.98421 + 0x3fc676987f7216b8, 0x3fef80dd27ed8204, // 0.17549, 0.98448 + 0x3fc6451a831d830d, 0x3fef830f4a40c60c, // 0.17398, 0.98475 + 0x3fc61399179a6e94, 0x3fef853c9089595e, // 0.17247, 0.98501 + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528 + 0x3fc5b08c1192e381, 0x3fef898887a36c84, // 0.16945, 0.98554 + 0x3fc57f008654cbde, 0x3fef8ba737cb4b78, // 0.16794, 0.9858 + 0x3fc54d71aa74ef02, 0x3fef8dc10a95380d, // 0.16643, 0.98605 + 0x3fc51bdf8597c5f2, 0x3fef8fd5ffae41db, // 0.16491, 0.98631 + 0x3fc4ea4a1f624b61, 0x3fef91e616c43891, // 0.1634, 0.98656 + 0x3fc4b8b17f79fa88, 0x3fef93f14f85ac08, // 0.16189, 0.98681 + 0x3fc48715ad84cdf5, 0x3fef95f7a9a1ec47, // 0.16037, 0.98706 + 0x3fc45576b1293e5a, 0x3fef97f924c9099b, // 0.15886, 0.9873 + 0x3fc423d4920e4166, 0x3fef99f5c0abd496, // 0.15734, 0.98754 + 0x3fc3f22f57db4893, 0x3fef9bed7cfbde29, // 0.15583, 0.98778 + 0x3fc3c0870a383ff6, 0x3fef9de0596b77a3, // 0.15431, 0.98802 + 0x3fc38edbb0cd8d14, 0x3fef9fce55adb2c8, // 0.1528, 0.98826 + 0x3fc35d2d53440db2, 0x3fefa1b7717661d5, // 0.15128, 0.98849 + 0x3fc32b7bf94516a7, 0x3fefa39bac7a1791, // 0.14976, 0.98872 + 0x3fc2f9c7aa7a72af, 0x3fefa57b066e2754, // 0.14825, 0.98895 + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918 + 0x3fc296564d2b953e, 0x3fefa92b1600657c, // 0.14521, 0.9894 + 0x3fc264994dfd340a, 0x3fefaafbcb0cfddc, // 0.1437, 0.98962 + 0x3fc232d978aed413, 0x3fefacc79de6c44f, // 0.14218, 0.98984 + 0x3fc20116d4ec7bce, 0x3fefae8e8e46cfbb, // 0.14066, 0.99006 + 0x3fc1cf516a62a077, 0x3fefb0509be6f7db, // 0.13914, 0.99027 + 0x3fc19d8940be24e7, 0x3fefb20dc681d54d, // 0.13762, 0.99049 + 0x3fc16bbe5fac5865, 0x3fefb3c60dd2c199, // 0.1361, 0.9907 + 0x3fc139f0cedaf576, 0x3fefb5797195d741, // 0.13458, 0.9909 + 0x3fc1082095f820b0, 0x3fefb727f187f1c7, // 0.13306, 0.99111 + 0x3fc0d64dbcb26786, 0x3fefb8d18d66adb7, // 0.13154, 0.99131 + 0x3fc0a4784ab8bf1d, 0x3fefba7644f068b5, // 0.13002, 0.99151 + 0x3fc072a047ba831d, 0x3fefbc1617e44186, // 0.1285, 0.99171 + 0x3fc040c5bb67747e, 0x3fefbdb106021816, // 0.12698, 0.99191 + 0x3fc00ee8ad6fb85b, 0x3fefbf470f0a8d88, // 0.12545, 0.9921 + 0x3fbfba124b07ad85, 0x3fefc0d832bf043a, // 0.12393, 0.99229 + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248 + 0x3fbef2858d27561b, 0x3fefc3ebc935454c, // 0.12089, 0.99267 + 0x3fbe8eb7fde4aa3e, 0x3fefc56e3b7d9af6, // 0.11937, 0.99285 + 0x3fbe2ae5b8457f77, 0x3fefc6ebc77f0887, // 0.11784, 0.99303 + 0x3fbdc70ecbae9fc8, 0x3fefc8646cfeb721, // 0.11632, 0.99321 + 0x3fbd633347858ce4, 0x3fefc9d82bc2915e, // 0.11479, 0.99339 + 0x3fbcff533b307dc1, 0x3fefcb4703914354, // 0.11327, 0.99356 + 0x3fbc9b6eb6165c42, 0x3fefccb0f4323aa3, // 0.11175, 0.99374 + 0x3fbc3785c79ec2d5, 0x3fefce15fd6da67b, // 0.11022, 0.99391 + 0x3fbbd3987f31fa0e, 0x3fefcf761f0c77a3, // 0.1087, 0.99407 + 0x3fbb6fa6ec38f64c, 0x3fefd0d158d86087, // 0.10717, 0.99424 + 0x3fbb0bb11e1d5559, 0x3fefd227aa9bd53b, // 0.10565, 0.9944 + 0x3fbaa7b724495c04, 0x3fefd37914220b84, // 0.10412, 0.99456 + 0x3fba43b90e27f3c4, 0x3fefd4c59536fae4, // 0.1026, 0.99472 + 0x3fb9dfb6eb24a85c, 0x3fefd60d2da75c9e, // 0.10107, 0.99488 + 0x3fb97bb0caaba56f, 0x3fefd74fdd40abbf, // 0.099544, 0.99503 + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518 + 0x3fb8b398cf0c38e0, 0x3fefd9c68127c78c, // 0.09649, 0.99533 + 0x3fb84f8712c130a0, 0x3fefdafa7514538c, // 0.094963, 0.99548 + 0x3fb7eb7196b72ee4, 0x3fefdc297f674ba9, // 0.093436, 0.99563 + 0x3fb787586a5d5b21, 0x3fefdd539ff1f456, // 0.091909, 0.99577 + 0x3fb7233b9d236e71, 0x3fefde78d68653fd, // 0.090381, 0.99591 + 0x3fb6bf1b3e79b129, 0x3fefdf9922f73307, // 0.088854, 0.99604 + 0x3fb65af75dd0f87b, 0x3fefe0b485181be3, // 0.087326, 0.99618 + 0x3fb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // 0.085797, 0.99631 + 0x3fb592a554489bc8, 0x3fefe2dc89bbff08, // 0.084269, 0.99644 + 0x3fb52e774a4d4d0a, 0x3fefe3e92be9d886, // 0.08274, 0.99657 + 0x3fb4ca45fc1ba8b6, 0x3fefe4f0e31d7a4a, // 0.081211, 0.9967 + 0x3fb4661179272096, 0x3fefe5f3af2e3940, // 0.079682, 0.99682 + 0x3fb401d9d0e3a507, 0x3fefe6f18ff42c84, // 0.078153, 0.99694 + 0x3fb39d9f12c5a299, 0x3fefe7ea85482d60, // 0.076624, 0.99706 + 0x3fb339614e41ffa5, 0x3fefe8de8f03d75c, // 0.075094, 0.99718 + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, // 0.073565, 0.99729 + 0x3fb270dcefdfc45b, 0x3fefeab7df1c6005, // 0.072035, 0.9974 + 0x3fb20c9674ed444c, 0x3fefeb9d2530410f, // 0.070505, 0.99751 + 0x3fb1a84d316d4f8a, 0x3fefec7d7f19cffc, // 0.068974, 0.99762 + 0x3fb1440134d709b2, 0x3fefed58ecb673c4, // 0.067444, 0.99772 + 0x3fb0dfb28ea201e6, 0x3fefee2f6de455ba, // 0.065913, 0.99783 + 0x3fb07b614e463064, 0x3fefef0102826191, // 0.064383, 0.99793 + 0x3fb0170d833bf421, 0x3fefefcdaa704562, // 0.062852, 0.99802 + 0x3faf656e79f820e0, 0x3feff095658e71ad, // 0.061321, 0.99812 + 0x3fae9cbd15ff5527, 0x3feff15833be1965, // 0.05979, 0.99821 + 0x3fadd406f9808ec8, 0x3feff21614e131ed, // 0.058258, 0.9983 + 0x3fad0b4c436f91d0, 0x3feff2cf08da7321, // 0.056727, 0.99839 + 0x3fac428d12c0d7e3, 0x3feff3830f8d575c, // 0.055195, 0.99848 + 0x3fab79c986698b78, 0x3feff43228de1b77, // 0.053664, 0.99856 + 0x3faab101bd5f8317, 0x3feff4dc54b1bed3, // 0.052132, 0.99864 + 0x3fa9e835d6993c87, 0x3feff58192ee0358, // 0.0506, 0.99872 + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, // 0.049068, 0.9988 + 0x3fa856922bb513c1, 0x3feff6bd463b444d, // 0.047535, 0.99887 + 0x3fa78dbaa5874685, 0x3feff753bb1b9164, // 0.046003, 0.99894 + 0x3fa6c4df7d7d5b84, 0x3feff7e5420320f9, // 0.044471, 0.99901 + 0x3fa5fc00d290cd43, 0x3feff871dadb81df, // 0.042938, 0.99908 + 0x3fa5331ec3bba0eb, 0x3feff8f9858f058b, // 0.041406, 0.99914 + 0x3fa46a396ff86179, 0x3feff97c4208c014, // 0.039873, 0.9992 + 0x3fa3a150f6421afc, 0x3feff9fa10348837, // 0.03834, 0.99926 + 0x3fa2d865759455cd, 0x3feffa72effef75d, // 0.036807, 0.99932 + 0x3fa20f770ceb11c6, 0x3feffae6e1556998, // 0.035274, 0.99938 + 0x3fa14685db42c17e, 0x3feffb55e425fdae, // 0.033741, 0.99943 + 0x3fa07d91ff984580, 0x3feffbbff85f9515, // 0.032208, 0.99948 + 0x3f9f693731d1cf01, 0x3feffc251df1d3f8, // 0.030675, 0.99953 + 0x3f9dd7458c64ab39, 0x3feffc8554cd213a, // 0.029142, 0.99958 + 0x3f9c454f4ce53b1c, 0x3feffce09ce2a679, // 0.027608, 0.99962 + 0x3f9ab354b1504fca, 0x3feffd36f624500c, // 0.026075, 0.99966 + 0x3f992155f7a3667e, 0x3feffd886084cd0d, // 0.024541, 0.9997 + 0x3f978f535ddc9f03, 0x3feffdd4dbf78f52, // 0.023008, 0.99974 + 0x3f95fd4d21fab226, 0x3feffe1c6870cb77, // 0.021474, 0.99977 + 0x3f946b4381fce81c, 0x3feffe5f05e578db, // 0.01994, 0.9998 + 0x3f92d936bbe30efd, 0x3feffe9cb44b51a1, // 0.018407, 0.99983 + 0x3f9147270dad7132, 0x3feffed57398d2b7, // 0.016873, 0.99986 + 0x3f8f6a296ab997ca, 0x3fefff0943c53bd1, // 0.015339, 0.99988 + 0x3f8c45ffe1e48ad9, 0x3fefff3824c88f6f, // 0.013805, 0.9999 + 0x3f8921d1fcdec784, 0x3fefff62169b92db, // 0.012272, 0.99992 + 0x3f85fda037ac05e0, 0x3fefff871937ce2f, // 0.010738, 0.99994 + 0x3f82d96b0e509703, 0x3fefffa72c978c4f, // 0.0092038, 0.99996 + 0x3f7f6a65f9a2a3c5, 0x3fefffc250b5daef, // 0.0076698, 0.99997 + 0x3f7921f0fe670071, 0x3fefffd8858e8a92, // 0.0061359, 0.99998 + 0x3f72d97822f996bc, 0x3fefffe9cb1e2e8d, // 0.0046019, 0.99999 + 0x3f6921f8becca4ba, 0x3feffff621621d02, // 0.003068, 1 + 0x3f5921faaee6472d, 0x3feffffd88586ee6, // 0.001534, 1 + 0x0000000000000000, 0x3ff0000000000000, // 0, 1 + 0xbf5921faaee6472d, 0x3feffffd88586ee6, // -0.001534, 1 + 0xbf6921f8becca4ba, 0x3feffff621621d02, // -0.003068, 1 + 0xbf72d97822f996bc, 0x3fefffe9cb1e2e8d, //-0.0046019, 0.99999 + 0xbf7921f0fe670071, 0x3fefffd8858e8a92, //-0.0061359, 0.99998 + 0xbf7f6a65f9a2a3c5, 0x3fefffc250b5daef, //-0.0076698, 0.99997 + 0xbf82d96b0e509703, 0x3fefffa72c978c4f, //-0.0092038, 0.99996 + 0xbf85fda037ac05e0, 0x3fefff871937ce2f, // -0.010738, 0.99994 + 0xbf8921d1fcdec784, 0x3fefff62169b92db, // -0.012272, 0.99992 + 0xbf8c45ffe1e48ad9, 0x3fefff3824c88f6f, // -0.013805, 0.9999 + 0xbf8f6a296ab997ca, 0x3fefff0943c53bd1, // -0.015339, 0.99988 + 0xbf9147270dad7132, 0x3feffed57398d2b7, // -0.016873, 0.99986 + 0xbf92d936bbe30efd, 0x3feffe9cb44b51a1, // -0.018407, 0.99983 + 0xbf946b4381fce81c, 0x3feffe5f05e578db, // -0.01994, 0.9998 + 0xbf95fd4d21fab226, 0x3feffe1c6870cb77, // -0.021474, 0.99977 + 0xbf978f535ddc9f03, 0x3feffdd4dbf78f52, // -0.023008, 0.99974 + 0xbf992155f7a3667e, 0x3feffd886084cd0d, // -0.024541, 0.9997 + 0xbf9ab354b1504fca, 0x3feffd36f624500c, // -0.026075, 0.99966 + 0xbf9c454f4ce53b1c, 0x3feffce09ce2a679, // -0.027608, 0.99962 + 0xbf9dd7458c64ab39, 0x3feffc8554cd213a, // -0.029142, 0.99958 + 0xbf9f693731d1cf01, 0x3feffc251df1d3f8, // -0.030675, 0.99953 + 0xbfa07d91ff984580, 0x3feffbbff85f9515, // -0.032208, 0.99948 + 0xbfa14685db42c17e, 0x3feffb55e425fdae, // -0.033741, 0.99943 + 0xbfa20f770ceb11c6, 0x3feffae6e1556998, // -0.035274, 0.99938 + 0xbfa2d865759455cd, 0x3feffa72effef75d, // -0.036807, 0.99932 + 0xbfa3a150f6421afc, 0x3feff9fa10348837, // -0.03834, 0.99926 + 0xbfa46a396ff86179, 0x3feff97c4208c014, // -0.039873, 0.9992 + 0xbfa5331ec3bba0eb, 0x3feff8f9858f058b, // -0.041406, 0.99914 + 0xbfa5fc00d290cd43, 0x3feff871dadb81df, // -0.042938, 0.99908 + 0xbfa6c4df7d7d5b84, 0x3feff7e5420320f9, // -0.044471, 0.99901 + 0xbfa78dbaa5874685, 0x3feff753bb1b9164, // -0.046003, 0.99894 + 0xbfa856922bb513c1, 0x3feff6bd463b444d, // -0.047535, 0.99887 + 0xbfa91f65f10dd814, 0x3feff621e3796d7e, // -0.049068, 0.9988 + 0xbfa9e835d6993c87, 0x3feff58192ee0358, // -0.0506, 0.99872 + 0xbfaab101bd5f8317, 0x3feff4dc54b1bed3, // -0.052132, 0.99864 + 0xbfab79c986698b78, 0x3feff43228de1b77, // -0.053664, 0.99856 + 0xbfac428d12c0d7e3, 0x3feff3830f8d575c, // -0.055195, 0.99848 + 0xbfad0b4c436f91d0, 0x3feff2cf08da7321, // -0.056727, 0.99839 + 0xbfadd406f9808ec8, 0x3feff21614e131ed, // -0.058258, 0.9983 + 0xbfae9cbd15ff5527, 0x3feff15833be1965, // -0.05979, 0.99821 + 0xbfaf656e79f820e0, 0x3feff095658e71ad, // -0.061321, 0.99812 + 0xbfb0170d833bf421, 0x3fefefcdaa704562, // -0.062852, 0.99802 + 0xbfb07b614e463064, 0x3fefef0102826191, // -0.064383, 0.99793 + 0xbfb0dfb28ea201e6, 0x3fefee2f6de455ba, // -0.065913, 0.99783 + 0xbfb1440134d709b2, 0x3fefed58ecb673c4, // -0.067444, 0.99772 + 0xbfb1a84d316d4f8a, 0x3fefec7d7f19cffc, // -0.068974, 0.99762 + 0xbfb20c9674ed444c, 0x3fefeb9d2530410f, // -0.070505, 0.99751 + 0xbfb270dcefdfc45b, 0x3fefeab7df1c6005, // -0.072035, 0.9974 + 0xbfb2d52092ce19f6, 0x3fefe9cdad01883a, // -0.073565, 0.99729 + 0xbfb339614e41ffa5, 0x3fefe8de8f03d75c, // -0.075094, 0.99718 + 0xbfb39d9f12c5a299, 0x3fefe7ea85482d60, // -0.076624, 0.99706 + 0xbfb401d9d0e3a507, 0x3fefe6f18ff42c84, // -0.078153, 0.99694 + 0xbfb4661179272096, 0x3fefe5f3af2e3940, // -0.079682, 0.99682 + 0xbfb4ca45fc1ba8b6, 0x3fefe4f0e31d7a4a, // -0.081211, 0.9967 + 0xbfb52e774a4d4d0a, 0x3fefe3e92be9d886, // -0.08274, 0.99657 + 0xbfb592a554489bc8, 0x3fefe2dc89bbff08, // -0.084269, 0.99644 + 0xbfb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // -0.085797, 0.99631 + 0xbfb65af75dd0f87b, 0x3fefe0b485181be3, // -0.087326, 0.99618 + 0xbfb6bf1b3e79b129, 0x3fefdf9922f73307, // -0.088854, 0.99604 + 0xbfb7233b9d236e71, 0x3fefde78d68653fd, // -0.090381, 0.99591 + 0xbfb787586a5d5b21, 0x3fefdd539ff1f456, // -0.091909, 0.99577 + 0xbfb7eb7196b72ee4, 0x3fefdc297f674ba9, // -0.093436, 0.99563 + 0xbfb84f8712c130a0, 0x3fefdafa7514538c, // -0.094963, 0.99548 + 0xbfb8b398cf0c38e0, 0x3fefd9c68127c78c, // -0.09649, 0.99533 + 0xbfb917a6bc29b42c, 0x3fefd88da3d12526, // -0.098017, 0.99518 + 0xbfb97bb0caaba56f, 0x3fefd74fdd40abbf, // -0.099544, 0.99503 + 0xbfb9dfb6eb24a85c, 0x3fefd60d2da75c9e, // -0.10107, 0.99488 + 0xbfba43b90e27f3c4, 0x3fefd4c59536fae4, // -0.1026, 0.99472 + 0xbfbaa7b724495c04, 0x3fefd37914220b84, // -0.10412, 0.99456 + 0xbfbb0bb11e1d5559, 0x3fefd227aa9bd53b, // -0.10565, 0.9944 + 0xbfbb6fa6ec38f64c, 0x3fefd0d158d86087, // -0.10717, 0.99424 + 0xbfbbd3987f31fa0e, 0x3fefcf761f0c77a3, // -0.1087, 0.99407 + 0xbfbc3785c79ec2d5, 0x3fefce15fd6da67b, // -0.11022, 0.99391 + 0xbfbc9b6eb6165c42, 0x3fefccb0f4323aa3, // -0.11175, 0.99374 + 0xbfbcff533b307dc1, 0x3fefcb4703914354, // -0.11327, 0.99356 + 0xbfbd633347858ce4, 0x3fefc9d82bc2915e, // -0.11479, 0.99339 + 0xbfbdc70ecbae9fc8, 0x3fefc8646cfeb721, // -0.11632, 0.99321 + 0xbfbe2ae5b8457f77, 0x3fefc6ebc77f0887, // -0.11784, 0.99303 + 0xbfbe8eb7fde4aa3e, 0x3fefc56e3b7d9af6, // -0.11937, 0.99285 + 0xbfbef2858d27561b, 0x3fefc3ebc935454c, // -0.12089, 0.99267 + 0xbfbf564e56a9730e, 0x3fefc26470e19fd3, // -0.12241, 0.99248 + 0xbfbfba124b07ad85, 0x3fefc0d832bf043a, // -0.12393, 0.99229 + 0xbfc00ee8ad6fb85b, 0x3fefbf470f0a8d88, // -0.12545, 0.9921 + 0xbfc040c5bb67747e, 0x3fefbdb106021816, // -0.12698, 0.99191 + 0xbfc072a047ba831d, 0x3fefbc1617e44186, // -0.1285, 0.99171 + 0xbfc0a4784ab8bf1d, 0x3fefba7644f068b5, // -0.13002, 0.99151 + 0xbfc0d64dbcb26786, 0x3fefb8d18d66adb7, // -0.13154, 0.99131 + 0xbfc1082095f820b0, 0x3fefb727f187f1c7, // -0.13306, 0.99111 + 0xbfc139f0cedaf576, 0x3fefb5797195d741, // -0.13458, 0.9909 + 0xbfc16bbe5fac5865, 0x3fefb3c60dd2c199, // -0.1361, 0.9907 + 0xbfc19d8940be24e7, 0x3fefb20dc681d54d, // -0.13762, 0.99049 + 0xbfc1cf516a62a077, 0x3fefb0509be6f7db, // -0.13914, 0.99027 + 0xbfc20116d4ec7bce, 0x3fefae8e8e46cfbb, // -0.14066, 0.99006 + 0xbfc232d978aed413, 0x3fefacc79de6c44f, // -0.14218, 0.98984 + 0xbfc264994dfd340a, 0x3fefaafbcb0cfddc, // -0.1437, 0.98962 + 0xbfc296564d2b953e, 0x3fefa92b1600657c, // -0.14521, 0.9894 + 0xbfc2c8106e8e613a, 0x3fefa7557f08a517, // -0.14673, 0.98918 + 0xbfc2f9c7aa7a72af, 0x3fefa57b066e2754, // -0.14825, 0.98895 + 0xbfc32b7bf94516a7, 0x3fefa39bac7a1791, // -0.14976, 0.98872 + 0xbfc35d2d53440db2, 0x3fefa1b7717661d5, // -0.15128, 0.98849 + 0xbfc38edbb0cd8d14, 0x3fef9fce55adb2c8, // -0.1528, 0.98826 + 0xbfc3c0870a383ff6, 0x3fef9de0596b77a3, // -0.15431, 0.98802 + 0xbfc3f22f57db4893, 0x3fef9bed7cfbde29, // -0.15583, 0.98778 + 0xbfc423d4920e4166, 0x3fef99f5c0abd496, // -0.15734, 0.98754 + 0xbfc45576b1293e5a, 0x3fef97f924c9099b, // -0.15886, 0.9873 + 0xbfc48715ad84cdf5, 0x3fef95f7a9a1ec47, // -0.16037, 0.98706 + 0xbfc4b8b17f79fa88, 0x3fef93f14f85ac08, // -0.16189, 0.98681 + 0xbfc4ea4a1f624b61, 0x3fef91e616c43891, // -0.1634, 0.98656 + 0xbfc51bdf8597c5f2, 0x3fef8fd5ffae41db, // -0.16491, 0.98631 + 0xbfc54d71aa74ef02, 0x3fef8dc10a95380d, // -0.16643, 0.98605 + 0xbfc57f008654cbde, 0x3fef8ba737cb4b78, // -0.16794, 0.9858 + 0xbfc5b08c1192e381, 0x3fef898887a36c84, // -0.16945, 0.98554 + 0xbfc5e214448b3fc6, 0x3fef8764fa714ba9, // -0.17096, 0.98528 + 0xbfc61399179a6e94, 0x3fef853c9089595e, // -0.17247, 0.98501 + 0xbfc6451a831d830d, 0x3fef830f4a40c60c, // -0.17398, 0.98475 + 0xbfc676987f7216b8, 0x3fef80dd27ed8204, // -0.17549, 0.98448 + 0xbfc6a81304f64ab2, 0x3fef7ea629e63d6e, // -0.177, 0.98421 + 0xbfc6d98a0c08c8da, 0x3fef7c6a50826840, // -0.17851, 0.98394 + 0xbfc70afd8d08c4ff, 0x3fef7a299c1a322a, // -0.18002, 0.98366 + 0xbfc73c6d8055fe0a, 0x3fef77e40d068a90, // -0.18153, 0.98339 + 0xbfc76dd9de50bf31, 0x3fef7599a3a12077, // -0.18304, 0.98311 + 0xbfc79f429f59e11d, 0x3fef734a60446279, // -0.18455, 0.98282 + 0xbfc7d0a7bbd2cb1b, 0x3fef70f6434b7eb7, // -0.18606, 0.98254 + 0xbfc802092c1d744b, 0x3fef6e9d4d1262ca, // -0.18756, 0.98225 + 0xbfc83366e89c64c5, 0x3fef6c3f7df5bbb7, // -0.18907, 0.98196 + 0xbfc864c0e9b2b6cf, 0x3fef69dcd652f5de, // -0.19057, 0.98167 + 0xbfc8961727c41804, 0x3fef677556883cee, // -0.19208, 0.98138 + 0xbfc8c7699b34ca7e, 0x3fef6508fef47bd5, // -0.19359, 0.98108 + 0xbfc8f8b83c69a60a, 0x3fef6297cff75cb0, // -0.19509, 0.98079 + 0xbfc92a0303c8194f, 0x3fef6021c9f148c2, // -0.19659, 0.98048 + 0xbfc95b49e9b62af9, 0x3fef5da6ed43685d, // -0.1981, 0.98018 + 0xbfc98c8ce69a7aec, 0x3fef5b273a4fa2d9, // -0.1996, 0.97988 + 0xbfc9bdcbf2dc4366, 0x3fef58a2b1789e84, // -0.2011, 0.97957 + 0xbfc9ef0706e35a35, 0x3fef56195321c090, // -0.20261, 0.97926 + 0xbfca203e1b1831da, 0x3fef538b1faf2d07, // -0.20411, 0.97895 + 0xbfca517127e3dabc, 0x3fef50f81785c6b9, // -0.20561, 0.97863 + 0xbfca82a025b00451, 0x3fef4e603b0b2f2d, // -0.20711, 0.97832 + 0xbfcab3cb0ce6fe44, 0x3fef4bc38aa5c694, // -0.20861, 0.978 + 0xbfcae4f1d5f3b9ab, 0x3fef492206bcabb4, // -0.21011, 0.97768 + 0xbfcb16147941ca2a, 0x3fef467bafb7bbe0, // -0.21161, 0.97735 + 0xbfcb4732ef3d6722, 0x3fef43d085ff92dd, // -0.21311, 0.97703 + 0xbfcb784d30536cda, 0x3fef412089fd8adc, // -0.21461, 0.9767 + 0xbfcba96334f15dad, 0x3fef3e6bbc1bbc65, // -0.21611, 0.97637 + 0xbfcbda74f5856330, 0x3fef3bb21cc4fe47, // -0.2176, 0.97604 + 0xbfcc0b826a7e4f63, 0x3fef38f3ac64e589, // -0.2191, 0.9757 + 0xbfcc3c8b8c4b9dd7, 0x3fef36306b67c556, // -0.2206, 0.97536 + 0xbfcc6d90535d74dc, 0x3fef33685a3aaef0, // -0.22209, 0.97503 + 0xbfcc9e90b824a6a9, 0x3fef309b794b719f, // -0.22359, 0.97468 + 0xbfcccf8cb312b286, 0x3fef2dc9c9089a9d, // -0.22508, 0.97434 + 0xbfcd00843c99c5f9, 0x3fef2af349e17507, // -0.22658, 0.97399 + 0xbfcd31774d2cbdee, 0x3fef2817fc4609ce, // -0.22807, 0.97364 + 0xbfcd6265dd3f27e3, 0x3fef2537e0a71f9f, // -0.22957, 0.97329 + 0xbfcd934fe5454311, 0x3fef2252f7763ada, // -0.23106, 0.97294 + 0xbfcdc4355db40195, 0x3fef1f6941259d7a, // -0.23255, 0.97258 + 0xbfcdf5163f01099a, 0x3fef1c7abe284708, // -0.23404, 0.97223 + 0xbfce25f281a2b684, 0x3fef19876ef1f486, // -0.23553, 0.97187 + 0xbfce56ca1e101a1b, 0x3fef168f53f7205d, // -0.23702, 0.9715 + 0xbfce879d0cc0fdaf, 0x3fef13926dad024e, // -0.23851, 0.97114 + 0xbfceb86b462de348, 0x3fef1090bc898f5f, // -0.24, 0.97077 + 0xbfcee934c2d006c7, 0x3fef0d8a410379c5, // -0.24149, 0.9704 + 0xbfcf19f97b215f1a, 0x3fef0a7efb9230d7, // -0.24298, 0.97003 + 0xbfcf4ab9679c9f5c, 0x3fef076eecade0fa, // -0.24447, 0.96966 + 0xbfcf7b7480bd3801, 0x3fef045a14cf738c, // -0.24596, 0.96928 + 0xbfcfac2abeff57ff, 0x3fef014074708ed3, // -0.24744, 0.9689 + 0xbfcfdcdc1adfedf8, 0x3feefe220c0b95ec, // -0.24893, 0.96852 + 0xbfd006c4466e54af, 0x3feefafedc1ba8b7, // -0.25041, 0.96814 + 0xbfd01f1806b9fdd2, 0x3feef7d6e51ca3c0, // -0.2519, 0.96775 + 0xbfd037694a928cac, 0x3feef4aa278b2032, // -0.25338, 0.96737 + 0xbfd04fb80e37fdae, 0x3feef178a3e473c2, // -0.25487, 0.96698 + 0xbfd068044deab002, 0x3feeee425aa6b09a, // -0.25635, 0.96658 + 0xbfd0804e05eb661e, 0x3feeeb074c50a544, // -0.25783, 0.96619 + 0xbfd09895327b465e, 0x3feee7c77961dc9e, // -0.25931, 0.96579 + 0xbfd0b0d9cfdbdb90, 0x3feee482e25a9dbc, // -0.26079, 0.96539 + 0xbfd0c91bda4f158d, 0x3feee13987bbebdc, // -0.26227, 0.96499 + 0xbfd0e15b4e1749cd, 0x3feeddeb6a078651, // -0.26375, 0.96459 + 0xbfd0f998277733f7, 0x3feeda9889bfe86a, // -0.26523, 0.96418 + 0xbfd111d262b1f677, 0x3feed740e7684963, // -0.26671, 0.96378 + 0xbfd12a09fc0b1b12, 0x3feed3e483849c51, // -0.26819, 0.96337 + 0xbfd1423eefc69378, 0x3feed0835e999009, // -0.26967, 0.96295 + 0xbfd15a713a28b9d9, 0x3feecd1d792c8f10, // -0.27115, 0.96254 + 0xbfd172a0d7765177, 0x3feec9b2d3c3bf84, // -0.27262, 0.96212 + 0xbfd18acdc3f4873a, 0x3feec6436ee60309, // -0.2741, 0.9617 + 0xbfd1a2f7fbe8f243, 0x3feec2cf4b1af6b2, // -0.27557, 0.96128 + 0xbfd1bb1f7b999480, 0x3feebf5668eaf2ef, // -0.27705, 0.96086 + 0xbfd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // -0.27852, 0.96043 + 0xbfd1eb6643499fbb, 0x3feeb8566b810f2a, // -0.27999, 0.96 + 0xbfd2038583d727bd, 0x3feeb4cf515b8811, // -0.28146, 0.95957 + 0xbfd21ba1fd3d2623, 0x3feeb1437af9bb34, // -0.28294, 0.95914 + 0xbfd233bbabc3bb72, 0x3feeadb2e8e7a88e, // -0.28441, 0.9587 + 0xbfd24bd28bb37672, 0x3feeaa1d9bb20af3, // -0.28588, 0.95827 + 0xbfd263e6995554ba, 0x3feea68393e65800, // -0.28735, 0.95783 + 0xbfd27bf7d0f2c346, 0x3feea2e4d212c000, // -0.28882, 0.95738 + 0xbfd294062ed59f05, 0x3fee9f4156c62dda, // -0.29028, 0.95694 + 0xbfd2ac11af483572, 0x3fee9b99229046f8, // -0.29175, 0.95649 + 0xbfd2c41a4e954520, 0x3fee97ec36016b30, // -0.29322, 0.95605 + 0xbfd2dc200907fe51, 0x3fee943a91aab4b4, // -0.29469, 0.95559 + 0xbfd2f422daec0386, 0x3fee9084361df7f3, // -0.29615, 0.95514 + 0xbfd30c22c08d6a13, 0x3fee8cc923edc388, // -0.29762, 0.95469 + 0xbfd3241fb638baaf, 0x3fee89095bad6025, // -0.29908, 0.95423 + 0xbfd33c19b83af207, 0x3fee8544ddf0d075, // -0.30054, 0.95377 + 0xbfd35410c2e18152, 0x3fee817bab4cd10d, // -0.30201, 0.95331 + 0xbfd36c04d27a4edf, 0x3fee7dadc456d850, // -0.30347, 0.95284 + 0xbfd383f5e353b6aa, 0x3fee79db29a5165a, // -0.30493, 0.95238 + 0xbfd39be3f1bc8aef, 0x3fee7603dbce74e9, // -0.30639, 0.95191 + 0xbfd3b3cefa0414b7, 0x3fee7227db6a9744, // -0.30785, 0.95144 + 0xbfd3cbb6f87a146e, 0x3fee6e472911da27, // -0.30931, 0.95096 + 0xbfd3e39be96ec271, 0x3fee6a61c55d53a7, // -0.31077, 0.95049 + 0xbfd3fb7dc932cfa4, 0x3fee6677b0e6d31e, // -0.31222, 0.95001 + 0xbfd4135c94176602, 0x3fee6288ec48e112, // -0.31368, 0.94953 + 0xbfd42b38466e2928, 0x3fee5e95781ebf1c, // -0.31514, 0.94905 + 0xbfd44310dc8936f0, 0x3fee5a9d550467d3, // -0.31659, 0.94856 + 0xbfd45ae652bb2800, 0x3fee56a083968eb1, // -0.31805, 0.94807 + 0xbfd472b8a5571054, 0x3fee529f04729ffc, // -0.3195, 0.94759 + 0xbfd48a87d0b07fd7, 0x3fee4e98d836c0af, // -0.32096, 0.94709 + 0xbfd4a253d11b82f3, 0x3fee4a8dff81ce5e, // -0.32241, 0.9466 + 0xbfd4ba1ca2eca31c, 0x3fee467e7af35f23, // -0.32386, 0.94611 + 0xbfd4d1e24278e76a, 0x3fee426a4b2bc17e, // -0.32531, 0.94561 + 0xbfd4e9a4ac15d520, 0x3fee3e5170cbfc46, // -0.32676, 0.94511 + 0xbfd50163dc197047, 0x3fee3a33ec75ce85, // -0.32821, 0.9446 + 0xbfd5191fceda3c35, 0x3fee3611becbaf69, // -0.32966, 0.9441 + 0xbfd530d880af3c24, 0x3fee31eae870ce25, // -0.33111, 0.94359 + 0xbfd5488dedeff3be, 0x3fee2dbf6a0911d9, // -0.33255, 0.94308 + 0xbfd5604012f467b4, 0x3fee298f4439197a, // -0.334, 0.94257 + 0xbfd577eeec151e47, 0x3fee255a77a63bb8, // -0.33545, 0.94206 + 0xbfd58f9a75ab1fdd, 0x3fee212104f686e5, // -0.33689, 0.94154 + 0xbfd5a742ac0ff78d, 0x3fee1ce2ecd0c0d8, // -0.33833, 0.94103 + 0xbfd5bee78b9db3b6, 0x3fee18a02fdc66d9, // -0.33978, 0.94051 + 0xbfd5d68910aee686, 0x3fee1458cec1ad83, // -0.34122, 0.93998 + 0xbfd5ee27379ea693, 0x3fee100cca2980ac, // -0.34266, 0.93946 + 0xbfd605c1fcc88f63, 0x3fee0bbc22bd8349, // -0.3441, 0.93893 + 0xbfd61d595c88c203, 0x3fee0766d9280f54, // -0.34554, 0.9384 + 0xbfd634ed533be58e, 0x3fee030cee1435b8, // -0.34698, 0.93787 + 0xbfd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // -0.34842, 0.93734 + 0xbfd6640af6f03d9e, 0x3fedfa4b3621271d, // -0.34986, 0.9368 + 0xbfd67b949cad63ca, 0x3fedf5e36a9ba59c, // -0.35129, 0.93627 + 0xbfd6931acad55f51, 0x3fedf177004b2534, // -0.35273, 0.93573 + 0xbfd6aa9d7dc77e16, 0x3feded05f7de47da, // -0.35416, 0.93518 + 0xbfd6c21cb1e39771, 0x3fede890520465ce, // -0.3556, 0.93464 + 0xbfd6d998638a0cb5, 0x3fede4160f6d8d81, // -0.35703, 0.93409 + 0xbfd6f1108f1bc9c5, 0x3feddf9730ca837b, // -0.35846, 0.93354 + 0xbfd7088530fa459e, 0x3feddb13b6ccc23d, // -0.3599, 0.93299 + 0xbfd71ff6458782ec, 0x3fedd68ba2267a25, // -0.36133, 0.93244 + 0xbfd73763c9261092, 0x3fedd1fef38a915a, // -0.36276, 0.93188 + 0xbfd74ecdb8390a3e, 0x3fedcd6dabaca3a5, // -0.36418, 0.93133 + 0xbfd766340f2418f6, 0x3fedc8d7cb410260, // -0.36561, 0.93077 + 0xbfd77d96ca4b73a6, 0x3fedc43d52fcb453, // -0.36704, 0.93021 + 0xbfd794f5e613dfae, 0x3fedbf9e4395759a, // -0.36847, 0.92964 + 0xbfd7ac515ee2b172, 0x3fedbafa9dc1b78d, // -0.36989, 0.92907 + 0xbfd7c3a9311dcce7, 0x3fedb6526238a09b, // -0.37132, 0.92851 + 0xbfd7dafd592ba621, 0x3fedb1a591b20c38, // -0.37274, 0.92794 + 0xbfd7f24dd37341e3, 0x3fedacf42ce68ab9, // -0.37416, 0.92736 + 0xbfd8099a9c5c362d, 0x3feda83e348f613b, // -0.37559, 0.92679 + 0xbfd820e3b04eaac4, 0x3feda383a9668988, // -0.37701, 0.92621 + 0xbfd838290bb359c8, 0x3fed9ec48c26b1f3, // -0.37843, 0.92563 + 0xbfd84f6aaaf3903f, 0x3fed9a00dd8b3d46, // -0.37985, 0.92505 + 0xbfd866a88a792ea0, 0x3fed95389e50429b, // -0.38127, 0.92447 + 0xbfd87de2a6aea963, 0x3fed906bcf328d46, // -0.38268, 0.92388 + 0xbfd89518fbff098e, 0x3fed8b9a70ef9cb4, // -0.3841, 0.92329 + 0xbfd8ac4b86d5ed44, 0x3fed86c48445a450, // -0.38552, 0.9227 + 0xbfd8c37a439f884f, 0x3fed81ea09f38b63, // -0.38693, 0.92211 + 0xbfd8daa52ec8a4af, 0x3fed7d0b02b8ecf9, // -0.38835, 0.92151 + 0xbfd8f1cc44bea329, 0x3fed78276f5617c6, // -0.38976, 0.92092 + 0xbfd908ef81ef7bd1, 0x3fed733f508c0dff, // -0.39117, 0.92032 + 0xbfd9200ee2c9be97, 0x3fed6e52a71c8547, // -0.39258, 0.91972 + 0xbfd9372a63bc93d7, 0x3fed696173c9e68b, // -0.39399, 0.91911 + 0xbfd94e420137bce3, 0x3fed646bb7574de5, // -0.3954, 0.91851 + 0xbfd96555b7ab948f, 0x3fed5f7172888a7f, // -0.39681, 0.9179 + 0xbfd97c6583890fc2, 0x3fed5a72a6221e73, // -0.39822, 0.91729 + 0xbfd993716141bdfe, 0x3fed556f52e93eb1, // -0.39962, 0.91668 + 0xbfd9aa794d47c9ee, 0x3fed506779a3d2d9, // -0.40103, 0.91606 + 0xbfd9c17d440df9f2, 0x3fed4b5b1b187524, // -0.40243, 0.91545 + 0xbfd9d87d4207b0ab, 0x3fed464a380e7242, // -0.40384, 0.91483 + 0xbfd9ef7943a8ed8a, 0x3fed4134d14dc93a, // -0.40524, 0.91421 + 0xbfda067145664d57, 0x3fed3c1ae79f2b4e, // -0.40664, 0.91359 + 0xbfda1d6543b50ac0, 0x3fed36fc7bcbfbdc, // -0.40804, 0.91296 + 0xbfda34553b0afee5, 0x3fed31d98e9e503a, // -0.40944, 0.91234 + 0xbfda4b4127dea1e4, 0x3fed2cb220e0ef9f, // -0.41084, 0.91171 + 0xbfda622906a70b63, 0x3fed2786335f52fc, // -0.41224, 0.91107 + 0xbfda790cd3dbf31a, 0x3fed2255c6e5a4e1, // -0.41364, 0.91044 + 0xbfda8fec8bf5b166, 0x3fed1d20dc40c15c, // -0.41503, 0.90981 + 0xbfdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // -0.41643, 0.90917 + 0xbfdabd9faebc3980, 0x3fed12a98fac410c, // -0.41782, 0.90853 + 0xbfdad473125cdc08, 0x3fed0d672f59d2b9, // -0.41922, 0.90789 + 0xbfdaeb4252ca07ab, 0x3fed082054168bac, // -0.42061, 0.90724 + 0xbfdb020d6c7f4009, 0x3fed02d4feb2bd92, // -0.422, 0.9066 + 0xbfdb18d45bf8aca6, 0x3fecfd852fff6ad4, // -0.42339, 0.90595 + 0xbfdb2f971db31972, 0x3fecf830e8ce467b, // -0.42478, 0.9053 + 0xbfdb4655ae2bf757, 0x3fecf2d829f1b40e, // -0.42617, 0.90464 + 0xbfdb5d1009e15cc0, 0x3feced7af43cc773, // -0.42756, 0.90399 + 0xbfdb73c62d520624, 0x3fece819488344ce, // -0.42894, 0.90333 + 0xbfdb8a7814fd5693, 0x3fece2b32799a060, // -0.43033, 0.90267 + 0xbfdba125bd63583e, 0x3fecdd489254fe65, // -0.43171, 0.90201 + 0xbfdbb7cf2304bd01, 0x3fecd7d9898b32f6, // -0.43309, 0.90135 + 0xbfdbce744262deee, 0x3fecd2660e12c1e6, // -0.43448, 0.90068 + 0xbfdbe51517ffc0d9, 0x3fecccee20c2de9f, // -0.43586, 0.90002 + 0xbfdbfbb1a05e0edc, 0x3fecc771c2736c09, // -0.43724, 0.89935 + 0xbfdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // -0.43862, 0.89867 + 0xbfdc28ddbb6cf145, 0x3fecbc6bb638d10b, // -0.43999, 0.898 + 0xbfdc3f6d47263129, 0x3fecb6e20a00da99, // -0.44137, 0.89732 + 0xbfdc55f877b23537, 0x3fecb153f02fb87d, // -0.44275, 0.89665 + 0xbfdc6c7f4997000a, 0x3fecabc169a0b901, // -0.44412, 0.89597 + 0xbfdc8301b95b40c2, 0x3feca62a772fd919, // -0.4455, 0.89528 + 0xbfdc997fc3865388, 0x3feca08f19b9c449, // -0.44687, 0.8946 + 0xbfdcaff964a0421d, 0x3fec9aef521bd480, // -0.44824, 0.89391 + 0xbfdcc66e9931c45d, 0x3fec954b213411f5, // -0.44961, 0.89322 + 0xbfdcdcdf5dc440ce, 0x3fec8fa287e13305, // -0.45098, 0.89253 + 0xbfdcf34baee1cd21, 0x3fec89f587029c13, // -0.45235, 0.89184 + 0xbfdd09b389152ec1, 0x3fec84441f785f61, // -0.45372, 0.89115 + 0xbfdd2016e8e9db5b, 0x3fec7e8e52233cf3, // -0.45508, 0.89045 + 0xbfdd3675caebf962, 0x3fec78d41fe4a267, // -0.45645, 0.88975 + 0xbfdd4cd02ba8609c, 0x3fec7315899eaad7, // -0.45781, 0.88905 + 0xbfdd632607ac9aa9, 0x3fec6d5290341eb2, // -0.45918, 0.88835 + 0xbfdd79775b86e389, 0x3fec678b3488739b, // -0.46054, 0.88764 + 0xbfdd8fc423c62a25, 0x3fec61bf777fcc48, // -0.4619, 0.88693 + 0xbfdda60c5cfa10d8, 0x3fec5bef59fef85a, // -0.46326, 0.88622 + 0xbfddbc5003b2edf8, 0x3fec561adceb743e, // -0.46462, 0.88551 + 0xbfddd28f1481cc58, 0x3fec5042012b6907, // -0.46598, 0.8848 + 0xbfdde8c98bf86bd6, 0x3fec4a64c7a5ac4c, // -0.46733, 0.88408 + 0xbfddfeff66a941de, 0x3fec44833141c004, // -0.46869, 0.88336 + 0xbfde1530a12779f4, 0x3fec3e9d3ee7d262, // -0.47004, 0.88264 + 0xbfde2b5d3806f63b, 0x3fec38b2f180bdb1, // -0.4714, 0.88192 + 0xbfde418527dc4ffa, 0x3fec32c449f60831, // -0.47275, 0.8812 + 0xbfde57a86d3cd824, 0x3fec2cd14931e3f1, // -0.4741, 0.88047 + 0xbfde6dc704be97e2, 0x3fec26d9f01f2eaf, // -0.47545, 0.87974 + 0xbfde83e0eaf85113, 0x3fec20de3fa971b0, // -0.4768, 0.87901 + 0xbfde99f61c817eda, 0x3fec1ade38bce19b, // -0.47815, 0.87828 + 0xbfdeb00695f25620, 0x3fec14d9dc465e58, // -0.47949, 0.87755 + 0xbfdec61253e3c61b, 0x3fec0ed12b3372e9, // -0.48084, 0.87681 + 0xbfdedc1952ef78d5, 0x3fec08c426725549, // -0.48218, 0.87607 + 0xbfdef21b8fafd3b5, 0x3fec02b2cef1e641, // -0.48353, 0.87533 + 0xbfdf081906bff7fd, 0x3febfc9d25a1b147, // -0.48487, 0.87459 + 0xbfdf1e11b4bbc35c, 0x3febf6832b71ec5b, // -0.48621, 0.87384 + 0xbfdf3405963fd068, 0x3febf064e15377dd, // -0.48755, 0.87309 + 0xbfdf49f4a7e97729, 0x3febea424837de6d, // -0.48889, 0.87235 + 0xbfdf5fdee656cda3, 0x3febe41b611154c1, // -0.49023, 0.8716 + 0xbfdf75c44e26a852, 0x3febddf02cd2b983, // -0.49156, 0.87084 + 0xbfdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // -0.4929, 0.87009 + 0xbfdfa1808c6cf7e0, 0x3febd18ce0dc19d6, // -0.49423, 0.86933 + 0xbfdfb7575c24d2de, 0x3febcb54cb0d2327, // -0.49557, 0.86857 + 0xbfdfcd2947c1ff57, 0x3febc5186bf8361d, // -0.4969, 0.86781 + 0xbfdfe2f64be7120f, 0x3febbed7c49380ea, // -0.49823, 0.86705 + 0xbfdff8be6537615e, 0x3febb892d5d5dad5, // -0.49956, 0.86628 + 0xbfe00740c82b82e0, 0x3febb249a0b6c40d, // -0.50089, 0.86551 + 0xbfe0121fe4f56d2c, 0x3febabfc262e6586, // -0.50221, 0.86474 + 0xbfe01cfc874c3eb7, 0x3feba5aa673590d2, // -0.50354, 0.86397 + 0xbfe027d6ad83287e, 0x3feb9f5464c5bffc, // -0.50486, 0.8632 + 0xbfe032ae55edbd95, 0x3feb98fa1fd9155e, // -0.50619, 0.86242 + 0xbfe03d837edff370, 0x3feb929b996a5b7f, // -0.50751, 0.86165 + 0xbfe0485626ae221a, 0x3feb8c38d27504e9, // -0.50883, 0.86087 + 0xbfe053264bad0483, 0x3feb85d1cbf52c02, // -0.51015, 0.86009 + 0xbfe05df3ec31b8b6, 0x3feb7f6686e792ea, // -0.51147, 0.8593 + 0xbfe068bf0691c028, 0x3feb78f70449a34b, // -0.51279, 0.85852 + 0xbfe073879922ffed, 0x3feb728345196e3e, // -0.5141, 0.85773 + 0xbfe07e4da23bc102, 0x3feb6c0b4a55ac17, // -0.51542, 0.85694 + 0xbfe089112032b08c, 0x3feb658f14fdbc47, // -0.51673, 0.85615 + 0xbfe093d2115ee018, 0x3feb5f0ea611a532, // -0.51804, 0.85535 + 0xbfe09e907417c5e1, 0x3feb5889fe921405, // -0.51936, 0.85456 + 0xbfe0a94c46b53d0b, 0x3feb52011f805c92, // -0.52067, 0.85376 + 0xbfe0b405878f85ec, 0x3feb4b7409de7925, // -0.52198, 0.85296 + 0xbfe0bebc34ff4646, 0x3feb44e2beaf0a61, // -0.52328, 0.85216 + 0xbfe0c9704d5d898f, 0x3feb3e4d3ef55712, // -0.52459, 0.85136 + 0xbfe0d421cf03c12b, 0x3feb37b38bb54c09, // -0.5259, 0.85055 + 0xbfe0ded0b84bc4b5, 0x3feb3115a5f37bf4, // -0.5272, 0.84974 + 0xbfe0e97d078fd23b, 0x3feb2a738eb51f33, // -0.5285, 0.84893 + 0xbfe0f426bb2a8e7d, 0x3feb23cd470013b4, // -0.5298, 0.84812 + 0xbfe0fecdd1770537, 0x3feb1d22cfdadcc6, // -0.5311, 0.84731 + 0xbfe1097248d0a956, 0x3feb16742a4ca2f5, // -0.5324, 0.84649 + 0xbfe114141f935545, 0x3feb0fc1575d33db, // -0.5337, 0.84567 + 0xbfe11eb3541b4b22, 0x3feb090a58150200, // -0.535, 0.84485 + 0xbfe1294fe4c5350a, 0x3feb024f2d7d24a9, // -0.53629, 0.84403 + 0xbfe133e9cfee254e, 0x3feafb8fd89f57b6, // -0.53759, 0.84321 + 0xbfe13e8113f396c1, 0x3feaf4cc5a85fb73, // -0.53888, 0.84238 + 0xbfe14915af336ceb, 0x3feaee04b43c1474, // -0.54017, 0.84155 + 0xbfe153a7a00bf453, 0x3feae738e6cd4b67, // -0.54146, 0.84073 + 0xbfe15e36e4dbe2bc, 0x3feae068f345ecef, // -0.54275, 0.83989 + 0xbfe168c37c025764, 0x3fead994dab2e979, // -0.54404, 0.83906 + 0xbfe1734d63dedb49, 0x3fead2bc9e21d511, // -0.54532, 0.83822 + 0xbfe17dd49ad16161, 0x3feacbe03ea0e73b, // -0.54661, 0.83739 + 0xbfe188591f3a46e5, 0x3feac4ffbd3efac8, // -0.54789, 0.83655 + 0xbfe192daef7a5386, 0x3feabe1b1b0b8dac, // -0.54918, 0.83571 + 0xbfe19d5a09f2b9b8, 0x3feab7325916c0d4, // -0.55046, 0.83486 + 0xbfe1a7d66d0516e6, 0x3feab045787157ff, // -0.55174, 0.83402 + 0xbfe1b250171373be, 0x3feaa9547a2cb98e, // -0.55302, 0.83317 + 0xbfe1bcc706804467, 0x3feaa25f5f5aee60, // -0.55429, 0.83232 + 0xbfe1c73b39ae68c8, 0x3fea9b66290ea1a3, // -0.55557, 0.83147 + 0xbfe1d1acaf012cc2, 0x3fea9468d85b20ae, // -0.55685, 0.83062 + 0xbfe1dc1b64dc4872, 0x3fea8d676e545ad2, // -0.55812, 0.82976 + 0xbfe1e68759a3e074, 0x3fea8661ec0ee133, // -0.55939, 0.8289 + 0xbfe1f0f08bbc861b, 0x3fea7f58529fe69d, // -0.56066, 0.82805 + 0xbfe1fb56f98b37b8, 0x3fea784aa31d3f55, // -0.56193, 0.82718 + 0xbfe205baa17560d6, 0x3fea7138de9d60f5, // -0.5632, 0.82632 + 0xbfe2101b81e0da78, 0x3fea6a230637623b, // -0.56447, 0.82546 + 0xbfe21a799933eb58, 0x3fea63091b02fae2, // -0.56573, 0.82459 + 0xbfe224d4e5d5482e, 0x3fea5beb1e188375, // -0.567, 0.82372 + 0xbfe22f2d662c13e1, 0x3fea54c91090f524, // -0.56826, 0.82285 + 0xbfe23983189fdfd5, 0x3fea4da2f385e997, // -0.56952, 0.82198 + 0xbfe243d5fb98ac1f, 0x3fea4678c8119ac8, // -0.57078, 0.8211 + 0xbfe24e260d7ee7c9, 0x3fea3f4a8f4ee2d2, // -0.57204, 0.82023 + 0xbfe258734cbb7110, 0x3fea38184a593bc6, // -0.5733, 0.81935 + 0xbfe262bdb7b795a2, 0x3fea30e1fa4cbf81, // -0.57455, 0.81847 + 0xbfe26d054cdd12df, 0x3fea29a7a0462782, // -0.57581, 0.81758 + 0xbfe2774a0a961612, 0x3fea22693d62ccb9, // -0.57706, 0.8167 + 0xbfe2818bef4d3cba, 0x3fea1b26d2c0a75e, // -0.57831, 0.81581 + 0xbfe28bcaf96d94ba, 0x3fea13e0617e4ec7, // -0.57956, 0.81493 + 0xbfe2960727629ca8, 0x3fea0c95eabaf937, // -0.58081, 0.81404 + 0xbfe2a040779843fb, 0x3fea05476f967bb5, // -0.58206, 0.81314 + 0xbfe2aa76e87aeb58, 0x3fe9fdf4f13149de, // -0.58331, 0.81225 + 0xbfe2b4aa787764c4, 0x3fe9f69e70ac75bc, // -0.58455, 0.81135 + 0xbfe2bedb25faf3ea, 0x3fe9ef43ef29af94, // -0.5858, 0.81046 + 0xbfe2c908ef734e57, 0x3fe9e7e56dcb45bd, // -0.58704, 0.80956 + 0xbfe2d333d34e9bb7, 0x3fe9e082edb42472, // -0.58828, 0.80866 + 0xbfe2dd5bcffb7616, 0x3fe9d91c7007d5a6, // -0.58952, 0.80775 + 0xbfe2e780e3e8ea16, 0x3fe9d1b1f5ea80d6, // -0.59076, 0.80685 + 0xbfe2f1a30d86773a, 0x3fe9ca438080eadb, // -0.592, 0.80594 + 0xbfe2fbc24b441015, 0x3fe9c2d110f075c3, // -0.59323, 0.80503 + 0xbfe305de9b921a94, 0x3fe9bb5aa85f2098, // -0.59447, 0.80412 + 0xbfe30ff7fce17035, 0x3fe9b3e047f38741, // -0.5957, 0.80321 + 0xbfe31a0e6da35e44, 0x3fe9ac61f0d4e247, // -0.59693, 0.80229 + 0xbfe32421ec49a620, 0x3fe9a4dfa42b06b2, // -0.59816, 0.80138 + 0xbfe32e3277467d6b, 0x3fe99d59631e65d5, // -0.59939, 0.80046 + 0xbfe338400d0c8e57, 0x3fe995cf2ed80d22, // -0.60062, 0.79954 + 0xbfe3424aac0ef7d6, 0x3fe98e410881a600, // -0.60184, 0.79861 + 0xbfe34c5252c14de1, 0x3fe986aef1457594, // -0.60307, 0.79769 + 0xbfe35656ff9799ae, 0x3fe97f18ea4e5c9e, // -0.60429, 0.79676 + 0xbfe36058b10659f3, 0x3fe9777ef4c7d742, // -0.60551, 0.79584 + 0xbfe36a576582831b, 0x3fe96fe111ddfce0, // -0.60673, 0.79491 + 0xbfe374531b817f8d, 0x3fe9683f42bd7fe1, // -0.60795, 0.79398 + 0xbfe37e4bd1792fe2, 0x3fe960998893ad8c, // -0.60917, 0.79304 + 0xbfe3884185dfeb22, 0x3fe958efe48e6dd7, // -0.61038, 0.79211 + 0xbfe39234372c7f04, 0x3fe9514257dc4335, // -0.6116, 0.79117 + 0xbfe39c23e3d63029, 0x3fe94990e3ac4a6c, // -0.61281, 0.79023 + 0xbfe3a6108a54ba58, 0x3fe941db892e3a65, // -0.61402, 0.78929 + 0xbfe3affa292050b9, 0x3fe93a22499263fc, // -0.61523, 0.78835 + 0xbfe3b9e0beb19e18, 0x3fe932652609b1cf, // -0.61644, 0.7874 + 0xbfe3c3c44981c517, 0x3fe92aa41fc5a815, // -0.61765, 0.78646 + 0xbfe3cda4c80a6076, 0x3fe922df37f8646a, // -0.61885, 0.78551 + 0xbfe3d78238c58343, 0x3fe91b166fd49da2, // -0.62006, 0.78456 + 0xbfe3e15c9a2db922, 0x3fe91349c88da398, // -0.62126, 0.7836 + 0xbfe3eb33eabe0680, 0x3fe90b7943575efe, // -0.62246, 0.78265 + 0xbfe3f50828f1e8d2, 0x3fe903a4e1665133, // -0.62366, 0.78169 + 0xbfe3fed9534556d4, 0x3fe8fbcca3ef940d, // -0.62486, 0.78074 + 0xbfe408a76834c0c0, 0x3fe8f3f08c28d9ac, // -0.62606, 0.77978 + 0xbfe41272663d108c, 0x3fe8ec109b486c49, // -0.62725, 0.77882 + 0xbfe41c3a4bdbaa26, 0x3fe8e42cd2852e0a, // -0.62845, 0.77785 + 0xbfe425ff178e6bb1, 0x3fe8dc45331698cc, // -0.62964, 0.77689 + 0xbfe42fc0c7d3adbb, 0x3fe8d459be34bdfa, // -0.63083, 0.77592 + 0xbfe4397f5b2a4380, 0x3fe8cc6a75184655, // -0.63202, 0.77495 + 0xbfe4433ad0117b1d, 0x3fe8c47758fa71cb, // -0.63321, 0.77398 + 0xbfe44cf325091dd6, 0x3fe8bc806b151741, // -0.63439, 0.77301 + 0xbfe456a858917046, 0x3fe8b485aca2a468, // -0.63558, 0.77204 + 0xbfe4605a692b32a2, 0x3fe8ac871ede1d88, // -0.63676, 0.77106 + 0xbfe46a095557a0f1, 0x3fe8a484c3031d50, // -0.63794, 0.77008 + 0xbfe473b51b987347, 0x3fe89c7e9a4dd4ab, // -0.63912, 0.7691 + 0xbfe47d5dba6fde01, 0x3fe89474a5fb0a84, // -0.6403, 0.76812 + 0xbfe48703306091fe, 0x3fe88c66e7481ba1, // -0.64148, 0.76714 + 0xbfe490a57bedbcdf, 0x3fe884555f72fa6b, // -0.64266, 0.76615 + 0xbfe49a449b9b0938, 0x3fe87c400fba2ebf, // -0.64383, 0.76517 + 0xbfe4a3e08dec9ed6, 0x3fe87426f95cd5bd, // -0.645, 0.76418 + 0xbfe4ad79516722f0, 0x3fe86c0a1d9aa195, // -0.64618, 0.76319 + 0xbfe4b70ee48fb869, 0x3fe863e97db3d95a, // -0.64735, 0.7622 + 0xbfe4c0a145ec0004, 0x3fe85bc51ae958cc, // -0.64851, 0.7612 + 0xbfe4ca30740218a3, 0x3fe8539cf67c9029, // -0.64968, 0.76021 + 0xbfe4d3bc6d589f80, 0x3fe84b7111af83f9, // -0.65085, 0.75921 + 0xbfe4dd453076b064, 0x3fe843416dc4cce2, // -0.65201, 0.75821 + 0xbfe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // -0.65317, 0.75721 + 0xbfe4f04d0e2859aa, 0x3fe832d6eda3a3e0, // -0.65433, 0.75621 + 0xbfe4f9cc25cca486, 0x3fe82a9c13f545ff, // -0.65549, 0.7552 + 0xbfe503480159ded2, 0x3fe8225d803964e5, // -0.65665, 0.75419 + 0xbfe50cc09f59a09b, 0x3fe81a1b33b57acc, // -0.65781, 0.75319 + 0xbfe51635fe5601d7, 0x3fe811d52faf94dc, // -0.65896, 0.75218 + 0xbfe51fa81cd99aa6, 0x3fe8098b756e52fa, // -0.66011, 0.75117 + 0xbfe52916f96f8388, 0x3fe8013e0638e795, // -0.66127, 0.75015 + 0xbfe5328292a35596, 0x3fe7f8ece3571771, // -0.66242, 0.74914 + 0xbfe53beae7012abe, 0x3fe7f0980e113978, // -0.66356, 0.74812 + 0xbfe5454ff5159dfb, 0x3fe7e83f87b03686, // -0.66471, 0.7471 + 0xbfe54eb1bb6dcb8f, 0x3fe7dfe3517d8937, // -0.66586, 0.74608 + 0xbfe5581038975137, 0x3fe7d7836cc33db2, // -0.667, 0.74506 + 0xbfe5616b6b204e6e, 0x3fe7cf1fdacbf179, // -0.66814, 0.74403 + 0xbfe56ac35197649e, 0x3fe7c6b89ce2d333, // -0.66928, 0.74301 + 0xbfe57417ea8bb75c, 0x3fe7be4db453a27c, // -0.67042, 0.74198 + 0xbfe57d69348cec9f, 0x3fe7b5df226aafb0, // -0.67156, 0.74095 + 0xbfe586b72e2b2cfd, 0x3fe7ad6ce874dbb6, // -0.67269, 0.73992 + 0xbfe59001d5f723df, 0x3fe7a4f707bf97d2, // -0.67383, 0.73889 + 0xbfe599492a81ffbc, 0x3fe79c7d8198e56e, // -0.67496, 0.73785 + 0xbfe5a28d2a5d7250, 0x3fe79400574f55e4, // -0.67609, 0.73682 + 0xbfe5abcdd41bb0d8, 0x3fe78b7f8a320a52, // -0.67722, 0.73578 + 0xbfe5b50b264f7448, 0x3fe782fb1b90b35b, // -0.67835, 0.73474 + 0xbfe5be451f8bf980, 0x3fe77a730cbb9100, // -0.67948, 0.7337 + 0xbfe5c77bbe65018c, 0x3fe771e75f037261, // -0.6806, 0.73265 + 0xbfe5d0af016ed1d4, 0x3fe7695813b9b594, // -0.68172, 0.73161 + 0xbfe5d9dee73e345c, 0x3fe760c52c304764, // -0.68285, 0.73056 + 0xbfe5e30b6e6877f3, 0x3fe7582ea9b9a329, // -0.68397, 0.72951 + 0xbfe5ec3495837074, 0x3fe74f948da8d28d, // -0.68508, 0.72846 + 0xbfe5f55a5b2576f8, 0x3fe746f6d9516d59, // -0.6862, 0.72741 + 0xbfe5fe7cbde56a0f, 0x3fe73e558e079942, // -0.68732, 0.72636 + 0xbfe6079bbc5aadfa, 0x3fe735b0ad2009b2, // -0.68843, 0.7253 + 0xbfe610b7551d2cde, 0x3fe72d0837efff97, // -0.68954, 0.72425 + 0xbfe619cf86c55702, 0x3fe7245c2fcd492a, // -0.69065, 0.72319 + 0xbfe622e44fec22ff, 0x3fe71bac960e41bf, // -0.69176, 0.72213 + 0xbfe62bf5af2b0dfd, 0x3fe712f96c09d18d, // -0.69287, 0.72107 + 0xbfe63503a31c1be8, 0x3fe70a42b3176d7a, // -0.69397, 0.72 + 0xbfe63e0e2a59d7aa, 0x3fe701886c8f16e6, // -0.69508, 0.71894 + 0xbfe64715437f535b, 0x3fe6f8ca99c95b75, // -0.69618, 0.71787 + 0xbfe65018ed28287f, 0x3fe6f0093c1f54de, // -0.69728, 0.7168 + 0xbfe6591925f0783e, 0x3fe6e74454eaa8ae, // -0.69838, 0.71573 + 0xbfe66215ec74eb91, 0x3fe6de7be585881d, // -0.69947, 0.71466 + 0xbfe66b0f3f52b386, 0x3fe6d5afef4aafcc, // -0.70057, 0.71358 + 0xbfe674051d27896c, 0x3fe6cce07395679f, // -0.70166, 0.71251 + 0xbfe67cf78491af10, 0x3fe6c40d73c18275, // -0.70275, 0.71143 + 0xbfe685e6742feeef, 0x3fe6bb36f12b5e06, // -0.70385, 0.71035 + 0xbfe68ed1eaa19c71, 0x3fe6b25ced2fe29c, // -0.70493, 0.70927 + 0xbfe697b9e686941c, 0x3fe6a97f692c82ea, // -0.70602, 0.70819 + 0xbfe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // -0.70711, 0.70711 + 0xbfe6a97f692c82ea, 0x3fe697b9e686941c, // -0.70819, 0.70602 + 0xbfe6b25ced2fe29c, 0x3fe68ed1eaa19c71, // -0.70927, 0.70493 + 0xbfe6bb36f12b5e06, 0x3fe685e6742feeef, // -0.71035, 0.70385 + 0xbfe6c40d73c18275, 0x3fe67cf78491af10, // -0.71143, 0.70275 + 0xbfe6cce07395679f, 0x3fe674051d27896c, // -0.71251, 0.70166 + 0xbfe6d5afef4aafcc, 0x3fe66b0f3f52b386, // -0.71358, 0.70057 + 0xbfe6de7be585881d, 0x3fe66215ec74eb91, // -0.71466, 0.69947 + 0xbfe6e74454eaa8ae, 0x3fe6591925f0783e, // -0.71573, 0.69838 + 0xbfe6f0093c1f54de, 0x3fe65018ed28287f, // -0.7168, 0.69728 + 0xbfe6f8ca99c95b75, 0x3fe64715437f535b, // -0.71787, 0.69618 + 0xbfe701886c8f16e6, 0x3fe63e0e2a59d7aa, // -0.71894, 0.69508 + 0xbfe70a42b3176d7a, 0x3fe63503a31c1be8, // -0.72, 0.69397 + 0xbfe712f96c09d18d, 0x3fe62bf5af2b0dfd, // -0.72107, 0.69287 + 0xbfe71bac960e41bf, 0x3fe622e44fec22ff, // -0.72213, 0.69176 + 0xbfe7245c2fcd492a, 0x3fe619cf86c55702, // -0.72319, 0.69065 + 0xbfe72d0837efff97, 0x3fe610b7551d2cde, // -0.72425, 0.68954 + 0xbfe735b0ad2009b2, 0x3fe6079bbc5aadfa, // -0.7253, 0.68843 + 0xbfe73e558e079942, 0x3fe5fe7cbde56a0f, // -0.72636, 0.68732 + 0xbfe746f6d9516d59, 0x3fe5f55a5b2576f8, // -0.72741, 0.6862 + 0xbfe74f948da8d28d, 0x3fe5ec3495837074, // -0.72846, 0.68508 + 0xbfe7582ea9b9a329, 0x3fe5e30b6e6877f3, // -0.72951, 0.68397 + 0xbfe760c52c304764, 0x3fe5d9dee73e345c, // -0.73056, 0.68285 + 0xbfe7695813b9b594, 0x3fe5d0af016ed1d4, // -0.73161, 0.68172 + 0xbfe771e75f037261, 0x3fe5c77bbe65018c, // -0.73265, 0.6806 + 0xbfe77a730cbb9100, 0x3fe5be451f8bf980, // -0.7337, 0.67948 + 0xbfe782fb1b90b35b, 0x3fe5b50b264f7448, // -0.73474, 0.67835 + 0xbfe78b7f8a320a52, 0x3fe5abcdd41bb0d8, // -0.73578, 0.67722 + 0xbfe79400574f55e4, 0x3fe5a28d2a5d7250, // -0.73682, 0.67609 + 0xbfe79c7d8198e56e, 0x3fe599492a81ffbc, // -0.73785, 0.67496 + 0xbfe7a4f707bf97d2, 0x3fe59001d5f723df, // -0.73889, 0.67383 + 0xbfe7ad6ce874dbb6, 0x3fe586b72e2b2cfd, // -0.73992, 0.67269 + 0xbfe7b5df226aafb0, 0x3fe57d69348cec9f, // -0.74095, 0.67156 + 0xbfe7be4db453a27c, 0x3fe57417ea8bb75c, // -0.74198, 0.67042 + 0xbfe7c6b89ce2d333, 0x3fe56ac35197649e, // -0.74301, 0.66928 + 0xbfe7cf1fdacbf179, 0x3fe5616b6b204e6e, // -0.74403, 0.66814 + 0xbfe7d7836cc33db2, 0x3fe5581038975137, // -0.74506, 0.667 + 0xbfe7dfe3517d8937, 0x3fe54eb1bb6dcb8f, // -0.74608, 0.66586 + 0xbfe7e83f87b03686, 0x3fe5454ff5159dfb, // -0.7471, 0.66471 + 0xbfe7f0980e113978, 0x3fe53beae7012abe, // -0.74812, 0.66356 + 0xbfe7f8ece3571771, 0x3fe5328292a35596, // -0.74914, 0.66242 + 0xbfe8013e0638e795, 0x3fe52916f96f8388, // -0.75015, 0.66127 + 0xbfe8098b756e52fa, 0x3fe51fa81cd99aa6, // -0.75117, 0.66011 + 0xbfe811d52faf94dc, 0x3fe51635fe5601d7, // -0.75218, 0.65896 + 0xbfe81a1b33b57acc, 0x3fe50cc09f59a09b, // -0.75319, 0.65781 + 0xbfe8225d803964e5, 0x3fe503480159ded2, // -0.75419, 0.65665 + 0xbfe82a9c13f545ff, 0x3fe4f9cc25cca486, // -0.7552, 0.65549 + 0xbfe832d6eda3a3e0, 0x3fe4f04d0e2859aa, // -0.75621, 0.65433 + 0xbfe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // -0.75721, 0.65317 + 0xbfe843416dc4cce2, 0x3fe4dd453076b064, // -0.75821, 0.65201 + 0xbfe84b7111af83f9, 0x3fe4d3bc6d589f80, // -0.75921, 0.65085 + 0xbfe8539cf67c9029, 0x3fe4ca30740218a3, // -0.76021, 0.64968 + 0xbfe85bc51ae958cc, 0x3fe4c0a145ec0004, // -0.7612, 0.64851 + 0xbfe863e97db3d95a, 0x3fe4b70ee48fb869, // -0.7622, 0.64735 + 0xbfe86c0a1d9aa195, 0x3fe4ad79516722f0, // -0.76319, 0.64618 + 0xbfe87426f95cd5bd, 0x3fe4a3e08dec9ed6, // -0.76418, 0.645 + 0xbfe87c400fba2ebf, 0x3fe49a449b9b0938, // -0.76517, 0.64383 + 0xbfe884555f72fa6b, 0x3fe490a57bedbcdf, // -0.76615, 0.64266 + 0xbfe88c66e7481ba1, 0x3fe48703306091fe, // -0.76714, 0.64148 + 0xbfe89474a5fb0a84, 0x3fe47d5dba6fde01, // -0.76812, 0.6403 + 0xbfe89c7e9a4dd4ab, 0x3fe473b51b987347, // -0.7691, 0.63912 + 0xbfe8a484c3031d50, 0x3fe46a095557a0f1, // -0.77008, 0.63794 + 0xbfe8ac871ede1d88, 0x3fe4605a692b32a2, // -0.77106, 0.63676 + 0xbfe8b485aca2a468, 0x3fe456a858917046, // -0.77204, 0.63558 + 0xbfe8bc806b151741, 0x3fe44cf325091dd6, // -0.77301, 0.63439 + 0xbfe8c47758fa71cb, 0x3fe4433ad0117b1d, // -0.77398, 0.63321 + 0xbfe8cc6a75184655, 0x3fe4397f5b2a4380, // -0.77495, 0.63202 + 0xbfe8d459be34bdfa, 0x3fe42fc0c7d3adbb, // -0.77592, 0.63083 + 0xbfe8dc45331698cc, 0x3fe425ff178e6bb1, // -0.77689, 0.62964 + 0xbfe8e42cd2852e0a, 0x3fe41c3a4bdbaa26, // -0.77785, 0.62845 + 0xbfe8ec109b486c49, 0x3fe41272663d108c, // -0.77882, 0.62725 + 0xbfe8f3f08c28d9ac, 0x3fe408a76834c0c0, // -0.77978, 0.62606 + 0xbfe8fbcca3ef940d, 0x3fe3fed9534556d4, // -0.78074, 0.62486 + 0xbfe903a4e1665133, 0x3fe3f50828f1e8d2, // -0.78169, 0.62366 + 0xbfe90b7943575efe, 0x3fe3eb33eabe0680, // -0.78265, 0.62246 + 0xbfe91349c88da398, 0x3fe3e15c9a2db922, // -0.7836, 0.62126 + 0xbfe91b166fd49da2, 0x3fe3d78238c58343, // -0.78456, 0.62006 + 0xbfe922df37f8646a, 0x3fe3cda4c80a6076, // -0.78551, 0.61885 + 0xbfe92aa41fc5a815, 0x3fe3c3c44981c517, // -0.78646, 0.61765 + 0xbfe932652609b1cf, 0x3fe3b9e0beb19e18, // -0.7874, 0.61644 + 0xbfe93a22499263fc, 0x3fe3affa292050b9, // -0.78835, 0.61523 + 0xbfe941db892e3a65, 0x3fe3a6108a54ba58, // -0.78929, 0.61402 + 0xbfe94990e3ac4a6c, 0x3fe39c23e3d63029, // -0.79023, 0.61281 + 0xbfe9514257dc4335, 0x3fe39234372c7f04, // -0.79117, 0.6116 + 0xbfe958efe48e6dd7, 0x3fe3884185dfeb22, // -0.79211, 0.61038 + 0xbfe960998893ad8c, 0x3fe37e4bd1792fe2, // -0.79304, 0.60917 + 0xbfe9683f42bd7fe1, 0x3fe374531b817f8d, // -0.79398, 0.60795 + 0xbfe96fe111ddfce0, 0x3fe36a576582831b, // -0.79491, 0.60673 + 0xbfe9777ef4c7d742, 0x3fe36058b10659f3, // -0.79584, 0.60551 + 0xbfe97f18ea4e5c9e, 0x3fe35656ff9799ae, // -0.79676, 0.60429 + 0xbfe986aef1457594, 0x3fe34c5252c14de1, // -0.79769, 0.60307 + 0xbfe98e410881a600, 0x3fe3424aac0ef7d6, // -0.79861, 0.60184 + 0xbfe995cf2ed80d22, 0x3fe338400d0c8e57, // -0.79954, 0.60062 + 0xbfe99d59631e65d5, 0x3fe32e3277467d6b, // -0.80046, 0.59939 + 0xbfe9a4dfa42b06b2, 0x3fe32421ec49a620, // -0.80138, 0.59816 + 0xbfe9ac61f0d4e247, 0x3fe31a0e6da35e44, // -0.80229, 0.59693 + 0xbfe9b3e047f38741, 0x3fe30ff7fce17035, // -0.80321, 0.5957 + 0xbfe9bb5aa85f2098, 0x3fe305de9b921a94, // -0.80412, 0.59447 + 0xbfe9c2d110f075c3, 0x3fe2fbc24b441015, // -0.80503, 0.59323 + 0xbfe9ca438080eadb, 0x3fe2f1a30d86773a, // -0.80594, 0.592 + 0xbfe9d1b1f5ea80d6, 0x3fe2e780e3e8ea16, // -0.80685, 0.59076 + 0xbfe9d91c7007d5a6, 0x3fe2dd5bcffb7616, // -0.80775, 0.58952 + 0xbfe9e082edb42472, 0x3fe2d333d34e9bb7, // -0.80866, 0.58828 + 0xbfe9e7e56dcb45bd, 0x3fe2c908ef734e57, // -0.80956, 0.58704 + 0xbfe9ef43ef29af94, 0x3fe2bedb25faf3ea, // -0.81046, 0.5858 + 0xbfe9f69e70ac75bc, 0x3fe2b4aa787764c4, // -0.81135, 0.58455 + 0xbfe9fdf4f13149de, 0x3fe2aa76e87aeb58, // -0.81225, 0.58331 + 0xbfea05476f967bb5, 0x3fe2a040779843fb, // -0.81314, 0.58206 + 0xbfea0c95eabaf937, 0x3fe2960727629ca8, // -0.81404, 0.58081 + 0xbfea13e0617e4ec7, 0x3fe28bcaf96d94ba, // -0.81493, 0.57956 + 0xbfea1b26d2c0a75e, 0x3fe2818bef4d3cba, // -0.81581, 0.57831 + 0xbfea22693d62ccb9, 0x3fe2774a0a961612, // -0.8167, 0.57706 + 0xbfea29a7a0462782, 0x3fe26d054cdd12df, // -0.81758, 0.57581 + 0xbfea30e1fa4cbf81, 0x3fe262bdb7b795a2, // -0.81847, 0.57455 + 0xbfea38184a593bc6, 0x3fe258734cbb7110, // -0.81935, 0.5733 + 0xbfea3f4a8f4ee2d2, 0x3fe24e260d7ee7c9, // -0.82023, 0.57204 + 0xbfea4678c8119ac8, 0x3fe243d5fb98ac1f, // -0.8211, 0.57078 + 0xbfea4da2f385e997, 0x3fe23983189fdfd5, // -0.82198, 0.56952 + 0xbfea54c91090f524, 0x3fe22f2d662c13e1, // -0.82285, 0.56826 + 0xbfea5beb1e188375, 0x3fe224d4e5d5482e, // -0.82372, 0.567 + 0xbfea63091b02fae2, 0x3fe21a799933eb58, // -0.82459, 0.56573 + 0xbfea6a230637623b, 0x3fe2101b81e0da78, // -0.82546, 0.56447 + 0xbfea7138de9d60f5, 0x3fe205baa17560d6, // -0.82632, 0.5632 + 0xbfea784aa31d3f55, 0x3fe1fb56f98b37b8, // -0.82718, 0.56193 + 0xbfea7f58529fe69d, 0x3fe1f0f08bbc861b, // -0.82805, 0.56066 + 0xbfea8661ec0ee133, 0x3fe1e68759a3e074, // -0.8289, 0.55939 + 0xbfea8d676e545ad2, 0x3fe1dc1b64dc4872, // -0.82976, 0.55812 + 0xbfea9468d85b20ae, 0x3fe1d1acaf012cc2, // -0.83062, 0.55685 + 0xbfea9b66290ea1a3, 0x3fe1c73b39ae68c8, // -0.83147, 0.55557 + 0xbfeaa25f5f5aee60, 0x3fe1bcc706804467, // -0.83232, 0.55429 + 0xbfeaa9547a2cb98e, 0x3fe1b250171373be, // -0.83317, 0.55302 + 0xbfeab045787157ff, 0x3fe1a7d66d0516e6, // -0.83402, 0.55174 + 0xbfeab7325916c0d4, 0x3fe19d5a09f2b9b8, // -0.83486, 0.55046 + 0xbfeabe1b1b0b8dac, 0x3fe192daef7a5386, // -0.83571, 0.54918 + 0xbfeac4ffbd3efac8, 0x3fe188591f3a46e5, // -0.83655, 0.54789 + 0xbfeacbe03ea0e73b, 0x3fe17dd49ad16161, // -0.83739, 0.54661 + 0xbfead2bc9e21d511, 0x3fe1734d63dedb49, // -0.83822, 0.54532 + 0xbfead994dab2e979, 0x3fe168c37c025764, // -0.83906, 0.54404 + 0xbfeae068f345ecef, 0x3fe15e36e4dbe2bc, // -0.83989, 0.54275 + 0xbfeae738e6cd4b67, 0x3fe153a7a00bf453, // -0.84073, 0.54146 + 0xbfeaee04b43c1474, 0x3fe14915af336ceb, // -0.84155, 0.54017 + 0xbfeaf4cc5a85fb73, 0x3fe13e8113f396c1, // -0.84238, 0.53888 + 0xbfeafb8fd89f57b6, 0x3fe133e9cfee254e, // -0.84321, 0.53759 + 0xbfeb024f2d7d24a9, 0x3fe1294fe4c5350a, // -0.84403, 0.53629 + 0xbfeb090a58150200, 0x3fe11eb3541b4b22, // -0.84485, 0.535 + 0xbfeb0fc1575d33db, 0x3fe114141f935545, // -0.84567, 0.5337 + 0xbfeb16742a4ca2f5, 0x3fe1097248d0a956, // -0.84649, 0.5324 + 0xbfeb1d22cfdadcc6, 0x3fe0fecdd1770537, // -0.84731, 0.5311 + 0xbfeb23cd470013b4, 0x3fe0f426bb2a8e7d, // -0.84812, 0.5298 + 0xbfeb2a738eb51f33, 0x3fe0e97d078fd23b, // -0.84893, 0.5285 + 0xbfeb3115a5f37bf4, 0x3fe0ded0b84bc4b5, // -0.84974, 0.5272 + 0xbfeb37b38bb54c09, 0x3fe0d421cf03c12b, // -0.85055, 0.5259 + 0xbfeb3e4d3ef55712, 0x3fe0c9704d5d898f, // -0.85136, 0.52459 + 0xbfeb44e2beaf0a61, 0x3fe0bebc34ff4646, // -0.85216, 0.52328 + 0xbfeb4b7409de7925, 0x3fe0b405878f85ec, // -0.85296, 0.52198 + 0xbfeb52011f805c92, 0x3fe0a94c46b53d0b, // -0.85376, 0.52067 + 0xbfeb5889fe921405, 0x3fe09e907417c5e1, // -0.85456, 0.51936 + 0xbfeb5f0ea611a532, 0x3fe093d2115ee018, // -0.85535, 0.51804 + 0xbfeb658f14fdbc47, 0x3fe089112032b08c, // -0.85615, 0.51673 + 0xbfeb6c0b4a55ac17, 0x3fe07e4da23bc102, // -0.85694, 0.51542 + 0xbfeb728345196e3e, 0x3fe073879922ffed, // -0.85773, 0.5141 + 0xbfeb78f70449a34b, 0x3fe068bf0691c028, // -0.85852, 0.51279 + 0xbfeb7f6686e792ea, 0x3fe05df3ec31b8b6, // -0.8593, 0.51147 + 0xbfeb85d1cbf52c02, 0x3fe053264bad0483, // -0.86009, 0.51015 + 0xbfeb8c38d27504e9, 0x3fe0485626ae221a, // -0.86087, 0.50883 + 0xbfeb929b996a5b7f, 0x3fe03d837edff370, // -0.86165, 0.50751 + 0xbfeb98fa1fd9155e, 0x3fe032ae55edbd95, // -0.86242, 0.50619 + 0xbfeb9f5464c5bffc, 0x3fe027d6ad83287e, // -0.8632, 0.50486 + 0xbfeba5aa673590d2, 0x3fe01cfc874c3eb7, // -0.86397, 0.50354 + 0xbfebabfc262e6586, 0x3fe0121fe4f56d2c, // -0.86474, 0.50221 + 0xbfebb249a0b6c40d, 0x3fe00740c82b82e0, // -0.86551, 0.50089 + 0xbfebb892d5d5dad5, 0x3fdff8be6537615e, // -0.86628, 0.49956 + 0xbfebbed7c49380ea, 0x3fdfe2f64be7120f, // -0.86705, 0.49823 + 0xbfebc5186bf8361d, 0x3fdfcd2947c1ff57, // -0.86781, 0.4969 + 0xbfebcb54cb0d2327, 0x3fdfb7575c24d2de, // -0.86857, 0.49557 + 0xbfebd18ce0dc19d6, 0x3fdfa1808c6cf7e0, // -0.86933, 0.49423 + 0xbfebd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // -0.87009, 0.4929 + 0xbfebddf02cd2b983, 0x3fdf75c44e26a852, // -0.87084, 0.49156 + 0xbfebe41b611154c1, 0x3fdf5fdee656cda3, // -0.8716, 0.49023 + 0xbfebea424837de6d, 0x3fdf49f4a7e97729, // -0.87235, 0.48889 + 0xbfebf064e15377dd, 0x3fdf3405963fd068, // -0.87309, 0.48755 + 0xbfebf6832b71ec5b, 0x3fdf1e11b4bbc35c, // -0.87384, 0.48621 + 0xbfebfc9d25a1b147, 0x3fdf081906bff7fd, // -0.87459, 0.48487 + 0xbfec02b2cef1e641, 0x3fdef21b8fafd3b5, // -0.87533, 0.48353 + 0xbfec08c426725549, 0x3fdedc1952ef78d5, // -0.87607, 0.48218 + 0xbfec0ed12b3372e9, 0x3fdec61253e3c61b, // -0.87681, 0.48084 + 0xbfec14d9dc465e58, 0x3fdeb00695f25620, // -0.87755, 0.47949 + 0xbfec1ade38bce19b, 0x3fde99f61c817eda, // -0.87828, 0.47815 + 0xbfec20de3fa971b0, 0x3fde83e0eaf85113, // -0.87901, 0.4768 + 0xbfec26d9f01f2eaf, 0x3fde6dc704be97e2, // -0.87974, 0.47545 + 0xbfec2cd14931e3f1, 0x3fde57a86d3cd824, // -0.88047, 0.4741 + 0xbfec32c449f60831, 0x3fde418527dc4ffa, // -0.8812, 0.47275 + 0xbfec38b2f180bdb1, 0x3fde2b5d3806f63b, // -0.88192, 0.4714 + 0xbfec3e9d3ee7d262, 0x3fde1530a12779f4, // -0.88264, 0.47004 + 0xbfec44833141c004, 0x3fddfeff66a941de, // -0.88336, 0.46869 + 0xbfec4a64c7a5ac4c, 0x3fdde8c98bf86bd6, // -0.88408, 0.46733 + 0xbfec5042012b6907, 0x3fddd28f1481cc58, // -0.8848, 0.46598 + 0xbfec561adceb743e, 0x3fddbc5003b2edf8, // -0.88551, 0.46462 + 0xbfec5bef59fef85a, 0x3fdda60c5cfa10d8, // -0.88622, 0.46326 + 0xbfec61bf777fcc48, 0x3fdd8fc423c62a25, // -0.88693, 0.4619 + 0xbfec678b3488739b, 0x3fdd79775b86e389, // -0.88764, 0.46054 + 0xbfec6d5290341eb2, 0x3fdd632607ac9aa9, // -0.88835, 0.45918 + 0xbfec7315899eaad7, 0x3fdd4cd02ba8609c, // -0.88905, 0.45781 + 0xbfec78d41fe4a267, 0x3fdd3675caebf962, // -0.88975, 0.45645 + 0xbfec7e8e52233cf3, 0x3fdd2016e8e9db5b, // -0.89045, 0.45508 + 0xbfec84441f785f61, 0x3fdd09b389152ec1, // -0.89115, 0.45372 + 0xbfec89f587029c13, 0x3fdcf34baee1cd21, // -0.89184, 0.45235 + 0xbfec8fa287e13305, 0x3fdcdcdf5dc440ce, // -0.89253, 0.45098 + 0xbfec954b213411f5, 0x3fdcc66e9931c45d, // -0.89322, 0.44961 + 0xbfec9aef521bd480, 0x3fdcaff964a0421d, // -0.89391, 0.44824 + 0xbfeca08f19b9c449, 0x3fdc997fc3865388, // -0.8946, 0.44687 + 0xbfeca62a772fd919, 0x3fdc8301b95b40c2, // -0.89528, 0.4455 + 0xbfecabc169a0b901, 0x3fdc6c7f4997000a, // -0.89597, 0.44412 + 0xbfecb153f02fb87d, 0x3fdc55f877b23537, // -0.89665, 0.44275 + 0xbfecb6e20a00da99, 0x3fdc3f6d47263129, // -0.89732, 0.44137 + 0xbfecbc6bb638d10b, 0x3fdc28ddbb6cf145, // -0.898, 0.43999 + 0xbfecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // -0.89867, 0.43862 + 0xbfecc771c2736c09, 0x3fdbfbb1a05e0edc, // -0.89935, 0.43724 + 0xbfecccee20c2de9f, 0x3fdbe51517ffc0d9, // -0.90002, 0.43586 + 0xbfecd2660e12c1e6, 0x3fdbce744262deee, // -0.90068, 0.43448 + 0xbfecd7d9898b32f6, 0x3fdbb7cf2304bd01, // -0.90135, 0.43309 + 0xbfecdd489254fe65, 0x3fdba125bd63583e, // -0.90201, 0.43171 + 0xbfece2b32799a060, 0x3fdb8a7814fd5693, // -0.90267, 0.43033 + 0xbfece819488344ce, 0x3fdb73c62d520624, // -0.90333, 0.42894 + 0xbfeced7af43cc773, 0x3fdb5d1009e15cc0, // -0.90399, 0.42756 + 0xbfecf2d829f1b40e, 0x3fdb4655ae2bf757, // -0.90464, 0.42617 + 0xbfecf830e8ce467b, 0x3fdb2f971db31972, // -0.9053, 0.42478 + 0xbfecfd852fff6ad4, 0x3fdb18d45bf8aca6, // -0.90595, 0.42339 + 0xbfed02d4feb2bd92, 0x3fdb020d6c7f4009, // -0.9066, 0.422 + 0xbfed082054168bac, 0x3fdaeb4252ca07ab, // -0.90724, 0.42061 + 0xbfed0d672f59d2b9, 0x3fdad473125cdc08, // -0.90789, 0.41922 + 0xbfed12a98fac410c, 0x3fdabd9faebc3980, // -0.90853, 0.41782 + 0xbfed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // -0.90917, 0.41643 + 0xbfed1d20dc40c15c, 0x3fda8fec8bf5b166, // -0.90981, 0.41503 + 0xbfed2255c6e5a4e1, 0x3fda790cd3dbf31a, // -0.91044, 0.41364 + 0xbfed2786335f52fc, 0x3fda622906a70b63, // -0.91107, 0.41224 + 0xbfed2cb220e0ef9f, 0x3fda4b4127dea1e4, // -0.91171, 0.41084 + 0xbfed31d98e9e503a, 0x3fda34553b0afee5, // -0.91234, 0.40944 + 0xbfed36fc7bcbfbdc, 0x3fda1d6543b50ac0, // -0.91296, 0.40804 + 0xbfed3c1ae79f2b4e, 0x3fda067145664d57, // -0.91359, 0.40664 + 0xbfed4134d14dc93a, 0x3fd9ef7943a8ed8a, // -0.91421, 0.40524 + 0xbfed464a380e7242, 0x3fd9d87d4207b0ab, // -0.91483, 0.40384 + 0xbfed4b5b1b187524, 0x3fd9c17d440df9f2, // -0.91545, 0.40243 + 0xbfed506779a3d2d9, 0x3fd9aa794d47c9ee, // -0.91606, 0.40103 + 0xbfed556f52e93eb1, 0x3fd993716141bdfe, // -0.91668, 0.39962 + 0xbfed5a72a6221e73, 0x3fd97c6583890fc2, // -0.91729, 0.39822 + 0xbfed5f7172888a7f, 0x3fd96555b7ab948f, // -0.9179, 0.39681 + 0xbfed646bb7574de5, 0x3fd94e420137bce3, // -0.91851, 0.3954 + 0xbfed696173c9e68b, 0x3fd9372a63bc93d7, // -0.91911, 0.39399 + 0xbfed6e52a71c8547, 0x3fd9200ee2c9be97, // -0.91972, 0.39258 + 0xbfed733f508c0dff, 0x3fd908ef81ef7bd1, // -0.92032, 0.39117 + 0xbfed78276f5617c6, 0x3fd8f1cc44bea329, // -0.92092, 0.38976 + 0xbfed7d0b02b8ecf9, 0x3fd8daa52ec8a4af, // -0.92151, 0.38835 + 0xbfed81ea09f38b63, 0x3fd8c37a439f884f, // -0.92211, 0.38693 + 0xbfed86c48445a450, 0x3fd8ac4b86d5ed44, // -0.9227, 0.38552 + 0xbfed8b9a70ef9cb4, 0x3fd89518fbff098e, // -0.92329, 0.3841 + 0xbfed906bcf328d46, 0x3fd87de2a6aea963, // -0.92388, 0.38268 + 0xbfed95389e50429b, 0x3fd866a88a792ea0, // -0.92447, 0.38127 + 0xbfed9a00dd8b3d46, 0x3fd84f6aaaf3903f, // -0.92505, 0.37985 + 0xbfed9ec48c26b1f3, 0x3fd838290bb359c8, // -0.92563, 0.37843 + 0xbfeda383a9668988, 0x3fd820e3b04eaac4, // -0.92621, 0.37701 + 0xbfeda83e348f613b, 0x3fd8099a9c5c362d, // -0.92679, 0.37559 + 0xbfedacf42ce68ab9, 0x3fd7f24dd37341e3, // -0.92736, 0.37416 + 0xbfedb1a591b20c38, 0x3fd7dafd592ba621, // -0.92794, 0.37274 + 0xbfedb6526238a09b, 0x3fd7c3a9311dcce7, // -0.92851, 0.37132 + 0xbfedbafa9dc1b78d, 0x3fd7ac515ee2b172, // -0.92907, 0.36989 + 0xbfedbf9e4395759a, 0x3fd794f5e613dfae, // -0.92964, 0.36847 + 0xbfedc43d52fcb453, 0x3fd77d96ca4b73a6, // -0.93021, 0.36704 + 0xbfedc8d7cb410260, 0x3fd766340f2418f6, // -0.93077, 0.36561 + 0xbfedcd6dabaca3a5, 0x3fd74ecdb8390a3e, // -0.93133, 0.36418 + 0xbfedd1fef38a915a, 0x3fd73763c9261092, // -0.93188, 0.36276 + 0xbfedd68ba2267a25, 0x3fd71ff6458782ec, // -0.93244, 0.36133 + 0xbfeddb13b6ccc23d, 0x3fd7088530fa459e, // -0.93299, 0.3599 + 0xbfeddf9730ca837b, 0x3fd6f1108f1bc9c5, // -0.93354, 0.35846 + 0xbfede4160f6d8d81, 0x3fd6d998638a0cb5, // -0.93409, 0.35703 + 0xbfede890520465ce, 0x3fd6c21cb1e39771, // -0.93464, 0.3556 + 0xbfeded05f7de47da, 0x3fd6aa9d7dc77e16, // -0.93518, 0.35416 + 0xbfedf177004b2534, 0x3fd6931acad55f51, // -0.93573, 0.35273 + 0xbfedf5e36a9ba59c, 0x3fd67b949cad63ca, // -0.93627, 0.35129 + 0xbfedfa4b3621271d, 0x3fd6640af6f03d9e, // -0.9368, 0.34986 + 0xbfedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // -0.93734, 0.34842 + 0xbfee030cee1435b8, 0x3fd634ed533be58e, // -0.93787, 0.34698 + 0xbfee0766d9280f54, 0x3fd61d595c88c203, // -0.9384, 0.34554 + 0xbfee0bbc22bd8349, 0x3fd605c1fcc88f63, // -0.93893, 0.3441 + 0xbfee100cca2980ac, 0x3fd5ee27379ea693, // -0.93946, 0.34266 + 0xbfee1458cec1ad83, 0x3fd5d68910aee686, // -0.93998, 0.34122 + 0xbfee18a02fdc66d9, 0x3fd5bee78b9db3b6, // -0.94051, 0.33978 + 0xbfee1ce2ecd0c0d8, 0x3fd5a742ac0ff78d, // -0.94103, 0.33833 + 0xbfee212104f686e5, 0x3fd58f9a75ab1fdd, // -0.94154, 0.33689 + 0xbfee255a77a63bb8, 0x3fd577eeec151e47, // -0.94206, 0.33545 + 0xbfee298f4439197a, 0x3fd5604012f467b4, // -0.94257, 0.334 + 0xbfee2dbf6a0911d9, 0x3fd5488dedeff3be, // -0.94308, 0.33255 + 0xbfee31eae870ce25, 0x3fd530d880af3c24, // -0.94359, 0.33111 + 0xbfee3611becbaf69, 0x3fd5191fceda3c35, // -0.9441, 0.32966 + 0xbfee3a33ec75ce85, 0x3fd50163dc197047, // -0.9446, 0.32821 + 0xbfee3e5170cbfc46, 0x3fd4e9a4ac15d520, // -0.94511, 0.32676 + 0xbfee426a4b2bc17e, 0x3fd4d1e24278e76a, // -0.94561, 0.32531 + 0xbfee467e7af35f23, 0x3fd4ba1ca2eca31c, // -0.94611, 0.32386 + 0xbfee4a8dff81ce5e, 0x3fd4a253d11b82f3, // -0.9466, 0.32241 + 0xbfee4e98d836c0af, 0x3fd48a87d0b07fd7, // -0.94709, 0.32096 + 0xbfee529f04729ffc, 0x3fd472b8a5571054, // -0.94759, 0.3195 + 0xbfee56a083968eb1, 0x3fd45ae652bb2800, // -0.94807, 0.31805 + 0xbfee5a9d550467d3, 0x3fd44310dc8936f0, // -0.94856, 0.31659 + 0xbfee5e95781ebf1c, 0x3fd42b38466e2928, // -0.94905, 0.31514 + 0xbfee6288ec48e112, 0x3fd4135c94176602, // -0.94953, 0.31368 + 0xbfee6677b0e6d31e, 0x3fd3fb7dc932cfa4, // -0.95001, 0.31222 + 0xbfee6a61c55d53a7, 0x3fd3e39be96ec271, // -0.95049, 0.31077 + 0xbfee6e472911da27, 0x3fd3cbb6f87a146e, // -0.95096, 0.30931 + 0xbfee7227db6a9744, 0x3fd3b3cefa0414b7, // -0.95144, 0.30785 + 0xbfee7603dbce74e9, 0x3fd39be3f1bc8aef, // -0.95191, 0.30639 + 0xbfee79db29a5165a, 0x3fd383f5e353b6aa, // -0.95238, 0.30493 + 0xbfee7dadc456d850, 0x3fd36c04d27a4edf, // -0.95284, 0.30347 + 0xbfee817bab4cd10d, 0x3fd35410c2e18152, // -0.95331, 0.30201 + 0xbfee8544ddf0d075, 0x3fd33c19b83af207, // -0.95377, 0.30054 + 0xbfee89095bad6025, 0x3fd3241fb638baaf, // -0.95423, 0.29908 + 0xbfee8cc923edc388, 0x3fd30c22c08d6a13, // -0.95469, 0.29762 + 0xbfee9084361df7f3, 0x3fd2f422daec0386, // -0.95514, 0.29615 + 0xbfee943a91aab4b4, 0x3fd2dc200907fe51, // -0.95559, 0.29469 + 0xbfee97ec36016b30, 0x3fd2c41a4e954520, // -0.95605, 0.29322 + 0xbfee9b99229046f8, 0x3fd2ac11af483572, // -0.95649, 0.29175 + 0xbfee9f4156c62dda, 0x3fd294062ed59f05, // -0.95694, 0.29028 + 0xbfeea2e4d212c000, 0x3fd27bf7d0f2c346, // -0.95738, 0.28882 + 0xbfeea68393e65800, 0x3fd263e6995554ba, // -0.95783, 0.28735 + 0xbfeeaa1d9bb20af3, 0x3fd24bd28bb37672, // -0.95827, 0.28588 + 0xbfeeadb2e8e7a88e, 0x3fd233bbabc3bb72, // -0.9587, 0.28441 + 0xbfeeb1437af9bb34, 0x3fd21ba1fd3d2623, // -0.95914, 0.28294 + 0xbfeeb4cf515b8811, 0x3fd2038583d727bd, // -0.95957, 0.28146 + 0xbfeeb8566b810f2a, 0x3fd1eb6643499fbb, // -0.96, 0.27999 + 0xbfeebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // -0.96043, 0.27852 + 0xbfeebf5668eaf2ef, 0x3fd1bb1f7b999480, // -0.96086, 0.27705 + 0xbfeec2cf4b1af6b2, 0x3fd1a2f7fbe8f243, // -0.96128, 0.27557 + 0xbfeec6436ee60309, 0x3fd18acdc3f4873a, // -0.9617, 0.2741 + 0xbfeec9b2d3c3bf84, 0x3fd172a0d7765177, // -0.96212, 0.27262 + 0xbfeecd1d792c8f10, 0x3fd15a713a28b9d9, // -0.96254, 0.27115 + 0xbfeed0835e999009, 0x3fd1423eefc69378, // -0.96295, 0.26967 + 0xbfeed3e483849c51, 0x3fd12a09fc0b1b12, // -0.96337, 0.26819 + 0xbfeed740e7684963, 0x3fd111d262b1f677, // -0.96378, 0.26671 + 0xbfeeda9889bfe86a, 0x3fd0f998277733f7, // -0.96418, 0.26523 + 0xbfeeddeb6a078651, 0x3fd0e15b4e1749cd, // -0.96459, 0.26375 + 0xbfeee13987bbebdc, 0x3fd0c91bda4f158d, // -0.96499, 0.26227 + 0xbfeee482e25a9dbc, 0x3fd0b0d9cfdbdb90, // -0.96539, 0.26079 + 0xbfeee7c77961dc9e, 0x3fd09895327b465e, // -0.96579, 0.25931 + 0xbfeeeb074c50a544, 0x3fd0804e05eb661e, // -0.96619, 0.25783 + 0xbfeeee425aa6b09a, 0x3fd068044deab002, // -0.96658, 0.25635 + 0xbfeef178a3e473c2, 0x3fd04fb80e37fdae, // -0.96698, 0.25487 + 0xbfeef4aa278b2032, 0x3fd037694a928cac, // -0.96737, 0.25338 + 0xbfeef7d6e51ca3c0, 0x3fd01f1806b9fdd2, // -0.96775, 0.2519 + 0xbfeefafedc1ba8b7, 0x3fd006c4466e54af, // -0.96814, 0.25041 + 0xbfeefe220c0b95ec, 0x3fcfdcdc1adfedf8, // -0.96852, 0.24893 + 0xbfef014074708ed3, 0x3fcfac2abeff57ff, // -0.9689, 0.24744 + 0xbfef045a14cf738c, 0x3fcf7b7480bd3801, // -0.96928, 0.24596 + 0xbfef076eecade0fa, 0x3fcf4ab9679c9f5c, // -0.96966, 0.24447 + 0xbfef0a7efb9230d7, 0x3fcf19f97b215f1a, // -0.97003, 0.24298 + 0xbfef0d8a410379c5, 0x3fcee934c2d006c7, // -0.9704, 0.24149 + 0xbfef1090bc898f5f, 0x3fceb86b462de348, // -0.97077, 0.24 + 0xbfef13926dad024e, 0x3fce879d0cc0fdaf, // -0.97114, 0.23851 + 0xbfef168f53f7205d, 0x3fce56ca1e101a1b, // -0.9715, 0.23702 + 0xbfef19876ef1f486, 0x3fce25f281a2b684, // -0.97187, 0.23553 + 0xbfef1c7abe284708, 0x3fcdf5163f01099a, // -0.97223, 0.23404 + 0xbfef1f6941259d7a, 0x3fcdc4355db40195, // -0.97258, 0.23255 + 0xbfef2252f7763ada, 0x3fcd934fe5454311, // -0.97294, 0.23106 + 0xbfef2537e0a71f9f, 0x3fcd6265dd3f27e3, // -0.97329, 0.22957 + 0xbfef2817fc4609ce, 0x3fcd31774d2cbdee, // -0.97364, 0.22807 + 0xbfef2af349e17507, 0x3fcd00843c99c5f9, // -0.97399, 0.22658 + 0xbfef2dc9c9089a9d, 0x3fcccf8cb312b286, // -0.97434, 0.22508 + 0xbfef309b794b719f, 0x3fcc9e90b824a6a9, // -0.97468, 0.22359 + 0xbfef33685a3aaef0, 0x3fcc6d90535d74dc, // -0.97503, 0.22209 + 0xbfef36306b67c556, 0x3fcc3c8b8c4b9dd7, // -0.97536, 0.2206 + 0xbfef38f3ac64e589, 0x3fcc0b826a7e4f63, // -0.9757, 0.2191 + 0xbfef3bb21cc4fe47, 0x3fcbda74f5856330, // -0.97604, 0.2176 + 0xbfef3e6bbc1bbc65, 0x3fcba96334f15dad, // -0.97637, 0.21611 + 0xbfef412089fd8adc, 0x3fcb784d30536cda, // -0.9767, 0.21461 + 0xbfef43d085ff92dd, 0x3fcb4732ef3d6722, // -0.97703, 0.21311 + 0xbfef467bafb7bbe0, 0x3fcb16147941ca2a, // -0.97735, 0.21161 + 0xbfef492206bcabb4, 0x3fcae4f1d5f3b9ab, // -0.97768, 0.21011 + 0xbfef4bc38aa5c694, 0x3fcab3cb0ce6fe44, // -0.978, 0.20861 + 0xbfef4e603b0b2f2d, 0x3fca82a025b00451, // -0.97832, 0.20711 + 0xbfef50f81785c6b9, 0x3fca517127e3dabc, // -0.97863, 0.20561 + 0xbfef538b1faf2d07, 0x3fca203e1b1831da, // -0.97895, 0.20411 + 0xbfef56195321c090, 0x3fc9ef0706e35a35, // -0.97926, 0.20261 + 0xbfef58a2b1789e84, 0x3fc9bdcbf2dc4366, // -0.97957, 0.2011 + 0xbfef5b273a4fa2d9, 0x3fc98c8ce69a7aec, // -0.97988, 0.1996 + 0xbfef5da6ed43685d, 0x3fc95b49e9b62af9, // -0.98018, 0.1981 + 0xbfef6021c9f148c2, 0x3fc92a0303c8194f, // -0.98048, 0.19659 + 0xbfef6297cff75cb0, 0x3fc8f8b83c69a60a, // -0.98079, 0.19509 + 0xbfef6508fef47bd5, 0x3fc8c7699b34ca7e, // -0.98108, 0.19359 + 0xbfef677556883cee, 0x3fc8961727c41804, // -0.98138, 0.19208 + 0xbfef69dcd652f5de, 0x3fc864c0e9b2b6cf, // -0.98167, 0.19057 + 0xbfef6c3f7df5bbb7, 0x3fc83366e89c64c5, // -0.98196, 0.18907 + 0xbfef6e9d4d1262ca, 0x3fc802092c1d744b, // -0.98225, 0.18756 + 0xbfef70f6434b7eb7, 0x3fc7d0a7bbd2cb1b, // -0.98254, 0.18606 + 0xbfef734a60446279, 0x3fc79f429f59e11d, // -0.98282, 0.18455 + 0xbfef7599a3a12077, 0x3fc76dd9de50bf31, // -0.98311, 0.18304 + 0xbfef77e40d068a90, 0x3fc73c6d8055fe0a, // -0.98339, 0.18153 + 0xbfef7a299c1a322a, 0x3fc70afd8d08c4ff, // -0.98366, 0.18002 + 0xbfef7c6a50826840, 0x3fc6d98a0c08c8da, // -0.98394, 0.17851 + 0xbfef7ea629e63d6e, 0x3fc6a81304f64ab2, // -0.98421, 0.177 + 0xbfef80dd27ed8204, 0x3fc676987f7216b8, // -0.98448, 0.17549 + 0xbfef830f4a40c60c, 0x3fc6451a831d830d, // -0.98475, 0.17398 + 0xbfef853c9089595e, 0x3fc61399179a6e94, // -0.98501, 0.17247 + 0xbfef8764fa714ba9, 0x3fc5e214448b3fc6, // -0.98528, 0.17096 + 0xbfef898887a36c84, 0x3fc5b08c1192e381, // -0.98554, 0.16945 + 0xbfef8ba737cb4b78, 0x3fc57f008654cbde, // -0.9858, 0.16794 + 0xbfef8dc10a95380d, 0x3fc54d71aa74ef02, // -0.98605, 0.16643 + 0xbfef8fd5ffae41db, 0x3fc51bdf8597c5f2, // -0.98631, 0.16491 + 0xbfef91e616c43891, 0x3fc4ea4a1f624b61, // -0.98656, 0.1634 + 0xbfef93f14f85ac08, 0x3fc4b8b17f79fa88, // -0.98681, 0.16189 + 0xbfef95f7a9a1ec47, 0x3fc48715ad84cdf5, // -0.98706, 0.16037 + 0xbfef97f924c9099b, 0x3fc45576b1293e5a, // -0.9873, 0.15886 + 0xbfef99f5c0abd496, 0x3fc423d4920e4166, // -0.98754, 0.15734 + 0xbfef9bed7cfbde29, 0x3fc3f22f57db4893, // -0.98778, 0.15583 + 0xbfef9de0596b77a3, 0x3fc3c0870a383ff6, // -0.98802, 0.15431 + 0xbfef9fce55adb2c8, 0x3fc38edbb0cd8d14, // -0.98826, 0.1528 + 0xbfefa1b7717661d5, 0x3fc35d2d53440db2, // -0.98849, 0.15128 + 0xbfefa39bac7a1791, 0x3fc32b7bf94516a7, // -0.98872, 0.14976 + 0xbfefa57b066e2754, 0x3fc2f9c7aa7a72af, // -0.98895, 0.14825 + 0xbfefa7557f08a517, 0x3fc2c8106e8e613a, // -0.98918, 0.14673 + 0xbfefa92b1600657c, 0x3fc296564d2b953e, // -0.9894, 0.14521 + 0xbfefaafbcb0cfddc, 0x3fc264994dfd340a, // -0.98962, 0.1437 + 0xbfefacc79de6c44f, 0x3fc232d978aed413, // -0.98984, 0.14218 + 0xbfefae8e8e46cfbb, 0x3fc20116d4ec7bce, // -0.99006, 0.14066 + 0xbfefb0509be6f7db, 0x3fc1cf516a62a077, // -0.99027, 0.13914 + 0xbfefb20dc681d54d, 0x3fc19d8940be24e7, // -0.99049, 0.13762 + 0xbfefb3c60dd2c199, 0x3fc16bbe5fac5865, // -0.9907, 0.1361 + 0xbfefb5797195d741, 0x3fc139f0cedaf576, // -0.9909, 0.13458 + 0xbfefb727f187f1c7, 0x3fc1082095f820b0, // -0.99111, 0.13306 + 0xbfefb8d18d66adb7, 0x3fc0d64dbcb26786, // -0.99131, 0.13154 + 0xbfefba7644f068b5, 0x3fc0a4784ab8bf1d, // -0.99151, 0.13002 + 0xbfefbc1617e44186, 0x3fc072a047ba831d, // -0.99171, 0.1285 + 0xbfefbdb106021816, 0x3fc040c5bb67747e, // -0.99191, 0.12698 + 0xbfefbf470f0a8d88, 0x3fc00ee8ad6fb85b, // -0.9921, 0.12545 + 0xbfefc0d832bf043a, 0x3fbfba124b07ad85, // -0.99229, 0.12393 + 0xbfefc26470e19fd3, 0x3fbf564e56a9730e, // -0.99248, 0.12241 + 0xbfefc3ebc935454c, 0x3fbef2858d27561b, // -0.99267, 0.12089 + 0xbfefc56e3b7d9af6, 0x3fbe8eb7fde4aa3e, // -0.99285, 0.11937 + 0xbfefc6ebc77f0887, 0x3fbe2ae5b8457f77, // -0.99303, 0.11784 + 0xbfefc8646cfeb721, 0x3fbdc70ecbae9fc8, // -0.99321, 0.11632 + 0xbfefc9d82bc2915e, 0x3fbd633347858ce4, // -0.99339, 0.11479 + 0xbfefcb4703914354, 0x3fbcff533b307dc1, // -0.99356, 0.11327 + 0xbfefccb0f4323aa3, 0x3fbc9b6eb6165c42, // -0.99374, 0.11175 + 0xbfefce15fd6da67b, 0x3fbc3785c79ec2d5, // -0.99391, 0.11022 + 0xbfefcf761f0c77a3, 0x3fbbd3987f31fa0e, // -0.99407, 0.1087 + 0xbfefd0d158d86087, 0x3fbb6fa6ec38f64c, // -0.99424, 0.10717 + 0xbfefd227aa9bd53b, 0x3fbb0bb11e1d5559, // -0.9944, 0.10565 + 0xbfefd37914220b84, 0x3fbaa7b724495c04, // -0.99456, 0.10412 + 0xbfefd4c59536fae4, 0x3fba43b90e27f3c4, // -0.99472, 0.1026 + 0xbfefd60d2da75c9e, 0x3fb9dfb6eb24a85c, // -0.99488, 0.10107 + 0xbfefd74fdd40abbf, 0x3fb97bb0caaba56f, // -0.99503, 0.099544 + 0xbfefd88da3d12526, 0x3fb917a6bc29b42c, // -0.99518, 0.098017 + 0xbfefd9c68127c78c, 0x3fb8b398cf0c38e0, // -0.99533, 0.09649 + 0xbfefdafa7514538c, 0x3fb84f8712c130a0, // -0.99548, 0.094963 + 0xbfefdc297f674ba9, 0x3fb7eb7196b72ee4, // -0.99563, 0.093436 + 0xbfefdd539ff1f456, 0x3fb787586a5d5b21, // -0.99577, 0.091909 + 0xbfefde78d68653fd, 0x3fb7233b9d236e71, // -0.99591, 0.090381 + 0xbfefdf9922f73307, 0x3fb6bf1b3e79b129, // -0.99604, 0.088854 + 0xbfefe0b485181be3, 0x3fb65af75dd0f87b, // -0.99618, 0.087326 + 0xbfefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // -0.99631, 0.085797 + 0xbfefe2dc89bbff08, 0x3fb592a554489bc8, // -0.99644, 0.084269 + 0xbfefe3e92be9d886, 0x3fb52e774a4d4d0a, // -0.99657, 0.08274 + 0xbfefe4f0e31d7a4a, 0x3fb4ca45fc1ba8b6, // -0.9967, 0.081211 + 0xbfefe5f3af2e3940, 0x3fb4661179272096, // -0.99682, 0.079682 + 0xbfefe6f18ff42c84, 0x3fb401d9d0e3a507, // -0.99694, 0.078153 + 0xbfefe7ea85482d60, 0x3fb39d9f12c5a299, // -0.99706, 0.076624 + 0xbfefe8de8f03d75c, 0x3fb339614e41ffa5, // -0.99718, 0.075094 + 0xbfefe9cdad01883a, 0x3fb2d52092ce19f6, // -0.99729, 0.073565 + 0xbfefeab7df1c6005, 0x3fb270dcefdfc45b, // -0.9974, 0.072035 + 0xbfefeb9d2530410f, 0x3fb20c9674ed444c, // -0.99751, 0.070505 + 0xbfefec7d7f19cffc, 0x3fb1a84d316d4f8a, // -0.99762, 0.068974 + 0xbfefed58ecb673c4, 0x3fb1440134d709b2, // -0.99772, 0.067444 + 0xbfefee2f6de455ba, 0x3fb0dfb28ea201e6, // -0.99783, 0.065913 + 0xbfefef0102826191, 0x3fb07b614e463064, // -0.99793, 0.064383 + 0xbfefefcdaa704562, 0x3fb0170d833bf421, // -0.99802, 0.062852 + 0xbfeff095658e71ad, 0x3faf656e79f820e0, // -0.99812, 0.061321 + 0xbfeff15833be1965, 0x3fae9cbd15ff5527, // -0.99821, 0.05979 + 0xbfeff21614e131ed, 0x3fadd406f9808ec8, // -0.9983, 0.058258 + 0xbfeff2cf08da7321, 0x3fad0b4c436f91d0, // -0.99839, 0.056727 + 0xbfeff3830f8d575c, 0x3fac428d12c0d7e3, // -0.99848, 0.055195 + 0xbfeff43228de1b77, 0x3fab79c986698b78, // -0.99856, 0.053664 + 0xbfeff4dc54b1bed3, 0x3faab101bd5f8317, // -0.99864, 0.052132 + 0xbfeff58192ee0358, 0x3fa9e835d6993c87, // -0.99872, 0.0506 + 0xbfeff621e3796d7e, 0x3fa91f65f10dd814, // -0.9988, 0.049068 + 0xbfeff6bd463b444d, 0x3fa856922bb513c1, // -0.99887, 0.047535 + 0xbfeff753bb1b9164, 0x3fa78dbaa5874685, // -0.99894, 0.046003 + 0xbfeff7e5420320f9, 0x3fa6c4df7d7d5b84, // -0.99901, 0.044471 + 0xbfeff871dadb81df, 0x3fa5fc00d290cd43, // -0.99908, 0.042938 + 0xbfeff8f9858f058b, 0x3fa5331ec3bba0eb, // -0.99914, 0.041406 + 0xbfeff97c4208c014, 0x3fa46a396ff86179, // -0.9992, 0.039873 + 0xbfeff9fa10348837, 0x3fa3a150f6421afc, // -0.99926, 0.03834 + 0xbfeffa72effef75d, 0x3fa2d865759455cd, // -0.99932, 0.036807 + 0xbfeffae6e1556998, 0x3fa20f770ceb11c6, // -0.99938, 0.035274 + 0xbfeffb55e425fdae, 0x3fa14685db42c17e, // -0.99943, 0.033741 + 0xbfeffbbff85f9515, 0x3fa07d91ff984580, // -0.99948, 0.032208 + 0xbfeffc251df1d3f8, 0x3f9f693731d1cf01, // -0.99953, 0.030675 + 0xbfeffc8554cd213a, 0x3f9dd7458c64ab39, // -0.99958, 0.029142 + 0xbfeffce09ce2a679, 0x3f9c454f4ce53b1c, // -0.99962, 0.027608 + 0xbfeffd36f624500c, 0x3f9ab354b1504fca, // -0.99966, 0.026075 + 0xbfeffd886084cd0d, 0x3f992155f7a3667e, // -0.9997, 0.024541 + 0xbfeffdd4dbf78f52, 0x3f978f535ddc9f03, // -0.99974, 0.023008 + 0xbfeffe1c6870cb77, 0x3f95fd4d21fab226, // -0.99977, 0.021474 + 0xbfeffe5f05e578db, 0x3f946b4381fce81c, // -0.9998, 0.01994 + 0xbfeffe9cb44b51a1, 0x3f92d936bbe30efd, // -0.99983, 0.018407 + 0xbfeffed57398d2b7, 0x3f9147270dad7132, // -0.99986, 0.016873 + 0xbfefff0943c53bd1, 0x3f8f6a296ab997ca, // -0.99988, 0.015339 + 0xbfefff3824c88f6f, 0x3f8c45ffe1e48ad9, // -0.9999, 0.013805 + 0xbfefff62169b92db, 0x3f8921d1fcdec784, // -0.99992, 0.012272 + 0xbfefff871937ce2f, 0x3f85fda037ac05e0, // -0.99994, 0.010738 + 0xbfefffa72c978c4f, 0x3f82d96b0e509703, // -0.99996, 0.0092038 + 0xbfefffc250b5daef, 0x3f7f6a65f9a2a3c5, // -0.99997, 0.0076698 + 0xbfefffd8858e8a92, 0x3f7921f0fe670071, // -0.99998, 0.0061359 + 0xbfefffe9cb1e2e8d, 0x3f72d97822f996bc, // -0.99999, 0.0046019 + 0xbfeffff621621d02, 0x3f6921f8becca4ba, // -1, 0.003068 + 0xbfeffffd88586ee6, 0x3f5921faaee6472d, // -1, 0.001534 + 0xbff0000000000000, 0x0000000000000000, // -1, 0 + 0xbfeffffd88586ee6, 0xbf5921faaee6472d, // -1, -0.001534 + 0xbfeffff621621d02, 0xbf6921f8becca4ba, // -1, -0.003068 + 0xbfefffe9cb1e2e8d, 0xbf72d97822f996bc, // -0.99999,-0.0046019 + 0xbfefffd8858e8a92, 0xbf7921f0fe670071, // -0.99998,-0.0061359 + 0xbfefffc250b5daef, 0xbf7f6a65f9a2a3c5, // -0.99997,-0.0076698 + 0xbfefffa72c978c4f, 0xbf82d96b0e509703, // -0.99996,-0.0092038 + 0xbfefff871937ce2f, 0xbf85fda037ac05e0, // -0.99994, -0.010738 + 0xbfefff62169b92db, 0xbf8921d1fcdec784, // -0.99992, -0.012272 + 0xbfefff3824c88f6f, 0xbf8c45ffe1e48ad9, // -0.9999, -0.013805 + 0xbfefff0943c53bd1, 0xbf8f6a296ab997ca, // -0.99988, -0.015339 + 0xbfeffed57398d2b7, 0xbf9147270dad7132, // -0.99986, -0.016873 + 0xbfeffe9cb44b51a1, 0xbf92d936bbe30efd, // -0.99983, -0.018407 + 0xbfeffe5f05e578db, 0xbf946b4381fce81c, // -0.9998, -0.01994 + 0xbfeffe1c6870cb77, 0xbf95fd4d21fab226, // -0.99977, -0.021474 + 0xbfeffdd4dbf78f52, 0xbf978f535ddc9f03, // -0.99974, -0.023008 + 0xbfeffd886084cd0d, 0xbf992155f7a3667e, // -0.9997, -0.024541 + 0xbfeffd36f624500c, 0xbf9ab354b1504fca, // -0.99966, -0.026075 + 0xbfeffce09ce2a679, 0xbf9c454f4ce53b1c, // -0.99962, -0.027608 + 0xbfeffc8554cd213a, 0xbf9dd7458c64ab39, // -0.99958, -0.029142 + 0xbfeffc251df1d3f8, 0xbf9f693731d1cf01, // -0.99953, -0.030675 + 0xbfeffbbff85f9515, 0xbfa07d91ff984580, // -0.99948, -0.032208 + 0xbfeffb55e425fdae, 0xbfa14685db42c17e, // -0.99943, -0.033741 + 0xbfeffae6e1556998, 0xbfa20f770ceb11c6, // -0.99938, -0.035274 + 0xbfeffa72effef75d, 0xbfa2d865759455cd, // -0.99932, -0.036807 + 0xbfeff9fa10348837, 0xbfa3a150f6421afc, // -0.99926, -0.03834 + 0xbfeff97c4208c014, 0xbfa46a396ff86179, // -0.9992, -0.039873 + 0xbfeff8f9858f058b, 0xbfa5331ec3bba0eb, // -0.99914, -0.041406 + 0xbfeff871dadb81df, 0xbfa5fc00d290cd43, // -0.99908, -0.042938 + 0xbfeff7e5420320f9, 0xbfa6c4df7d7d5b84, // -0.99901, -0.044471 + 0xbfeff753bb1b9164, 0xbfa78dbaa5874685, // -0.99894, -0.046003 + 0xbfeff6bd463b444d, 0xbfa856922bb513c1, // -0.99887, -0.047535 + 0xbfeff621e3796d7e, 0xbfa91f65f10dd814, // -0.9988, -0.049068 + 0xbfeff58192ee0358, 0xbfa9e835d6993c87, // -0.99872, -0.0506 + 0xbfeff4dc54b1bed3, 0xbfaab101bd5f8317, // -0.99864, -0.052132 + 0xbfeff43228de1b77, 0xbfab79c986698b78, // -0.99856, -0.053664 + 0xbfeff3830f8d575c, 0xbfac428d12c0d7e3, // -0.99848, -0.055195 + 0xbfeff2cf08da7321, 0xbfad0b4c436f91d0, // -0.99839, -0.056727 + 0xbfeff21614e131ed, 0xbfadd406f9808ec8, // -0.9983, -0.058258 + 0xbfeff15833be1965, 0xbfae9cbd15ff5527, // -0.99821, -0.05979 + 0xbfeff095658e71ad, 0xbfaf656e79f820e0, // -0.99812, -0.061321 + 0xbfefefcdaa704562, 0xbfb0170d833bf421, // -0.99802, -0.062852 + 0xbfefef0102826191, 0xbfb07b614e463064, // -0.99793, -0.064383 + 0xbfefee2f6de455ba, 0xbfb0dfb28ea201e6, // -0.99783, -0.065913 + 0xbfefed58ecb673c4, 0xbfb1440134d709b2, // -0.99772, -0.067444 + 0xbfefec7d7f19cffc, 0xbfb1a84d316d4f8a, // -0.99762, -0.068974 + 0xbfefeb9d2530410f, 0xbfb20c9674ed444c, // -0.99751, -0.070505 + 0xbfefeab7df1c6005, 0xbfb270dcefdfc45b, // -0.9974, -0.072035 + 0xbfefe9cdad01883a, 0xbfb2d52092ce19f6, // -0.99729, -0.073565 + 0xbfefe8de8f03d75c, 0xbfb339614e41ffa5, // -0.99718, -0.075094 + 0xbfefe7ea85482d60, 0xbfb39d9f12c5a299, // -0.99706, -0.076624 + 0xbfefe6f18ff42c84, 0xbfb401d9d0e3a507, // -0.99694, -0.078153 + 0xbfefe5f3af2e3940, 0xbfb4661179272096, // -0.99682, -0.079682 + 0xbfefe4f0e31d7a4a, 0xbfb4ca45fc1ba8b6, // -0.9967, -0.081211 + 0xbfefe3e92be9d886, 0xbfb52e774a4d4d0a, // -0.99657, -0.08274 + 0xbfefe2dc89bbff08, 0xbfb592a554489bc8, // -0.99644, -0.084269 + 0xbfefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // -0.99631, -0.085797 + 0xbfefe0b485181be3, 0xbfb65af75dd0f87b, // -0.99618, -0.087326 + 0xbfefdf9922f73307, 0xbfb6bf1b3e79b129, // -0.99604, -0.088854 + 0xbfefde78d68653fd, 0xbfb7233b9d236e71, // -0.99591, -0.090381 + 0xbfefdd539ff1f456, 0xbfb787586a5d5b21, // -0.99577, -0.091909 + 0xbfefdc297f674ba9, 0xbfb7eb7196b72ee4, // -0.99563, -0.093436 + 0xbfefdafa7514538c, 0xbfb84f8712c130a0, // -0.99548, -0.094963 + 0xbfefd9c68127c78c, 0xbfb8b398cf0c38e0, // -0.99533, -0.09649 + 0xbfefd88da3d12526, 0xbfb917a6bc29b42c, // -0.99518, -0.098017 + 0xbfefd74fdd40abbf, 0xbfb97bb0caaba56f, // -0.99503, -0.099544 + 0xbfefd60d2da75c9e, 0xbfb9dfb6eb24a85c, // -0.99488, -0.10107 + 0xbfefd4c59536fae4, 0xbfba43b90e27f3c4, // -0.99472, -0.1026 + 0xbfefd37914220b84, 0xbfbaa7b724495c04, // -0.99456, -0.10412 + 0xbfefd227aa9bd53b, 0xbfbb0bb11e1d5559, // -0.9944, -0.10565 + 0xbfefd0d158d86087, 0xbfbb6fa6ec38f64c, // -0.99424, -0.10717 + 0xbfefcf761f0c77a3, 0xbfbbd3987f31fa0e, // -0.99407, -0.1087 + 0xbfefce15fd6da67b, 0xbfbc3785c79ec2d5, // -0.99391, -0.11022 + 0xbfefccb0f4323aa3, 0xbfbc9b6eb6165c42, // -0.99374, -0.11175 + 0xbfefcb4703914354, 0xbfbcff533b307dc1, // -0.99356, -0.11327 + 0xbfefc9d82bc2915e, 0xbfbd633347858ce4, // -0.99339, -0.11479 + 0xbfefc8646cfeb721, 0xbfbdc70ecbae9fc8, // -0.99321, -0.11632 + 0xbfefc6ebc77f0887, 0xbfbe2ae5b8457f77, // -0.99303, -0.11784 + 0xbfefc56e3b7d9af6, 0xbfbe8eb7fde4aa3e, // -0.99285, -0.11937 + 0xbfefc3ebc935454c, 0xbfbef2858d27561b, // -0.99267, -0.12089 + 0xbfefc26470e19fd3, 0xbfbf564e56a9730e, // -0.99248, -0.12241 + 0xbfefc0d832bf043a, 0xbfbfba124b07ad85, // -0.99229, -0.12393 + 0xbfefbf470f0a8d88, 0xbfc00ee8ad6fb85b, // -0.9921, -0.12545 + 0xbfefbdb106021816, 0xbfc040c5bb67747e, // -0.99191, -0.12698 + 0xbfefbc1617e44186, 0xbfc072a047ba831d, // -0.99171, -0.1285 + 0xbfefba7644f068b5, 0xbfc0a4784ab8bf1d, // -0.99151, -0.13002 + 0xbfefb8d18d66adb7, 0xbfc0d64dbcb26786, // -0.99131, -0.13154 + 0xbfefb727f187f1c7, 0xbfc1082095f820b0, // -0.99111, -0.13306 + 0xbfefb5797195d741, 0xbfc139f0cedaf576, // -0.9909, -0.13458 + 0xbfefb3c60dd2c199, 0xbfc16bbe5fac5865, // -0.9907, -0.1361 + 0xbfefb20dc681d54d, 0xbfc19d8940be24e7, // -0.99049, -0.13762 + 0xbfefb0509be6f7db, 0xbfc1cf516a62a077, // -0.99027, -0.13914 + 0xbfefae8e8e46cfbb, 0xbfc20116d4ec7bce, // -0.99006, -0.14066 + 0xbfefacc79de6c44f, 0xbfc232d978aed413, // -0.98984, -0.14218 + 0xbfefaafbcb0cfddc, 0xbfc264994dfd340a, // -0.98962, -0.1437 + 0xbfefa92b1600657c, 0xbfc296564d2b953e, // -0.9894, -0.14521 + 0xbfefa7557f08a517, 0xbfc2c8106e8e613a, // -0.98918, -0.14673 + 0xbfefa57b066e2754, 0xbfc2f9c7aa7a72af, // -0.98895, -0.14825 + 0xbfefa39bac7a1791, 0xbfc32b7bf94516a7, // -0.98872, -0.14976 + 0xbfefa1b7717661d5, 0xbfc35d2d53440db2, // -0.98849, -0.15128 + 0xbfef9fce55adb2c8, 0xbfc38edbb0cd8d14, // -0.98826, -0.1528 + 0xbfef9de0596b77a3, 0xbfc3c0870a383ff6, // -0.98802, -0.15431 + 0xbfef9bed7cfbde29, 0xbfc3f22f57db4893, // -0.98778, -0.15583 + 0xbfef99f5c0abd496, 0xbfc423d4920e4166, // -0.98754, -0.15734 + 0xbfef97f924c9099b, 0xbfc45576b1293e5a, // -0.9873, -0.15886 + 0xbfef95f7a9a1ec47, 0xbfc48715ad84cdf5, // -0.98706, -0.16037 + 0xbfef93f14f85ac08, 0xbfc4b8b17f79fa88, // -0.98681, -0.16189 + 0xbfef91e616c43891, 0xbfc4ea4a1f624b61, // -0.98656, -0.1634 + 0xbfef8fd5ffae41db, 0xbfc51bdf8597c5f2, // -0.98631, -0.16491 + 0xbfef8dc10a95380d, 0xbfc54d71aa74ef02, // -0.98605, -0.16643 + 0xbfef8ba737cb4b78, 0xbfc57f008654cbde, // -0.9858, -0.16794 + 0xbfef898887a36c84, 0xbfc5b08c1192e381, // -0.98554, -0.16945 + 0xbfef8764fa714ba9, 0xbfc5e214448b3fc6, // -0.98528, -0.17096 + 0xbfef853c9089595e, 0xbfc61399179a6e94, // -0.98501, -0.17247 + 0xbfef830f4a40c60c, 0xbfc6451a831d830d, // -0.98475, -0.17398 + 0xbfef80dd27ed8204, 0xbfc676987f7216b8, // -0.98448, -0.17549 + 0xbfef7ea629e63d6e, 0xbfc6a81304f64ab2, // -0.98421, -0.177 + 0xbfef7c6a50826840, 0xbfc6d98a0c08c8da, // -0.98394, -0.17851 + 0xbfef7a299c1a322a, 0xbfc70afd8d08c4ff, // -0.98366, -0.18002 + 0xbfef77e40d068a90, 0xbfc73c6d8055fe0a, // -0.98339, -0.18153 + 0xbfef7599a3a12077, 0xbfc76dd9de50bf31, // -0.98311, -0.18304 + 0xbfef734a60446279, 0xbfc79f429f59e11d, // -0.98282, -0.18455 + 0xbfef70f6434b7eb7, 0xbfc7d0a7bbd2cb1b, // -0.98254, -0.18606 + 0xbfef6e9d4d1262ca, 0xbfc802092c1d744b, // -0.98225, -0.18756 + 0xbfef6c3f7df5bbb7, 0xbfc83366e89c64c5, // -0.98196, -0.18907 + 0xbfef69dcd652f5de, 0xbfc864c0e9b2b6cf, // -0.98167, -0.19057 + 0xbfef677556883cee, 0xbfc8961727c41804, // -0.98138, -0.19208 + 0xbfef6508fef47bd5, 0xbfc8c7699b34ca7e, // -0.98108, -0.19359 + 0xbfef6297cff75cb0, 0xbfc8f8b83c69a60a, // -0.98079, -0.19509 + 0xbfef6021c9f148c2, 0xbfc92a0303c8194f, // -0.98048, -0.19659 + 0xbfef5da6ed43685d, 0xbfc95b49e9b62af9, // -0.98018, -0.1981 + 0xbfef5b273a4fa2d9, 0xbfc98c8ce69a7aec, // -0.97988, -0.1996 + 0xbfef58a2b1789e84, 0xbfc9bdcbf2dc4366, // -0.97957, -0.2011 + 0xbfef56195321c090, 0xbfc9ef0706e35a35, // -0.97926, -0.20261 + 0xbfef538b1faf2d07, 0xbfca203e1b1831da, // -0.97895, -0.20411 + 0xbfef50f81785c6b9, 0xbfca517127e3dabc, // -0.97863, -0.20561 + 0xbfef4e603b0b2f2d, 0xbfca82a025b00451, // -0.97832, -0.20711 + 0xbfef4bc38aa5c694, 0xbfcab3cb0ce6fe44, // -0.978, -0.20861 + 0xbfef492206bcabb4, 0xbfcae4f1d5f3b9ab, // -0.97768, -0.21011 + 0xbfef467bafb7bbe0, 0xbfcb16147941ca2a, // -0.97735, -0.21161 + 0xbfef43d085ff92dd, 0xbfcb4732ef3d6722, // -0.97703, -0.21311 + 0xbfef412089fd8adc, 0xbfcb784d30536cda, // -0.9767, -0.21461 + 0xbfef3e6bbc1bbc65, 0xbfcba96334f15dad, // -0.97637, -0.21611 + 0xbfef3bb21cc4fe47, 0xbfcbda74f5856330, // -0.97604, -0.2176 + 0xbfef38f3ac64e589, 0xbfcc0b826a7e4f63, // -0.9757, -0.2191 + 0xbfef36306b67c556, 0xbfcc3c8b8c4b9dd7, // -0.97536, -0.2206 + 0xbfef33685a3aaef0, 0xbfcc6d90535d74dc, // -0.97503, -0.22209 + 0xbfef309b794b719f, 0xbfcc9e90b824a6a9, // -0.97468, -0.22359 + 0xbfef2dc9c9089a9d, 0xbfcccf8cb312b286, // -0.97434, -0.22508 + 0xbfef2af349e17507, 0xbfcd00843c99c5f9, // -0.97399, -0.22658 + 0xbfef2817fc4609ce, 0xbfcd31774d2cbdee, // -0.97364, -0.22807 + 0xbfef2537e0a71f9f, 0xbfcd6265dd3f27e3, // -0.97329, -0.22957 + 0xbfef2252f7763ada, 0xbfcd934fe5454311, // -0.97294, -0.23106 + 0xbfef1f6941259d7a, 0xbfcdc4355db40195, // -0.97258, -0.23255 + 0xbfef1c7abe284708, 0xbfcdf5163f01099a, // -0.97223, -0.23404 + 0xbfef19876ef1f486, 0xbfce25f281a2b684, // -0.97187, -0.23553 + 0xbfef168f53f7205d, 0xbfce56ca1e101a1b, // -0.9715, -0.23702 + 0xbfef13926dad024e, 0xbfce879d0cc0fdaf, // -0.97114, -0.23851 + 0xbfef1090bc898f5f, 0xbfceb86b462de348, // -0.97077, -0.24 + 0xbfef0d8a410379c5, 0xbfcee934c2d006c7, // -0.9704, -0.24149 + 0xbfef0a7efb9230d7, 0xbfcf19f97b215f1a, // -0.97003, -0.24298 + 0xbfef076eecade0fa, 0xbfcf4ab9679c9f5c, // -0.96966, -0.24447 + 0xbfef045a14cf738c, 0xbfcf7b7480bd3801, // -0.96928, -0.24596 + 0xbfef014074708ed3, 0xbfcfac2abeff57ff, // -0.9689, -0.24744 + 0xbfeefe220c0b95ec, 0xbfcfdcdc1adfedf8, // -0.96852, -0.24893 + 0xbfeefafedc1ba8b7, 0xbfd006c4466e54af, // -0.96814, -0.25041 + 0xbfeef7d6e51ca3c0, 0xbfd01f1806b9fdd2, // -0.96775, -0.2519 + 0xbfeef4aa278b2032, 0xbfd037694a928cac, // -0.96737, -0.25338 + 0xbfeef178a3e473c2, 0xbfd04fb80e37fdae, // -0.96698, -0.25487 + 0xbfeeee425aa6b09a, 0xbfd068044deab002, // -0.96658, -0.25635 + 0xbfeeeb074c50a544, 0xbfd0804e05eb661e, // -0.96619, -0.25783 + 0xbfeee7c77961dc9e, 0xbfd09895327b465e, // -0.96579, -0.25931 + 0xbfeee482e25a9dbc, 0xbfd0b0d9cfdbdb90, // -0.96539, -0.26079 + 0xbfeee13987bbebdc, 0xbfd0c91bda4f158d, // -0.96499, -0.26227 + 0xbfeeddeb6a078651, 0xbfd0e15b4e1749cd, // -0.96459, -0.26375 + 0xbfeeda9889bfe86a, 0xbfd0f998277733f7, // -0.96418, -0.26523 + 0xbfeed740e7684963, 0xbfd111d262b1f677, // -0.96378, -0.26671 + 0xbfeed3e483849c51, 0xbfd12a09fc0b1b12, // -0.96337, -0.26819 + 0xbfeed0835e999009, 0xbfd1423eefc69378, // -0.96295, -0.26967 + 0xbfeecd1d792c8f10, 0xbfd15a713a28b9d9, // -0.96254, -0.27115 + 0xbfeec9b2d3c3bf84, 0xbfd172a0d7765177, // -0.96212, -0.27262 + 0xbfeec6436ee60309, 0xbfd18acdc3f4873a, // -0.9617, -0.2741 + 0xbfeec2cf4b1af6b2, 0xbfd1a2f7fbe8f243, // -0.96128, -0.27557 + 0xbfeebf5668eaf2ef, 0xbfd1bb1f7b999480, // -0.96086, -0.27705 + 0xbfeebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // -0.96043, -0.27852 + 0xbfeeb8566b810f2a, 0xbfd1eb6643499fbb, // -0.96, -0.27999 + 0xbfeeb4cf515b8811, 0xbfd2038583d727bd, // -0.95957, -0.28146 + 0xbfeeb1437af9bb34, 0xbfd21ba1fd3d2623, // -0.95914, -0.28294 + 0xbfeeadb2e8e7a88e, 0xbfd233bbabc3bb72, // -0.9587, -0.28441 + 0xbfeeaa1d9bb20af3, 0xbfd24bd28bb37672, // -0.95827, -0.28588 + 0xbfeea68393e65800, 0xbfd263e6995554ba, // -0.95783, -0.28735 + 0xbfeea2e4d212c000, 0xbfd27bf7d0f2c346, // -0.95738, -0.28882 + 0xbfee9f4156c62dda, 0xbfd294062ed59f05, // -0.95694, -0.29028 + 0xbfee9b99229046f8, 0xbfd2ac11af483572, // -0.95649, -0.29175 + 0xbfee97ec36016b30, 0xbfd2c41a4e954520, // -0.95605, -0.29322 + 0xbfee943a91aab4b4, 0xbfd2dc200907fe51, // -0.95559, -0.29469 + 0xbfee9084361df7f3, 0xbfd2f422daec0386, // -0.95514, -0.29615 + 0xbfee8cc923edc388, 0xbfd30c22c08d6a13, // -0.95469, -0.29762 + 0xbfee89095bad6025, 0xbfd3241fb638baaf, // -0.95423, -0.29908 + 0xbfee8544ddf0d075, 0xbfd33c19b83af207, // -0.95377, -0.30054 + 0xbfee817bab4cd10d, 0xbfd35410c2e18152, // -0.95331, -0.30201 + 0xbfee7dadc456d850, 0xbfd36c04d27a4edf, // -0.95284, -0.30347 + 0xbfee79db29a5165a, 0xbfd383f5e353b6aa, // -0.95238, -0.30493 + 0xbfee7603dbce74e9, 0xbfd39be3f1bc8aef, // -0.95191, -0.30639 + 0xbfee7227db6a9744, 0xbfd3b3cefa0414b7, // -0.95144, -0.30785 + 0xbfee6e472911da27, 0xbfd3cbb6f87a146e, // -0.95096, -0.30931 + 0xbfee6a61c55d53a7, 0xbfd3e39be96ec271, // -0.95049, -0.31077 + 0xbfee6677b0e6d31e, 0xbfd3fb7dc932cfa4, // -0.95001, -0.31222 + 0xbfee6288ec48e112, 0xbfd4135c94176602, // -0.94953, -0.31368 + 0xbfee5e95781ebf1c, 0xbfd42b38466e2928, // -0.94905, -0.31514 + 0xbfee5a9d550467d3, 0xbfd44310dc8936f0, // -0.94856, -0.31659 + 0xbfee56a083968eb1, 0xbfd45ae652bb2800, // -0.94807, -0.31805 + 0xbfee529f04729ffc, 0xbfd472b8a5571054, // -0.94759, -0.3195 + 0xbfee4e98d836c0af, 0xbfd48a87d0b07fd7, // -0.94709, -0.32096 + 0xbfee4a8dff81ce5e, 0xbfd4a253d11b82f3, // -0.9466, -0.32241 + 0xbfee467e7af35f23, 0xbfd4ba1ca2eca31c, // -0.94611, -0.32386 + 0xbfee426a4b2bc17e, 0xbfd4d1e24278e76a, // -0.94561, -0.32531 + 0xbfee3e5170cbfc46, 0xbfd4e9a4ac15d520, // -0.94511, -0.32676 + 0xbfee3a33ec75ce85, 0xbfd50163dc197047, // -0.9446, -0.32821 + 0xbfee3611becbaf69, 0xbfd5191fceda3c35, // -0.9441, -0.32966 + 0xbfee31eae870ce25, 0xbfd530d880af3c24, // -0.94359, -0.33111 + 0xbfee2dbf6a0911d9, 0xbfd5488dedeff3be, // -0.94308, -0.33255 + 0xbfee298f4439197a, 0xbfd5604012f467b4, // -0.94257, -0.334 + 0xbfee255a77a63bb8, 0xbfd577eeec151e47, // -0.94206, -0.33545 + 0xbfee212104f686e5, 0xbfd58f9a75ab1fdd, // -0.94154, -0.33689 + 0xbfee1ce2ecd0c0d8, 0xbfd5a742ac0ff78d, // -0.94103, -0.33833 + 0xbfee18a02fdc66d9, 0xbfd5bee78b9db3b6, // -0.94051, -0.33978 + 0xbfee1458cec1ad83, 0xbfd5d68910aee686, // -0.93998, -0.34122 + 0xbfee100cca2980ac, 0xbfd5ee27379ea693, // -0.93946, -0.34266 + 0xbfee0bbc22bd8349, 0xbfd605c1fcc88f63, // -0.93893, -0.3441 + 0xbfee0766d9280f54, 0xbfd61d595c88c203, // -0.9384, -0.34554 + 0xbfee030cee1435b8, 0xbfd634ed533be58e, // -0.93787, -0.34698 + 0xbfedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // -0.93734, -0.34842 + 0xbfedfa4b3621271d, 0xbfd6640af6f03d9e, // -0.9368, -0.34986 + 0xbfedf5e36a9ba59c, 0xbfd67b949cad63ca, // -0.93627, -0.35129 + 0xbfedf177004b2534, 0xbfd6931acad55f51, // -0.93573, -0.35273 + 0xbfeded05f7de47da, 0xbfd6aa9d7dc77e16, // -0.93518, -0.35416 + 0xbfede890520465ce, 0xbfd6c21cb1e39771, // -0.93464, -0.3556 + 0xbfede4160f6d8d81, 0xbfd6d998638a0cb5, // -0.93409, -0.35703 + 0xbfeddf9730ca837b, 0xbfd6f1108f1bc9c5, // -0.93354, -0.35846 + 0xbfeddb13b6ccc23d, 0xbfd7088530fa459e, // -0.93299, -0.3599 + 0xbfedd68ba2267a25, 0xbfd71ff6458782ec, // -0.93244, -0.36133 + 0xbfedd1fef38a915a, 0xbfd73763c9261092, // -0.93188, -0.36276 + 0xbfedcd6dabaca3a5, 0xbfd74ecdb8390a3e, // -0.93133, -0.36418 + 0xbfedc8d7cb410260, 0xbfd766340f2418f6, // -0.93077, -0.36561 + 0xbfedc43d52fcb453, 0xbfd77d96ca4b73a6, // -0.93021, -0.36704 + 0xbfedbf9e4395759a, 0xbfd794f5e613dfae, // -0.92964, -0.36847 + 0xbfedbafa9dc1b78d, 0xbfd7ac515ee2b172, // -0.92907, -0.36989 + 0xbfedb6526238a09b, 0xbfd7c3a9311dcce7, // -0.92851, -0.37132 + 0xbfedb1a591b20c38, 0xbfd7dafd592ba621, // -0.92794, -0.37274 + 0xbfedacf42ce68ab9, 0xbfd7f24dd37341e3, // -0.92736, -0.37416 + 0xbfeda83e348f613b, 0xbfd8099a9c5c362d, // -0.92679, -0.37559 + 0xbfeda383a9668988, 0xbfd820e3b04eaac4, // -0.92621, -0.37701 + 0xbfed9ec48c26b1f3, 0xbfd838290bb359c8, // -0.92563, -0.37843 + 0xbfed9a00dd8b3d46, 0xbfd84f6aaaf3903f, // -0.92505, -0.37985 + 0xbfed95389e50429b, 0xbfd866a88a792ea0, // -0.92447, -0.38127 + 0xbfed906bcf328d46, 0xbfd87de2a6aea963, // -0.92388, -0.38268 + 0xbfed8b9a70ef9cb4, 0xbfd89518fbff098e, // -0.92329, -0.3841 + 0xbfed86c48445a450, 0xbfd8ac4b86d5ed44, // -0.9227, -0.38552 + 0xbfed81ea09f38b63, 0xbfd8c37a439f884f, // -0.92211, -0.38693 + 0xbfed7d0b02b8ecf9, 0xbfd8daa52ec8a4af, // -0.92151, -0.38835 + 0xbfed78276f5617c6, 0xbfd8f1cc44bea329, // -0.92092, -0.38976 + 0xbfed733f508c0dff, 0xbfd908ef81ef7bd1, // -0.92032, -0.39117 + 0xbfed6e52a71c8547, 0xbfd9200ee2c9be97, // -0.91972, -0.39258 + 0xbfed696173c9e68b, 0xbfd9372a63bc93d7, // -0.91911, -0.39399 + 0xbfed646bb7574de5, 0xbfd94e420137bce3, // -0.91851, -0.3954 + 0xbfed5f7172888a7f, 0xbfd96555b7ab948f, // -0.9179, -0.39681 + 0xbfed5a72a6221e73, 0xbfd97c6583890fc2, // -0.91729, -0.39822 + 0xbfed556f52e93eb1, 0xbfd993716141bdfe, // -0.91668, -0.39962 + 0xbfed506779a3d2d9, 0xbfd9aa794d47c9ee, // -0.91606, -0.40103 + 0xbfed4b5b1b187524, 0xbfd9c17d440df9f2, // -0.91545, -0.40243 + 0xbfed464a380e7242, 0xbfd9d87d4207b0ab, // -0.91483, -0.40384 + 0xbfed4134d14dc93a, 0xbfd9ef7943a8ed8a, // -0.91421, -0.40524 + 0xbfed3c1ae79f2b4e, 0xbfda067145664d57, // -0.91359, -0.40664 + 0xbfed36fc7bcbfbdc, 0xbfda1d6543b50ac0, // -0.91296, -0.40804 + 0xbfed31d98e9e503a, 0xbfda34553b0afee5, // -0.91234, -0.40944 + 0xbfed2cb220e0ef9f, 0xbfda4b4127dea1e4, // -0.91171, -0.41084 + 0xbfed2786335f52fc, 0xbfda622906a70b63, // -0.91107, -0.41224 + 0xbfed2255c6e5a4e1, 0xbfda790cd3dbf31a, // -0.91044, -0.41364 + 0xbfed1d20dc40c15c, 0xbfda8fec8bf5b166, // -0.90981, -0.41503 + 0xbfed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // -0.90917, -0.41643 + 0xbfed12a98fac410c, 0xbfdabd9faebc3980, // -0.90853, -0.41782 + 0xbfed0d672f59d2b9, 0xbfdad473125cdc08, // -0.90789, -0.41922 + 0xbfed082054168bac, 0xbfdaeb4252ca07ab, // -0.90724, -0.42061 + 0xbfed02d4feb2bd92, 0xbfdb020d6c7f4009, // -0.9066, -0.422 + 0xbfecfd852fff6ad4, 0xbfdb18d45bf8aca6, // -0.90595, -0.42339 + 0xbfecf830e8ce467b, 0xbfdb2f971db31972, // -0.9053, -0.42478 + 0xbfecf2d829f1b40e, 0xbfdb4655ae2bf757, // -0.90464, -0.42617 + 0xbfeced7af43cc773, 0xbfdb5d1009e15cc0, // -0.90399, -0.42756 + 0xbfece819488344ce, 0xbfdb73c62d520624, // -0.90333, -0.42894 + 0xbfece2b32799a060, 0xbfdb8a7814fd5693, // -0.90267, -0.43033 + 0xbfecdd489254fe65, 0xbfdba125bd63583e, // -0.90201, -0.43171 + 0xbfecd7d9898b32f6, 0xbfdbb7cf2304bd01, // -0.90135, -0.43309 + 0xbfecd2660e12c1e6, 0xbfdbce744262deee, // -0.90068, -0.43448 + 0xbfecccee20c2de9f, 0xbfdbe51517ffc0d9, // -0.90002, -0.43586 + 0xbfecc771c2736c09, 0xbfdbfbb1a05e0edc, // -0.89935, -0.43724 + 0xbfecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // -0.89867, -0.43862 + 0xbfecbc6bb638d10b, 0xbfdc28ddbb6cf145, // -0.898, -0.43999 + 0xbfecb6e20a00da99, 0xbfdc3f6d47263129, // -0.89732, -0.44137 + 0xbfecb153f02fb87d, 0xbfdc55f877b23537, // -0.89665, -0.44275 + 0xbfecabc169a0b901, 0xbfdc6c7f4997000a, // -0.89597, -0.44412 + 0xbfeca62a772fd919, 0xbfdc8301b95b40c2, // -0.89528, -0.4455 + 0xbfeca08f19b9c449, 0xbfdc997fc3865388, // -0.8946, -0.44687 + 0xbfec9aef521bd480, 0xbfdcaff964a0421d, // -0.89391, -0.44824 + 0xbfec954b213411f5, 0xbfdcc66e9931c45d, // -0.89322, -0.44961 + 0xbfec8fa287e13305, 0xbfdcdcdf5dc440ce, // -0.89253, -0.45098 + 0xbfec89f587029c13, 0xbfdcf34baee1cd21, // -0.89184, -0.45235 + 0xbfec84441f785f61, 0xbfdd09b389152ec1, // -0.89115, -0.45372 + 0xbfec7e8e52233cf3, 0xbfdd2016e8e9db5b, // -0.89045, -0.45508 + 0xbfec78d41fe4a267, 0xbfdd3675caebf962, // -0.88975, -0.45645 + 0xbfec7315899eaad7, 0xbfdd4cd02ba8609c, // -0.88905, -0.45781 + 0xbfec6d5290341eb2, 0xbfdd632607ac9aa9, // -0.88835, -0.45918 + 0xbfec678b3488739b, 0xbfdd79775b86e389, // -0.88764, -0.46054 + 0xbfec61bf777fcc48, 0xbfdd8fc423c62a25, // -0.88693, -0.4619 + 0xbfec5bef59fef85a, 0xbfdda60c5cfa10d8, // -0.88622, -0.46326 + 0xbfec561adceb743e, 0xbfddbc5003b2edf8, // -0.88551, -0.46462 + 0xbfec5042012b6907, 0xbfddd28f1481cc58, // -0.8848, -0.46598 + 0xbfec4a64c7a5ac4c, 0xbfdde8c98bf86bd6, // -0.88408, -0.46733 + 0xbfec44833141c004, 0xbfddfeff66a941de, // -0.88336, -0.46869 + 0xbfec3e9d3ee7d262, 0xbfde1530a12779f4, // -0.88264, -0.47004 + 0xbfec38b2f180bdb1, 0xbfde2b5d3806f63b, // -0.88192, -0.4714 + 0xbfec32c449f60831, 0xbfde418527dc4ffa, // -0.8812, -0.47275 + 0xbfec2cd14931e3f1, 0xbfde57a86d3cd824, // -0.88047, -0.4741 + 0xbfec26d9f01f2eaf, 0xbfde6dc704be97e2, // -0.87974, -0.47545 + 0xbfec20de3fa971b0, 0xbfde83e0eaf85113, // -0.87901, -0.4768 + 0xbfec1ade38bce19b, 0xbfde99f61c817eda, // -0.87828, -0.47815 + 0xbfec14d9dc465e58, 0xbfdeb00695f25620, // -0.87755, -0.47949 + 0xbfec0ed12b3372e9, 0xbfdec61253e3c61b, // -0.87681, -0.48084 + 0xbfec08c426725549, 0xbfdedc1952ef78d5, // -0.87607, -0.48218 + 0xbfec02b2cef1e641, 0xbfdef21b8fafd3b5, // -0.87533, -0.48353 + 0xbfebfc9d25a1b147, 0xbfdf081906bff7fd, // -0.87459, -0.48487 + 0xbfebf6832b71ec5b, 0xbfdf1e11b4bbc35c, // -0.87384, -0.48621 + 0xbfebf064e15377dd, 0xbfdf3405963fd068, // -0.87309, -0.48755 + 0xbfebea424837de6d, 0xbfdf49f4a7e97729, // -0.87235, -0.48889 + 0xbfebe41b611154c1, 0xbfdf5fdee656cda3, // -0.8716, -0.49023 + 0xbfebddf02cd2b983, 0xbfdf75c44e26a852, // -0.87084, -0.49156 + 0xbfebd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // -0.87009, -0.4929 + 0xbfebd18ce0dc19d6, 0xbfdfa1808c6cf7e0, // -0.86933, -0.49423 + 0xbfebcb54cb0d2327, 0xbfdfb7575c24d2de, // -0.86857, -0.49557 + 0xbfebc5186bf8361d, 0xbfdfcd2947c1ff57, // -0.86781, -0.4969 + 0xbfebbed7c49380ea, 0xbfdfe2f64be7120f, // -0.86705, -0.49823 + 0xbfebb892d5d5dad5, 0xbfdff8be6537615e, // -0.86628, -0.49956 + 0xbfebb249a0b6c40d, 0xbfe00740c82b82e0, // -0.86551, -0.50089 + 0xbfebabfc262e6586, 0xbfe0121fe4f56d2c, // -0.86474, -0.50221 + 0xbfeba5aa673590d2, 0xbfe01cfc874c3eb7, // -0.86397, -0.50354 + 0xbfeb9f5464c5bffc, 0xbfe027d6ad83287e, // -0.8632, -0.50486 + 0xbfeb98fa1fd9155e, 0xbfe032ae55edbd95, // -0.86242, -0.50619 + 0xbfeb929b996a5b7f, 0xbfe03d837edff370, // -0.86165, -0.50751 + 0xbfeb8c38d27504e9, 0xbfe0485626ae221a, // -0.86087, -0.50883 + 0xbfeb85d1cbf52c02, 0xbfe053264bad0483, // -0.86009, -0.51015 + 0xbfeb7f6686e792ea, 0xbfe05df3ec31b8b6, // -0.8593, -0.51147 + 0xbfeb78f70449a34b, 0xbfe068bf0691c028, // -0.85852, -0.51279 + 0xbfeb728345196e3e, 0xbfe073879922ffed, // -0.85773, -0.5141 + 0xbfeb6c0b4a55ac17, 0xbfe07e4da23bc102, // -0.85694, -0.51542 + 0xbfeb658f14fdbc47, 0xbfe089112032b08c, // -0.85615, -0.51673 + 0xbfeb5f0ea611a532, 0xbfe093d2115ee018, // -0.85535, -0.51804 + 0xbfeb5889fe921405, 0xbfe09e907417c5e1, // -0.85456, -0.51936 + 0xbfeb52011f805c92, 0xbfe0a94c46b53d0b, // -0.85376, -0.52067 + 0xbfeb4b7409de7925, 0xbfe0b405878f85ec, // -0.85296, -0.52198 + 0xbfeb44e2beaf0a61, 0xbfe0bebc34ff4646, // -0.85216, -0.52328 + 0xbfeb3e4d3ef55712, 0xbfe0c9704d5d898f, // -0.85136, -0.52459 + 0xbfeb37b38bb54c09, 0xbfe0d421cf03c12b, // -0.85055, -0.5259 + 0xbfeb3115a5f37bf4, 0xbfe0ded0b84bc4b5, // -0.84974, -0.5272 + 0xbfeb2a738eb51f33, 0xbfe0e97d078fd23b, // -0.84893, -0.5285 + 0xbfeb23cd470013b4, 0xbfe0f426bb2a8e7d, // -0.84812, -0.5298 + 0xbfeb1d22cfdadcc6, 0xbfe0fecdd1770537, // -0.84731, -0.5311 + 0xbfeb16742a4ca2f5, 0xbfe1097248d0a956, // -0.84649, -0.5324 + 0xbfeb0fc1575d33db, 0xbfe114141f935545, // -0.84567, -0.5337 + 0xbfeb090a58150200, 0xbfe11eb3541b4b22, // -0.84485, -0.535 + 0xbfeb024f2d7d24a9, 0xbfe1294fe4c5350a, // -0.84403, -0.53629 + 0xbfeafb8fd89f57b6, 0xbfe133e9cfee254e, // -0.84321, -0.53759 + 0xbfeaf4cc5a85fb73, 0xbfe13e8113f396c1, // -0.84238, -0.53888 + 0xbfeaee04b43c1474, 0xbfe14915af336ceb, // -0.84155, -0.54017 + 0xbfeae738e6cd4b67, 0xbfe153a7a00bf453, // -0.84073, -0.54146 + 0xbfeae068f345ecef, 0xbfe15e36e4dbe2bc, // -0.83989, -0.54275 + 0xbfead994dab2e979, 0xbfe168c37c025764, // -0.83906, -0.54404 + 0xbfead2bc9e21d511, 0xbfe1734d63dedb49, // -0.83822, -0.54532 + 0xbfeacbe03ea0e73b, 0xbfe17dd49ad16161, // -0.83739, -0.54661 + 0xbfeac4ffbd3efac8, 0xbfe188591f3a46e5, // -0.83655, -0.54789 + 0xbfeabe1b1b0b8dac, 0xbfe192daef7a5386, // -0.83571, -0.54918 + 0xbfeab7325916c0d4, 0xbfe19d5a09f2b9b8, // -0.83486, -0.55046 + 0xbfeab045787157ff, 0xbfe1a7d66d0516e6, // -0.83402, -0.55174 + 0xbfeaa9547a2cb98e, 0xbfe1b250171373be, // -0.83317, -0.55302 + 0xbfeaa25f5f5aee60, 0xbfe1bcc706804467, // -0.83232, -0.55429 + 0xbfea9b66290ea1a3, 0xbfe1c73b39ae68c8, // -0.83147, -0.55557 + 0xbfea9468d85b20ae, 0xbfe1d1acaf012cc2, // -0.83062, -0.55685 + 0xbfea8d676e545ad2, 0xbfe1dc1b64dc4872, // -0.82976, -0.55812 + 0xbfea8661ec0ee133, 0xbfe1e68759a3e074, // -0.8289, -0.55939 + 0xbfea7f58529fe69d, 0xbfe1f0f08bbc861b, // -0.82805, -0.56066 + 0xbfea784aa31d3f55, 0xbfe1fb56f98b37b8, // -0.82718, -0.56193 + 0xbfea7138de9d60f5, 0xbfe205baa17560d6, // -0.82632, -0.5632 + 0xbfea6a230637623b, 0xbfe2101b81e0da78, // -0.82546, -0.56447 + 0xbfea63091b02fae2, 0xbfe21a799933eb58, // -0.82459, -0.56573 + 0xbfea5beb1e188375, 0xbfe224d4e5d5482e, // -0.82372, -0.567 + 0xbfea54c91090f524, 0xbfe22f2d662c13e1, // -0.82285, -0.56826 + 0xbfea4da2f385e997, 0xbfe23983189fdfd5, // -0.82198, -0.56952 + 0xbfea4678c8119ac8, 0xbfe243d5fb98ac1f, // -0.8211, -0.57078 + 0xbfea3f4a8f4ee2d2, 0xbfe24e260d7ee7c9, // -0.82023, -0.57204 + 0xbfea38184a593bc6, 0xbfe258734cbb7110, // -0.81935, -0.5733 + 0xbfea30e1fa4cbf81, 0xbfe262bdb7b795a2, // -0.81847, -0.57455 + 0xbfea29a7a0462782, 0xbfe26d054cdd12df, // -0.81758, -0.57581 + 0xbfea22693d62ccb9, 0xbfe2774a0a961612, // -0.8167, -0.57706 + 0xbfea1b26d2c0a75e, 0xbfe2818bef4d3cba, // -0.81581, -0.57831 + 0xbfea13e0617e4ec7, 0xbfe28bcaf96d94ba, // -0.81493, -0.57956 + 0xbfea0c95eabaf937, 0xbfe2960727629ca8, // -0.81404, -0.58081 + 0xbfea05476f967bb5, 0xbfe2a040779843fb, // -0.81314, -0.58206 + 0xbfe9fdf4f13149de, 0xbfe2aa76e87aeb58, // -0.81225, -0.58331 + 0xbfe9f69e70ac75bc, 0xbfe2b4aa787764c4, // -0.81135, -0.58455 + 0xbfe9ef43ef29af94, 0xbfe2bedb25faf3ea, // -0.81046, -0.5858 + 0xbfe9e7e56dcb45bd, 0xbfe2c908ef734e57, // -0.80956, -0.58704 + 0xbfe9e082edb42472, 0xbfe2d333d34e9bb7, // -0.80866, -0.58828 + 0xbfe9d91c7007d5a6, 0xbfe2dd5bcffb7616, // -0.80775, -0.58952 + 0xbfe9d1b1f5ea80d6, 0xbfe2e780e3e8ea16, // -0.80685, -0.59076 + 0xbfe9ca438080eadb, 0xbfe2f1a30d86773a, // -0.80594, -0.592 + 0xbfe9c2d110f075c3, 0xbfe2fbc24b441015, // -0.80503, -0.59323 + 0xbfe9bb5aa85f2098, 0xbfe305de9b921a94, // -0.80412, -0.59447 + 0xbfe9b3e047f38741, 0xbfe30ff7fce17035, // -0.80321, -0.5957 + 0xbfe9ac61f0d4e247, 0xbfe31a0e6da35e44, // -0.80229, -0.59693 + 0xbfe9a4dfa42b06b2, 0xbfe32421ec49a620, // -0.80138, -0.59816 + 0xbfe99d59631e65d5, 0xbfe32e3277467d6b, // -0.80046, -0.59939 + 0xbfe995cf2ed80d22, 0xbfe338400d0c8e57, // -0.79954, -0.60062 + 0xbfe98e410881a600, 0xbfe3424aac0ef7d6, // -0.79861, -0.60184 + 0xbfe986aef1457594, 0xbfe34c5252c14de1, // -0.79769, -0.60307 + 0xbfe97f18ea4e5c9e, 0xbfe35656ff9799ae, // -0.79676, -0.60429 + 0xbfe9777ef4c7d742, 0xbfe36058b10659f3, // -0.79584, -0.60551 + 0xbfe96fe111ddfce0, 0xbfe36a576582831b, // -0.79491, -0.60673 + 0xbfe9683f42bd7fe1, 0xbfe374531b817f8d, // -0.79398, -0.60795 + 0xbfe960998893ad8c, 0xbfe37e4bd1792fe2, // -0.79304, -0.60917 + 0xbfe958efe48e6dd7, 0xbfe3884185dfeb22, // -0.79211, -0.61038 + 0xbfe9514257dc4335, 0xbfe39234372c7f04, // -0.79117, -0.6116 + 0xbfe94990e3ac4a6c, 0xbfe39c23e3d63029, // -0.79023, -0.61281 + 0xbfe941db892e3a65, 0xbfe3a6108a54ba58, // -0.78929, -0.61402 + 0xbfe93a22499263fc, 0xbfe3affa292050b9, // -0.78835, -0.61523 + 0xbfe932652609b1cf, 0xbfe3b9e0beb19e18, // -0.7874, -0.61644 + 0xbfe92aa41fc5a815, 0xbfe3c3c44981c517, // -0.78646, -0.61765 + 0xbfe922df37f8646a, 0xbfe3cda4c80a6076, // -0.78551, -0.61885 + 0xbfe91b166fd49da2, 0xbfe3d78238c58343, // -0.78456, -0.62006 + 0xbfe91349c88da398, 0xbfe3e15c9a2db922, // -0.7836, -0.62126 + 0xbfe90b7943575efe, 0xbfe3eb33eabe0680, // -0.78265, -0.62246 + 0xbfe903a4e1665133, 0xbfe3f50828f1e8d2, // -0.78169, -0.62366 + 0xbfe8fbcca3ef940d, 0xbfe3fed9534556d4, // -0.78074, -0.62486 + 0xbfe8f3f08c28d9ac, 0xbfe408a76834c0c0, // -0.77978, -0.62606 + 0xbfe8ec109b486c49, 0xbfe41272663d108c, // -0.77882, -0.62725 + 0xbfe8e42cd2852e0a, 0xbfe41c3a4bdbaa26, // -0.77785, -0.62845 + 0xbfe8dc45331698cc, 0xbfe425ff178e6bb1, // -0.77689, -0.62964 + 0xbfe8d459be34bdfa, 0xbfe42fc0c7d3adbb, // -0.77592, -0.63083 + 0xbfe8cc6a75184655, 0xbfe4397f5b2a4380, // -0.77495, -0.63202 + 0xbfe8c47758fa71cb, 0xbfe4433ad0117b1d, // -0.77398, -0.63321 + 0xbfe8bc806b151741, 0xbfe44cf325091dd6, // -0.77301, -0.63439 + 0xbfe8b485aca2a468, 0xbfe456a858917046, // -0.77204, -0.63558 + 0xbfe8ac871ede1d88, 0xbfe4605a692b32a2, // -0.77106, -0.63676 + 0xbfe8a484c3031d50, 0xbfe46a095557a0f1, // -0.77008, -0.63794 + 0xbfe89c7e9a4dd4ab, 0xbfe473b51b987347, // -0.7691, -0.63912 + 0xbfe89474a5fb0a84, 0xbfe47d5dba6fde01, // -0.76812, -0.6403 + 0xbfe88c66e7481ba1, 0xbfe48703306091fe, // -0.76714, -0.64148 + 0xbfe884555f72fa6b, 0xbfe490a57bedbcdf, // -0.76615, -0.64266 + 0xbfe87c400fba2ebf, 0xbfe49a449b9b0938, // -0.76517, -0.64383 + 0xbfe87426f95cd5bd, 0xbfe4a3e08dec9ed6, // -0.76418, -0.645 + 0xbfe86c0a1d9aa195, 0xbfe4ad79516722f0, // -0.76319, -0.64618 + 0xbfe863e97db3d95a, 0xbfe4b70ee48fb869, // -0.7622, -0.64735 + 0xbfe85bc51ae958cc, 0xbfe4c0a145ec0004, // -0.7612, -0.64851 + 0xbfe8539cf67c9029, 0xbfe4ca30740218a3, // -0.76021, -0.64968 + 0xbfe84b7111af83f9, 0xbfe4d3bc6d589f80, // -0.75921, -0.65085 + 0xbfe843416dc4cce2, 0xbfe4dd453076b064, // -0.75821, -0.65201 + 0xbfe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // -0.75721, -0.65317 + 0xbfe832d6eda3a3e0, 0xbfe4f04d0e2859aa, // -0.75621, -0.65433 + 0xbfe82a9c13f545ff, 0xbfe4f9cc25cca486, // -0.7552, -0.65549 + 0xbfe8225d803964e5, 0xbfe503480159ded2, // -0.75419, -0.65665 + 0xbfe81a1b33b57acc, 0xbfe50cc09f59a09b, // -0.75319, -0.65781 + 0xbfe811d52faf94dc, 0xbfe51635fe5601d7, // -0.75218, -0.65896 + 0xbfe8098b756e52fa, 0xbfe51fa81cd99aa6, // -0.75117, -0.66011 + 0xbfe8013e0638e795, 0xbfe52916f96f8388, // -0.75015, -0.66127 + 0xbfe7f8ece3571771, 0xbfe5328292a35596, // -0.74914, -0.66242 + 0xbfe7f0980e113978, 0xbfe53beae7012abe, // -0.74812, -0.66356 + 0xbfe7e83f87b03686, 0xbfe5454ff5159dfb, // -0.7471, -0.66471 + 0xbfe7dfe3517d8937, 0xbfe54eb1bb6dcb8f, // -0.74608, -0.66586 + 0xbfe7d7836cc33db2, 0xbfe5581038975137, // -0.74506, -0.667 + 0xbfe7cf1fdacbf179, 0xbfe5616b6b204e6e, // -0.74403, -0.66814 + 0xbfe7c6b89ce2d333, 0xbfe56ac35197649e, // -0.74301, -0.66928 + 0xbfe7be4db453a27c, 0xbfe57417ea8bb75c, // -0.74198, -0.67042 + 0xbfe7b5df226aafb0, 0xbfe57d69348cec9f, // -0.74095, -0.67156 + 0xbfe7ad6ce874dbb6, 0xbfe586b72e2b2cfd, // -0.73992, -0.67269 + 0xbfe7a4f707bf97d2, 0xbfe59001d5f723df, // -0.73889, -0.67383 + 0xbfe79c7d8198e56e, 0xbfe599492a81ffbc, // -0.73785, -0.67496 + 0xbfe79400574f55e4, 0xbfe5a28d2a5d7250, // -0.73682, -0.67609 + 0xbfe78b7f8a320a52, 0xbfe5abcdd41bb0d8, // -0.73578, -0.67722 + 0xbfe782fb1b90b35b, 0xbfe5b50b264f7448, // -0.73474, -0.67835 + 0xbfe77a730cbb9100, 0xbfe5be451f8bf980, // -0.7337, -0.67948 + 0xbfe771e75f037261, 0xbfe5c77bbe65018c, // -0.73265, -0.6806 + 0xbfe7695813b9b594, 0xbfe5d0af016ed1d4, // -0.73161, -0.68172 + 0xbfe760c52c304764, 0xbfe5d9dee73e345c, // -0.73056, -0.68285 + 0xbfe7582ea9b9a329, 0xbfe5e30b6e6877f3, // -0.72951, -0.68397 + 0xbfe74f948da8d28d, 0xbfe5ec3495837074, // -0.72846, -0.68508 + 0xbfe746f6d9516d59, 0xbfe5f55a5b2576f8, // -0.72741, -0.6862 + 0xbfe73e558e079942, 0xbfe5fe7cbde56a0f, // -0.72636, -0.68732 + 0xbfe735b0ad2009b2, 0xbfe6079bbc5aadfa, // -0.7253, -0.68843 + 0xbfe72d0837efff97, 0xbfe610b7551d2cde, // -0.72425, -0.68954 + 0xbfe7245c2fcd492a, 0xbfe619cf86c55702, // -0.72319, -0.69065 + 0xbfe71bac960e41bf, 0xbfe622e44fec22ff, // -0.72213, -0.69176 + 0xbfe712f96c09d18d, 0xbfe62bf5af2b0dfd, // -0.72107, -0.69287 + 0xbfe70a42b3176d7a, 0xbfe63503a31c1be8, // -0.72, -0.69397 + 0xbfe701886c8f16e6, 0xbfe63e0e2a59d7aa, // -0.71894, -0.69508 + 0xbfe6f8ca99c95b75, 0xbfe64715437f535b, // -0.71787, -0.69618 + 0xbfe6f0093c1f54de, 0xbfe65018ed28287f, // -0.7168, -0.69728 + 0xbfe6e74454eaa8ae, 0xbfe6591925f0783e, // -0.71573, -0.69838 + 0xbfe6de7be585881d, 0xbfe66215ec74eb91, // -0.71466, -0.69947 + 0xbfe6d5afef4aafcc, 0xbfe66b0f3f52b386, // -0.71358, -0.70057 + 0xbfe6cce07395679f, 0xbfe674051d27896c, // -0.71251, -0.70166 + 0xbfe6c40d73c18275, 0xbfe67cf78491af10, // -0.71143, -0.70275 + 0xbfe6bb36f12b5e06, 0xbfe685e6742feeef, // -0.71035, -0.70385 + 0xbfe6b25ced2fe29c, 0xbfe68ed1eaa19c71, // -0.70927, -0.70493 + 0xbfe6a97f692c82ea, 0xbfe697b9e686941c, // -0.70819, -0.70602 + 0xbfe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // -0.70711, -0.70711 + 0xbfe697b9e686941c, 0xbfe6a97f692c82ea, // -0.70602, -0.70819 + 0xbfe68ed1eaa19c71, 0xbfe6b25ced2fe29c, // -0.70493, -0.70927 + 0xbfe685e6742feeef, 0xbfe6bb36f12b5e06, // -0.70385, -0.71035 + 0xbfe67cf78491af10, 0xbfe6c40d73c18275, // -0.70275, -0.71143 + 0xbfe674051d27896c, 0xbfe6cce07395679f, // -0.70166, -0.71251 + 0xbfe66b0f3f52b386, 0xbfe6d5afef4aafcc, // -0.70057, -0.71358 + 0xbfe66215ec74eb91, 0xbfe6de7be585881d, // -0.69947, -0.71466 + 0xbfe6591925f0783e, 0xbfe6e74454eaa8ae, // -0.69838, -0.71573 + 0xbfe65018ed28287f, 0xbfe6f0093c1f54de, // -0.69728, -0.7168 + 0xbfe64715437f535b, 0xbfe6f8ca99c95b75, // -0.69618, -0.71787 + 0xbfe63e0e2a59d7aa, 0xbfe701886c8f16e6, // -0.69508, -0.71894 + 0xbfe63503a31c1be8, 0xbfe70a42b3176d7a, // -0.69397, -0.72 + 0xbfe62bf5af2b0dfd, 0xbfe712f96c09d18d, // -0.69287, -0.72107 + 0xbfe622e44fec22ff, 0xbfe71bac960e41bf, // -0.69176, -0.72213 + 0xbfe619cf86c55702, 0xbfe7245c2fcd492a, // -0.69065, -0.72319 + 0xbfe610b7551d2cde, 0xbfe72d0837efff97, // -0.68954, -0.72425 + 0xbfe6079bbc5aadfa, 0xbfe735b0ad2009b2, // -0.68843, -0.7253 + 0xbfe5fe7cbde56a0f, 0xbfe73e558e079942, // -0.68732, -0.72636 + 0xbfe5f55a5b2576f8, 0xbfe746f6d9516d59, // -0.6862, -0.72741 + 0xbfe5ec3495837074, 0xbfe74f948da8d28d, // -0.68508, -0.72846 + 0xbfe5e30b6e6877f3, 0xbfe7582ea9b9a329, // -0.68397, -0.72951 + 0xbfe5d9dee73e345c, 0xbfe760c52c304764, // -0.68285, -0.73056 + 0xbfe5d0af016ed1d4, 0xbfe7695813b9b594, // -0.68172, -0.73161 + 0xbfe5c77bbe65018c, 0xbfe771e75f037261, // -0.6806, -0.73265 + 0xbfe5be451f8bf980, 0xbfe77a730cbb9100, // -0.67948, -0.7337 + 0xbfe5b50b264f7448, 0xbfe782fb1b90b35b, // -0.67835, -0.73474 + 0xbfe5abcdd41bb0d8, 0xbfe78b7f8a320a52, // -0.67722, -0.73578 + 0xbfe5a28d2a5d7250, 0xbfe79400574f55e4, // -0.67609, -0.73682 + 0xbfe599492a81ffbc, 0xbfe79c7d8198e56e, // -0.67496, -0.73785 + 0xbfe59001d5f723df, 0xbfe7a4f707bf97d2, // -0.67383, -0.73889 + 0xbfe586b72e2b2cfd, 0xbfe7ad6ce874dbb6, // -0.67269, -0.73992 + 0xbfe57d69348cec9f, 0xbfe7b5df226aafb0, // -0.67156, -0.74095 + 0xbfe57417ea8bb75c, 0xbfe7be4db453a27c, // -0.67042, -0.74198 + 0xbfe56ac35197649e, 0xbfe7c6b89ce2d333, // -0.66928, -0.74301 + 0xbfe5616b6b204e6e, 0xbfe7cf1fdacbf179, // -0.66814, -0.74403 + 0xbfe5581038975137, 0xbfe7d7836cc33db2, // -0.667, -0.74506 + 0xbfe54eb1bb6dcb8f, 0xbfe7dfe3517d8937, // -0.66586, -0.74608 + 0xbfe5454ff5159dfb, 0xbfe7e83f87b03686, // -0.66471, -0.7471 + 0xbfe53beae7012abe, 0xbfe7f0980e113978, // -0.66356, -0.74812 + 0xbfe5328292a35596, 0xbfe7f8ece3571771, // -0.66242, -0.74914 + 0xbfe52916f96f8388, 0xbfe8013e0638e795, // -0.66127, -0.75015 + 0xbfe51fa81cd99aa6, 0xbfe8098b756e52fa, // -0.66011, -0.75117 + 0xbfe51635fe5601d7, 0xbfe811d52faf94dc, // -0.65896, -0.75218 + 0xbfe50cc09f59a09b, 0xbfe81a1b33b57acc, // -0.65781, -0.75319 + 0xbfe503480159ded2, 0xbfe8225d803964e5, // -0.65665, -0.75419 + 0xbfe4f9cc25cca486, 0xbfe82a9c13f545ff, // -0.65549, -0.7552 + 0xbfe4f04d0e2859aa, 0xbfe832d6eda3a3e0, // -0.65433, -0.75621 + 0xbfe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // -0.65317, -0.75721 + 0xbfe4dd453076b064, 0xbfe843416dc4cce2, // -0.65201, -0.75821 + 0xbfe4d3bc6d589f80, 0xbfe84b7111af83f9, // -0.65085, -0.75921 + 0xbfe4ca30740218a3, 0xbfe8539cf67c9029, // -0.64968, -0.76021 + 0xbfe4c0a145ec0004, 0xbfe85bc51ae958cc, // -0.64851, -0.7612 + 0xbfe4b70ee48fb869, 0xbfe863e97db3d95a, // -0.64735, -0.7622 + 0xbfe4ad79516722f0, 0xbfe86c0a1d9aa195, // -0.64618, -0.76319 + 0xbfe4a3e08dec9ed6, 0xbfe87426f95cd5bd, // -0.645, -0.76418 + 0xbfe49a449b9b0938, 0xbfe87c400fba2ebf, // -0.64383, -0.76517 + 0xbfe490a57bedbcdf, 0xbfe884555f72fa6b, // -0.64266, -0.76615 + 0xbfe48703306091fe, 0xbfe88c66e7481ba1, // -0.64148, -0.76714 + 0xbfe47d5dba6fde01, 0xbfe89474a5fb0a84, // -0.6403, -0.76812 + 0xbfe473b51b987347, 0xbfe89c7e9a4dd4ab, // -0.63912, -0.7691 + 0xbfe46a095557a0f1, 0xbfe8a484c3031d50, // -0.63794, -0.77008 + 0xbfe4605a692b32a2, 0xbfe8ac871ede1d88, // -0.63676, -0.77106 + 0xbfe456a858917046, 0xbfe8b485aca2a468, // -0.63558, -0.77204 + 0xbfe44cf325091dd6, 0xbfe8bc806b151741, // -0.63439, -0.77301 + 0xbfe4433ad0117b1d, 0xbfe8c47758fa71cb, // -0.63321, -0.77398 + 0xbfe4397f5b2a4380, 0xbfe8cc6a75184655, // -0.63202, -0.77495 + 0xbfe42fc0c7d3adbb, 0xbfe8d459be34bdfa, // -0.63083, -0.77592 + 0xbfe425ff178e6bb1, 0xbfe8dc45331698cc, // -0.62964, -0.77689 + 0xbfe41c3a4bdbaa26, 0xbfe8e42cd2852e0a, // -0.62845, -0.77785 + 0xbfe41272663d108c, 0xbfe8ec109b486c49, // -0.62725, -0.77882 + 0xbfe408a76834c0c0, 0xbfe8f3f08c28d9ac, // -0.62606, -0.77978 + 0xbfe3fed9534556d4, 0xbfe8fbcca3ef940d, // -0.62486, -0.78074 + 0xbfe3f50828f1e8d2, 0xbfe903a4e1665133, // -0.62366, -0.78169 + 0xbfe3eb33eabe0680, 0xbfe90b7943575efe, // -0.62246, -0.78265 + 0xbfe3e15c9a2db922, 0xbfe91349c88da398, // -0.62126, -0.7836 + 0xbfe3d78238c58343, 0xbfe91b166fd49da2, // -0.62006, -0.78456 + 0xbfe3cda4c80a6076, 0xbfe922df37f8646a, // -0.61885, -0.78551 + 0xbfe3c3c44981c517, 0xbfe92aa41fc5a815, // -0.61765, -0.78646 + 0xbfe3b9e0beb19e18, 0xbfe932652609b1cf, // -0.61644, -0.7874 + 0xbfe3affa292050b9, 0xbfe93a22499263fc, // -0.61523, -0.78835 + 0xbfe3a6108a54ba58, 0xbfe941db892e3a65, // -0.61402, -0.78929 + 0xbfe39c23e3d63029, 0xbfe94990e3ac4a6c, // -0.61281, -0.79023 + 0xbfe39234372c7f04, 0xbfe9514257dc4335, // -0.6116, -0.79117 + 0xbfe3884185dfeb22, 0xbfe958efe48e6dd7, // -0.61038, -0.79211 + 0xbfe37e4bd1792fe2, 0xbfe960998893ad8c, // -0.60917, -0.79304 + 0xbfe374531b817f8d, 0xbfe9683f42bd7fe1, // -0.60795, -0.79398 + 0xbfe36a576582831b, 0xbfe96fe111ddfce0, // -0.60673, -0.79491 + 0xbfe36058b10659f3, 0xbfe9777ef4c7d742, // -0.60551, -0.79584 + 0xbfe35656ff9799ae, 0xbfe97f18ea4e5c9e, // -0.60429, -0.79676 + 0xbfe34c5252c14de1, 0xbfe986aef1457594, // -0.60307, -0.79769 + 0xbfe3424aac0ef7d6, 0xbfe98e410881a600, // -0.60184, -0.79861 + 0xbfe338400d0c8e57, 0xbfe995cf2ed80d22, // -0.60062, -0.79954 + 0xbfe32e3277467d6b, 0xbfe99d59631e65d5, // -0.59939, -0.80046 + 0xbfe32421ec49a620, 0xbfe9a4dfa42b06b2, // -0.59816, -0.80138 + 0xbfe31a0e6da35e44, 0xbfe9ac61f0d4e247, // -0.59693, -0.80229 + 0xbfe30ff7fce17035, 0xbfe9b3e047f38741, // -0.5957, -0.80321 + 0xbfe305de9b921a94, 0xbfe9bb5aa85f2098, // -0.59447, -0.80412 + 0xbfe2fbc24b441015, 0xbfe9c2d110f075c3, // -0.59323, -0.80503 + 0xbfe2f1a30d86773a, 0xbfe9ca438080eadb, // -0.592, -0.80594 + 0xbfe2e780e3e8ea16, 0xbfe9d1b1f5ea80d6, // -0.59076, -0.80685 + 0xbfe2dd5bcffb7616, 0xbfe9d91c7007d5a6, // -0.58952, -0.80775 + 0xbfe2d333d34e9bb7, 0xbfe9e082edb42472, // -0.58828, -0.80866 + 0xbfe2c908ef734e57, 0xbfe9e7e56dcb45bd, // -0.58704, -0.80956 + 0xbfe2bedb25faf3ea, 0xbfe9ef43ef29af94, // -0.5858, -0.81046 + 0xbfe2b4aa787764c4, 0xbfe9f69e70ac75bc, // -0.58455, -0.81135 + 0xbfe2aa76e87aeb58, 0xbfe9fdf4f13149de, // -0.58331, -0.81225 + 0xbfe2a040779843fb, 0xbfea05476f967bb5, // -0.58206, -0.81314 + 0xbfe2960727629ca8, 0xbfea0c95eabaf937, // -0.58081, -0.81404 + 0xbfe28bcaf96d94ba, 0xbfea13e0617e4ec7, // -0.57956, -0.81493 + 0xbfe2818bef4d3cba, 0xbfea1b26d2c0a75e, // -0.57831, -0.81581 + 0xbfe2774a0a961612, 0xbfea22693d62ccb9, // -0.57706, -0.8167 + 0xbfe26d054cdd12df, 0xbfea29a7a0462782, // -0.57581, -0.81758 + 0xbfe262bdb7b795a2, 0xbfea30e1fa4cbf81, // -0.57455, -0.81847 + 0xbfe258734cbb7110, 0xbfea38184a593bc6, // -0.5733, -0.81935 + 0xbfe24e260d7ee7c9, 0xbfea3f4a8f4ee2d2, // -0.57204, -0.82023 + 0xbfe243d5fb98ac1f, 0xbfea4678c8119ac8, // -0.57078, -0.8211 + 0xbfe23983189fdfd5, 0xbfea4da2f385e997, // -0.56952, -0.82198 + 0xbfe22f2d662c13e1, 0xbfea54c91090f524, // -0.56826, -0.82285 + 0xbfe224d4e5d5482e, 0xbfea5beb1e188375, // -0.567, -0.82372 + 0xbfe21a799933eb58, 0xbfea63091b02fae2, // -0.56573, -0.82459 + 0xbfe2101b81e0da78, 0xbfea6a230637623b, // -0.56447, -0.82546 + 0xbfe205baa17560d6, 0xbfea7138de9d60f5, // -0.5632, -0.82632 + 0xbfe1fb56f98b37b8, 0xbfea784aa31d3f55, // -0.56193, -0.82718 + 0xbfe1f0f08bbc861b, 0xbfea7f58529fe69d, // -0.56066, -0.82805 + 0xbfe1e68759a3e074, 0xbfea8661ec0ee133, // -0.55939, -0.8289 + 0xbfe1dc1b64dc4872, 0xbfea8d676e545ad2, // -0.55812, -0.82976 + 0xbfe1d1acaf012cc2, 0xbfea9468d85b20ae, // -0.55685, -0.83062 + 0xbfe1c73b39ae68c8, 0xbfea9b66290ea1a3, // -0.55557, -0.83147 + 0xbfe1bcc706804467, 0xbfeaa25f5f5aee60, // -0.55429, -0.83232 + 0xbfe1b250171373be, 0xbfeaa9547a2cb98e, // -0.55302, -0.83317 + 0xbfe1a7d66d0516e6, 0xbfeab045787157ff, // -0.55174, -0.83402 + 0xbfe19d5a09f2b9b8, 0xbfeab7325916c0d4, // -0.55046, -0.83486 + 0xbfe192daef7a5386, 0xbfeabe1b1b0b8dac, // -0.54918, -0.83571 + 0xbfe188591f3a46e5, 0xbfeac4ffbd3efac8, // -0.54789, -0.83655 + 0xbfe17dd49ad16161, 0xbfeacbe03ea0e73b, // -0.54661, -0.83739 + 0xbfe1734d63dedb49, 0xbfead2bc9e21d511, // -0.54532, -0.83822 + 0xbfe168c37c025764, 0xbfead994dab2e979, // -0.54404, -0.83906 + 0xbfe15e36e4dbe2bc, 0xbfeae068f345ecef, // -0.54275, -0.83989 + 0xbfe153a7a00bf453, 0xbfeae738e6cd4b67, // -0.54146, -0.84073 + 0xbfe14915af336ceb, 0xbfeaee04b43c1474, // -0.54017, -0.84155 + 0xbfe13e8113f396c1, 0xbfeaf4cc5a85fb73, // -0.53888, -0.84238 + 0xbfe133e9cfee254e, 0xbfeafb8fd89f57b6, // -0.53759, -0.84321 + 0xbfe1294fe4c5350a, 0xbfeb024f2d7d24a9, // -0.53629, -0.84403 + 0xbfe11eb3541b4b22, 0xbfeb090a58150200, // -0.535, -0.84485 + 0xbfe114141f935545, 0xbfeb0fc1575d33db, // -0.5337, -0.84567 + 0xbfe1097248d0a956, 0xbfeb16742a4ca2f5, // -0.5324, -0.84649 + 0xbfe0fecdd1770537, 0xbfeb1d22cfdadcc6, // -0.5311, -0.84731 + 0xbfe0f426bb2a8e7d, 0xbfeb23cd470013b4, // -0.5298, -0.84812 + 0xbfe0e97d078fd23b, 0xbfeb2a738eb51f33, // -0.5285, -0.84893 + 0xbfe0ded0b84bc4b5, 0xbfeb3115a5f37bf4, // -0.5272, -0.84974 + 0xbfe0d421cf03c12b, 0xbfeb37b38bb54c09, // -0.5259, -0.85055 + 0xbfe0c9704d5d898f, 0xbfeb3e4d3ef55712, // -0.52459, -0.85136 + 0xbfe0bebc34ff4646, 0xbfeb44e2beaf0a61, // -0.52328, -0.85216 + 0xbfe0b405878f85ec, 0xbfeb4b7409de7925, // -0.52198, -0.85296 + 0xbfe0a94c46b53d0b, 0xbfeb52011f805c92, // -0.52067, -0.85376 + 0xbfe09e907417c5e1, 0xbfeb5889fe921405, // -0.51936, -0.85456 + 0xbfe093d2115ee018, 0xbfeb5f0ea611a532, // -0.51804, -0.85535 + 0xbfe089112032b08c, 0xbfeb658f14fdbc47, // -0.51673, -0.85615 + 0xbfe07e4da23bc102, 0xbfeb6c0b4a55ac17, // -0.51542, -0.85694 + 0xbfe073879922ffed, 0xbfeb728345196e3e, // -0.5141, -0.85773 + 0xbfe068bf0691c028, 0xbfeb78f70449a34b, // -0.51279, -0.85852 + 0xbfe05df3ec31b8b6, 0xbfeb7f6686e792ea, // -0.51147, -0.8593 + 0xbfe053264bad0483, 0xbfeb85d1cbf52c02, // -0.51015, -0.86009 + 0xbfe0485626ae221a, 0xbfeb8c38d27504e9, // -0.50883, -0.86087 + 0xbfe03d837edff370, 0xbfeb929b996a5b7f, // -0.50751, -0.86165 + 0xbfe032ae55edbd95, 0xbfeb98fa1fd9155e, // -0.50619, -0.86242 + 0xbfe027d6ad83287e, 0xbfeb9f5464c5bffc, // -0.50486, -0.8632 + 0xbfe01cfc874c3eb7, 0xbfeba5aa673590d2, // -0.50354, -0.86397 + 0xbfe0121fe4f56d2c, 0xbfebabfc262e6586, // -0.50221, -0.86474 + 0xbfe00740c82b82e0, 0xbfebb249a0b6c40d, // -0.50089, -0.86551 + 0xbfdff8be6537615e, 0xbfebb892d5d5dad5, // -0.49956, -0.86628 + 0xbfdfe2f64be7120f, 0xbfebbed7c49380ea, // -0.49823, -0.86705 + 0xbfdfcd2947c1ff57, 0xbfebc5186bf8361d, // -0.4969, -0.86781 + 0xbfdfb7575c24d2de, 0xbfebcb54cb0d2327, // -0.49557, -0.86857 + 0xbfdfa1808c6cf7e0, 0xbfebd18ce0dc19d6, // -0.49423, -0.86933 + 0xbfdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // -0.4929, -0.87009 + 0xbfdf75c44e26a852, 0xbfebddf02cd2b983, // -0.49156, -0.87084 + 0xbfdf5fdee656cda3, 0xbfebe41b611154c1, // -0.49023, -0.8716 + 0xbfdf49f4a7e97729, 0xbfebea424837de6d, // -0.48889, -0.87235 + 0xbfdf3405963fd068, 0xbfebf064e15377dd, // -0.48755, -0.87309 + 0xbfdf1e11b4bbc35c, 0xbfebf6832b71ec5b, // -0.48621, -0.87384 + 0xbfdf081906bff7fd, 0xbfebfc9d25a1b147, // -0.48487, -0.87459 + 0xbfdef21b8fafd3b5, 0xbfec02b2cef1e641, // -0.48353, -0.87533 + 0xbfdedc1952ef78d5, 0xbfec08c426725549, // -0.48218, -0.87607 + 0xbfdec61253e3c61b, 0xbfec0ed12b3372e9, // -0.48084, -0.87681 + 0xbfdeb00695f25620, 0xbfec14d9dc465e58, // -0.47949, -0.87755 + 0xbfde99f61c817eda, 0xbfec1ade38bce19b, // -0.47815, -0.87828 + 0xbfde83e0eaf85113, 0xbfec20de3fa971b0, // -0.4768, -0.87901 + 0xbfde6dc704be97e2, 0xbfec26d9f01f2eaf, // -0.47545, -0.87974 + 0xbfde57a86d3cd824, 0xbfec2cd14931e3f1, // -0.4741, -0.88047 + 0xbfde418527dc4ffa, 0xbfec32c449f60831, // -0.47275, -0.8812 + 0xbfde2b5d3806f63b, 0xbfec38b2f180bdb1, // -0.4714, -0.88192 + 0xbfde1530a12779f4, 0xbfec3e9d3ee7d262, // -0.47004, -0.88264 + 0xbfddfeff66a941de, 0xbfec44833141c004, // -0.46869, -0.88336 + 0xbfdde8c98bf86bd6, 0xbfec4a64c7a5ac4c, // -0.46733, -0.88408 + 0xbfddd28f1481cc58, 0xbfec5042012b6907, // -0.46598, -0.8848 + 0xbfddbc5003b2edf8, 0xbfec561adceb743e, // -0.46462, -0.88551 + 0xbfdda60c5cfa10d8, 0xbfec5bef59fef85a, // -0.46326, -0.88622 + 0xbfdd8fc423c62a25, 0xbfec61bf777fcc48, // -0.4619, -0.88693 + 0xbfdd79775b86e389, 0xbfec678b3488739b, // -0.46054, -0.88764 + 0xbfdd632607ac9aa9, 0xbfec6d5290341eb2, // -0.45918, -0.88835 + 0xbfdd4cd02ba8609c, 0xbfec7315899eaad7, // -0.45781, -0.88905 + 0xbfdd3675caebf962, 0xbfec78d41fe4a267, // -0.45645, -0.88975 + 0xbfdd2016e8e9db5b, 0xbfec7e8e52233cf3, // -0.45508, -0.89045 + 0xbfdd09b389152ec1, 0xbfec84441f785f61, // -0.45372, -0.89115 + 0xbfdcf34baee1cd21, 0xbfec89f587029c13, // -0.45235, -0.89184 + 0xbfdcdcdf5dc440ce, 0xbfec8fa287e13305, // -0.45098, -0.89253 + 0xbfdcc66e9931c45d, 0xbfec954b213411f5, // -0.44961, -0.89322 + 0xbfdcaff964a0421d, 0xbfec9aef521bd480, // -0.44824, -0.89391 + 0xbfdc997fc3865388, 0xbfeca08f19b9c449, // -0.44687, -0.8946 + 0xbfdc8301b95b40c2, 0xbfeca62a772fd919, // -0.4455, -0.89528 + 0xbfdc6c7f4997000a, 0xbfecabc169a0b901, // -0.44412, -0.89597 + 0xbfdc55f877b23537, 0xbfecb153f02fb87d, // -0.44275, -0.89665 + 0xbfdc3f6d47263129, 0xbfecb6e20a00da99, // -0.44137, -0.89732 + 0xbfdc28ddbb6cf145, 0xbfecbc6bb638d10b, // -0.43999, -0.898 + 0xbfdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // -0.43862, -0.89867 + 0xbfdbfbb1a05e0edc, 0xbfecc771c2736c09, // -0.43724, -0.89935 + 0xbfdbe51517ffc0d9, 0xbfecccee20c2de9f, // -0.43586, -0.90002 + 0xbfdbce744262deee, 0xbfecd2660e12c1e6, // -0.43448, -0.90068 + 0xbfdbb7cf2304bd01, 0xbfecd7d9898b32f6, // -0.43309, -0.90135 + 0xbfdba125bd63583e, 0xbfecdd489254fe65, // -0.43171, -0.90201 + 0xbfdb8a7814fd5693, 0xbfece2b32799a060, // -0.43033, -0.90267 + 0xbfdb73c62d520624, 0xbfece819488344ce, // -0.42894, -0.90333 + 0xbfdb5d1009e15cc0, 0xbfeced7af43cc773, // -0.42756, -0.90399 + 0xbfdb4655ae2bf757, 0xbfecf2d829f1b40e, // -0.42617, -0.90464 + 0xbfdb2f971db31972, 0xbfecf830e8ce467b, // -0.42478, -0.9053 + 0xbfdb18d45bf8aca6, 0xbfecfd852fff6ad4, // -0.42339, -0.90595 + 0xbfdb020d6c7f4009, 0xbfed02d4feb2bd92, // -0.422, -0.9066 + 0xbfdaeb4252ca07ab, 0xbfed082054168bac, // -0.42061, -0.90724 + 0xbfdad473125cdc08, 0xbfed0d672f59d2b9, // -0.41922, -0.90789 + 0xbfdabd9faebc3980, 0xbfed12a98fac410c, // -0.41782, -0.90853 + 0xbfdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // -0.41643, -0.90917 + 0xbfda8fec8bf5b166, 0xbfed1d20dc40c15c, // -0.41503, -0.90981 + 0xbfda790cd3dbf31a, 0xbfed2255c6e5a4e1, // -0.41364, -0.91044 + 0xbfda622906a70b63, 0xbfed2786335f52fc, // -0.41224, -0.91107 + 0xbfda4b4127dea1e4, 0xbfed2cb220e0ef9f, // -0.41084, -0.91171 + 0xbfda34553b0afee5, 0xbfed31d98e9e503a, // -0.40944, -0.91234 + 0xbfda1d6543b50ac0, 0xbfed36fc7bcbfbdc, // -0.40804, -0.91296 + 0xbfda067145664d57, 0xbfed3c1ae79f2b4e, // -0.40664, -0.91359 + 0xbfd9ef7943a8ed8a, 0xbfed4134d14dc93a, // -0.40524, -0.91421 + 0xbfd9d87d4207b0ab, 0xbfed464a380e7242, // -0.40384, -0.91483 + 0xbfd9c17d440df9f2, 0xbfed4b5b1b187524, // -0.40243, -0.91545 + 0xbfd9aa794d47c9ee, 0xbfed506779a3d2d9, // -0.40103, -0.91606 + 0xbfd993716141bdfe, 0xbfed556f52e93eb1, // -0.39962, -0.91668 + 0xbfd97c6583890fc2, 0xbfed5a72a6221e73, // -0.39822, -0.91729 + 0xbfd96555b7ab948f, 0xbfed5f7172888a7f, // -0.39681, -0.9179 + 0xbfd94e420137bce3, 0xbfed646bb7574de5, // -0.3954, -0.91851 + 0xbfd9372a63bc93d7, 0xbfed696173c9e68b, // -0.39399, -0.91911 + 0xbfd9200ee2c9be97, 0xbfed6e52a71c8547, // -0.39258, -0.91972 + 0xbfd908ef81ef7bd1, 0xbfed733f508c0dff, // -0.39117, -0.92032 + 0xbfd8f1cc44bea329, 0xbfed78276f5617c6, // -0.38976, -0.92092 + 0xbfd8daa52ec8a4af, 0xbfed7d0b02b8ecf9, // -0.38835, -0.92151 + 0xbfd8c37a439f884f, 0xbfed81ea09f38b63, // -0.38693, -0.92211 + 0xbfd8ac4b86d5ed44, 0xbfed86c48445a450, // -0.38552, -0.9227 + 0xbfd89518fbff098e, 0xbfed8b9a70ef9cb4, // -0.3841, -0.92329 + 0xbfd87de2a6aea963, 0xbfed906bcf328d46, // -0.38268, -0.92388 + 0xbfd866a88a792ea0, 0xbfed95389e50429b, // -0.38127, -0.92447 + 0xbfd84f6aaaf3903f, 0xbfed9a00dd8b3d46, // -0.37985, -0.92505 + 0xbfd838290bb359c8, 0xbfed9ec48c26b1f3, // -0.37843, -0.92563 + 0xbfd820e3b04eaac4, 0xbfeda383a9668988, // -0.37701, -0.92621 + 0xbfd8099a9c5c362d, 0xbfeda83e348f613b, // -0.37559, -0.92679 + 0xbfd7f24dd37341e3, 0xbfedacf42ce68ab9, // -0.37416, -0.92736 + 0xbfd7dafd592ba621, 0xbfedb1a591b20c38, // -0.37274, -0.92794 + 0xbfd7c3a9311dcce7, 0xbfedb6526238a09b, // -0.37132, -0.92851 + 0xbfd7ac515ee2b172, 0xbfedbafa9dc1b78d, // -0.36989, -0.92907 + 0xbfd794f5e613dfae, 0xbfedbf9e4395759a, // -0.36847, -0.92964 + 0xbfd77d96ca4b73a6, 0xbfedc43d52fcb453, // -0.36704, -0.93021 + 0xbfd766340f2418f6, 0xbfedc8d7cb410260, // -0.36561, -0.93077 + 0xbfd74ecdb8390a3e, 0xbfedcd6dabaca3a5, // -0.36418, -0.93133 + 0xbfd73763c9261092, 0xbfedd1fef38a915a, // -0.36276, -0.93188 + 0xbfd71ff6458782ec, 0xbfedd68ba2267a25, // -0.36133, -0.93244 + 0xbfd7088530fa459e, 0xbfeddb13b6ccc23d, // -0.3599, -0.93299 + 0xbfd6f1108f1bc9c5, 0xbfeddf9730ca837b, // -0.35846, -0.93354 + 0xbfd6d998638a0cb5, 0xbfede4160f6d8d81, // -0.35703, -0.93409 + 0xbfd6c21cb1e39771, 0xbfede890520465ce, // -0.3556, -0.93464 + 0xbfd6aa9d7dc77e16, 0xbfeded05f7de47da, // -0.35416, -0.93518 + 0xbfd6931acad55f51, 0xbfedf177004b2534, // -0.35273, -0.93573 + 0xbfd67b949cad63ca, 0xbfedf5e36a9ba59c, // -0.35129, -0.93627 + 0xbfd6640af6f03d9e, 0xbfedfa4b3621271d, // -0.34986, -0.9368 + 0xbfd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // -0.34842, -0.93734 + 0xbfd634ed533be58e, 0xbfee030cee1435b8, // -0.34698, -0.93787 + 0xbfd61d595c88c203, 0xbfee0766d9280f54, // -0.34554, -0.9384 + 0xbfd605c1fcc88f63, 0xbfee0bbc22bd8349, // -0.3441, -0.93893 + 0xbfd5ee27379ea693, 0xbfee100cca2980ac, // -0.34266, -0.93946 + 0xbfd5d68910aee686, 0xbfee1458cec1ad83, // -0.34122, -0.93998 + 0xbfd5bee78b9db3b6, 0xbfee18a02fdc66d9, // -0.33978, -0.94051 + 0xbfd5a742ac0ff78d, 0xbfee1ce2ecd0c0d8, // -0.33833, -0.94103 + 0xbfd58f9a75ab1fdd, 0xbfee212104f686e5, // -0.33689, -0.94154 + 0xbfd577eeec151e47, 0xbfee255a77a63bb8, // -0.33545, -0.94206 + 0xbfd5604012f467b4, 0xbfee298f4439197a, // -0.334, -0.94257 + 0xbfd5488dedeff3be, 0xbfee2dbf6a0911d9, // -0.33255, -0.94308 + 0xbfd530d880af3c24, 0xbfee31eae870ce25, // -0.33111, -0.94359 + 0xbfd5191fceda3c35, 0xbfee3611becbaf69, // -0.32966, -0.9441 + 0xbfd50163dc197047, 0xbfee3a33ec75ce85, // -0.32821, -0.9446 + 0xbfd4e9a4ac15d520, 0xbfee3e5170cbfc46, // -0.32676, -0.94511 + 0xbfd4d1e24278e76a, 0xbfee426a4b2bc17e, // -0.32531, -0.94561 + 0xbfd4ba1ca2eca31c, 0xbfee467e7af35f23, // -0.32386, -0.94611 + 0xbfd4a253d11b82f3, 0xbfee4a8dff81ce5e, // -0.32241, -0.9466 + 0xbfd48a87d0b07fd7, 0xbfee4e98d836c0af, // -0.32096, -0.94709 + 0xbfd472b8a5571054, 0xbfee529f04729ffc, // -0.3195, -0.94759 + 0xbfd45ae652bb2800, 0xbfee56a083968eb1, // -0.31805, -0.94807 + 0xbfd44310dc8936f0, 0xbfee5a9d550467d3, // -0.31659, -0.94856 + 0xbfd42b38466e2928, 0xbfee5e95781ebf1c, // -0.31514, -0.94905 + 0xbfd4135c94176602, 0xbfee6288ec48e112, // -0.31368, -0.94953 + 0xbfd3fb7dc932cfa4, 0xbfee6677b0e6d31e, // -0.31222, -0.95001 + 0xbfd3e39be96ec271, 0xbfee6a61c55d53a7, // -0.31077, -0.95049 + 0xbfd3cbb6f87a146e, 0xbfee6e472911da27, // -0.30931, -0.95096 + 0xbfd3b3cefa0414b7, 0xbfee7227db6a9744, // -0.30785, -0.95144 + 0xbfd39be3f1bc8aef, 0xbfee7603dbce74e9, // -0.30639, -0.95191 + 0xbfd383f5e353b6aa, 0xbfee79db29a5165a, // -0.30493, -0.95238 + 0xbfd36c04d27a4edf, 0xbfee7dadc456d850, // -0.30347, -0.95284 + 0xbfd35410c2e18152, 0xbfee817bab4cd10d, // -0.30201, -0.95331 + 0xbfd33c19b83af207, 0xbfee8544ddf0d075, // -0.30054, -0.95377 + 0xbfd3241fb638baaf, 0xbfee89095bad6025, // -0.29908, -0.95423 + 0xbfd30c22c08d6a13, 0xbfee8cc923edc388, // -0.29762, -0.95469 + 0xbfd2f422daec0386, 0xbfee9084361df7f3, // -0.29615, -0.95514 + 0xbfd2dc200907fe51, 0xbfee943a91aab4b4, // -0.29469, -0.95559 + 0xbfd2c41a4e954520, 0xbfee97ec36016b30, // -0.29322, -0.95605 + 0xbfd2ac11af483572, 0xbfee9b99229046f8, // -0.29175, -0.95649 + 0xbfd294062ed59f05, 0xbfee9f4156c62dda, // -0.29028, -0.95694 + 0xbfd27bf7d0f2c346, 0xbfeea2e4d212c000, // -0.28882, -0.95738 + 0xbfd263e6995554ba, 0xbfeea68393e65800, // -0.28735, -0.95783 + 0xbfd24bd28bb37672, 0xbfeeaa1d9bb20af3, // -0.28588, -0.95827 + 0xbfd233bbabc3bb72, 0xbfeeadb2e8e7a88e, // -0.28441, -0.9587 + 0xbfd21ba1fd3d2623, 0xbfeeb1437af9bb34, // -0.28294, -0.95914 + 0xbfd2038583d727bd, 0xbfeeb4cf515b8811, // -0.28146, -0.95957 + 0xbfd1eb6643499fbb, 0xbfeeb8566b810f2a, // -0.27999, -0.96 + 0xbfd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // -0.27852, -0.96043 + 0xbfd1bb1f7b999480, 0xbfeebf5668eaf2ef, // -0.27705, -0.96086 + 0xbfd1a2f7fbe8f243, 0xbfeec2cf4b1af6b2, // -0.27557, -0.96128 + 0xbfd18acdc3f4873a, 0xbfeec6436ee60309, // -0.2741, -0.9617 + 0xbfd172a0d7765177, 0xbfeec9b2d3c3bf84, // -0.27262, -0.96212 + 0xbfd15a713a28b9d9, 0xbfeecd1d792c8f10, // -0.27115, -0.96254 + 0xbfd1423eefc69378, 0xbfeed0835e999009, // -0.26967, -0.96295 + 0xbfd12a09fc0b1b12, 0xbfeed3e483849c51, // -0.26819, -0.96337 + 0xbfd111d262b1f677, 0xbfeed740e7684963, // -0.26671, -0.96378 + 0xbfd0f998277733f7, 0xbfeeda9889bfe86a, // -0.26523, -0.96418 + 0xbfd0e15b4e1749cd, 0xbfeeddeb6a078651, // -0.26375, -0.96459 + 0xbfd0c91bda4f158d, 0xbfeee13987bbebdc, // -0.26227, -0.96499 + 0xbfd0b0d9cfdbdb90, 0xbfeee482e25a9dbc, // -0.26079, -0.96539 + 0xbfd09895327b465e, 0xbfeee7c77961dc9e, // -0.25931, -0.96579 + 0xbfd0804e05eb661e, 0xbfeeeb074c50a544, // -0.25783, -0.96619 + 0xbfd068044deab002, 0xbfeeee425aa6b09a, // -0.25635, -0.96658 + 0xbfd04fb80e37fdae, 0xbfeef178a3e473c2, // -0.25487, -0.96698 + 0xbfd037694a928cac, 0xbfeef4aa278b2032, // -0.25338, -0.96737 + 0xbfd01f1806b9fdd2, 0xbfeef7d6e51ca3c0, // -0.2519, -0.96775 + 0xbfd006c4466e54af, 0xbfeefafedc1ba8b7, // -0.25041, -0.96814 + 0xbfcfdcdc1adfedf8, 0xbfeefe220c0b95ec, // -0.24893, -0.96852 + 0xbfcfac2abeff57ff, 0xbfef014074708ed3, // -0.24744, -0.9689 + 0xbfcf7b7480bd3801, 0xbfef045a14cf738c, // -0.24596, -0.96928 + 0xbfcf4ab9679c9f5c, 0xbfef076eecade0fa, // -0.24447, -0.96966 + 0xbfcf19f97b215f1a, 0xbfef0a7efb9230d7, // -0.24298, -0.97003 + 0xbfcee934c2d006c7, 0xbfef0d8a410379c5, // -0.24149, -0.9704 + 0xbfceb86b462de348, 0xbfef1090bc898f5f, // -0.24, -0.97077 + 0xbfce879d0cc0fdaf, 0xbfef13926dad024e, // -0.23851, -0.97114 + 0xbfce56ca1e101a1b, 0xbfef168f53f7205d, // -0.23702, -0.9715 + 0xbfce25f281a2b684, 0xbfef19876ef1f486, // -0.23553, -0.97187 + 0xbfcdf5163f01099a, 0xbfef1c7abe284708, // -0.23404, -0.97223 + 0xbfcdc4355db40195, 0xbfef1f6941259d7a, // -0.23255, -0.97258 + 0xbfcd934fe5454311, 0xbfef2252f7763ada, // -0.23106, -0.97294 + 0xbfcd6265dd3f27e3, 0xbfef2537e0a71f9f, // -0.22957, -0.97329 + 0xbfcd31774d2cbdee, 0xbfef2817fc4609ce, // -0.22807, -0.97364 + 0xbfcd00843c99c5f9, 0xbfef2af349e17507, // -0.22658, -0.97399 + 0xbfcccf8cb312b286, 0xbfef2dc9c9089a9d, // -0.22508, -0.97434 + 0xbfcc9e90b824a6a9, 0xbfef309b794b719f, // -0.22359, -0.97468 + 0xbfcc6d90535d74dc, 0xbfef33685a3aaef0, // -0.22209, -0.97503 + 0xbfcc3c8b8c4b9dd7, 0xbfef36306b67c556, // -0.2206, -0.97536 + 0xbfcc0b826a7e4f63, 0xbfef38f3ac64e589, // -0.2191, -0.9757 + 0xbfcbda74f5856330, 0xbfef3bb21cc4fe47, // -0.2176, -0.97604 + 0xbfcba96334f15dad, 0xbfef3e6bbc1bbc65, // -0.21611, -0.97637 + 0xbfcb784d30536cda, 0xbfef412089fd8adc, // -0.21461, -0.9767 + 0xbfcb4732ef3d6722, 0xbfef43d085ff92dd, // -0.21311, -0.97703 + 0xbfcb16147941ca2a, 0xbfef467bafb7bbe0, // -0.21161, -0.97735 + 0xbfcae4f1d5f3b9ab, 0xbfef492206bcabb4, // -0.21011, -0.97768 + 0xbfcab3cb0ce6fe44, 0xbfef4bc38aa5c694, // -0.20861, -0.978 + 0xbfca82a025b00451, 0xbfef4e603b0b2f2d, // -0.20711, -0.97832 + 0xbfca517127e3dabc, 0xbfef50f81785c6b9, // -0.20561, -0.97863 + 0xbfca203e1b1831da, 0xbfef538b1faf2d07, // -0.20411, -0.97895 + 0xbfc9ef0706e35a35, 0xbfef56195321c090, // -0.20261, -0.97926 + 0xbfc9bdcbf2dc4366, 0xbfef58a2b1789e84, // -0.2011, -0.97957 + 0xbfc98c8ce69a7aec, 0xbfef5b273a4fa2d9, // -0.1996, -0.97988 + 0xbfc95b49e9b62af9, 0xbfef5da6ed43685d, // -0.1981, -0.98018 + 0xbfc92a0303c8194f, 0xbfef6021c9f148c2, // -0.19659, -0.98048 + 0xbfc8f8b83c69a60a, 0xbfef6297cff75cb0, // -0.19509, -0.98079 + 0xbfc8c7699b34ca7e, 0xbfef6508fef47bd5, // -0.19359, -0.98108 + 0xbfc8961727c41804, 0xbfef677556883cee, // -0.19208, -0.98138 + 0xbfc864c0e9b2b6cf, 0xbfef69dcd652f5de, // -0.19057, -0.98167 + 0xbfc83366e89c64c5, 0xbfef6c3f7df5bbb7, // -0.18907, -0.98196 + 0xbfc802092c1d744b, 0xbfef6e9d4d1262ca, // -0.18756, -0.98225 + 0xbfc7d0a7bbd2cb1b, 0xbfef70f6434b7eb7, // -0.18606, -0.98254 + 0xbfc79f429f59e11d, 0xbfef734a60446279, // -0.18455, -0.98282 + 0xbfc76dd9de50bf31, 0xbfef7599a3a12077, // -0.18304, -0.98311 + 0xbfc73c6d8055fe0a, 0xbfef77e40d068a90, // -0.18153, -0.98339 + 0xbfc70afd8d08c4ff, 0xbfef7a299c1a322a, // -0.18002, -0.98366 + 0xbfc6d98a0c08c8da, 0xbfef7c6a50826840, // -0.17851, -0.98394 + 0xbfc6a81304f64ab2, 0xbfef7ea629e63d6e, // -0.177, -0.98421 + 0xbfc676987f7216b8, 0xbfef80dd27ed8204, // -0.17549, -0.98448 + 0xbfc6451a831d830d, 0xbfef830f4a40c60c, // -0.17398, -0.98475 + 0xbfc61399179a6e94, 0xbfef853c9089595e, // -0.17247, -0.98501 + 0xbfc5e214448b3fc6, 0xbfef8764fa714ba9, // -0.17096, -0.98528 + 0xbfc5b08c1192e381, 0xbfef898887a36c84, // -0.16945, -0.98554 + 0xbfc57f008654cbde, 0xbfef8ba737cb4b78, // -0.16794, -0.9858 + 0xbfc54d71aa74ef02, 0xbfef8dc10a95380d, // -0.16643, -0.98605 + 0xbfc51bdf8597c5f2, 0xbfef8fd5ffae41db, // -0.16491, -0.98631 + 0xbfc4ea4a1f624b61, 0xbfef91e616c43891, // -0.1634, -0.98656 + 0xbfc4b8b17f79fa88, 0xbfef93f14f85ac08, // -0.16189, -0.98681 + 0xbfc48715ad84cdf5, 0xbfef95f7a9a1ec47, // -0.16037, -0.98706 + 0xbfc45576b1293e5a, 0xbfef97f924c9099b, // -0.15886, -0.9873 + 0xbfc423d4920e4166, 0xbfef99f5c0abd496, // -0.15734, -0.98754 + 0xbfc3f22f57db4893, 0xbfef9bed7cfbde29, // -0.15583, -0.98778 + 0xbfc3c0870a383ff6, 0xbfef9de0596b77a3, // -0.15431, -0.98802 + 0xbfc38edbb0cd8d14, 0xbfef9fce55adb2c8, // -0.1528, -0.98826 + 0xbfc35d2d53440db2, 0xbfefa1b7717661d5, // -0.15128, -0.98849 + 0xbfc32b7bf94516a7, 0xbfefa39bac7a1791, // -0.14976, -0.98872 + 0xbfc2f9c7aa7a72af, 0xbfefa57b066e2754, // -0.14825, -0.98895 + 0xbfc2c8106e8e613a, 0xbfefa7557f08a517, // -0.14673, -0.98918 + 0xbfc296564d2b953e, 0xbfefa92b1600657c, // -0.14521, -0.9894 + 0xbfc264994dfd340a, 0xbfefaafbcb0cfddc, // -0.1437, -0.98962 + 0xbfc232d978aed413, 0xbfefacc79de6c44f, // -0.14218, -0.98984 + 0xbfc20116d4ec7bce, 0xbfefae8e8e46cfbb, // -0.14066, -0.99006 + 0xbfc1cf516a62a077, 0xbfefb0509be6f7db, // -0.13914, -0.99027 + 0xbfc19d8940be24e7, 0xbfefb20dc681d54d, // -0.13762, -0.99049 + 0xbfc16bbe5fac5865, 0xbfefb3c60dd2c199, // -0.1361, -0.9907 + 0xbfc139f0cedaf576, 0xbfefb5797195d741, // -0.13458, -0.9909 + 0xbfc1082095f820b0, 0xbfefb727f187f1c7, // -0.13306, -0.99111 + 0xbfc0d64dbcb26786, 0xbfefb8d18d66adb7, // -0.13154, -0.99131 + 0xbfc0a4784ab8bf1d, 0xbfefba7644f068b5, // -0.13002, -0.99151 + 0xbfc072a047ba831d, 0xbfefbc1617e44186, // -0.1285, -0.99171 + 0xbfc040c5bb67747e, 0xbfefbdb106021816, // -0.12698, -0.99191 + 0xbfc00ee8ad6fb85b, 0xbfefbf470f0a8d88, // -0.12545, -0.9921 + 0xbfbfba124b07ad85, 0xbfefc0d832bf043a, // -0.12393, -0.99229 + 0xbfbf564e56a9730e, 0xbfefc26470e19fd3, // -0.12241, -0.99248 + 0xbfbef2858d27561b, 0xbfefc3ebc935454c, // -0.12089, -0.99267 + 0xbfbe8eb7fde4aa3e, 0xbfefc56e3b7d9af6, // -0.11937, -0.99285 + 0xbfbe2ae5b8457f77, 0xbfefc6ebc77f0887, // -0.11784, -0.99303 + 0xbfbdc70ecbae9fc8, 0xbfefc8646cfeb721, // -0.11632, -0.99321 + 0xbfbd633347858ce4, 0xbfefc9d82bc2915e, // -0.11479, -0.99339 + 0xbfbcff533b307dc1, 0xbfefcb4703914354, // -0.11327, -0.99356 + 0xbfbc9b6eb6165c42, 0xbfefccb0f4323aa3, // -0.11175, -0.99374 + 0xbfbc3785c79ec2d5, 0xbfefce15fd6da67b, // -0.11022, -0.99391 + 0xbfbbd3987f31fa0e, 0xbfefcf761f0c77a3, // -0.1087, -0.99407 + 0xbfbb6fa6ec38f64c, 0xbfefd0d158d86087, // -0.10717, -0.99424 + 0xbfbb0bb11e1d5559, 0xbfefd227aa9bd53b, // -0.10565, -0.9944 + 0xbfbaa7b724495c04, 0xbfefd37914220b84, // -0.10412, -0.99456 + 0xbfba43b90e27f3c4, 0xbfefd4c59536fae4, // -0.1026, -0.99472 + 0xbfb9dfb6eb24a85c, 0xbfefd60d2da75c9e, // -0.10107, -0.99488 + 0xbfb97bb0caaba56f, 0xbfefd74fdd40abbf, // -0.099544, -0.99503 + 0xbfb917a6bc29b42c, 0xbfefd88da3d12526, // -0.098017, -0.99518 + 0xbfb8b398cf0c38e0, 0xbfefd9c68127c78c, // -0.09649, -0.99533 + 0xbfb84f8712c130a0, 0xbfefdafa7514538c, // -0.094963, -0.99548 + 0xbfb7eb7196b72ee4, 0xbfefdc297f674ba9, // -0.093436, -0.99563 + 0xbfb787586a5d5b21, 0xbfefdd539ff1f456, // -0.091909, -0.99577 + 0xbfb7233b9d236e71, 0xbfefde78d68653fd, // -0.090381, -0.99591 + 0xbfb6bf1b3e79b129, 0xbfefdf9922f73307, // -0.088854, -0.99604 + 0xbfb65af75dd0f87b, 0xbfefe0b485181be3, // -0.087326, -0.99618 + 0xbfb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // -0.085797, -0.99631 + 0xbfb592a554489bc8, 0xbfefe2dc89bbff08, // -0.084269, -0.99644 + 0xbfb52e774a4d4d0a, 0xbfefe3e92be9d886, // -0.08274, -0.99657 + 0xbfb4ca45fc1ba8b6, 0xbfefe4f0e31d7a4a, // -0.081211, -0.9967 + 0xbfb4661179272096, 0xbfefe5f3af2e3940, // -0.079682, -0.99682 + 0xbfb401d9d0e3a507, 0xbfefe6f18ff42c84, // -0.078153, -0.99694 + 0xbfb39d9f12c5a299, 0xbfefe7ea85482d60, // -0.076624, -0.99706 + 0xbfb339614e41ffa5, 0xbfefe8de8f03d75c, // -0.075094, -0.99718 + 0xbfb2d52092ce19f6, 0xbfefe9cdad01883a, // -0.073565, -0.99729 + 0xbfb270dcefdfc45b, 0xbfefeab7df1c6005, // -0.072035, -0.9974 + 0xbfb20c9674ed444c, 0xbfefeb9d2530410f, // -0.070505, -0.99751 + 0xbfb1a84d316d4f8a, 0xbfefec7d7f19cffc, // -0.068974, -0.99762 + 0xbfb1440134d709b2, 0xbfefed58ecb673c4, // -0.067444, -0.99772 + 0xbfb0dfb28ea201e6, 0xbfefee2f6de455ba, // -0.065913, -0.99783 + 0xbfb07b614e463064, 0xbfefef0102826191, // -0.064383, -0.99793 + 0xbfb0170d833bf421, 0xbfefefcdaa704562, // -0.062852, -0.99802 + 0xbfaf656e79f820e0, 0xbfeff095658e71ad, // -0.061321, -0.99812 + 0xbfae9cbd15ff5527, 0xbfeff15833be1965, // -0.05979, -0.99821 + 0xbfadd406f9808ec8, 0xbfeff21614e131ed, // -0.058258, -0.9983 + 0xbfad0b4c436f91d0, 0xbfeff2cf08da7321, // -0.056727, -0.99839 + 0xbfac428d12c0d7e3, 0xbfeff3830f8d575c, // -0.055195, -0.99848 + 0xbfab79c986698b78, 0xbfeff43228de1b77, // -0.053664, -0.99856 + 0xbfaab101bd5f8317, 0xbfeff4dc54b1bed3, // -0.052132, -0.99864 + 0xbfa9e835d6993c87, 0xbfeff58192ee0358, // -0.0506, -0.99872 + 0xbfa91f65f10dd814, 0xbfeff621e3796d7e, // -0.049068, -0.9988 + 0xbfa856922bb513c1, 0xbfeff6bd463b444d, // -0.047535, -0.99887 + 0xbfa78dbaa5874685, 0xbfeff753bb1b9164, // -0.046003, -0.99894 + 0xbfa6c4df7d7d5b84, 0xbfeff7e5420320f9, // -0.044471, -0.99901 + 0xbfa5fc00d290cd43, 0xbfeff871dadb81df, // -0.042938, -0.99908 + 0xbfa5331ec3bba0eb, 0xbfeff8f9858f058b, // -0.041406, -0.99914 + 0xbfa46a396ff86179, 0xbfeff97c4208c014, // -0.039873, -0.9992 + 0xbfa3a150f6421afc, 0xbfeff9fa10348837, // -0.03834, -0.99926 + 0xbfa2d865759455cd, 0xbfeffa72effef75d, // -0.036807, -0.99932 + 0xbfa20f770ceb11c6, 0xbfeffae6e1556998, // -0.035274, -0.99938 + 0xbfa14685db42c17e, 0xbfeffb55e425fdae, // -0.033741, -0.99943 + 0xbfa07d91ff984580, 0xbfeffbbff85f9515, // -0.032208, -0.99948 + 0xbf9f693731d1cf01, 0xbfeffc251df1d3f8, // -0.030675, -0.99953 + 0xbf9dd7458c64ab39, 0xbfeffc8554cd213a, // -0.029142, -0.99958 + 0xbf9c454f4ce53b1c, 0xbfeffce09ce2a679, // -0.027608, -0.99962 + 0xbf9ab354b1504fca, 0xbfeffd36f624500c, // -0.026075, -0.99966 + 0xbf992155f7a3667e, 0xbfeffd886084cd0d, // -0.024541, -0.9997 + 0xbf978f535ddc9f03, 0xbfeffdd4dbf78f52, // -0.023008, -0.99974 + 0xbf95fd4d21fab226, 0xbfeffe1c6870cb77, // -0.021474, -0.99977 + 0xbf946b4381fce81c, 0xbfeffe5f05e578db, // -0.01994, -0.9998 + 0xbf92d936bbe30efd, 0xbfeffe9cb44b51a1, // -0.018407, -0.99983 + 0xbf9147270dad7132, 0xbfeffed57398d2b7, // -0.016873, -0.99986 + 0xbf8f6a296ab997ca, 0xbfefff0943c53bd1, // -0.015339, -0.99988 + 0xbf8c45ffe1e48ad9, 0xbfefff3824c88f6f, // -0.013805, -0.9999 + 0xbf8921d1fcdec784, 0xbfefff62169b92db, // -0.012272, -0.99992 + 0xbf85fda037ac05e0, 0xbfefff871937ce2f, // -0.010738, -0.99994 + 0xbf82d96b0e509703, 0xbfefffa72c978c4f, //-0.0092038, -0.99996 + 0xbf7f6a65f9a2a3c5, 0xbfefffc250b5daef, //-0.0076698, -0.99997 + 0xbf7921f0fe670071, 0xbfefffd8858e8a92, //-0.0061359, -0.99998 + 0xbf72d97822f996bc, 0xbfefffe9cb1e2e8d, //-0.0046019, -0.99999 + 0xbf6921f8becca4ba, 0xbfeffff621621d02, // -0.003068, -1 + 0xbf5921faaee6472d, 0xbfeffffd88586ee6, // -0.001534, -1 + 0x0000000000000000, 0xbff0000000000000, // 0, -1 + 0x3f5921faaee6472d, 0xbfeffffd88586ee6, // 0.001534, -1 + 0x3f6921f8becca4ba, 0xbfeffff621621d02, // 0.003068, -1 + 0x3f72d97822f996bc, 0xbfefffe9cb1e2e8d, // 0.0046019, -0.99999 + 0x3f7921f0fe670071, 0xbfefffd8858e8a92, // 0.0061359, -0.99998 + 0x3f7f6a65f9a2a3c5, 0xbfefffc250b5daef, // 0.0076698, -0.99997 + 0x3f82d96b0e509703, 0xbfefffa72c978c4f, // 0.0092038, -0.99996 + 0x3f85fda037ac05e0, 0xbfefff871937ce2f, // 0.010738, -0.99994 + 0x3f8921d1fcdec784, 0xbfefff62169b92db, // 0.012272, -0.99992 + 0x3f8c45ffe1e48ad9, 0xbfefff3824c88f6f, // 0.013805, -0.9999 + 0x3f8f6a296ab997ca, 0xbfefff0943c53bd1, // 0.015339, -0.99988 + 0x3f9147270dad7132, 0xbfeffed57398d2b7, // 0.016873, -0.99986 + 0x3f92d936bbe30efd, 0xbfeffe9cb44b51a1, // 0.018407, -0.99983 + 0x3f946b4381fce81c, 0xbfeffe5f05e578db, // 0.01994, -0.9998 + 0x3f95fd4d21fab226, 0xbfeffe1c6870cb77, // 0.021474, -0.99977 + 0x3f978f535ddc9f03, 0xbfeffdd4dbf78f52, // 0.023008, -0.99974 + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, // 0.024541, -0.9997 + 0x3f9ab354b1504fca, 0xbfeffd36f624500c, // 0.026075, -0.99966 + 0x3f9c454f4ce53b1c, 0xbfeffce09ce2a679, // 0.027608, -0.99962 + 0x3f9dd7458c64ab39, 0xbfeffc8554cd213a, // 0.029142, -0.99958 + 0x3f9f693731d1cf01, 0xbfeffc251df1d3f8, // 0.030675, -0.99953 + 0x3fa07d91ff984580, 0xbfeffbbff85f9515, // 0.032208, -0.99948 + 0x3fa14685db42c17e, 0xbfeffb55e425fdae, // 0.033741, -0.99943 + 0x3fa20f770ceb11c6, 0xbfeffae6e1556998, // 0.035274, -0.99938 + 0x3fa2d865759455cd, 0xbfeffa72effef75d, // 0.036807, -0.99932 + 0x3fa3a150f6421afc, 0xbfeff9fa10348837, // 0.03834, -0.99926 + 0x3fa46a396ff86179, 0xbfeff97c4208c014, // 0.039873, -0.9992 + 0x3fa5331ec3bba0eb, 0xbfeff8f9858f058b, // 0.041406, -0.99914 + 0x3fa5fc00d290cd43, 0xbfeff871dadb81df, // 0.042938, -0.99908 + 0x3fa6c4df7d7d5b84, 0xbfeff7e5420320f9, // 0.044471, -0.99901 + 0x3fa78dbaa5874685, 0xbfeff753bb1b9164, // 0.046003, -0.99894 + 0x3fa856922bb513c1, 0xbfeff6bd463b444d, // 0.047535, -0.99887 + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, // 0.049068, -0.9988 + 0x3fa9e835d6993c87, 0xbfeff58192ee0358, // 0.0506, -0.99872 + 0x3faab101bd5f8317, 0xbfeff4dc54b1bed3, // 0.052132, -0.99864 + 0x3fab79c986698b78, 0xbfeff43228de1b77, // 0.053664, -0.99856 + 0x3fac428d12c0d7e3, 0xbfeff3830f8d575c, // 0.055195, -0.99848 + 0x3fad0b4c436f91d0, 0xbfeff2cf08da7321, // 0.056727, -0.99839 + 0x3fadd406f9808ec8, 0xbfeff21614e131ed, // 0.058258, -0.9983 + 0x3fae9cbd15ff5527, 0xbfeff15833be1965, // 0.05979, -0.99821 + 0x3faf656e79f820e0, 0xbfeff095658e71ad, // 0.061321, -0.99812 + 0x3fb0170d833bf421, 0xbfefefcdaa704562, // 0.062852, -0.99802 + 0x3fb07b614e463064, 0xbfefef0102826191, // 0.064383, -0.99793 + 0x3fb0dfb28ea201e6, 0xbfefee2f6de455ba, // 0.065913, -0.99783 + 0x3fb1440134d709b2, 0xbfefed58ecb673c4, // 0.067444, -0.99772 + 0x3fb1a84d316d4f8a, 0xbfefec7d7f19cffc, // 0.068974, -0.99762 + 0x3fb20c9674ed444c, 0xbfefeb9d2530410f, // 0.070505, -0.99751 + 0x3fb270dcefdfc45b, 0xbfefeab7df1c6005, // 0.072035, -0.9974 + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, // 0.073565, -0.99729 + 0x3fb339614e41ffa5, 0xbfefe8de8f03d75c, // 0.075094, -0.99718 + 0x3fb39d9f12c5a299, 0xbfefe7ea85482d60, // 0.076624, -0.99706 + 0x3fb401d9d0e3a507, 0xbfefe6f18ff42c84, // 0.078153, -0.99694 + 0x3fb4661179272096, 0xbfefe5f3af2e3940, // 0.079682, -0.99682 + 0x3fb4ca45fc1ba8b6, 0xbfefe4f0e31d7a4a, // 0.081211, -0.9967 + 0x3fb52e774a4d4d0a, 0xbfefe3e92be9d886, // 0.08274, -0.99657 + 0x3fb592a554489bc8, 0xbfefe2dc89bbff08, // 0.084269, -0.99644 + 0x3fb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // 0.085797, -0.99631 + 0x3fb65af75dd0f87b, 0xbfefe0b485181be3, // 0.087326, -0.99618 + 0x3fb6bf1b3e79b129, 0xbfefdf9922f73307, // 0.088854, -0.99604 + 0x3fb7233b9d236e71, 0xbfefde78d68653fd, // 0.090381, -0.99591 + 0x3fb787586a5d5b21, 0xbfefdd539ff1f456, // 0.091909, -0.99577 + 0x3fb7eb7196b72ee4, 0xbfefdc297f674ba9, // 0.093436, -0.99563 + 0x3fb84f8712c130a0, 0xbfefdafa7514538c, // 0.094963, -0.99548 + 0x3fb8b398cf0c38e0, 0xbfefd9c68127c78c, // 0.09649, -0.99533 + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518 + 0x3fb97bb0caaba56f, 0xbfefd74fdd40abbf, // 0.099544, -0.99503 + 0x3fb9dfb6eb24a85c, 0xbfefd60d2da75c9e, // 0.10107, -0.99488 + 0x3fba43b90e27f3c4, 0xbfefd4c59536fae4, // 0.1026, -0.99472 + 0x3fbaa7b724495c04, 0xbfefd37914220b84, // 0.10412, -0.99456 + 0x3fbb0bb11e1d5559, 0xbfefd227aa9bd53b, // 0.10565, -0.9944 + 0x3fbb6fa6ec38f64c, 0xbfefd0d158d86087, // 0.10717, -0.99424 + 0x3fbbd3987f31fa0e, 0xbfefcf761f0c77a3, // 0.1087, -0.99407 + 0x3fbc3785c79ec2d5, 0xbfefce15fd6da67b, // 0.11022, -0.99391 + 0x3fbc9b6eb6165c42, 0xbfefccb0f4323aa3, // 0.11175, -0.99374 + 0x3fbcff533b307dc1, 0xbfefcb4703914354, // 0.11327, -0.99356 + 0x3fbd633347858ce4, 0xbfefc9d82bc2915e, // 0.11479, -0.99339 + 0x3fbdc70ecbae9fc8, 0xbfefc8646cfeb721, // 0.11632, -0.99321 + 0x3fbe2ae5b8457f77, 0xbfefc6ebc77f0887, // 0.11784, -0.99303 + 0x3fbe8eb7fde4aa3e, 0xbfefc56e3b7d9af6, // 0.11937, -0.99285 + 0x3fbef2858d27561b, 0xbfefc3ebc935454c, // 0.12089, -0.99267 + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248 + 0x3fbfba124b07ad85, 0xbfefc0d832bf043a, // 0.12393, -0.99229 + 0x3fc00ee8ad6fb85b, 0xbfefbf470f0a8d88, // 0.12545, -0.9921 + 0x3fc040c5bb67747e, 0xbfefbdb106021816, // 0.12698, -0.99191 + 0x3fc072a047ba831d, 0xbfefbc1617e44186, // 0.1285, -0.99171 + 0x3fc0a4784ab8bf1d, 0xbfefba7644f068b5, // 0.13002, -0.99151 + 0x3fc0d64dbcb26786, 0xbfefb8d18d66adb7, // 0.13154, -0.99131 + 0x3fc1082095f820b0, 0xbfefb727f187f1c7, // 0.13306, -0.99111 + 0x3fc139f0cedaf576, 0xbfefb5797195d741, // 0.13458, -0.9909 + 0x3fc16bbe5fac5865, 0xbfefb3c60dd2c199, // 0.1361, -0.9907 + 0x3fc19d8940be24e7, 0xbfefb20dc681d54d, // 0.13762, -0.99049 + 0x3fc1cf516a62a077, 0xbfefb0509be6f7db, // 0.13914, -0.99027 + 0x3fc20116d4ec7bce, 0xbfefae8e8e46cfbb, // 0.14066, -0.99006 + 0x3fc232d978aed413, 0xbfefacc79de6c44f, // 0.14218, -0.98984 + 0x3fc264994dfd340a, 0xbfefaafbcb0cfddc, // 0.1437, -0.98962 + 0x3fc296564d2b953e, 0xbfefa92b1600657c, // 0.14521, -0.9894 + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918 + 0x3fc2f9c7aa7a72af, 0xbfefa57b066e2754, // 0.14825, -0.98895 + 0x3fc32b7bf94516a7, 0xbfefa39bac7a1791, // 0.14976, -0.98872 + 0x3fc35d2d53440db2, 0xbfefa1b7717661d5, // 0.15128, -0.98849 + 0x3fc38edbb0cd8d14, 0xbfef9fce55adb2c8, // 0.1528, -0.98826 + 0x3fc3c0870a383ff6, 0xbfef9de0596b77a3, // 0.15431, -0.98802 + 0x3fc3f22f57db4893, 0xbfef9bed7cfbde29, // 0.15583, -0.98778 + 0x3fc423d4920e4166, 0xbfef99f5c0abd496, // 0.15734, -0.98754 + 0x3fc45576b1293e5a, 0xbfef97f924c9099b, // 0.15886, -0.9873 + 0x3fc48715ad84cdf5, 0xbfef95f7a9a1ec47, // 0.16037, -0.98706 + 0x3fc4b8b17f79fa88, 0xbfef93f14f85ac08, // 0.16189, -0.98681 + 0x3fc4ea4a1f624b61, 0xbfef91e616c43891, // 0.1634, -0.98656 + 0x3fc51bdf8597c5f2, 0xbfef8fd5ffae41db, // 0.16491, -0.98631 + 0x3fc54d71aa74ef02, 0xbfef8dc10a95380d, // 0.16643, -0.98605 + 0x3fc57f008654cbde, 0xbfef8ba737cb4b78, // 0.16794, -0.9858 + 0x3fc5b08c1192e381, 0xbfef898887a36c84, // 0.16945, -0.98554 + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528 + 0x3fc61399179a6e94, 0xbfef853c9089595e, // 0.17247, -0.98501 + 0x3fc6451a831d830d, 0xbfef830f4a40c60c, // 0.17398, -0.98475 + 0x3fc676987f7216b8, 0xbfef80dd27ed8204, // 0.17549, -0.98448 + 0x3fc6a81304f64ab2, 0xbfef7ea629e63d6e, // 0.177, -0.98421 + 0x3fc6d98a0c08c8da, 0xbfef7c6a50826840, // 0.17851, -0.98394 + 0x3fc70afd8d08c4ff, 0xbfef7a299c1a322a, // 0.18002, -0.98366 + 0x3fc73c6d8055fe0a, 0xbfef77e40d068a90, // 0.18153, -0.98339 + 0x3fc76dd9de50bf31, 0xbfef7599a3a12077, // 0.18304, -0.98311 + 0x3fc79f429f59e11d, 0xbfef734a60446279, // 0.18455, -0.98282 + 0x3fc7d0a7bbd2cb1b, 0xbfef70f6434b7eb7, // 0.18606, -0.98254 + 0x3fc802092c1d744b, 0xbfef6e9d4d1262ca, // 0.18756, -0.98225 + 0x3fc83366e89c64c5, 0xbfef6c3f7df5bbb7, // 0.18907, -0.98196 + 0x3fc864c0e9b2b6cf, 0xbfef69dcd652f5de, // 0.19057, -0.98167 + 0x3fc8961727c41804, 0xbfef677556883cee, // 0.19208, -0.98138 + 0x3fc8c7699b34ca7e, 0xbfef6508fef47bd5, // 0.19359, -0.98108 + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079 + 0x3fc92a0303c8194f, 0xbfef6021c9f148c2, // 0.19659, -0.98048 + 0x3fc95b49e9b62af9, 0xbfef5da6ed43685d, // 0.1981, -0.98018 + 0x3fc98c8ce69a7aec, 0xbfef5b273a4fa2d9, // 0.1996, -0.97988 + 0x3fc9bdcbf2dc4366, 0xbfef58a2b1789e84, // 0.2011, -0.97957 + 0x3fc9ef0706e35a35, 0xbfef56195321c090, // 0.20261, -0.97926 + 0x3fca203e1b1831da, 0xbfef538b1faf2d07, // 0.20411, -0.97895 + 0x3fca517127e3dabc, 0xbfef50f81785c6b9, // 0.20561, -0.97863 + 0x3fca82a025b00451, 0xbfef4e603b0b2f2d, // 0.20711, -0.97832 + 0x3fcab3cb0ce6fe44, 0xbfef4bc38aa5c694, // 0.20861, -0.978 + 0x3fcae4f1d5f3b9ab, 0xbfef492206bcabb4, // 0.21011, -0.97768 + 0x3fcb16147941ca2a, 0xbfef467bafb7bbe0, // 0.21161, -0.97735 + 0x3fcb4732ef3d6722, 0xbfef43d085ff92dd, // 0.21311, -0.97703 + 0x3fcb784d30536cda, 0xbfef412089fd8adc, // 0.21461, -0.9767 + 0x3fcba96334f15dad, 0xbfef3e6bbc1bbc65, // 0.21611, -0.97637 + 0x3fcbda74f5856330, 0xbfef3bb21cc4fe47, // 0.2176, -0.97604 + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757 + 0x3fcc3c8b8c4b9dd7, 0xbfef36306b67c556, // 0.2206, -0.97536 + 0x3fcc6d90535d74dc, 0xbfef33685a3aaef0, // 0.22209, -0.97503 + 0x3fcc9e90b824a6a9, 0xbfef309b794b719f, // 0.22359, -0.97468 + 0x3fcccf8cb312b286, 0xbfef2dc9c9089a9d, // 0.22508, -0.97434 + 0x3fcd00843c99c5f9, 0xbfef2af349e17507, // 0.22658, -0.97399 + 0x3fcd31774d2cbdee, 0xbfef2817fc4609ce, // 0.22807, -0.97364 + 0x3fcd6265dd3f27e3, 0xbfef2537e0a71f9f, // 0.22957, -0.97329 + 0x3fcd934fe5454311, 0xbfef2252f7763ada, // 0.23106, -0.97294 + 0x3fcdc4355db40195, 0xbfef1f6941259d7a, // 0.23255, -0.97258 + 0x3fcdf5163f01099a, 0xbfef1c7abe284708, // 0.23404, -0.97223 + 0x3fce25f281a2b684, 0xbfef19876ef1f486, // 0.23553, -0.97187 + 0x3fce56ca1e101a1b, 0xbfef168f53f7205d, // 0.23702, -0.9715 + 0x3fce879d0cc0fdaf, 0xbfef13926dad024e, // 0.23851, -0.97114 + 0x3fceb86b462de348, 0xbfef1090bc898f5f, // 0.24, -0.97077 + 0x3fcee934c2d006c7, 0xbfef0d8a410379c5, // 0.24149, -0.9704 + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003 + 0x3fcf4ab9679c9f5c, 0xbfef076eecade0fa, // 0.24447, -0.96966 + 0x3fcf7b7480bd3801, 0xbfef045a14cf738c, // 0.24596, -0.96928 + 0x3fcfac2abeff57ff, 0xbfef014074708ed3, // 0.24744, -0.9689 + 0x3fcfdcdc1adfedf8, 0xbfeefe220c0b95ec, // 0.24893, -0.96852 + 0x3fd006c4466e54af, 0xbfeefafedc1ba8b7, // 0.25041, -0.96814 + 0x3fd01f1806b9fdd2, 0xbfeef7d6e51ca3c0, // 0.2519, -0.96775 + 0x3fd037694a928cac, 0xbfeef4aa278b2032, // 0.25338, -0.96737 + 0x3fd04fb80e37fdae, 0xbfeef178a3e473c2, // 0.25487, -0.96698 + 0x3fd068044deab002, 0xbfeeee425aa6b09a, // 0.25635, -0.96658 + 0x3fd0804e05eb661e, 0xbfeeeb074c50a544, // 0.25783, -0.96619 + 0x3fd09895327b465e, 0xbfeee7c77961dc9e, // 0.25931, -0.96579 + 0x3fd0b0d9cfdbdb90, 0xbfeee482e25a9dbc, // 0.26079, -0.96539 + 0x3fd0c91bda4f158d, 0xbfeee13987bbebdc, // 0.26227, -0.96499 + 0x3fd0e15b4e1749cd, 0xbfeeddeb6a078651, // 0.26375, -0.96459 + 0x3fd0f998277733f7, 0xbfeeda9889bfe86a, // 0.26523, -0.96418 + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378 + 0x3fd12a09fc0b1b12, 0xbfeed3e483849c51, // 0.26819, -0.96337 + 0x3fd1423eefc69378, 0xbfeed0835e999009, // 0.26967, -0.96295 + 0x3fd15a713a28b9d9, 0xbfeecd1d792c8f10, // 0.27115, -0.96254 + 0x3fd172a0d7765177, 0xbfeec9b2d3c3bf84, // 0.27262, -0.96212 + 0x3fd18acdc3f4873a, 0xbfeec6436ee60309, // 0.2741, -0.9617 + 0x3fd1a2f7fbe8f243, 0xbfeec2cf4b1af6b2, // 0.27557, -0.96128 + 0x3fd1bb1f7b999480, 0xbfeebf5668eaf2ef, // 0.27705, -0.96086 + 0x3fd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // 0.27852, -0.96043 + 0x3fd1eb6643499fbb, 0xbfeeb8566b810f2a, // 0.27999, -0.96 + 0x3fd2038583d727bd, 0xbfeeb4cf515b8811, // 0.28146, -0.95957 + 0x3fd21ba1fd3d2623, 0xbfeeb1437af9bb34, // 0.28294, -0.95914 + 0x3fd233bbabc3bb72, 0xbfeeadb2e8e7a88e, // 0.28441, -0.9587 + 0x3fd24bd28bb37672, 0xbfeeaa1d9bb20af3, // 0.28588, -0.95827 + 0x3fd263e6995554ba, 0xbfeea68393e65800, // 0.28735, -0.95783 + 0x3fd27bf7d0f2c346, 0xbfeea2e4d212c000, // 0.28882, -0.95738 + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694 + 0x3fd2ac11af483572, 0xbfee9b99229046f8, // 0.29175, -0.95649 + 0x3fd2c41a4e954520, 0xbfee97ec36016b30, // 0.29322, -0.95605 + 0x3fd2dc200907fe51, 0xbfee943a91aab4b4, // 0.29469, -0.95559 + 0x3fd2f422daec0386, 0xbfee9084361df7f3, // 0.29615, -0.95514 + 0x3fd30c22c08d6a13, 0xbfee8cc923edc388, // 0.29762, -0.95469 + 0x3fd3241fb638baaf, 0xbfee89095bad6025, // 0.29908, -0.95423 + 0x3fd33c19b83af207, 0xbfee8544ddf0d075, // 0.30054, -0.95377 + 0x3fd35410c2e18152, 0xbfee817bab4cd10d, // 0.30201, -0.95331 + 0x3fd36c04d27a4edf, 0xbfee7dadc456d850, // 0.30347, -0.95284 + 0x3fd383f5e353b6aa, 0xbfee79db29a5165a, // 0.30493, -0.95238 + 0x3fd39be3f1bc8aef, 0xbfee7603dbce74e9, // 0.30639, -0.95191 + 0x3fd3b3cefa0414b7, 0xbfee7227db6a9744, // 0.30785, -0.95144 + 0x3fd3cbb6f87a146e, 0xbfee6e472911da27, // 0.30931, -0.95096 + 0x3fd3e39be96ec271, 0xbfee6a61c55d53a7, // 0.31077, -0.95049 + 0x3fd3fb7dc932cfa4, 0xbfee6677b0e6d31e, // 0.31222, -0.95001 + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953 + 0x3fd42b38466e2928, 0xbfee5e95781ebf1c, // 0.31514, -0.94905 + 0x3fd44310dc8936f0, 0xbfee5a9d550467d3, // 0.31659, -0.94856 + 0x3fd45ae652bb2800, 0xbfee56a083968eb1, // 0.31805, -0.94807 + 0x3fd472b8a5571054, 0xbfee529f04729ffc, // 0.3195, -0.94759 + 0x3fd48a87d0b07fd7, 0xbfee4e98d836c0af, // 0.32096, -0.94709 + 0x3fd4a253d11b82f3, 0xbfee4a8dff81ce5e, // 0.32241, -0.9466 + 0x3fd4ba1ca2eca31c, 0xbfee467e7af35f23, // 0.32386, -0.94611 + 0x3fd4d1e24278e76a, 0xbfee426a4b2bc17e, // 0.32531, -0.94561 + 0x3fd4e9a4ac15d520, 0xbfee3e5170cbfc46, // 0.32676, -0.94511 + 0x3fd50163dc197047, 0xbfee3a33ec75ce85, // 0.32821, -0.9446 + 0x3fd5191fceda3c35, 0xbfee3611becbaf69, // 0.32966, -0.9441 + 0x3fd530d880af3c24, 0xbfee31eae870ce25, // 0.33111, -0.94359 + 0x3fd5488dedeff3be, 0xbfee2dbf6a0911d9, // 0.33255, -0.94308 + 0x3fd5604012f467b4, 0xbfee298f4439197a, // 0.334, -0.94257 + 0x3fd577eeec151e47, 0xbfee255a77a63bb8, // 0.33545, -0.94206 + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154 + 0x3fd5a742ac0ff78d, 0xbfee1ce2ecd0c0d8, // 0.33833, -0.94103 + 0x3fd5bee78b9db3b6, 0xbfee18a02fdc66d9, // 0.33978, -0.94051 + 0x3fd5d68910aee686, 0xbfee1458cec1ad83, // 0.34122, -0.93998 + 0x3fd5ee27379ea693, 0xbfee100cca2980ac, // 0.34266, -0.93946 + 0x3fd605c1fcc88f63, 0xbfee0bbc22bd8349, // 0.3441, -0.93893 + 0x3fd61d595c88c203, 0xbfee0766d9280f54, // 0.34554, -0.9384 + 0x3fd634ed533be58e, 0xbfee030cee1435b8, // 0.34698, -0.93787 + 0x3fd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // 0.34842, -0.93734 + 0x3fd6640af6f03d9e, 0xbfedfa4b3621271d, // 0.34986, -0.9368 + 0x3fd67b949cad63ca, 0xbfedf5e36a9ba59c, // 0.35129, -0.93627 + 0x3fd6931acad55f51, 0xbfedf177004b2534, // 0.35273, -0.93573 + 0x3fd6aa9d7dc77e16, 0xbfeded05f7de47da, // 0.35416, -0.93518 + 0x3fd6c21cb1e39771, 0xbfede890520465ce, // 0.3556, -0.93464 + 0x3fd6d998638a0cb5, 0xbfede4160f6d8d81, // 0.35703, -0.93409 + 0x3fd6f1108f1bc9c5, 0xbfeddf9730ca837b, // 0.35846, -0.93354 + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299 + 0x3fd71ff6458782ec, 0xbfedd68ba2267a25, // 0.36133, -0.93244 + 0x3fd73763c9261092, 0xbfedd1fef38a915a, // 0.36276, -0.93188 + 0x3fd74ecdb8390a3e, 0xbfedcd6dabaca3a5, // 0.36418, -0.93133 + 0x3fd766340f2418f6, 0xbfedc8d7cb410260, // 0.36561, -0.93077 + 0x3fd77d96ca4b73a6, 0xbfedc43d52fcb453, // 0.36704, -0.93021 + 0x3fd794f5e613dfae, 0xbfedbf9e4395759a, // 0.36847, -0.92964 + 0x3fd7ac515ee2b172, 0xbfedbafa9dc1b78d, // 0.36989, -0.92907 + 0x3fd7c3a9311dcce7, 0xbfedb6526238a09b, // 0.37132, -0.92851 + 0x3fd7dafd592ba621, 0xbfedb1a591b20c38, // 0.37274, -0.92794 + 0x3fd7f24dd37341e3, 0xbfedacf42ce68ab9, // 0.37416, -0.92736 + 0x3fd8099a9c5c362d, 0xbfeda83e348f613b, // 0.37559, -0.92679 + 0x3fd820e3b04eaac4, 0xbfeda383a9668988, // 0.37701, -0.92621 + 0x3fd838290bb359c8, 0xbfed9ec48c26b1f3, // 0.37843, -0.92563 + 0x3fd84f6aaaf3903f, 0xbfed9a00dd8b3d46, // 0.37985, -0.92505 + 0x3fd866a88a792ea0, 0xbfed95389e50429b, // 0.38127, -0.92447 + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388 + 0x3fd89518fbff098e, 0xbfed8b9a70ef9cb4, // 0.3841, -0.92329 + 0x3fd8ac4b86d5ed44, 0xbfed86c48445a450, // 0.38552, -0.9227 + 0x3fd8c37a439f884f, 0xbfed81ea09f38b63, // 0.38693, -0.92211 + 0x3fd8daa52ec8a4af, 0xbfed7d0b02b8ecf9, // 0.38835, -0.92151 + 0x3fd8f1cc44bea329, 0xbfed78276f5617c6, // 0.38976, -0.92092 + 0x3fd908ef81ef7bd1, 0xbfed733f508c0dff, // 0.39117, -0.92032 + 0x3fd9200ee2c9be97, 0xbfed6e52a71c8547, // 0.39258, -0.91972 + 0x3fd9372a63bc93d7, 0xbfed696173c9e68b, // 0.39399, -0.91911 + 0x3fd94e420137bce3, 0xbfed646bb7574de5, // 0.3954, -0.91851 + 0x3fd96555b7ab948f, 0xbfed5f7172888a7f, // 0.39681, -0.9179 + 0x3fd97c6583890fc2, 0xbfed5a72a6221e73, // 0.39822, -0.91729 + 0x3fd993716141bdfe, 0xbfed556f52e93eb1, // 0.39962, -0.91668 + 0x3fd9aa794d47c9ee, 0xbfed506779a3d2d9, // 0.40103, -0.91606 + 0x3fd9c17d440df9f2, 0xbfed4b5b1b187524, // 0.40243, -0.91545 + 0x3fd9d87d4207b0ab, 0xbfed464a380e7242, // 0.40384, -0.91483 + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421 + 0x3fda067145664d57, 0xbfed3c1ae79f2b4e, // 0.40664, -0.91359 + 0x3fda1d6543b50ac0, 0xbfed36fc7bcbfbdc, // 0.40804, -0.91296 + 0x3fda34553b0afee5, 0xbfed31d98e9e503a, // 0.40944, -0.91234 + 0x3fda4b4127dea1e4, 0xbfed2cb220e0ef9f, // 0.41084, -0.91171 + 0x3fda622906a70b63, 0xbfed2786335f52fc, // 0.41224, -0.91107 + 0x3fda790cd3dbf31a, 0xbfed2255c6e5a4e1, // 0.41364, -0.91044 + 0x3fda8fec8bf5b166, 0xbfed1d20dc40c15c, // 0.41503, -0.90981 + 0x3fdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // 0.41643, -0.90917 + 0x3fdabd9faebc3980, 0xbfed12a98fac410c, // 0.41782, -0.90853 + 0x3fdad473125cdc08, 0xbfed0d672f59d2b9, // 0.41922, -0.90789 + 0x3fdaeb4252ca07ab, 0xbfed082054168bac, // 0.42061, -0.90724 + 0x3fdb020d6c7f4009, 0xbfed02d4feb2bd92, // 0.422, -0.9066 + 0x3fdb18d45bf8aca6, 0xbfecfd852fff6ad4, // 0.42339, -0.90595 + 0x3fdb2f971db31972, 0xbfecf830e8ce467b, // 0.42478, -0.9053 + 0x3fdb4655ae2bf757, 0xbfecf2d829f1b40e, // 0.42617, -0.90464 + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399 + 0x3fdb73c62d520624, 0xbfece819488344ce, // 0.42894, -0.90333 + 0x3fdb8a7814fd5693, 0xbfece2b32799a060, // 0.43033, -0.90267 + 0x3fdba125bd63583e, 0xbfecdd489254fe65, // 0.43171, -0.90201 + 0x3fdbb7cf2304bd01, 0xbfecd7d9898b32f6, // 0.43309, -0.90135 + 0x3fdbce744262deee, 0xbfecd2660e12c1e6, // 0.43448, -0.90068 + 0x3fdbe51517ffc0d9, 0xbfecccee20c2de9f, // 0.43586, -0.90002 + 0x3fdbfbb1a05e0edc, 0xbfecc771c2736c09, // 0.43724, -0.89935 + 0x3fdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // 0.43862, -0.89867 + 0x3fdc28ddbb6cf145, 0xbfecbc6bb638d10b, // 0.43999, -0.898 + 0x3fdc3f6d47263129, 0xbfecb6e20a00da99, // 0.44137, -0.89732 + 0x3fdc55f877b23537, 0xbfecb153f02fb87d, // 0.44275, -0.89665 + 0x3fdc6c7f4997000a, 0xbfecabc169a0b901, // 0.44412, -0.89597 + 0x3fdc8301b95b40c2, 0xbfeca62a772fd919, // 0.4455, -0.89528 + 0x3fdc997fc3865388, 0xbfeca08f19b9c449, // 0.44687, -0.8946 + 0x3fdcaff964a0421d, 0xbfec9aef521bd480, // 0.44824, -0.89391 + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322 + 0x3fdcdcdf5dc440ce, 0xbfec8fa287e13305, // 0.45098, -0.89253 + 0x3fdcf34baee1cd21, 0xbfec89f587029c13, // 0.45235, -0.89184 + 0x3fdd09b389152ec1, 0xbfec84441f785f61, // 0.45372, -0.89115 + 0x3fdd2016e8e9db5b, 0xbfec7e8e52233cf3, // 0.45508, -0.89045 + 0x3fdd3675caebf962, 0xbfec78d41fe4a267, // 0.45645, -0.88975 + 0x3fdd4cd02ba8609c, 0xbfec7315899eaad7, // 0.45781, -0.88905 + 0x3fdd632607ac9aa9, 0xbfec6d5290341eb2, // 0.45918, -0.88835 + 0x3fdd79775b86e389, 0xbfec678b3488739b, // 0.46054, -0.88764 + 0x3fdd8fc423c62a25, 0xbfec61bf777fcc48, // 0.4619, -0.88693 + 0x3fdda60c5cfa10d8, 0xbfec5bef59fef85a, // 0.46326, -0.88622 + 0x3fddbc5003b2edf8, 0xbfec561adceb743e, // 0.46462, -0.88551 + 0x3fddd28f1481cc58, 0xbfec5042012b6907, // 0.46598, -0.8848 + 0x3fdde8c98bf86bd6, 0xbfec4a64c7a5ac4c, // 0.46733, -0.88408 + 0x3fddfeff66a941de, 0xbfec44833141c004, // 0.46869, -0.88336 + 0x3fde1530a12779f4, 0xbfec3e9d3ee7d262, // 0.47004, -0.88264 + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192 + 0x3fde418527dc4ffa, 0xbfec32c449f60831, // 0.47275, -0.8812 + 0x3fde57a86d3cd824, 0xbfec2cd14931e3f1, // 0.4741, -0.88047 + 0x3fde6dc704be97e2, 0xbfec26d9f01f2eaf, // 0.47545, -0.87974 + 0x3fde83e0eaf85113, 0xbfec20de3fa971b0, // 0.4768, -0.87901 + 0x3fde99f61c817eda, 0xbfec1ade38bce19b, // 0.47815, -0.87828 + 0x3fdeb00695f25620, 0xbfec14d9dc465e58, // 0.47949, -0.87755 + 0x3fdec61253e3c61b, 0xbfec0ed12b3372e9, // 0.48084, -0.87681 + 0x3fdedc1952ef78d5, 0xbfec08c426725549, // 0.48218, -0.87607 + 0x3fdef21b8fafd3b5, 0xbfec02b2cef1e641, // 0.48353, -0.87533 + 0x3fdf081906bff7fd, 0xbfebfc9d25a1b147, // 0.48487, -0.87459 + 0x3fdf1e11b4bbc35c, 0xbfebf6832b71ec5b, // 0.48621, -0.87384 + 0x3fdf3405963fd068, 0xbfebf064e15377dd, // 0.48755, -0.87309 + 0x3fdf49f4a7e97729, 0xbfebea424837de6d, // 0.48889, -0.87235 + 0x3fdf5fdee656cda3, 0xbfebe41b611154c1, // 0.49023, -0.8716 + 0x3fdf75c44e26a852, 0xbfebddf02cd2b983, // 0.49156, -0.87084 + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009 + 0x3fdfa1808c6cf7e0, 0xbfebd18ce0dc19d6, // 0.49423, -0.86933 + 0x3fdfb7575c24d2de, 0xbfebcb54cb0d2327, // 0.49557, -0.86857 + 0x3fdfcd2947c1ff57, 0xbfebc5186bf8361d, // 0.4969, -0.86781 + 0x3fdfe2f64be7120f, 0xbfebbed7c49380ea, // 0.49823, -0.86705 + 0x3fdff8be6537615e, 0xbfebb892d5d5dad5, // 0.49956, -0.86628 + 0x3fe00740c82b82e0, 0xbfebb249a0b6c40d, // 0.50089, -0.86551 + 0x3fe0121fe4f56d2c, 0xbfebabfc262e6586, // 0.50221, -0.86474 + 0x3fe01cfc874c3eb7, 0xbfeba5aa673590d2, // 0.50354, -0.86397 + 0x3fe027d6ad83287e, 0xbfeb9f5464c5bffc, // 0.50486, -0.8632 + 0x3fe032ae55edbd95, 0xbfeb98fa1fd9155e, // 0.50619, -0.86242 + 0x3fe03d837edff370, 0xbfeb929b996a5b7f, // 0.50751, -0.86165 + 0x3fe0485626ae221a, 0xbfeb8c38d27504e9, // 0.50883, -0.86087 + 0x3fe053264bad0483, 0xbfeb85d1cbf52c02, // 0.51015, -0.86009 + 0x3fe05df3ec31b8b6, 0xbfeb7f6686e792ea, // 0.51147, -0.8593 + 0x3fe068bf0691c028, 0xbfeb78f70449a34b, // 0.51279, -0.85852 + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773 + 0x3fe07e4da23bc102, 0xbfeb6c0b4a55ac17, // 0.51542, -0.85694 + 0x3fe089112032b08c, 0xbfeb658f14fdbc47, // 0.51673, -0.85615 + 0x3fe093d2115ee018, 0xbfeb5f0ea611a532, // 0.51804, -0.85535 + 0x3fe09e907417c5e1, 0xbfeb5889fe921405, // 0.51936, -0.85456 + 0x3fe0a94c46b53d0b, 0xbfeb52011f805c92, // 0.52067, -0.85376 + 0x3fe0b405878f85ec, 0xbfeb4b7409de7925, // 0.52198, -0.85296 + 0x3fe0bebc34ff4646, 0xbfeb44e2beaf0a61, // 0.52328, -0.85216 + 0x3fe0c9704d5d898f, 0xbfeb3e4d3ef55712, // 0.52459, -0.85136 + 0x3fe0d421cf03c12b, 0xbfeb37b38bb54c09, // 0.5259, -0.85055 + 0x3fe0ded0b84bc4b5, 0xbfeb3115a5f37bf4, // 0.5272, -0.84974 + 0x3fe0e97d078fd23b, 0xbfeb2a738eb51f33, // 0.5285, -0.84893 + 0x3fe0f426bb2a8e7d, 0xbfeb23cd470013b4, // 0.5298, -0.84812 + 0x3fe0fecdd1770537, 0xbfeb1d22cfdadcc6, // 0.5311, -0.84731 + 0x3fe1097248d0a956, 0xbfeb16742a4ca2f5, // 0.5324, -0.84649 + 0x3fe114141f935545, 0xbfeb0fc1575d33db, // 0.5337, -0.84567 + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485 + 0x3fe1294fe4c5350a, 0xbfeb024f2d7d24a9, // 0.53629, -0.84403 + 0x3fe133e9cfee254e, 0xbfeafb8fd89f57b6, // 0.53759, -0.84321 + 0x3fe13e8113f396c1, 0xbfeaf4cc5a85fb73, // 0.53888, -0.84238 + 0x3fe14915af336ceb, 0xbfeaee04b43c1474, // 0.54017, -0.84155 + 0x3fe153a7a00bf453, 0xbfeae738e6cd4b67, // 0.54146, -0.84073 + 0x3fe15e36e4dbe2bc, 0xbfeae068f345ecef, // 0.54275, -0.83989 + 0x3fe168c37c025764, 0xbfead994dab2e979, // 0.54404, -0.83906 + 0x3fe1734d63dedb49, 0xbfead2bc9e21d511, // 0.54532, -0.83822 + 0x3fe17dd49ad16161, 0xbfeacbe03ea0e73b, // 0.54661, -0.83739 + 0x3fe188591f3a46e5, 0xbfeac4ffbd3efac8, // 0.54789, -0.83655 + 0x3fe192daef7a5386, 0xbfeabe1b1b0b8dac, // 0.54918, -0.83571 + 0x3fe19d5a09f2b9b8, 0xbfeab7325916c0d4, // 0.55046, -0.83486 + 0x3fe1a7d66d0516e6, 0xbfeab045787157ff, // 0.55174, -0.83402 + 0x3fe1b250171373be, 0xbfeaa9547a2cb98e, // 0.55302, -0.83317 + 0x3fe1bcc706804467, 0xbfeaa25f5f5aee60, // 0.55429, -0.83232 + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147 + 0x3fe1d1acaf012cc2, 0xbfea9468d85b20ae, // 0.55685, -0.83062 + 0x3fe1dc1b64dc4872, 0xbfea8d676e545ad2, // 0.55812, -0.82976 + 0x3fe1e68759a3e074, 0xbfea8661ec0ee133, // 0.55939, -0.8289 + 0x3fe1f0f08bbc861b, 0xbfea7f58529fe69d, // 0.56066, -0.82805 + 0x3fe1fb56f98b37b8, 0xbfea784aa31d3f55, // 0.56193, -0.82718 + 0x3fe205baa17560d6, 0xbfea7138de9d60f5, // 0.5632, -0.82632 + 0x3fe2101b81e0da78, 0xbfea6a230637623b, // 0.56447, -0.82546 + 0x3fe21a799933eb58, 0xbfea63091b02fae2, // 0.56573, -0.82459 + 0x3fe224d4e5d5482e, 0xbfea5beb1e188375, // 0.567, -0.82372 + 0x3fe22f2d662c13e1, 0xbfea54c91090f524, // 0.56826, -0.82285 + 0x3fe23983189fdfd5, 0xbfea4da2f385e997, // 0.56952, -0.82198 + 0x3fe243d5fb98ac1f, 0xbfea4678c8119ac8, // 0.57078, -0.8211 + 0x3fe24e260d7ee7c9, 0xbfea3f4a8f4ee2d2, // 0.57204, -0.82023 + 0x3fe258734cbb7110, 0xbfea38184a593bc6, // 0.5733, -0.81935 + 0x3fe262bdb7b795a2, 0xbfea30e1fa4cbf81, // 0.57455, -0.81847 + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758 + 0x3fe2774a0a961612, 0xbfea22693d62ccb9, // 0.57706, -0.8167 + 0x3fe2818bef4d3cba, 0xbfea1b26d2c0a75e, // 0.57831, -0.81581 + 0x3fe28bcaf96d94ba, 0xbfea13e0617e4ec7, // 0.57956, -0.81493 + 0x3fe2960727629ca8, 0xbfea0c95eabaf937, // 0.58081, -0.81404 + 0x3fe2a040779843fb, 0xbfea05476f967bb5, // 0.58206, -0.81314 + 0x3fe2aa76e87aeb58, 0xbfe9fdf4f13149de, // 0.58331, -0.81225 + 0x3fe2b4aa787764c4, 0xbfe9f69e70ac75bc, // 0.58455, -0.81135 + 0x3fe2bedb25faf3ea, 0xbfe9ef43ef29af94, // 0.5858, -0.81046 + 0x3fe2c908ef734e57, 0xbfe9e7e56dcb45bd, // 0.58704, -0.80956 + 0x3fe2d333d34e9bb7, 0xbfe9e082edb42472, // 0.58828, -0.80866 + 0x3fe2dd5bcffb7616, 0xbfe9d91c7007d5a6, // 0.58952, -0.80775 + 0x3fe2e780e3e8ea16, 0xbfe9d1b1f5ea80d6, // 0.59076, -0.80685 + 0x3fe2f1a30d86773a, 0xbfe9ca438080eadb, // 0.592, -0.80594 + 0x3fe2fbc24b441015, 0xbfe9c2d110f075c3, // 0.59323, -0.80503 + 0x3fe305de9b921a94, 0xbfe9bb5aa85f2098, // 0.59447, -0.80412 + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321 + 0x3fe31a0e6da35e44, 0xbfe9ac61f0d4e247, // 0.59693, -0.80229 + 0x3fe32421ec49a620, 0xbfe9a4dfa42b06b2, // 0.59816, -0.80138 + 0x3fe32e3277467d6b, 0xbfe99d59631e65d5, // 0.59939, -0.80046 + 0x3fe338400d0c8e57, 0xbfe995cf2ed80d22, // 0.60062, -0.79954 + 0x3fe3424aac0ef7d6, 0xbfe98e410881a600, // 0.60184, -0.79861 + 0x3fe34c5252c14de1, 0xbfe986aef1457594, // 0.60307, -0.79769 + 0x3fe35656ff9799ae, 0xbfe97f18ea4e5c9e, // 0.60429, -0.79676 + 0x3fe36058b10659f3, 0xbfe9777ef4c7d742, // 0.60551, -0.79584 + 0x3fe36a576582831b, 0xbfe96fe111ddfce0, // 0.60673, -0.79491 + 0x3fe374531b817f8d, 0xbfe9683f42bd7fe1, // 0.60795, -0.79398 + 0x3fe37e4bd1792fe2, 0xbfe960998893ad8c, // 0.60917, -0.79304 + 0x3fe3884185dfeb22, 0xbfe958efe48e6dd7, // 0.61038, -0.79211 + 0x3fe39234372c7f04, 0xbfe9514257dc4335, // 0.6116, -0.79117 + 0x3fe39c23e3d63029, 0xbfe94990e3ac4a6c, // 0.61281, -0.79023 + 0x3fe3a6108a54ba58, 0xbfe941db892e3a65, // 0.61402, -0.78929 + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835 + 0x3fe3b9e0beb19e18, 0xbfe932652609b1cf, // 0.61644, -0.7874 + 0x3fe3c3c44981c517, 0xbfe92aa41fc5a815, // 0.61765, -0.78646 + 0x3fe3cda4c80a6076, 0xbfe922df37f8646a, // 0.61885, -0.78551 + 0x3fe3d78238c58343, 0xbfe91b166fd49da2, // 0.62006, -0.78456 + 0x3fe3e15c9a2db922, 0xbfe91349c88da398, // 0.62126, -0.7836 + 0x3fe3eb33eabe0680, 0xbfe90b7943575efe, // 0.62246, -0.78265 + 0x3fe3f50828f1e8d2, 0xbfe903a4e1665133, // 0.62366, -0.78169 + 0x3fe3fed9534556d4, 0xbfe8fbcca3ef940d, // 0.62486, -0.78074 + 0x3fe408a76834c0c0, 0xbfe8f3f08c28d9ac, // 0.62606, -0.77978 + 0x3fe41272663d108c, 0xbfe8ec109b486c49, // 0.62725, -0.77882 + 0x3fe41c3a4bdbaa26, 0xbfe8e42cd2852e0a, // 0.62845, -0.77785 + 0x3fe425ff178e6bb1, 0xbfe8dc45331698cc, // 0.62964, -0.77689 + 0x3fe42fc0c7d3adbb, 0xbfe8d459be34bdfa, // 0.63083, -0.77592 + 0x3fe4397f5b2a4380, 0xbfe8cc6a75184655, // 0.63202, -0.77495 + 0x3fe4433ad0117b1d, 0xbfe8c47758fa71cb, // 0.63321, -0.77398 + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301 + 0x3fe456a858917046, 0xbfe8b485aca2a468, // 0.63558, -0.77204 + 0x3fe4605a692b32a2, 0xbfe8ac871ede1d88, // 0.63676, -0.77106 + 0x3fe46a095557a0f1, 0xbfe8a484c3031d50, // 0.63794, -0.77008 + 0x3fe473b51b987347, 0xbfe89c7e9a4dd4ab, // 0.63912, -0.7691 + 0x3fe47d5dba6fde01, 0xbfe89474a5fb0a84, // 0.6403, -0.76812 + 0x3fe48703306091fe, 0xbfe88c66e7481ba1, // 0.64148, -0.76714 + 0x3fe490a57bedbcdf, 0xbfe884555f72fa6b, // 0.64266, -0.76615 + 0x3fe49a449b9b0938, 0xbfe87c400fba2ebf, // 0.64383, -0.76517 + 0x3fe4a3e08dec9ed6, 0xbfe87426f95cd5bd, // 0.645, -0.76418 + 0x3fe4ad79516722f0, 0xbfe86c0a1d9aa195, // 0.64618, -0.76319 + 0x3fe4b70ee48fb869, 0xbfe863e97db3d95a, // 0.64735, -0.7622 + 0x3fe4c0a145ec0004, 0xbfe85bc51ae958cc, // 0.64851, -0.7612 + 0x3fe4ca30740218a3, 0xbfe8539cf67c9029, // 0.64968, -0.76021 + 0x3fe4d3bc6d589f80, 0xbfe84b7111af83f9, // 0.65085, -0.75921 + 0x3fe4dd453076b064, 0xbfe843416dc4cce2, // 0.65201, -0.75821 + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721 + 0x3fe4f04d0e2859aa, 0xbfe832d6eda3a3e0, // 0.65433, -0.75621 + 0x3fe4f9cc25cca486, 0xbfe82a9c13f545ff, // 0.65549, -0.7552 + 0x3fe503480159ded2, 0xbfe8225d803964e5, // 0.65665, -0.75419 + 0x3fe50cc09f59a09b, 0xbfe81a1b33b57acc, // 0.65781, -0.75319 + 0x3fe51635fe5601d7, 0xbfe811d52faf94dc, // 0.65896, -0.75218 + 0x3fe51fa81cd99aa6, 0xbfe8098b756e52fa, // 0.66011, -0.75117 + 0x3fe52916f96f8388, 0xbfe8013e0638e795, // 0.66127, -0.75015 + 0x3fe5328292a35596, 0xbfe7f8ece3571771, // 0.66242, -0.74914 + 0x3fe53beae7012abe, 0xbfe7f0980e113978, // 0.66356, -0.74812 + 0x3fe5454ff5159dfb, 0xbfe7e83f87b03686, // 0.66471, -0.7471 + 0x3fe54eb1bb6dcb8f, 0xbfe7dfe3517d8937, // 0.66586, -0.74608 + 0x3fe5581038975137, 0xbfe7d7836cc33db2, // 0.667, -0.74506 + 0x3fe5616b6b204e6e, 0xbfe7cf1fdacbf179, // 0.66814, -0.74403 + 0x3fe56ac35197649e, 0xbfe7c6b89ce2d333, // 0.66928, -0.74301 + 0x3fe57417ea8bb75c, 0xbfe7be4db453a27c, // 0.67042, -0.74198 + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095 + 0x3fe586b72e2b2cfd, 0xbfe7ad6ce874dbb6, // 0.67269, -0.73992 + 0x3fe59001d5f723df, 0xbfe7a4f707bf97d2, // 0.67383, -0.73889 + 0x3fe599492a81ffbc, 0xbfe79c7d8198e56e, // 0.67496, -0.73785 + 0x3fe5a28d2a5d7250, 0xbfe79400574f55e4, // 0.67609, -0.73682 + 0x3fe5abcdd41bb0d8, 0xbfe78b7f8a320a52, // 0.67722, -0.73578 + 0x3fe5b50b264f7448, 0xbfe782fb1b90b35b, // 0.67835, -0.73474 + 0x3fe5be451f8bf980, 0xbfe77a730cbb9100, // 0.67948, -0.7337 + 0x3fe5c77bbe65018c, 0xbfe771e75f037261, // 0.6806, -0.73265 + 0x3fe5d0af016ed1d4, 0xbfe7695813b9b594, // 0.68172, -0.73161 + 0x3fe5d9dee73e345c, 0xbfe760c52c304764, // 0.68285, -0.73056 + 0x3fe5e30b6e6877f3, 0xbfe7582ea9b9a329, // 0.68397, -0.72951 + 0x3fe5ec3495837074, 0xbfe74f948da8d28d, // 0.68508, -0.72846 + 0x3fe5f55a5b2576f8, 0xbfe746f6d9516d59, // 0.6862, -0.72741 + 0x3fe5fe7cbde56a0f, 0xbfe73e558e079942, // 0.68732, -0.72636 + 0x3fe6079bbc5aadfa, 0xbfe735b0ad2009b2, // 0.68843, -0.7253 + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425 + 0x3fe619cf86c55702, 0xbfe7245c2fcd492a, // 0.69065, -0.72319 + 0x3fe622e44fec22ff, 0xbfe71bac960e41bf, // 0.69176, -0.72213 + 0x3fe62bf5af2b0dfd, 0xbfe712f96c09d18d, // 0.69287, -0.72107 + 0x3fe63503a31c1be8, 0xbfe70a42b3176d7a, // 0.69397, -0.72 + 0x3fe63e0e2a59d7aa, 0xbfe701886c8f16e6, // 0.69508, -0.71894 + 0x3fe64715437f535b, 0xbfe6f8ca99c95b75, // 0.69618, -0.71787 + 0x3fe65018ed28287f, 0xbfe6f0093c1f54de, // 0.69728, -0.7168 + 0x3fe6591925f0783e, 0xbfe6e74454eaa8ae, // 0.69838, -0.71573 + 0x3fe66215ec74eb91, 0xbfe6de7be585881d, // 0.69947, -0.71466 + 0x3fe66b0f3f52b386, 0xbfe6d5afef4aafcc, // 0.70057, -0.71358 + 0x3fe674051d27896c, 0xbfe6cce07395679f, // 0.70166, -0.71251 + 0x3fe67cf78491af10, 0xbfe6c40d73c18275, // 0.70275, -0.71143 + 0x3fe685e6742feeef, 0xbfe6bb36f12b5e06, // 0.70385, -0.71035 + 0x3fe68ed1eaa19c71, 0xbfe6b25ced2fe29c, // 0.70493, -0.70927 + 0x3fe697b9e686941c, 0xbfe6a97f692c82ea, // 0.70602, -0.70819 + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711 + 0x3fe6a97f692c82ea, 0xbfe697b9e686941c, // 0.70819, -0.70602 + 0x3fe6b25ced2fe29c, 0xbfe68ed1eaa19c71, // 0.70927, -0.70493 + 0x3fe6bb36f12b5e06, 0xbfe685e6742feeef, // 0.71035, -0.70385 + 0x3fe6c40d73c18275, 0xbfe67cf78491af10, // 0.71143, -0.70275 + 0x3fe6cce07395679f, 0xbfe674051d27896c, // 0.71251, -0.70166 + 0x3fe6d5afef4aafcc, 0xbfe66b0f3f52b386, // 0.71358, -0.70057 + 0x3fe6de7be585881d, 0xbfe66215ec74eb91, // 0.71466, -0.69947 + 0x3fe6e74454eaa8ae, 0xbfe6591925f0783e, // 0.71573, -0.69838 + 0x3fe6f0093c1f54de, 0xbfe65018ed28287f, // 0.7168, -0.69728 + 0x3fe6f8ca99c95b75, 0xbfe64715437f535b, // 0.71787, -0.69618 + 0x3fe701886c8f16e6, 0xbfe63e0e2a59d7aa, // 0.71894, -0.69508 + 0x3fe70a42b3176d7a, 0xbfe63503a31c1be8, // 0.72, -0.69397 + 0x3fe712f96c09d18d, 0xbfe62bf5af2b0dfd, // 0.72107, -0.69287 + 0x3fe71bac960e41bf, 0xbfe622e44fec22ff, // 0.72213, -0.69176 + 0x3fe7245c2fcd492a, 0xbfe619cf86c55702, // 0.72319, -0.69065 + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954 + 0x3fe735b0ad2009b2, 0xbfe6079bbc5aadfa, // 0.7253, -0.68843 + 0x3fe73e558e079942, 0xbfe5fe7cbde56a0f, // 0.72636, -0.68732 + 0x3fe746f6d9516d59, 0xbfe5f55a5b2576f8, // 0.72741, -0.6862 + 0x3fe74f948da8d28d, 0xbfe5ec3495837074, // 0.72846, -0.68508 + 0x3fe7582ea9b9a329, 0xbfe5e30b6e6877f3, // 0.72951, -0.68397 + 0x3fe760c52c304764, 0xbfe5d9dee73e345c, // 0.73056, -0.68285 + 0x3fe7695813b9b594, 0xbfe5d0af016ed1d4, // 0.73161, -0.68172 + 0x3fe771e75f037261, 0xbfe5c77bbe65018c, // 0.73265, -0.6806 + 0x3fe77a730cbb9100, 0xbfe5be451f8bf980, // 0.7337, -0.67948 + 0x3fe782fb1b90b35b, 0xbfe5b50b264f7448, // 0.73474, -0.67835 + 0x3fe78b7f8a320a52, 0xbfe5abcdd41bb0d8, // 0.73578, -0.67722 + 0x3fe79400574f55e4, 0xbfe5a28d2a5d7250, // 0.73682, -0.67609 + 0x3fe79c7d8198e56e, 0xbfe599492a81ffbc, // 0.73785, -0.67496 + 0x3fe7a4f707bf97d2, 0xbfe59001d5f723df, // 0.73889, -0.67383 + 0x3fe7ad6ce874dbb6, 0xbfe586b72e2b2cfd, // 0.73992, -0.67269 + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156 + 0x3fe7be4db453a27c, 0xbfe57417ea8bb75c, // 0.74198, -0.67042 + 0x3fe7c6b89ce2d333, 0xbfe56ac35197649e, // 0.74301, -0.66928 + 0x3fe7cf1fdacbf179, 0xbfe5616b6b204e6e, // 0.74403, -0.66814 + 0x3fe7d7836cc33db2, 0xbfe5581038975137, // 0.74506, -0.667 + 0x3fe7dfe3517d8937, 0xbfe54eb1bb6dcb8f, // 0.74608, -0.66586 + 0x3fe7e83f87b03686, 0xbfe5454ff5159dfb, // 0.7471, -0.66471 + 0x3fe7f0980e113978, 0xbfe53beae7012abe, // 0.74812, -0.66356 + 0x3fe7f8ece3571771, 0xbfe5328292a35596, // 0.74914, -0.66242 + 0x3fe8013e0638e795, 0xbfe52916f96f8388, // 0.75015, -0.66127 + 0x3fe8098b756e52fa, 0xbfe51fa81cd99aa6, // 0.75117, -0.66011 + 0x3fe811d52faf94dc, 0xbfe51635fe5601d7, // 0.75218, -0.65896 + 0x3fe81a1b33b57acc, 0xbfe50cc09f59a09b, // 0.75319, -0.65781 + 0x3fe8225d803964e5, 0xbfe503480159ded2, // 0.75419, -0.65665 + 0x3fe82a9c13f545ff, 0xbfe4f9cc25cca486, // 0.7552, -0.65549 + 0x3fe832d6eda3a3e0, 0xbfe4f04d0e2859aa, // 0.75621, -0.65433 + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317 + 0x3fe843416dc4cce2, 0xbfe4dd453076b064, // 0.75821, -0.65201 + 0x3fe84b7111af83f9, 0xbfe4d3bc6d589f80, // 0.75921, -0.65085 + 0x3fe8539cf67c9029, 0xbfe4ca30740218a3, // 0.76021, -0.64968 + 0x3fe85bc51ae958cc, 0xbfe4c0a145ec0004, // 0.7612, -0.64851 + 0x3fe863e97db3d95a, 0xbfe4b70ee48fb869, // 0.7622, -0.64735 + 0x3fe86c0a1d9aa195, 0xbfe4ad79516722f0, // 0.76319, -0.64618 + 0x3fe87426f95cd5bd, 0xbfe4a3e08dec9ed6, // 0.76418, -0.645 + 0x3fe87c400fba2ebf, 0xbfe49a449b9b0938, // 0.76517, -0.64383 + 0x3fe884555f72fa6b, 0xbfe490a57bedbcdf, // 0.76615, -0.64266 + 0x3fe88c66e7481ba1, 0xbfe48703306091fe, // 0.76714, -0.64148 + 0x3fe89474a5fb0a84, 0xbfe47d5dba6fde01, // 0.76812, -0.6403 + 0x3fe89c7e9a4dd4ab, 0xbfe473b51b987347, // 0.7691, -0.63912 + 0x3fe8a484c3031d50, 0xbfe46a095557a0f1, // 0.77008, -0.63794 + 0x3fe8ac871ede1d88, 0xbfe4605a692b32a2, // 0.77106, -0.63676 + 0x3fe8b485aca2a468, 0xbfe456a858917046, // 0.77204, -0.63558 + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439 + 0x3fe8c47758fa71cb, 0xbfe4433ad0117b1d, // 0.77398, -0.63321 + 0x3fe8cc6a75184655, 0xbfe4397f5b2a4380, // 0.77495, -0.63202 + 0x3fe8d459be34bdfa, 0xbfe42fc0c7d3adbb, // 0.77592, -0.63083 + 0x3fe8dc45331698cc, 0xbfe425ff178e6bb1, // 0.77689, -0.62964 + 0x3fe8e42cd2852e0a, 0xbfe41c3a4bdbaa26, // 0.77785, -0.62845 + 0x3fe8ec109b486c49, 0xbfe41272663d108c, // 0.77882, -0.62725 + 0x3fe8f3f08c28d9ac, 0xbfe408a76834c0c0, // 0.77978, -0.62606 + 0x3fe8fbcca3ef940d, 0xbfe3fed9534556d4, // 0.78074, -0.62486 + 0x3fe903a4e1665133, 0xbfe3f50828f1e8d2, // 0.78169, -0.62366 + 0x3fe90b7943575efe, 0xbfe3eb33eabe0680, // 0.78265, -0.62246 + 0x3fe91349c88da398, 0xbfe3e15c9a2db922, // 0.7836, -0.62126 + 0x3fe91b166fd49da2, 0xbfe3d78238c58343, // 0.78456, -0.62006 + 0x3fe922df37f8646a, 0xbfe3cda4c80a6076, // 0.78551, -0.61885 + 0x3fe92aa41fc5a815, 0xbfe3c3c44981c517, // 0.78646, -0.61765 + 0x3fe932652609b1cf, 0xbfe3b9e0beb19e18, // 0.7874, -0.61644 + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523 + 0x3fe941db892e3a65, 0xbfe3a6108a54ba58, // 0.78929, -0.61402 + 0x3fe94990e3ac4a6c, 0xbfe39c23e3d63029, // 0.79023, -0.61281 + 0x3fe9514257dc4335, 0xbfe39234372c7f04, // 0.79117, -0.6116 + 0x3fe958efe48e6dd7, 0xbfe3884185dfeb22, // 0.79211, -0.61038 + 0x3fe960998893ad8c, 0xbfe37e4bd1792fe2, // 0.79304, -0.60917 + 0x3fe9683f42bd7fe1, 0xbfe374531b817f8d, // 0.79398, -0.60795 + 0x3fe96fe111ddfce0, 0xbfe36a576582831b, // 0.79491, -0.60673 + 0x3fe9777ef4c7d742, 0xbfe36058b10659f3, // 0.79584, -0.60551 + 0x3fe97f18ea4e5c9e, 0xbfe35656ff9799ae, // 0.79676, -0.60429 + 0x3fe986aef1457594, 0xbfe34c5252c14de1, // 0.79769, -0.60307 + 0x3fe98e410881a600, 0xbfe3424aac0ef7d6, // 0.79861, -0.60184 + 0x3fe995cf2ed80d22, 0xbfe338400d0c8e57, // 0.79954, -0.60062 + 0x3fe99d59631e65d5, 0xbfe32e3277467d6b, // 0.80046, -0.59939 + 0x3fe9a4dfa42b06b2, 0xbfe32421ec49a620, // 0.80138, -0.59816 + 0x3fe9ac61f0d4e247, 0xbfe31a0e6da35e44, // 0.80229, -0.59693 + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957 + 0x3fe9bb5aa85f2098, 0xbfe305de9b921a94, // 0.80412, -0.59447 + 0x3fe9c2d110f075c3, 0xbfe2fbc24b441015, // 0.80503, -0.59323 + 0x3fe9ca438080eadb, 0xbfe2f1a30d86773a, // 0.80594, -0.592 + 0x3fe9d1b1f5ea80d6, 0xbfe2e780e3e8ea16, // 0.80685, -0.59076 + 0x3fe9d91c7007d5a6, 0xbfe2dd5bcffb7616, // 0.80775, -0.58952 + 0x3fe9e082edb42472, 0xbfe2d333d34e9bb7, // 0.80866, -0.58828 + 0x3fe9e7e56dcb45bd, 0xbfe2c908ef734e57, // 0.80956, -0.58704 + 0x3fe9ef43ef29af94, 0xbfe2bedb25faf3ea, // 0.81046, -0.5858 + 0x3fe9f69e70ac75bc, 0xbfe2b4aa787764c4, // 0.81135, -0.58455 + 0x3fe9fdf4f13149de, 0xbfe2aa76e87aeb58, // 0.81225, -0.58331 + 0x3fea05476f967bb5, 0xbfe2a040779843fb, // 0.81314, -0.58206 + 0x3fea0c95eabaf937, 0xbfe2960727629ca8, // 0.81404, -0.58081 + 0x3fea13e0617e4ec7, 0xbfe28bcaf96d94ba, // 0.81493, -0.57956 + 0x3fea1b26d2c0a75e, 0xbfe2818bef4d3cba, // 0.81581, -0.57831 + 0x3fea22693d62ccb9, 0xbfe2774a0a961612, // 0.8167, -0.57706 + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581 + 0x3fea30e1fa4cbf81, 0xbfe262bdb7b795a2, // 0.81847, -0.57455 + 0x3fea38184a593bc6, 0xbfe258734cbb7110, // 0.81935, -0.5733 + 0x3fea3f4a8f4ee2d2, 0xbfe24e260d7ee7c9, // 0.82023, -0.57204 + 0x3fea4678c8119ac8, 0xbfe243d5fb98ac1f, // 0.8211, -0.57078 + 0x3fea4da2f385e997, 0xbfe23983189fdfd5, // 0.82198, -0.56952 + 0x3fea54c91090f524, 0xbfe22f2d662c13e1, // 0.82285, -0.56826 + 0x3fea5beb1e188375, 0xbfe224d4e5d5482e, // 0.82372, -0.567 + 0x3fea63091b02fae2, 0xbfe21a799933eb58, // 0.82459, -0.56573 + 0x3fea6a230637623b, 0xbfe2101b81e0da78, // 0.82546, -0.56447 + 0x3fea7138de9d60f5, 0xbfe205baa17560d6, // 0.82632, -0.5632 + 0x3fea784aa31d3f55, 0xbfe1fb56f98b37b8, // 0.82718, -0.56193 + 0x3fea7f58529fe69d, 0xbfe1f0f08bbc861b, // 0.82805, -0.56066 + 0x3fea8661ec0ee133, 0xbfe1e68759a3e074, // 0.8289, -0.55939 + 0x3fea8d676e545ad2, 0xbfe1dc1b64dc4872, // 0.82976, -0.55812 + 0x3fea9468d85b20ae, 0xbfe1d1acaf012cc2, // 0.83062, -0.55685 + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557 + 0x3feaa25f5f5aee60, 0xbfe1bcc706804467, // 0.83232, -0.55429 + 0x3feaa9547a2cb98e, 0xbfe1b250171373be, // 0.83317, -0.55302 + 0x3feab045787157ff, 0xbfe1a7d66d0516e6, // 0.83402, -0.55174 + 0x3feab7325916c0d4, 0xbfe19d5a09f2b9b8, // 0.83486, -0.55046 + 0x3feabe1b1b0b8dac, 0xbfe192daef7a5386, // 0.83571, -0.54918 + 0x3feac4ffbd3efac8, 0xbfe188591f3a46e5, // 0.83655, -0.54789 + 0x3feacbe03ea0e73b, 0xbfe17dd49ad16161, // 0.83739, -0.54661 + 0x3fead2bc9e21d511, 0xbfe1734d63dedb49, // 0.83822, -0.54532 + 0x3fead994dab2e979, 0xbfe168c37c025764, // 0.83906, -0.54404 + 0x3feae068f345ecef, 0xbfe15e36e4dbe2bc, // 0.83989, -0.54275 + 0x3feae738e6cd4b67, 0xbfe153a7a00bf453, // 0.84073, -0.54146 + 0x3feaee04b43c1474, 0xbfe14915af336ceb, // 0.84155, -0.54017 + 0x3feaf4cc5a85fb73, 0xbfe13e8113f396c1, // 0.84238, -0.53888 + 0x3feafb8fd89f57b6, 0xbfe133e9cfee254e, // 0.84321, -0.53759 + 0x3feb024f2d7d24a9, 0xbfe1294fe4c5350a, // 0.84403, -0.53629 + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535 + 0x3feb0fc1575d33db, 0xbfe114141f935545, // 0.84567, -0.5337 + 0x3feb16742a4ca2f5, 0xbfe1097248d0a956, // 0.84649, -0.5324 + 0x3feb1d22cfdadcc6, 0xbfe0fecdd1770537, // 0.84731, -0.5311 + 0x3feb23cd470013b4, 0xbfe0f426bb2a8e7d, // 0.84812, -0.5298 + 0x3feb2a738eb51f33, 0xbfe0e97d078fd23b, // 0.84893, -0.5285 + 0x3feb3115a5f37bf4, 0xbfe0ded0b84bc4b5, // 0.84974, -0.5272 + 0x3feb37b38bb54c09, 0xbfe0d421cf03c12b, // 0.85055, -0.5259 + 0x3feb3e4d3ef55712, 0xbfe0c9704d5d898f, // 0.85136, -0.52459 + 0x3feb44e2beaf0a61, 0xbfe0bebc34ff4646, // 0.85216, -0.52328 + 0x3feb4b7409de7925, 0xbfe0b405878f85ec, // 0.85296, -0.52198 + 0x3feb52011f805c92, 0xbfe0a94c46b53d0b, // 0.85376, -0.52067 + 0x3feb5889fe921405, 0xbfe09e907417c5e1, // 0.85456, -0.51936 + 0x3feb5f0ea611a532, 0xbfe093d2115ee018, // 0.85535, -0.51804 + 0x3feb658f14fdbc47, 0xbfe089112032b08c, // 0.85615, -0.51673 + 0x3feb6c0b4a55ac17, 0xbfe07e4da23bc102, // 0.85694, -0.51542 + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141 + 0x3feb78f70449a34b, 0xbfe068bf0691c028, // 0.85852, -0.51279 + 0x3feb7f6686e792ea, 0xbfe05df3ec31b8b6, // 0.8593, -0.51147 + 0x3feb85d1cbf52c02, 0xbfe053264bad0483, // 0.86009, -0.51015 + 0x3feb8c38d27504e9, 0xbfe0485626ae221a, // 0.86087, -0.50883 + 0x3feb929b996a5b7f, 0xbfe03d837edff370, // 0.86165, -0.50751 + 0x3feb98fa1fd9155e, 0xbfe032ae55edbd95, // 0.86242, -0.50619 + 0x3feb9f5464c5bffc, 0xbfe027d6ad83287e, // 0.8632, -0.50486 + 0x3feba5aa673590d2, 0xbfe01cfc874c3eb7, // 0.86397, -0.50354 + 0x3febabfc262e6586, 0xbfe0121fe4f56d2c, // 0.86474, -0.50221 + 0x3febb249a0b6c40d, 0xbfe00740c82b82e0, // 0.86551, -0.50089 + 0x3febb892d5d5dad5, 0xbfdff8be6537615e, // 0.86628, -0.49956 + 0x3febbed7c49380ea, 0xbfdfe2f64be7120f, // 0.86705, -0.49823 + 0x3febc5186bf8361d, 0xbfdfcd2947c1ff57, // 0.86781, -0.4969 + 0x3febcb54cb0d2327, 0xbfdfb7575c24d2de, // 0.86857, -0.49557 + 0x3febd18ce0dc19d6, 0xbfdfa1808c6cf7e0, // 0.86933, -0.49423 + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929 + 0x3febddf02cd2b983, 0xbfdf75c44e26a852, // 0.87084, -0.49156 + 0x3febe41b611154c1, 0xbfdf5fdee656cda3, // 0.8716, -0.49023 + 0x3febea424837de6d, 0xbfdf49f4a7e97729, // 0.87235, -0.48889 + 0x3febf064e15377dd, 0xbfdf3405963fd068, // 0.87309, -0.48755 + 0x3febf6832b71ec5b, 0xbfdf1e11b4bbc35c, // 0.87384, -0.48621 + 0x3febfc9d25a1b147, 0xbfdf081906bff7fd, // 0.87459, -0.48487 + 0x3fec02b2cef1e641, 0xbfdef21b8fafd3b5, // 0.87533, -0.48353 + 0x3fec08c426725549, 0xbfdedc1952ef78d5, // 0.87607, -0.48218 + 0x3fec0ed12b3372e9, 0xbfdec61253e3c61b, // 0.87681, -0.48084 + 0x3fec14d9dc465e58, 0xbfdeb00695f25620, // 0.87755, -0.47949 + 0x3fec1ade38bce19b, 0xbfde99f61c817eda, // 0.87828, -0.47815 + 0x3fec20de3fa971b0, 0xbfde83e0eaf85113, // 0.87901, -0.4768 + 0x3fec26d9f01f2eaf, 0xbfde6dc704be97e2, // 0.87974, -0.47545 + 0x3fec2cd14931e3f1, 0xbfde57a86d3cd824, // 0.88047, -0.4741 + 0x3fec32c449f60831, 0xbfde418527dc4ffa, // 0.8812, -0.47275 + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714 + 0x3fec3e9d3ee7d262, 0xbfde1530a12779f4, // 0.88264, -0.47004 + 0x3fec44833141c004, 0xbfddfeff66a941de, // 0.88336, -0.46869 + 0x3fec4a64c7a5ac4c, 0xbfdde8c98bf86bd6, // 0.88408, -0.46733 + 0x3fec5042012b6907, 0xbfddd28f1481cc58, // 0.8848, -0.46598 + 0x3fec561adceb743e, 0xbfddbc5003b2edf8, // 0.88551, -0.46462 + 0x3fec5bef59fef85a, 0xbfdda60c5cfa10d8, // 0.88622, -0.46326 + 0x3fec61bf777fcc48, 0xbfdd8fc423c62a25, // 0.88693, -0.4619 + 0x3fec678b3488739b, 0xbfdd79775b86e389, // 0.88764, -0.46054 + 0x3fec6d5290341eb2, 0xbfdd632607ac9aa9, // 0.88835, -0.45918 + 0x3fec7315899eaad7, 0xbfdd4cd02ba8609c, // 0.88905, -0.45781 + 0x3fec78d41fe4a267, 0xbfdd3675caebf962, // 0.88975, -0.45645 + 0x3fec7e8e52233cf3, 0xbfdd2016e8e9db5b, // 0.89045, -0.45508 + 0x3fec84441f785f61, 0xbfdd09b389152ec1, // 0.89115, -0.45372 + 0x3fec89f587029c13, 0xbfdcf34baee1cd21, // 0.89184, -0.45235 + 0x3fec8fa287e13305, 0xbfdcdcdf5dc440ce, // 0.89253, -0.45098 + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961 + 0x3fec9aef521bd480, 0xbfdcaff964a0421d, // 0.89391, -0.44824 + 0x3feca08f19b9c449, 0xbfdc997fc3865388, // 0.8946, -0.44687 + 0x3feca62a772fd919, 0xbfdc8301b95b40c2, // 0.89528, -0.4455 + 0x3fecabc169a0b901, 0xbfdc6c7f4997000a, // 0.89597, -0.44412 + 0x3fecb153f02fb87d, 0xbfdc55f877b23537, // 0.89665, -0.44275 + 0x3fecb6e20a00da99, 0xbfdc3f6d47263129, // 0.89732, -0.44137 + 0x3fecbc6bb638d10b, 0xbfdc28ddbb6cf145, // 0.898, -0.43999 + 0x3fecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // 0.89867, -0.43862 + 0x3fecc771c2736c09, 0xbfdbfbb1a05e0edc, // 0.89935, -0.43724 + 0x3fecccee20c2de9f, 0xbfdbe51517ffc0d9, // 0.90002, -0.43586 + 0x3fecd2660e12c1e6, 0xbfdbce744262deee, // 0.90068, -0.43448 + 0x3fecd7d9898b32f6, 0xbfdbb7cf2304bd01, // 0.90135, -0.43309 + 0x3fecdd489254fe65, 0xbfdba125bd63583e, // 0.90201, -0.43171 + 0x3fece2b32799a060, 0xbfdb8a7814fd5693, // 0.90267, -0.43033 + 0x3fece819488344ce, 0xbfdb73c62d520624, // 0.90333, -0.42894 + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756 + 0x3fecf2d829f1b40e, 0xbfdb4655ae2bf757, // 0.90464, -0.42617 + 0x3fecf830e8ce467b, 0xbfdb2f971db31972, // 0.9053, -0.42478 + 0x3fecfd852fff6ad4, 0xbfdb18d45bf8aca6, // 0.90595, -0.42339 + 0x3fed02d4feb2bd92, 0xbfdb020d6c7f4009, // 0.9066, -0.422 + 0x3fed082054168bac, 0xbfdaeb4252ca07ab, // 0.90724, -0.42061 + 0x3fed0d672f59d2b9, 0xbfdad473125cdc08, // 0.90789, -0.41922 + 0x3fed12a98fac410c, 0xbfdabd9faebc3980, // 0.90853, -0.41782 + 0x3fed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // 0.90917, -0.41643 + 0x3fed1d20dc40c15c, 0xbfda8fec8bf5b166, // 0.90981, -0.41503 + 0x3fed2255c6e5a4e1, 0xbfda790cd3dbf31a, // 0.91044, -0.41364 + 0x3fed2786335f52fc, 0xbfda622906a70b63, // 0.91107, -0.41224 + 0x3fed2cb220e0ef9f, 0xbfda4b4127dea1e4, // 0.91171, -0.41084 + 0x3fed31d98e9e503a, 0xbfda34553b0afee5, // 0.91234, -0.40944 + 0x3fed36fc7bcbfbdc, 0xbfda1d6543b50ac0, // 0.91296, -0.40804 + 0x3fed3c1ae79f2b4e, 0xbfda067145664d57, // 0.91359, -0.40664 + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524 + 0x3fed464a380e7242, 0xbfd9d87d4207b0ab, // 0.91483, -0.40384 + 0x3fed4b5b1b187524, 0xbfd9c17d440df9f2, // 0.91545, -0.40243 + 0x3fed506779a3d2d9, 0xbfd9aa794d47c9ee, // 0.91606, -0.40103 + 0x3fed556f52e93eb1, 0xbfd993716141bdfe, // 0.91668, -0.39962 + 0x3fed5a72a6221e73, 0xbfd97c6583890fc2, // 0.91729, -0.39822 + 0x3fed5f7172888a7f, 0xbfd96555b7ab948f, // 0.9179, -0.39681 + 0x3fed646bb7574de5, 0xbfd94e420137bce3, // 0.91851, -0.3954 + 0x3fed696173c9e68b, 0xbfd9372a63bc93d7, // 0.91911, -0.39399 + 0x3fed6e52a71c8547, 0xbfd9200ee2c9be97, // 0.91972, -0.39258 + 0x3fed733f508c0dff, 0xbfd908ef81ef7bd1, // 0.92032, -0.39117 + 0x3fed78276f5617c6, 0xbfd8f1cc44bea329, // 0.92092, -0.38976 + 0x3fed7d0b02b8ecf9, 0xbfd8daa52ec8a4af, // 0.92151, -0.38835 + 0x3fed81ea09f38b63, 0xbfd8c37a439f884f, // 0.92211, -0.38693 + 0x3fed86c48445a450, 0xbfd8ac4b86d5ed44, // 0.9227, -0.38552 + 0x3fed8b9a70ef9cb4, 0xbfd89518fbff098e, // 0.92329, -0.3841 + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268 + 0x3fed95389e50429b, 0xbfd866a88a792ea0, // 0.92447, -0.38127 + 0x3fed9a00dd8b3d46, 0xbfd84f6aaaf3903f, // 0.92505, -0.37985 + 0x3fed9ec48c26b1f3, 0xbfd838290bb359c8, // 0.92563, -0.37843 + 0x3feda383a9668988, 0xbfd820e3b04eaac4, // 0.92621, -0.37701 + 0x3feda83e348f613b, 0xbfd8099a9c5c362d, // 0.92679, -0.37559 + 0x3fedacf42ce68ab9, 0xbfd7f24dd37341e3, // 0.92736, -0.37416 + 0x3fedb1a591b20c38, 0xbfd7dafd592ba621, // 0.92794, -0.37274 + 0x3fedb6526238a09b, 0xbfd7c3a9311dcce7, // 0.92851, -0.37132 + 0x3fedbafa9dc1b78d, 0xbfd7ac515ee2b172, // 0.92907, -0.36989 + 0x3fedbf9e4395759a, 0xbfd794f5e613dfae, // 0.92964, -0.36847 + 0x3fedc43d52fcb453, 0xbfd77d96ca4b73a6, // 0.93021, -0.36704 + 0x3fedc8d7cb410260, 0xbfd766340f2418f6, // 0.93077, -0.36561 + 0x3fedcd6dabaca3a5, 0xbfd74ecdb8390a3e, // 0.93133, -0.36418 + 0x3fedd1fef38a915a, 0xbfd73763c9261092, // 0.93188, -0.36276 + 0x3fedd68ba2267a25, 0xbfd71ff6458782ec, // 0.93244, -0.36133 + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599 + 0x3feddf9730ca837b, 0xbfd6f1108f1bc9c5, // 0.93354, -0.35846 + 0x3fede4160f6d8d81, 0xbfd6d998638a0cb5, // 0.93409, -0.35703 + 0x3fede890520465ce, 0xbfd6c21cb1e39771, // 0.93464, -0.3556 + 0x3feded05f7de47da, 0xbfd6aa9d7dc77e16, // 0.93518, -0.35416 + 0x3fedf177004b2534, 0xbfd6931acad55f51, // 0.93573, -0.35273 + 0x3fedf5e36a9ba59c, 0xbfd67b949cad63ca, // 0.93627, -0.35129 + 0x3fedfa4b3621271d, 0xbfd6640af6f03d9e, // 0.9368, -0.34986 + 0x3fedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // 0.93734, -0.34842 + 0x3fee030cee1435b8, 0xbfd634ed533be58e, // 0.93787, -0.34698 + 0x3fee0766d9280f54, 0xbfd61d595c88c203, // 0.9384, -0.34554 + 0x3fee0bbc22bd8349, 0xbfd605c1fcc88f63, // 0.93893, -0.3441 + 0x3fee100cca2980ac, 0xbfd5ee27379ea693, // 0.93946, -0.34266 + 0x3fee1458cec1ad83, 0xbfd5d68910aee686, // 0.93998, -0.34122 + 0x3fee18a02fdc66d9, 0xbfd5bee78b9db3b6, // 0.94051, -0.33978 + 0x3fee1ce2ecd0c0d8, 0xbfd5a742ac0ff78d, // 0.94103, -0.33833 + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689 + 0x3fee255a77a63bb8, 0xbfd577eeec151e47, // 0.94206, -0.33545 + 0x3fee298f4439197a, 0xbfd5604012f467b4, // 0.94257, -0.334 + 0x3fee2dbf6a0911d9, 0xbfd5488dedeff3be, // 0.94308, -0.33255 + 0x3fee31eae870ce25, 0xbfd530d880af3c24, // 0.94359, -0.33111 + 0x3fee3611becbaf69, 0xbfd5191fceda3c35, // 0.9441, -0.32966 + 0x3fee3a33ec75ce85, 0xbfd50163dc197047, // 0.9446, -0.32821 + 0x3fee3e5170cbfc46, 0xbfd4e9a4ac15d520, // 0.94511, -0.32676 + 0x3fee426a4b2bc17e, 0xbfd4d1e24278e76a, // 0.94561, -0.32531 + 0x3fee467e7af35f23, 0xbfd4ba1ca2eca31c, // 0.94611, -0.32386 + 0x3fee4a8dff81ce5e, 0xbfd4a253d11b82f3, // 0.9466, -0.32241 + 0x3fee4e98d836c0af, 0xbfd48a87d0b07fd7, // 0.94709, -0.32096 + 0x3fee529f04729ffc, 0xbfd472b8a5571054, // 0.94759, -0.3195 + 0x3fee56a083968eb1, 0xbfd45ae652bb2800, // 0.94807, -0.31805 + 0x3fee5a9d550467d3, 0xbfd44310dc8936f0, // 0.94856, -0.31659 + 0x3fee5e95781ebf1c, 0xbfd42b38466e2928, // 0.94905, -0.31514 + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368 + 0x3fee6677b0e6d31e, 0xbfd3fb7dc932cfa4, // 0.95001, -0.31222 + 0x3fee6a61c55d53a7, 0xbfd3e39be96ec271, // 0.95049, -0.31077 + 0x3fee6e472911da27, 0xbfd3cbb6f87a146e, // 0.95096, -0.30931 + 0x3fee7227db6a9744, 0xbfd3b3cefa0414b7, // 0.95144, -0.30785 + 0x3fee7603dbce74e9, 0xbfd39be3f1bc8aef, // 0.95191, -0.30639 + 0x3fee79db29a5165a, 0xbfd383f5e353b6aa, // 0.95238, -0.30493 + 0x3fee7dadc456d850, 0xbfd36c04d27a4edf, // 0.95284, -0.30347 + 0x3fee817bab4cd10d, 0xbfd35410c2e18152, // 0.95331, -0.30201 + 0x3fee8544ddf0d075, 0xbfd33c19b83af207, // 0.95377, -0.30054 + 0x3fee89095bad6025, 0xbfd3241fb638baaf, // 0.95423, -0.29908 + 0x3fee8cc923edc388, 0xbfd30c22c08d6a13, // 0.95469, -0.29762 + 0x3fee9084361df7f3, 0xbfd2f422daec0386, // 0.95514, -0.29615 + 0x3fee943a91aab4b4, 0xbfd2dc200907fe51, // 0.95559, -0.29469 + 0x3fee97ec36016b30, 0xbfd2c41a4e954520, // 0.95605, -0.29322 + 0x3fee9b99229046f8, 0xbfd2ac11af483572, // 0.95649, -0.29175 + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028 + 0x3feea2e4d212c000, 0xbfd27bf7d0f2c346, // 0.95738, -0.28882 + 0x3feea68393e65800, 0xbfd263e6995554ba, // 0.95783, -0.28735 + 0x3feeaa1d9bb20af3, 0xbfd24bd28bb37672, // 0.95827, -0.28588 + 0x3feeadb2e8e7a88e, 0xbfd233bbabc3bb72, // 0.9587, -0.28441 + 0x3feeb1437af9bb34, 0xbfd21ba1fd3d2623, // 0.95914, -0.28294 + 0x3feeb4cf515b8811, 0xbfd2038583d727bd, // 0.95957, -0.28146 + 0x3feeb8566b810f2a, 0xbfd1eb6643499fbb, // 0.96, -0.27999 + 0x3feebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // 0.96043, -0.27852 + 0x3feebf5668eaf2ef, 0xbfd1bb1f7b999480, // 0.96086, -0.27705 + 0x3feec2cf4b1af6b2, 0xbfd1a2f7fbe8f243, // 0.96128, -0.27557 + 0x3feec6436ee60309, 0xbfd18acdc3f4873a, // 0.9617, -0.2741 + 0x3feec9b2d3c3bf84, 0xbfd172a0d7765177, // 0.96212, -0.27262 + 0x3feecd1d792c8f10, 0xbfd15a713a28b9d9, // 0.96254, -0.27115 + 0x3feed0835e999009, 0xbfd1423eefc69378, // 0.96295, -0.26967 + 0x3feed3e483849c51, 0xbfd12a09fc0b1b12, // 0.96337, -0.26819 + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671 + 0x3feeda9889bfe86a, 0xbfd0f998277733f7, // 0.96418, -0.26523 + 0x3feeddeb6a078651, 0xbfd0e15b4e1749cd, // 0.96459, -0.26375 + 0x3feee13987bbebdc, 0xbfd0c91bda4f158d, // 0.96499, -0.26227 + 0x3feee482e25a9dbc, 0xbfd0b0d9cfdbdb90, // 0.96539, -0.26079 + 0x3feee7c77961dc9e, 0xbfd09895327b465e, // 0.96579, -0.25931 + 0x3feeeb074c50a544, 0xbfd0804e05eb661e, // 0.96619, -0.25783 + 0x3feeee425aa6b09a, 0xbfd068044deab002, // 0.96658, -0.25635 + 0x3feef178a3e473c2, 0xbfd04fb80e37fdae, // 0.96698, -0.25487 + 0x3feef4aa278b2032, 0xbfd037694a928cac, // 0.96737, -0.25338 + 0x3feef7d6e51ca3c0, 0xbfd01f1806b9fdd2, // 0.96775, -0.2519 + 0x3feefafedc1ba8b7, 0xbfd006c4466e54af, // 0.96814, -0.25041 + 0x3feefe220c0b95ec, 0xbfcfdcdc1adfedf8, // 0.96852, -0.24893 + 0x3fef014074708ed3, 0xbfcfac2abeff57ff, // 0.9689, -0.24744 + 0x3fef045a14cf738c, 0xbfcf7b7480bd3801, // 0.96928, -0.24596 + 0x3fef076eecade0fa, 0xbfcf4ab9679c9f5c, // 0.96966, -0.24447 + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298 + 0x3fef0d8a410379c5, 0xbfcee934c2d006c7, // 0.9704, -0.24149 + 0x3fef1090bc898f5f, 0xbfceb86b462de348, // 0.97077, -0.24 + 0x3fef13926dad024e, 0xbfce879d0cc0fdaf, // 0.97114, -0.23851 + 0x3fef168f53f7205d, 0xbfce56ca1e101a1b, // 0.9715, -0.23702 + 0x3fef19876ef1f486, 0xbfce25f281a2b684, // 0.97187, -0.23553 + 0x3fef1c7abe284708, 0xbfcdf5163f01099a, // 0.97223, -0.23404 + 0x3fef1f6941259d7a, 0xbfcdc4355db40195, // 0.97258, -0.23255 + 0x3fef2252f7763ada, 0xbfcd934fe5454311, // 0.97294, -0.23106 + 0x3fef2537e0a71f9f, 0xbfcd6265dd3f27e3, // 0.97329, -0.22957 + 0x3fef2817fc4609ce, 0xbfcd31774d2cbdee, // 0.97364, -0.22807 + 0x3fef2af349e17507, 0xbfcd00843c99c5f9, // 0.97399, -0.22658 + 0x3fef2dc9c9089a9d, 0xbfcccf8cb312b286, // 0.97434, -0.22508 + 0x3fef309b794b719f, 0xbfcc9e90b824a6a9, // 0.97468, -0.22359 + 0x3fef33685a3aaef0, 0xbfcc6d90535d74dc, // 0.97503, -0.22209 + 0x3fef36306b67c556, 0xbfcc3c8b8c4b9dd7, // 0.97536, -0.2206 + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191 + 0x3fef3bb21cc4fe47, 0xbfcbda74f5856330, // 0.97604, -0.2176 + 0x3fef3e6bbc1bbc65, 0xbfcba96334f15dad, // 0.97637, -0.21611 + 0x3fef412089fd8adc, 0xbfcb784d30536cda, // 0.9767, -0.21461 + 0x3fef43d085ff92dd, 0xbfcb4732ef3d6722, // 0.97703, -0.21311 + 0x3fef467bafb7bbe0, 0xbfcb16147941ca2a, // 0.97735, -0.21161 + 0x3fef492206bcabb4, 0xbfcae4f1d5f3b9ab, // 0.97768, -0.21011 + 0x3fef4bc38aa5c694, 0xbfcab3cb0ce6fe44, // 0.978, -0.20861 + 0x3fef4e603b0b2f2d, 0xbfca82a025b00451, // 0.97832, -0.20711 + 0x3fef50f81785c6b9, 0xbfca517127e3dabc, // 0.97863, -0.20561 + 0x3fef538b1faf2d07, 0xbfca203e1b1831da, // 0.97895, -0.20411 + 0x3fef56195321c090, 0xbfc9ef0706e35a35, // 0.97926, -0.20261 + 0x3fef58a2b1789e84, 0xbfc9bdcbf2dc4366, // 0.97957, -0.2011 + 0x3fef5b273a4fa2d9, 0xbfc98c8ce69a7aec, // 0.97988, -0.1996 + 0x3fef5da6ed43685d, 0xbfc95b49e9b62af9, // 0.98018, -0.1981 + 0x3fef6021c9f148c2, 0xbfc92a0303c8194f, // 0.98048, -0.19659 + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509 + 0x3fef6508fef47bd5, 0xbfc8c7699b34ca7e, // 0.98108, -0.19359 + 0x3fef677556883cee, 0xbfc8961727c41804, // 0.98138, -0.19208 + 0x3fef69dcd652f5de, 0xbfc864c0e9b2b6cf, // 0.98167, -0.19057 + 0x3fef6c3f7df5bbb7, 0xbfc83366e89c64c5, // 0.98196, -0.18907 + 0x3fef6e9d4d1262ca, 0xbfc802092c1d744b, // 0.98225, -0.18756 + 0x3fef70f6434b7eb7, 0xbfc7d0a7bbd2cb1b, // 0.98254, -0.18606 + 0x3fef734a60446279, 0xbfc79f429f59e11d, // 0.98282, -0.18455 + 0x3fef7599a3a12077, 0xbfc76dd9de50bf31, // 0.98311, -0.18304 + 0x3fef77e40d068a90, 0xbfc73c6d8055fe0a, // 0.98339, -0.18153 + 0x3fef7a299c1a322a, 0xbfc70afd8d08c4ff, // 0.98366, -0.18002 + 0x3fef7c6a50826840, 0xbfc6d98a0c08c8da, // 0.98394, -0.17851 + 0x3fef7ea629e63d6e, 0xbfc6a81304f64ab2, // 0.98421, -0.177 + 0x3fef80dd27ed8204, 0xbfc676987f7216b8, // 0.98448, -0.17549 + 0x3fef830f4a40c60c, 0xbfc6451a831d830d, // 0.98475, -0.17398 + 0x3fef853c9089595e, 0xbfc61399179a6e94, // 0.98501, -0.17247 + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096 + 0x3fef898887a36c84, 0xbfc5b08c1192e381, // 0.98554, -0.16945 + 0x3fef8ba737cb4b78, 0xbfc57f008654cbde, // 0.9858, -0.16794 + 0x3fef8dc10a95380d, 0xbfc54d71aa74ef02, // 0.98605, -0.16643 + 0x3fef8fd5ffae41db, 0xbfc51bdf8597c5f2, // 0.98631, -0.16491 + 0x3fef91e616c43891, 0xbfc4ea4a1f624b61, // 0.98656, -0.1634 + 0x3fef93f14f85ac08, 0xbfc4b8b17f79fa88, // 0.98681, -0.16189 + 0x3fef95f7a9a1ec47, 0xbfc48715ad84cdf5, // 0.98706, -0.16037 + 0x3fef97f924c9099b, 0xbfc45576b1293e5a, // 0.9873, -0.15886 + 0x3fef99f5c0abd496, 0xbfc423d4920e4166, // 0.98754, -0.15734 + 0x3fef9bed7cfbde29, 0xbfc3f22f57db4893, // 0.98778, -0.15583 + 0x3fef9de0596b77a3, 0xbfc3c0870a383ff6, // 0.98802, -0.15431 + 0x3fef9fce55adb2c8, 0xbfc38edbb0cd8d14, // 0.98826, -0.1528 + 0x3fefa1b7717661d5, 0xbfc35d2d53440db2, // 0.98849, -0.15128 + 0x3fefa39bac7a1791, 0xbfc32b7bf94516a7, // 0.98872, -0.14976 + 0x3fefa57b066e2754, 0xbfc2f9c7aa7a72af, // 0.98895, -0.14825 + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673 + 0x3fefa92b1600657c, 0xbfc296564d2b953e, // 0.9894, -0.14521 + 0x3fefaafbcb0cfddc, 0xbfc264994dfd340a, // 0.98962, -0.1437 + 0x3fefacc79de6c44f, 0xbfc232d978aed413, // 0.98984, -0.14218 + 0x3fefae8e8e46cfbb, 0xbfc20116d4ec7bce, // 0.99006, -0.14066 + 0x3fefb0509be6f7db, 0xbfc1cf516a62a077, // 0.99027, -0.13914 + 0x3fefb20dc681d54d, 0xbfc19d8940be24e7, // 0.99049, -0.13762 + 0x3fefb3c60dd2c199, 0xbfc16bbe5fac5865, // 0.9907, -0.1361 + 0x3fefb5797195d741, 0xbfc139f0cedaf576, // 0.9909, -0.13458 + 0x3fefb727f187f1c7, 0xbfc1082095f820b0, // 0.99111, -0.13306 + 0x3fefb8d18d66adb7, 0xbfc0d64dbcb26786, // 0.99131, -0.13154 + 0x3fefba7644f068b5, 0xbfc0a4784ab8bf1d, // 0.99151, -0.13002 + 0x3fefbc1617e44186, 0xbfc072a047ba831d, // 0.99171, -0.1285 + 0x3fefbdb106021816, 0xbfc040c5bb67747e, // 0.99191, -0.12698 + 0x3fefbf470f0a8d88, 0xbfc00ee8ad6fb85b, // 0.9921, -0.12545 + 0x3fefc0d832bf043a, 0xbfbfba124b07ad85, // 0.99229, -0.12393 + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241 + 0x3fefc3ebc935454c, 0xbfbef2858d27561b, // 0.99267, -0.12089 + 0x3fefc56e3b7d9af6, 0xbfbe8eb7fde4aa3e, // 0.99285, -0.11937 + 0x3fefc6ebc77f0887, 0xbfbe2ae5b8457f77, // 0.99303, -0.11784 + 0x3fefc8646cfeb721, 0xbfbdc70ecbae9fc8, // 0.99321, -0.11632 + 0x3fefc9d82bc2915e, 0xbfbd633347858ce4, // 0.99339, -0.11479 + 0x3fefcb4703914354, 0xbfbcff533b307dc1, // 0.99356, -0.11327 + 0x3fefccb0f4323aa3, 0xbfbc9b6eb6165c42, // 0.99374, -0.11175 + 0x3fefce15fd6da67b, 0xbfbc3785c79ec2d5, // 0.99391, -0.11022 + 0x3fefcf761f0c77a3, 0xbfbbd3987f31fa0e, // 0.99407, -0.1087 + 0x3fefd0d158d86087, 0xbfbb6fa6ec38f64c, // 0.99424, -0.10717 + 0x3fefd227aa9bd53b, 0xbfbb0bb11e1d5559, // 0.9944, -0.10565 + 0x3fefd37914220b84, 0xbfbaa7b724495c04, // 0.99456, -0.10412 + 0x3fefd4c59536fae4, 0xbfba43b90e27f3c4, // 0.99472, -0.1026 + 0x3fefd60d2da75c9e, 0xbfb9dfb6eb24a85c, // 0.99488, -0.10107 + 0x3fefd74fdd40abbf, 0xbfb97bb0caaba56f, // 0.99503, -0.099544 + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518, -0.098017 + 0x3fefd9c68127c78c, 0xbfb8b398cf0c38e0, // 0.99533, -0.09649 + 0x3fefdafa7514538c, 0xbfb84f8712c130a0, // 0.99548, -0.094963 + 0x3fefdc297f674ba9, 0xbfb7eb7196b72ee4, // 0.99563, -0.093436 + 0x3fefdd539ff1f456, 0xbfb787586a5d5b21, // 0.99577, -0.091909 + 0x3fefde78d68653fd, 0xbfb7233b9d236e71, // 0.99591, -0.090381 + 0x3fefdf9922f73307, 0xbfb6bf1b3e79b129, // 0.99604, -0.088854 + 0x3fefe0b485181be3, 0xbfb65af75dd0f87b, // 0.99618, -0.087326 + 0x3fefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // 0.99631, -0.085797 + 0x3fefe2dc89bbff08, 0xbfb592a554489bc8, // 0.99644, -0.084269 + 0x3fefe3e92be9d886, 0xbfb52e774a4d4d0a, // 0.99657, -0.08274 + 0x3fefe4f0e31d7a4a, 0xbfb4ca45fc1ba8b6, // 0.9967, -0.081211 + 0x3fefe5f3af2e3940, 0xbfb4661179272096, // 0.99682, -0.079682 + 0x3fefe6f18ff42c84, 0xbfb401d9d0e3a507, // 0.99694, -0.078153 + 0x3fefe7ea85482d60, 0xbfb39d9f12c5a299, // 0.99706, -0.076624 + 0x3fefe8de8f03d75c, 0xbfb339614e41ffa5, // 0.99718, -0.075094 + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729, -0.073565 + 0x3fefeab7df1c6005, 0xbfb270dcefdfc45b, // 0.9974, -0.072035 + 0x3fefeb9d2530410f, 0xbfb20c9674ed444c, // 0.99751, -0.070505 + 0x3fefec7d7f19cffc, 0xbfb1a84d316d4f8a, // 0.99762, -0.068974 + 0x3fefed58ecb673c4, 0xbfb1440134d709b2, // 0.99772, -0.067444 + 0x3fefee2f6de455ba, 0xbfb0dfb28ea201e6, // 0.99783, -0.065913 + 0x3fefef0102826191, 0xbfb07b614e463064, // 0.99793, -0.064383 + 0x3fefefcdaa704562, 0xbfb0170d833bf421, // 0.99802, -0.062852 + 0x3feff095658e71ad, 0xbfaf656e79f820e0, // 0.99812, -0.061321 + 0x3feff15833be1965, 0xbfae9cbd15ff5527, // 0.99821, -0.05979 + 0x3feff21614e131ed, 0xbfadd406f9808ec8, // 0.9983, -0.058258 + 0x3feff2cf08da7321, 0xbfad0b4c436f91d0, // 0.99839, -0.056727 + 0x3feff3830f8d575c, 0xbfac428d12c0d7e3, // 0.99848, -0.055195 + 0x3feff43228de1b77, 0xbfab79c986698b78, // 0.99856, -0.053664 + 0x3feff4dc54b1bed3, 0xbfaab101bd5f8317, // 0.99864, -0.052132 + 0x3feff58192ee0358, 0xbfa9e835d6993c87, // 0.99872, -0.0506 + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988, -0.049068 + 0x3feff6bd463b444d, 0xbfa856922bb513c1, // 0.99887, -0.047535 + 0x3feff753bb1b9164, 0xbfa78dbaa5874685, // 0.99894, -0.046003 + 0x3feff7e5420320f9, 0xbfa6c4df7d7d5b84, // 0.99901, -0.044471 + 0x3feff871dadb81df, 0xbfa5fc00d290cd43, // 0.99908, -0.042938 + 0x3feff8f9858f058b, 0xbfa5331ec3bba0eb, // 0.99914, -0.041406 + 0x3feff97c4208c014, 0xbfa46a396ff86179, // 0.9992, -0.039873 + 0x3feff9fa10348837, 0xbfa3a150f6421afc, // 0.99926, -0.03834 + 0x3feffa72effef75d, 0xbfa2d865759455cd, // 0.99932, -0.036807 + 0x3feffae6e1556998, 0xbfa20f770ceb11c6, // 0.99938, -0.035274 + 0x3feffb55e425fdae, 0xbfa14685db42c17e, // 0.99943, -0.033741 + 0x3feffbbff85f9515, 0xbfa07d91ff984580, // 0.99948, -0.032208 + 0x3feffc251df1d3f8, 0xbf9f693731d1cf01, // 0.99953, -0.030675 + 0x3feffc8554cd213a, 0xbf9dd7458c64ab39, // 0.99958, -0.029142 + 0x3feffce09ce2a679, 0xbf9c454f4ce53b1c, // 0.99962, -0.027608 + 0x3feffd36f624500c, 0xbf9ab354b1504fca, // 0.99966, -0.026075 + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997, -0.024541 + 0x3feffdd4dbf78f52, 0xbf978f535ddc9f03, // 0.99974, -0.023008 + 0x3feffe1c6870cb77, 0xbf95fd4d21fab226, // 0.99977, -0.021474 + 0x3feffe5f05e578db, 0xbf946b4381fce81c, // 0.9998, -0.01994 + 0x3feffe9cb44b51a1, 0xbf92d936bbe30efd, // 0.99983, -0.018407 + 0x3feffed57398d2b7, 0xbf9147270dad7132, // 0.99986, -0.016873 + 0x3fefff0943c53bd1, 0xbf8f6a296ab997ca, // 0.99988, -0.015339 + 0x3fefff3824c88f6f, 0xbf8c45ffe1e48ad9, // 0.9999, -0.013805 + 0x3fefff62169b92db, 0xbf8921d1fcdec784, // 0.99992, -0.012272 + 0x3fefff871937ce2f, 0xbf85fda037ac05e0, // 0.99994, -0.010738 + 0x3fefffa72c978c4f, 0xbf82d96b0e509703, // 0.99996,-0.0092038 + 0x3fefffc250b5daef, 0xbf7f6a65f9a2a3c5, // 0.99997,-0.0076698 + 0x3fefffd8858e8a92, 0xbf7921f0fe670071, // 0.99998,-0.0061359 + 0x3fefffe9cb1e2e8d, 0xbf72d97822f996bc, // 0.99999,-0.0046019 + 0x3feffff621621d02, 0xbf6921f8becca4ba, // 1, -0.003068 + 0x3feffffd88586ee6, 0xbf5921faaee6472d, // 1, -0.001534 + + +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +/** + @brief Floating-point Twiddle factors Table Generation +*/ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_16) +/** + @par + Example code for Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i < N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 16, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const float32_t twiddleCoef_16[32] = { + 1.000000000f, 0.000000000f, + 0.923879533f, 0.382683432f, + 0.707106781f, 0.707106781f, + 0.382683432f, 0.923879533f, + 0.000000000f, 1.000000000f, + -0.382683432f, 0.923879533f, + -0.707106781f, 0.707106781f, + -0.923879533f, 0.382683432f, + -1.000000000f, 0.000000000f, + -0.923879533f, -0.382683432f, + -0.707106781f, -0.707106781f, + -0.382683432f, -0.923879533f, + -0.000000000f, -1.000000000f, + 0.382683432f, -0.923879533f, + 0.707106781f, -0.707106781f, + 0.923879533f, -0.382683432f +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_32) + +/** + @par + Example code for Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 32, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const float32_t twiddleCoef_32[64] = { + 1.000000000f, 0.000000000f, + 0.980785280f, 0.195090322f, + 0.923879533f, 0.382683432f, + 0.831469612f, 0.555570233f, + 0.707106781f, 0.707106781f, + 0.555570233f, 0.831469612f, + 0.382683432f, 0.923879533f, + 0.195090322f, 0.980785280f, + 0.000000000f, 1.000000000f, + -0.195090322f, 0.980785280f, + -0.382683432f, 0.923879533f, + -0.555570233f, 0.831469612f, + -0.707106781f, 0.707106781f, + -0.831469612f, 0.555570233f, + -0.923879533f, 0.382683432f, + -0.980785280f, 0.195090322f, + -1.000000000f, 0.000000000f, + -0.980785280f, -0.195090322f, + -0.923879533f, -0.382683432f, + -0.831469612f, -0.555570233f, + -0.707106781f, -0.707106781f, + -0.555570233f, -0.831469612f, + -0.382683432f, -0.923879533f, + -0.195090322f, -0.980785280f, + -0.000000000f, -1.000000000f, + 0.195090322f, -0.980785280f, + 0.382683432f, -0.923879533f, + 0.555570233f, -0.831469612f, + 0.707106781f, -0.707106781f, + 0.831469612f, -0.555570233f, + 0.923879533f, -0.382683432f, + 0.980785280f, -0.195090322f +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_64) +/** + @par + Example code for Floating-point Twiddle factors Generation: + @par + 
for(i = 0; i < N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 64, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const float32_t twiddleCoef_64[128] = { + 1.000000000f, 0.000000000f, + 0.995184727f, 0.098017140f, + 0.980785280f, 0.195090322f, + 0.956940336f, 0.290284677f, + 0.923879533f, 0.382683432f, + 0.881921264f, 0.471396737f, + 0.831469612f, 0.555570233f, + 0.773010453f, 0.634393284f, + 0.707106781f, 0.707106781f, + 0.634393284f, 0.773010453f, + 0.555570233f, 0.831469612f, + 0.471396737f, 0.881921264f, + 0.382683432f, 0.923879533f, + 0.290284677f, 0.956940336f, + 0.195090322f, 0.980785280f, + 0.098017140f, 0.995184727f, + 0.000000000f, 1.000000000f, + -0.098017140f, 0.995184727f, + -0.195090322f, 0.980785280f, + -0.290284677f, 0.956940336f, + -0.382683432f, 0.923879533f, + -0.471396737f, 0.881921264f, + -0.555570233f, 0.831469612f, + -0.634393284f, 0.773010453f, + -0.707106781f, 0.707106781f, + -0.773010453f, 0.634393284f, + -0.831469612f, 0.555570233f, + -0.881921264f, 0.471396737f, + -0.923879533f, 0.382683432f, + -0.956940336f, 0.290284677f, + -0.980785280f, 0.195090322f, + -0.995184727f, 0.098017140f, + -1.000000000f, 0.000000000f, + -0.995184727f, -0.098017140f, + -0.980785280f, -0.195090322f, + -0.956940336f, -0.290284677f, + -0.923879533f, -0.382683432f, + -0.881921264f, -0.471396737f, + -0.831469612f, -0.555570233f, + -0.773010453f, -0.634393284f, + -0.707106781f, -0.707106781f, + -0.634393284f, -0.773010453f, + -0.555570233f, -0.831469612f, + -0.471396737f, -0.881921264f, + -0.382683432f, -0.923879533f, + -0.290284677f, -0.956940336f, + -0.195090322f, -0.980785280f, + -0.098017140f, -0.995184727f, + -0.000000000f, -1.000000000f, + 0.098017140f, -0.995184727f, + 0.195090322f, -0.980785280f, + 0.290284677f, -0.956940336f, + 0.382683432f, -0.923879533f, + 0.471396737f, -0.881921264f, + 0.555570233f, -0.831469612f, + 0.634393284f, -0.773010453f, + 0.707106781f, -0.707106781f, + 0.773010453f, -0.634393284f, + 0.831469612f, -0.555570233f, + 0.881921264f, -0.471396737f, + 0.923879533f, -0.382683432f, + 0.956940336f, -0.290284677f, + 0.980785280f, -0.195090322f, + 0.995184727f, -0.098017140f +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_128) +/** + @par + Example code for Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 128, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const float32_t twiddleCoef_128[256] = { + 1.000000000f, 0.000000000f, + 0.998795456f, 0.049067674f, + 0.995184727f, 0.098017140f, + 0.989176510f, 0.146730474f, + 0.980785280f, 0.195090322f, + 0.970031253f, 0.242980180f, + 0.956940336f, 0.290284677f, + 0.941544065f, 0.336889853f, + 0.923879533f, 0.382683432f, + 0.903989293f, 0.427555093f, + 0.881921264f, 0.471396737f, + 0.857728610f, 0.514102744f, + 0.831469612f, 0.555570233f, + 0.803207531f, 0.595699304f, + 0.773010453f, 0.634393284f, + 0.740951125f, 0.671558955f, + 0.707106781f, 0.707106781f, + 0.671558955f, 0.740951125f, + 0.634393284f, 0.773010453f, + 0.595699304f, 0.803207531f, + 0.555570233f, 0.831469612f, + 0.514102744f, 0.857728610f, + 0.471396737f, 0.881921264f, + 0.427555093f, 0.903989293f, + 0.382683432f, 0.923879533f, + 0.336889853f, 0.941544065f, + 0.290284677f, 0.956940336f, + 0.242980180f, 0.970031253f, + 0.195090322f, 0.980785280f, + 0.146730474f, 0.989176510f, + 0.098017140f, 0.995184727f, + 0.049067674f, 0.998795456f, + 0.000000000f, 1.000000000f, + -0.049067674f, 0.998795456f, + -0.098017140f, 0.995184727f, + -0.146730474f, 0.989176510f, + -0.195090322f, 0.980785280f, + -0.242980180f, 0.970031253f, + -0.290284677f, 0.956940336f, + -0.336889853f, 0.941544065f, + -0.382683432f, 0.923879533f, + -0.427555093f, 0.903989293f, + -0.471396737f, 0.881921264f, + -0.514102744f, 0.857728610f, + -0.555570233f, 0.831469612f, + -0.595699304f, 0.803207531f, + -0.634393284f, 0.773010453f, + -0.671558955f, 0.740951125f, + -0.707106781f, 0.707106781f, + -0.740951125f, 0.671558955f, + -0.773010453f, 0.634393284f, + -0.803207531f, 0.595699304f, + -0.831469612f, 0.555570233f, + -0.857728610f, 0.514102744f, + -0.881921264f, 0.471396737f, + -0.903989293f, 0.427555093f, + -0.923879533f, 0.382683432f, + -0.941544065f, 0.336889853f, + -0.956940336f, 0.290284677f, + -0.970031253f, 0.242980180f, + -0.980785280f, 0.195090322f, + -0.989176510f, 0.146730474f, + -0.995184727f, 0.098017140f, + -0.998795456f, 0.049067674f, + -1.000000000f, 0.000000000f, + -0.998795456f, -0.049067674f, + -0.995184727f, -0.098017140f, + -0.989176510f, -0.146730474f, + -0.980785280f, -0.195090322f, + -0.970031253f, -0.242980180f, + -0.956940336f, -0.290284677f, + -0.941544065f, -0.336889853f, + -0.923879533f, -0.382683432f, + -0.903989293f, -0.427555093f, + -0.881921264f, -0.471396737f, + -0.857728610f, -0.514102744f, + -0.831469612f, -0.555570233f, + -0.803207531f, -0.595699304f, + -0.773010453f, -0.634393284f, + -0.740951125f, -0.671558955f, + -0.707106781f, -0.707106781f, + -0.671558955f, -0.740951125f, + -0.634393284f, -0.773010453f, + -0.595699304f, -0.803207531f, + -0.555570233f, -0.831469612f, + -0.514102744f, -0.857728610f, + -0.471396737f, -0.881921264f, + -0.427555093f, -0.903989293f, + -0.382683432f, -0.923879533f, + -0.336889853f, -0.941544065f, + -0.290284677f, -0.956940336f, + -0.242980180f, -0.970031253f, + -0.195090322f, -0.980785280f, + -0.146730474f, -0.989176510f, + -0.098017140f, -0.995184727f, + -0.049067674f, -0.998795456f, + -0.000000000f, -1.000000000f, + 0.049067674f, -0.998795456f, + 0.098017140f, -0.995184727f, + 0.146730474f, -0.989176510f, + 0.195090322f, -0.980785280f, + 0.242980180f, -0.970031253f, + 0.290284677f, -0.956940336f, + 0.336889853f, -0.941544065f, + 0.382683432f, -0.923879533f, + 0.427555093f, -0.903989293f, + 0.471396737f, -0.881921264f, + 0.514102744f, -0.857728610f, + 0.555570233f, -0.831469612f, + 0.595699304f, -0.803207531f, + 0.634393284f, -0.773010453f, + 0.671558955f, -0.740951125f, + 0.707106781f, -0.707106781f, + 0.740951125f, -0.671558955f, + 0.773010453f, -0.634393284f, + 0.803207531f, -0.595699304f, + 0.831469612f, -0.555570233f, + 0.857728610f, -0.514102744f, + 0.881921264f, -0.471396737f, + 0.903989293f, -0.427555093f, + 0.923879533f, -0.382683432f, + 0.941544065f, -0.336889853f, + 0.956940336f, -0.290284677f, + 0.970031253f, -0.242980180f, + 0.980785280f, -0.195090322f, + 0.989176510f, -0.146730474f, + 0.995184727f, -0.098017140f, + 0.998795456f, -0.049067674f +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_256) +/** + @par + Example code for Floating-point Twiddle factors Generation: + @par + 
for(i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 256, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const float32_t twiddleCoef_256[512] = { + 1.000000000f, 0.000000000f, + 0.999698819f, 0.024541229f, + 0.998795456f, 0.049067674f, + 0.997290457f, 0.073564564f, + 0.995184727f, 0.098017140f, + 0.992479535f, 0.122410675f, + 0.989176510f, 0.146730474f, + 0.985277642f, 0.170961889f, + 0.980785280f, 0.195090322f, + 0.975702130f, 0.219101240f, + 0.970031253f, 0.242980180f, + 0.963776066f, 0.266712757f, + 0.956940336f, 0.290284677f, + 0.949528181f, 0.313681740f, + 0.941544065f, 0.336889853f, + 0.932992799f, 0.359895037f, + 0.923879533f, 0.382683432f, + 0.914209756f, 0.405241314f, + 0.903989293f, 0.427555093f, + 0.893224301f, 0.449611330f, + 0.881921264f, 0.471396737f, + 0.870086991f, 0.492898192f, + 0.857728610f, 0.514102744f, + 0.844853565f, 0.534997620f, + 0.831469612f, 0.555570233f, + 0.817584813f, 0.575808191f, + 0.803207531f, 0.595699304f, + 0.788346428f, 0.615231591f, + 0.773010453f, 0.634393284f, + 0.757208847f, 0.653172843f, + 0.740951125f, 0.671558955f, + 0.724247083f, 0.689540545f, + 0.707106781f, 0.707106781f, + 0.689540545f, 0.724247083f, + 0.671558955f, 0.740951125f, + 0.653172843f, 0.757208847f, + 0.634393284f, 0.773010453f, + 0.615231591f, 0.788346428f, + 0.595699304f, 0.803207531f, + 0.575808191f, 0.817584813f, + 0.555570233f, 0.831469612f, + 0.534997620f, 0.844853565f, + 0.514102744f, 0.857728610f, + 0.492898192f, 0.870086991f, + 0.471396737f, 0.881921264f, + 0.449611330f, 0.893224301f, + 0.427555093f, 0.903989293f, + 0.405241314f, 0.914209756f, + 0.382683432f, 0.923879533f, + 0.359895037f, 0.932992799f, + 0.336889853f, 0.941544065f, + 0.313681740f, 0.949528181f, + 0.290284677f, 0.956940336f, + 0.266712757f, 0.963776066f, + 0.242980180f, 0.970031253f, + 0.219101240f, 0.975702130f, + 0.195090322f, 0.980785280f, + 0.170961889f, 0.985277642f, + 0.146730474f, 0.989176510f, + 0.122410675f, 0.992479535f, + 0.098017140f, 0.995184727f, + 0.073564564f, 0.997290457f, + 0.049067674f, 0.998795456f, + 0.024541229f, 0.999698819f, + 0.000000000f, 1.000000000f, + -0.024541229f, 0.999698819f, + -0.049067674f, 0.998795456f, + -0.073564564f, 0.997290457f, + -0.098017140f, 0.995184727f, + -0.122410675f, 0.992479535f, + -0.146730474f, 0.989176510f, + -0.170961889f, 0.985277642f, + -0.195090322f, 0.980785280f, + -0.219101240f, 0.975702130f, + -0.242980180f, 0.970031253f, + -0.266712757f, 0.963776066f, + -0.290284677f, 0.956940336f, + -0.313681740f, 0.949528181f, + -0.336889853f, 0.941544065f, + -0.359895037f, 0.932992799f, + -0.382683432f, 0.923879533f, + -0.405241314f, 0.914209756f, + -0.427555093f, 0.903989293f, + -0.449611330f, 0.893224301f, + -0.471396737f, 0.881921264f, + -0.492898192f, 0.870086991f, + -0.514102744f, 0.857728610f, + -0.534997620f, 0.844853565f, + -0.555570233f, 0.831469612f, + -0.575808191f, 0.817584813f, + -0.595699304f, 0.803207531f, + -0.615231591f, 0.788346428f, + -0.634393284f, 0.773010453f, + -0.653172843f, 0.757208847f, + -0.671558955f, 0.740951125f, + -0.689540545f, 0.724247083f, + -0.707106781f, 0.707106781f, + -0.724247083f, 0.689540545f, + -0.740951125f, 0.671558955f, + -0.757208847f, 0.653172843f, + -0.773010453f, 0.634393284f, + -0.788346428f, 0.615231591f, + -0.803207531f, 0.595699304f, + -0.817584813f, 0.575808191f, + -0.831469612f, 0.555570233f, + -0.844853565f, 0.534997620f, + -0.857728610f, 0.514102744f, + -0.870086991f, 0.492898192f, + -0.881921264f, 0.471396737f, + -0.893224301f, 0.449611330f, + -0.903989293f, 0.427555093f, + -0.914209756f, 0.405241314f, + -0.923879533f, 0.382683432f, + -0.932992799f, 0.359895037f, + -0.941544065f, 0.336889853f, + -0.949528181f, 0.313681740f, + -0.956940336f, 0.290284677f, + -0.963776066f, 0.266712757f, + -0.970031253f, 0.242980180f, + -0.975702130f, 0.219101240f, + -0.980785280f, 0.195090322f, + -0.985277642f, 0.170961889f, + -0.989176510f, 0.146730474f, + -0.992479535f, 0.122410675f, + -0.995184727f, 0.098017140f, + -0.997290457f, 0.073564564f, + -0.998795456f, 0.049067674f, + -0.999698819f, 0.024541229f, + -1.000000000f, 0.000000000f, + -0.999698819f, -0.024541229f, + -0.998795456f, -0.049067674f, + -0.997290457f, -0.073564564f, + -0.995184727f, -0.098017140f, + -0.992479535f, -0.122410675f, + -0.989176510f, -0.146730474f, + -0.985277642f, -0.170961889f, + -0.980785280f, -0.195090322f, + -0.975702130f, -0.219101240f, + -0.970031253f, -0.242980180f, + -0.963776066f, -0.266712757f, + -0.956940336f, -0.290284677f, + -0.949528181f, -0.313681740f, + -0.941544065f, -0.336889853f, + -0.932992799f, -0.359895037f, + -0.923879533f, -0.382683432f, + -0.914209756f, -0.405241314f, + -0.903989293f, -0.427555093f, + -0.893224301f, -0.449611330f, + -0.881921264f, -0.471396737f, + -0.870086991f, -0.492898192f, + -0.857728610f, -0.514102744f, + -0.844853565f, -0.534997620f, + -0.831469612f, -0.555570233f, + -0.817584813f, -0.575808191f, + -0.803207531f, -0.595699304f, + -0.788346428f, -0.615231591f, + -0.773010453f, -0.634393284f, + -0.757208847f, -0.653172843f, + -0.740951125f, -0.671558955f, + -0.724247083f, -0.689540545f, + -0.707106781f, -0.707106781f, + -0.689540545f, -0.724247083f, + -0.671558955f, -0.740951125f, + -0.653172843f, -0.757208847f, + -0.634393284f, -0.773010453f, + -0.615231591f, -0.788346428f, + -0.595699304f, -0.803207531f, + -0.575808191f, -0.817584813f, + -0.555570233f, -0.831469612f, + -0.534997620f, -0.844853565f, + -0.514102744f, -0.857728610f, + -0.492898192f, -0.870086991f, + -0.471396737f, -0.881921264f, + -0.449611330f, -0.893224301f, + -0.427555093f, -0.903989293f, + -0.405241314f, -0.914209756f, + -0.382683432f, -0.923879533f, + -0.359895037f, -0.932992799f, + -0.336889853f, -0.941544065f, + -0.313681740f, -0.949528181f, + -0.290284677f, -0.956940336f, + -0.266712757f, -0.963776066f, + -0.242980180f, -0.970031253f, + -0.219101240f, -0.975702130f, + -0.195090322f, -0.980785280f, + -0.170961889f, -0.985277642f, + -0.146730474f, -0.989176510f, + -0.122410675f, -0.992479535f, + -0.098017140f, -0.995184727f, + -0.073564564f, -0.997290457f, + -0.049067674f, -0.998795456f, + -0.024541229f, -0.999698819f, + -0.000000000f, -1.000000000f, + 0.024541229f, -0.999698819f, + 0.049067674f, -0.998795456f, + 0.073564564f, -0.997290457f, + 0.098017140f, -0.995184727f, + 0.122410675f, -0.992479535f, + 0.146730474f, -0.989176510f, + 0.170961889f, -0.985277642f, + 0.195090322f, -0.980785280f, + 0.219101240f, -0.975702130f, + 0.242980180f, -0.970031253f, + 0.266712757f, -0.963776066f, + 0.290284677f, -0.956940336f, + 0.313681740f, -0.949528181f, + 0.336889853f, -0.941544065f, + 0.359895037f, -0.932992799f, + 0.382683432f, -0.923879533f, + 0.405241314f, -0.914209756f, + 0.427555093f, -0.903989293f, + 0.449611330f, -0.893224301f, + 0.471396737f, -0.881921264f, + 0.492898192f, -0.870086991f, + 0.514102744f, -0.857728610f, + 0.534997620f, -0.844853565f, + 0.555570233f, -0.831469612f, + 0.575808191f, -0.817584813f, + 0.595699304f, -0.803207531f, + 0.615231591f, -0.788346428f, + 0.634393284f, -0.773010453f, + 0.653172843f, -0.757208847f, + 0.671558955f, -0.740951125f, + 0.689540545f, -0.724247083f, + 0.707106781f, -0.707106781f, + 0.724247083f, -0.689540545f, + 0.740951125f, -0.671558955f, + 0.757208847f, -0.653172843f, + 0.773010453f, -0.634393284f, + 0.788346428f, -0.615231591f, + 0.803207531f, -0.595699304f, + 0.817584813f, -0.575808191f, + 0.831469612f, -0.555570233f, + 0.844853565f, -0.534997620f, + 0.857728610f, -0.514102744f, + 0.870086991f, -0.492898192f, + 0.881921264f, -0.471396737f, + 0.893224301f, -0.449611330f, + 0.903989293f, -0.427555093f, + 0.914209756f, -0.405241314f, + 0.923879533f, -0.382683432f, + 0.932992799f, -0.359895037f, + 0.941544065f, -0.336889853f, + 0.949528181f, -0.313681740f, + 0.956940336f, -0.290284677f, + 0.963776066f, -0.266712757f, + 0.970031253f, -0.242980180f, + 0.975702130f, -0.219101240f, + 0.980785280f, -0.195090322f, + 0.985277642f, -0.170961889f, + 0.989176510f, -0.146730474f, + 0.992479535f, -0.122410675f, + 0.995184727f, -0.098017140f, + 0.997290457f, -0.073564564f, + 0.998795456f, -0.049067674f, + 0.999698819f, -0.024541229f +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_512) +/** + @par + Example code for Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 512, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const float32_t twiddleCoef_512[1024] = { + 1.000000000f, 0.000000000f, + 0.999924702f, 0.012271538f, + 0.999698819f, 0.024541229f, + 0.999322385f, 0.036807223f, + 0.998795456f, 0.049067674f, + 0.998118113f, 0.061320736f, + 0.997290457f, 0.073564564f, + 0.996312612f, 0.085797312f, + 0.995184727f, 0.098017140f, + 0.993906970f, 0.110222207f, + 0.992479535f, 0.122410675f, + 0.990902635f, 0.134580709f, + 0.989176510f, 0.146730474f, + 0.987301418f, 0.158858143f, + 0.985277642f, 0.170961889f, + 0.983105487f, 0.183039888f, + 0.980785280f, 0.195090322f, + 0.978317371f, 0.207111376f, + 0.975702130f, 0.219101240f, + 0.972939952f, 0.231058108f, + 0.970031253f, 0.242980180f, + 0.966976471f, 0.254865660f, + 0.963776066f, 0.266712757f, + 0.960430519f, 0.278519689f, + 0.956940336f, 0.290284677f, + 0.953306040f, 0.302005949f, + 0.949528181f, 0.313681740f, + 0.945607325f, 0.325310292f, + 0.941544065f, 0.336889853f, + 0.937339012f, 0.348418680f, + 0.932992799f, 0.359895037f, + 0.928506080f, 0.371317194f, + 0.923879533f, 0.382683432f, + 0.919113852f, 0.393992040f, + 0.914209756f, 0.405241314f, + 0.909167983f, 0.416429560f, + 0.903989293f, 0.427555093f, + 0.898674466f, 0.438616239f, + 0.893224301f, 0.449611330f, + 0.887639620f, 0.460538711f, + 0.881921264f, 0.471396737f, + 0.876070094f, 0.482183772f, + 0.870086991f, 0.492898192f, + 0.863972856f, 0.503538384f, + 0.857728610f, 0.514102744f, + 0.851355193f, 0.524589683f, + 0.844853565f, 0.534997620f, + 0.838224706f, 0.545324988f, + 0.831469612f, 0.555570233f, + 0.824589303f, 0.565731811f, + 0.817584813f, 0.575808191f, + 0.810457198f, 0.585797857f, + 0.803207531f, 0.595699304f, + 0.795836905f, 0.605511041f, + 0.788346428f, 0.615231591f, + 0.780737229f, 0.624859488f, + 0.773010453f, 0.634393284f, + 0.765167266f, 0.643831543f, + 0.757208847f, 0.653172843f, + 0.749136395f, 0.662415778f, + 0.740951125f, 0.671558955f, + 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0.405241314f, 0.914209756f, + 0.393992040f, 0.919113852f, + 0.382683432f, 0.923879533f, + 0.371317194f, 0.928506080f, + 0.359895037f, 0.932992799f, + 0.348418680f, 0.937339012f, + 0.336889853f, 0.941544065f, + 0.325310292f, 0.945607325f, + 0.313681740f, 0.949528181f, + 0.302005949f, 0.953306040f, + 0.290284677f, 0.956940336f, + 0.278519689f, 0.960430519f, + 0.266712757f, 0.963776066f, + 0.254865660f, 0.966976471f, + 0.242980180f, 0.970031253f, + 0.231058108f, 0.972939952f, + 0.219101240f, 0.975702130f, + 0.207111376f, 0.978317371f, + 0.195090322f, 0.980785280f, + 0.183039888f, 0.983105487f, + 0.170961889f, 0.985277642f, + 0.158858143f, 0.987301418f, + 0.146730474f, 0.989176510f, + 0.134580709f, 0.990902635f, + 0.122410675f, 0.992479535f, + 0.110222207f, 0.993906970f, + 0.098017140f, 0.995184727f, + 0.085797312f, 0.996312612f, + 0.073564564f, 0.997290457f, + 0.061320736f, 0.998118113f, + 0.049067674f, 0.998795456f, + 0.036807223f, 0.999322385f, + 0.024541229f, 0.999698819f, + 0.012271538f, 0.999924702f, + 0.000000000f, 1.000000000f, + -0.012271538f, 0.999924702f, + -0.024541229f, 0.999698819f, + -0.036807223f, 0.999322385f, + -0.049067674f, 0.998795456f, + -0.061320736f, 0.998118113f, + -0.073564564f, 0.997290457f, + -0.085797312f, 0.996312612f, + -0.098017140f, 0.995184727f, + -0.110222207f, 0.993906970f, + -0.122410675f, 0.992479535f, + -0.134580709f, 0.990902635f, + -0.146730474f, 0.989176510f, + -0.158858143f, 0.987301418f, + -0.170961889f, 0.985277642f, + -0.183039888f, 0.983105487f, + -0.195090322f, 0.980785280f, + -0.207111376f, 0.978317371f, + -0.219101240f, 0.975702130f, + -0.231058108f, 0.972939952f, + -0.242980180f, 0.970031253f, + -0.254865660f, 0.966976471f, + -0.266712757f, 0.963776066f, + -0.278519689f, 0.960430519f, + -0.290284677f, 0.956940336f, + -0.302005949f, 0.953306040f, + -0.313681740f, 0.949528181f, + -0.325310292f, 0.945607325f, + -0.336889853f, 0.941544065f, + -0.348418680f, 0.937339012f, + -0.359895037f, 0.932992799f, + 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0.998118113f, -0.061320736f, + 0.998795456f, -0.049067674f, + 0.999322385f, -0.036807223f, + 0.999698819f, -0.024541229f, + 0.999924702f, -0.012271538f +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_1024) +/** + @par + Example code for Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 1024, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const float32_t twiddleCoef_1024[2048] = { + 1.000000000f, 0.000000000f, + 0.999981175f, 0.006135885f, + 0.999924702f, 0.012271538f, + 0.999830582f, 0.018406730f, + 0.999698819f, 0.024541229f, + 0.999529418f, 0.030674803f, + 0.999322385f, 0.036807223f, + 0.999077728f, 0.042938257f, + 0.998795456f, 0.049067674f, + 0.998475581f, 0.055195244f, + 0.998118113f, 0.061320736f, + 0.997723067f, 0.067443920f, + 0.997290457f, 0.073564564f, + 0.996820299f, 0.079682438f, + 0.996312612f, 0.085797312f, + 0.995767414f, 0.091908956f, + 0.995184727f, 0.098017140f, + 0.994564571f, 0.104121634f, + 0.993906970f, 0.110222207f, + 0.993211949f, 0.116318631f, + 0.992479535f, 0.122410675f, + 0.991709754f, 0.128498111f, + 0.990902635f, 0.134580709f, + 0.990058210f, 0.140658239f, + 0.989176510f, 0.146730474f, + 0.988257568f, 0.152797185f, + 0.987301418f, 0.158858143f, + 0.986308097f, 0.164913120f, + 0.985277642f, 0.170961889f, + 0.984210092f, 0.177004220f, + 0.983105487f, 0.183039888f, + 0.981963869f, 0.189068664f, + 0.980785280f, 0.195090322f, + 0.979569766f, 0.201104635f, + 0.978317371f, 0.207111376f, + 0.977028143f, 0.213110320f, + 0.975702130f, 0.219101240f, + 0.974339383f, 0.225083911f, + 0.972939952f, 0.231058108f, + 0.971503891f, 0.237023606f, + 0.970031253f, 0.242980180f, + 0.968522094f, 0.248927606f, + 0.966976471f, 0.254865660f, + 0.965394442f, 0.260794118f, + 0.963776066f, 0.266712757f, + 0.962121404f, 0.272621355f, + 0.960430519f, 0.278519689f, + 0.958703475f, 0.284407537f, + 0.956940336f, 0.290284677f, + 0.955141168f, 0.296150888f, + 0.953306040f, 0.302005949f, + 0.951435021f, 0.307849640f, + 0.949528181f, 0.313681740f, + 0.947585591f, 0.319502031f, + 0.945607325f, 0.325310292f, + 0.943593458f, 0.331106306f, + 0.941544065f, 0.336889853f, + 0.939459224f, 0.342660717f, + 0.937339012f, 0.348418680f, + 0.935183510f, 0.354163525f, + 0.932992799f, 0.359895037f, + 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0.999529418f, -0.030674803f, + 0.999698819f, -0.024541229f, + 0.999830582f, -0.018406730f, + 0.999924702f, -0.012271538f, + 0.999981175f, -0.006135885f +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_2048) +/** + @par + Example code for Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 2048, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const float32_t twiddleCoef_2048[4096] = { + 1.000000000f, 0.000000000f, + 0.999995294f, 0.003067957f, + 0.999981175f, 0.006135885f, + 0.999957645f, 0.009203755f, + 0.999924702f, 0.012271538f, + 0.999882347f, 0.015339206f, + 0.999830582f, 0.018406730f, + 0.999769405f, 0.021474080f, + 0.999698819f, 0.024541229f, + 0.999618822f, 0.027608146f, + 0.999529418f, 0.030674803f, + 0.999430605f, 0.033741172f, + 0.999322385f, 0.036807223f, + 0.999204759f, 0.039872928f, + 0.999077728f, 0.042938257f, + 0.998941293f, 0.046003182f, + 0.998795456f, 0.049067674f, + 0.998640218f, 0.052131705f, + 0.998475581f, 0.055195244f, + 0.998301545f, 0.058258265f, + 0.998118113f, 0.061320736f, + 0.997925286f, 0.064382631f, + 0.997723067f, 0.067443920f, + 0.997511456f, 0.070504573f, + 0.997290457f, 0.073564564f, + 0.997060070f, 0.076623861f, + 0.996820299f, 0.079682438f, + 0.996571146f, 0.082740265f, + 0.996312612f, 0.085797312f, + 0.996044701f, 0.088853553f, + 0.995767414f, 0.091908956f, + 0.995480755f, 0.094963495f, + 0.995184727f, 0.098017140f, + 0.994879331f, 0.101069863f, + 0.994564571f, 0.104121634f, + 0.994240449f, 0.107172425f, + 0.993906970f, 0.110222207f, + 0.993564136f, 0.113270952f, + 0.993211949f, 0.116318631f, + 0.992850414f, 0.119365215f, + 0.992479535f, 0.122410675f, + 0.992099313f, 0.125454983f, + 0.991709754f, 0.128498111f, + 0.991310860f, 0.131540029f, + 0.990902635f, 0.134580709f, + 0.990485084f, 0.137620122f, + 0.990058210f, 0.140658239f, + 0.989622017f, 0.143695033f, + 0.989176510f, 0.146730474f, + 0.988721692f, 0.149764535f, + 0.988257568f, 0.152797185f, + 0.987784142f, 0.155828398f, + 0.987301418f, 0.158858143f, + 0.986809402f, 0.161886394f, + 0.986308097f, 0.164913120f, + 0.985797509f, 0.167938295f, + 0.985277642f, 0.170961889f, + 0.984748502f, 0.173983873f, + 0.984210092f, 0.177004220f, + 0.983662419f, 0.180022901f, + 0.983105487f, 0.183039888f, + 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0.999882347f, -0.015339206f, + 0.999924702f, -0.012271538f, + 0.999957645f, -0.009203755f, + 0.999981175f, -0.006135885f, + 0.999995294f, -0.003067957f +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_F32_4096) +/** + @par + Example code for Floating-point Twiddle factors Generation: + @par + 
for (i = 0; i< N/; i++)
+  {
+ 	twiddleCoef[2*i]   = cos(i * 2*PI/(float)N);
+ 	twiddleCoef[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 4096, PI = 3.14159265358979 + @par + Cos and Sin values are in interleaved fashion +*/ +const float32_t twiddleCoef_4096[8192] = { + 1.000000000f, 0.000000000f, + 0.999998823f, 0.001533980f, + 0.999995294f, 0.003067957f, + 0.999989411f, 0.004601926f, + 0.999981175f, 0.006135885f, + 0.999970586f, 0.007669829f, + 0.999957645f, 0.009203755f, + 0.999942350f, 0.010737659f, + 0.999924702f, 0.012271538f, + 0.999904701f, 0.013805389f, + 0.999882347f, 0.015339206f, + 0.999857641f, 0.016872988f, + 0.999830582f, 0.018406730f, + 0.999801170f, 0.019940429f, + 0.999769405f, 0.021474080f, + 0.999735288f, 0.023007681f, + 0.999698819f, 0.024541229f, + 0.999659997f, 0.026074718f, + 0.999618822f, 0.027608146f, + 0.999575296f, 0.029141509f, + 0.999529418f, 0.030674803f, + 0.999481187f, 0.032208025f, + 0.999430605f, 0.033741172f, + 0.999377670f, 0.035274239f, + 0.999322385f, 0.036807223f, + 0.999264747f, 0.038340120f, + 0.999204759f, 0.039872928f, + 0.999142419f, 0.041405641f, + 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0.999957645f, -0.009203755f, + 0.999970586f, -0.007669829f, + 0.999981175f, -0.006135885f, + 0.999989411f, -0.004601926f, + 0.999995294f, -0.003067957f, + 0.999998823f, -0.001533980f +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + + +/** + @brief Q31 Twiddle factors Table +*/ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_16) +/** + @par + Example code for Q31 Twiddle factors Generation:: + @par + 
 for(i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefQ31[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefQ31[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 16, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to Q31(Fixed point 1.31): + round(twiddleCoefQ31(i) * pow(2, 31)) + */ +const q31_t twiddleCoef_16_q31[24] = { + (q31_t)0x7FFFFFFF, (q31_t)0x00000000, + (q31_t)0x7641AF3C, (q31_t)0x30FBC54D, + (q31_t)0x5A82799A, (q31_t)0x5A82799A, + (q31_t)0x30FBC54D, (q31_t)0x7641AF3C, + (q31_t)0x00000000, (q31_t)0x7FFFFFFF, + (q31_t)0xCF043AB2, (q31_t)0x7641AF3C, + (q31_t)0xA57D8666, (q31_t)0x5A82799A, + (q31_t)0x89BE50C3, (q31_t)0x30FBC54D, + (q31_t)0x80000000, (q31_t)0x00000000, + (q31_t)0x89BE50C3, (q31_t)0xCF043AB2, + (q31_t)0xA57D8666, (q31_t)0xA57D8666, + (q31_t)0xCF043AB2, (q31_t)0x89BE50C3 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_32) +/** + @par + Example code for Q31 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefQ31[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefQ31[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 32, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to Q31(Fixed point 1.31): + round(twiddleCoefQ31(i) * pow(2, 31)) + */ +const q31_t twiddleCoef_32_q31[48] = { + (q31_t)0x7FFFFFFF, (q31_t)0x00000000, + (q31_t)0x7D8A5F3F, (q31_t)0x18F8B83C, + (q31_t)0x7641AF3C, (q31_t)0x30FBC54D, + (q31_t)0x6A6D98A4, (q31_t)0x471CECE6, + (q31_t)0x5A82799A, (q31_t)0x5A82799A, + (q31_t)0x471CECE6, (q31_t)0x6A6D98A4, + (q31_t)0x30FBC54D, (q31_t)0x7641AF3C, + (q31_t)0x18F8B83C, (q31_t)0x7D8A5F3F, + (q31_t)0x00000000, (q31_t)0x7FFFFFFF, + (q31_t)0xE70747C3, (q31_t)0x7D8A5F3F, + (q31_t)0xCF043AB2, (q31_t)0x7641AF3C, + (q31_t)0xB8E31319, (q31_t)0x6A6D98A4, + (q31_t)0xA57D8666, (q31_t)0x5A82799A, + (q31_t)0x9592675B, (q31_t)0x471CECE6, + (q31_t)0x89BE50C3, (q31_t)0x30FBC54D, + (q31_t)0x8275A0C0, (q31_t)0x18F8B83C, + (q31_t)0x80000000, (q31_t)0x00000000, + (q31_t)0x8275A0C0, (q31_t)0xE70747C3, + (q31_t)0x89BE50C3, (q31_t)0xCF043AB2, + (q31_t)0x9592675B, (q31_t)0xB8E31319, + (q31_t)0xA57D8666, (q31_t)0xA57D8666, + (q31_t)0xB8E31319, (q31_t)0x9592675B, + (q31_t)0xCF043AB2, (q31_t)0x89BE50C3, + (q31_t)0xE70747C3, (q31_t)0x8275A0C0 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_64) +/** + @par + Example code for Q31 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefQ31[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefQ31[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 64, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to Q31(Fixed point 1.31): + round(twiddleCoefQ31(i) * pow(2, 31)) + */ +const q31_t twiddleCoef_64_q31[96] = { + (q31_t)0x7FFFFFFF, (q31_t)0x00000000, (q31_t)0x7F62368F, + (q31_t)0x0C8BD35E, (q31_t)0x7D8A5F3F, (q31_t)0x18F8B83C, + (q31_t)0x7A7D055B, (q31_t)0x25280C5D, (q31_t)0x7641AF3C, + (q31_t)0x30FBC54D, (q31_t)0x70E2CBC6, (q31_t)0x3C56BA70, + (q31_t)0x6A6D98A4, (q31_t)0x471CECE6, (q31_t)0x62F201AC, + (q31_t)0x5133CC94, (q31_t)0x5A82799A, (q31_t)0x5A82799A, + (q31_t)0x5133CC94, (q31_t)0x62F201AC, (q31_t)0x471CECE6, + (q31_t)0x6A6D98A4, (q31_t)0x3C56BA70, (q31_t)0x70E2CBC6, + (q31_t)0x30FBC54D, (q31_t)0x7641AF3C, (q31_t)0x25280C5D, + (q31_t)0x7A7D055B, (q31_t)0x18F8B83C, (q31_t)0x7D8A5F3F, + (q31_t)0x0C8BD35E, (q31_t)0x7F62368F, (q31_t)0x00000000, + (q31_t)0x7FFFFFFF, (q31_t)0xF3742CA1, (q31_t)0x7F62368F, + (q31_t)0xE70747C3, (q31_t)0x7D8A5F3F, (q31_t)0xDAD7F3A2, + (q31_t)0x7A7D055B, (q31_t)0xCF043AB2, (q31_t)0x7641AF3C, + (q31_t)0xC3A9458F, (q31_t)0x70E2CBC6, (q31_t)0xB8E31319, + (q31_t)0x6A6D98A4, (q31_t)0xAECC336B, (q31_t)0x62F201AC, + (q31_t)0xA57D8666, (q31_t)0x5A82799A, (q31_t)0x9D0DFE53, + (q31_t)0x5133CC94, (q31_t)0x9592675B, (q31_t)0x471CECE6, + (q31_t)0x8F1D343A, (q31_t)0x3C56BA70, (q31_t)0x89BE50C3, + (q31_t)0x30FBC54D, (q31_t)0x8582FAA4, (q31_t)0x25280C5D, + (q31_t)0x8275A0C0, (q31_t)0x18F8B83C, (q31_t)0x809DC970, + (q31_t)0x0C8BD35E, (q31_t)0x80000000, (q31_t)0x00000000, + (q31_t)0x809DC970, (q31_t)0xF3742CA1, (q31_t)0x8275A0C0, + (q31_t)0xE70747C3, (q31_t)0x8582FAA4, (q31_t)0xDAD7F3A2, + (q31_t)0x89BE50C3, (q31_t)0xCF043AB2, (q31_t)0x8F1D343A, + (q31_t)0xC3A9458F, (q31_t)0x9592675B, (q31_t)0xB8E31319, + (q31_t)0x9D0DFE53, (q31_t)0xAECC336B, (q31_t)0xA57D8666, + (q31_t)0xA57D8666, (q31_t)0xAECC336B, (q31_t)0x9D0DFE53, + (q31_t)0xB8E31319, (q31_t)0x9592675B, (q31_t)0xC3A9458F, + (q31_t)0x8F1D343A, (q31_t)0xCF043AB2, (q31_t)0x89BE50C3, + (q31_t)0xDAD7F3A2, (q31_t)0x8582FAA4, (q31_t)0xE70747C3, + (q31_t)0x8275A0C0, (q31_t)0xF3742CA1, (q31_t)0x809DC970 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_128) +/** + @par + Example code for Q31 Twiddle factors Generation:: + @par + 
for (i = 0; i < 3N/4; i++)
+  {
+     twiddleCoefQ31[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefQ31[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 128, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to Q31(Fixed point 1.31): + round(twiddleCoefQ31(i) * pow(2, 31)) + */ +const q31_t twiddleCoef_128_q31[192] = { + (q31_t)0x7FFFFFFF, (q31_t)0x00000000, (q31_t)0x7FD8878D, + (q31_t)0x0647D97C, (q31_t)0x7F62368F, (q31_t)0x0C8BD35E, + (q31_t)0x7E9D55FC, (q31_t)0x12C8106E, (q31_t)0x7D8A5F3F, + (q31_t)0x18F8B83C, (q31_t)0x7C29FBEE, (q31_t)0x1F19F97B, + (q31_t)0x7A7D055B, (q31_t)0x25280C5D, (q31_t)0x78848413, + (q31_t)0x2B1F34EB, (q31_t)0x7641AF3C, (q31_t)0x30FBC54D, + (q31_t)0x73B5EBD0, (q31_t)0x36BA2013, (q31_t)0x70E2CBC6, + (q31_t)0x3C56BA70, (q31_t)0x6DCA0D14, (q31_t)0x41CE1E64, + (q31_t)0x6A6D98A4, (q31_t)0x471CECE6, (q31_t)0x66CF811F, + (q31_t)0x4C3FDFF3, (q31_t)0x62F201AC, (q31_t)0x5133CC94, + (q31_t)0x5ED77C89, (q31_t)0x55F5A4D2, (q31_t)0x5A82799A, + (q31_t)0x5A82799A, (q31_t)0x55F5A4D2, (q31_t)0x5ED77C89, + (q31_t)0x5133CC94, (q31_t)0x62F201AC, (q31_t)0x4C3FDFF3, + (q31_t)0x66CF811F, (q31_t)0x471CECE6, (q31_t)0x6A6D98A4, + (q31_t)0x41CE1E64, (q31_t)0x6DCA0D14, (q31_t)0x3C56BA70, + (q31_t)0x70E2CBC6, (q31_t)0x36BA2013, (q31_t)0x73B5EBD0, + (q31_t)0x30FBC54D, (q31_t)0x7641AF3C, (q31_t)0x2B1F34EB, + (q31_t)0x78848413, (q31_t)0x25280C5D, (q31_t)0x7A7D055B, + (q31_t)0x1F19F97B, (q31_t)0x7C29FBEE, (q31_t)0x18F8B83C, + (q31_t)0x7D8A5F3F, (q31_t)0x12C8106E, (q31_t)0x7E9D55FC, + (q31_t)0x0C8BD35E, (q31_t)0x7F62368F, (q31_t)0x0647D97C, + (q31_t)0x7FD8878D, (q31_t)0x00000000, (q31_t)0x7FFFFFFF, + (q31_t)0xF9B82683, (q31_t)0x7FD8878D, (q31_t)0xF3742CA1, + (q31_t)0x7F62368F, (q31_t)0xED37EF91, (q31_t)0x7E9D55FC, + (q31_t)0xE70747C3, (q31_t)0x7D8A5F3F, (q31_t)0xE0E60684, + (q31_t)0x7C29FBEE, (q31_t)0xDAD7F3A2, (q31_t)0x7A7D055B, + (q31_t)0xD4E0CB14, (q31_t)0x78848413, (q31_t)0xCF043AB2, + (q31_t)0x7641AF3C, (q31_t)0xC945DFEC, (q31_t)0x73B5EBD0, + (q31_t)0xC3A9458F, (q31_t)0x70E2CBC6, (q31_t)0xBE31E19B, + (q31_t)0x6DCA0D14, (q31_t)0xB8E31319, (q31_t)0x6A6D98A4, + (q31_t)0xB3C0200C, (q31_t)0x66CF811F, (q31_t)0xAECC336B, + (q31_t)0x62F201AC, (q31_t)0xAA0A5B2D, (q31_t)0x5ED77C89, + (q31_t)0xA57D8666, (q31_t)0x5A82799A, (q31_t)0xA1288376, + (q31_t)0x55F5A4D2, (q31_t)0x9D0DFE53, (q31_t)0x5133CC94, + (q31_t)0x99307EE0, (q31_t)0x4C3FDFF3, (q31_t)0x9592675B, + (q31_t)0x471CECE6, (q31_t)0x9235F2EB, (q31_t)0x41CE1E64, + (q31_t)0x8F1D343A, (q31_t)0x3C56BA70, (q31_t)0x8C4A142F, + (q31_t)0x36BA2013, (q31_t)0x89BE50C3, (q31_t)0x30FBC54D, + (q31_t)0x877B7BEC, (q31_t)0x2B1F34EB, (q31_t)0x8582FAA4, + (q31_t)0x25280C5D, (q31_t)0x83D60411, (q31_t)0x1F19F97B, + (q31_t)0x8275A0C0, (q31_t)0x18F8B83C, (q31_t)0x8162AA03, + (q31_t)0x12C8106E, (q31_t)0x809DC970, (q31_t)0x0C8BD35E, + (q31_t)0x80277872, (q31_t)0x0647D97C, (q31_t)0x80000000, + (q31_t)0x00000000, (q31_t)0x80277872, (q31_t)0xF9B82683, + (q31_t)0x809DC970, (q31_t)0xF3742CA1, (q31_t)0x8162AA03, + (q31_t)0xED37EF91, (q31_t)0x8275A0C0, (q31_t)0xE70747C3, + (q31_t)0x83D60411, (q31_t)0xE0E60684, (q31_t)0x8582FAA4, + (q31_t)0xDAD7F3A2, (q31_t)0x877B7BEC, (q31_t)0xD4E0CB14, + (q31_t)0x89BE50C3, (q31_t)0xCF043AB2, (q31_t)0x8C4A142F, + (q31_t)0xC945DFEC, (q31_t)0x8F1D343A, (q31_t)0xC3A9458F, + (q31_t)0x9235F2EB, (q31_t)0xBE31E19B, (q31_t)0x9592675B, + (q31_t)0xB8E31319, (q31_t)0x99307EE0, (q31_t)0xB3C0200C, + (q31_t)0x9D0DFE53, (q31_t)0xAECC336B, (q31_t)0xA1288376, + (q31_t)0xAA0A5B2D, (q31_t)0xA57D8666, (q31_t)0xA57D8666, + (q31_t)0xAA0A5B2D, (q31_t)0xA1288376, (q31_t)0xAECC336B, + (q31_t)0x9D0DFE53, (q31_t)0xB3C0200C, (q31_t)0x99307EE0, + (q31_t)0xB8E31319, (q31_t)0x9592675B, (q31_t)0xBE31E19B, + (q31_t)0x9235F2EB, (q31_t)0xC3A9458F, (q31_t)0x8F1D343A, + (q31_t)0xC945DFEC, (q31_t)0x8C4A142F, (q31_t)0xCF043AB2, + (q31_t)0x89BE50C3, (q31_t)0xD4E0CB14, (q31_t)0x877B7BEC, + (q31_t)0xDAD7F3A2, (q31_t)0x8582FAA4, (q31_t)0xE0E60684, + (q31_t)0x83D60411, (q31_t)0xE70747C3, (q31_t)0x8275A0C0, + (q31_t)0xED37EF91, (q31_t)0x8162AA03, (q31_t)0xF3742CA1, + (q31_t)0x809DC970, (q31_t)0xF9B82683, (q31_t)0x80277872 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_256) +/** + @par + Example code for Q31 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefQ31[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefQ31[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 256, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to Q31(Fixed point 1.31): + round(twiddleCoefQ31(i) * pow(2, 31)) + + */ +const q31_t twiddleCoef_256_q31[384] = { + (q31_t)0x7FFFFFFF, (q31_t)0x00000000, (q31_t)0x7FF62182, + (q31_t)0x03242ABF, (q31_t)0x7FD8878D, (q31_t)0x0647D97C, + (q31_t)0x7FA736B4, (q31_t)0x096A9049, (q31_t)0x7F62368F, + (q31_t)0x0C8BD35E, (q31_t)0x7F0991C3, (q31_t)0x0FAB272B, + (q31_t)0x7E9D55FC, (q31_t)0x12C8106E, (q31_t)0x7E1D93E9, + (q31_t)0x15E21444, (q31_t)0x7D8A5F3F, (q31_t)0x18F8B83C, + (q31_t)0x7CE3CEB1, (q31_t)0x1C0B826A, (q31_t)0x7C29FBEE, + (q31_t)0x1F19F97B, (q31_t)0x7B5D039D, (q31_t)0x2223A4C5, + (q31_t)0x7A7D055B, (q31_t)0x25280C5D, (q31_t)0x798A23B1, + (q31_t)0x2826B928, (q31_t)0x78848413, (q31_t)0x2B1F34EB, + (q31_t)0x776C4EDB, (q31_t)0x2E110A62, (q31_t)0x7641AF3C, + (q31_t)0x30FBC54D, (q31_t)0x7504D345, (q31_t)0x33DEF287, + (q31_t)0x73B5EBD0, (q31_t)0x36BA2013, (q31_t)0x72552C84, + (q31_t)0x398CDD32, (q31_t)0x70E2CBC6, (q31_t)0x3C56BA70, + (q31_t)0x6F5F02B1, (q31_t)0x3F1749B7, (q31_t)0x6DCA0D14, + (q31_t)0x41CE1E64, (q31_t)0x6C242960, (q31_t)0x447ACD50, + (q31_t)0x6A6D98A4, (q31_t)0x471CECE6, (q31_t)0x68A69E81, + (q31_t)0x49B41533, (q31_t)0x66CF811F, (q31_t)0x4C3FDFF3, + (q31_t)0x64E88926, (q31_t)0x4EBFE8A4, (q31_t)0x62F201AC, + (q31_t)0x5133CC94, (q31_t)0x60EC3830, (q31_t)0x539B2AEF, + (q31_t)0x5ED77C89, (q31_t)0x55F5A4D2, (q31_t)0x5CB420DF, + (q31_t)0x5842DD54, (q31_t)0x5A82799A, (q31_t)0x5A82799A, + (q31_t)0x5842DD54, (q31_t)0x5CB420DF, (q31_t)0x55F5A4D2, + (q31_t)0x5ED77C89, (q31_t)0x539B2AEF, (q31_t)0x60EC3830, + (q31_t)0x5133CC94, (q31_t)0x62F201AC, (q31_t)0x4EBFE8A4, + (q31_t)0x64E88926, (q31_t)0x4C3FDFF3, (q31_t)0x66CF811F, + (q31_t)0x49B41533, (q31_t)0x68A69E81, (q31_t)0x471CECE6, + (q31_t)0x6A6D98A4, (q31_t)0x447ACD50, (q31_t)0x6C242960, + (q31_t)0x41CE1E64, (q31_t)0x6DCA0D14, (q31_t)0x3F1749B7, + (q31_t)0x6F5F02B1, (q31_t)0x3C56BA70, (q31_t)0x70E2CBC6, + (q31_t)0x398CDD32, (q31_t)0x72552C84, (q31_t)0x36BA2013, + (q31_t)0x73B5EBD0, (q31_t)0x33DEF287, (q31_t)0x7504D345, + (q31_t)0x30FBC54D, (q31_t)0x7641AF3C, (q31_t)0x2E110A62, + (q31_t)0x776C4EDB, (q31_t)0x2B1F34EB, (q31_t)0x78848413, + (q31_t)0x2826B928, (q31_t)0x798A23B1, (q31_t)0x25280C5D, + (q31_t)0x7A7D055B, (q31_t)0x2223A4C5, (q31_t)0x7B5D039D, + (q31_t)0x1F19F97B, (q31_t)0x7C29FBEE, (q31_t)0x1C0B826A, + (q31_t)0x7CE3CEB1, (q31_t)0x18F8B83C, (q31_t)0x7D8A5F3F, + (q31_t)0x15E21444, (q31_t)0x7E1D93E9, (q31_t)0x12C8106E, + (q31_t)0x7E9D55FC, (q31_t)0x0FAB272B, (q31_t)0x7F0991C3, + (q31_t)0x0C8BD35E, (q31_t)0x7F62368F, (q31_t)0x096A9049, + (q31_t)0x7FA736B4, (q31_t)0x0647D97C, (q31_t)0x7FD8878D, + (q31_t)0x03242ABF, (q31_t)0x7FF62182, (q31_t)0x00000000, + (q31_t)0x7FFFFFFF, (q31_t)0xFCDBD541, (q31_t)0x7FF62182, + (q31_t)0xF9B82683, (q31_t)0x7FD8878D, (q31_t)0xF6956FB6, + (q31_t)0x7FA736B4, (q31_t)0xF3742CA1, (q31_t)0x7F62368F, + (q31_t)0xF054D8D4, (q31_t)0x7F0991C3, (q31_t)0xED37EF91, + (q31_t)0x7E9D55FC, (q31_t)0xEA1DEBBB, (q31_t)0x7E1D93E9, + (q31_t)0xE70747C3, (q31_t)0x7D8A5F3F, (q31_t)0xE3F47D95, + (q31_t)0x7CE3CEB1, (q31_t)0xE0E60684, (q31_t)0x7C29FBEE, + (q31_t)0xDDDC5B3A, (q31_t)0x7B5D039D, (q31_t)0xDAD7F3A2, + (q31_t)0x7A7D055B, (q31_t)0xD7D946D7, (q31_t)0x798A23B1, + (q31_t)0xD4E0CB14, (q31_t)0x78848413, (q31_t)0xD1EEF59E, + (q31_t)0x776C4EDB, (q31_t)0xCF043AB2, (q31_t)0x7641AF3C, + (q31_t)0xCC210D78, (q31_t)0x7504D345, (q31_t)0xC945DFEC, + (q31_t)0x73B5EBD0, (q31_t)0xC67322CD, (q31_t)0x72552C84, + (q31_t)0xC3A9458F, (q31_t)0x70E2CBC6, (q31_t)0xC0E8B648, + (q31_t)0x6F5F02B1, (q31_t)0xBE31E19B, (q31_t)0x6DCA0D14, + (q31_t)0xBB8532AF, (q31_t)0x6C242960, (q31_t)0xB8E31319, + (q31_t)0x6A6D98A4, (q31_t)0xB64BEACC, (q31_t)0x68A69E81, + (q31_t)0xB3C0200C, (q31_t)0x66CF811F, (q31_t)0xB140175B, + (q31_t)0x64E88926, (q31_t)0xAECC336B, (q31_t)0x62F201AC, + (q31_t)0xAC64D510, (q31_t)0x60EC3830, (q31_t)0xAA0A5B2D, + (q31_t)0x5ED77C89, (q31_t)0xA7BD22AB, (q31_t)0x5CB420DF, + (q31_t)0xA57D8666, (q31_t)0x5A82799A, (q31_t)0xA34BDF20, + (q31_t)0x5842DD54, (q31_t)0xA1288376, (q31_t)0x55F5A4D2, + (q31_t)0x9F13C7D0, (q31_t)0x539B2AEF, (q31_t)0x9D0DFE53, + (q31_t)0x5133CC94, (q31_t)0x9B1776D9, (q31_t)0x4EBFE8A4, + (q31_t)0x99307EE0, (q31_t)0x4C3FDFF3, (q31_t)0x9759617E, + (q31_t)0x49B41533, (q31_t)0x9592675B, (q31_t)0x471CECE6, + (q31_t)0x93DBD69F, (q31_t)0x447ACD50, (q31_t)0x9235F2EB, + (q31_t)0x41CE1E64, (q31_t)0x90A0FD4E, (q31_t)0x3F1749B7, + (q31_t)0x8F1D343A, (q31_t)0x3C56BA70, (q31_t)0x8DAAD37B, + (q31_t)0x398CDD32, (q31_t)0x8C4A142F, (q31_t)0x36BA2013, + (q31_t)0x8AFB2CBA, (q31_t)0x33DEF287, (q31_t)0x89BE50C3, + (q31_t)0x30FBC54D, (q31_t)0x8893B124, (q31_t)0x2E110A62, + (q31_t)0x877B7BEC, (q31_t)0x2B1F34EB, (q31_t)0x8675DC4E, + (q31_t)0x2826B928, (q31_t)0x8582FAA4, (q31_t)0x25280C5D, + (q31_t)0x84A2FC62, (q31_t)0x2223A4C5, (q31_t)0x83D60411, + (q31_t)0x1F19F97B, (q31_t)0x831C314E, (q31_t)0x1C0B826A, + (q31_t)0x8275A0C0, (q31_t)0x18F8B83C, (q31_t)0x81E26C16, + (q31_t)0x15E21444, (q31_t)0x8162AA03, (q31_t)0x12C8106E, + (q31_t)0x80F66E3C, (q31_t)0x0FAB272B, (q31_t)0x809DC970, + (q31_t)0x0C8BD35E, (q31_t)0x8058C94C, (q31_t)0x096A9049, + (q31_t)0x80277872, (q31_t)0x0647D97C, (q31_t)0x8009DE7D, + (q31_t)0x03242ABF, (q31_t)0x80000000, (q31_t)0x00000000, + (q31_t)0x8009DE7D, (q31_t)0xFCDBD541, (q31_t)0x80277872, + (q31_t)0xF9B82683, (q31_t)0x8058C94C, (q31_t)0xF6956FB6, + (q31_t)0x809DC970, (q31_t)0xF3742CA1, (q31_t)0x80F66E3C, + (q31_t)0xF054D8D4, (q31_t)0x8162AA03, (q31_t)0xED37EF91, + (q31_t)0x81E26C16, (q31_t)0xEA1DEBBB, (q31_t)0x8275A0C0, + (q31_t)0xE70747C3, (q31_t)0x831C314E, (q31_t)0xE3F47D95, + (q31_t)0x83D60411, (q31_t)0xE0E60684, (q31_t)0x84A2FC62, + (q31_t)0xDDDC5B3A, (q31_t)0x8582FAA4, (q31_t)0xDAD7F3A2, + (q31_t)0x8675DC4E, (q31_t)0xD7D946D7, (q31_t)0x877B7BEC, + (q31_t)0xD4E0CB14, (q31_t)0x8893B124, (q31_t)0xD1EEF59E, + (q31_t)0x89BE50C3, (q31_t)0xCF043AB2, (q31_t)0x8AFB2CBA, + (q31_t)0xCC210D78, (q31_t)0x8C4A142F, (q31_t)0xC945DFEC, + (q31_t)0x8DAAD37B, (q31_t)0xC67322CD, (q31_t)0x8F1D343A, + (q31_t)0xC3A9458F, (q31_t)0x90A0FD4E, (q31_t)0xC0E8B648, + (q31_t)0x9235F2EB, (q31_t)0xBE31E19B, (q31_t)0x93DBD69F, + (q31_t)0xBB8532AF, (q31_t)0x9592675B, (q31_t)0xB8E31319, + (q31_t)0x9759617E, (q31_t)0xB64BEACC, (q31_t)0x99307EE0, + (q31_t)0xB3C0200C, (q31_t)0x9B1776D9, (q31_t)0xB140175B, + (q31_t)0x9D0DFE53, (q31_t)0xAECC336B, (q31_t)0x9F13C7D0, + (q31_t)0xAC64D510, (q31_t)0xA1288376, (q31_t)0xAA0A5B2D, + (q31_t)0xA34BDF20, (q31_t)0xA7BD22AB, (q31_t)0xA57D8666, + (q31_t)0xA57D8666, (q31_t)0xA7BD22AB, (q31_t)0xA34BDF20, + (q31_t)0xAA0A5B2D, (q31_t)0xA1288376, (q31_t)0xAC64D510, + (q31_t)0x9F13C7D0, (q31_t)0xAECC336B, (q31_t)0x9D0DFE53, + (q31_t)0xB140175B, (q31_t)0x9B1776D9, (q31_t)0xB3C0200C, + (q31_t)0x99307EE0, (q31_t)0xB64BEACC, (q31_t)0x9759617E, + (q31_t)0xB8E31319, (q31_t)0x9592675B, (q31_t)0xBB8532AF, + (q31_t)0x93DBD69F, (q31_t)0xBE31E19B, (q31_t)0x9235F2EB, + (q31_t)0xC0E8B648, (q31_t)0x90A0FD4E, (q31_t)0xC3A9458F, + (q31_t)0x8F1D343A, (q31_t)0xC67322CD, (q31_t)0x8DAAD37B, + (q31_t)0xC945DFEC, (q31_t)0x8C4A142F, (q31_t)0xCC210D78, + (q31_t)0x8AFB2CBA, (q31_t)0xCF043AB2, (q31_t)0x89BE50C3, + (q31_t)0xD1EEF59E, (q31_t)0x8893B124, (q31_t)0xD4E0CB14, + (q31_t)0x877B7BEC, (q31_t)0xD7D946D7, (q31_t)0x8675DC4E, + (q31_t)0xDAD7F3A2, (q31_t)0x8582FAA4, (q31_t)0xDDDC5B3A, + (q31_t)0x84A2FC62, (q31_t)0xE0E60684, (q31_t)0x83D60411, + (q31_t)0xE3F47D95, (q31_t)0x831C314E, (q31_t)0xE70747C3, + (q31_t)0x8275A0C0, (q31_t)0xEA1DEBBB, (q31_t)0x81E26C16, + (q31_t)0xED37EF91, (q31_t)0x8162AA03, (q31_t)0xF054D8D4, + (q31_t)0x80F66E3C, (q31_t)0xF3742CA1, (q31_t)0x809DC970, + (q31_t)0xF6956FB6, (q31_t)0x8058C94C, (q31_t)0xF9B82683, + (q31_t)0x80277872, (q31_t)0xFCDBD541, (q31_t)0x8009DE7D +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_512) +/** + @par + Example code for Q31 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefQ31[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefQ31[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 512, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to Q31(Fixed point 1.31): + round(twiddleCoefQ31(i) * pow(2, 31)) + + */ +const q31_t twiddleCoef_512_q31[768] = { + (q31_t)0x7FFFFFFF, (q31_t)0x00000000, (q31_t)0x7FFD885A, + (q31_t)0x01921D1F, (q31_t)0x7FF62182, (q31_t)0x03242ABF, + (q31_t)0x7FE9CBC0, (q31_t)0x04B6195D, (q31_t)0x7FD8878D, + (q31_t)0x0647D97C, (q31_t)0x7FC25596, (q31_t)0x07D95B9E, + (q31_t)0x7FA736B4, (q31_t)0x096A9049, (q31_t)0x7F872BF3, + (q31_t)0x0AFB6805, (q31_t)0x7F62368F, (q31_t)0x0C8BD35E, + (q31_t)0x7F3857F5, (q31_t)0x0E1BC2E3, (q31_t)0x7F0991C3, + (q31_t)0x0FAB272B, (q31_t)0x7ED5E5C6, (q31_t)0x1139F0CE, + (q31_t)0x7E9D55FC, (q31_t)0x12C8106E, (q31_t)0x7E5FE493, + (q31_t)0x145576B1, (q31_t)0x7E1D93E9, (q31_t)0x15E21444, + (q31_t)0x7DD6668E, (q31_t)0x176DD9DE, (q31_t)0x7D8A5F3F, + (q31_t)0x18F8B83C, (q31_t)0x7D3980EC, (q31_t)0x1A82A025, + (q31_t)0x7CE3CEB1, (q31_t)0x1C0B826A, (q31_t)0x7C894BDD, + (q31_t)0x1D934FE5, (q31_t)0x7C29FBEE, (q31_t)0x1F19F97B, + (q31_t)0x7BC5E28F, (q31_t)0x209F701C, (q31_t)0x7B5D039D, + (q31_t)0x2223A4C5, (q31_t)0x7AEF6323, (q31_t)0x23A6887E, + (q31_t)0x7A7D055B, (q31_t)0x25280C5D, (q31_t)0x7A05EEAD, + (q31_t)0x26A82185, (q31_t)0x798A23B1, (q31_t)0x2826B928, + (q31_t)0x7909A92C, (q31_t)0x29A3C484, (q31_t)0x78848413, + (q31_t)0x2B1F34EB, (q31_t)0x77FAB988, (q31_t)0x2C98FBBA, + (q31_t)0x776C4EDB, (q31_t)0x2E110A62, (q31_t)0x76D94988, + (q31_t)0x2F875262, (q31_t)0x7641AF3C, (q31_t)0x30FBC54D, + (q31_t)0x75A585CF, (q31_t)0x326E54C7, (q31_t)0x7504D345, + (q31_t)0x33DEF287, (q31_t)0x745F9DD1, (q31_t)0x354D9056, + (q31_t)0x73B5EBD0, (q31_t)0x36BA2013, (q31_t)0x7307C3D0, + (q31_t)0x382493B0, (q31_t)0x72552C84, (q31_t)0x398CDD32, + (q31_t)0x719E2CD2, (q31_t)0x3AF2EEB7, (q31_t)0x70E2CBC6, + (q31_t)0x3C56BA70, (q31_t)0x70231099, (q31_t)0x3DB832A5, + (q31_t)0x6F5F02B1, (q31_t)0x3F1749B7, (q31_t)0x6E96A99C, + (q31_t)0x4073F21D, (q31_t)0x6DCA0D14, (q31_t)0x41CE1E64, + (q31_t)0x6CF934FB, (q31_t)0x4325C135, (q31_t)0x6C242960, + (q31_t)0x447ACD50, (q31_t)0x6B4AF278, (q31_t)0x45CD358F, + (q31_t)0x6A6D98A4, (q31_t)0x471CECE6, (q31_t)0x698C246C, + (q31_t)0x4869E664, (q31_t)0x68A69E81, (q31_t)0x49B41533, + (q31_t)0x67BD0FBC, (q31_t)0x4AFB6C97, (q31_t)0x66CF811F, + (q31_t)0x4C3FDFF3, (q31_t)0x65DDFBD3, (q31_t)0x4D8162C4, + (q31_t)0x64E88926, (q31_t)0x4EBFE8A4, (q31_t)0x63EF328F, + (q31_t)0x4FFB654D, (q31_t)0x62F201AC, (q31_t)0x5133CC94, + (q31_t)0x61F1003E, (q31_t)0x5269126E, (q31_t)0x60EC3830, + (q31_t)0x539B2AEF, (q31_t)0x5FE3B38D, (q31_t)0x54CA0A4A, + (q31_t)0x5ED77C89, (q31_t)0x55F5A4D2, (q31_t)0x5DC79D7C, + (q31_t)0x571DEEF9, (q31_t)0x5CB420DF, (q31_t)0x5842DD54, + (q31_t)0x5B9D1153, (q31_t)0x59646497, (q31_t)0x5A82799A, + (q31_t)0x5A82799A, (q31_t)0x59646497, (q31_t)0x5B9D1153, + (q31_t)0x5842DD54, (q31_t)0x5CB420DF, (q31_t)0x571DEEF9, + (q31_t)0x5DC79D7C, (q31_t)0x55F5A4D2, (q31_t)0x5ED77C89, + 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(q31_t)0x812A1A39, (q31_t)0x1139F0CE, + (q31_t)0x80F66E3C, (q31_t)0x0FAB272B, (q31_t)0x80C7A80A, + (q31_t)0x0E1BC2E3, (q31_t)0x809DC970, (q31_t)0x0C8BD35E, + (q31_t)0x8078D40D, (q31_t)0x0AFB6805, (q31_t)0x8058C94C, + (q31_t)0x096A9049, (q31_t)0x803DAA69, (q31_t)0x07D95B9E, + (q31_t)0x80277872, (q31_t)0x0647D97C, (q31_t)0x80163440, + (q31_t)0x04B6195D, (q31_t)0x8009DE7D, (q31_t)0x03242ABF, + (q31_t)0x800277A5, (q31_t)0x01921D1F, (q31_t)0x80000000, + (q31_t)0x00000000, (q31_t)0x800277A5, (q31_t)0xFE6DE2E0, + (q31_t)0x8009DE7D, (q31_t)0xFCDBD541, (q31_t)0x80163440, + (q31_t)0xFB49E6A2, (q31_t)0x80277872, (q31_t)0xF9B82683, + (q31_t)0x803DAA69, (q31_t)0xF826A461, (q31_t)0x8058C94C, + (q31_t)0xF6956FB6, (q31_t)0x8078D40D, (q31_t)0xF50497FA, + (q31_t)0x809DC970, (q31_t)0xF3742CA1, (q31_t)0x80C7A80A, + (q31_t)0xF1E43D1C, (q31_t)0x80F66E3C, (q31_t)0xF054D8D4, + (q31_t)0x812A1A39, (q31_t)0xEEC60F31, (q31_t)0x8162AA03, + (q31_t)0xED37EF91, (q31_t)0x81A01B6C, (q31_t)0xEBAA894E, + (q31_t)0x81E26C16, (q31_t)0xEA1DEBBB, (q31_t)0x82299971, + (q31_t)0xE8922621, (q31_t)0x8275A0C0, (q31_t)0xE70747C3, + (q31_t)0x82C67F13, (q31_t)0xE57D5FDA, (q31_t)0x831C314E, + (q31_t)0xE3F47D95, (q31_t)0x8376B422, (q31_t)0xE26CB01A, + (q31_t)0x83D60411, (q31_t)0xE0E60684, (q31_t)0x843A1D70, + (q31_t)0xDF608FE3, (q31_t)0x84A2FC62, (q31_t)0xDDDC5B3A, + (q31_t)0x85109CDC, (q31_t)0xDC597781, (q31_t)0x8582FAA4, + (q31_t)0xDAD7F3A2, (q31_t)0x85FA1152, (q31_t)0xD957DE7A, + (q31_t)0x8675DC4E, (q31_t)0xD7D946D7, (q31_t)0x86F656D3, + (q31_t)0xD65C3B7B, (q31_t)0x877B7BEC, (q31_t)0xD4E0CB14, + (q31_t)0x88054677, (q31_t)0xD3670445, (q31_t)0x8893B124, + (q31_t)0xD1EEF59E, (q31_t)0x8926B677, (q31_t)0xD078AD9D, + (q31_t)0x89BE50C3, (q31_t)0xCF043AB2, (q31_t)0x8A5A7A30, + (q31_t)0xCD91AB38, (q31_t)0x8AFB2CBA, (q31_t)0xCC210D78, + (q31_t)0x8BA0622F, (q31_t)0xCAB26FA9, (q31_t)0x8C4A142F, + (q31_t)0xC945DFEC, (q31_t)0x8CF83C30, (q31_t)0xC7DB6C50, + (q31_t)0x8DAAD37B, (q31_t)0xC67322CD, (q31_t)0x8E61D32D, + (q31_t)0xC50D1148, (q31_t)0x8F1D343A, (q31_t)0xC3A9458F, + (q31_t)0x8FDCEF66, (q31_t)0xC247CD5A, (q31_t)0x90A0FD4E, + (q31_t)0xC0E8B648, (q31_t)0x91695663, (q31_t)0xBF8C0DE2, + (q31_t)0x9235F2EB, (q31_t)0xBE31E19B, (q31_t)0x9306CB04, + (q31_t)0xBCDA3ECA, (q31_t)0x93DBD69F, (q31_t)0xBB8532AF, + (q31_t)0x94B50D87, (q31_t)0xBA32CA70, (q31_t)0x9592675B, + (q31_t)0xB8E31319, (q31_t)0x9673DB94, (q31_t)0xB796199B, + (q31_t)0x9759617E, (q31_t)0xB64BEACC, (q31_t)0x9842F043, + (q31_t)0xB5049368, (q31_t)0x99307EE0, (q31_t)0xB3C0200C, + (q31_t)0x9A22042C, (q31_t)0xB27E9D3B, (q31_t)0x9B1776D9, + (q31_t)0xB140175B, (q31_t)0x9C10CD70, (q31_t)0xB0049AB2, + (q31_t)0x9D0DFE53, (q31_t)0xAECC336B, (q31_t)0x9E0EFFC1, + (q31_t)0xAD96ED91, (q31_t)0x9F13C7D0, (q31_t)0xAC64D510, + (q31_t)0xA01C4C72, (q31_t)0xAB35F5B5, (q31_t)0xA1288376, + (q31_t)0xAA0A5B2D, (q31_t)0xA2386283, (q31_t)0xA8E21106, + (q31_t)0xA34BDF20, (q31_t)0xA7BD22AB, (q31_t)0xA462EEAC, + (q31_t)0xA69B9B68, (q31_t)0xA57D8666, (q31_t)0xA57D8666, + (q31_t)0xA69B9B68, (q31_t)0xA462EEAC, (q31_t)0xA7BD22AB, + (q31_t)0xA34BDF20, (q31_t)0xA8E21106, (q31_t)0xA2386283, + (q31_t)0xAA0A5B2D, (q31_t)0xA1288376, (q31_t)0xAB35F5B5, + (q31_t)0xA01C4C72, (q31_t)0xAC64D510, (q31_t)0x9F13C7D0, + (q31_t)0xAD96ED91, (q31_t)0x9E0EFFC1, (q31_t)0xAECC336B, + (q31_t)0x9D0DFE53, (q31_t)0xB0049AB2, (q31_t)0x9C10CD70, + (q31_t)0xB140175B, (q31_t)0x9B1776D9, (q31_t)0xB27E9D3B, + (q31_t)0x9A22042C, (q31_t)0xB3C0200C, (q31_t)0x99307EE0, + (q31_t)0xB5049368, (q31_t)0x9842F043, (q31_t)0xB64BEACC, + (q31_t)0x9759617E, (q31_t)0xB796199B, (q31_t)0x9673DB94, + (q31_t)0xB8E31319, (q31_t)0x9592675B, (q31_t)0xBA32CA70, + (q31_t)0x94B50D87, (q31_t)0xBB8532AF, (q31_t)0x93DBD69F, + (q31_t)0xBCDA3ECA, (q31_t)0x9306CB04, (q31_t)0xBE31E19B, + (q31_t)0x9235F2EB, (q31_t)0xBF8C0DE2, (q31_t)0x91695663, + (q31_t)0xC0E8B648, (q31_t)0x90A0FD4E, (q31_t)0xC247CD5A, + (q31_t)0x8FDCEF66, (q31_t)0xC3A9458F, (q31_t)0x8F1D343A, + (q31_t)0xC50D1148, (q31_t)0x8E61D32D, (q31_t)0xC67322CD, + (q31_t)0x8DAAD37B, (q31_t)0xC7DB6C50, (q31_t)0x8CF83C30, + (q31_t)0xC945DFEC, (q31_t)0x8C4A142F, (q31_t)0xCAB26FA9, + (q31_t)0x8BA0622F, (q31_t)0xCC210D78, (q31_t)0x8AFB2CBA, + (q31_t)0xCD91AB38, (q31_t)0x8A5A7A30, (q31_t)0xCF043AB2, + (q31_t)0x89BE50C3, (q31_t)0xD078AD9D, (q31_t)0x8926B677, + (q31_t)0xD1EEF59E, (q31_t)0x8893B124, (q31_t)0xD3670445, + (q31_t)0x88054677, (q31_t)0xD4E0CB14, (q31_t)0x877B7BEC, + (q31_t)0xD65C3B7B, (q31_t)0x86F656D3, (q31_t)0xD7D946D7, + (q31_t)0x8675DC4E, (q31_t)0xD957DE7A, (q31_t)0x85FA1152, + (q31_t)0xDAD7F3A2, (q31_t)0x8582FAA4, (q31_t)0xDC597781, + (q31_t)0x85109CDC, (q31_t)0xDDDC5B3A, (q31_t)0x84A2FC62, + (q31_t)0xDF608FE3, (q31_t)0x843A1D70, (q31_t)0xE0E60684, + (q31_t)0x83D60411, (q31_t)0xE26CB01A, (q31_t)0x8376B422, + (q31_t)0xE3F47D95, (q31_t)0x831C314E, (q31_t)0xE57D5FDA, + (q31_t)0x82C67F13, (q31_t)0xE70747C3, (q31_t)0x8275A0C0, + (q31_t)0xE8922621, (q31_t)0x82299971, (q31_t)0xEA1DEBBB, + (q31_t)0x81E26C16, (q31_t)0xEBAA894E, (q31_t)0x81A01B6C, + (q31_t)0xED37EF91, (q31_t)0x8162AA03, (q31_t)0xEEC60F31, + (q31_t)0x812A1A39, (q31_t)0xF054D8D4, (q31_t)0x80F66E3C, + (q31_t)0xF1E43D1C, (q31_t)0x80C7A80A, (q31_t)0xF3742CA1, + (q31_t)0x809DC970, (q31_t)0xF50497FA, (q31_t)0x8078D40D, + (q31_t)0xF6956FB6, (q31_t)0x8058C94C, (q31_t)0xF826A461, + (q31_t)0x803DAA69, (q31_t)0xF9B82683, (q31_t)0x80277872, + (q31_t)0xFB49E6A2, (q31_t)0x80163440, (q31_t)0xFCDBD541, + (q31_t)0x8009DE7D, (q31_t)0xFE6DE2E0, (q31_t)0x800277A5 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_1024) +/** + @par + Example code for Q31 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefQ31[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefQ31[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 1024, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to Q31(Fixed point 1.31): + round(twiddleCoefQ31(i) * pow(2, 31)) + + */ +const q31_t twiddleCoef_1024_q31[1536] = { + (q31_t)0x7FFFFFFF, (q31_t)0x00000000, (q31_t)0x7FFF6216, + (q31_t)0x00C90F88, (q31_t)0x7FFD885A, (q31_t)0x01921D1F, + (q31_t)0x7FFA72D1, (q31_t)0x025B26D7, (q31_t)0x7FF62182, + (q31_t)0x03242ABF, (q31_t)0x7FF09477, (q31_t)0x03ED26E6, + (q31_t)0x7FE9CBC0, (q31_t)0x04B6195D, (q31_t)0x7FE1C76B, + (q31_t)0x057F0034, (q31_t)0x7FD8878D, (q31_t)0x0647D97C, + (q31_t)0x7FCE0C3E, (q31_t)0x0710A344, (q31_t)0x7FC25596, + (q31_t)0x07D95B9E, (q31_t)0x7FB563B2, (q31_t)0x08A2009A, + (q31_t)0x7FA736B4, (q31_t)0x096A9049, (q31_t)0x7F97CEBC, + (q31_t)0x0A3308BC, (q31_t)0x7F872BF3, (q31_t)0x0AFB6805, + (q31_t)0x7F754E7F, (q31_t)0x0BC3AC35, (q31_t)0x7F62368F, + (q31_t)0x0C8BD35E, (q31_t)0x7F4DE450, (q31_t)0x0D53DB92, + (q31_t)0x7F3857F5, (q31_t)0x0E1BC2E3, (q31_t)0x7F2191B4, + (q31_t)0x0EE38765, (q31_t)0x7F0991C3, (q31_t)0x0FAB272B, + (q31_t)0x7EF0585F, (q31_t)0x1072A047, (q31_t)0x7ED5E5C6, + (q31_t)0x1139F0CE, (q31_t)0x7EBA3A39, (q31_t)0x120116D4, + (q31_t)0x7E9D55FC, (q31_t)0x12C8106E, (q31_t)0x7E7F3956, + (q31_t)0x138EDBB0, (q31_t)0x7E5FE493, (q31_t)0x145576B1, + (q31_t)0x7E3F57FE, (q31_t)0x151BDF85, (q31_t)0x7E1D93E9, + (q31_t)0x15E21444, (q31_t)0x7DFA98A7, (q31_t)0x16A81305, + (q31_t)0x7DD6668E, (q31_t)0x176DD9DE, (q31_t)0x7DB0FDF7, + (q31_t)0x183366E8, (q31_t)0x7D8A5F3F, (q31_t)0x18F8B83C, + (q31_t)0x7D628AC5, (q31_t)0x19BDCBF2, (q31_t)0x7D3980EC, + (q31_t)0x1A82A025, (q31_t)0x7D0F4218, (q31_t)0x1B4732EF, + (q31_t)0x7CE3CEB1, (q31_t)0x1C0B826A, (q31_t)0x7CB72724, + (q31_t)0x1CCF8CB3, (q31_t)0x7C894BDD, (q31_t)0x1D934FE5, + (q31_t)0x7C5A3D4F, (q31_t)0x1E56CA1E, (q31_t)0x7C29FBEE, + (q31_t)0x1F19F97B, (q31_t)0x7BF88830, (q31_t)0x1FDCDC1A, + (q31_t)0x7BC5E28F, (q31_t)0x209F701C, (q31_t)0x7B920B89, + (q31_t)0x2161B39F, (q31_t)0x7B5D039D, (q31_t)0x2223A4C5, + (q31_t)0x7B26CB4F, (q31_t)0x22E541AE, (q31_t)0x7AEF6323, + (q31_t)0x23A6887E, (q31_t)0x7AB6CBA3, (q31_t)0x24677757, + (q31_t)0x7A7D055B, (q31_t)0x25280C5D, (q31_t)0x7A4210D8, + (q31_t)0x25E845B5, (q31_t)0x7A05EEAD, (q31_t)0x26A82185, + (q31_t)0x79C89F6D, (q31_t)0x27679DF4, (q31_t)0x798A23B1, + (q31_t)0x2826B928, (q31_t)0x794A7C11, (q31_t)0x28E5714A, + (q31_t)0x7909A92C, (q31_t)0x29A3C484, (q31_t)0x78C7ABA1, + (q31_t)0x2A61B101, (q31_t)0x78848413, (q31_t)0x2B1F34EB, + (q31_t)0x78403328, (q31_t)0x2BDC4E6F, (q31_t)0x77FAB988, + (q31_t)0x2C98FBBA, (q31_t)0x77B417DF, (q31_t)0x2D553AFB, + (q31_t)0x776C4EDB, (q31_t)0x2E110A62, (q31_t)0x77235F2D, + (q31_t)0x2ECC681E, (q31_t)0x76D94988, (q31_t)0x2F875262, + (q31_t)0x768E0EA5, (q31_t)0x3041C760, (q31_t)0x7641AF3C, + (q31_t)0x30FBC54D, (q31_t)0x75F42C0A, (q31_t)0x31B54A5D, + (q31_t)0x75A585CF, (q31_t)0x326E54C7, (q31_t)0x7555BD4B, + (q31_t)0x3326E2C2, (q31_t)0x7504D345, (q31_t)0x33DEF287, + (q31_t)0x74B2C883, (q31_t)0x3496824F, (q31_t)0x745F9DD1, + (q31_t)0x354D9056, (q31_t)0x740B53FA, (q31_t)0x36041AD9, + (q31_t)0x73B5EBD0, (q31_t)0x36BA2013, (q31_t)0x735F6626, + (q31_t)0x376F9E46, (q31_t)0x7307C3D0, (q31_t)0x382493B0, + (q31_t)0x72AF05A6, (q31_t)0x38D8FE93, (q31_t)0x72552C84, + (q31_t)0x398CDD32, (q31_t)0x71FA3948, (q31_t)0x3A402DD1, + (q31_t)0x719E2CD2, (q31_t)0x3AF2EEB7, (q31_t)0x71410804, + (q31_t)0x3BA51E29, (q31_t)0x70E2CBC6, (q31_t)0x3C56BA70, + (q31_t)0x708378FE, (q31_t)0x3D07C1D5, (q31_t)0x70231099, + (q31_t)0x3DB832A5, (q31_t)0x6FC19385, (q31_t)0x3E680B2C, + (q31_t)0x6F5F02B1, (q31_t)0x3F1749B7, (q31_t)0x6EFB5F12, + (q31_t)0x3FC5EC97, (q31_t)0x6E96A99C, (q31_t)0x4073F21D, + (q31_t)0x6E30E349, (q31_t)0x4121589A, (q31_t)0x6DCA0D14, + (q31_t)0x41CE1E64, (q31_t)0x6D6227FA, (q31_t)0x427A41D0, + (q31_t)0x6CF934FB, (q31_t)0x4325C135, (q31_t)0x6C8F351C, + (q31_t)0x43D09AEC, (q31_t)0x6C242960, (q31_t)0x447ACD50, + (q31_t)0x6BB812D0, (q31_t)0x452456BC, (q31_t)0x6B4AF278, + (q31_t)0x45CD358F, (q31_t)0x6ADCC964, (q31_t)0x46756827, + (q31_t)0x6A6D98A4, (q31_t)0x471CECE6, (q31_t)0x69FD614A, + (q31_t)0x47C3C22E, (q31_t)0x698C246C, (q31_t)0x4869E664, + (q31_t)0x6919E320, (q31_t)0x490F57EE, (q31_t)0x68A69E81, + (q31_t)0x49B41533, (q31_t)0x683257AA, (q31_t)0x4A581C9D, + (q31_t)0x67BD0FBC, (q31_t)0x4AFB6C97, (q31_t)0x6746C7D7, + (q31_t)0x4B9E038F, (q31_t)0x66CF811F, (q31_t)0x4C3FDFF3, + (q31_t)0x66573CBB, (q31_t)0x4CE10034, (q31_t)0x65DDFBD3, + (q31_t)0x4D8162C4, (q31_t)0x6563BF92, (q31_t)0x4E210617, + (q31_t)0x64E88926, (q31_t)0x4EBFE8A4, (q31_t)0x646C59BF, + (q31_t)0x4F5E08E3, (q31_t)0x63EF328F, (q31_t)0x4FFB654D, + (q31_t)0x637114CC, (q31_t)0x5097FC5E, (q31_t)0x62F201AC, + (q31_t)0x5133CC94, (q31_t)0x6271FA69, (q31_t)0x51CED46E, + (q31_t)0x61F1003E, (q31_t)0x5269126E, (q31_t)0x616F146B, + (q31_t)0x53028517, (q31_t)0x60EC3830, (q31_t)0x539B2AEF, + (q31_t)0x60686CCE, (q31_t)0x5433027D, (q31_t)0x5FE3B38D, + (q31_t)0x54CA0A4A, (q31_t)0x5F5E0DB3, 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(q31_t)0xF8EF5CBB, + (q31_t)0x803DAA69, (q31_t)0xF826A461, (q31_t)0x804A9C4D, + (q31_t)0xF75DFF65, (q31_t)0x8058C94C, (q31_t)0xF6956FB6, + (q31_t)0x80683143, (q31_t)0xF5CCF743, (q31_t)0x8078D40D, + (q31_t)0xF50497FA, (q31_t)0x808AB180, (q31_t)0xF43C53CA, + (q31_t)0x809DC970, (q31_t)0xF3742CA1, (q31_t)0x80B21BAF, + (q31_t)0xF2AC246D, (q31_t)0x80C7A80A, (q31_t)0xF1E43D1C, + (q31_t)0x80DE6E4C, (q31_t)0xF11C789A, (q31_t)0x80F66E3C, + (q31_t)0xF054D8D4, (q31_t)0x810FA7A0, (q31_t)0xEF8D5FB8, + (q31_t)0x812A1A39, (q31_t)0xEEC60F31, (q31_t)0x8145C5C6, + (q31_t)0xEDFEE92B, (q31_t)0x8162AA03, (q31_t)0xED37EF91, + (q31_t)0x8180C6A9, (q31_t)0xEC71244F, (q31_t)0x81A01B6C, + (q31_t)0xEBAA894E, (q31_t)0x81C0A801, (q31_t)0xEAE4207A, + (q31_t)0x81E26C16, (q31_t)0xEA1DEBBB, (q31_t)0x82056758, + (q31_t)0xE957ECFB, (q31_t)0x82299971, (q31_t)0xE8922621, + (q31_t)0x824F0208, (q31_t)0xE7CC9917, (q31_t)0x8275A0C0, + (q31_t)0xE70747C3, (q31_t)0x829D753A, (q31_t)0xE642340D, + (q31_t)0x82C67F13, (q31_t)0xE57D5FDA, (q31_t)0x82F0BDE8, + (q31_t)0xE4B8CD10, (q31_t)0x831C314E, (q31_t)0xE3F47D95, + (q31_t)0x8348D8DB, (q31_t)0xE330734C, (q31_t)0x8376B422, + (q31_t)0xE26CB01A, (q31_t)0x83A5C2B0, (q31_t)0xE1A935E1, + (q31_t)0x83D60411, (q31_t)0xE0E60684, (q31_t)0x840777CF, + (q31_t)0xE02323E5, (q31_t)0x843A1D70, (q31_t)0xDF608FE3, + (q31_t)0x846DF476, (q31_t)0xDE9E4C60, (q31_t)0x84A2FC62, + (q31_t)0xDDDC5B3A, (q31_t)0x84D934B0, (q31_t)0xDD1ABE51, + (q31_t)0x85109CDC, (q31_t)0xDC597781, (q31_t)0x8549345C, + (q31_t)0xDB9888A8, (q31_t)0x8582FAA4, (q31_t)0xDAD7F3A2, + (q31_t)0x85BDEF27, (q31_t)0xDA17BA4A, (q31_t)0x85FA1152, + (q31_t)0xD957DE7A, (q31_t)0x86376092, (q31_t)0xD898620C, + (q31_t)0x8675DC4E, (q31_t)0xD7D946D7, (q31_t)0x86B583EE, + (q31_t)0xD71A8EB5, (q31_t)0x86F656D3, (q31_t)0xD65C3B7B, + (q31_t)0x8738545E, (q31_t)0xD59E4EFE, (q31_t)0x877B7BEC, + (q31_t)0xD4E0CB14, (q31_t)0x87BFCCD7, (q31_t)0xD423B190, + (q31_t)0x88054677, (q31_t)0xD3670445, (q31_t)0x884BE820, + (q31_t)0xD2AAC504, (q31_t)0x8893B124, (q31_t)0xD1EEF59E, + (q31_t)0x88DCA0D3, (q31_t)0xD13397E1, (q31_t)0x8926B677, + (q31_t)0xD078AD9D, (q31_t)0x8971F15A, (q31_t)0xCFBE389F, + (q31_t)0x89BE50C3, (q31_t)0xCF043AB2, (q31_t)0x8A0BD3F5, + (q31_t)0xCE4AB5A2, (q31_t)0x8A5A7A30, (q31_t)0xCD91AB38, + (q31_t)0x8AAA42B4, (q31_t)0xCCD91D3D, (q31_t)0x8AFB2CBA, + (q31_t)0xCC210D78, (q31_t)0x8B4D377C, (q31_t)0xCB697DB0, + (q31_t)0x8BA0622F, (q31_t)0xCAB26FA9, (q31_t)0x8BF4AC05, + (q31_t)0xC9FBE527, (q31_t)0x8C4A142F, (q31_t)0xC945DFEC, + (q31_t)0x8CA099D9, (q31_t)0xC89061BA, (q31_t)0x8CF83C30, + (q31_t)0xC7DB6C50, (q31_t)0x8D50FA59, (q31_t)0xC727016C, + (q31_t)0x8DAAD37B, (q31_t)0xC67322CD, (q31_t)0x8E05C6B7, + (q31_t)0xC5BFD22E, (q31_t)0x8E61D32D, (q31_t)0xC50D1148, + (q31_t)0x8EBEF7FB, (q31_t)0xC45AE1D7, (q31_t)0x8F1D343A, + (q31_t)0xC3A9458F, (q31_t)0x8F7C8701, (q31_t)0xC2F83E2A, + (q31_t)0x8FDCEF66, (q31_t)0xC247CD5A, (q31_t)0x903E6C7A, + (q31_t)0xC197F4D3, (q31_t)0x90A0FD4E, (q31_t)0xC0E8B648, + (q31_t)0x9104A0ED, (q31_t)0xC03A1368, (q31_t)0x91695663, + (q31_t)0xBF8C0DE2, (q31_t)0x91CF1CB6, (q31_t)0xBEDEA765, + (q31_t)0x9235F2EB, (q31_t)0xBE31E19B, (q31_t)0x929DD805, + (q31_t)0xBD85BE2F, (q31_t)0x9306CB04, (q31_t)0xBCDA3ECA, + (q31_t)0x9370CAE4, (q31_t)0xBC2F6513, (q31_t)0x93DBD69F, + (q31_t)0xBB8532AF, (q31_t)0x9447ED2F, (q31_t)0xBADBA943, + (q31_t)0x94B50D87, (q31_t)0xBA32CA70, (q31_t)0x9523369B, + (q31_t)0xB98A97D8, (q31_t)0x9592675B, (q31_t)0xB8E31319, + (q31_t)0x96029EB5, (q31_t)0xB83C3DD1, (q31_t)0x9673DB94, + (q31_t)0xB796199B, (q31_t)0x96E61CDF, (q31_t)0xB6F0A811, + (q31_t)0x9759617E, (q31_t)0xB64BEACC, (q31_t)0x97CDA855, + (q31_t)0xB5A7E362, (q31_t)0x9842F043, (q31_t)0xB5049368, + (q31_t)0x98B93828, (q31_t)0xB461FC70, (q31_t)0x99307EE0, + (q31_t)0xB3C0200C, (q31_t)0x99A8C344, (q31_t)0xB31EFFCB, + (q31_t)0x9A22042C, (q31_t)0xB27E9D3B, (q31_t)0x9A9C406D, + (q31_t)0xB1DEF9E8, (q31_t)0x9B1776D9, (q31_t)0xB140175B, + (q31_t)0x9B93A640, (q31_t)0xB0A1F71C, (q31_t)0x9C10CD70, + (q31_t)0xB0049AB2, (q31_t)0x9C8EEB33, (q31_t)0xAF6803A1, + (q31_t)0x9D0DFE53, (q31_t)0xAECC336B, (q31_t)0x9D8E0596, + (q31_t)0xAE312B91, (q31_t)0x9E0EFFC1, (q31_t)0xAD96ED91, + (q31_t)0x9E90EB94, (q31_t)0xACFD7AE8, (q31_t)0x9F13C7D0, + (q31_t)0xAC64D510, (q31_t)0x9F979331, (q31_t)0xABCCFD82, + (q31_t)0xA01C4C72, (q31_t)0xAB35F5B5, (q31_t)0xA0A1F24C, + (q31_t)0xAA9FBF1D, (q31_t)0xA1288376, (q31_t)0xAA0A5B2D, + (q31_t)0xA1AFFEA2, (q31_t)0xA975CB56, (q31_t)0xA2386283, + (q31_t)0xA8E21106, (q31_t)0xA2C1ADC9, (q31_t)0xA84F2DA9, + (q31_t)0xA34BDF20, (q31_t)0xA7BD22AB, (q31_t)0xA3D6F533, + (q31_t)0xA72BF173, (q31_t)0xA462EEAC, (q31_t)0xA69B9B68, + (q31_t)0xA4EFCA31, (q31_t)0xA60C21ED, (q31_t)0xA57D8666, + (q31_t)0xA57D8666, (q31_t)0xA60C21ED, (q31_t)0xA4EFCA31, + (q31_t)0xA69B9B68, (q31_t)0xA462EEAC, (q31_t)0xA72BF173, + (q31_t)0xA3D6F533, (q31_t)0xA7BD22AB, (q31_t)0xA34BDF20, + (q31_t)0xA84F2DA9, (q31_t)0xA2C1ADC9, (q31_t)0xA8E21106, + (q31_t)0xA2386283, (q31_t)0xA975CB56, (q31_t)0xA1AFFEA2, + (q31_t)0xAA0A5B2D, (q31_t)0xA1288376, (q31_t)0xAA9FBF1D, + (q31_t)0xA0A1F24C, (q31_t)0xAB35F5B5, (q31_t)0xA01C4C72, + (q31_t)0xABCCFD82, (q31_t)0x9F979331, (q31_t)0xAC64D510, + (q31_t)0x9F13C7D0, (q31_t)0xACFD7AE8, (q31_t)0x9E90EB94, + (q31_t)0xAD96ED91, (q31_t)0x9E0EFFC1, (q31_t)0xAE312B91, + (q31_t)0x9D8E0596, (q31_t)0xAECC336B, (q31_t)0x9D0DFE53, + (q31_t)0xAF6803A1, (q31_t)0x9C8EEB33, (q31_t)0xB0049AB2, + (q31_t)0x9C10CD70, (q31_t)0xB0A1F71C, (q31_t)0x9B93A640, + (q31_t)0xB140175B, (q31_t)0x9B1776D9, (q31_t)0xB1DEF9E8, + (q31_t)0x9A9C406D, (q31_t)0xB27E9D3B, (q31_t)0x9A22042C, + (q31_t)0xB31EFFCB, (q31_t)0x99A8C344, (q31_t)0xB3C0200C, + (q31_t)0x99307EE0, (q31_t)0xB461FC70, (q31_t)0x98B93828, + (q31_t)0xB5049368, (q31_t)0x9842F043, (q31_t)0xB5A7E362, + (q31_t)0x97CDA855, (q31_t)0xB64BEACC, (q31_t)0x9759617E, + (q31_t)0xB6F0A811, (q31_t)0x96E61CDF, (q31_t)0xB796199B, + (q31_t)0x9673DB94, (q31_t)0xB83C3DD1, (q31_t)0x96029EB5, + (q31_t)0xB8E31319, (q31_t)0x9592675B, (q31_t)0xB98A97D8, + (q31_t)0x9523369B, (q31_t)0xBA32CA70, (q31_t)0x94B50D87, + (q31_t)0xBADBA943, (q31_t)0x9447ED2F, (q31_t)0xBB8532AF, + (q31_t)0x93DBD69F, (q31_t)0xBC2F6513, (q31_t)0x9370CAE4, + (q31_t)0xBCDA3ECA, (q31_t)0x9306CB04, (q31_t)0xBD85BE2F, + (q31_t)0x929DD805, (q31_t)0xBE31E19B, (q31_t)0x9235F2EB, + (q31_t)0xBEDEA765, (q31_t)0x91CF1CB6, (q31_t)0xBF8C0DE2, + (q31_t)0x91695663, (q31_t)0xC03A1368, (q31_t)0x9104A0ED, + (q31_t)0xC0E8B648, (q31_t)0x90A0FD4E, (q31_t)0xC197F4D3, + (q31_t)0x903E6C7A, (q31_t)0xC247CD5A, (q31_t)0x8FDCEF66, + (q31_t)0xC2F83E2A, (q31_t)0x8F7C8701, (q31_t)0xC3A9458F, + (q31_t)0x8F1D343A, (q31_t)0xC45AE1D7, (q31_t)0x8EBEF7FB, + (q31_t)0xC50D1148, (q31_t)0x8E61D32D, (q31_t)0xC5BFD22E, + (q31_t)0x8E05C6B7, (q31_t)0xC67322CD, (q31_t)0x8DAAD37B, + (q31_t)0xC727016C, (q31_t)0x8D50FA59, (q31_t)0xC7DB6C50, + (q31_t)0x8CF83C30, (q31_t)0xC89061BA, (q31_t)0x8CA099D9, + (q31_t)0xC945DFEC, (q31_t)0x8C4A142F, (q31_t)0xC9FBE527, + (q31_t)0x8BF4AC05, (q31_t)0xCAB26FA9, (q31_t)0x8BA0622F, + (q31_t)0xCB697DB0, (q31_t)0x8B4D377C, (q31_t)0xCC210D78, + (q31_t)0x8AFB2CBA, (q31_t)0xCCD91D3D, (q31_t)0x8AAA42B4, + (q31_t)0xCD91AB38, (q31_t)0x8A5A7A30, (q31_t)0xCE4AB5A2, + (q31_t)0x8A0BD3F5, (q31_t)0xCF043AB2, (q31_t)0x89BE50C3, + (q31_t)0xCFBE389F, (q31_t)0x8971F15A, (q31_t)0xD078AD9D, + (q31_t)0x8926B677, (q31_t)0xD13397E1, (q31_t)0x88DCA0D3, + (q31_t)0xD1EEF59E, (q31_t)0x8893B124, (q31_t)0xD2AAC504, + (q31_t)0x884BE820, (q31_t)0xD3670445, (q31_t)0x88054677, + (q31_t)0xD423B190, (q31_t)0x87BFCCD7, (q31_t)0xD4E0CB14, + (q31_t)0x877B7BEC, (q31_t)0xD59E4EFE, (q31_t)0x8738545E, + (q31_t)0xD65C3B7B, (q31_t)0x86F656D3, (q31_t)0xD71A8EB5, + (q31_t)0x86B583EE, (q31_t)0xD7D946D7, (q31_t)0x8675DC4E, + (q31_t)0xD898620C, (q31_t)0x86376092, (q31_t)0xD957DE7A, + (q31_t)0x85FA1152, (q31_t)0xDA17BA4A, (q31_t)0x85BDEF27, + (q31_t)0xDAD7F3A2, (q31_t)0x8582FAA4, (q31_t)0xDB9888A8, + (q31_t)0x8549345C, (q31_t)0xDC597781, (q31_t)0x85109CDC, + (q31_t)0xDD1ABE51, (q31_t)0x84D934B0, (q31_t)0xDDDC5B3A, + (q31_t)0x84A2FC62, (q31_t)0xDE9E4C60, (q31_t)0x846DF476, + (q31_t)0xDF608FE3, (q31_t)0x843A1D70, (q31_t)0xE02323E5, + (q31_t)0x840777CF, (q31_t)0xE0E60684, (q31_t)0x83D60411, + (q31_t)0xE1A935E1, (q31_t)0x83A5C2B0, (q31_t)0xE26CB01A, + (q31_t)0x8376B422, (q31_t)0xE330734C, (q31_t)0x8348D8DB, + (q31_t)0xE3F47D95, (q31_t)0x831C314E, (q31_t)0xE4B8CD10, + (q31_t)0x82F0BDE8, (q31_t)0xE57D5FDA, (q31_t)0x82C67F13, + (q31_t)0xE642340D, (q31_t)0x829D753A, (q31_t)0xE70747C3, + (q31_t)0x8275A0C0, (q31_t)0xE7CC9917, (q31_t)0x824F0208, + (q31_t)0xE8922621, (q31_t)0x82299971, (q31_t)0xE957ECFB, + (q31_t)0x82056758, (q31_t)0xEA1DEBBB, (q31_t)0x81E26C16, + (q31_t)0xEAE4207A, (q31_t)0x81C0A801, (q31_t)0xEBAA894E, + (q31_t)0x81A01B6C, (q31_t)0xEC71244F, (q31_t)0x8180C6A9, + (q31_t)0xED37EF91, (q31_t)0x8162AA03, (q31_t)0xEDFEE92B, + (q31_t)0x8145C5C6, (q31_t)0xEEC60F31, (q31_t)0x812A1A39, + (q31_t)0xEF8D5FB8, (q31_t)0x810FA7A0, (q31_t)0xF054D8D4, + (q31_t)0x80F66E3C, (q31_t)0xF11C789A, (q31_t)0x80DE6E4C, + (q31_t)0xF1E43D1C, (q31_t)0x80C7A80A, (q31_t)0xF2AC246D, + (q31_t)0x80B21BAF, (q31_t)0xF3742CA1, (q31_t)0x809DC970, + (q31_t)0xF43C53CA, (q31_t)0x808AB180, (q31_t)0xF50497FA, + (q31_t)0x8078D40D, (q31_t)0xF5CCF743, (q31_t)0x80683143, + (q31_t)0xF6956FB6, (q31_t)0x8058C94C, (q31_t)0xF75DFF65, + (q31_t)0x804A9C4D, (q31_t)0xF826A461, (q31_t)0x803DAA69, + (q31_t)0xF8EF5CBB, (q31_t)0x8031F3C1, (q31_t)0xF9B82683, + (q31_t)0x80277872, (q31_t)0xFA80FFCB, (q31_t)0x801E3894, + (q31_t)0xFB49E6A2, (q31_t)0x80163440, (q31_t)0xFC12D919, + (q31_t)0x800F6B88, (q31_t)0xFCDBD541, (q31_t)0x8009DE7D, + (q31_t)0xFDA4D928, (q31_t)0x80058D2E, (q31_t)0xFE6DE2E0, + (q31_t)0x800277A5, (q31_t)0xFF36F078, (q31_t)0x80009DE9 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_2048) +/** + @par + Example code for Q31 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefQ31[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefQ31[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 2048, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to Q31(Fixed point 1.31): + round(twiddleCoefQ31(i) * pow(2, 31)) + */ +const q31_t twiddleCoef_2048_q31[3072] = { + (q31_t)0x7FFFFFFF, (q31_t)0x00000000, (q31_t)0x7FFFD885, + (q31_t)0x006487E3, (q31_t)0x7FFF6216, (q31_t)0x00C90F88, + (q31_t)0x7FFE9CB2, (q31_t)0x012D96B0, (q31_t)0x7FFD885A, + (q31_t)0x01921D1F, (q31_t)0x7FFC250F, (q31_t)0x01F6A296, + (q31_t)0x7FFA72D1, (q31_t)0x025B26D7, (q31_t)0x7FF871A1, + (q31_t)0x02BFA9A4, (q31_t)0x7FF62182, (q31_t)0x03242ABF, + (q31_t)0x7FF38273, (q31_t)0x0388A9E9, (q31_t)0x7FF09477, + (q31_t)0x03ED26E6, (q31_t)0x7FED5790, (q31_t)0x0451A176, + (q31_t)0x7FE9CBC0, (q31_t)0x04B6195D, (q31_t)0x7FE5F108, + (q31_t)0x051A8E5C, (q31_t)0x7FE1C76B, (q31_t)0x057F0034, + (q31_t)0x7FDD4EEC, (q31_t)0x05E36EA9, (q31_t)0x7FD8878D, + (q31_t)0x0647D97C, (q31_t)0x7FD37152, (q31_t)0x06AC406F, + (q31_t)0x7FCE0C3E, (q31_t)0x0710A344, (q31_t)0x7FC85853, + (q31_t)0x077501BE, (q31_t)0x7FC25596, (q31_t)0x07D95B9E, + (q31_t)0x7FBC040A, (q31_t)0x083DB0A7, (q31_t)0x7FB563B2, + (q31_t)0x08A2009A, (q31_t)0x7FAE7494, (q31_t)0x09064B3A, + (q31_t)0x7FA736B4, (q31_t)0x096A9049, (q31_t)0x7F9FAA15, + (q31_t)0x09CECF89, (q31_t)0x7F97CEBC, (q31_t)0x0A3308BC, + (q31_t)0x7F8FA4AF, (q31_t)0x0A973BA5, (q31_t)0x7F872BF3, + (q31_t)0x0AFB6805, (q31_t)0x7F7E648B, (q31_t)0x0B5F8D9F, + (q31_t)0x7F754E7F, (q31_t)0x0BC3AC35, (q31_t)0x7F6BE9D4, + (q31_t)0x0C27C389, (q31_t)0x7F62368F, (q31_t)0x0C8BD35E, + (q31_t)0x7F5834B6, (q31_t)0x0CEFDB75, (q31_t)0x7F4DE450, + (q31_t)0x0D53DB92, (q31_t)0x7F434563, (q31_t)0x0DB7D376, + (q31_t)0x7F3857F5, (q31_t)0x0E1BC2E3, (q31_t)0x7F2D1C0E, + (q31_t)0x0E7FA99D, (q31_t)0x7F2191B4, (q31_t)0x0EE38765, + (q31_t)0x7F15B8EE, (q31_t)0x0F475BFE, (q31_t)0x7F0991C3, + (q31_t)0x0FAB272B, (q31_t)0x7EFD1C3C, (q31_t)0x100EE8AD, + (q31_t)0x7EF0585F, (q31_t)0x1072A047, (q31_t)0x7EE34635, + (q31_t)0x10D64DBC, (q31_t)0x7ED5E5C6, (q31_t)0x1139F0CE, + (q31_t)0x7EC8371A, (q31_t)0x119D8940, (q31_t)0x7EBA3A39, + (q31_t)0x120116D4, (q31_t)0x7EABEF2C, (q31_t)0x1264994E, + (q31_t)0x7E9D55FC, (q31_t)0x12C8106E, (q31_t)0x7E8E6EB1, + (q31_t)0x132B7BF9, (q31_t)0x7E7F3956, (q31_t)0x138EDBB0, + (q31_t)0x7E6FB5F3, (q31_t)0x13F22F57, (q31_t)0x7E5FE493, + (q31_t)0x145576B1, (q31_t)0x7E4FC53E, (q31_t)0x14B8B17F, + (q31_t)0x7E3F57FE, (q31_t)0x151BDF85, (q31_t)0x7E2E9CDF, + (q31_t)0x157F0086, (q31_t)0x7E1D93E9, (q31_t)0x15E21444, + (q31_t)0x7E0C3D29, (q31_t)0x16451A83, (q31_t)0x7DFA98A7, + (q31_t)0x16A81305, (q31_t)0x7DE8A670, (q31_t)0x170AFD8D, + (q31_t)0x7DD6668E, (q31_t)0x176DD9DE, (q31_t)0x7DC3D90D, + (q31_t)0x17D0A7BB, (q31_t)0x7DB0FDF7, (q31_t)0x183366E8, + (q31_t)0x7D9DD55A, (q31_t)0x18961727, (q31_t)0x7D8A5F3F, + (q31_t)0x18F8B83C, (q31_t)0x7D769BB5, (q31_t)0x195B49E9, + (q31_t)0x7D628AC5, (q31_t)0x19BDCBF2, (q31_t)0x7D4E2C7E, + (q31_t)0x1A203E1B, (q31_t)0x7D3980EC, (q31_t)0x1A82A025, + (q31_t)0x7D24881A, (q31_t)0x1AE4F1D6, (q31_t)0x7D0F4218, + (q31_t)0x1B4732EF, (q31_t)0x7CF9AEF0, (q31_t)0x1BA96334, + (q31_t)0x7CE3CEB1, (q31_t)0x1C0B826A, (q31_t)0x7CCDA168, + (q31_t)0x1C6D9053, (q31_t)0x7CB72724, (q31_t)0x1CCF8CB3, + (q31_t)0x7CA05FF1, (q31_t)0x1D31774D, (q31_t)0x7C894BDD, + (q31_t)0x1D934FE5, (q31_t)0x7C71EAF8, (q31_t)0x1DF5163F, + (q31_t)0x7C5A3D4F, (q31_t)0x1E56CA1E, (q31_t)0x7C4242F2, + (q31_t)0x1EB86B46, (q31_t)0x7C29FBEE, (q31_t)0x1F19F97B, + (q31_t)0x7C116853, (q31_t)0x1F7B7480, (q31_t)0x7BF88830, + (q31_t)0x1FDCDC1A, (q31_t)0x7BDF5B94, (q31_t)0x203E300D, + (q31_t)0x7BC5E28F, (q31_t)0x209F701C, (q31_t)0x7BAC1D31, + (q31_t)0x21009C0B, (q31_t)0x7B920B89, (q31_t)0x2161B39F, + (q31_t)0x7B77ADA8, (q31_t)0x21C2B69C, (q31_t)0x7B5D039D, + (q31_t)0x2223A4C5, (q31_t)0x7B420D7A, (q31_t)0x22847DDF, + (q31_t)0x7B26CB4F, (q31_t)0x22E541AE, (q31_t)0x7B0B3D2C, + (q31_t)0x2345EFF7, (q31_t)0x7AEF6323, (q31_t)0x23A6887E, + (q31_t)0x7AD33D45, (q31_t)0x24070B07, (q31_t)0x7AB6CBA3, + (q31_t)0x24677757, (q31_t)0x7A9A0E4F, (q31_t)0x24C7CD32, + (q31_t)0x7A7D055B, (q31_t)0x25280C5D, (q31_t)0x7A5FB0D8, + (q31_t)0x2588349D, (q31_t)0x7A4210D8, (q31_t)0x25E845B5, + (q31_t)0x7A24256E, (q31_t)0x26483F6C, (q31_t)0x7A05EEAD, + (q31_t)0x26A82185, (q31_t)0x79E76CA6, (q31_t)0x2707EBC6, + (q31_t)0x79C89F6D, (q31_t)0x27679DF4, (q31_t)0x79A98715, + (q31_t)0x27C737D2, (q31_t)0x798A23B1, (q31_t)0x2826B928, + (q31_t)0x796A7554, (q31_t)0x288621B9, (q31_t)0x794A7C11, + (q31_t)0x28E5714A, (q31_t)0x792A37FE, (q31_t)0x2944A7A2, + (q31_t)0x7909A92C, (q31_t)0x29A3C484, (q31_t)0x78E8CFB1, + (q31_t)0x2A02C7B8, (q31_t)0x78C7ABA1, (q31_t)0x2A61B101, + (q31_t)0x78A63D10, (q31_t)0x2AC08025, (q31_t)0x78848413, + (q31_t)0x2B1F34EB, (q31_t)0x786280BF, (q31_t)0x2B7DCF17, + (q31_t)0x78403328, (q31_t)0x2BDC4E6F, (q31_t)0x781D9B64, + (q31_t)0x2C3AB2B9, (q31_t)0x77FAB988, (q31_t)0x2C98FBBA, + (q31_t)0x77D78DAA, (q31_t)0x2CF72939, (q31_t)0x77B417DF, + (q31_t)0x2D553AFB, (q31_t)0x7790583D, (q31_t)0x2DB330C7, + (q31_t)0x776C4EDB, (q31_t)0x2E110A62, (q31_t)0x7747FBCE, + (q31_t)0x2E6EC792, (q31_t)0x77235F2D, (q31_t)0x2ECC681E, + (q31_t)0x76FE790E, (q31_t)0x2F29EBCC, (q31_t)0x76D94988, + (q31_t)0x2F875262, (q31_t)0x76B3D0B3, (q31_t)0x2FE49BA6, + (q31_t)0x768E0EA5, (q31_t)0x3041C760, (q31_t)0x76680376, + (q31_t)0x309ED555, (q31_t)0x7641AF3C, (q31_t)0x30FBC54D, + (q31_t)0x761B1211, (q31_t)0x3158970D, (q31_t)0x75F42C0A, + (q31_t)0x31B54A5D, (q31_t)0x75CCFD42, (q31_t)0x3211DF03, + (q31_t)0x75A585CF, (q31_t)0x326E54C7, (q31_t)0x757DC5CA, + (q31_t)0x32CAAB6F, (q31_t)0x7555BD4B, (q31_t)0x3326E2C2, + (q31_t)0x752D6C6C, (q31_t)0x3382FA88, (q31_t)0x7504D345, + (q31_t)0x33DEF287, (q31_t)0x74DBF1EF, (q31_t)0x343ACA87, + (q31_t)0x74B2C883, (q31_t)0x3496824F, (q31_t)0x7489571B, + (q31_t)0x34F219A7, (q31_t)0x745F9DD1, (q31_t)0x354D9056, + (q31_t)0x74359CBD, (q31_t)0x35A8E624, (q31_t)0x740B53FA, + (q31_t)0x36041AD9, (q31_t)0x73E0C3A3, (q31_t)0x365F2E3B, + (q31_t)0x73B5EBD0, (q31_t)0x36BA2013, (q31_t)0x738ACC9E, + (q31_t)0x3714F02A, (q31_t)0x735F6626, (q31_t)0x376F9E46, + (q31_t)0x7333B883, (q31_t)0x37CA2A30, (q31_t)0x7307C3D0, + (q31_t)0x382493B0, (q31_t)0x72DB8828, (q31_t)0x387EDA8E, + (q31_t)0x72AF05A6, (q31_t)0x38D8FE93, (q31_t)0x72823C66, + (q31_t)0x3932FF87, (q31_t)0x72552C84, (q31_t)0x398CDD32, + (q31_t)0x7227D61C, (q31_t)0x39E6975D, (q31_t)0x71FA3948, + (q31_t)0x3A402DD1, (q31_t)0x71CC5626, (q31_t)0x3A99A057, + (q31_t)0x719E2CD2, (q31_t)0x3AF2EEB7, (q31_t)0x716FBD68, + (q31_t)0x3B4C18BA, (q31_t)0x71410804, (q31_t)0x3BA51E29, + (q31_t)0x71120CC5, (q31_t)0x3BFDFECD, (q31_t)0x70E2CBC6, + (q31_t)0x3C56BA70, (q31_t)0x70B34524, (q31_t)0x3CAF50DA, + (q31_t)0x708378FE, (q31_t)0x3D07C1D5, (q31_t)0x70536771, + (q31_t)0x3D600D2B, (q31_t)0x70231099, (q31_t)0x3DB832A5, + (q31_t)0x6FF27496, (q31_t)0x3E10320D, (q31_t)0x6FC19385, + (q31_t)0x3E680B2C, (q31_t)0x6F906D84, (q31_t)0x3EBFBDCC, + (q31_t)0x6F5F02B1, (q31_t)0x3F1749B7, (q31_t)0x6F2D532C, + (q31_t)0x3F6EAEB8, (q31_t)0x6EFB5F12, (q31_t)0x3FC5EC97, + (q31_t)0x6EC92682, (q31_t)0x401D0320, (q31_t)0x6E96A99C, + (q31_t)0x4073F21D, (q31_t)0x6E63E87F, (q31_t)0x40CAB957, + (q31_t)0x6E30E349, (q31_t)0x4121589A, (q31_t)0x6DFD9A1B, + (q31_t)0x4177CFB0, (q31_t)0x6DCA0D14, (q31_t)0x41CE1E64, + (q31_t)0x6D963C54, (q31_t)0x42244480, (q31_t)0x6D6227FA, + (q31_t)0x427A41D0, (q31_t)0x6D2DD027, (q31_t)0x42D0161E, + (q31_t)0x6CF934FB, (q31_t)0x4325C135, (q31_t)0x6CC45697, + (q31_t)0x437B42E1, (q31_t)0x6C8F351C, (q31_t)0x43D09AEC, + (q31_t)0x6C59D0A9, (q31_t)0x4425C923, (q31_t)0x6C242960, + (q31_t)0x447ACD50, (q31_t)0x6BEE3F62, (q31_t)0x44CFA73F, + (q31_t)0x6BB812D0, (q31_t)0x452456BC, (q31_t)0x6B81A3CD, + (q31_t)0x4578DB93, (q31_t)0x6B4AF278, (q31_t)0x45CD358F, + (q31_t)0x6B13FEF5, (q31_t)0x4621647C, (q31_t)0x6ADCC964, + (q31_t)0x46756827, (q31_t)0x6AA551E8, (q31_t)0x46C9405C, + (q31_t)0x6A6D98A4, (q31_t)0x471CECE6, (q31_t)0x6A359DB9, + (q31_t)0x47706D93, (q31_t)0x69FD614A, (q31_t)0x47C3C22E, + (q31_t)0x69C4E37A, (q31_t)0x4816EA85, (q31_t)0x698C246C, + (q31_t)0x4869E664, (q31_t)0x69532442, (q31_t)0x48BCB598, + (q31_t)0x6919E320, (q31_t)0x490F57EE, (q31_t)0x68E06129, + (q31_t)0x4961CD32, (q31_t)0x68A69E81, (q31_t)0x49B41533, + (q31_t)0x686C9B4B, (q31_t)0x4A062FBD, (q31_t)0x683257AA, + (q31_t)0x4A581C9D, (q31_t)0x67F7D3C4, (q31_t)0x4AA9DBA1, + (q31_t)0x67BD0FBC, (q31_t)0x4AFB6C97, (q31_t)0x67820BB6, + (q31_t)0x4B4CCF4D, (q31_t)0x6746C7D7, (q31_t)0x4B9E038F, + (q31_t)0x670B4443, (q31_t)0x4BEF092D, (q31_t)0x66CF811F, + (q31_t)0x4C3FDFF3, (q31_t)0x66937E90, (q31_t)0x4C9087B1, + (q31_t)0x66573CBB, (q31_t)0x4CE10034, (q31_t)0x661ABBC5, + (q31_t)0x4D31494B, (q31_t)0x65DDFBD3, (q31_t)0x4D8162C4, + (q31_t)0x65A0FD0B, (q31_t)0x4DD14C6E, (q31_t)0x6563BF92, + (q31_t)0x4E210617, (q31_t)0x6526438E, (q31_t)0x4E708F8F, + (q31_t)0x64E88926, (q31_t)0x4EBFE8A4, (q31_t)0x64AA907F, + (q31_t)0x4F0F1126, (q31_t)0x646C59BF, (q31_t)0x4F5E08E3, + (q31_t)0x642DE50D, (q31_t)0x4FACCFAB, (q31_t)0x63EF328F, + (q31_t)0x4FFB654D, (q31_t)0x63B0426D, (q31_t)0x5049C999, + (q31_t)0x637114CC, (q31_t)0x5097FC5E, (q31_t)0x6331A9D4, + (q31_t)0x50E5FD6C, (q31_t)0x62F201AC, (q31_t)0x5133CC94, + (q31_t)0x62B21C7B, (q31_t)0x518169A4, (q31_t)0x6271FA69, + (q31_t)0x51CED46E, (q31_t)0x62319B9D, (q31_t)0x521C0CC1, + (q31_t)0x61F1003E, (q31_t)0x5269126E, (q31_t)0x61B02876, + (q31_t)0x52B5E545, (q31_t)0x616F146B, (q31_t)0x53028517, + (q31_t)0x612DC446, (q31_t)0x534EF1B5, (q31_t)0x60EC3830, + (q31_t)0x539B2AEF, (q31_t)0x60AA704F, (q31_t)0x53E73097, + (q31_t)0x60686CCE, (q31_t)0x5433027D, (q31_t)0x60262DD5, + (q31_t)0x547EA073, (q31_t)0x5FE3B38D, (q31_t)0x54CA0A4A, + (q31_t)0x5FA0FE1E, (q31_t)0x55153FD4, (q31_t)0x5F5E0DB3, + (q31_t)0x556040E2, (q31_t)0x5F1AE273, (q31_t)0x55AB0D46, + (q31_t)0x5ED77C89, (q31_t)0x55F5A4D2, (q31_t)0x5E93DC1F, + (q31_t)0x56400757, (q31_t)0x5E50015D, (q31_t)0x568A34A9, + (q31_t)0x5E0BEC6E, (q31_t)0x56D42C99, (q31_t)0x5DC79D7C, + (q31_t)0x571DEEF9, (q31_t)0x5D8314B0, (q31_t)0x57677B9D, + (q31_t)0x5D3E5236, (q31_t)0x57B0D256, (q31_t)0x5CF95638, + (q31_t)0x57F9F2F7, (q31_t)0x5CB420DF, (q31_t)0x5842DD54, + (q31_t)0x5C6EB258, (q31_t)0x588B913F, (q31_t)0x5C290ACC, + (q31_t)0x58D40E8C, (q31_t)0x5BE32A67, (q31_t)0x591C550E, + (q31_t)0x5B9D1153, (q31_t)0x59646497, (q31_t)0x5B56BFBD, + (q31_t)0x59AC3CFD, (q31_t)0x5B1035CF, (q31_t)0x59F3DE12, + (q31_t)0x5AC973B4, (q31_t)0x5A3B47AA, (q31_t)0x5A82799A, + (q31_t)0x5A82799A, (q31_t)0x5A3B47AA, (q31_t)0x5AC973B4, + (q31_t)0x59F3DE12, (q31_t)0x5B1035CF, (q31_t)0x59AC3CFD, + (q31_t)0x5B56BFBD, (q31_t)0x59646497, (q31_t)0x5B9D1153, + (q31_t)0x591C550E, (q31_t)0x5BE32A67, (q31_t)0x58D40E8C, + (q31_t)0x5C290ACC, (q31_t)0x588B913F, (q31_t)0x5C6EB258, + (q31_t)0x5842DD54, (q31_t)0x5CB420DF, (q31_t)0x57F9F2F7, + (q31_t)0x5CF95638, (q31_t)0x57B0D256, (q31_t)0x5D3E5236, + (q31_t)0x57677B9D, (q31_t)0x5D8314B0, (q31_t)0x571DEEF9, + (q31_t)0x5DC79D7C, (q31_t)0x56D42C99, (q31_t)0x5E0BEC6E, + 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(q31_t)0x9447ED2F, (q31_t)0xBB3058C0, + (q31_t)0x9411C09D, (q31_t)0xBB8532AF, (q31_t)0x93DBD69F, + (q31_t)0xBBDA36DC, (q31_t)0x93A62F56, (q31_t)0xBC2F6513, + (q31_t)0x9370CAE4, (q31_t)0xBC84BD1E, (q31_t)0x933BA968, + (q31_t)0xBCDA3ECA, (q31_t)0x9306CB04, (q31_t)0xBD2FE9E1, + (q31_t)0x92D22FD8, (q31_t)0xBD85BE2F, (q31_t)0x929DD805, + (q31_t)0xBDDBBB7F, (q31_t)0x9269C3AC, (q31_t)0xBE31E19B, + (q31_t)0x9235F2EB, (q31_t)0xBE88304F, (q31_t)0x920265E4, + (q31_t)0xBEDEA765, (q31_t)0x91CF1CB6, (q31_t)0xBF3546A8, + (q31_t)0x919C1780, (q31_t)0xBF8C0DE2, (q31_t)0x91695663, + (q31_t)0xBFE2FCDF, (q31_t)0x9136D97D, (q31_t)0xC03A1368, + (q31_t)0x9104A0ED, (q31_t)0xC0915147, (q31_t)0x90D2ACD3, + (q31_t)0xC0E8B648, (q31_t)0x90A0FD4E, (q31_t)0xC1404233, + (q31_t)0x906F927B, (q31_t)0xC197F4D3, (q31_t)0x903E6C7A, + (q31_t)0xC1EFCDF2, (q31_t)0x900D8B69, (q31_t)0xC247CD5A, + (q31_t)0x8FDCEF66, (q31_t)0xC29FF2D4, (q31_t)0x8FAC988E, + (q31_t)0xC2F83E2A, (q31_t)0x8F7C8701, (q31_t)0xC350AF25, + (q31_t)0x8F4CBADB, (q31_t)0xC3A9458F, (q31_t)0x8F1D343A, + (q31_t)0xC4020132, (q31_t)0x8EEDF33B, (q31_t)0xC45AE1D7, + (q31_t)0x8EBEF7FB, (q31_t)0xC4B3E746, (q31_t)0x8E904298, + (q31_t)0xC50D1148, (q31_t)0x8E61D32D, (q31_t)0xC5665FA8, + (q31_t)0x8E33A9D9, (q31_t)0xC5BFD22E, (q31_t)0x8E05C6B7, + (q31_t)0xC61968A2, (q31_t)0x8DD829E4, (q31_t)0xC67322CD, + (q31_t)0x8DAAD37B, (q31_t)0xC6CD0079, (q31_t)0x8D7DC399, + (q31_t)0xC727016C, (q31_t)0x8D50FA59, (q31_t)0xC7812571, + (q31_t)0x8D2477D8, (q31_t)0xC7DB6C50, (q31_t)0x8CF83C30, + (q31_t)0xC835D5D0, (q31_t)0x8CCC477D, (q31_t)0xC89061BA, + (q31_t)0x8CA099D9, (q31_t)0xC8EB0FD6, (q31_t)0x8C753361, + (q31_t)0xC945DFEC, (q31_t)0x8C4A142F, (q31_t)0xC9A0D1C4, + (q31_t)0x8C1F3C5C, (q31_t)0xC9FBE527, (q31_t)0x8BF4AC05, + (q31_t)0xCA5719DB, (q31_t)0x8BCA6342, (q31_t)0xCAB26FA9, + (q31_t)0x8BA0622F, (q31_t)0xCB0DE658, (q31_t)0x8B76A8E4, + (q31_t)0xCB697DB0, (q31_t)0x8B4D377C, (q31_t)0xCBC53578, + (q31_t)0x8B240E10, (q31_t)0xCC210D78, (q31_t)0x8AFB2CBA, + (q31_t)0xCC7D0577, (q31_t)0x8AD29393, (q31_t)0xCCD91D3D, + (q31_t)0x8AAA42B4, (q31_t)0xCD355490, (q31_t)0x8A823A35, + (q31_t)0xCD91AB38, (q31_t)0x8A5A7A30, (q31_t)0xCDEE20FC, + (q31_t)0x8A3302BD, (q31_t)0xCE4AB5A2, (q31_t)0x8A0BD3F5, + (q31_t)0xCEA768F2, (q31_t)0x89E4EDEE, (q31_t)0xCF043AB2, + (q31_t)0x89BE50C3, (q31_t)0xCF612AAA, (q31_t)0x8997FC89, + (q31_t)0xCFBE389F, (q31_t)0x8971F15A, (q31_t)0xD01B6459, + (q31_t)0x894C2F4C, (q31_t)0xD078AD9D, (q31_t)0x8926B677, + (q31_t)0xD0D61433, (q31_t)0x890186F1, (q31_t)0xD13397E1, + (q31_t)0x88DCA0D3, (q31_t)0xD191386D, (q31_t)0x88B80431, + (q31_t)0xD1EEF59E, (q31_t)0x8893B124, (q31_t)0xD24CCF38, + (q31_t)0x886FA7C2, (q31_t)0xD2AAC504, (q31_t)0x884BE820, + (q31_t)0xD308D6C6, (q31_t)0x88287255, (q31_t)0xD3670445, + (q31_t)0x88054677, (q31_t)0xD3C54D46, (q31_t)0x87E2649B, + (q31_t)0xD423B190, (q31_t)0x87BFCCD7, (q31_t)0xD48230E8, + (q31_t)0x879D7F40, (q31_t)0xD4E0CB14, (q31_t)0x877B7BEC, + (q31_t)0xD53F7FDA, (q31_t)0x8759C2EF, (q31_t)0xD59E4EFE, + (q31_t)0x8738545E, (q31_t)0xD5FD3847, (q31_t)0x8717304E, + (q31_t)0xD65C3B7B, (q31_t)0x86F656D3, (q31_t)0xD6BB585D, + (q31_t)0x86D5C802, (q31_t)0xD71A8EB5, (q31_t)0x86B583EE, + (q31_t)0xD779DE46, (q31_t)0x86958AAB, (q31_t)0xD7D946D7, + (q31_t)0x8675DC4E, (q31_t)0xD838C82D, (q31_t)0x865678EA, + (q31_t)0xD898620C, (q31_t)0x86376092, (q31_t)0xD8F81439, + (q31_t)0x86189359, (q31_t)0xD957DE7A, (q31_t)0x85FA1152, + (q31_t)0xD9B7C093, (q31_t)0x85DBDA91, (q31_t)0xDA17BA4A, + (q31_t)0x85BDEF27, (q31_t)0xDA77CB62, (q31_t)0x85A04F28, + (q31_t)0xDAD7F3A2, (q31_t)0x8582FAA4, (q31_t)0xDB3832CD, + (q31_t)0x8565F1B0, (q31_t)0xDB9888A8, (q31_t)0x8549345C, + (q31_t)0xDBF8F4F8, (q31_t)0x852CC2BA, (q31_t)0xDC597781, + (q31_t)0x85109CDC, (q31_t)0xDCBA1008, (q31_t)0x84F4C2D3, + (q31_t)0xDD1ABE51, (q31_t)0x84D934B0, (q31_t)0xDD7B8220, + (q31_t)0x84BDF285, (q31_t)0xDDDC5B3A, (q31_t)0x84A2FC62, + (q31_t)0xDE3D4963, (q31_t)0x84885257, (q31_t)0xDE9E4C60, + (q31_t)0x846DF476, (q31_t)0xDEFF63F4, (q31_t)0x8453E2CE, + (q31_t)0xDF608FE3, (q31_t)0x843A1D70, (q31_t)0xDFC1CFF2, + (q31_t)0x8420A46B, (q31_t)0xE02323E5, (q31_t)0x840777CF, + (q31_t)0xE0848B7F, (q31_t)0x83EE97AC, (q31_t)0xE0E60684, + (q31_t)0x83D60411, (q31_t)0xE14794B9, (q31_t)0x83BDBD0D, + (q31_t)0xE1A935E1, (q31_t)0x83A5C2B0, (q31_t)0xE20AE9C1, + (q31_t)0x838E1507, (q31_t)0xE26CB01A, (q31_t)0x8376B422, + (q31_t)0xE2CE88B2, (q31_t)0x835FA00E, (q31_t)0xE330734C, + (q31_t)0x8348D8DB, (q31_t)0xE3926FAC, (q31_t)0x83325E97, + (q31_t)0xE3F47D95, (q31_t)0x831C314E, (q31_t)0xE4569CCB, + (q31_t)0x8306510F, (q31_t)0xE4B8CD10, (q31_t)0x82F0BDE8, + (q31_t)0xE51B0E2A, (q31_t)0x82DB77E5, (q31_t)0xE57D5FDA, + (q31_t)0x82C67F13, (q31_t)0xE5DFC1E4, (q31_t)0x82B1D381, + (q31_t)0xE642340D, (q31_t)0x829D753A, (q31_t)0xE6A4B616, + (q31_t)0x8289644A, (q31_t)0xE70747C3, (q31_t)0x8275A0C0, + (q31_t)0xE769E8D8, (q31_t)0x82622AA5, (q31_t)0xE7CC9917, + (q31_t)0x824F0208, (q31_t)0xE82F5844, (q31_t)0x823C26F2, + (q31_t)0xE8922621, (q31_t)0x82299971, (q31_t)0xE8F50273, + (q31_t)0x8217598F, (q31_t)0xE957ECFB, (q31_t)0x82056758, + (q31_t)0xE9BAE57C, (q31_t)0x81F3C2D7, (q31_t)0xEA1DEBBB, + (q31_t)0x81E26C16, (q31_t)0xEA80FF79, (q31_t)0x81D16320, + (q31_t)0xEAE4207A, (q31_t)0x81C0A801, (q31_t)0xEB474E80, + (q31_t)0x81B03AC1, (q31_t)0xEBAA894E, (q31_t)0x81A01B6C, + (q31_t)0xEC0DD0A8, (q31_t)0x81904A0C, (q31_t)0xEC71244F, + (q31_t)0x8180C6A9, (q31_t)0xECD48406, (q31_t)0x8171914E, + (q31_t)0xED37EF91, (q31_t)0x8162AA03, (q31_t)0xED9B66B2, + (q31_t)0x815410D3, (q31_t)0xEDFEE92B, (q31_t)0x8145C5C6, + (q31_t)0xEE6276BF, (q31_t)0x8137C8E6, (q31_t)0xEEC60F31, + (q31_t)0x812A1A39, (q31_t)0xEF29B243, (q31_t)0x811CB9CA, + (q31_t)0xEF8D5FB8, (q31_t)0x810FA7A0, (q31_t)0xEFF11752, + (q31_t)0x8102E3C3, (q31_t)0xF054D8D4, (q31_t)0x80F66E3C, + (q31_t)0xF0B8A401, (q31_t)0x80EA4712, (q31_t)0xF11C789A, + (q31_t)0x80DE6E4C, (q31_t)0xF1805662, (q31_t)0x80D2E3F1, + (q31_t)0xF1E43D1C, (q31_t)0x80C7A80A, (q31_t)0xF2482C89, + (q31_t)0x80BCBA9C, (q31_t)0xF2AC246D, (q31_t)0x80B21BAF, + (q31_t)0xF310248A, (q31_t)0x80A7CB49, (q31_t)0xF3742CA1, + (q31_t)0x809DC970, (q31_t)0xF3D83C76, (q31_t)0x8094162B, + (q31_t)0xF43C53CA, (q31_t)0x808AB180, (q31_t)0xF4A07260, + (q31_t)0x80819B74, (q31_t)0xF50497FA, (q31_t)0x8078D40D, + (q31_t)0xF568C45A, (q31_t)0x80705B50, (q31_t)0xF5CCF743, + (q31_t)0x80683143, (q31_t)0xF6313076, (q31_t)0x806055EA, + (q31_t)0xF6956FB6, (q31_t)0x8058C94C, (q31_t)0xF6F9B4C5, + (q31_t)0x80518B6B, (q31_t)0xF75DFF65, (q31_t)0x804A9C4D, + (q31_t)0xF7C24F58, (q31_t)0x8043FBF6, (q31_t)0xF826A461, + (q31_t)0x803DAA69, (q31_t)0xF88AFE41, (q31_t)0x8037A7AC, + (q31_t)0xF8EF5CBB, (q31_t)0x8031F3C1, (q31_t)0xF953BF90, + (q31_t)0x802C8EAD, (q31_t)0xF9B82683, (q31_t)0x80277872, + (q31_t)0xFA1C9156, (q31_t)0x8022B113, (q31_t)0xFA80FFCB, + (q31_t)0x801E3894, (q31_t)0xFAE571A4, (q31_t)0x801A0EF7, + (q31_t)0xFB49E6A2, (q31_t)0x80163440, (q31_t)0xFBAE5E89, + (q31_t)0x8012A86F, (q31_t)0xFC12D919, (q31_t)0x800F6B88, + (q31_t)0xFC775616, (q31_t)0x800C7D8C, (q31_t)0xFCDBD541, + (q31_t)0x8009DE7D, (q31_t)0xFD40565B, (q31_t)0x80078E5E, + (q31_t)0xFDA4D928, (q31_t)0x80058D2E, (q31_t)0xFE095D69, + (q31_t)0x8003DAF0, (q31_t)0xFE6DE2E0, (q31_t)0x800277A5, + (q31_t)0xFED2694F, (q31_t)0x8001634D, (q31_t)0xFF36F078, + (q31_t)0x80009DE9, (q31_t)0xFF9B781D, (q31_t)0x8000277A +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q31_4096) +/** + @par + Example code for Q31 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefQ31[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefQ31[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 4096, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to Q31(Fixed point 1.31): + round(twiddleCoefQ31(i) * pow(2, 31)) + */ +const q31_t twiddleCoef_4096_q31[6144] = +{ + (q31_t)0x7FFFFFFF, (q31_t)0x00000000, (q31_t)0x7FFFF621, + (q31_t)0x003243F5, (q31_t)0x7FFFD885, (q31_t)0x006487E3, + (q31_t)0x7FFFA72C, (q31_t)0x0096CBC1, (q31_t)0x7FFF6216, + (q31_t)0x00C90F88, (q31_t)0x7FFF0942, (q31_t)0x00FB532F, + (q31_t)0x7FFE9CB2, (q31_t)0x012D96B0, (q31_t)0x7FFE1C64, + (q31_t)0x015FDA03, (q31_t)0x7FFD885A, (q31_t)0x01921D1F, + (q31_t)0x7FFCE093, (q31_t)0x01C45FFE, (q31_t)0x7FFC250F, + (q31_t)0x01F6A296, (q31_t)0x7FFB55CE, (q31_t)0x0228E4E1, + (q31_t)0x7FFA72D1, (q31_t)0x025B26D7, (q31_t)0x7FF97C17, + (q31_t)0x028D6870, (q31_t)0x7FF871A1, (q31_t)0x02BFA9A4, + (q31_t)0x7FF7536F, (q31_t)0x02F1EA6B, (q31_t)0x7FF62182, + (q31_t)0x03242ABF, (q31_t)0x7FF4DBD8, (q31_t)0x03566A96, + (q31_t)0x7FF38273, (q31_t)0x0388A9E9, (q31_t)0x7FF21553, + (q31_t)0x03BAE8B1, (q31_t)0x7FF09477, (q31_t)0x03ED26E6, + (q31_t)0x7FEEFFE1, (q31_t)0x041F647F, (q31_t)0x7FED5790, + (q31_t)0x0451A176, (q31_t)0x7FEB9B85, (q31_t)0x0483DDC3, + (q31_t)0x7FE9CBC0, (q31_t)0x04B6195D, (q31_t)0x7FE7E840, + (q31_t)0x04E8543D, (q31_t)0x7FE5F108, (q31_t)0x051A8E5C, + (q31_t)0x7FE3E616, (q31_t)0x054CC7B0, (q31_t)0x7FE1C76B, + (q31_t)0x057F0034, (q31_t)0x7FDF9508, (q31_t)0x05B137DF, + (q31_t)0x7FDD4EEC, (q31_t)0x05E36EA9, (q31_t)0x7FDAF518, + (q31_t)0x0615A48A, (q31_t)0x7FD8878D, (q31_t)0x0647D97C, + (q31_t)0x7FD6064B, (q31_t)0x067A0D75, (q31_t)0x7FD37152, + (q31_t)0x06AC406F, (q31_t)0x7FD0C8A3, (q31_t)0x06DE7261, + (q31_t)0x7FCE0C3E, (q31_t)0x0710A344, (q31_t)0x7FCB3C23, + (q31_t)0x0742D310, (q31_t)0x7FC85853, (q31_t)0x077501BE, + (q31_t)0x7FC560CF, (q31_t)0x07A72F45, (q31_t)0x7FC25596, + (q31_t)0x07D95B9E, (q31_t)0x7FBF36A9, (q31_t)0x080B86C1, + (q31_t)0x7FBC040A, (q31_t)0x083DB0A7, (q31_t)0x7FB8BDB7, + (q31_t)0x086FD947, (q31_t)0x7FB563B2, (q31_t)0x08A2009A, + (q31_t)0x7FB1F5FC, (q31_t)0x08D42698, (q31_t)0x7FAE7494, + (q31_t)0x09064B3A, (q31_t)0x7FAADF7C, (q31_t)0x09386E77, + (q31_t)0x7FA736B4, (q31_t)0x096A9049, (q31_t)0x7FA37A3C, + (q31_t)0x099CB0A7, (q31_t)0x7F9FAA15, (q31_t)0x09CECF89, + (q31_t)0x7F9BC63F, (q31_t)0x0A00ECE8, (q31_t)0x7F97CEBC, + (q31_t)0x0A3308BC, (q31_t)0x7F93C38C, (q31_t)0x0A6522FE, + (q31_t)0x7F8FA4AF, (q31_t)0x0A973BA5, (q31_t)0x7F8B7226, + (q31_t)0x0AC952AA, (q31_t)0x7F872BF3, (q31_t)0x0AFB6805, + (q31_t)0x7F82D214, (q31_t)0x0B2D7BAE, (q31_t)0x7F7E648B, + (q31_t)0x0B5F8D9F, (q31_t)0x7F79E35A, (q31_t)0x0B919DCE, + (q31_t)0x7F754E7F, (q31_t)0x0BC3AC35, (q31_t)0x7F70A5FD, + (q31_t)0x0BF5B8CB, (q31_t)0x7F6BE9D4, (q31_t)0x0C27C389, + (q31_t)0x7F671A04, (q31_t)0x0C59CC67, (q31_t)0x7F62368F, + (q31_t)0x0C8BD35E, (q31_t)0x7F5D3F75, (q31_t)0x0CBDD865, + (q31_t)0x7F5834B6, (q31_t)0x0CEFDB75, (q31_t)0x7F531654, + (q31_t)0x0D21DC87, (q31_t)0x7F4DE450, (q31_t)0x0D53DB92, + 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(q31_t)0x81F3C2D7, (q31_t)0xE9EC66E8, + (q31_t)0x81EB0DBD, (q31_t)0xEA1DEBBB, (q31_t)0x81E26C16, + (q31_t)0xEA4F73EE, (q31_t)0x81D9DDE1, (q31_t)0xEA80FF79, + (q31_t)0x81D16320, (q31_t)0xEAB28E55, (q31_t)0x81C8FBD5, + (q31_t)0xEAE4207A, (q31_t)0x81C0A801, (q31_t)0xEB15B5E0, + (q31_t)0x81B867A4, (q31_t)0xEB474E80, (q31_t)0x81B03AC1, + (q31_t)0xEB78EA52, (q31_t)0x81A82159, (q31_t)0xEBAA894E, + (q31_t)0x81A01B6C, (q31_t)0xEBDC2B6D, (q31_t)0x819828FD, + (q31_t)0xEC0DD0A8, (q31_t)0x81904A0C, (q31_t)0xEC3F78F5, + (q31_t)0x81887E9A, (q31_t)0xEC71244F, (q31_t)0x8180C6A9, + (q31_t)0xECA2D2AC, (q31_t)0x8179223A, (q31_t)0xECD48406, + (q31_t)0x8171914E, (q31_t)0xED063855, (q31_t)0x816A13E6, + (q31_t)0xED37EF91, (q31_t)0x8162AA03, (q31_t)0xED69A9B2, + (q31_t)0x815B53A8, (q31_t)0xED9B66B2, (q31_t)0x815410D3, + (q31_t)0xEDCD2687, (q31_t)0x814CE188, (q31_t)0xEDFEE92B, + (q31_t)0x8145C5C6, (q31_t)0xEE30AE95, (q31_t)0x813EBD90, + (q31_t)0xEE6276BF, (q31_t)0x8137C8E6, (q31_t)0xEE9441A0, + (q31_t)0x8130E7C8, (q31_t)0xEEC60F31, (q31_t)0x812A1A39, + (q31_t)0xEEF7DF6A, (q31_t)0x81236039, (q31_t)0xEF29B243, + (q31_t)0x811CB9CA, (q31_t)0xEF5B87B5, (q31_t)0x811626EC, + (q31_t)0xEF8D5FB8, (q31_t)0x810FA7A0, (q31_t)0xEFBF3A44, + (q31_t)0x81093BE8, (q31_t)0xEFF11752, (q31_t)0x8102E3C3, + (q31_t)0xF022F6DA, (q31_t)0x80FC9F35, (q31_t)0xF054D8D4, + (q31_t)0x80F66E3C, (q31_t)0xF086BD39, (q31_t)0x80F050DB, + (q31_t)0xF0B8A401, (q31_t)0x80EA4712, (q31_t)0xF0EA8D23, + (q31_t)0x80E450E2, (q31_t)0xF11C789A, (q31_t)0x80DE6E4C, + (q31_t)0xF14E665C, (q31_t)0x80D89F51, (q31_t)0xF1805662, + (q31_t)0x80D2E3F1, (q31_t)0xF1B248A5, (q31_t)0x80CD3C2F, + (q31_t)0xF1E43D1C, (q31_t)0x80C7A80A, (q31_t)0xF21633C0, + (q31_t)0x80C22783, (q31_t)0xF2482C89, (q31_t)0x80BCBA9C, + (q31_t)0xF27A2770, (q31_t)0x80B76155, (q31_t)0xF2AC246D, + (q31_t)0x80B21BAF, (q31_t)0xF2DE2378, (q31_t)0x80ACE9AB, + (q31_t)0xF310248A, (q31_t)0x80A7CB49, (q31_t)0xF342279A, + (q31_t)0x80A2C08B, (q31_t)0xF3742CA1, (q31_t)0x809DC970, + (q31_t)0xF3A63398, (q31_t)0x8098E5FB, (q31_t)0xF3D83C76, + (q31_t)0x8094162B, (q31_t)0xF40A4734, (q31_t)0x808F5A02, + (q31_t)0xF43C53CA, (q31_t)0x808AB180, (q31_t)0xF46E6231, + (q31_t)0x80861CA5, (q31_t)0xF4A07260, (q31_t)0x80819B74, + (q31_t)0xF4D28451, (q31_t)0x807D2DEB, (q31_t)0xF50497FA, + (q31_t)0x8078D40D, (q31_t)0xF536AD55, (q31_t)0x80748DD9, + (q31_t)0xF568C45A, (q31_t)0x80705B50, (q31_t)0xF59ADD01, + (q31_t)0x806C3C73, (q31_t)0xF5CCF743, (q31_t)0x80683143, + (q31_t)0xF5FF1317, (q31_t)0x806439C0, (q31_t)0xF6313076, + (q31_t)0x806055EA, (q31_t)0xF6634F58, (q31_t)0x805C85C3, + (q31_t)0xF6956FB6, (q31_t)0x8058C94C, (q31_t)0xF6C79188, + (q31_t)0x80552083, (q31_t)0xF6F9B4C5, (q31_t)0x80518B6B, + (q31_t)0xF72BD967, (q31_t)0x804E0A03, (q31_t)0xF75DFF65, + (q31_t)0x804A9C4D, (q31_t)0xF79026B8, (q31_t)0x80474248, + (q31_t)0xF7C24F58, (q31_t)0x8043FBF6, (q31_t)0xF7F4793E, + (q31_t)0x8040C956, (q31_t)0xF826A461, (q31_t)0x803DAA69, + (q31_t)0xF858D0BA, (q31_t)0x803A9F31, (q31_t)0xF88AFE41, + (q31_t)0x8037A7AC, (q31_t)0xF8BD2CEF, (q31_t)0x8034C3DC, + (q31_t)0xF8EF5CBB, (q31_t)0x8031F3C1, (q31_t)0xF9218D9E, + (q31_t)0x802F375C, (q31_t)0xF953BF90, (q31_t)0x802C8EAD, + (q31_t)0xF985F28A, (q31_t)0x8029F9B4, (q31_t)0xF9B82683, + (q31_t)0x80277872, (q31_t)0xF9EA5B75, (q31_t)0x80250AE7, + (q31_t)0xFA1C9156, (q31_t)0x8022B113, (q31_t)0xFA4EC820, + (q31_t)0x80206AF8, (q31_t)0xFA80FFCB, (q31_t)0x801E3894, + (q31_t)0xFAB3384F, (q31_t)0x801C19E9, (q31_t)0xFAE571A4, + (q31_t)0x801A0EF7, (q31_t)0xFB17ABC2, (q31_t)0x801817BF, + (q31_t)0xFB49E6A2, (q31_t)0x80163440, (q31_t)0xFB7C223C, + (q31_t)0x8014647A, (q31_t)0xFBAE5E89, (q31_t)0x8012A86F, + (q31_t)0xFBE09B80, (q31_t)0x8011001E, (q31_t)0xFC12D919, + (q31_t)0x800F6B88, (q31_t)0xFC45174E, (q31_t)0x800DEAAC, + (q31_t)0xFC775616, (q31_t)0x800C7D8C, (q31_t)0xFCA99569, + (q31_t)0x800B2427, (q31_t)0xFCDBD541, (q31_t)0x8009DE7D, + (q31_t)0xFD0E1594, (q31_t)0x8008AC90, (q31_t)0xFD40565B, + (q31_t)0x80078E5E, (q31_t)0xFD72978F, (q31_t)0x800683E8, + (q31_t)0xFDA4D928, (q31_t)0x80058D2E, (q31_t)0xFDD71B1E, + (q31_t)0x8004AA31, (q31_t)0xFE095D69, (q31_t)0x8003DAF0, + (q31_t)0xFE3BA001, (q31_t)0x80031F6C, (q31_t)0xFE6DE2E0, + (q31_t)0x800277A5, (q31_t)0xFEA025FC, (q31_t)0x8001E39B, + (q31_t)0xFED2694F, (q31_t)0x8001634D, (q31_t)0xFF04ACD0, + (q31_t)0x8000F6BD, (q31_t)0xFF36F078, (q31_t)0x80009DE9, + (q31_t)0xFF69343E, (q31_t)0x800058D3, (q31_t)0xFF9B781D, + (q31_t)0x8000277A, (q31_t)0xFFCDBC0A, (q31_t)0x800009DE +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +/** + @brief q15 Twiddle factors Table +*/ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_16) + +/** + @par + Example code for q15 Twiddle factors Generation:: + @par + 
fori = 0; i< 3N/4; i++)
+  {
+     twiddleCoefq15[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefq15[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 16, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to q15(Fixed point 1.15): + round(twiddleCoefq15(i) * pow(2, 15)) + */ +const q15_t twiddleCoef_16_q15[24] = { + (q15_t)0x7FFF, (q15_t)0x0000, + (q15_t)0x7641, (q15_t)0x30FB, + (q15_t)0x5A82, (q15_t)0x5A82, + (q15_t)0x30FB, (q15_t)0x7641, + (q15_t)0x0000, (q15_t)0x7FFF, + (q15_t)0xCF04, (q15_t)0x7641, + (q15_t)0xA57D, (q15_t)0x5A82, + (q15_t)0x89BE, (q15_t)0x30FB, + (q15_t)0x8000, (q15_t)0x0000, + (q15_t)0x89BE, (q15_t)0xCF04, + (q15_t)0xA57D, (q15_t)0xA57D, + (q15_t)0xCF04, (q15_t)0x89BE +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_32) +/** + @par + Example code for q15 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefq15[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefq15[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 32, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to q15(Fixed point 1.15): + round(twiddleCoefq15(i) * pow(2, 15)) + */ +const q15_t twiddleCoef_32_q15[48] = { + (q15_t)0x7FFF, (q15_t)0x0000, + (q15_t)0x7D8A, (q15_t)0x18F8, + (q15_t)0x7641, (q15_t)0x30FB, + (q15_t)0x6A6D, (q15_t)0x471C, + (q15_t)0x5A82, (q15_t)0x5A82, + (q15_t)0x471C, (q15_t)0x6A6D, + (q15_t)0x30FB, (q15_t)0x7641, + (q15_t)0x18F8, (q15_t)0x7D8A, + (q15_t)0x0000, (q15_t)0x7FFF, + (q15_t)0xE707, (q15_t)0x7D8A, + (q15_t)0xCF04, (q15_t)0x7641, + (q15_t)0xB8E3, (q15_t)0x6A6D, + (q15_t)0xA57D, (q15_t)0x5A82, + (q15_t)0x9592, (q15_t)0x471C, + (q15_t)0x89BE, (q15_t)0x30FB, + (q15_t)0x8275, (q15_t)0x18F8, + (q15_t)0x8000, (q15_t)0x0000, + (q15_t)0x8275, (q15_t)0xE707, + (q15_t)0x89BE, (q15_t)0xCF04, + (q15_t)0x9592, (q15_t)0xB8E3, + (q15_t)0xA57D, (q15_t)0xA57D, + (q15_t)0xB8E3, (q15_t)0x9592, + (q15_t)0xCF04, (q15_t)0x89BE, + (q15_t)0xE707, (q15_t)0x8275 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_64) +/** + @par + Example code for q15 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefq15[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefq15[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 64, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to q15(Fixed point 1.15): + round(twiddleCoefq15(i) * pow(2, 15)) + */ +const q15_t twiddleCoef_64_q15[96] = { + (q15_t)0x7FFF, (q15_t)0x0000, (q15_t)0x7F62, (q15_t)0x0C8B, + (q15_t)0x7D8A, (q15_t)0x18F8, (q15_t)0x7A7D, (q15_t)0x2528, + (q15_t)0x7641, (q15_t)0x30FB, (q15_t)0x70E2, (q15_t)0x3C56, + (q15_t)0x6A6D, (q15_t)0x471C, (q15_t)0x62F2, (q15_t)0x5133, + (q15_t)0x5A82, (q15_t)0x5A82, (q15_t)0x5133, (q15_t)0x62F2, + (q15_t)0x471C, (q15_t)0x6A6D, (q15_t)0x3C56, (q15_t)0x70E2, + (q15_t)0x30FB, (q15_t)0x7641, (q15_t)0x2528, (q15_t)0x7A7D, + (q15_t)0x18F8, (q15_t)0x7D8A, (q15_t)0x0C8B, (q15_t)0x7F62, + (q15_t)0x0000, (q15_t)0x7FFF, (q15_t)0xF374, (q15_t)0x7F62, + (q15_t)0xE707, (q15_t)0x7D8A, (q15_t)0xDAD7, (q15_t)0x7A7D, + (q15_t)0xCF04, (q15_t)0x7641, (q15_t)0xC3A9, (q15_t)0x70E2, + (q15_t)0xB8E3, (q15_t)0x6A6D, (q15_t)0xAECC, (q15_t)0x62F2, + (q15_t)0xA57D, (q15_t)0x5A82, (q15_t)0x9D0D, (q15_t)0x5133, + (q15_t)0x9592, (q15_t)0x471C, (q15_t)0x8F1D, (q15_t)0x3C56, + (q15_t)0x89BE, (q15_t)0x30FB, (q15_t)0x8582, (q15_t)0x2528, + (q15_t)0x8275, (q15_t)0x18F8, (q15_t)0x809D, (q15_t)0x0C8B, + (q15_t)0x8000, (q15_t)0x0000, (q15_t)0x809D, (q15_t)0xF374, + (q15_t)0x8275, (q15_t)0xE707, (q15_t)0x8582, (q15_t)0xDAD7, + (q15_t)0x89BE, (q15_t)0xCF04, (q15_t)0x8F1D, (q15_t)0xC3A9, + (q15_t)0x9592, (q15_t)0xB8E3, (q15_t)0x9D0D, (q15_t)0xAECC, + (q15_t)0xA57D, (q15_t)0xA57D, (q15_t)0xAECC, (q15_t)0x9D0D, + (q15_t)0xB8E3, (q15_t)0x9592, (q15_t)0xC3A9, (q15_t)0x8F1D, + (q15_t)0xCF04, (q15_t)0x89BE, (q15_t)0xDAD7, (q15_t)0x8582, + (q15_t)0xE707, (q15_t)0x8275, (q15_t)0xF374, (q15_t)0x809D +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_128) +/** + @par + Example code for q15 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefq15[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefq15[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 128, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to q15(Fixed point 1.15): + round(twiddleCoefq15(i) * pow(2, 15)) + */ +const q15_t twiddleCoef_128_q15[192] = { + (q15_t)0x7FFF, (q15_t)0x0000, (q15_t)0x7FD8, (q15_t)0x0647, + (q15_t)0x7F62, (q15_t)0x0C8B, (q15_t)0x7E9D, (q15_t)0x12C8, + (q15_t)0x7D8A, (q15_t)0x18F8, (q15_t)0x7C29, (q15_t)0x1F19, + (q15_t)0x7A7D, (q15_t)0x2528, (q15_t)0x7884, (q15_t)0x2B1F, + (q15_t)0x7641, (q15_t)0x30FB, (q15_t)0x73B5, (q15_t)0x36BA, + (q15_t)0x70E2, (q15_t)0x3C56, (q15_t)0x6DCA, (q15_t)0x41CE, + (q15_t)0x6A6D, (q15_t)0x471C, (q15_t)0x66CF, (q15_t)0x4C3F, + (q15_t)0x62F2, (q15_t)0x5133, (q15_t)0x5ED7, (q15_t)0x55F5, + (q15_t)0x5A82, (q15_t)0x5A82, (q15_t)0x55F5, (q15_t)0x5ED7, + (q15_t)0x5133, (q15_t)0x62F2, (q15_t)0x4C3F, (q15_t)0x66CF, + (q15_t)0x471C, (q15_t)0x6A6D, (q15_t)0x41CE, (q15_t)0x6DCA, + (q15_t)0x3C56, (q15_t)0x70E2, (q15_t)0x36BA, (q15_t)0x73B5, + (q15_t)0x30FB, (q15_t)0x7641, (q15_t)0x2B1F, (q15_t)0x7884, + (q15_t)0x2528, (q15_t)0x7A7D, (q15_t)0x1F19, (q15_t)0x7C29, + (q15_t)0x18F8, (q15_t)0x7D8A, (q15_t)0x12C8, (q15_t)0x7E9D, + (q15_t)0x0C8B, (q15_t)0x7F62, (q15_t)0x0647, (q15_t)0x7FD8, + (q15_t)0x0000, (q15_t)0x7FFF, (q15_t)0xF9B8, (q15_t)0x7FD8, + (q15_t)0xF374, (q15_t)0x7F62, (q15_t)0xED37, (q15_t)0x7E9D, + (q15_t)0xE707, (q15_t)0x7D8A, (q15_t)0xE0E6, (q15_t)0x7C29, + (q15_t)0xDAD7, (q15_t)0x7A7D, (q15_t)0xD4E0, (q15_t)0x7884, + (q15_t)0xCF04, (q15_t)0x7641, (q15_t)0xC945, (q15_t)0x73B5, + (q15_t)0xC3A9, (q15_t)0x70E2, (q15_t)0xBE31, (q15_t)0x6DCA, + (q15_t)0xB8E3, (q15_t)0x6A6D, (q15_t)0xB3C0, (q15_t)0x66CF, + (q15_t)0xAECC, (q15_t)0x62F2, (q15_t)0xAA0A, (q15_t)0x5ED7, + (q15_t)0xA57D, (q15_t)0x5A82, (q15_t)0xA128, (q15_t)0x55F5, + (q15_t)0x9D0D, (q15_t)0x5133, (q15_t)0x9930, (q15_t)0x4C3F, + (q15_t)0x9592, (q15_t)0x471C, (q15_t)0x9235, (q15_t)0x41CE, + (q15_t)0x8F1D, (q15_t)0x3C56, (q15_t)0x8C4A, (q15_t)0x36BA, + (q15_t)0x89BE, (q15_t)0x30FB, (q15_t)0x877B, (q15_t)0x2B1F, + (q15_t)0x8582, (q15_t)0x2528, (q15_t)0x83D6, (q15_t)0x1F19, + (q15_t)0x8275, (q15_t)0x18F8, (q15_t)0x8162, (q15_t)0x12C8, + (q15_t)0x809D, (q15_t)0x0C8B, (q15_t)0x8027, (q15_t)0x0647, + (q15_t)0x8000, (q15_t)0x0000, (q15_t)0x8027, (q15_t)0xF9B8, + (q15_t)0x809D, (q15_t)0xF374, (q15_t)0x8162, (q15_t)0xED37, + (q15_t)0x8275, (q15_t)0xE707, (q15_t)0x83D6, (q15_t)0xE0E6, + (q15_t)0x8582, (q15_t)0xDAD7, (q15_t)0x877B, (q15_t)0xD4E0, + (q15_t)0x89BE, (q15_t)0xCF04, (q15_t)0x8C4A, (q15_t)0xC945, + (q15_t)0x8F1D, (q15_t)0xC3A9, (q15_t)0x9235, (q15_t)0xBE31, + (q15_t)0x9592, (q15_t)0xB8E3, (q15_t)0x9930, (q15_t)0xB3C0, + (q15_t)0x9D0D, (q15_t)0xAECC, (q15_t)0xA128, (q15_t)0xAA0A, + (q15_t)0xA57D, (q15_t)0xA57D, (q15_t)0xAA0A, (q15_t)0xA128, + (q15_t)0xAECC, (q15_t)0x9D0D, (q15_t)0xB3C0, (q15_t)0x9930, + (q15_t)0xB8E3, (q15_t)0x9592, (q15_t)0xBE31, (q15_t)0x9235, + (q15_t)0xC3A9, (q15_t)0x8F1D, (q15_t)0xC945, (q15_t)0x8C4A, + (q15_t)0xCF04, (q15_t)0x89BE, (q15_t)0xD4E0, (q15_t)0x877B, + (q15_t)0xDAD7, (q15_t)0x8582, (q15_t)0xE0E6, (q15_t)0x83D6, + (q15_t)0xE707, (q15_t)0x8275, (q15_t)0xED37, (q15_t)0x8162, + (q15_t)0xF374, (q15_t)0x809D, (q15_t)0xF9B8, (q15_t)0x8027 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_256) +/** + @par + Example code for q15 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefq15[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefq15[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 256, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to q15(Fixed point 1.15): + round(twiddleCoefq15(i) * pow(2, 15)) + */ +const q15_t twiddleCoef_256_q15[384] = { + (q15_t)0x7FFF, (q15_t)0x0000, (q15_t)0x7FF6, (q15_t)0x0324, + (q15_t)0x7FD8, (q15_t)0x0647, (q15_t)0x7FA7, (q15_t)0x096A, + (q15_t)0x7F62, (q15_t)0x0C8B, (q15_t)0x7F09, (q15_t)0x0FAB, + (q15_t)0x7E9D, (q15_t)0x12C8, (q15_t)0x7E1D, (q15_t)0x15E2, + (q15_t)0x7D8A, (q15_t)0x18F8, (q15_t)0x7CE3, (q15_t)0x1C0B, + (q15_t)0x7C29, (q15_t)0x1F19, (q15_t)0x7B5D, (q15_t)0x2223, + (q15_t)0x7A7D, (q15_t)0x2528, (q15_t)0x798A, (q15_t)0x2826, + (q15_t)0x7884, (q15_t)0x2B1F, (q15_t)0x776C, (q15_t)0x2E11, + (q15_t)0x7641, (q15_t)0x30FB, (q15_t)0x7504, (q15_t)0x33DE, + (q15_t)0x73B5, (q15_t)0x36BA, (q15_t)0x7255, (q15_t)0x398C, + (q15_t)0x70E2, (q15_t)0x3C56, (q15_t)0x6F5F, (q15_t)0x3F17, + (q15_t)0x6DCA, (q15_t)0x41CE, (q15_t)0x6C24, (q15_t)0x447A, + (q15_t)0x6A6D, (q15_t)0x471C, (q15_t)0x68A6, (q15_t)0x49B4, + (q15_t)0x66CF, (q15_t)0x4C3F, (q15_t)0x64E8, (q15_t)0x4EBF, + (q15_t)0x62F2, (q15_t)0x5133, (q15_t)0x60EC, (q15_t)0x539B, + (q15_t)0x5ED7, (q15_t)0x55F5, (q15_t)0x5CB4, (q15_t)0x5842, + (q15_t)0x5A82, (q15_t)0x5A82, (q15_t)0x5842, (q15_t)0x5CB4, + (q15_t)0x55F5, (q15_t)0x5ED7, (q15_t)0x539B, (q15_t)0x60EC, + (q15_t)0x5133, (q15_t)0x62F2, (q15_t)0x4EBF, (q15_t)0x64E8, + (q15_t)0x4C3F, (q15_t)0x66CF, (q15_t)0x49B4, (q15_t)0x68A6, + (q15_t)0x471C, (q15_t)0x6A6D, (q15_t)0x447A, (q15_t)0x6C24, + (q15_t)0x41CE, (q15_t)0x6DCA, (q15_t)0x3F17, (q15_t)0x6F5F, + (q15_t)0x3C56, (q15_t)0x70E2, (q15_t)0x398C, (q15_t)0x7255, + (q15_t)0x36BA, (q15_t)0x73B5, (q15_t)0x33DE, (q15_t)0x7504, + (q15_t)0x30FB, (q15_t)0x7641, (q15_t)0x2E11, (q15_t)0x776C, + (q15_t)0x2B1F, (q15_t)0x7884, (q15_t)0x2826, (q15_t)0x798A, + (q15_t)0x2528, (q15_t)0x7A7D, (q15_t)0x2223, (q15_t)0x7B5D, + (q15_t)0x1F19, (q15_t)0x7C29, (q15_t)0x1C0B, (q15_t)0x7CE3, + (q15_t)0x18F8, (q15_t)0x7D8A, (q15_t)0x15E2, (q15_t)0x7E1D, + (q15_t)0x12C8, (q15_t)0x7E9D, (q15_t)0x0FAB, (q15_t)0x7F09, + (q15_t)0x0C8B, (q15_t)0x7F62, (q15_t)0x096A, (q15_t)0x7FA7, + (q15_t)0x0647, (q15_t)0x7FD8, (q15_t)0x0324, (q15_t)0x7FF6, + (q15_t)0x0000, (q15_t)0x7FFF, (q15_t)0xFCDB, (q15_t)0x7FF6, + (q15_t)0xF9B8, (q15_t)0x7FD8, (q15_t)0xF695, (q15_t)0x7FA7, + (q15_t)0xF374, (q15_t)0x7F62, (q15_t)0xF054, (q15_t)0x7F09, + (q15_t)0xED37, (q15_t)0x7E9D, (q15_t)0xEA1D, (q15_t)0x7E1D, + (q15_t)0xE707, (q15_t)0x7D8A, (q15_t)0xE3F4, (q15_t)0x7CE3, + (q15_t)0xE0E6, (q15_t)0x7C29, (q15_t)0xDDDC, (q15_t)0x7B5D, + (q15_t)0xDAD7, (q15_t)0x7A7D, (q15_t)0xD7D9, (q15_t)0x798A, + (q15_t)0xD4E0, (q15_t)0x7884, (q15_t)0xD1EE, (q15_t)0x776C, + (q15_t)0xCF04, (q15_t)0x7641, (q15_t)0xCC21, (q15_t)0x7504, + (q15_t)0xC945, (q15_t)0x73B5, (q15_t)0xC673, (q15_t)0x7255, + (q15_t)0xC3A9, (q15_t)0x70E2, (q15_t)0xC0E8, (q15_t)0x6F5F, + (q15_t)0xBE31, (q15_t)0x6DCA, (q15_t)0xBB85, (q15_t)0x6C24, + (q15_t)0xB8E3, (q15_t)0x6A6D, (q15_t)0xB64B, (q15_t)0x68A6, + (q15_t)0xB3C0, (q15_t)0x66CF, (q15_t)0xB140, (q15_t)0x64E8, + (q15_t)0xAECC, (q15_t)0x62F2, (q15_t)0xAC64, (q15_t)0x60EC, + (q15_t)0xAA0A, (q15_t)0x5ED7, (q15_t)0xA7BD, (q15_t)0x5CB4, + (q15_t)0xA57D, (q15_t)0x5A82, (q15_t)0xA34B, (q15_t)0x5842, + (q15_t)0xA128, (q15_t)0x55F5, (q15_t)0x9F13, (q15_t)0x539B, + (q15_t)0x9D0D, (q15_t)0x5133, (q15_t)0x9B17, (q15_t)0x4EBF, + (q15_t)0x9930, (q15_t)0x4C3F, (q15_t)0x9759, (q15_t)0x49B4, + (q15_t)0x9592, (q15_t)0x471C, (q15_t)0x93DB, (q15_t)0x447A, + (q15_t)0x9235, (q15_t)0x41CE, (q15_t)0x90A0, (q15_t)0x3F17, + (q15_t)0x8F1D, (q15_t)0x3C56, (q15_t)0x8DAA, (q15_t)0x398C, + (q15_t)0x8C4A, (q15_t)0x36BA, (q15_t)0x8AFB, (q15_t)0x33DE, + (q15_t)0x89BE, (q15_t)0x30FB, (q15_t)0x8893, (q15_t)0x2E11, + (q15_t)0x877B, (q15_t)0x2B1F, (q15_t)0x8675, (q15_t)0x2826, + (q15_t)0x8582, (q15_t)0x2528, (q15_t)0x84A2, (q15_t)0x2223, + (q15_t)0x83D6, (q15_t)0x1F19, (q15_t)0x831C, (q15_t)0x1C0B, + (q15_t)0x8275, (q15_t)0x18F8, (q15_t)0x81E2, (q15_t)0x15E2, + (q15_t)0x8162, (q15_t)0x12C8, (q15_t)0x80F6, (q15_t)0x0FAB, + (q15_t)0x809D, (q15_t)0x0C8B, (q15_t)0x8058, (q15_t)0x096A, + (q15_t)0x8027, (q15_t)0x0647, (q15_t)0x8009, (q15_t)0x0324, + (q15_t)0x8000, (q15_t)0x0000, (q15_t)0x8009, (q15_t)0xFCDB, + (q15_t)0x8027, (q15_t)0xF9B8, (q15_t)0x8058, (q15_t)0xF695, + (q15_t)0x809D, (q15_t)0xF374, (q15_t)0x80F6, (q15_t)0xF054, + (q15_t)0x8162, (q15_t)0xED37, (q15_t)0x81E2, (q15_t)0xEA1D, + (q15_t)0x8275, (q15_t)0xE707, (q15_t)0x831C, (q15_t)0xE3F4, + (q15_t)0x83D6, (q15_t)0xE0E6, (q15_t)0x84A2, (q15_t)0xDDDC, + (q15_t)0x8582, (q15_t)0xDAD7, (q15_t)0x8675, (q15_t)0xD7D9, + (q15_t)0x877B, (q15_t)0xD4E0, (q15_t)0x8893, (q15_t)0xD1EE, + (q15_t)0x89BE, (q15_t)0xCF04, (q15_t)0x8AFB, (q15_t)0xCC21, + (q15_t)0x8C4A, (q15_t)0xC945, (q15_t)0x8DAA, (q15_t)0xC673, + (q15_t)0x8F1D, (q15_t)0xC3A9, (q15_t)0x90A0, (q15_t)0xC0E8, + (q15_t)0x9235, (q15_t)0xBE31, (q15_t)0x93DB, (q15_t)0xBB85, + (q15_t)0x9592, (q15_t)0xB8E3, (q15_t)0x9759, (q15_t)0xB64B, + (q15_t)0x9930, (q15_t)0xB3C0, (q15_t)0x9B17, (q15_t)0xB140, + (q15_t)0x9D0D, (q15_t)0xAECC, (q15_t)0x9F13, (q15_t)0xAC64, + (q15_t)0xA128, (q15_t)0xAA0A, (q15_t)0xA34B, (q15_t)0xA7BD, + (q15_t)0xA57D, (q15_t)0xA57D, (q15_t)0xA7BD, (q15_t)0xA34B, + (q15_t)0xAA0A, (q15_t)0xA128, (q15_t)0xAC64, (q15_t)0x9F13, + (q15_t)0xAECC, (q15_t)0x9D0D, (q15_t)0xB140, (q15_t)0x9B17, + (q15_t)0xB3C0, (q15_t)0x9930, (q15_t)0xB64B, (q15_t)0x9759, + (q15_t)0xB8E3, (q15_t)0x9592, (q15_t)0xBB85, (q15_t)0x93DB, + (q15_t)0xBE31, (q15_t)0x9235, (q15_t)0xC0E8, (q15_t)0x90A0, + (q15_t)0xC3A9, (q15_t)0x8F1D, (q15_t)0xC673, (q15_t)0x8DAA, + (q15_t)0xC945, (q15_t)0x8C4A, (q15_t)0xCC21, (q15_t)0x8AFB, + (q15_t)0xCF04, (q15_t)0x89BE, (q15_t)0xD1EE, (q15_t)0x8893, + (q15_t)0xD4E0, (q15_t)0x877B, (q15_t)0xD7D9, (q15_t)0x8675, + (q15_t)0xDAD7, (q15_t)0x8582, (q15_t)0xDDDC, (q15_t)0x84A2, + (q15_t)0xE0E6, (q15_t)0x83D6, (q15_t)0xE3F4, (q15_t)0x831C, + (q15_t)0xE707, (q15_t)0x8275, (q15_t)0xEA1D, (q15_t)0x81E2, + (q15_t)0xED37, (q15_t)0x8162, (q15_t)0xF054, (q15_t)0x80F6, + (q15_t)0xF374, (q15_t)0x809D, (q15_t)0xF695, (q15_t)0x8058, + (q15_t)0xF9B8, (q15_t)0x8027, (q15_t)0xFCDB, (q15_t)0x8009 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_512) +/** + @par + Example code for q15 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefq15[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefq15[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 512, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to q15(Fixed point 1.15): + round(twiddleCoefq15(i) * pow(2, 15)) + */ +const q15_t twiddleCoef_512_q15[768] = { + (q15_t)0x7FFF, (q15_t)0x0000, (q15_t)0x7FFD, (q15_t)0x0192, + (q15_t)0x7FF6, (q15_t)0x0324, (q15_t)0x7FE9, (q15_t)0x04B6, + (q15_t)0x7FD8, (q15_t)0x0647, (q15_t)0x7FC2, (q15_t)0x07D9, + (q15_t)0x7FA7, (q15_t)0x096A, (q15_t)0x7F87, (q15_t)0x0AFB, + (q15_t)0x7F62, (q15_t)0x0C8B, (q15_t)0x7F38, (q15_t)0x0E1B, + (q15_t)0x7F09, (q15_t)0x0FAB, (q15_t)0x7ED5, (q15_t)0x1139, + (q15_t)0x7E9D, (q15_t)0x12C8, (q15_t)0x7E5F, (q15_t)0x1455, + (q15_t)0x7E1D, (q15_t)0x15E2, (q15_t)0x7DD6, (q15_t)0x176D, + (q15_t)0x7D8A, (q15_t)0x18F8, (q15_t)0x7D39, (q15_t)0x1A82, + (q15_t)0x7CE3, (q15_t)0x1C0B, (q15_t)0x7C89, (q15_t)0x1D93, + (q15_t)0x7C29, (q15_t)0x1F19, (q15_t)0x7BC5, (q15_t)0x209F, + (q15_t)0x7B5D, (q15_t)0x2223, (q15_t)0x7AEF, (q15_t)0x23A6, + (q15_t)0x7A7D, (q15_t)0x2528, (q15_t)0x7A05, (q15_t)0x26A8, + (q15_t)0x798A, (q15_t)0x2826, (q15_t)0x7909, (q15_t)0x29A3, + (q15_t)0x7884, (q15_t)0x2B1F, (q15_t)0x77FA, (q15_t)0x2C98, + (q15_t)0x776C, (q15_t)0x2E11, (q15_t)0x76D9, (q15_t)0x2F87, + (q15_t)0x7641, (q15_t)0x30FB, (q15_t)0x75A5, (q15_t)0x326E, + (q15_t)0x7504, (q15_t)0x33DE, (q15_t)0x745F, (q15_t)0x354D, + (q15_t)0x73B5, (q15_t)0x36BA, (q15_t)0x7307, (q15_t)0x3824, + (q15_t)0x7255, (q15_t)0x398C, (q15_t)0x719E, (q15_t)0x3AF2, + (q15_t)0x70E2, (q15_t)0x3C56, (q15_t)0x7023, (q15_t)0x3DB8, + (q15_t)0x6F5F, (q15_t)0x3F17, (q15_t)0x6E96, (q15_t)0x4073, + (q15_t)0x6DCA, (q15_t)0x41CE, (q15_t)0x6CF9, (q15_t)0x4325, + (q15_t)0x6C24, (q15_t)0x447A, (q15_t)0x6B4A, (q15_t)0x45CD, + (q15_t)0x6A6D, (q15_t)0x471C, (q15_t)0x698C, (q15_t)0x4869, + (q15_t)0x68A6, (q15_t)0x49B4, (q15_t)0x67BD, (q15_t)0x4AFB, + (q15_t)0x66CF, (q15_t)0x4C3F, (q15_t)0x65DD, (q15_t)0x4D81, + (q15_t)0x64E8, (q15_t)0x4EBF, (q15_t)0x63EF, (q15_t)0x4FFB, + (q15_t)0x62F2, (q15_t)0x5133, (q15_t)0x61F1, (q15_t)0x5269, + (q15_t)0x60EC, (q15_t)0x539B, (q15_t)0x5FE3, (q15_t)0x54CA, + (q15_t)0x5ED7, (q15_t)0x55F5, (q15_t)0x5DC7, (q15_t)0x571D, + (q15_t)0x5CB4, (q15_t)0x5842, (q15_t)0x5B9D, (q15_t)0x5964, + (q15_t)0x5A82, (q15_t)0x5A82, (q15_t)0x5964, (q15_t)0x5B9D, + (q15_t)0x5842, (q15_t)0x5CB4, (q15_t)0x571D, (q15_t)0x5DC7, + (q15_t)0x55F5, (q15_t)0x5ED7, (q15_t)0x54CA, (q15_t)0x5FE3, + (q15_t)0x539B, (q15_t)0x60EC, (q15_t)0x5269, (q15_t)0x61F1, + (q15_t)0x5133, (q15_t)0x62F2, (q15_t)0x4FFB, (q15_t)0x63EF, + (q15_t)0x4EBF, (q15_t)0x64E8, (q15_t)0x4D81, (q15_t)0x65DD, + (q15_t)0x4C3F, (q15_t)0x66CF, (q15_t)0x4AFB, (q15_t)0x67BD, + (q15_t)0x49B4, (q15_t)0x68A6, (q15_t)0x4869, (q15_t)0x698C, + (q15_t)0x471C, (q15_t)0x6A6D, (q15_t)0x45CD, (q15_t)0x6B4A, + (q15_t)0x447A, (q15_t)0x6C24, (q15_t)0x4325, (q15_t)0x6CF9, + (q15_t)0x41CE, (q15_t)0x6DCA, (q15_t)0x4073, (q15_t)0x6E96, + (q15_t)0x3F17, (q15_t)0x6F5F, (q15_t)0x3DB8, (q15_t)0x7023, + (q15_t)0x3C56, (q15_t)0x70E2, (q15_t)0x3AF2, (q15_t)0x719E, + (q15_t)0x398C, (q15_t)0x7255, (q15_t)0x3824, (q15_t)0x7307, + (q15_t)0x36BA, (q15_t)0x73B5, (q15_t)0x354D, (q15_t)0x745F, + (q15_t)0x33DE, (q15_t)0x7504, (q15_t)0x326E, (q15_t)0x75A5, + (q15_t)0x30FB, (q15_t)0x7641, (q15_t)0x2F87, (q15_t)0x76D9, + (q15_t)0x2E11, (q15_t)0x776C, (q15_t)0x2C98, (q15_t)0x77FA, + (q15_t)0x2B1F, (q15_t)0x7884, (q15_t)0x29A3, (q15_t)0x7909, + (q15_t)0x2826, (q15_t)0x798A, (q15_t)0x26A8, (q15_t)0x7A05, + (q15_t)0x2528, (q15_t)0x7A7D, (q15_t)0x23A6, (q15_t)0x7AEF, + (q15_t)0x2223, (q15_t)0x7B5D, (q15_t)0x209F, (q15_t)0x7BC5, + (q15_t)0x1F19, (q15_t)0x7C29, (q15_t)0x1D93, (q15_t)0x7C89, + (q15_t)0x1C0B, (q15_t)0x7CE3, (q15_t)0x1A82, (q15_t)0x7D39, + (q15_t)0x18F8, (q15_t)0x7D8A, (q15_t)0x176D, (q15_t)0x7DD6, + (q15_t)0x15E2, (q15_t)0x7E1D, (q15_t)0x1455, (q15_t)0x7E5F, + (q15_t)0x12C8, (q15_t)0x7E9D, (q15_t)0x1139, (q15_t)0x7ED5, + (q15_t)0x0FAB, (q15_t)0x7F09, (q15_t)0x0E1B, (q15_t)0x7F38, + (q15_t)0x0C8B, (q15_t)0x7F62, (q15_t)0x0AFB, (q15_t)0x7F87, + (q15_t)0x096A, (q15_t)0x7FA7, (q15_t)0x07D9, (q15_t)0x7FC2, + (q15_t)0x0647, (q15_t)0x7FD8, (q15_t)0x04B6, (q15_t)0x7FE9, + (q15_t)0x0324, (q15_t)0x7FF6, (q15_t)0x0192, (q15_t)0x7FFD, + (q15_t)0x0000, (q15_t)0x7FFF, (q15_t)0xFE6D, (q15_t)0x7FFD, + (q15_t)0xFCDB, (q15_t)0x7FF6, (q15_t)0xFB49, (q15_t)0x7FE9, + (q15_t)0xF9B8, (q15_t)0x7FD8, (q15_t)0xF826, (q15_t)0x7FC2, + (q15_t)0xF695, (q15_t)0x7FA7, (q15_t)0xF504, (q15_t)0x7F87, + (q15_t)0xF374, (q15_t)0x7F62, (q15_t)0xF1E4, (q15_t)0x7F38, + (q15_t)0xF054, (q15_t)0x7F09, (q15_t)0xEEC6, (q15_t)0x7ED5, + (q15_t)0xED37, (q15_t)0x7E9D, (q15_t)0xEBAA, (q15_t)0x7E5F, + (q15_t)0xEA1D, (q15_t)0x7E1D, (q15_t)0xE892, (q15_t)0x7DD6, + (q15_t)0xE707, (q15_t)0x7D8A, (q15_t)0xE57D, (q15_t)0x7D39, + (q15_t)0xE3F4, (q15_t)0x7CE3, (q15_t)0xE26C, (q15_t)0x7C89, + (q15_t)0xE0E6, (q15_t)0x7C29, (q15_t)0xDF60, (q15_t)0x7BC5, + (q15_t)0xDDDC, (q15_t)0x7B5D, (q15_t)0xDC59, (q15_t)0x7AEF, + (q15_t)0xDAD7, (q15_t)0x7A7D, (q15_t)0xD957, (q15_t)0x7A05, + (q15_t)0xD7D9, (q15_t)0x798A, (q15_t)0xD65C, (q15_t)0x7909, + (q15_t)0xD4E0, (q15_t)0x7884, (q15_t)0xD367, (q15_t)0x77FA, + (q15_t)0xD1EE, (q15_t)0x776C, (q15_t)0xD078, (q15_t)0x76D9, + (q15_t)0xCF04, (q15_t)0x7641, (q15_t)0xCD91, (q15_t)0x75A5, + (q15_t)0xCC21, (q15_t)0x7504, (q15_t)0xCAB2, (q15_t)0x745F, + (q15_t)0xC945, (q15_t)0x73B5, (q15_t)0xC7DB, (q15_t)0x7307, + (q15_t)0xC673, (q15_t)0x7255, (q15_t)0xC50D, (q15_t)0x719E, + (q15_t)0xC3A9, (q15_t)0x70E2, (q15_t)0xC247, (q15_t)0x7023, + (q15_t)0xC0E8, (q15_t)0x6F5F, (q15_t)0xBF8C, (q15_t)0x6E96, + (q15_t)0xBE31, (q15_t)0x6DCA, (q15_t)0xBCDA, (q15_t)0x6CF9, + (q15_t)0xBB85, (q15_t)0x6C24, (q15_t)0xBA32, (q15_t)0x6B4A, + (q15_t)0xB8E3, (q15_t)0x6A6D, (q15_t)0xB796, (q15_t)0x698C, + (q15_t)0xB64B, (q15_t)0x68A6, (q15_t)0xB504, (q15_t)0x67BD, + (q15_t)0xB3C0, (q15_t)0x66CF, (q15_t)0xB27E, (q15_t)0x65DD, + (q15_t)0xB140, (q15_t)0x64E8, (q15_t)0xB004, (q15_t)0x63EF, + (q15_t)0xAECC, (q15_t)0x62F2, (q15_t)0xAD96, (q15_t)0x61F1, + (q15_t)0xAC64, (q15_t)0x60EC, (q15_t)0xAB35, (q15_t)0x5FE3, + (q15_t)0xAA0A, (q15_t)0x5ED7, (q15_t)0xA8E2, (q15_t)0x5DC7, + (q15_t)0xA7BD, (q15_t)0x5CB4, (q15_t)0xA69B, (q15_t)0x5B9D, + (q15_t)0xA57D, (q15_t)0x5A82, (q15_t)0xA462, (q15_t)0x5964, + (q15_t)0xA34B, (q15_t)0x5842, (q15_t)0xA238, (q15_t)0x571D, + (q15_t)0xA128, (q15_t)0x55F5, (q15_t)0xA01C, (q15_t)0x54CA, + (q15_t)0x9F13, (q15_t)0x539B, (q15_t)0x9E0E, (q15_t)0x5269, + (q15_t)0x9D0D, (q15_t)0x5133, (q15_t)0x9C10, (q15_t)0x4FFB, + (q15_t)0x9B17, (q15_t)0x4EBF, (q15_t)0x9A22, (q15_t)0x4D81, + (q15_t)0x9930, (q15_t)0x4C3F, (q15_t)0x9842, (q15_t)0x4AFB, + (q15_t)0x9759, (q15_t)0x49B4, (q15_t)0x9673, (q15_t)0x4869, + (q15_t)0x9592, (q15_t)0x471C, (q15_t)0x94B5, (q15_t)0x45CD, + (q15_t)0x93DB, (q15_t)0x447A, (q15_t)0x9306, (q15_t)0x4325, + (q15_t)0x9235, (q15_t)0x41CE, (q15_t)0x9169, (q15_t)0x4073, + (q15_t)0x90A0, (q15_t)0x3F17, (q15_t)0x8FDC, (q15_t)0x3DB8, + (q15_t)0x8F1D, (q15_t)0x3C56, (q15_t)0x8E61, (q15_t)0x3AF2, + (q15_t)0x8DAA, (q15_t)0x398C, (q15_t)0x8CF8, (q15_t)0x3824, + (q15_t)0x8C4A, (q15_t)0x36BA, (q15_t)0x8BA0, (q15_t)0x354D, + (q15_t)0x8AFB, (q15_t)0x33DE, (q15_t)0x8A5A, (q15_t)0x326E, + (q15_t)0x89BE, (q15_t)0x30FB, (q15_t)0x8926, (q15_t)0x2F87, + (q15_t)0x8893, (q15_t)0x2E11, (q15_t)0x8805, (q15_t)0x2C98, + (q15_t)0x877B, (q15_t)0x2B1F, (q15_t)0x86F6, (q15_t)0x29A3, + (q15_t)0x8675, (q15_t)0x2826, (q15_t)0x85FA, (q15_t)0x26A8, + (q15_t)0x8582, (q15_t)0x2528, (q15_t)0x8510, (q15_t)0x23A6, + (q15_t)0x84A2, (q15_t)0x2223, (q15_t)0x843A, (q15_t)0x209F, + (q15_t)0x83D6, (q15_t)0x1F19, (q15_t)0x8376, (q15_t)0x1D93, + (q15_t)0x831C, (q15_t)0x1C0B, (q15_t)0x82C6, (q15_t)0x1A82, + (q15_t)0x8275, (q15_t)0x18F8, (q15_t)0x8229, (q15_t)0x176D, + (q15_t)0x81E2, (q15_t)0x15E2, (q15_t)0x81A0, (q15_t)0x1455, + (q15_t)0x8162, (q15_t)0x12C8, (q15_t)0x812A, (q15_t)0x1139, + (q15_t)0x80F6, (q15_t)0x0FAB, (q15_t)0x80C7, (q15_t)0x0E1B, + (q15_t)0x809D, (q15_t)0x0C8B, (q15_t)0x8078, (q15_t)0x0AFB, + (q15_t)0x8058, (q15_t)0x096A, (q15_t)0x803D, (q15_t)0x07D9, + (q15_t)0x8027, (q15_t)0x0647, (q15_t)0x8016, (q15_t)0x04B6, + (q15_t)0x8009, (q15_t)0x0324, (q15_t)0x8002, (q15_t)0x0192, + (q15_t)0x8000, (q15_t)0x0000, (q15_t)0x8002, (q15_t)0xFE6D, + (q15_t)0x8009, (q15_t)0xFCDB, (q15_t)0x8016, (q15_t)0xFB49, + (q15_t)0x8027, (q15_t)0xF9B8, (q15_t)0x803D, (q15_t)0xF826, + (q15_t)0x8058, (q15_t)0xF695, (q15_t)0x8078, (q15_t)0xF504, + (q15_t)0x809D, (q15_t)0xF374, (q15_t)0x80C7, (q15_t)0xF1E4, + (q15_t)0x80F6, (q15_t)0xF054, (q15_t)0x812A, (q15_t)0xEEC6, + (q15_t)0x8162, (q15_t)0xED37, (q15_t)0x81A0, (q15_t)0xEBAA, + (q15_t)0x81E2, (q15_t)0xEA1D, (q15_t)0x8229, (q15_t)0xE892, + (q15_t)0x8275, (q15_t)0xE707, (q15_t)0x82C6, (q15_t)0xE57D, + (q15_t)0x831C, (q15_t)0xE3F4, (q15_t)0x8376, (q15_t)0xE26C, + (q15_t)0x83D6, (q15_t)0xE0E6, (q15_t)0x843A, (q15_t)0xDF60, + (q15_t)0x84A2, (q15_t)0xDDDC, (q15_t)0x8510, (q15_t)0xDC59, + (q15_t)0x8582, (q15_t)0xDAD7, (q15_t)0x85FA, (q15_t)0xD957, + (q15_t)0x8675, (q15_t)0xD7D9, (q15_t)0x86F6, (q15_t)0xD65C, + (q15_t)0x877B, (q15_t)0xD4E0, (q15_t)0x8805, (q15_t)0xD367, + (q15_t)0x8893, (q15_t)0xD1EE, (q15_t)0x8926, (q15_t)0xD078, + (q15_t)0x89BE, (q15_t)0xCF04, (q15_t)0x8A5A, (q15_t)0xCD91, + (q15_t)0x8AFB, (q15_t)0xCC21, (q15_t)0x8BA0, (q15_t)0xCAB2, + (q15_t)0x8C4A, (q15_t)0xC945, (q15_t)0x8CF8, (q15_t)0xC7DB, + (q15_t)0x8DAA, (q15_t)0xC673, (q15_t)0x8E61, (q15_t)0xC50D, + (q15_t)0x8F1D, (q15_t)0xC3A9, (q15_t)0x8FDC, (q15_t)0xC247, + (q15_t)0x90A0, (q15_t)0xC0E8, (q15_t)0x9169, (q15_t)0xBF8C, + (q15_t)0x9235, (q15_t)0xBE31, (q15_t)0x9306, (q15_t)0xBCDA, + (q15_t)0x93DB, (q15_t)0xBB85, (q15_t)0x94B5, (q15_t)0xBA32, + (q15_t)0x9592, (q15_t)0xB8E3, (q15_t)0x9673, (q15_t)0xB796, + (q15_t)0x9759, (q15_t)0xB64B, (q15_t)0x9842, (q15_t)0xB504, + (q15_t)0x9930, (q15_t)0xB3C0, (q15_t)0x9A22, (q15_t)0xB27E, + (q15_t)0x9B17, (q15_t)0xB140, (q15_t)0x9C10, (q15_t)0xB004, + (q15_t)0x9D0D, (q15_t)0xAECC, (q15_t)0x9E0E, (q15_t)0xAD96, + (q15_t)0x9F13, (q15_t)0xAC64, (q15_t)0xA01C, (q15_t)0xAB35, + (q15_t)0xA128, (q15_t)0xAA0A, (q15_t)0xA238, (q15_t)0xA8E2, + (q15_t)0xA34B, (q15_t)0xA7BD, (q15_t)0xA462, (q15_t)0xA69B, + (q15_t)0xA57D, (q15_t)0xA57D, (q15_t)0xA69B, (q15_t)0xA462, + (q15_t)0xA7BD, (q15_t)0xA34B, (q15_t)0xA8E2, (q15_t)0xA238, + (q15_t)0xAA0A, (q15_t)0xA128, (q15_t)0xAB35, (q15_t)0xA01C, + (q15_t)0xAC64, (q15_t)0x9F13, (q15_t)0xAD96, (q15_t)0x9E0E, + (q15_t)0xAECC, (q15_t)0x9D0D, (q15_t)0xB004, (q15_t)0x9C10, + (q15_t)0xB140, (q15_t)0x9B17, (q15_t)0xB27E, (q15_t)0x9A22, + (q15_t)0xB3C0, (q15_t)0x9930, (q15_t)0xB504, (q15_t)0x9842, + (q15_t)0xB64B, (q15_t)0x9759, (q15_t)0xB796, (q15_t)0x9673, + (q15_t)0xB8E3, (q15_t)0x9592, (q15_t)0xBA32, (q15_t)0x94B5, + (q15_t)0xBB85, (q15_t)0x93DB, (q15_t)0xBCDA, (q15_t)0x9306, + (q15_t)0xBE31, (q15_t)0x9235, (q15_t)0xBF8C, (q15_t)0x9169, + (q15_t)0xC0E8, (q15_t)0x90A0, (q15_t)0xC247, (q15_t)0x8FDC, + (q15_t)0xC3A9, (q15_t)0x8F1D, (q15_t)0xC50D, (q15_t)0x8E61, + (q15_t)0xC673, (q15_t)0x8DAA, (q15_t)0xC7DB, (q15_t)0x8CF8, + (q15_t)0xC945, (q15_t)0x8C4A, (q15_t)0xCAB2, (q15_t)0x8BA0, + (q15_t)0xCC21, (q15_t)0x8AFB, (q15_t)0xCD91, (q15_t)0x8A5A, + (q15_t)0xCF04, (q15_t)0x89BE, (q15_t)0xD078, (q15_t)0x8926, + (q15_t)0xD1EE, (q15_t)0x8893, (q15_t)0xD367, (q15_t)0x8805, + (q15_t)0xD4E0, (q15_t)0x877B, (q15_t)0xD65C, (q15_t)0x86F6, + (q15_t)0xD7D9, (q15_t)0x8675, (q15_t)0xD957, (q15_t)0x85FA, + (q15_t)0xDAD7, (q15_t)0x8582, (q15_t)0xDC59, (q15_t)0x8510, + (q15_t)0xDDDC, (q15_t)0x84A2, (q15_t)0xDF60, (q15_t)0x843A, + (q15_t)0xE0E6, (q15_t)0x83D6, (q15_t)0xE26C, (q15_t)0x8376, + (q15_t)0xE3F4, (q15_t)0x831C, (q15_t)0xE57D, (q15_t)0x82C6, + (q15_t)0xE707, (q15_t)0x8275, (q15_t)0xE892, (q15_t)0x8229, + (q15_t)0xEA1D, (q15_t)0x81E2, (q15_t)0xEBAA, (q15_t)0x81A0, + (q15_t)0xED37, (q15_t)0x8162, (q15_t)0xEEC6, (q15_t)0x812A, + (q15_t)0xF054, (q15_t)0x80F6, (q15_t)0xF1E4, (q15_t)0x80C7, + (q15_t)0xF374, (q15_t)0x809D, (q15_t)0xF504, (q15_t)0x8078, + (q15_t)0xF695, (q15_t)0x8058, (q15_t)0xF826, (q15_t)0x803D, + (q15_t)0xF9B8, (q15_t)0x8027, (q15_t)0xFB49, (q15_t)0x8016, + (q15_t)0xFCDB, (q15_t)0x8009, (q15_t)0xFE6D, (q15_t)0x8002 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_1024) +/** + @par + Example code for q15 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefq15[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefq15[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 1024, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to q15(Fixed point 1.15): + round(twiddleCoefq15(i) * pow(2, 15)) + + */ +const q15_t twiddleCoef_1024_q15[1536] = { + (q15_t)0x7FFF, (q15_t)0x0000, (q15_t)0x7FFF, (q15_t)0x00C9, + (q15_t)0x7FFD, (q15_t)0x0192, (q15_t)0x7FFA, (q15_t)0x025B, + (q15_t)0x7FF6, (q15_t)0x0324, (q15_t)0x7FF0, (q15_t)0x03ED, + (q15_t)0x7FE9, (q15_t)0x04B6, (q15_t)0x7FE1, (q15_t)0x057F, + (q15_t)0x7FD8, (q15_t)0x0647, (q15_t)0x7FCE, (q15_t)0x0710, + (q15_t)0x7FC2, (q15_t)0x07D9, (q15_t)0x7FB5, (q15_t)0x08A2, + (q15_t)0x7FA7, (q15_t)0x096A, (q15_t)0x7F97, (q15_t)0x0A33, + (q15_t)0x7F87, (q15_t)0x0AFB, (q15_t)0x7F75, (q15_t)0x0BC3, + (q15_t)0x7F62, (q15_t)0x0C8B, (q15_t)0x7F4D, (q15_t)0x0D53, + (q15_t)0x7F38, (q15_t)0x0E1B, (q15_t)0x7F21, (q15_t)0x0EE3, + (q15_t)0x7F09, (q15_t)0x0FAB, (q15_t)0x7EF0, (q15_t)0x1072, + (q15_t)0x7ED5, (q15_t)0x1139, (q15_t)0x7EBA, (q15_t)0x1201, + (q15_t)0x7E9D, (q15_t)0x12C8, (q15_t)0x7E7F, (q15_t)0x138E, + (q15_t)0x7E5F, (q15_t)0x1455, (q15_t)0x7E3F, (q15_t)0x151B, + (q15_t)0x7E1D, (q15_t)0x15E2, (q15_t)0x7DFA, (q15_t)0x16A8, + (q15_t)0x7DD6, (q15_t)0x176D, (q15_t)0x7DB0, (q15_t)0x1833, + (q15_t)0x7D8A, (q15_t)0x18F8, (q15_t)0x7D62, (q15_t)0x19BD, + (q15_t)0x7D39, (q15_t)0x1A82, (q15_t)0x7D0F, (q15_t)0x1B47, + (q15_t)0x7CE3, (q15_t)0x1C0B, (q15_t)0x7CB7, (q15_t)0x1CCF, + (q15_t)0x7C89, (q15_t)0x1D93, (q15_t)0x7C5A, (q15_t)0x1E56, + (q15_t)0x7C29, (q15_t)0x1F19, (q15_t)0x7BF8, (q15_t)0x1FDC, + (q15_t)0x7BC5, (q15_t)0x209F, (q15_t)0x7B92, (q15_t)0x2161, + (q15_t)0x7B5D, (q15_t)0x2223, (q15_t)0x7B26, (q15_t)0x22E5, + (q15_t)0x7AEF, (q15_t)0x23A6, (q15_t)0x7AB6, (q15_t)0x2467, + (q15_t)0x7A7D, (q15_t)0x2528, (q15_t)0x7A42, (q15_t)0x25E8, + (q15_t)0x7A05, (q15_t)0x26A8, (q15_t)0x79C8, (q15_t)0x2767, + (q15_t)0x798A, (q15_t)0x2826, (q15_t)0x794A, (q15_t)0x28E5, + (q15_t)0x7909, (q15_t)0x29A3, (q15_t)0x78C7, (q15_t)0x2A61, + (q15_t)0x7884, (q15_t)0x2B1F, (q15_t)0x7840, (q15_t)0x2BDC, + (q15_t)0x77FA, (q15_t)0x2C98, (q15_t)0x77B4, (q15_t)0x2D55, + (q15_t)0x776C, (q15_t)0x2E11, (q15_t)0x7723, (q15_t)0x2ECC, + (q15_t)0x76D9, (q15_t)0x2F87, (q15_t)0x768E, (q15_t)0x3041, + (q15_t)0x7641, (q15_t)0x30FB, (q15_t)0x75F4, (q15_t)0x31B5, + (q15_t)0x75A5, (q15_t)0x326E, (q15_t)0x7555, (q15_t)0x3326, + (q15_t)0x7504, (q15_t)0x33DE, (q15_t)0x74B2, (q15_t)0x3496, + (q15_t)0x745F, (q15_t)0x354D, (q15_t)0x740B, (q15_t)0x3604, + (q15_t)0x73B5, (q15_t)0x36BA, (q15_t)0x735F, (q15_t)0x376F, + (q15_t)0x7307, (q15_t)0x3824, (q15_t)0x72AF, (q15_t)0x38D8, + (q15_t)0x7255, (q15_t)0x398C, (q15_t)0x71FA, (q15_t)0x3A40, + (q15_t)0x719E, (q15_t)0x3AF2, (q15_t)0x7141, (q15_t)0x3BA5, + (q15_t)0x70E2, (q15_t)0x3C56, (q15_t)0x7083, (q15_t)0x3D07, + (q15_t)0x7023, (q15_t)0x3DB8, (q15_t)0x6FC1, (q15_t)0x3E68, + (q15_t)0x6F5F, (q15_t)0x3F17, (q15_t)0x6EFB, (q15_t)0x3FC5, + (q15_t)0x6E96, (q15_t)0x4073, (q15_t)0x6E30, (q15_t)0x4121, + (q15_t)0x6DCA, (q15_t)0x41CE, (q15_t)0x6D62, (q15_t)0x427A, + (q15_t)0x6CF9, (q15_t)0x4325, (q15_t)0x6C8F, (q15_t)0x43D0, + (q15_t)0x6C24, (q15_t)0x447A, (q15_t)0x6BB8, (q15_t)0x4524, + (q15_t)0x6B4A, (q15_t)0x45CD, (q15_t)0x6ADC, (q15_t)0x4675, + (q15_t)0x6A6D, (q15_t)0x471C, (q15_t)0x69FD, (q15_t)0x47C3, + (q15_t)0x698C, (q15_t)0x4869, (q15_t)0x6919, (q15_t)0x490F, + (q15_t)0x68A6, (q15_t)0x49B4, (q15_t)0x6832, (q15_t)0x4A58, + (q15_t)0x67BD, (q15_t)0x4AFB, (q15_t)0x6746, (q15_t)0x4B9E, + (q15_t)0x66CF, (q15_t)0x4C3F, (q15_t)0x6657, (q15_t)0x4CE1, + (q15_t)0x65DD, (q15_t)0x4D81, (q15_t)0x6563, (q15_t)0x4E21, + (q15_t)0x64E8, (q15_t)0x4EBF, (q15_t)0x646C, (q15_t)0x4F5E, + (q15_t)0x63EF, (q15_t)0x4FFB, (q15_t)0x6371, (q15_t)0x5097, + (q15_t)0x62F2, (q15_t)0x5133, (q15_t)0x6271, (q15_t)0x51CE, + (q15_t)0x61F1, (q15_t)0x5269, (q15_t)0x616F, (q15_t)0x5302, + (q15_t)0x60EC, (q15_t)0x539B, (q15_t)0x6068, (q15_t)0x5433, + (q15_t)0x5FE3, (q15_t)0x54CA, (q15_t)0x5F5E, (q15_t)0x5560, + (q15_t)0x5ED7, (q15_t)0x55F5, (q15_t)0x5E50, (q15_t)0x568A, + (q15_t)0x5DC7, (q15_t)0x571D, (q15_t)0x5D3E, (q15_t)0x57B0, + (q15_t)0x5CB4, (q15_t)0x5842, (q15_t)0x5C29, (q15_t)0x58D4, + (q15_t)0x5B9D, (q15_t)0x5964, (q15_t)0x5B10, (q15_t)0x59F3, + (q15_t)0x5A82, (q15_t)0x5A82, (q15_t)0x59F3, (q15_t)0x5B10, + (q15_t)0x5964, (q15_t)0x5B9D, (q15_t)0x58D4, (q15_t)0x5C29, + (q15_t)0x5842, (q15_t)0x5CB4, (q15_t)0x57B0, (q15_t)0x5D3E, + (q15_t)0x571D, (q15_t)0x5DC7, (q15_t)0x568A, (q15_t)0x5E50, + (q15_t)0x55F5, (q15_t)0x5ED7, (q15_t)0x5560, (q15_t)0x5F5E, + (q15_t)0x54CA, (q15_t)0x5FE3, (q15_t)0x5433, (q15_t)0x6068, + (q15_t)0x539B, (q15_t)0x60EC, (q15_t)0x5302, (q15_t)0x616F, + (q15_t)0x5269, (q15_t)0x61F1, (q15_t)0x51CE, (q15_t)0x6271, + (q15_t)0x5133, (q15_t)0x62F2, (q15_t)0x5097, (q15_t)0x6371, + (q15_t)0x4FFB, (q15_t)0x63EF, (q15_t)0x4F5E, (q15_t)0x646C, + (q15_t)0x4EBF, (q15_t)0x64E8, (q15_t)0x4E21, (q15_t)0x6563, + (q15_t)0x4D81, (q15_t)0x65DD, (q15_t)0x4CE1, (q15_t)0x6657, + (q15_t)0x4C3F, (q15_t)0x66CF, (q15_t)0x4B9E, (q15_t)0x6746, + (q15_t)0x4AFB, (q15_t)0x67BD, (q15_t)0x4A58, (q15_t)0x6832, + (q15_t)0x49B4, (q15_t)0x68A6, (q15_t)0x490F, (q15_t)0x6919, + (q15_t)0x4869, (q15_t)0x698C, (q15_t)0x47C3, (q15_t)0x69FD, + (q15_t)0x471C, (q15_t)0x6A6D, (q15_t)0x4675, (q15_t)0x6ADC, + (q15_t)0x45CD, (q15_t)0x6B4A, (q15_t)0x4524, (q15_t)0x6BB8, + (q15_t)0x447A, (q15_t)0x6C24, (q15_t)0x43D0, (q15_t)0x6C8F, + (q15_t)0x4325, (q15_t)0x6CF9, (q15_t)0x427A, (q15_t)0x6D62, + (q15_t)0x41CE, (q15_t)0x6DCA, (q15_t)0x4121, (q15_t)0x6E30, + (q15_t)0x4073, (q15_t)0x6E96, (q15_t)0x3FC5, (q15_t)0x6EFB, + (q15_t)0x3F17, (q15_t)0x6F5F, (q15_t)0x3E68, (q15_t)0x6FC1, + (q15_t)0x3DB8, (q15_t)0x7023, (q15_t)0x3D07, (q15_t)0x7083, + (q15_t)0x3C56, (q15_t)0x70E2, (q15_t)0x3BA5, (q15_t)0x7141, + (q15_t)0x3AF2, (q15_t)0x719E, (q15_t)0x3A40, (q15_t)0x71FA, + (q15_t)0x398C, (q15_t)0x7255, (q15_t)0x38D8, (q15_t)0x72AF, + (q15_t)0x3824, (q15_t)0x7307, (q15_t)0x376F, (q15_t)0x735F, + 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(q15_t)0xA128, (q15_t)0xAA0A, (q15_t)0xA1AF, (q15_t)0xA975, + (q15_t)0xA238, (q15_t)0xA8E2, (q15_t)0xA2C1, (q15_t)0xA84F, + (q15_t)0xA34B, (q15_t)0xA7BD, (q15_t)0xA3D6, (q15_t)0xA72B, + (q15_t)0xA462, (q15_t)0xA69B, (q15_t)0xA4EF, (q15_t)0xA60C, + (q15_t)0xA57D, (q15_t)0xA57D, (q15_t)0xA60C, (q15_t)0xA4EF, + (q15_t)0xA69B, (q15_t)0xA462, (q15_t)0xA72B, (q15_t)0xA3D6, + (q15_t)0xA7BD, (q15_t)0xA34B, (q15_t)0xA84F, (q15_t)0xA2C1, + (q15_t)0xA8E2, (q15_t)0xA238, (q15_t)0xA975, (q15_t)0xA1AF, + (q15_t)0xAA0A, (q15_t)0xA128, (q15_t)0xAA9F, (q15_t)0xA0A1, + (q15_t)0xAB35, (q15_t)0xA01C, (q15_t)0xABCC, (q15_t)0x9F97, + (q15_t)0xAC64, (q15_t)0x9F13, (q15_t)0xACFD, (q15_t)0x9E90, + (q15_t)0xAD96, (q15_t)0x9E0E, (q15_t)0xAE31, (q15_t)0x9D8E, + (q15_t)0xAECC, (q15_t)0x9D0D, (q15_t)0xAF68, (q15_t)0x9C8E, + (q15_t)0xB004, (q15_t)0x9C10, (q15_t)0xB0A1, (q15_t)0x9B93, + (q15_t)0xB140, (q15_t)0x9B17, (q15_t)0xB1DE, (q15_t)0x9A9C, + (q15_t)0xB27E, (q15_t)0x9A22, (q15_t)0xB31E, (q15_t)0x99A8, + (q15_t)0xB3C0, (q15_t)0x9930, (q15_t)0xB461, (q15_t)0x98B9, + (q15_t)0xB504, (q15_t)0x9842, (q15_t)0xB5A7, (q15_t)0x97CD, + (q15_t)0xB64B, (q15_t)0x9759, (q15_t)0xB6F0, (q15_t)0x96E6, + (q15_t)0xB796, (q15_t)0x9673, (q15_t)0xB83C, (q15_t)0x9602, + (q15_t)0xB8E3, (q15_t)0x9592, (q15_t)0xB98A, (q15_t)0x9523, + (q15_t)0xBA32, (q15_t)0x94B5, (q15_t)0xBADB, (q15_t)0x9447, + (q15_t)0xBB85, (q15_t)0x93DB, (q15_t)0xBC2F, (q15_t)0x9370, + (q15_t)0xBCDA, (q15_t)0x9306, (q15_t)0xBD85, (q15_t)0x929D, + (q15_t)0xBE31, (q15_t)0x9235, (q15_t)0xBEDE, (q15_t)0x91CF, + (q15_t)0xBF8C, (q15_t)0x9169, (q15_t)0xC03A, (q15_t)0x9104, + (q15_t)0xC0E8, (q15_t)0x90A0, (q15_t)0xC197, (q15_t)0x903E, + (q15_t)0xC247, (q15_t)0x8FDC, (q15_t)0xC2F8, (q15_t)0x8F7C, + (q15_t)0xC3A9, (q15_t)0x8F1D, (q15_t)0xC45A, (q15_t)0x8EBE, + (q15_t)0xC50D, (q15_t)0x8E61, (q15_t)0xC5BF, (q15_t)0x8E05, + (q15_t)0xC673, (q15_t)0x8DAA, (q15_t)0xC727, (q15_t)0x8D50, + (q15_t)0xC7DB, (q15_t)0x8CF8, (q15_t)0xC890, (q15_t)0x8CA0, + (q15_t)0xC945, (q15_t)0x8C4A, (q15_t)0xC9FB, (q15_t)0x8BF4, + (q15_t)0xCAB2, (q15_t)0x8BA0, (q15_t)0xCB69, (q15_t)0x8B4D, + (q15_t)0xCC21, (q15_t)0x8AFB, (q15_t)0xCCD9, (q15_t)0x8AAA, + (q15_t)0xCD91, (q15_t)0x8A5A, (q15_t)0xCE4A, (q15_t)0x8A0B, + (q15_t)0xCF04, (q15_t)0x89BE, (q15_t)0xCFBE, (q15_t)0x8971, + (q15_t)0xD078, (q15_t)0x8926, (q15_t)0xD133, (q15_t)0x88DC, + (q15_t)0xD1EE, (q15_t)0x8893, (q15_t)0xD2AA, (q15_t)0x884B, + (q15_t)0xD367, (q15_t)0x8805, (q15_t)0xD423, (q15_t)0x87BF, + (q15_t)0xD4E0, (q15_t)0x877B, (q15_t)0xD59E, (q15_t)0x8738, + (q15_t)0xD65C, (q15_t)0x86F6, (q15_t)0xD71A, (q15_t)0x86B5, + (q15_t)0xD7D9, (q15_t)0x8675, (q15_t)0xD898, (q15_t)0x8637, + (q15_t)0xD957, (q15_t)0x85FA, (q15_t)0xDA17, (q15_t)0x85BD, + (q15_t)0xDAD7, (q15_t)0x8582, (q15_t)0xDB98, (q15_t)0x8549, + (q15_t)0xDC59, (q15_t)0x8510, (q15_t)0xDD1A, (q15_t)0x84D9, + (q15_t)0xDDDC, (q15_t)0x84A2, (q15_t)0xDE9E, (q15_t)0x846D, + (q15_t)0xDF60, (q15_t)0x843A, (q15_t)0xE023, (q15_t)0x8407, + (q15_t)0xE0E6, (q15_t)0x83D6, (q15_t)0xE1A9, (q15_t)0x83A5, + (q15_t)0xE26C, (q15_t)0x8376, (q15_t)0xE330, (q15_t)0x8348, + (q15_t)0xE3F4, (q15_t)0x831C, (q15_t)0xE4B8, (q15_t)0x82F0, + (q15_t)0xE57D, (q15_t)0x82C6, (q15_t)0xE642, (q15_t)0x829D, + (q15_t)0xE707, (q15_t)0x8275, (q15_t)0xE7CC, (q15_t)0x824F, + (q15_t)0xE892, (q15_t)0x8229, (q15_t)0xE957, (q15_t)0x8205, + (q15_t)0xEA1D, (q15_t)0x81E2, (q15_t)0xEAE4, (q15_t)0x81C0, + (q15_t)0xEBAA, (q15_t)0x81A0, (q15_t)0xEC71, (q15_t)0x8180, + (q15_t)0xED37, (q15_t)0x8162, (q15_t)0xEDFE, (q15_t)0x8145, + (q15_t)0xEEC6, (q15_t)0x812A, (q15_t)0xEF8D, (q15_t)0x810F, + (q15_t)0xF054, (q15_t)0x80F6, (q15_t)0xF11C, (q15_t)0x80DE, + (q15_t)0xF1E4, (q15_t)0x80C7, (q15_t)0xF2AC, (q15_t)0x80B2, + (q15_t)0xF374, (q15_t)0x809D, (q15_t)0xF43C, (q15_t)0x808A, + (q15_t)0xF504, (q15_t)0x8078, (q15_t)0xF5CC, (q15_t)0x8068, + (q15_t)0xF695, (q15_t)0x8058, (q15_t)0xF75D, (q15_t)0x804A, + (q15_t)0xF826, (q15_t)0x803D, (q15_t)0xF8EF, (q15_t)0x8031, + (q15_t)0xF9B8, (q15_t)0x8027, (q15_t)0xFA80, (q15_t)0x801E, + (q15_t)0xFB49, (q15_t)0x8016, (q15_t)0xFC12, (q15_t)0x800F, + (q15_t)0xFCDB, (q15_t)0x8009, (q15_t)0xFDA4, (q15_t)0x8005, + (q15_t)0xFE6D, (q15_t)0x8002, (q15_t)0xFF36, (q15_t)0x8000 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_2048) +/** + @par + Example code for q15 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefq15[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefq15[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 2048, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to q15(Fixed point 1.15): + round(twiddleCoefq15(i) * pow(2, 15)) + */ +const q15_t twiddleCoef_2048_q15[3072] = { + (q15_t)0x7FFF, (q15_t)0x0000, (q15_t)0x7FFF, (q15_t)0x0064, + (q15_t)0x7FFF, (q15_t)0x00C9, (q15_t)0x7FFE, (q15_t)0x012D, + (q15_t)0x7FFD, (q15_t)0x0192, (q15_t)0x7FFC, (q15_t)0x01F6, + (q15_t)0x7FFA, (q15_t)0x025B, (q15_t)0x7FF8, (q15_t)0x02BF, + (q15_t)0x7FF6, (q15_t)0x0324, (q15_t)0x7FF3, (q15_t)0x0388, + (q15_t)0x7FF0, (q15_t)0x03ED, (q15_t)0x7FED, (q15_t)0x0451, + (q15_t)0x7FE9, (q15_t)0x04B6, (q15_t)0x7FE5, (q15_t)0x051A, + (q15_t)0x7FE1, (q15_t)0x057F, (q15_t)0x7FDD, (q15_t)0x05E3, + (q15_t)0x7FD8, (q15_t)0x0647, (q15_t)0x7FD3, (q15_t)0x06AC, + (q15_t)0x7FCE, (q15_t)0x0710, (q15_t)0x7FC8, (q15_t)0x0775, + (q15_t)0x7FC2, (q15_t)0x07D9, (q15_t)0x7FBC, (q15_t)0x083D, + (q15_t)0x7FB5, (q15_t)0x08A2, (q15_t)0x7FAE, (q15_t)0x0906, + (q15_t)0x7FA7, (q15_t)0x096A, (q15_t)0x7F9F, (q15_t)0x09CE, + (q15_t)0x7F97, (q15_t)0x0A33, (q15_t)0x7F8F, (q15_t)0x0A97, + (q15_t)0x7F87, (q15_t)0x0AFB, (q15_t)0x7F7E, (q15_t)0x0B5F, + (q15_t)0x7F75, (q15_t)0x0BC3, (q15_t)0x7F6B, (q15_t)0x0C27, + (q15_t)0x7F62, (q15_t)0x0C8B, (q15_t)0x7F58, (q15_t)0x0CEF, + (q15_t)0x7F4D, (q15_t)0x0D53, (q15_t)0x7F43, (q15_t)0x0DB7, + (q15_t)0x7F38, (q15_t)0x0E1B, (q15_t)0x7F2D, (q15_t)0x0E7F, + (q15_t)0x7F21, (q15_t)0x0EE3, (q15_t)0x7F15, (q15_t)0x0F47, + (q15_t)0x7F09, (q15_t)0x0FAB, (q15_t)0x7EFD, (q15_t)0x100E, + (q15_t)0x7EF0, (q15_t)0x1072, (q15_t)0x7EE3, (q15_t)0x10D6, + (q15_t)0x7ED5, (q15_t)0x1139, (q15_t)0x7EC8, (q15_t)0x119D, + (q15_t)0x7EBA, (q15_t)0x1201, (q15_t)0x7EAB, (q15_t)0x1264, + (q15_t)0x7E9D, (q15_t)0x12C8, (q15_t)0x7E8E, (q15_t)0x132B, + (q15_t)0x7E7F, (q15_t)0x138E, (q15_t)0x7E6F, (q15_t)0x13F2, + (q15_t)0x7E5F, (q15_t)0x1455, (q15_t)0x7E4F, (q15_t)0x14B8, + (q15_t)0x7E3F, (q15_t)0x151B, (q15_t)0x7E2E, (q15_t)0x157F, + (q15_t)0x7E1D, (q15_t)0x15E2, (q15_t)0x7E0C, (q15_t)0x1645, + (q15_t)0x7DFA, (q15_t)0x16A8, (q15_t)0x7DE8, (q15_t)0x170A, + (q15_t)0x7DD6, (q15_t)0x176D, (q15_t)0x7DC3, (q15_t)0x17D0, + (q15_t)0x7DB0, (q15_t)0x1833, (q15_t)0x7D9D, (q15_t)0x1896, + (q15_t)0x7D8A, (q15_t)0x18F8, (q15_t)0x7D76, (q15_t)0x195B, + (q15_t)0x7D62, (q15_t)0x19BD, (q15_t)0x7D4E, (q15_t)0x1A20, + (q15_t)0x7D39, (q15_t)0x1A82, (q15_t)0x7D24, (q15_t)0x1AE4, + (q15_t)0x7D0F, (q15_t)0x1B47, (q15_t)0x7CF9, (q15_t)0x1BA9, + (q15_t)0x7CE3, (q15_t)0x1C0B, (q15_t)0x7CCD, (q15_t)0x1C6D, + (q15_t)0x7CB7, (q15_t)0x1CCF, (q15_t)0x7CA0, (q15_t)0x1D31, + (q15_t)0x7C89, (q15_t)0x1D93, (q15_t)0x7C71, (q15_t)0x1DF5, + (q15_t)0x7C5A, (q15_t)0x1E56, (q15_t)0x7C42, (q15_t)0x1EB8, + (q15_t)0x7C29, (q15_t)0x1F19, (q15_t)0x7C11, (q15_t)0x1F7B, + (q15_t)0x7BF8, (q15_t)0x1FDC, (q15_t)0x7BDF, (q15_t)0x203E, + (q15_t)0x7BC5, (q15_t)0x209F, (q15_t)0x7BAC, (q15_t)0x2100, + (q15_t)0x7B92, (q15_t)0x2161, (q15_t)0x7B77, (q15_t)0x21C2, + (q15_t)0x7B5D, (q15_t)0x2223, (q15_t)0x7B42, (q15_t)0x2284, + (q15_t)0x7B26, (q15_t)0x22E5, (q15_t)0x7B0B, (q15_t)0x2345, + (q15_t)0x7AEF, (q15_t)0x23A6, (q15_t)0x7AD3, (q15_t)0x2407, + (q15_t)0x7AB6, (q15_t)0x2467, (q15_t)0x7A9A, (q15_t)0x24C7, + (q15_t)0x7A7D, (q15_t)0x2528, (q15_t)0x7A5F, (q15_t)0x2588, + (q15_t)0x7A42, (q15_t)0x25E8, (q15_t)0x7A24, (q15_t)0x2648, + (q15_t)0x7A05, (q15_t)0x26A8, (q15_t)0x79E7, (q15_t)0x2707, + (q15_t)0x79C8, (q15_t)0x2767, (q15_t)0x79A9, (q15_t)0x27C7, + (q15_t)0x798A, (q15_t)0x2826, (q15_t)0x796A, (q15_t)0x2886, + (q15_t)0x794A, (q15_t)0x28E5, (q15_t)0x792A, (q15_t)0x2944, + (q15_t)0x7909, (q15_t)0x29A3, (q15_t)0x78E8, (q15_t)0x2A02, + (q15_t)0x78C7, (q15_t)0x2A61, (q15_t)0x78A6, (q15_t)0x2AC0, + (q15_t)0x7884, (q15_t)0x2B1F, (q15_t)0x7862, (q15_t)0x2B7D, + (q15_t)0x7840, (q15_t)0x2BDC, (q15_t)0x781D, (q15_t)0x2C3A, + (q15_t)0x77FA, (q15_t)0x2C98, (q15_t)0x77D7, (q15_t)0x2CF7, + (q15_t)0x77B4, (q15_t)0x2D55, (q15_t)0x7790, (q15_t)0x2DB3, + (q15_t)0x776C, (q15_t)0x2E11, (q15_t)0x7747, (q15_t)0x2E6E, + (q15_t)0x7723, (q15_t)0x2ECC, (q15_t)0x76FE, (q15_t)0x2F29, + (q15_t)0x76D9, (q15_t)0x2F87, (q15_t)0x76B3, (q15_t)0x2FE4, + (q15_t)0x768E, (q15_t)0x3041, (q15_t)0x7668, (q15_t)0x309E, + (q15_t)0x7641, (q15_t)0x30FB, (q15_t)0x761B, (q15_t)0x3158, + (q15_t)0x75F4, (q15_t)0x31B5, (q15_t)0x75CC, (q15_t)0x3211, + (q15_t)0x75A5, (q15_t)0x326E, (q15_t)0x757D, (q15_t)0x32CA, + (q15_t)0x7555, (q15_t)0x3326, (q15_t)0x752D, (q15_t)0x3382, + (q15_t)0x7504, (q15_t)0x33DE, (q15_t)0x74DB, (q15_t)0x343A, + (q15_t)0x74B2, (q15_t)0x3496, (q15_t)0x7489, (q15_t)0x34F2, + (q15_t)0x745F, (q15_t)0x354D, (q15_t)0x7435, (q15_t)0x35A8, + (q15_t)0x740B, (q15_t)0x3604, (q15_t)0x73E0, (q15_t)0x365F, + (q15_t)0x73B5, (q15_t)0x36BA, (q15_t)0x738A, (q15_t)0x3714, + (q15_t)0x735F, (q15_t)0x376F, (q15_t)0x7333, (q15_t)0x37CA, + (q15_t)0x7307, (q15_t)0x3824, (q15_t)0x72DB, (q15_t)0x387E, + (q15_t)0x72AF, (q15_t)0x38D8, (q15_t)0x7282, (q15_t)0x3932, + (q15_t)0x7255, (q15_t)0x398C, (q15_t)0x7227, (q15_t)0x39E6, + (q15_t)0x71FA, (q15_t)0x3A40, (q15_t)0x71CC, (q15_t)0x3A99, + (q15_t)0x719E, (q15_t)0x3AF2, (q15_t)0x716F, (q15_t)0x3B4C, + (q15_t)0x7141, (q15_t)0x3BA5, (q15_t)0x7112, (q15_t)0x3BFD, + (q15_t)0x70E2, (q15_t)0x3C56, (q15_t)0x70B3, (q15_t)0x3CAF, + (q15_t)0x7083, (q15_t)0x3D07, (q15_t)0x7053, (q15_t)0x3D60, + (q15_t)0x7023, (q15_t)0x3DB8, (q15_t)0x6FF2, (q15_t)0x3E10, + (q15_t)0x6FC1, (q15_t)0x3E68, (q15_t)0x6F90, (q15_t)0x3EBF, + (q15_t)0x6F5F, (q15_t)0x3F17, (q15_t)0x6F2D, (q15_t)0x3F6E, + (q15_t)0x6EFB, (q15_t)0x3FC5, (q15_t)0x6EC9, (q15_t)0x401D, + (q15_t)0x6E96, (q15_t)0x4073, (q15_t)0x6E63, (q15_t)0x40CA, + (q15_t)0x6E30, (q15_t)0x4121, (q15_t)0x6DFD, (q15_t)0x4177, + (q15_t)0x6DCA, (q15_t)0x41CE, (q15_t)0x6D96, (q15_t)0x4224, + (q15_t)0x6D62, (q15_t)0x427A, (q15_t)0x6D2D, (q15_t)0x42D0, + (q15_t)0x6CF9, (q15_t)0x4325, (q15_t)0x6CC4, (q15_t)0x437B, + (q15_t)0x6C8F, (q15_t)0x43D0, (q15_t)0x6C59, (q15_t)0x4425, + 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(q15_t)0xE3F4, (q15_t)0x831C, (q15_t)0xE456, (q15_t)0x8306, + (q15_t)0xE4B8, (q15_t)0x82F0, (q15_t)0xE51B, (q15_t)0x82DB, + (q15_t)0xE57D, (q15_t)0x82C6, (q15_t)0xE5DF, (q15_t)0x82B1, + (q15_t)0xE642, (q15_t)0x829D, (q15_t)0xE6A4, (q15_t)0x8289, + (q15_t)0xE707, (q15_t)0x8275, (q15_t)0xE769, (q15_t)0x8262, + (q15_t)0xE7CC, (q15_t)0x824F, (q15_t)0xE82F, (q15_t)0x823C, + (q15_t)0xE892, (q15_t)0x8229, (q15_t)0xE8F5, (q15_t)0x8217, + (q15_t)0xE957, (q15_t)0x8205, (q15_t)0xE9BA, (q15_t)0x81F3, + (q15_t)0xEA1D, (q15_t)0x81E2, (q15_t)0xEA80, (q15_t)0x81D1, + (q15_t)0xEAE4, (q15_t)0x81C0, (q15_t)0xEB47, (q15_t)0x81B0, + (q15_t)0xEBAA, (q15_t)0x81A0, (q15_t)0xEC0D, (q15_t)0x8190, + (q15_t)0xEC71, (q15_t)0x8180, (q15_t)0xECD4, (q15_t)0x8171, + (q15_t)0xED37, (q15_t)0x8162, (q15_t)0xED9B, (q15_t)0x8154, + (q15_t)0xEDFE, (q15_t)0x8145, (q15_t)0xEE62, (q15_t)0x8137, + (q15_t)0xEEC6, (q15_t)0x812A, (q15_t)0xEF29, (q15_t)0x811C, + (q15_t)0xEF8D, (q15_t)0x810F, (q15_t)0xEFF1, (q15_t)0x8102, + (q15_t)0xF054, (q15_t)0x80F6, (q15_t)0xF0B8, (q15_t)0x80EA, + (q15_t)0xF11C, (q15_t)0x80DE, (q15_t)0xF180, (q15_t)0x80D2, + (q15_t)0xF1E4, (q15_t)0x80C7, (q15_t)0xF248, (q15_t)0x80BC, + (q15_t)0xF2AC, (q15_t)0x80B2, (q15_t)0xF310, (q15_t)0x80A7, + (q15_t)0xF374, (q15_t)0x809D, (q15_t)0xF3D8, (q15_t)0x8094, + (q15_t)0xF43C, (q15_t)0x808A, (q15_t)0xF4A0, (q15_t)0x8081, + (q15_t)0xF504, (q15_t)0x8078, (q15_t)0xF568, (q15_t)0x8070, + (q15_t)0xF5CC, (q15_t)0x8068, (q15_t)0xF631, (q15_t)0x8060, + (q15_t)0xF695, (q15_t)0x8058, (q15_t)0xF6F9, (q15_t)0x8051, + (q15_t)0xF75D, (q15_t)0x804A, (q15_t)0xF7C2, (q15_t)0x8043, + (q15_t)0xF826, (q15_t)0x803D, (q15_t)0xF88A, (q15_t)0x8037, + (q15_t)0xF8EF, (q15_t)0x8031, (q15_t)0xF953, (q15_t)0x802C, + (q15_t)0xF9B8, (q15_t)0x8027, (q15_t)0xFA1C, (q15_t)0x8022, + (q15_t)0xFA80, (q15_t)0x801E, (q15_t)0xFAE5, (q15_t)0x801A, + (q15_t)0xFB49, (q15_t)0x8016, (q15_t)0xFBAE, (q15_t)0x8012, + (q15_t)0xFC12, (q15_t)0x800F, (q15_t)0xFC77, (q15_t)0x800C, + (q15_t)0xFCDB, (q15_t)0x8009, (q15_t)0xFD40, (q15_t)0x8007, + (q15_t)0xFDA4, (q15_t)0x8005, (q15_t)0xFE09, (q15_t)0x8003, + (q15_t)0xFE6D, (q15_t)0x8002, (q15_t)0xFED2, (q15_t)0x8001, + (q15_t)0xFF36, (q15_t)0x8000, (q15_t)0xFF9B, (q15_t)0x8000 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_Q15_4096) +/** + @par + Example code for q15 Twiddle factors Generation:: + @par + 
for (i = 0; i< 3N/4; i++)
+  {
+     twiddleCoefq15[2*i]   = cos(i * 2*PI/(float)N);
+     twiddleCoefq15[2*i+1] = sin(i * 2*PI/(float)N);
+  }
+ @par + where N = 4096, PI = 3.14159265358979 + @par + Cos and Sin values are interleaved fashion + @par + Convert Floating point to q15(Fixed point 1.15): + round(twiddleCoefq15(i) * pow(2, 15)) + */ +const q15_t twiddleCoef_4096_q15[6144] = +{ + (q15_t)0x7FFF, (q15_t)0x0000, (q15_t)0x7FFF, (q15_t)0x0032, + (q15_t)0x7FFF, (q15_t)0x0064, (q15_t)0x7FFF, (q15_t)0x0096, + (q15_t)0x7FFF, (q15_t)0x00C9, (q15_t)0x7FFF, (q15_t)0x00FB, + (q15_t)0x7FFE, (q15_t)0x012D, (q15_t)0x7FFE, (q15_t)0x015F, + (q15_t)0x7FFD, (q15_t)0x0192, (q15_t)0x7FFC, (q15_t)0x01C4, + (q15_t)0x7FFC, (q15_t)0x01F6, (q15_t)0x7FFB, (q15_t)0x0228, + (q15_t)0x7FFA, (q15_t)0x025B, (q15_t)0x7FF9, (q15_t)0x028D, + (q15_t)0x7FF8, (q15_t)0x02BF, (q15_t)0x7FF7, (q15_t)0x02F1, + (q15_t)0x7FF6, (q15_t)0x0324, (q15_t)0x7FF4, (q15_t)0x0356, + (q15_t)0x7FF3, (q15_t)0x0388, (q15_t)0x7FF2, (q15_t)0x03BA, + (q15_t)0x7FF0, (q15_t)0x03ED, (q15_t)0x7FEE, (q15_t)0x041F, + (q15_t)0x7FED, (q15_t)0x0451, (q15_t)0x7FEB, (q15_t)0x0483, + (q15_t)0x7FE9, (q15_t)0x04B6, (q15_t)0x7FE7, (q15_t)0x04E8, + (q15_t)0x7FE5, (q15_t)0x051A, (q15_t)0x7FE3, (q15_t)0x054C, + (q15_t)0x7FE1, (q15_t)0x057F, (q15_t)0x7FDF, (q15_t)0x05B1, + (q15_t)0x7FDD, (q15_t)0x05E3, (q15_t)0x7FDA, (q15_t)0x0615, + (q15_t)0x7FD8, (q15_t)0x0647, (q15_t)0x7FD6, (q15_t)0x067A, + (q15_t)0x7FD3, (q15_t)0x06AC, (q15_t)0x7FD0, (q15_t)0x06DE, + (q15_t)0x7FCE, (q15_t)0x0710, (q15_t)0x7FCB, (q15_t)0x0742, + (q15_t)0x7FC8, (q15_t)0x0775, (q15_t)0x7FC5, (q15_t)0x07A7, + (q15_t)0x7FC2, (q15_t)0x07D9, (q15_t)0x7FBF, (q15_t)0x080B, + (q15_t)0x7FBC, (q15_t)0x083D, (q15_t)0x7FB8, (q15_t)0x086F, + (q15_t)0x7FB5, (q15_t)0x08A2, (q15_t)0x7FB1, (q15_t)0x08D4, + (q15_t)0x7FAE, (q15_t)0x0906, (q15_t)0x7FAA, (q15_t)0x0938, + (q15_t)0x7FA7, (q15_t)0x096A, (q15_t)0x7FA3, (q15_t)0x099C, + (q15_t)0x7F9F, (q15_t)0x09CE, (q15_t)0x7F9B, (q15_t)0x0A00, + (q15_t)0x7F97, (q15_t)0x0A33, (q15_t)0x7F93, (q15_t)0x0A65, + (q15_t)0x7F8F, (q15_t)0x0A97, (q15_t)0x7F8B, (q15_t)0x0AC9, + (q15_t)0x7F87, (q15_t)0x0AFB, (q15_t)0x7F82, (q15_t)0x0B2D, + (q15_t)0x7F7E, (q15_t)0x0B5F, (q15_t)0x7F79, (q15_t)0x0B91, + (q15_t)0x7F75, (q15_t)0x0BC3, (q15_t)0x7F70, (q15_t)0x0BF5, + (q15_t)0x7F6B, (q15_t)0x0C27, (q15_t)0x7F67, (q15_t)0x0C59, + (q15_t)0x7F62, (q15_t)0x0C8B, (q15_t)0x7F5D, (q15_t)0x0CBD, + (q15_t)0x7F58, (q15_t)0x0CEF, (q15_t)0x7F53, (q15_t)0x0D21, + (q15_t)0x7F4D, (q15_t)0x0D53, (q15_t)0x7F48, (q15_t)0x0D85, + (q15_t)0x7F43, (q15_t)0x0DB7, (q15_t)0x7F3D, (q15_t)0x0DE9, + (q15_t)0x7F38, (q15_t)0x0E1B, (q15_t)0x7F32, (q15_t)0x0E4D, + (q15_t)0x7F2D, (q15_t)0x0E7F, (q15_t)0x7F27, (q15_t)0x0EB1, + (q15_t)0x7F21, (q15_t)0x0EE3, (q15_t)0x7F1B, (q15_t)0x0F15, + (q15_t)0x7F15, (q15_t)0x0F47, (q15_t)0x7F0F, (q15_t)0x0F79, + (q15_t)0x7F09, (q15_t)0x0FAB, (q15_t)0x7F03, (q15_t)0x0FDD, + (q15_t)0x7EFD, (q15_t)0x100E, (q15_t)0x7EF6, (q15_t)0x1040, + (q15_t)0x7EF0, (q15_t)0x1072, (q15_t)0x7EE9, (q15_t)0x10A4, + (q15_t)0x7EE3, (q15_t)0x10D6, (q15_t)0x7EDC, (q15_t)0x1108, + (q15_t)0x7ED5, (q15_t)0x1139, (q15_t)0x7ECF, (q15_t)0x116B, + (q15_t)0x7EC8, (q15_t)0x119D, (q15_t)0x7EC1, (q15_t)0x11CF, + (q15_t)0x7EBA, (q15_t)0x1201, (q15_t)0x7EB3, (q15_t)0x1232, + (q15_t)0x7EAB, (q15_t)0x1264, (q15_t)0x7EA4, (q15_t)0x1296, + (q15_t)0x7E9D, (q15_t)0x12C8, (q15_t)0x7E95, (q15_t)0x12F9, + (q15_t)0x7E8E, (q15_t)0x132B, (q15_t)0x7E86, (q15_t)0x135D, + (q15_t)0x7E7F, (q15_t)0x138E, (q15_t)0x7E77, (q15_t)0x13C0, + (q15_t)0x7E6F, (q15_t)0x13F2, (q15_t)0x7E67, (q15_t)0x1423, + (q15_t)0x7E5F, (q15_t)0x1455, (q15_t)0x7E57, (q15_t)0x1487, + (q15_t)0x7E4F, (q15_t)0x14B8, (q15_t)0x7E47, (q15_t)0x14EA, + (q15_t)0x7E3F, (q15_t)0x151B, (q15_t)0x7E37, (q15_t)0x154D, + (q15_t)0x7E2E, (q15_t)0x157F, (q15_t)0x7E26, (q15_t)0x15B0, + (q15_t)0x7E1D, (q15_t)0x15E2, (q15_t)0x7E14, (q15_t)0x1613, + (q15_t)0x7E0C, (q15_t)0x1645, (q15_t)0x7E03, (q15_t)0x1676, + (q15_t)0x7DFA, (q15_t)0x16A8, (q15_t)0x7DF1, (q15_t)0x16D9, + (q15_t)0x7DE8, (q15_t)0x170A, (q15_t)0x7DDF, (q15_t)0x173C, + (q15_t)0x7DD6, (q15_t)0x176D, (q15_t)0x7DCD, (q15_t)0x179F, + (q15_t)0x7DC3, (q15_t)0x17D0, (q15_t)0x7DBA, (q15_t)0x1802, + (q15_t)0x7DB0, (q15_t)0x1833, (q15_t)0x7DA7, (q15_t)0x1864, + (q15_t)0x7D9D, (q15_t)0x1896, (q15_t)0x7D94, (q15_t)0x18C7, + (q15_t)0x7D8A, (q15_t)0x18F8, (q15_t)0x7D80, (q15_t)0x192A, + (q15_t)0x7D76, (q15_t)0x195B, (q15_t)0x7D6C, (q15_t)0x198C, + (q15_t)0x7D62, (q15_t)0x19BD, (q15_t)0x7D58, (q15_t)0x19EF, + (q15_t)0x7D4E, (q15_t)0x1A20, (q15_t)0x7D43, (q15_t)0x1A51, + (q15_t)0x7D39, (q15_t)0x1A82, (q15_t)0x7D2F, (q15_t)0x1AB3, + (q15_t)0x7D24, (q15_t)0x1AE4, (q15_t)0x7D19, (q15_t)0x1B16, + (q15_t)0x7D0F, (q15_t)0x1B47, (q15_t)0x7D04, (q15_t)0x1B78, + (q15_t)0x7CF9, (q15_t)0x1BA9, (q15_t)0x7CEE, (q15_t)0x1BDA, + (q15_t)0x7CE3, (q15_t)0x1C0B, (q15_t)0x7CD8, (q15_t)0x1C3C, + (q15_t)0x7CCD, (q15_t)0x1C6D, (q15_t)0x7CC2, (q15_t)0x1C9E, + (q15_t)0x7CB7, (q15_t)0x1CCF, (q15_t)0x7CAB, (q15_t)0x1D00, + (q15_t)0x7CA0, (q15_t)0x1D31, (q15_t)0x7C94, (q15_t)0x1D62, + (q15_t)0x7C89, (q15_t)0x1D93, (q15_t)0x7C7D, (q15_t)0x1DC4, + (q15_t)0x7C71, (q15_t)0x1DF5, (q15_t)0x7C66, (q15_t)0x1E25, + (q15_t)0x7C5A, (q15_t)0x1E56, (q15_t)0x7C4E, (q15_t)0x1E87, + (q15_t)0x7C42, (q15_t)0x1EB8, (q15_t)0x7C36, (q15_t)0x1EE9, + (q15_t)0x7C29, (q15_t)0x1F19, (q15_t)0x7C1D, (q15_t)0x1F4A, + (q15_t)0x7C11, (q15_t)0x1F7B, (q15_t)0x7C05, (q15_t)0x1FAC, + (q15_t)0x7BF8, (q15_t)0x1FDC, (q15_t)0x7BEB, (q15_t)0x200D, + (q15_t)0x7BDF, (q15_t)0x203E, (q15_t)0x7BD2, (q15_t)0x206E, + (q15_t)0x7BC5, (q15_t)0x209F, (q15_t)0x7BB9, (q15_t)0x20D0, + (q15_t)0x7BAC, (q15_t)0x2100, (q15_t)0x7B9F, (q15_t)0x2131, + (q15_t)0x7B92, (q15_t)0x2161, (q15_t)0x7B84, (q15_t)0x2192, + (q15_t)0x7B77, (q15_t)0x21C2, (q15_t)0x7B6A, (q15_t)0x21F3, + (q15_t)0x7B5D, (q15_t)0x2223, (q15_t)0x7B4F, (q15_t)0x2254, + (q15_t)0x7B42, (q15_t)0x2284, (q15_t)0x7B34, (q15_t)0x22B4, + (q15_t)0x7B26, (q15_t)0x22E5, (q15_t)0x7B19, (q15_t)0x2315, + (q15_t)0x7B0B, (q15_t)0x2345, (q15_t)0x7AFD, (q15_t)0x2376, + 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(q15_t)0x9842, (q15_t)0xB504, (q15_t)0x9860, (q15_t)0xB4DB, + (q15_t)0x987D, (q15_t)0xB4B3, (q15_t)0x989B, (q15_t)0xB48A, + (q15_t)0x98B9, (q15_t)0xB461, (q15_t)0x98D6, (q15_t)0xB439, + (q15_t)0x98F4, (q15_t)0xB410, (q15_t)0x9912, (q15_t)0xB3E8, + (q15_t)0x9930, (q15_t)0xB3C0, (q15_t)0x994E, (q15_t)0xB397, + (q15_t)0x996C, (q15_t)0xB36F, (q15_t)0x998A, (q15_t)0xB347, + (q15_t)0x99A8, (q15_t)0xB31E, (q15_t)0x99C6, (q15_t)0xB2F6, + (q15_t)0x99E5, (q15_t)0xB2CE, (q15_t)0x9A03, (q15_t)0xB2A6, + (q15_t)0x9A22, (q15_t)0xB27E, (q15_t)0x9A40, (q15_t)0xB256, + (q15_t)0x9A5F, (q15_t)0xB22E, (q15_t)0x9A7D, (q15_t)0xB206, + (q15_t)0x9A9C, (q15_t)0xB1DE, (q15_t)0x9ABA, (q15_t)0xB1B7, + (q15_t)0x9AD9, (q15_t)0xB18F, (q15_t)0x9AF8, (q15_t)0xB167, + (q15_t)0x9B17, (q15_t)0xB140, (q15_t)0x9B36, (q15_t)0xB118, + (q15_t)0x9B55, (q15_t)0xB0F0, (q15_t)0x9B74, (q15_t)0xB0C9, + (q15_t)0x9B93, (q15_t)0xB0A1, (q15_t)0x9BB2, (q15_t)0xB07A, + (q15_t)0x9BD2, (q15_t)0xB053, (q15_t)0x9BF1, (q15_t)0xB02B, + (q15_t)0x9C10, (q15_t)0xB004, (q15_t)0x9C30, (q15_t)0xAFDD, + (q15_t)0x9C4F, (q15_t)0xAFB6, (q15_t)0x9C6F, (q15_t)0xAF8F, + (q15_t)0x9C8E, (q15_t)0xAF68, (q15_t)0x9CAE, (q15_t)0xAF40, + (q15_t)0x9CCE, (q15_t)0xAF1A, (q15_t)0x9CEE, (q15_t)0xAEF3, + (q15_t)0x9D0D, (q15_t)0xAECC, (q15_t)0x9D2D, (q15_t)0xAEA5, + (q15_t)0x9D4D, (q15_t)0xAE7E, (q15_t)0x9D6D, (q15_t)0xAE57, + (q15_t)0x9D8E, (q15_t)0xAE31, (q15_t)0x9DAE, (q15_t)0xAE0A, + (q15_t)0x9DCE, (q15_t)0xADE3, (q15_t)0x9DEE, (q15_t)0xADBD, + (q15_t)0x9E0E, (q15_t)0xAD96, (q15_t)0x9E2F, (q15_t)0xAD70, + (q15_t)0x9E4F, (q15_t)0xAD4A, (q15_t)0x9E70, (q15_t)0xAD23, + (q15_t)0x9E90, (q15_t)0xACFD, (q15_t)0x9EB1, (q15_t)0xACD7, + (q15_t)0x9ED2, (q15_t)0xACB1, (q15_t)0x9EF2, (q15_t)0xAC8A, + (q15_t)0x9F13, (q15_t)0xAC64, (q15_t)0x9F34, (q15_t)0xAC3E, + (q15_t)0x9F55, (q15_t)0xAC18, (q15_t)0x9F76, (q15_t)0xABF2, + (q15_t)0x9F97, (q15_t)0xABCC, (q15_t)0x9FB8, (q15_t)0xABA7, + (q15_t)0x9FD9, (q15_t)0xAB81, (q15_t)0x9FFB, (q15_t)0xAB5B, + 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(q15_t)0xB796, (q15_t)0x9673, (q15_t)0xB7BF, (q15_t)0x9657, + (q15_t)0xB7E9, (q15_t)0x963B, (q15_t)0xB812, (q15_t)0x961E, + (q15_t)0xB83C, (q15_t)0x9602, (q15_t)0xB865, (q15_t)0x95E6, + (q15_t)0xB88F, (q15_t)0x95CA, (q15_t)0xB8B9, (q15_t)0x95AE, + (q15_t)0xB8E3, (q15_t)0x9592, (q15_t)0xB90C, (q15_t)0x9576, + (q15_t)0xB936, (q15_t)0x955A, (q15_t)0xB960, (q15_t)0x953E, + (q15_t)0xB98A, (q15_t)0x9523, (q15_t)0xB9B4, (q15_t)0x9507, + (q15_t)0xB9DE, (q15_t)0x94EC, (q15_t)0xBA08, (q15_t)0x94D0, + (q15_t)0xBA32, (q15_t)0x94B5, (q15_t)0xBA5C, (q15_t)0x9499, + (q15_t)0xBA87, (q15_t)0x947E, (q15_t)0xBAB1, (q15_t)0x9463, + (q15_t)0xBADB, (q15_t)0x9447, (q15_t)0xBB05, (q15_t)0x942C, + (q15_t)0xBB30, (q15_t)0x9411, (q15_t)0xBB5A, (q15_t)0x93F6, + (q15_t)0xBB85, (q15_t)0x93DB, (q15_t)0xBBAF, (q15_t)0x93C0, + (q15_t)0xBBDA, (q15_t)0x93A6, (q15_t)0xBC04, (q15_t)0x938B, + (q15_t)0xBC2F, (q15_t)0x9370, (q15_t)0xBC5A, (q15_t)0x9356, + (q15_t)0xBC84, (q15_t)0x933B, (q15_t)0xBCAF, (q15_t)0x9321, + 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(q15_t)0xD367, (q15_t)0x8805, (q15_t)0xD396, (q15_t)0x87F3, + (q15_t)0xD3C5, (q15_t)0x87E2, (q15_t)0xD3F4, (q15_t)0x87D1, + (q15_t)0xD423, (q15_t)0x87BF, (q15_t)0xD452, (q15_t)0x87AE, + (q15_t)0xD482, (q15_t)0x879D, (q15_t)0xD4B1, (q15_t)0x878C, + (q15_t)0xD4E0, (q15_t)0x877B, (q15_t)0xD510, (q15_t)0x876A, + (q15_t)0xD53F, (q15_t)0x8759, (q15_t)0xD56E, (q15_t)0x8749, + (q15_t)0xD59E, (q15_t)0x8738, (q15_t)0xD5CD, (q15_t)0x8727, + (q15_t)0xD5FD, (q15_t)0x8717, (q15_t)0xD62C, (q15_t)0x8706, + (q15_t)0xD65C, (q15_t)0x86F6, (q15_t)0xD68B, (q15_t)0x86E6, + (q15_t)0xD6BB, (q15_t)0x86D5, (q15_t)0xD6EA, (q15_t)0x86C5, + (q15_t)0xD71A, (q15_t)0x86B5, (q15_t)0xD74A, (q15_t)0x86A5, + (q15_t)0xD779, (q15_t)0x8695, (q15_t)0xD7A9, (q15_t)0x8685, + (q15_t)0xD7D9, (q15_t)0x8675, (q15_t)0xD809, (q15_t)0x8666, + (q15_t)0xD838, (q15_t)0x8656, (q15_t)0xD868, (q15_t)0x8646, + (q15_t)0xD898, (q15_t)0x8637, (q15_t)0xD8C8, (q15_t)0x8627, + (q15_t)0xD8F8, (q15_t)0x8618, (q15_t)0xD927, (q15_t)0x8609, + (q15_t)0xD957, (q15_t)0x85FA, (q15_t)0xD987, (q15_t)0x85EA, + (q15_t)0xD9B7, (q15_t)0x85DB, (q15_t)0xD9E7, (q15_t)0x85CC, + (q15_t)0xDA17, (q15_t)0x85BD, (q15_t)0xDA47, (q15_t)0x85AF, + (q15_t)0xDA77, (q15_t)0x85A0, (q15_t)0xDAA7, (q15_t)0x8591, + (q15_t)0xDAD7, (q15_t)0x8582, (q15_t)0xDB08, (q15_t)0x8574, + (q15_t)0xDB38, (q15_t)0x8565, (q15_t)0xDB68, (q15_t)0x8557, + (q15_t)0xDB98, (q15_t)0x8549, (q15_t)0xDBC8, (q15_t)0x853A, + (q15_t)0xDBF8, (q15_t)0x852C, (q15_t)0xDC29, (q15_t)0x851E, + (q15_t)0xDC59, (q15_t)0x8510, (q15_t)0xDC89, (q15_t)0x8502, + (q15_t)0xDCBA, (q15_t)0x84F4, (q15_t)0xDCEA, (q15_t)0x84E6, + (q15_t)0xDD1A, (q15_t)0x84D9, (q15_t)0xDD4B, (q15_t)0x84CB, + (q15_t)0xDD7B, (q15_t)0x84BD, (q15_t)0xDDAB, (q15_t)0x84B0, + (q15_t)0xDDDC, (q15_t)0x84A2, (q15_t)0xDE0C, (q15_t)0x8495, + (q15_t)0xDE3D, (q15_t)0x8488, (q15_t)0xDE6D, (q15_t)0x847B, + (q15_t)0xDE9E, (q15_t)0x846D, (q15_t)0xDECE, (q15_t)0x8460, + (q15_t)0xDEFF, (q15_t)0x8453, (q15_t)0xDF2F, (q15_t)0x8446, + (q15_t)0xDF60, (q15_t)0x843A, (q15_t)0xDF91, (q15_t)0x842D, + (q15_t)0xDFC1, (q15_t)0x8420, (q15_t)0xDFF2, (q15_t)0x8414, + (q15_t)0xE023, (q15_t)0x8407, (q15_t)0xE053, (q15_t)0x83FA, + (q15_t)0xE084, (q15_t)0x83EE, (q15_t)0xE0B5, (q15_t)0x83E2, + (q15_t)0xE0E6, (q15_t)0x83D6, (q15_t)0xE116, (q15_t)0x83C9, + (q15_t)0xE147, (q15_t)0x83BD, (q15_t)0xE178, (q15_t)0x83B1, + (q15_t)0xE1A9, (q15_t)0x83A5, (q15_t)0xE1DA, (q15_t)0x8399, + (q15_t)0xE20A, (q15_t)0x838E, (q15_t)0xE23B, (q15_t)0x8382, + (q15_t)0xE26C, (q15_t)0x8376, (q15_t)0xE29D, (q15_t)0x836B, + (q15_t)0xE2CE, (q15_t)0x835F, (q15_t)0xE2FF, (q15_t)0x8354, + (q15_t)0xE330, (q15_t)0x8348, (q15_t)0xE361, (q15_t)0x833D, + (q15_t)0xE392, (q15_t)0x8332, (q15_t)0xE3C3, (q15_t)0x8327, + (q15_t)0xE3F4, (q15_t)0x831C, (q15_t)0xE425, (q15_t)0x8311, + (q15_t)0xE456, (q15_t)0x8306, (q15_t)0xE487, (q15_t)0x82FB, + (q15_t)0xE4B8, (q15_t)0x82F0, (q15_t)0xE4E9, (q15_t)0x82E6, + (q15_t)0xE51B, (q15_t)0x82DB, (q15_t)0xE54C, (q15_t)0x82D0, + (q15_t)0xE57D, (q15_t)0x82C6, (q15_t)0xE5AE, (q15_t)0x82BC, + (q15_t)0xE5DF, (q15_t)0x82B1, (q15_t)0xE610, (q15_t)0x82A7, + (q15_t)0xE642, (q15_t)0x829D, (q15_t)0xE673, (q15_t)0x8293, + (q15_t)0xE6A4, (q15_t)0x8289, (q15_t)0xE6D5, (q15_t)0x827F, + (q15_t)0xE707, (q15_t)0x8275, (q15_t)0xE738, (q15_t)0x826B, + (q15_t)0xE769, (q15_t)0x8262, (q15_t)0xE79B, (q15_t)0x8258, + (q15_t)0xE7CC, (q15_t)0x824F, (q15_t)0xE7FD, (q15_t)0x8245, + (q15_t)0xE82F, (q15_t)0x823C, (q15_t)0xE860, (q15_t)0x8232, + (q15_t)0xE892, (q15_t)0x8229, (q15_t)0xE8C3, (q15_t)0x8220, + (q15_t)0xE8F5, (q15_t)0x8217, (q15_t)0xE926, (q15_t)0x820E, + (q15_t)0xE957, (q15_t)0x8205, (q15_t)0xE989, (q15_t)0x81FC, + (q15_t)0xE9BA, (q15_t)0x81F3, (q15_t)0xE9EC, (q15_t)0x81EB, + (q15_t)0xEA1D, (q15_t)0x81E2, (q15_t)0xEA4F, (q15_t)0x81D9, + (q15_t)0xEA80, (q15_t)0x81D1, (q15_t)0xEAB2, (q15_t)0x81C8, + (q15_t)0xEAE4, (q15_t)0x81C0, (q15_t)0xEB15, (q15_t)0x81B8, + (q15_t)0xEB47, (q15_t)0x81B0, (q15_t)0xEB78, (q15_t)0x81A8, + (q15_t)0xEBAA, (q15_t)0x81A0, (q15_t)0xEBDC, (q15_t)0x8198, + (q15_t)0xEC0D, (q15_t)0x8190, (q15_t)0xEC3F, (q15_t)0x8188, + (q15_t)0xEC71, (q15_t)0x8180, (q15_t)0xECA2, (q15_t)0x8179, + (q15_t)0xECD4, (q15_t)0x8171, (q15_t)0xED06, (q15_t)0x816A, + (q15_t)0xED37, (q15_t)0x8162, (q15_t)0xED69, (q15_t)0x815B, + (q15_t)0xED9B, (q15_t)0x8154, (q15_t)0xEDCD, (q15_t)0x814C, + (q15_t)0xEDFE, (q15_t)0x8145, (q15_t)0xEE30, (q15_t)0x813E, + (q15_t)0xEE62, (q15_t)0x8137, (q15_t)0xEE94, (q15_t)0x8130, + (q15_t)0xEEC6, (q15_t)0x812A, (q15_t)0xEEF7, (q15_t)0x8123, + (q15_t)0xEF29, (q15_t)0x811C, (q15_t)0xEF5B, (q15_t)0x8116, + (q15_t)0xEF8D, (q15_t)0x810F, (q15_t)0xEFBF, (q15_t)0x8109, + (q15_t)0xEFF1, (q15_t)0x8102, (q15_t)0xF022, (q15_t)0x80FC, + (q15_t)0xF054, (q15_t)0x80F6, (q15_t)0xF086, (q15_t)0x80F0, + (q15_t)0xF0B8, (q15_t)0x80EA, (q15_t)0xF0EA, (q15_t)0x80E4, + (q15_t)0xF11C, (q15_t)0x80DE, (q15_t)0xF14E, (q15_t)0x80D8, + (q15_t)0xF180, (q15_t)0x80D2, (q15_t)0xF1B2, (q15_t)0x80CD, + (q15_t)0xF1E4, (q15_t)0x80C7, (q15_t)0xF216, (q15_t)0x80C2, + (q15_t)0xF248, (q15_t)0x80BC, (q15_t)0xF27A, (q15_t)0x80B7, + (q15_t)0xF2AC, (q15_t)0x80B2, (q15_t)0xF2DE, (q15_t)0x80AC, + (q15_t)0xF310, (q15_t)0x80A7, (q15_t)0xF342, (q15_t)0x80A2, + (q15_t)0xF374, (q15_t)0x809D, (q15_t)0xF3A6, (q15_t)0x8098, + (q15_t)0xF3D8, (q15_t)0x8094, (q15_t)0xF40A, (q15_t)0x808F, + (q15_t)0xF43C, (q15_t)0x808A, (q15_t)0xF46E, (q15_t)0x8086, + (q15_t)0xF4A0, (q15_t)0x8081, (q15_t)0xF4D2, (q15_t)0x807D, + (q15_t)0xF504, (q15_t)0x8078, (q15_t)0xF536, (q15_t)0x8074, + (q15_t)0xF568, (q15_t)0x8070, (q15_t)0xF59A, (q15_t)0x806C, + (q15_t)0xF5CC, (q15_t)0x8068, (q15_t)0xF5FF, (q15_t)0x8064, + (q15_t)0xF631, (q15_t)0x8060, (q15_t)0xF663, (q15_t)0x805C, + (q15_t)0xF695, (q15_t)0x8058, (q15_t)0xF6C7, (q15_t)0x8055, + (q15_t)0xF6F9, (q15_t)0x8051, (q15_t)0xF72B, (q15_t)0x804E, + (q15_t)0xF75D, (q15_t)0x804A, (q15_t)0xF790, (q15_t)0x8047, + (q15_t)0xF7C2, (q15_t)0x8043, (q15_t)0xF7F4, (q15_t)0x8040, + (q15_t)0xF826, (q15_t)0x803D, (q15_t)0xF858, (q15_t)0x803A, + (q15_t)0xF88A, (q15_t)0x8037, (q15_t)0xF8BD, (q15_t)0x8034, + (q15_t)0xF8EF, (q15_t)0x8031, (q15_t)0xF921, (q15_t)0x802F, + (q15_t)0xF953, (q15_t)0x802C, (q15_t)0xF985, (q15_t)0x8029, + (q15_t)0xF9B8, (q15_t)0x8027, (q15_t)0xF9EA, (q15_t)0x8025, + (q15_t)0xFA1C, (q15_t)0x8022, (q15_t)0xFA4E, (q15_t)0x8020, + (q15_t)0xFA80, (q15_t)0x801E, (q15_t)0xFAB3, (q15_t)0x801C, + (q15_t)0xFAE5, (q15_t)0x801A, (q15_t)0xFB17, (q15_t)0x8018, + (q15_t)0xFB49, (q15_t)0x8016, (q15_t)0xFB7C, (q15_t)0x8014, + (q15_t)0xFBAE, (q15_t)0x8012, (q15_t)0xFBE0, (q15_t)0x8011, + (q15_t)0xFC12, (q15_t)0x800F, (q15_t)0xFC45, (q15_t)0x800D, + (q15_t)0xFC77, (q15_t)0x800C, (q15_t)0xFCA9, (q15_t)0x800B, + (q15_t)0xFCDB, (q15_t)0x8009, (q15_t)0xFD0E, (q15_t)0x8008, + (q15_t)0xFD40, (q15_t)0x8007, (q15_t)0xFD72, (q15_t)0x8006, + (q15_t)0xFDA4, (q15_t)0x8005, (q15_t)0xFDD7, (q15_t)0x8004, + (q15_t)0xFE09, (q15_t)0x8003, (q15_t)0xFE3B, (q15_t)0x8003, + (q15_t)0xFE6D, (q15_t)0x8002, (q15_t)0xFEA0, (q15_t)0x8001, + (q15_t)0xFED2, (q15_t)0x8001, (q15_t)0xFF04, (q15_t)0x8000, + (q15_t)0xFF36, (q15_t)0x8000, (q15_t)0xFF69, (q15_t)0x8000, + (q15_t)0xFF9B, (q15_t)0x8000, (q15_t)0xFFCD, (q15_t)0x8000 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +/** + @} end of CFFT_CIFFT group +*/ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_16) + +const uint16_t armBitRevIndexTableF64_16[ARMBITREVINDEXTABLEF64_16_TABLE_LENGTH] = +{ + /* radix 4, size 12 */ + 8,64, 16,32, 24,96, 40,80, 56,112, 88,104 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_32) +const uint16_t armBitRevIndexTableF64_32[ARMBITREVINDEXTABLEF64_32_TABLE_LENGTH] = +{ + /* 4x2, size 24 */ + 8,128, 16,64, 24,192, 40,160, 48,96, 56,224, 72,144, + 88,208, 104,176, 120,240, 152,200, 184,232 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_64) +const uint16_t armBitRevIndexTableF64_64[ARMBITREVINDEXTABLEF64_64_TABLE_LENGTH] = +{ + /* radix 4, size 56 */ + 8,256, 16,128, 24,384, 32,64, 40,320, 48,192, 56,448, 72,288, 80,160, 88,416, 104,352, + 112,224, 120,480, 136,272, 152,400, 168,336, 176,208, 184,464, 200,304, 216,432, + 232,368, 248,496, 280,392, 296,328, 312,456, 344,424, 376,488, 440,472 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_128) +const uint16_t armBitRevIndexTableF64_128[ARMBITREVINDEXTABLEF64_128_TABLE_LENGTH] = +{ + /* 4x2, size 112 */ + 8,512, 16,256, 24,768, 32,128, 40,640, 48,384, 56,896, 72,576, 80,320, 88,832, 96,192, + 104,704, 112,448, 120,960, 136,544, 144,288, 152,800, 168,672, 176,416, 184,928, 200,608, + 208,352, 216,864, 232,736, 240,480, 248,992, 264,528, 280,784, 296,656, 304,400, 312,912, + 328,592, 344,848, 360,720, 368,464, 376,976, 392,560, 408,816, 424,688, 440,944, 456,624, + 472,880, 488,752, 504,1008, 536,776, 552,648, 568,904, 600,840, 616,712, 632,968, + 664,808, 696,936, 728,872, 760,1000, 824,920, 888,984 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_256) +const uint16_t armBitRevIndexTableF64_256[ARMBITREVINDEXTABLEF64_256_TABLE_LENGTH] = +{ + /* radix 4, size 240 */ + 8,1024, 16,512, 24,1536, 32,256, 40,1280, 48,768, 56,1792, 64,128, 72,1152, 80,640, + 88,1664, 96,384, 104,1408, 112,896, 120,1920, 136,1088, 144,576, 152,1600, 160,320, + 168,1344, 176,832, 184,1856, 200,1216, 208,704, 216,1728, 224,448, 232,1472, 240,960, + 248,1984, 264,1056, 272,544, 280,1568, 296,1312, 304,800, 312,1824, 328,1184, 336,672, + 344,1696, 352,416, 360,1440, 368,928, 376,1952, 392,1120, 400,608, 408,1632, 424,1376, + 432,864, 440,1888, 456,1248, 464,736, 472,1760, 488,1504, 496,992, 504,2016, 520,1040, + 536,1552, 552,1296, 560,784, 568,1808, 584,1168, 592,656, 600,1680, 616,1424, 624,912, + 632,1936, 648,1104, 664,1616, 680,1360, 688,848, 696,1872, 712,1232, 728,1744, 744,1488, + 752,976, 760,2000, 776,1072, 792,1584, 808,1328, 824,1840, 840,1200, 856,1712, 872,1456, + 880,944, 888,1968, 904,1136, 920,1648, 936,1392, 952,1904, 968,1264, 984,1776, 1000,1520, + 1016,2032, 1048,1544, 1064,1288, 1080,1800, 1096,1160, 1112,1672, 1128,1416, 1144,1928, + 1176,1608, 1192,1352, 1208,1864, 1240,1736, 1256,1480, 1272,1992, 1304,1576, 1336,1832, + 1368,1704, 1384,1448, 1400,1960, 1432,1640, 1464,1896, 1496,1768, 1528,2024, 1592,1816, + 1624,1688, 1656,1944, 1720,1880, 1784,2008, 1912,1976 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_512) +const uint16_t armBitRevIndexTableF64_512[ARMBITREVINDEXTABLEF64_512_TABLE_LENGTH] = +{ + /* 4x2, size 480 */ + 8,2048, 16,1024, 24,3072, 32,512, 40,2560, 48,1536, 56,3584, 64,256, 72,2304, 80,1280, + 88,3328, 96,768, 104,2816, 112,1792, 120,3840, 136,2176, 144,1152, 152,3200, 160,640, + 168,2688, 176,1664, 184,3712, 192,384, 200,2432, 208,1408, 216,3456, 224,896, 232,2944, + 240,1920, 248,3968, 264,2112, 272,1088, 280,3136, 288,576, 296,2624, 304,1600, 312,3648, + 328,2368, 336,1344, 344,3392, 352,832, 360,2880, 368,1856, 376,3904, 392,2240, 400,1216, + 408,3264, 416,704, 424,2752, 432,1728, 440,3776, 456,2496, 464,1472, 472,3520, 480,960, + 488,3008, 496,1984, 504,4032, 520,2080, 528,1056, 536,3104, 552,2592, 560,1568, 568,3616, + 584,2336, 592,1312, 600,3360, 608,800, 616,2848, 624,1824, 632,3872, 648,2208, 656,1184, + 664,3232, 680,2720, 688,1696, 696,3744, 712,2464, 720,1440, 728,3488, 736,928, 744,2976, + 752,1952, 760,4000, 776,2144, 784,1120, 792,3168, 808,2656, 816,1632, 824,3680, 840,2400, + 848,1376, 856,3424, 872,2912, 880,1888, 888,3936, 904,2272, 912,1248, 920,3296, 936,2784, + 944,1760, 952,3808, 968,2528, 976,1504, 984,3552, 1000,3040, 1008,2016, 1016,4064, + 1032,2064, 1048,3088, 1064,2576, 1072,1552, 1080,3600, 1096,2320, 1104,1296, 1112,3344, + 1128,2832, 1136,1808, 1144,3856, 1160,2192, 1176,3216, 1192,2704, 1200,1680, 1208,3728, + 1224,2448, 1232,1424, 1240,3472, 1256,2960, 1264,1936, 1272,3984, 1288,2128, 1304,3152, + 1320,2640, 1328,1616, 1336,3664, 1352,2384, 1368,3408, 1384,2896, 1392,1872, 1400,3920, + 1416,2256, 1432,3280, 1448,2768, 1456,1744, 1464,3792, 1480,2512, 1496,3536, 1512,3024, + 1520,2000, 1528,4048, 1544,2096, 1560,3120, 1576,2608, 1592,3632, 1608,2352, 1624,3376, + 1640,2864, 1648,1840, 1656,3888, 1672,2224, 1688,3248, 1704,2736, 1720,3760, 1736,2480, + 1752,3504, 1768,2992, 1776,1968, 1784,4016, 1800,2160, 1816,3184, 1832,2672, 1848,3696, + 1864,2416, 1880,3440, 1896,2928, 1912,3952, 1928,2288, 1944,3312, 1960,2800, 1976,3824, + 1992,2544, 2008,3568, 2024,3056, 2040,4080, 2072,3080, 2088,2568, 2104,3592, 2120,2312, + 2136,3336, 2152,2824, 2168,3848, 2200,3208, 2216,2696, 2232,3720, 2248,2440, 2264,3464, + 2280,2952, 2296,3976, 2328,3144, 2344,2632, 2360,3656, 2392,3400, 2408,2888, 2424,3912, + 2456,3272, 2472,2760, 2488,3784, 2520,3528, 2536,3016, 2552,4040, 2584,3112, 2616,3624, + 2648,3368, 2664,2856, 2680,3880, 2712,3240, 2744,3752, 2776,3496, 2792,2984, 2808,4008, + 2840,3176, 2872,3688, 2904,3432, 2936,3944, 2968,3304, 3000,3816, 3032,3560, 3064,4072, + 3128,3608, 3160,3352, 3192,3864, 3256,3736, 3288,3480, 3320,3992, 3384,3672, 3448,3928, + 3512,3800, 3576,4056, 3704,3896, 3832,4024 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_1024) +const uint16_t armBitRevIndexTableF64_1024[ARMBITREVINDEXTABLEF64_1024_TABLE_LENGTH] = +{ + /* radix 4, size 992 */ + 8,4096, 16,2048, 24,6144, 32,1024, 40,5120, 48,3072, 56,7168, 64,512, 72,4608, + 80,2560, 88,6656, 96,1536, 104,5632, 112,3584, 120,7680, 128,256, 136,4352, + 144,2304, 152,6400, 160,1280, 168,5376, 176,3328, 184,7424, 192,768, 200,4864, + 208,2816, 216,6912, 224,1792, 232,5888, 240,3840, 248,7936, 264,4224, 272,2176, + 280,6272, 288,1152, 296,5248, 304,3200, 312,7296, 320,640, 328,4736, 336,2688, + 344,6784, 352,1664, 360,5760, 368,3712, 376,7808, 392,4480, 400,2432, 408,6528, + 416,1408, 424,5504, 432,3456, 440,7552, 448,896, 456,4992, 464,2944, 472,7040, + 480,1920, 488,6016, 496,3968, 504,8064, 520,4160, 528,2112, 536,6208, 544,1088, + 552,5184, 560,3136, 568,7232, 584,4672, 592,2624, 600,6720, 608,1600, 616,5696, + 624,3648, 632,7744, 648,4416, 656,2368, 664,6464, 672,1344, 680,5440, 688,3392, + 696,7488, 704,832, 712,4928, 720,2880, 728,6976, 736,1856, 744,5952, 752,3904, + 760,8000, 776,4288, 784,2240, 792,6336, 800,1216, 808,5312, 816,3264, 824,7360, + 840,4800, 848,2752, 856,6848, 864,1728, 872,5824, 880,3776, 888,7872, 904,4544, + 912,2496, 920,6592, 928,1472, 936,5568, 944,3520, 952,7616, 968,5056, 976,3008, + 984,7104, 992,1984, 1000,6080, 1008,4032, 1016,8128, 1032,4128, 1040,2080, + 1048,6176, 1064,5152, 1072,3104, 1080,7200, 1096,4640, 1104,2592, 1112,6688, + 1120,1568, 1128,5664, 1136,3616, 1144,7712, 1160,4384, 1168,2336, 1176,6432, + 1184,1312, 1192,5408, 1200,3360, 1208,7456, 1224,4896, 1232,2848, 1240,6944, + 1248,1824, 1256,5920, 1264,3872, 1272,7968, 1288,4256, 1296,2208, 1304,6304, + 1320,5280, 1328,3232, 1336,7328, 1352,4768, 1360,2720, 1368,6816, 1376,1696, + 1384,5792, 1392,3744, 1400,7840, 1416,4512, 1424,2464, 1432,6560, 1448,5536, + 1456,3488, 1464,7584, 1480,5024, 1488,2976, 1496,7072, 1504,1952, 1512,6048, + 1520,4000, 1528,8096, 1544,4192, 1552,2144, 1560,6240, 1576,5216, 1584,3168, + 1592,7264, 1608,4704, 1616,2656, 1624,6752, 1640,5728, 1648,3680, 1656,7776, + 1672,4448, 1680,2400, 1688,6496, 1704,5472, 1712,3424, 1720,7520, 1736,4960, + 1744,2912, 1752,7008, 1760,1888, 1768,5984, 1776,3936, 1784,8032, 1800,4320, + 1808,2272, 1816,6368, 1832,5344, 1840,3296, 1848,7392, 1864,4832, 1872,2784, + 1880,6880, 1896,5856, 1904,3808, 1912,7904, 1928,4576, 1936,2528, 1944,6624, + 1960,5600, 1968,3552, 1976,7648, 1992,5088, 2000,3040, 2008,7136, 2024,6112, + 2032,4064, 2040,8160, 2056,4112, 2072,6160, 2088,5136, 2096,3088, 2104,7184, + 2120,4624, 2128,2576, 2136,6672, 2152,5648, 2160,3600, 2168,7696, 2184,4368, + 2192,2320, 2200,6416, 2216,5392, 2224,3344, 2232,7440, 2248,4880, 2256,2832, + 2264,6928, 2280,5904, 2288,3856, 2296,7952, 2312,4240, 2328,6288, 2344,5264, + 2352,3216, 2360,7312, 2376,4752, 2384,2704, 2392,6800, 2408,5776, 2416,3728, + 2424,7824, 2440,4496, 2456,6544, 2472,5520, 2480,3472, 2488,7568, 2504,5008, + 2512,2960, 2520,7056, 2536,6032, 2544,3984, 2552,8080, 2568,4176, 2584,6224, + 2600,5200, 2608,3152, 2616,7248, 2632,4688, 2648,6736, 2664,5712, 2672,3664, + 2680,7760, 2696,4432, 2712,6480, 2728,5456, 2736,3408, 2744,7504, 2760,4944, + 2768,2896, 2776,6992, 2792,5968, 2800,3920, 2808,8016, 2824,4304, 2840,6352, + 2856,5328, 2864,3280, 2872,7376, 2888,4816, 2904,6864, 2920,5840, 2928,3792, + 2936,7888, 2952,4560, 2968,6608, 2984,5584, 2992,3536, 3000,7632, 3016,5072, + 3032,7120, 3048,6096, 3056,4048, 3064,8144, 3080,4144, 3096,6192, 3112,5168, + 3128,7216, 3144,4656, 3160,6704, 3176,5680, 3184,3632, 3192,7728, 3208,4400, + 3224,6448, 3240,5424, 3248,3376, 3256,7472, 3272,4912, 3288,6960, 3304,5936, + 3312,3888, 3320,7984, 3336,4272, 3352,6320, 3368,5296, 3384,7344, 3400,4784, + 3416,6832, 3432,5808, 3440,3760, 3448,7856, 3464,4528, 3480,6576, 3496,5552, + 3512,7600, 3528,5040, 3544,7088, 3560,6064, 3568,4016, 3576,8112, 3592,4208, + 3608,6256, 3624,5232, 3640,7280, 3656,4720, 3672,6768, 3688,5744, 3704,7792, + 3720,4464, 3736,6512, 3752,5488, 3768,7536, 3784,4976, 3800,7024, 3816,6000, + 3824,3952, 3832,8048, 3848,4336, 3864,6384, 3880,5360, 3896,7408, 3912,4848, + 3928,6896, 3944,5872, 3960,7920, 3976,4592, 3992,6640, 4008,5616, 4024,7664, + 4040,5104, 4056,7152, 4072,6128, 4088,8176, 4120,6152, 4136,5128, 4152,7176, + 4168,4616, 4184,6664, 4200,5640, 4216,7688, 4232,4360, 4248,6408, 4264,5384, + 4280,7432, 4296,4872, 4312,6920, 4328,5896, 4344,7944, 4376,6280, 4392,5256, + 4408,7304, 4424,4744, 4440,6792, 4456,5768, 4472,7816, 4504,6536, 4520,5512, + 4536,7560, 4552,5000, 4568,7048, 4584,6024, 4600,8072, 4632,6216, 4648,5192, + 4664,7240, 4696,6728, 4712,5704, 4728,7752, 4760,6472, 4776,5448, 4792,7496, + 4808,4936, 4824,6984, 4840,5960, 4856,8008, 4888,6344, 4904,5320, 4920,7368, + 4952,6856, 4968,5832, 4984,7880, 5016,6600, 5032,5576, 5048,7624, 5080,7112, + 5096,6088, 5112,8136, 5144,6184, 5176,7208, 5208,6696, 5224,5672, 5240,7720, + 5272,6440, 5288,5416, 5304,7464, 5336,6952, 5352,5928, 5368,7976, 5400,6312, + 5432,7336, 5464,6824, 5480,5800, 5496,7848, 5528,6568, 5560,7592, 5592,7080, + 5608,6056, 5624,8104, 5656,6248, 5688,7272, 5720,6760, 5752,7784, 5784,6504, + 5816,7528, 5848,7016, 5864,5992, 5880,8040, 5912,6376, 5944,7400, 5976,6888, + 6008,7912, 6040,6632, 6072,7656, 6104,7144, 6136,8168, 6200,7192, 6232,6680, + 6264,7704, 6296,6424, 6328,7448, 6360,6936, 6392,7960, 6456,7320, 6488,6808, + 6520,7832, 6584,7576, 6616,7064, 6648,8088, 6712,7256, 6776,7768, 6840,7512, + 6872,7000, 6904,8024, 6968,7384, 7032,7896, 7096,7640, 7160,8152, 7288,7736, + 7352,7480, 7416,7992, 7544,7864, 7672,8120, 7928,8056 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_2048) +const uint16_t armBitRevIndexTableF64_2048[ARMBITREVINDEXTABLEF64_2048_TABLE_LENGTH] = +{ + /* 4x2, size 1984 */ + 8,8192, 16,4096, 24,12288, 32,2048, 40,10240, 48,6144, 56,14336, 64,1024, + 72,9216, 80,5120, 88,13312, 96,3072, 104,11264, 112,7168, 120,15360, 128,512, + 136,8704, 144,4608, 152,12800, 160,2560, 168,10752, 176,6656, 184,14848, + 192,1536, 200,9728, 208,5632, 216,13824, 224,3584, 232,11776, 240,7680, + 248,15872, 264,8448, 272,4352, 280,12544, 288,2304, 296,10496, 304,6400, + 312,14592, 320,1280, 328,9472, 336,5376, 344,13568, 352,3328, 360,11520, + 368,7424, 376,15616, 384,768, 392,8960, 400,4864, 408,13056, 416,2816, + 424,11008, 432,6912, 440,15104, 448,1792, 456,9984, 464,5888, 472,14080, + 480,3840, 488,12032, 496,7936, 504,16128, 520,8320, 528,4224, 536,12416, + 544,2176, 552,10368, 560,6272, 568,14464, 576,1152, 584,9344, 592,5248, + 600,13440, 608,3200, 616,11392, 624,7296, 632,15488, 648,8832, 656,4736, + 664,12928, 672,2688, 680,10880, 688,6784, 696,14976, 704,1664, 712,9856, + 720,5760, 728,13952, 736,3712, 744,11904, 752,7808, 760,16000, 776,8576, + 784,4480, 792,12672, 800,2432, 808,10624, 816,6528, 824,14720, 832,1408, + 840,9600, 848,5504, 856,13696, 864,3456, 872,11648, 880,7552, 888,15744, + 904,9088, 912,4992, 920,13184, 928,2944, 936,11136, 944,7040, 952,15232, + 960,1920, 968,10112, 976,6016, 984,14208, 992,3968, 1000,12160, 1008,8064, + 1016,16256, 1032,8256, 1040,4160, 1048,12352, 1056,2112, 1064,10304, 1072,6208, + 1080,14400, 1096,9280, 1104,5184, 1112,13376, 1120,3136, 1128,11328, 1136,7232, + 1144,15424, 1160,8768, 1168,4672, 1176,12864, 1184,2624, 1192,10816, 1200,6720, + 1208,14912, 1216,1600, 1224,9792, 1232,5696, 1240,13888, 1248,3648, 1256,11840, + 1264,7744, 1272,15936, 1288,8512, 1296,4416, 1304,12608, 1312,2368, 1320,10560, + 1328,6464, 1336,14656, 1352,9536, 1360,5440, 1368,13632, 1376,3392, 1384,11584, + 1392,7488, 1400,15680, 1416,9024, 1424,4928, 1432,13120, 1440,2880, 1448,11072, + 1456,6976, 1464,15168, 1472,1856, 1480,10048, 1488,5952, 1496,14144, 1504,3904, + 1512,12096, 1520,8000, 1528,16192, 1544,8384, 1552,4288, 1560,12480, 1568,2240, + 1576,10432, 1584,6336, 1592,14528, 1608,9408, 1616,5312, 1624,13504, 1632,3264, + 1640,11456, 1648,7360, 1656,15552, 1672,8896, 1680,4800, 1688,12992, 1696,2752, + 1704,10944, 1712,6848, 1720,15040, 1736,9920, 1744,5824, 1752,14016, 1760,3776, + 1768,11968, 1776,7872, 1784,16064, 1800,8640, 1808,4544, 1816,12736, 1824,2496, + 1832,10688, 1840,6592, 1848,14784, 1864,9664, 1872,5568, 1880,13760, 1888,3520, + 1896,11712, 1904,7616, 1912,15808, 1928,9152, 1936,5056, 1944,13248, 1952,3008, + 1960,11200, 1968,7104, 1976,15296, 1992,10176, 2000,6080, 2008,14272, 2016,4032, + 2024,12224, 2032,8128, 2040,16320, 2056,8224, 2064,4128, 2072,12320, 2088,10272, + 2096,6176, 2104,14368, 2120,9248, 2128,5152, 2136,13344, 2144,3104, 2152,11296, + 2160,7200, 2168,15392, 2184,8736, 2192,4640, 2200,12832, 2208,2592, 2216,10784, + 2224,6688, 2232,14880, 2248,9760, 2256,5664, 2264,13856, 2272,3616, 2280,11808, + 2288,7712, 2296,15904, 2312,8480, 2320,4384, 2328,12576, 2344,10528, 2352,6432, + 2360,14624, 2376,9504, 2384,5408, 2392,13600, 2400,3360, 2408,11552, 2416,7456, + 2424,15648, 2440,8992, 2448,4896, 2456,13088, 2464,2848, 2472,11040, 2480,6944, + 2488,15136, 2504,10016, 2512,5920, 2520,14112, 2528,3872, 2536,12064, 2544,7968, + 2552,16160, 2568,8352, 2576,4256, 2584,12448, 2600,10400, 2608,6304, 2616,14496, + 2632,9376, 2640,5280, 2648,13472, 2656,3232, 2664,11424, 2672,7328, 2680,15520, + 2696,8864, 2704,4768, 2712,12960, 2728,10912, 2736,6816, 2744,15008, 2760,9888, + 2768,5792, 2776,13984, 2784,3744, 2792,11936, 2800,7840, 2808,16032, 2824,8608, + 2832,4512, 2840,12704, 2856,10656, 2864,6560, 2872,14752, 2888,9632, 2896,5536, + 2904,13728, 2912,3488, 2920,11680, 2928,7584, 2936,15776, 2952,9120, 2960,5024, + 2968,13216, 2984,11168, 2992,7072, 3000,15264, 3016,10144, 3024,6048, + 3032,14240, 3040,4000, 3048,12192, 3056,8096, 3064,16288, 3080,8288, 3088,4192, + 3096,12384, 3112,10336, 3120,6240, 3128,14432, 3144,9312, 3152,5216, 3160,13408, + 3176,11360, 3184,7264, 3192,15456, 3208,8800, 3216,4704, 3224,12896, 3240,10848, + 3248,6752, 3256,14944, 3272,9824, 3280,5728, 3288,13920, 3296,3680, 3304,11872, + 3312,7776, 3320,15968, 3336,8544, 3344,4448, 3352,12640, 3368,10592, 3376,6496, + 3384,14688, 3400,9568, 3408,5472, 3416,13664, 3432,11616, 3440,7520, 3448,15712, + 3464,9056, 3472,4960, 3480,13152, 3496,11104, 3504,7008, 3512,15200, 3528,10080, + 3536,5984, 3544,14176, 3552,3936, 3560,12128, 3568,8032, 3576,16224, 3592,8416, + 3600,4320, 3608,12512, 3624,10464, 3632,6368, 3640,14560, 3656,9440, 3664,5344, + 3672,13536, 3688,11488, 3696,7392, 3704,15584, 3720,8928, 3728,4832, 3736,13024, + 3752,10976, 3760,6880, 3768,15072, 3784,9952, 3792,5856, 3800,14048, 3816,12000, + 3824,7904, 3832,16096, 3848,8672, 3856,4576, 3864,12768, 3880,10720, 3888,6624, + 3896,14816, 3912,9696, 3920,5600, 3928,13792, 3944,11744, 3952,7648, 3960,15840, + 3976,9184, 3984,5088, 3992,13280, 4008,11232, 4016,7136, 4024,15328, 4040,10208, + 4048,6112, 4056,14304, 4072,12256, 4080,8160, 4088,16352, 4104,8208, 4120,12304, + 4136,10256, 4144,6160, 4152,14352, 4168,9232, 4176,5136, 4184,13328, 4200,11280, + 4208,7184, 4216,15376, 4232,8720, 4240,4624, 4248,12816, 4264,10768, 4272,6672, + 4280,14864, 4296,9744, 4304,5648, 4312,13840, 4328,11792, 4336,7696, 4344,15888, + 4360,8464, 4376,12560, 4392,10512, 4400,6416, 4408,14608, 4424,9488, 4432,5392, + 4440,13584, 4456,11536, 4464,7440, 4472,15632, 4488,8976, 4496,4880, 4504,13072, + 4520,11024, 4528,6928, 4536,15120, 4552,10000, 4560,5904, 4568,14096, + 4584,12048, 4592,7952, 4600,16144, 4616,8336, 4632,12432, 4648,10384, 4656,6288, + 4664,14480, 4680,9360, 4688,5264, 4696,13456, 4712,11408, 4720,7312, 4728,15504, + 4744,8848, 4760,12944, 4776,10896, 4784,6800, 4792,14992, 4808,9872, 4816,5776, + 4824,13968, 4840,11920, 4848,7824, 4856,16016, 4872,8592, 4888,12688, + 4904,10640, 4912,6544, 4920,14736, 4936,9616, 4944,5520, 4952,13712, 4968,11664, + 4976,7568, 4984,15760, 5000,9104, 5016,13200, 5032,11152, 5040,7056, 5048,15248, + 5064,10128, 5072,6032, 5080,14224, 5096,12176, 5104,8080, 5112,16272, 5128,8272, + 5144,12368, 5160,10320, 5168,6224, 5176,14416, 5192,9296, 5208,13392, + 5224,11344, 5232,7248, 5240,15440, 5256,8784, 5272,12880, 5288,10832, 5296,6736, + 5304,14928, 5320,9808, 5328,5712, 5336,13904, 5352,11856, 5360,7760, 5368,15952, + 5384,8528, 5400,12624, 5416,10576, 5424,6480, 5432,14672, 5448,9552, 5464,13648, + 5480,11600, 5488,7504, 5496,15696, 5512,9040, 5528,13136, 5544,11088, 5552,6992, + 5560,15184, 5576,10064, 5584,5968, 5592,14160, 5608,12112, 5616,8016, + 5624,16208, 5640,8400, 5656,12496, 5672,10448, 5680,6352, 5688,14544, 5704,9424, + 5720,13520, 5736,11472, 5744,7376, 5752,15568, 5768,8912, 5784,13008, + 5800,10960, 5808,6864, 5816,15056, 5832,9936, 5848,14032, 5864,11984, 5872,7888, + 5880,16080, 5896,8656, 5912,12752, 5928,10704, 5936,6608, 5944,14800, 5960,9680, + 5976,13776, 5992,11728, 6000,7632, 6008,15824, 6024,9168, 6040,13264, + 6056,11216, 6064,7120, 6072,15312, 6088,10192, 6104,14288, 6120,12240, + 6128,8144, 6136,16336, 6152,8240, 6168,12336, 6184,10288, 6200,14384, 6216,9264, + 6232,13360, 6248,11312, 6256,7216, 6264,15408, 6280,8752, 6296,12848, + 6312,10800, 6320,6704, 6328,14896, 6344,9776, 6360,13872, 6376,11824, 6384,7728, + 6392,15920, 6408,8496, 6424,12592, 6440,10544, 6456,14640, 6472,9520, + 6488,13616, 6504,11568, 6512,7472, 6520,15664, 6536,9008, 6552,13104, + 6568,11056, 6576,6960, 6584,15152, 6600,10032, 6616,14128, 6632,12080, + 6640,7984, 6648,16176, 6664,8368, 6680,12464, 6696,10416, 6712,14512, 6728,9392, + 6744,13488, 6760,11440, 6768,7344, 6776,15536, 6792,8880, 6808,12976, + 6824,10928, 6840,15024, 6856,9904, 6872,14000, 6888,11952, 6896,7856, + 6904,16048, 6920,8624, 6936,12720, 6952,10672, 6968,14768, 6984,9648, + 7000,13744, 7016,11696, 7024,7600, 7032,15792, 7048,9136, 7064,13232, + 7080,11184, 7096,15280, 7112,10160, 7128,14256, 7144,12208, 7152,8112, + 7160,16304, 7176,8304, 7192,12400, 7208,10352, 7224,14448, 7240,9328, + 7256,13424, 7272,11376, 7288,15472, 7304,8816, 7320,12912, 7336,10864, + 7352,14960, 7368,9840, 7384,13936, 7400,11888, 7408,7792, 7416,15984, 7432,8560, + 7448,12656, 7464,10608, 7480,14704, 7496,9584, 7512,13680, 7528,11632, + 7544,15728, 7560,9072, 7576,13168, 7592,11120, 7608,15216, 7624,10096, + 7640,14192, 7656,12144, 7664,8048, 7672,16240, 7688,8432, 7704,12528, + 7720,10480, 7736,14576, 7752,9456, 7768,13552, 7784,11504, 7800,15600, + 7816,8944, 7832,13040, 7848,10992, 7864,15088, 7880,9968, 7896,14064, + 7912,12016, 7928,16112, 7944,8688, 7960,12784, 7976,10736, 7992,14832, + 8008,9712, 8024,13808, 8040,11760, 8056,15856, 8072,9200, 8088,13296, + 8104,11248, 8120,15344, 8136,10224, 8152,14320, 8168,12272, 8184,16368, + 8216,12296, 8232,10248, 8248,14344, 8264,9224, 8280,13320, 8296,11272, + 8312,15368, 8328,8712, 8344,12808, 8360,10760, 8376,14856, 8392,9736, + 8408,13832, 8424,11784, 8440,15880, 8472,12552, 8488,10504, 8504,14600, + 8520,9480, 8536,13576, 8552,11528, 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10136,13256, 10152,11208, 10168,15304, 10200,14280, 10216,12232, 10232,16328, + 10264,12328, 10296,14376, 10328,13352, 10344,11304, 10360,15400, 10392,12840, + 10408,10792, 10424,14888, 10456,13864, 10472,11816, 10488,15912, 10520,12584, + 10552,14632, 10584,13608, 10600,11560, 10616,15656, 10648,13096, 10664,11048, + 10680,15144, 10712,14120, 10728,12072, 10744,16168, 10776,12456, 10808,14504, + 10840,13480, 10856,11432, 10872,15528, 10904,12968, 10936,15016, 10968,13992, + 10984,11944, 11000,16040, 11032,12712, 11064,14760, 11096,13736, 11112,11688, + 11128,15784, 11160,13224, 11192,15272, 11224,14248, 11240,12200, 11256,16296, + 11288,12392, 11320,14440, 11352,13416, 11384,15464, 11416,12904, 11448,14952, + 11480,13928, 11496,11880, 11512,15976, 11544,12648, 11576,14696, 11608,13672, + 11640,15720, 11672,13160, 11704,15208, 11736,14184, 11752,12136, 11768,16232, + 11800,12520, 11832,14568, 11864,13544, 11896,15592, 11928,13032, 11960,15080, + 11992,14056, 12024,16104, 12056,12776, 12088,14824, 12120,13800, 12152,15848, + 12184,13288, 12216,15336, 12248,14312, 12280,16360, 12344,14360, 12376,13336, + 12408,15384, 12440,12824, 12472,14872, 12504,13848, 12536,15896, 12600,14616, + 12632,13592, 12664,15640, 12696,13080, 12728,15128, 12760,14104, 12792,16152, + 12856,14488, 12888,13464, 12920,15512, 12984,15000, 13016,13976, 13048,16024, + 13112,14744, 13144,13720, 13176,15768, 13240,15256, 13272,14232, 13304,16280, + 13368,14424, 13432,15448, 13496,14936, 13528,13912, 13560,15960, 13624,14680, + 13688,15704, 13752,15192, 13784,14168, 13816,16216, 13880,14552, 13944,15576, + 14008,15064, 14072,16088, 14136,14808, 14200,15832, 14264,15320, 14328,16344, + 14456,15416, 14520,14904, 14584,15928, 14712,15672, 14776,15160, 14840,16184, + 14968,15544, 15096,16056, 15224,15800, 15352,16312, 15608,15992, 15864,16248 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT64_4096) +const uint16_t armBitRevIndexTableF64_4096[ARMBITREVINDEXTABLEF64_4096_TABLE_LENGTH] = +{ + /* radix 4, size 4032 */ + 8,16384, 16,8192, 24,24576, 32,4096, 40,20480, 48,12288, 56,28672, 64,2048, + 72,18432, 80,10240, 88,26624, 96,6144, 104,22528, 112,14336, 120,30720, + 128,1024, 136,17408, 144,9216, 152,25600, 160,5120, 168,21504, 176,13312, + 184,29696, 192,3072, 200,19456, 208,11264, 216,27648, 224,7168, 232,23552, + 240,15360, 248,31744, 256,512, 264,16896, 272,8704, 280,25088, 288,4608, + 296,20992, 304,12800, 312,29184, 320,2560, 328,18944, 336,10752, 344,27136, + 352,6656, 360,23040, 368,14848, 376,31232, 384,1536, 392,17920, 400,9728, + 408,26112, 416,5632, 424,22016, 432,13824, 440,30208, 448,3584, 456,19968, + 464,11776, 472,28160, 480,7680, 488,24064, 496,15872, 504,32256, 520,16640, + 528,8448, 536,24832, 544,4352, 552,20736, 560,12544, 568,28928, 576,2304, + 584,18688, 592,10496, 600,26880, 608,6400, 616,22784, 624,14592, 632,30976, + 640,1280, 648,17664, 656,9472, 664,25856, 672,5376, 680,21760, 688,13568, + 696,29952, 704,3328, 712,19712, 720,11520, 728,27904, 736,7424, 744,23808, + 752,15616, 760,32000, 776,17152, 784,8960, 792,25344, 800,4864, 808,21248, + 816,13056, 824,29440, 832,2816, 840,19200, 848,11008, 856,27392, 864,6912, + 872,23296, 880,15104, 888,31488, 896,1792, 904,18176, 912,9984, 920,26368, + 928,5888, 936,22272, 944,14080, 952,30464, 960,3840, 968,20224, 976,12032, + 984,28416, 992,7936, 1000,24320, 1008,16128, 1016,32512, 1032,16512, 1040,8320, + 1048,24704, 1056,4224, 1064,20608, 1072,12416, 1080,28800, 1088,2176, + 1096,18560, 1104,10368, 1112,26752, 1120,6272, 1128,22656, 1136,14464, + 1144,30848, 1160,17536, 1168,9344, 1176,25728, 1184,5248, 1192,21632, + 1200,13440, 1208,29824, 1216,3200, 1224,19584, 1232,11392, 1240,27776, + 1248,7296, 1256,23680, 1264,15488, 1272,31872, 1288,17024, 1296,8832, + 1304,25216, 1312,4736, 1320,21120, 1328,12928, 1336,29312, 1344,2688, + 1352,19072, 1360,10880, 1368,27264, 1376,6784, 1384,23168, 1392,14976, + 1400,31360, 1408,1664, 1416,18048, 1424,9856, 1432,26240, 1440,5760, 1448,22144, + 1456,13952, 1464,30336, 1472,3712, 1480,20096, 1488,11904, 1496,28288, + 1504,7808, 1512,24192, 1520,16000, 1528,32384, 1544,16768, 1552,8576, + 1560,24960, 1568,4480, 1576,20864, 1584,12672, 1592,29056, 1600,2432, + 1608,18816, 1616,10624, 1624,27008, 1632,6528, 1640,22912, 1648,14720, + 1656,31104, 1672,17792, 1680,9600, 1688,25984, 1696,5504, 1704,21888, + 1712,13696, 1720,30080, 1728,3456, 1736,19840, 1744,11648, 1752,28032, + 1760,7552, 1768,23936, 1776,15744, 1784,32128, 1800,17280, 1808,9088, + 1816,25472, 1824,4992, 1832,21376, 1840,13184, 1848,29568, 1856,2944, + 1864,19328, 1872,11136, 1880,27520, 1888,7040, 1896,23424, 1904,15232, + 1912,31616, 1928,18304, 1936,10112, 1944,26496, 1952,6016, 1960,22400, + 1968,14208, 1976,30592, 1984,3968, 1992,20352, 2000,12160, 2008,28544, + 2016,8064, 2024,24448, 2032,16256, 2040,32640, 2056,16448, 2064,8256, + 2072,24640, 2080,4160, 2088,20544, 2096,12352, 2104,28736, 2120,18496, + 2128,10304, 2136,26688, 2144,6208, 2152,22592, 2160,14400, 2168,30784, + 2184,17472, 2192,9280, 2200,25664, 2208,5184, 2216,21568, 2224,13376, + 2232,29760, 2240,3136, 2248,19520, 2256,11328, 2264,27712, 2272,7232, + 2280,23616, 2288,15424, 2296,31808, 2312,16960, 2320,8768, 2328,25152, + 2336,4672, 2344,21056, 2352,12864, 2360,29248, 2368,2624, 2376,19008, + 2384,10816, 2392,27200, 2400,6720, 2408,23104, 2416,14912, 2424,31296, + 2440,17984, 2448,9792, 2456,26176, 2464,5696, 2472,22080, 2480,13888, + 2488,30272, 2496,3648, 2504,20032, 2512,11840, 2520,28224, 2528,7744, + 2536,24128, 2544,15936, 2552,32320, 2568,16704, 2576,8512, 2584,24896, + 2592,4416, 2600,20800, 2608,12608, 2616,28992, 2632,18752, 2640,10560, + 2648,26944, 2656,6464, 2664,22848, 2672,14656, 2680,31040, 2696,17728, + 2704,9536, 2712,25920, 2720,5440, 2728,21824, 2736,13632, 2744,30016, 2752,3392, + 2760,19776, 2768,11584, 2776,27968, 2784,7488, 2792,23872, 2800,15680, + 2808,32064, 2824,17216, 2832,9024, 2840,25408, 2848,4928, 2856,21312, + 2864,13120, 2872,29504, 2888,19264, 2896,11072, 2904,27456, 2912,6976, + 2920,23360, 2928,15168, 2936,31552, 2952,18240, 2960,10048, 2968,26432, + 2976,5952, 2984,22336, 2992,14144, 3000,30528, 3008,3904, 3016,20288, + 3024,12096, 3032,28480, 3040,8000, 3048,24384, 3056,16192, 3064,32576, + 3080,16576, 3088,8384, 3096,24768, 3104,4288, 3112,20672, 3120,12480, + 3128,28864, 3144,18624, 3152,10432, 3160,26816, 3168,6336, 3176,22720, + 3184,14528, 3192,30912, 3208,17600, 3216,9408, 3224,25792, 3232,5312, + 3240,21696, 3248,13504, 3256,29888, 3272,19648, 3280,11456, 3288,27840, + 3296,7360, 3304,23744, 3312,15552, 3320,31936, 3336,17088, 3344,8896, + 3352,25280, 3360,4800, 3368,21184, 3376,12992, 3384,29376, 3400,19136, + 3408,10944, 3416,27328, 3424,6848, 3432,23232, 3440,15040, 3448,31424, + 3464,18112, 3472,9920, 3480,26304, 3488,5824, 3496,22208, 3504,14016, + 3512,30400, 3520,3776, 3528,20160, 3536,11968, 3544,28352, 3552,7872, + 3560,24256, 3568,16064, 3576,32448, 3592,16832, 3600,8640, 3608,25024, + 3616,4544, 3624,20928, 3632,12736, 3640,29120, 3656,18880, 3664,10688, + 3672,27072, 3680,6592, 3688,22976, 3696,14784, 3704,31168, 3720,17856, + 3728,9664, 3736,26048, 3744,5568, 3752,21952, 3760,13760, 3768,30144, + 3784,19904, 3792,11712, 3800,28096, 3808,7616, 3816,24000, 3824,15808, + 3832,32192, 3848,17344, 3856,9152, 3864,25536, 3872,5056, 3880,21440, + 3888,13248, 3896,29632, 3912,19392, 3920,11200, 3928,27584, 3936,7104, + 3944,23488, 3952,15296, 3960,31680, 3976,18368, 3984,10176, 3992,26560, + 4000,6080, 4008,22464, 4016,14272, 4024,30656, 4040,20416, 4048,12224, + 4056,28608, 4064,8128, 4072,24512, 4080,16320, 4088,32704, 4104,16416, + 4112,8224, 4120,24608, 4136,20512, 4144,12320, 4152,28704, 4168,18464, + 4176,10272, 4184,26656, 4192,6176, 4200,22560, 4208,14368, 4216,30752, + 4232,17440, 4240,9248, 4248,25632, 4256,5152, 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22200,30120, 22232,28072, 22248,23976, + 22264,32168, 22296,25512, 22328,29608, 22360,27560, 22376,23464, 22392,31656, + 22424,26536, 22456,30632, 22488,28584, 22504,24488, 22520,32680, 22552,24680, + 22584,28776, 22616,26728, 22648,30824, 22680,25704, 22712,29800, 22744,27752, + 22760,23656, 22776,31848, 22808,25192, 22840,29288, 22872,27240, 22888,23144, + 22904,31336, 22936,26216, 22968,30312, 23000,28264, 23016,24168, 23032,32360, + 23064,24936, 23096,29032, 23128,26984, 23160,31080, 23192,25960, 23224,30056, + 23256,28008, 23272,23912, 23288,32104, 23320,25448, 23352,29544, 23384,27496, + 23416,31592, 23448,26472, 23480,30568, 23512,28520, 23528,24424, 23544,32616, + 23576,24808, 23608,28904, 23640,26856, 23672,30952, 23704,25832, 23736,29928, + 23768,27880, 23800,31976, 23832,25320, 23864,29416, 23896,27368, 23928,31464, + 23960,26344, 23992,30440, 24024,28392, 24040,24296, 24056,32488, 24088,25064, + 24120,29160, 24152,27112, 24184,31208, 24216,26088, 24248,30184, 24280,28136, + 24312,32232, 24344,25576, 24376,29672, 24408,27624, 24440,31720, 24472,26600, + 24504,30696, 24536,28648, 24568,32744, 24632,28696, 24664,26648, 24696,30744, + 24728,25624, 24760,29720, 24792,27672, 24824,31768, 24856,25112, 24888,29208, + 24920,27160, 24952,31256, 24984,26136, 25016,30232, 25048,28184, 25080,32280, + 25144,28952, 25176,26904, 25208,31000, 25240,25880, 25272,29976, 25304,27928, + 25336,32024, 25400,29464, 25432,27416, 25464,31512, 25496,26392, 25528,30488, + 25560,28440, 25592,32536, 25656,28824, 25688,26776, 25720,30872, 25784,29848, + 25816,27800, 25848,31896, 25912,29336, 25944,27288, 25976,31384, 26008,26264, + 26040,30360, 26072,28312, 26104,32408, 26168,29080, 26200,27032, 26232,31128, + 26296,30104, 26328,28056, 26360,32152, 26424,29592, 26456,27544, 26488,31640, + 26552,30616, 26584,28568, 26616,32664, 26680,28760, 26744,30808, 26808,29784, + 26840,27736, 26872,31832, 26936,29272, 26968,27224, 27000,31320, 27064,30296, + 27096,28248, 27128,32344, 27192,29016, 27256,31064, 27320,30040, 27352,27992, + 27384,32088, 27448,29528, 27512,31576, 27576,30552, 27608,28504, 27640,32600, + 27704,28888, 27768,30936, 27832,29912, 27896,31960, 27960,29400, 28024,31448, + 28088,30424, 28120,28376, 28152,32472, 28216,29144, 28280,31192, 28344,30168, + 28408,32216, 28472,29656, 28536,31704, 28600,30680, 28664,32728, 28792,30776, + 28856,29752, 28920,31800, 28984,29240, 29048,31288, 29112,30264, 29176,32312, + 29304,31032, 29368,30008, 29432,32056, 29560,31544, 29624,30520, 29688,32568, + 29816,30904, 29944,31928, 30072,31416, 30136,30392, 30200,32440, 30328,31160, + 30456,32184, 30584,31672, 30712,32696, 30968,31864, 31096,31352, 31224,32376, + 31480,32120, 31736,32632, 32248,32504 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_16) + +const uint16_t armBitRevIndexTable16[ARMBITREVINDEXTABLE_16_TABLE_LENGTH] = +{ + /* 8x2, size 20 */ + 8,64, 24,72, 16,64, 40,80, 32,64, 56,88, 48,72, 88,104, 72,96, 104,112 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_32) + +const uint16_t armBitRevIndexTable32[ARMBITREVINDEXTABLE_32_TABLE_LENGTH] = +{ + /* 8x4, size 48 */ + 8,64, 16,128, 24,192, 32,64, 40,72, 48,136, 56,200, 64,128, 72,80, 88,208, + 80,144, 96,192, 104,208, 112,152, 120,216, 136,192, 144,160, 168,208, + 152,224, 176,208, 184,232, 216,240, 200,224, 232,240 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_64) + +const uint16_t armBitRevIndexTable64[ARMBITREVINDEXTABLE_64_TABLE_LENGTH] = +{ + /* radix 8, size 56 */ + 8,64, 16,128, 24,192, 32,256, 40,320, 48,384, 56,448, 80,136, 88,200, + 96,264, 104,328, 112,392, 120,456, 152,208, 160,272, 168,336, 176,400, + 184,464, 224,280, 232,344, 240,408, 248,472, 296,352, 304,416, 312,480, + 368,424, 376,488, 440,496 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_128) + +const uint16_t armBitRevIndexTable128[ARMBITREVINDEXTABLE_128_TABLE_LENGTH] = +{ + /* 8x2, size 208 */ + 8,512, 16,64, 24,576, 32,128, 40,640, 48,192, 56,704, 64,256, 72,768, + 80,320, 88,832, 96,384, 104,896, 112,448, 120,960, 128,512, 136,520, + 144,768, 152,584, 160,520, 168,648, 176,200, 184,712, 192,264, 200,776, + 208,328, 216,840, 224,392, 232,904, 240,456, 248,968, 264,528, 272,320, + 280,592, 288,768, 296,656, 304,328, 312,720, 328,784, 344,848, 352,400, + 360,912, 368,464, 376,976, 384,576, 392,536, 400,832, 408,600, 416,584, + 424,664, 432,840, 440,728, 448,592, 456,792, 464,848, 472,856, 480,600, + 488,920, 496,856, 504,984, 520,544, 528,576, 536,608, 552,672, 560,608, + 568,736, 576,768, 584,800, 592,832, 600,864, 608,800, 616,928, 624,864, + 632,992, 648,672, 656,896, 664,928, 688,904, 696,744, 704,896, 712,808, + 720,912, 728,872, 736,928, 744,936, 752,920, 760,1000, 776,800, 784,832, + 792,864, 808,904, 816,864, 824,920, 840,864, 856,880, 872,944, 888,1008, + 904,928, 912,960, 920,992, 944,968, 952,1000, 968,992, 984,1008 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_256) + +const uint16_t armBitRevIndexTable256[ARMBITREVINDEXTABLE_256_TABLE_LENGTH] = +{ + /* 8x4, size 440 */ + 8,512, 16,1024, 24,1536, 32,64, 40,576, 48,1088, 56,1600, 64,128, 72,640, + 80,1152, 88,1664, 96,192, 104,704, 112,1216, 120,1728, 128,256, 136,768, + 144,1280, 152,1792, 160,320, 168,832, 176,1344, 184,1856, 192,384, + 200,896, 208,1408, 216,1920, 224,448, 232,960, 240,1472, 248,1984, + 256,512, 264,520, 272,1032, 280,1544, 288,640, 296,584, 304,1096, 312,1608, + 320,768, 328,648, 336,1160, 344,1672, 352,896, 360,712, 368,1224, 376,1736, + 384,520, 392,776, 400,1288, 408,1800, 416,648, 424,840, 432,1352, 440,1864, + 448,776, 456,904, 464,1416, 472,1928, 480,904, 488,968, 496,1480, 504,1992, + 520,528, 512,1024, 528,1040, 536,1552, 544,1152, 552,592, 560,1104, + 568,1616, 576,1280, 584,656, 592,1168, 600,1680, 608,1408, 616,720, + 624,1232, 632,1744, 640,1032, 648,784, 656,1296, 664,1808, 672,1160, + 680,848, 688,1360, 696,1872, 704,1288, 712,912, 720,1424, 728,1936, + 736,1416, 744,976, 752,1488, 760,2000, 768,1536, 776,1552, 784,1048, + 792,1560, 800,1664, 808,1680, 816,1112, 824,1624, 832,1792, 840,1808, + 848,1176, 856,1688, 864,1920, 872,1936, 880,1240, 888,1752, 896,1544, + 904,1560, 912,1304, 920,1816, 928,1672, 936,1688, 944,1368, 952,1880, + 960,1800, 968,1816, 976,1432, 984,1944, 992,1928, 1000,1944, 1008,1496, + 1016,2008, 1032,1152, 1040,1056, 1048,1568, 1064,1408, 1072,1120, + 1080,1632, 1088,1536, 1096,1160, 1104,1184, 1112,1696, 1120,1552, + 1128,1416, 1136,1248, 1144,1760, 1160,1664, 1168,1312, 1176,1824, + 1184,1544, 1192,1920, 1200,1376, 1208,1888, 1216,1568, 1224,1672, + 1232,1440, 1240,1952, 1248,1560, 1256,1928, 1264,1504, 1272,2016, + 1288,1312, 1296,1408, 1304,1576, 1320,1424, 1328,1416, 1336,1640, + 1344,1792, 1352,1824, 1360,1920, 1368,1704, 1376,1800, 1384,1432, + 1392,1928, 1400,1768, 1416,1680, 1432,1832, 1440,1576, 1448,1936, + 1456,1832, 1464,1896, 1472,1808, 1480,1688, 1488,1936, 1496,1960, + 1504,1816, 1512,1944, 1520,1944, 1528,2024, 1560,1584, 1592,1648, + 1600,1792, 1608,1920, 1616,1800, 1624,1712, 1632,1808, 1640,1936, + 1648,1816, 1656,1776, 1672,1696, 1688,1840, 1704,1952, 1712,1928, + 1720,1904, 1728,1824, 1736,1952, 1744,1832, 1752,1968, 1760,1840, + 1768,1960, 1776,1944, 1784,2032, 1864,1872, 1848,1944, 1872,1888, + 1880,1904, 1888,1984, 1896,2000, 1912,2032, 1904,2016, 1976,2032, + 1960,1968, 2008,2032, 1992,2016, 2024,2032 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_512) + +const uint16_t armBitRevIndexTable512[ARMBITREVINDEXTABLE_512_TABLE_LENGTH] = +{ + /* radix 8, size 448 */ + 8,512, 16,1024, 24,1536, 32,2048, 40,2560, 48,3072, 56,3584, 72,576, + 80,1088, 88,1600, 96,2112, 104,2624, 112,3136, 120,3648, 136,640, 144,1152, + 152,1664, 160,2176, 168,2688, 176,3200, 184,3712, 200,704, 208,1216, + 216,1728, 224,2240, 232,2752, 240,3264, 248,3776, 264,768, 272,1280, + 280,1792, 288,2304, 296,2816, 304,3328, 312,3840, 328,832, 336,1344, + 344,1856, 352,2368, 360,2880, 368,3392, 376,3904, 392,896, 400,1408, + 408,1920, 416,2432, 424,2944, 432,3456, 440,3968, 456,960, 464,1472, + 472,1984, 480,2496, 488,3008, 496,3520, 504,4032, 528,1032, 536,1544, + 544,2056, 552,2568, 560,3080, 568,3592, 592,1096, 600,1608, 608,2120, + 616,2632, 624,3144, 632,3656, 656,1160, 664,1672, 672,2184, 680,2696, + 688,3208, 696,3720, 720,1224, 728,1736, 736,2248, 744,2760, 752,3272, + 760,3784, 784,1288, 792,1800, 800,2312, 808,2824, 816,3336, 824,3848, + 848,1352, 856,1864, 864,2376, 872,2888, 880,3400, 888,3912, 912,1416, + 920,1928, 928,2440, 936,2952, 944,3464, 952,3976, 976,1480, 984,1992, + 992,2504, 1000,3016, 1008,3528, 1016,4040, 1048,1552, 1056,2064, 1064,2576, + 1072,3088, 1080,3600, 1112,1616, 1120,2128, 1128,2640, 1136,3152, + 1144,3664, 1176,1680, 1184,2192, 1192,2704, 1200,3216, 1208,3728, + 1240,1744, 1248,2256, 1256,2768, 1264,3280, 1272,3792, 1304,1808, + 1312,2320, 1320,2832, 1328,3344, 1336,3856, 1368,1872, 1376,2384, + 1384,2896, 1392,3408, 1400,3920, 1432,1936, 1440,2448, 1448,2960, + 1456,3472, 1464,3984, 1496,2000, 1504,2512, 1512,3024, 1520,3536, + 1528,4048, 1568,2072, 1576,2584, 1584,3096, 1592,3608, 1632,2136, + 1640,2648, 1648,3160, 1656,3672, 1696,2200, 1704,2712, 1712,3224, + 1720,3736, 1760,2264, 1768,2776, 1776,3288, 1784,3800, 1824,2328, + 1832,2840, 1840,3352, 1848,3864, 1888,2392, 1896,2904, 1904,3416, + 1912,3928, 1952,2456, 1960,2968, 1968,3480, 1976,3992, 2016,2520, + 2024,3032, 2032,3544, 2040,4056, 2088,2592, 2096,3104, 2104,3616, + 2152,2656, 2160,3168, 2168,3680, 2216,2720, 2224,3232, 2232,3744, + 2280,2784, 2288,3296, 2296,3808, 2344,2848, 2352,3360, 2360,3872, + 2408,2912, 2416,3424, 2424,3936, 2472,2976, 2480,3488, 2488,4000, + 2536,3040, 2544,3552, 2552,4064, 2608,3112, 2616,3624, 2672,3176, + 2680,3688, 2736,3240, 2744,3752, 2800,3304, 2808,3816, 2864,3368, + 2872,3880, 2928,3432, 2936,3944, 2992,3496, 3000,4008, 3056,3560, + 3064,4072, 3128,3632, 3192,3696, 3256,3760, 3320,3824, 3384,3888, + 3448,3952, 3512,4016, 3576,4080 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_1024) + +const uint16_t armBitRevIndexTable1024[ARMBITREVINDEXTABLE_1024_TABLE_LENGTH] = +{ + /* 8x2, size 1800 */ + 8,4096, 16,512, 24,4608, 32,1024, 40,5120, 48,1536, 56,5632, 64,2048, + 72,6144, 80,2560, 88,6656, 96,3072, 104,7168, 112,3584, 120,7680, 128,2048, + 136,4160, 144,576, 152,4672, 160,1088, 168,5184, 176,1600, 184,5696, + 192,2112, 200,6208, 208,2624, 216,6720, 224,3136, 232,7232, 240,3648, + 248,7744, 256,2048, 264,4224, 272,640, 280,4736, 288,1152, 296,5248, + 304,1664, 312,5760, 320,2176, 328,6272, 336,2688, 344,6784, 352,3200, + 360,7296, 368,3712, 376,7808, 384,2112, 392,4288, 400,704, 408,4800, + 416,1216, 424,5312, 432,1728, 440,5824, 448,2240, 456,6336, 464,2752, + 472,6848, 480,3264, 488,7360, 496,3776, 504,7872, 512,2048, 520,4352, + 528,768, 536,4864, 544,1280, 552,5376, 560,1792, 568,5888, 576,2304, + 584,6400, 592,2816, 600,6912, 608,3328, 616,7424, 624,3840, 632,7936, + 640,2176, 648,4416, 656,832, 664,4928, 672,1344, 680,5440, 688,1856, + 696,5952, 704,2368, 712,6464, 720,2880, 728,6976, 736,3392, 744,7488, + 752,3904, 760,8000, 768,2112, 776,4480, 784,896, 792,4992, 800,1408, + 808,5504, 816,1920, 824,6016, 832,2432, 840,6528, 848,2944, 856,7040, + 864,3456, 872,7552, 880,3968, 888,8064, 896,2240, 904,4544, 912,960, + 920,5056, 928,1472, 936,5568, 944,1984, 952,6080, 960,2496, 968,6592, + 976,3008, 984,7104, 992,3520, 1000,7616, 1008,4032, 1016,8128, 1024,4096, + 1032,4104, 1040,4352, 1048,4616, 1056,4104, 1064,5128, 1072,1544, + 1080,5640, 1088,2056, 1096,6152, 1104,2568, 1112,6664, 1120,3080, + 1128,7176, 1136,3592, 1144,7688, 1152,6144, 1160,4168, 1168,6400, + 1176,4680, 1184,6152, 1192,5192, 1200,1608, 1208,5704, 1216,2120, + 1224,6216, 1232,2632, 1240,6728, 1248,3144, 1256,7240, 1264,3656, + 1272,7752, 1280,4160, 1288,4232, 1296,4416, 1304,4744, 1312,4168, + 1320,5256, 1328,1672, 1336,5768, 1344,2184, 1352,6280, 1360,2696, + 1368,6792, 1376,3208, 1384,7304, 1392,3720, 1400,7816, 1408,6208, + 1416,4296, 1424,6464, 1432,4808, 1440,6216, 1448,5320, 1456,1736, + 1464,5832, 1472,2248, 1480,6344, 1488,2760, 1496,6856, 1504,3272, + 1512,7368, 1520,3784, 1528,7880, 1536,4224, 1544,4360, 1552,4480, + 1560,4872, 1568,4232, 1576,5384, 1584,1800, 1592,5896, 1600,2312, + 1608,6408, 1616,2824, 1624,6920, 1632,3336, 1640,7432, 1648,3848, + 1656,7944, 1664,6272, 1672,4424, 1680,6528, 1688,4936, 1696,6280, + 1704,5448, 1712,1864, 1720,5960, 1728,2376, 1736,6472, 1744,2888, + 1752,6984, 1760,3400, 1768,7496, 1776,3912, 1784,8008, 1792,4288, + 1800,4488, 1808,4544, 1816,5000, 1824,4296, 1832,5512, 1840,1928, + 1848,6024, 1856,2440, 1864,6536, 1872,2952, 1880,7048, 1888,3464, + 1896,7560, 1904,3976, 1912,8072, 1920,6336, 1928,4552, 1936,6592, + 1944,5064, 1952,6344, 1960,5576, 1968,1992, 1976,6088, 1984,2504, + 1992,6600, 2000,3016, 2008,7112, 2016,3528, 2024,7624, 2032,4040, + 2040,8136, 2056,4112, 2064,2112, 2072,4624, 2080,4352, 2088,5136, + 2096,4480, 2104,5648, 2120,6160, 2128,2576, 2136,6672, 2144,3088, + 2152,7184, 2160,3600, 2168,7696, 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7912,8104, 7920,8088, 7928,8056, 7944,7968, 7960,7984, + 8008,8032, 8024,8048, 8056,8120, 8072,8096, 8080,8128, 8088,8160, + 8112,8136, 8120,8168, 8136,8160, 8152,8176 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_2048) + +const uint16_t armBitRevIndexTable2048[ARMBITREVINDEXTABLE_2048_TABLE_LENGTH] = +{ + /* 8x2, size 3808 */ + 8,4096, 16,8192, 24,12288, 32,512, 40,4608, 48,8704, 56,12800, 64,1024, + 72,5120, 80,9216, 88,13312, 96,1536, 104,5632, 112,9728, 120,13824, + 128,2048, 136,6144, 144,10240, 152,14336, 160,2560, 168,6656, 176,10752, + 184,14848, 192,3072, 200,7168, 208,11264, 216,15360, 224,3584, 232,7680, + 240,11776, 248,15872, 256,1024, 264,4160, 272,8256, 280,12352, 288,576, + 296,4672, 304,8768, 312,12864, 320,1088, 328,5184, 336,9280, 344,13376, + 352,1600, 360,5696, 368,9792, 376,13888, 384,2112, 392,6208, 400,10304, + 408,14400, 416,2624, 424,6720, 432,10816, 440,14912, 448,3136, 456,7232, + 464,11328, 472,15424, 480,3648, 488,7744, 496,11840, 504,15936, 512,2048, + 520,4224, 528,8320, 536,12416, 544,640, 552,4736, 560,8832, 568,12928, + 576,1152, 584,5248, 592,9344, 600,13440, 608,1664, 616,5760, 624,9856, + 632,13952, 640,2176, 648,6272, 656,10368, 664,14464, 672,2688, 680,6784, + 688,10880, 696,14976, 704,3200, 712,7296, 720,11392, 728,15488, 736,3712, + 744,7808, 752,11904, 760,16000, 768,3072, 776,4288, 784,8384, 792,12480, + 800,3200, 808,4800, 816,8896, 824,12992, 832,1216, 840,5312, 848,9408, + 856,13504, 864,1728, 872,5824, 880,9920, 888,14016, 896,2240, 904,6336, + 912,10432, 920,14528, 928,2752, 936,6848, 944,10944, 952,15040, 960,3264, + 968,7360, 976,11456, 984,15552, 992,3776, 1000,7872, 1008,11968, 1016,16064, + 1032,4352, 1040,8448, 1048,12544, 1056,3072, 1064,4864, 1072,8960, + 1080,13056, 1088,1280, 1096,5376, 1104,9472, 1112,13568, 1120,1792, + 1128,5888, 1136,9984, 1144,14080, 1152,2304, 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1856,3392, + 1864,5568, 1872,9664, 1880,13760, 1888,1984, 1896,6080, 1904,10176, + 1912,14272, 1920,2496, 1928,6592, 1936,10688, 1944,14784, 1952,3008, + 1960,7104, 1968,11200, 1976,15296, 1984,3520, 1992,7616, 2000,11712, + 2008,15808, 2016,4032, 2024,8128, 2032,12224, 2040,16320, 2048,4096, + 2056,4104, 2064,8200, 2072,12296, 2080,4224, 2088,4616, 2096,8712, + 2104,12808, 2112,4352, 2120,5128, 2128,9224, 2136,13320, 2144,4480, + 2152,5640, 2160,9736, 2168,13832, 2176,4104, 2184,6152, 2192,10248, + 2200,14344, 2208,2568, 2216,6664, 2224,10760, 2232,14856, 2240,3080, + 2248,7176, 2256,11272, 2264,15368, 2272,3592, 2280,7688, 2288,11784, + 2296,15880, 2304,5120, 2312,4168, 2320,8264, 2328,12360, 2336,5248, + 2344,4680, 2352,8776, 2360,12872, 2368,5376, 2376,5192, 2384,9288, + 2392,13384, 2400,5504, 2408,5704, 2416,9800, 2424,13896, 2432,5128, + 2440,6216, 2448,10312, 2456,14408, 2464,2632, 2472,6728, 2480,10824, + 2488,14920, 2496,3144, 2504,7240, 2512,11336, 2520,15432, 2528,3656, + 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16216,16240, 16224,16320, 16232,16336, 16240,16352, + 16248,16368, 16264,16288, 16280,16296, 16296,16304, 16344,16368, + 16328,16352, 16360,16368 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FLT_4096) + +const uint16_t armBitRevIndexTable4096[ARMBITREVINDEXTABLE_4096_TABLE_LENGTH] = +{ + /* radix 8, size 4032 */ + 8,4096, 16,8192, 24,12288, 32,16384, 40,20480, 48,24576, 56,28672, 64,512, + 72,4608, 80,8704, 88,12800, 96,16896, 104,20992, 112,25088, 120,29184, + 128,1024, 136,5120, 144,9216, 152,13312, 160,17408, 168,21504, 176,25600, + 184,29696, 192,1536, 200,5632, 208,9728, 216,13824, 224,17920, 232,22016, + 240,26112, 248,30208, 256,2048, 264,6144, 272,10240, 280,14336, 288,18432, + 296,22528, 304,26624, 312,30720, 320,2560, 328,6656, 336,10752, 344,14848, + 352,18944, 360,23040, 368,27136, 376,31232, 384,3072, 392,7168, 400,11264, + 408,15360, 416,19456, 424,23552, 432,27648, 440,31744, 448,3584, 456,7680, + 464,11776, 472,15872, 480,19968, 488,24064, 496,28160, 504,32256, 520,4160, + 528,8256, 536,12352, 544,16448, 552,20544, 560,24640, 568,28736, 584,4672, + 592,8768, 600,12864, 608,16960, 616,21056, 624,25152, 632,29248, 640,1088, + 648,5184, 656,9280, 664,13376, 672,17472, 680,21568, 688,25664, 696,29760, + 704,1600, 712,5696, 720,9792, 728,13888, 736,17984, 744,22080, 752,26176, + 760,30272, 768,2112, 776,6208, 784,10304, 792,14400, 800,18496, 808,22592, + 816,26688, 824,30784, 832,2624, 840,6720, 848,10816, 856,14912, 864,19008, + 872,23104, 880,27200, 888,31296, 896,3136, 904,7232, 912,11328, 920,15424, + 928,19520, 936,23616, 944,27712, 952,31808, 960,3648, 968,7744, 976,11840, + 984,15936, 992,20032, 1000,24128, 1008,28224, 1016,32320, 1032,4224, + 1040,8320, 1048,12416, 1056,16512, 1064,20608, 1072,24704, 1080,28800, + 1096,4736, 1104,8832, 1112,12928, 1120,17024, 1128,21120, 1136,25216, + 1144,29312, 1160,5248, 1168,9344, 1176,13440, 1184,17536, 1192,21632, + 1200,25728, 1208,29824, 1216,1664, 1224,5760, 1232,9856, 1240,13952, + 1248,18048, 1256,22144, 1264,26240, 1272,30336, 1280,2176, 1288,6272, + 1296,10368, 1304,14464, 1312,18560, 1320,22656, 1328,26752, 1336,30848, + 1344,2688, 1352,6784, 1360,10880, 1368,14976, 1376,19072, 1384,23168, + 1392,27264, 1400,31360, 1408,3200, 1416,7296, 1424,11392, 1432,15488, + 1440,19584, 1448,23680, 1456,27776, 1464,31872, 1472,3712, 1480,7808, + 1488,11904, 1496,16000, 1504,20096, 1512,24192, 1520,28288, 1528,32384, + 1544,4288, 1552,8384, 1560,12480, 1568,16576, 1576,20672, 1584,24768, + 1592,28864, 1608,4800, 1616,8896, 1624,12992, 1632,17088, 1640,21184, + 1648,25280, 1656,29376, 1672,5312, 1680,9408, 1688,13504, 1696,17600, + 1704,21696, 1712,25792, 1720,29888, 1736,5824, 1744,9920, 1752,14016, + 1760,18112, 1768,22208, 1776,26304, 1784,30400, 1792,2240, 1800,6336, + 1808,10432, 1816,14528, 1824,18624, 1832,22720, 1840,26816, 1848,30912, + 1856,2752, 1864,6848, 1872,10944, 1880,15040, 1888,19136, 1896,23232, + 1904,27328, 1912,31424, 1920,3264, 1928,7360, 1936,11456, 1944,15552, + 1952,19648, 1960,23744, 1968,27840, 1976,31936, 1984,3776, 1992,7872, + 2000,11968, 2008,16064, 2016,20160, 2024,24256, 2032,28352, 2040,32448, + 2056,4352, 2064,8448, 2072,12544, 2080,16640, 2088,20736, 2096,24832, + 2104,28928, 2120,4864, 2128,8960, 2136,13056, 2144,17152, 2152,21248, + 2160,25344, 2168,29440, 2184,5376, 2192,9472, 2200,13568, 2208,17664, + 2216,21760, 2224,25856, 2232,29952, 2248,5888, 2256,9984, 2264,14080, + 2272,18176, 2280,22272, 2288,26368, 2296,30464, 2312,6400, 2320,10496, + 2328,14592, 2336,18688, 2344,22784, 2352,26880, 2360,30976, 2368,2816, + 2376,6912, 2384,11008, 2392,15104, 2400,19200, 2408,23296, 2416,27392, + 2424,31488, 2432,3328, 2440,7424, 2448,11520, 2456,15616, 2464,19712, + 2472,23808, 2480,27904, 2488,32000, 2496,3840, 2504,7936, 2512,12032, + 2520,16128, 2528,20224, 2536,24320, 2544,28416, 2552,32512, 2568,4416, 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25904,26800, 25912,30896, 25968,27312, 25976,31408, 26032,27824, + 26040,31920, 26096,28336, 26104,32432, 26168,28912, 26232,29424, + 26296,29936, 26360,30448, 26416,26864, 26424,30960, 26480,27376, + 26488,31472, 26544,27888, 26552,31984, 26608,28400, 26616,32496, + 26680,28976, 26744,29488, 26808,30000, 26872,30512, 26936,31024, + 26992,27440, 27000,31536, 27056,27952, 27064,32048, 27120,28464, + 27128,32560, 27192,29040, 27256,29552, 27320,30064, 27384,30576, + 27448,31088, 27512,31600, 27568,28016, 27576,32112, 27632,28528, + 27640,32624, 27704,29104, 27768,29616, 27832,30128, 27896,30640, + 27960,31152, 28024,31664, 28088,32176, 28144,28592, 28152,32688, + 28216,29168, 28280,29680, 28344,30192, 28408,30704, 28472,31216, + 28536,31728, 28600,32240, 28664,32752, 28792,29240, 28856,29752, + 28920,30264, 28984,30776, 29048,31288, 29112,31800, 29176,32312, + 29368,29816, 29432,30328, 29496,30840, 29560,31352, 29624,31864, + 29688,32376, 29944,30392, 30008,30904, 30072,31416, 30136,31928, + 30200,32440, 30520,30968, 30584,31480, 30648,31992, 30712,32504, + 31096,31544, 31160,32056, 31224,32568, 31672,32120, 31736,32632, + 32248,32696 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_16) + +const uint16_t armBitRevIndexTable_fixed_16[ARMBITREVINDEXTABLE_FIXED_16_TABLE_LENGTH] = +{ + /* radix 4, size 12 */ + 8,64, 16,32, 24,96, 40,80, 56,112, 88,104 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_32) +const uint16_t armBitRevIndexTable_fixed_32[ARMBITREVINDEXTABLE_FIXED_32_TABLE_LENGTH] = +{ + /* 4x2, size 24 */ + 8,128, 16,64, 24,192, 40,160, 48,96, 56,224, 72,144, + 88,208, 104,176, 120,240, 152,200, 184,232 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_64) +const uint16_t armBitRevIndexTable_fixed_64[ARMBITREVINDEXTABLE_FIXED_64_TABLE_LENGTH] = +{ + /* radix 4, size 56 */ + 8,256, 16,128, 24,384, 32,64, 40,320, 48,192, 56,448, 72,288, 80,160, 88,416, 104,352, + 112,224, 120,480, 136,272, 152,400, 168,336, 176,208, 184,464, 200,304, 216,432, + 232,368, 248,496, 280,392, 296,328, 312,456, 344,424, 376,488, 440,472 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_128) +const uint16_t armBitRevIndexTable_fixed_128[ARMBITREVINDEXTABLE_FIXED_128_TABLE_LENGTH] = +{ + /* 4x2, size 112 */ + 8,512, 16,256, 24,768, 32,128, 40,640, 48,384, 56,896, 72,576, 80,320, 88,832, 96,192, + 104,704, 112,448, 120,960, 136,544, 144,288, 152,800, 168,672, 176,416, 184,928, 200,608, + 208,352, 216,864, 232,736, 240,480, 248,992, 264,528, 280,784, 296,656, 304,400, 312,912, + 328,592, 344,848, 360,720, 368,464, 376,976, 392,560, 408,816, 424,688, 440,944, 456,624, + 472,880, 488,752, 504,1008, 536,776, 552,648, 568,904, 600,840, 616,712, 632,968, + 664,808, 696,936, 728,872, 760,1000, 824,920, 888,984 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_256) +const uint16_t armBitRevIndexTable_fixed_256[ARMBITREVINDEXTABLE_FIXED_256_TABLE_LENGTH] = +{ + /* radix 4, size 240 */ + 8,1024, 16,512, 24,1536, 32,256, 40,1280, 48,768, 56,1792, 64,128, 72,1152, 80,640, + 88,1664, 96,384, 104,1408, 112,896, 120,1920, 136,1088, 144,576, 152,1600, 160,320, + 168,1344, 176,832, 184,1856, 200,1216, 208,704, 216,1728, 224,448, 232,1472, 240,960, + 248,1984, 264,1056, 272,544, 280,1568, 296,1312, 304,800, 312,1824, 328,1184, 336,672, + 344,1696, 352,416, 360,1440, 368,928, 376,1952, 392,1120, 400,608, 408,1632, 424,1376, + 432,864, 440,1888, 456,1248, 464,736, 472,1760, 488,1504, 496,992, 504,2016, 520,1040, + 536,1552, 552,1296, 560,784, 568,1808, 584,1168, 592,656, 600,1680, 616,1424, 624,912, + 632,1936, 648,1104, 664,1616, 680,1360, 688,848, 696,1872, 712,1232, 728,1744, 744,1488, + 752,976, 760,2000, 776,1072, 792,1584, 808,1328, 824,1840, 840,1200, 856,1712, 872,1456, + 880,944, 888,1968, 904,1136, 920,1648, 936,1392, 952,1904, 968,1264, 984,1776, 1000,1520, + 1016,2032, 1048,1544, 1064,1288, 1080,1800, 1096,1160, 1112,1672, 1128,1416, 1144,1928, + 1176,1608, 1192,1352, 1208,1864, 1240,1736, 1256,1480, 1272,1992, 1304,1576, 1336,1832, + 1368,1704, 1384,1448, 1400,1960, 1432,1640, 1464,1896, 1496,1768, 1528,2024, 1592,1816, + 1624,1688, 1656,1944, 1720,1880, 1784,2008, 1912,1976 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_512) +const uint16_t armBitRevIndexTable_fixed_512[ARMBITREVINDEXTABLE_FIXED_512_TABLE_LENGTH] = +{ + /* 4x2, size 480 */ + 8,2048, 16,1024, 24,3072, 32,512, 40,2560, 48,1536, 56,3584, 64,256, 72,2304, 80,1280, + 88,3328, 96,768, 104,2816, 112,1792, 120,3840, 136,2176, 144,1152, 152,3200, 160,640, + 168,2688, 176,1664, 184,3712, 192,384, 200,2432, 208,1408, 216,3456, 224,896, 232,2944, + 240,1920, 248,3968, 264,2112, 272,1088, 280,3136, 288,576, 296,2624, 304,1600, 312,3648, + 328,2368, 336,1344, 344,3392, 352,832, 360,2880, 368,1856, 376,3904, 392,2240, 400,1216, + 408,3264, 416,704, 424,2752, 432,1728, 440,3776, 456,2496, 464,1472, 472,3520, 480,960, + 488,3008, 496,1984, 504,4032, 520,2080, 528,1056, 536,3104, 552,2592, 560,1568, 568,3616, + 584,2336, 592,1312, 600,3360, 608,800, 616,2848, 624,1824, 632,3872, 648,2208, 656,1184, + 664,3232, 680,2720, 688,1696, 696,3744, 712,2464, 720,1440, 728,3488, 736,928, 744,2976, + 752,1952, 760,4000, 776,2144, 784,1120, 792,3168, 808,2656, 816,1632, 824,3680, 840,2400, + 848,1376, 856,3424, 872,2912, 880,1888, 888,3936, 904,2272, 912,1248, 920,3296, 936,2784, + 944,1760, 952,3808, 968,2528, 976,1504, 984,3552, 1000,3040, 1008,2016, 1016,4064, + 1032,2064, 1048,3088, 1064,2576, 1072,1552, 1080,3600, 1096,2320, 1104,1296, 1112,3344, + 1128,2832, 1136,1808, 1144,3856, 1160,2192, 1176,3216, 1192,2704, 1200,1680, 1208,3728, + 1224,2448, 1232,1424, 1240,3472, 1256,2960, 1264,1936, 1272,3984, 1288,2128, 1304,3152, + 1320,2640, 1328,1616, 1336,3664, 1352,2384, 1368,3408, 1384,2896, 1392,1872, 1400,3920, + 1416,2256, 1432,3280, 1448,2768, 1456,1744, 1464,3792, 1480,2512, 1496,3536, 1512,3024, + 1520,2000, 1528,4048, 1544,2096, 1560,3120, 1576,2608, 1592,3632, 1608,2352, 1624,3376, + 1640,2864, 1648,1840, 1656,3888, 1672,2224, 1688,3248, 1704,2736, 1720,3760, 1736,2480, + 1752,3504, 1768,2992, 1776,1968, 1784,4016, 1800,2160, 1816,3184, 1832,2672, 1848,3696, + 1864,2416, 1880,3440, 1896,2928, 1912,3952, 1928,2288, 1944,3312, 1960,2800, 1976,3824, + 1992,2544, 2008,3568, 2024,3056, 2040,4080, 2072,3080, 2088,2568, 2104,3592, 2120,2312, + 2136,3336, 2152,2824, 2168,3848, 2200,3208, 2216,2696, 2232,3720, 2248,2440, 2264,3464, + 2280,2952, 2296,3976, 2328,3144, 2344,2632, 2360,3656, 2392,3400, 2408,2888, 2424,3912, + 2456,3272, 2472,2760, 2488,3784, 2520,3528, 2536,3016, 2552,4040, 2584,3112, 2616,3624, + 2648,3368, 2664,2856, 2680,3880, 2712,3240, 2744,3752, 2776,3496, 2792,2984, 2808,4008, + 2840,3176, 2872,3688, 2904,3432, 2936,3944, 2968,3304, 3000,3816, 3032,3560, 3064,4072, + 3128,3608, 3160,3352, 3192,3864, 3256,3736, 3288,3480, 3320,3992, 3384,3672, 3448,3928, + 3512,3800, 3576,4056, 3704,3896, 3832,4024 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_1024) +const uint16_t armBitRevIndexTable_fixed_1024[ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH] = +{ + /* radix 4, size 992 */ + 8,4096, 16,2048, 24,6144, 32,1024, 40,5120, 48,3072, 56,7168, 64,512, 72,4608, + 80,2560, 88,6656, 96,1536, 104,5632, 112,3584, 120,7680, 128,256, 136,4352, + 144,2304, 152,6400, 160,1280, 168,5376, 176,3328, 184,7424, 192,768, 200,4864, + 208,2816, 216,6912, 224,1792, 232,5888, 240,3840, 248,7936, 264,4224, 272,2176, + 280,6272, 288,1152, 296,5248, 304,3200, 312,7296, 320,640, 328,4736, 336,2688, + 344,6784, 352,1664, 360,5760, 368,3712, 376,7808, 392,4480, 400,2432, 408,6528, + 416,1408, 424,5504, 432,3456, 440,7552, 448,896, 456,4992, 464,2944, 472,7040, + 480,1920, 488,6016, 496,3968, 504,8064, 520,4160, 528,2112, 536,6208, 544,1088, + 552,5184, 560,3136, 568,7232, 584,4672, 592,2624, 600,6720, 608,1600, 616,5696, + 624,3648, 632,7744, 648,4416, 656,2368, 664,6464, 672,1344, 680,5440, 688,3392, + 696,7488, 704,832, 712,4928, 720,2880, 728,6976, 736,1856, 744,5952, 752,3904, + 760,8000, 776,4288, 784,2240, 792,6336, 800,1216, 808,5312, 816,3264, 824,7360, + 840,4800, 848,2752, 856,6848, 864,1728, 872,5824, 880,3776, 888,7872, 904,4544, + 912,2496, 920,6592, 928,1472, 936,5568, 944,3520, 952,7616, 968,5056, 976,3008, + 984,7104, 992,1984, 1000,6080, 1008,4032, 1016,8128, 1032,4128, 1040,2080, + 1048,6176, 1064,5152, 1072,3104, 1080,7200, 1096,4640, 1104,2592, 1112,6688, + 1120,1568, 1128,5664, 1136,3616, 1144,7712, 1160,4384, 1168,2336, 1176,6432, + 1184,1312, 1192,5408, 1200,3360, 1208,7456, 1224,4896, 1232,2848, 1240,6944, + 1248,1824, 1256,5920, 1264,3872, 1272,7968, 1288,4256, 1296,2208, 1304,6304, + 1320,5280, 1328,3232, 1336,7328, 1352,4768, 1360,2720, 1368,6816, 1376,1696, + 1384,5792, 1392,3744, 1400,7840, 1416,4512, 1424,2464, 1432,6560, 1448,5536, + 1456,3488, 1464,7584, 1480,5024, 1488,2976, 1496,7072, 1504,1952, 1512,6048, + 1520,4000, 1528,8096, 1544,4192, 1552,2144, 1560,6240, 1576,5216, 1584,3168, + 1592,7264, 1608,4704, 1616,2656, 1624,6752, 1640,5728, 1648,3680, 1656,7776, + 1672,4448, 1680,2400, 1688,6496, 1704,5472, 1712,3424, 1720,7520, 1736,4960, + 1744,2912, 1752,7008, 1760,1888, 1768,5984, 1776,3936, 1784,8032, 1800,4320, + 1808,2272, 1816,6368, 1832,5344, 1840,3296, 1848,7392, 1864,4832, 1872,2784, + 1880,6880, 1896,5856, 1904,3808, 1912,7904, 1928,4576, 1936,2528, 1944,6624, + 1960,5600, 1968,3552, 1976,7648, 1992,5088, 2000,3040, 2008,7136, 2024,6112, + 2032,4064, 2040,8160, 2056,4112, 2072,6160, 2088,5136, 2096,3088, 2104,7184, + 2120,4624, 2128,2576, 2136,6672, 2152,5648, 2160,3600, 2168,7696, 2184,4368, + 2192,2320, 2200,6416, 2216,5392, 2224,3344, 2232,7440, 2248,4880, 2256,2832, + 2264,6928, 2280,5904, 2288,3856, 2296,7952, 2312,4240, 2328,6288, 2344,5264, + 2352,3216, 2360,7312, 2376,4752, 2384,2704, 2392,6800, 2408,5776, 2416,3728, + 2424,7824, 2440,4496, 2456,6544, 2472,5520, 2480,3472, 2488,7568, 2504,5008, + 2512,2960, 2520,7056, 2536,6032, 2544,3984, 2552,8080, 2568,4176, 2584,6224, + 2600,5200, 2608,3152, 2616,7248, 2632,4688, 2648,6736, 2664,5712, 2672,3664, + 2680,7760, 2696,4432, 2712,6480, 2728,5456, 2736,3408, 2744,7504, 2760,4944, + 2768,2896, 2776,6992, 2792,5968, 2800,3920, 2808,8016, 2824,4304, 2840,6352, + 2856,5328, 2864,3280, 2872,7376, 2888,4816, 2904,6864, 2920,5840, 2928,3792, + 2936,7888, 2952,4560, 2968,6608, 2984,5584, 2992,3536, 3000,7632, 3016,5072, + 3032,7120, 3048,6096, 3056,4048, 3064,8144, 3080,4144, 3096,6192, 3112,5168, + 3128,7216, 3144,4656, 3160,6704, 3176,5680, 3184,3632, 3192,7728, 3208,4400, + 3224,6448, 3240,5424, 3248,3376, 3256,7472, 3272,4912, 3288,6960, 3304,5936, + 3312,3888, 3320,7984, 3336,4272, 3352,6320, 3368,5296, 3384,7344, 3400,4784, + 3416,6832, 3432,5808, 3440,3760, 3448,7856, 3464,4528, 3480,6576, 3496,5552, + 3512,7600, 3528,5040, 3544,7088, 3560,6064, 3568,4016, 3576,8112, 3592,4208, + 3608,6256, 3624,5232, 3640,7280, 3656,4720, 3672,6768, 3688,5744, 3704,7792, + 3720,4464, 3736,6512, 3752,5488, 3768,7536, 3784,4976, 3800,7024, 3816,6000, + 3824,3952, 3832,8048, 3848,4336, 3864,6384, 3880,5360, 3896,7408, 3912,4848, + 3928,6896, 3944,5872, 3960,7920, 3976,4592, 3992,6640, 4008,5616, 4024,7664, + 4040,5104, 4056,7152, 4072,6128, 4088,8176, 4120,6152, 4136,5128, 4152,7176, + 4168,4616, 4184,6664, 4200,5640, 4216,7688, 4232,4360, 4248,6408, 4264,5384, + 4280,7432, 4296,4872, 4312,6920, 4328,5896, 4344,7944, 4376,6280, 4392,5256, + 4408,7304, 4424,4744, 4440,6792, 4456,5768, 4472,7816, 4504,6536, 4520,5512, + 4536,7560, 4552,5000, 4568,7048, 4584,6024, 4600,8072, 4632,6216, 4648,5192, + 4664,7240, 4696,6728, 4712,5704, 4728,7752, 4760,6472, 4776,5448, 4792,7496, + 4808,4936, 4824,6984, 4840,5960, 4856,8008, 4888,6344, 4904,5320, 4920,7368, + 4952,6856, 4968,5832, 4984,7880, 5016,6600, 5032,5576, 5048,7624, 5080,7112, + 5096,6088, 5112,8136, 5144,6184, 5176,7208, 5208,6696, 5224,5672, 5240,7720, + 5272,6440, 5288,5416, 5304,7464, 5336,6952, 5352,5928, 5368,7976, 5400,6312, + 5432,7336, 5464,6824, 5480,5800, 5496,7848, 5528,6568, 5560,7592, 5592,7080, + 5608,6056, 5624,8104, 5656,6248, 5688,7272, 5720,6760, 5752,7784, 5784,6504, + 5816,7528, 5848,7016, 5864,5992, 5880,8040, 5912,6376, 5944,7400, 5976,6888, + 6008,7912, 6040,6632, 6072,7656, 6104,7144, 6136,8168, 6200,7192, 6232,6680, + 6264,7704, 6296,6424, 6328,7448, 6360,6936, 6392,7960, 6456,7320, 6488,6808, + 6520,7832, 6584,7576, 6616,7064, 6648,8088, 6712,7256, 6776,7768, 6840,7512, + 6872,7000, 6904,8024, 6968,7384, 7032,7896, 7096,7640, 7160,8152, 7288,7736, + 7352,7480, 7416,7992, 7544,7864, 7672,8120, 7928,8056 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_2048) +const uint16_t armBitRevIndexTable_fixed_2048[ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH] = +{ + /* 4x2, size 1984 */ + 8,8192, 16,4096, 24,12288, 32,2048, 40,10240, 48,6144, 56,14336, 64,1024, + 72,9216, 80,5120, 88,13312, 96,3072, 104,11264, 112,7168, 120,15360, 128,512, + 136,8704, 144,4608, 152,12800, 160,2560, 168,10752, 176,6656, 184,14848, + 192,1536, 200,9728, 208,5632, 216,13824, 224,3584, 232,11776, 240,7680, + 248,15872, 264,8448, 272,4352, 280,12544, 288,2304, 296,10496, 304,6400, + 312,14592, 320,1280, 328,9472, 336,5376, 344,13568, 352,3328, 360,11520, + 368,7424, 376,15616, 384,768, 392,8960, 400,4864, 408,13056, 416,2816, + 424,11008, 432,6912, 440,15104, 448,1792, 456,9984, 464,5888, 472,14080, + 480,3840, 488,12032, 496,7936, 504,16128, 520,8320, 528,4224, 536,12416, + 544,2176, 552,10368, 560,6272, 568,14464, 576,1152, 584,9344, 592,5248, + 600,13440, 608,3200, 616,11392, 624,7296, 632,15488, 648,8832, 656,4736, + 664,12928, 672,2688, 680,10880, 688,6784, 696,14976, 704,1664, 712,9856, + 720,5760, 728,13952, 736,3712, 744,11904, 752,7808, 760,16000, 776,8576, + 784,4480, 792,12672, 800,2432, 808,10624, 816,6528, 824,14720, 832,1408, + 840,9600, 848,5504, 856,13696, 864,3456, 872,11648, 880,7552, 888,15744, + 904,9088, 912,4992, 920,13184, 928,2944, 936,11136, 944,7040, 952,15232, + 960,1920, 968,10112, 976,6016, 984,14208, 992,3968, 1000,12160, 1008,8064, + 1016,16256, 1032,8256, 1040,4160, 1048,12352, 1056,2112, 1064,10304, 1072,6208, + 1080,14400, 1096,9280, 1104,5184, 1112,13376, 1120,3136, 1128,11328, 1136,7232, + 1144,15424, 1160,8768, 1168,4672, 1176,12864, 1184,2624, 1192,10816, 1200,6720, + 1208,14912, 1216,1600, 1224,9792, 1232,5696, 1240,13888, 1248,3648, 1256,11840, + 1264,7744, 1272,15936, 1288,8512, 1296,4416, 1304,12608, 1312,2368, 1320,10560, + 1328,6464, 1336,14656, 1352,9536, 1360,5440, 1368,13632, 1376,3392, 1384,11584, + 1392,7488, 1400,15680, 1416,9024, 1424,4928, 1432,13120, 1440,2880, 1448,11072, + 1456,6976, 1464,15168, 1472,1856, 1480,10048, 1488,5952, 1496,14144, 1504,3904, + 1512,12096, 1520,8000, 1528,16192, 1544,8384, 1552,4288, 1560,12480, 1568,2240, + 1576,10432, 1584,6336, 1592,14528, 1608,9408, 1616,5312, 1624,13504, 1632,3264, + 1640,11456, 1648,7360, 1656,15552, 1672,8896, 1680,4800, 1688,12992, 1696,2752, + 1704,10944, 1712,6848, 1720,15040, 1736,9920, 1744,5824, 1752,14016, 1760,3776, + 1768,11968, 1776,7872, 1784,16064, 1800,8640, 1808,4544, 1816,12736, 1824,2496, + 1832,10688, 1840,6592, 1848,14784, 1864,9664, 1872,5568, 1880,13760, 1888,3520, + 1896,11712, 1904,7616, 1912,15808, 1928,9152, 1936,5056, 1944,13248, 1952,3008, + 1960,11200, 1968,7104, 1976,15296, 1992,10176, 2000,6080, 2008,14272, 2016,4032, + 2024,12224, 2032,8128, 2040,16320, 2056,8224, 2064,4128, 2072,12320, 2088,10272, + 2096,6176, 2104,14368, 2120,9248, 2128,5152, 2136,13344, 2144,3104, 2152,11296, + 2160,7200, 2168,15392, 2184,8736, 2192,4640, 2200,12832, 2208,2592, 2216,10784, + 2224,6688, 2232,14880, 2248,9760, 2256,5664, 2264,13856, 2272,3616, 2280,11808, + 2288,7712, 2296,15904, 2312,8480, 2320,4384, 2328,12576, 2344,10528, 2352,6432, + 2360,14624, 2376,9504, 2384,5408, 2392,13600, 2400,3360, 2408,11552, 2416,7456, + 2424,15648, 2440,8992, 2448,4896, 2456,13088, 2464,2848, 2472,11040, 2480,6944, + 2488,15136, 2504,10016, 2512,5920, 2520,14112, 2528,3872, 2536,12064, 2544,7968, + 2552,16160, 2568,8352, 2576,4256, 2584,12448, 2600,10400, 2608,6304, 2616,14496, + 2632,9376, 2640,5280, 2648,13472, 2656,3232, 2664,11424, 2672,7328, 2680,15520, + 2696,8864, 2704,4768, 2712,12960, 2728,10912, 2736,6816, 2744,15008, 2760,9888, + 2768,5792, 2776,13984, 2784,3744, 2792,11936, 2800,7840, 2808,16032, 2824,8608, + 2832,4512, 2840,12704, 2856,10656, 2864,6560, 2872,14752, 2888,9632, 2896,5536, + 2904,13728, 2912,3488, 2920,11680, 2928,7584, 2936,15776, 2952,9120, 2960,5024, + 2968,13216, 2984,11168, 2992,7072, 3000,15264, 3016,10144, 3024,6048, + 3032,14240, 3040,4000, 3048,12192, 3056,8096, 3064,16288, 3080,8288, 3088,4192, + 3096,12384, 3112,10336, 3120,6240, 3128,14432, 3144,9312, 3152,5216, 3160,13408, + 3176,11360, 3184,7264, 3192,15456, 3208,8800, 3216,4704, 3224,12896, 3240,10848, + 3248,6752, 3256,14944, 3272,9824, 3280,5728, 3288,13920, 3296,3680, 3304,11872, + 3312,7776, 3320,15968, 3336,8544, 3344,4448, 3352,12640, 3368,10592, 3376,6496, + 3384,14688, 3400,9568, 3408,5472, 3416,13664, 3432,11616, 3440,7520, 3448,15712, + 3464,9056, 3472,4960, 3480,13152, 3496,11104, 3504,7008, 3512,15200, 3528,10080, + 3536,5984, 3544,14176, 3552,3936, 3560,12128, 3568,8032, 3576,16224, 3592,8416, + 3600,4320, 3608,12512, 3624,10464, 3632,6368, 3640,14560, 3656,9440, 3664,5344, + 3672,13536, 3688,11488, 3696,7392, 3704,15584, 3720,8928, 3728,4832, 3736,13024, + 3752,10976, 3760,6880, 3768,15072, 3784,9952, 3792,5856, 3800,14048, 3816,12000, + 3824,7904, 3832,16096, 3848,8672, 3856,4576, 3864,12768, 3880,10720, 3888,6624, + 3896,14816, 3912,9696, 3920,5600, 3928,13792, 3944,11744, 3952,7648, 3960,15840, + 3976,9184, 3984,5088, 3992,13280, 4008,11232, 4016,7136, 4024,15328, 4040,10208, + 4048,6112, 4056,14304, 4072,12256, 4080,8160, 4088,16352, 4104,8208, 4120,12304, + 4136,10256, 4144,6160, 4152,14352, 4168,9232, 4176,5136, 4184,13328, 4200,11280, + 4208,7184, 4216,15376, 4232,8720, 4240,4624, 4248,12816, 4264,10768, 4272,6672, + 4280,14864, 4296,9744, 4304,5648, 4312,13840, 4328,11792, 4336,7696, 4344,15888, + 4360,8464, 4376,12560, 4392,10512, 4400,6416, 4408,14608, 4424,9488, 4432,5392, + 4440,13584, 4456,11536, 4464,7440, 4472,15632, 4488,8976, 4496,4880, 4504,13072, + 4520,11024, 4528,6928, 4536,15120, 4552,10000, 4560,5904, 4568,14096, + 4584,12048, 4592,7952, 4600,16144, 4616,8336, 4632,12432, 4648,10384, 4656,6288, + 4664,14480, 4680,9360, 4688,5264, 4696,13456, 4712,11408, 4720,7312, 4728,15504, + 4744,8848, 4760,12944, 4776,10896, 4784,6800, 4792,14992, 4808,9872, 4816,5776, + 4824,13968, 4840,11920, 4848,7824, 4856,16016, 4872,8592, 4888,12688, + 4904,10640, 4912,6544, 4920,14736, 4936,9616, 4944,5520, 4952,13712, 4968,11664, + 4976,7568, 4984,15760, 5000,9104, 5016,13200, 5032,11152, 5040,7056, 5048,15248, + 5064,10128, 5072,6032, 5080,14224, 5096,12176, 5104,8080, 5112,16272, 5128,8272, + 5144,12368, 5160,10320, 5168,6224, 5176,14416, 5192,9296, 5208,13392, + 5224,11344, 5232,7248, 5240,15440, 5256,8784, 5272,12880, 5288,10832, 5296,6736, + 5304,14928, 5320,9808, 5328,5712, 5336,13904, 5352,11856, 5360,7760, 5368,15952, + 5384,8528, 5400,12624, 5416,10576, 5424,6480, 5432,14672, 5448,9552, 5464,13648, + 5480,11600, 5488,7504, 5496,15696, 5512,9040, 5528,13136, 5544,11088, 5552,6992, + 5560,15184, 5576,10064, 5584,5968, 5592,14160, 5608,12112, 5616,8016, + 5624,16208, 5640,8400, 5656,12496, 5672,10448, 5680,6352, 5688,14544, 5704,9424, + 5720,13520, 5736,11472, 5744,7376, 5752,15568, 5768,8912, 5784,13008, + 5800,10960, 5808,6864, 5816,15056, 5832,9936, 5848,14032, 5864,11984, 5872,7888, + 5880,16080, 5896,8656, 5912,12752, 5928,10704, 5936,6608, 5944,14800, 5960,9680, + 5976,13776, 5992,11728, 6000,7632, 6008,15824, 6024,9168, 6040,13264, + 6056,11216, 6064,7120, 6072,15312, 6088,10192, 6104,14288, 6120,12240, + 6128,8144, 6136,16336, 6152,8240, 6168,12336, 6184,10288, 6200,14384, 6216,9264, + 6232,13360, 6248,11312, 6256,7216, 6264,15408, 6280,8752, 6296,12848, + 6312,10800, 6320,6704, 6328,14896, 6344,9776, 6360,13872, 6376,11824, 6384,7728, + 6392,15920, 6408,8496, 6424,12592, 6440,10544, 6456,14640, 6472,9520, + 6488,13616, 6504,11568, 6512,7472, 6520,15664, 6536,9008, 6552,13104, + 6568,11056, 6576,6960, 6584,15152, 6600,10032, 6616,14128, 6632,12080, + 6640,7984, 6648,16176, 6664,8368, 6680,12464, 6696,10416, 6712,14512, 6728,9392, + 6744,13488, 6760,11440, 6768,7344, 6776,15536, 6792,8880, 6808,12976, + 6824,10928, 6840,15024, 6856,9904, 6872,14000, 6888,11952, 6896,7856, + 6904,16048, 6920,8624, 6936,12720, 6952,10672, 6968,14768, 6984,9648, + 7000,13744, 7016,11696, 7024,7600, 7032,15792, 7048,9136, 7064,13232, + 7080,11184, 7096,15280, 7112,10160, 7128,14256, 7144,12208, 7152,8112, + 7160,16304, 7176,8304, 7192,12400, 7208,10352, 7224,14448, 7240,9328, + 7256,13424, 7272,11376, 7288,15472, 7304,8816, 7320,12912, 7336,10864, + 7352,14960, 7368,9840, 7384,13936, 7400,11888, 7408,7792, 7416,15984, 7432,8560, + 7448,12656, 7464,10608, 7480,14704, 7496,9584, 7512,13680, 7528,11632, + 7544,15728, 7560,9072, 7576,13168, 7592,11120, 7608,15216, 7624,10096, + 7640,14192, 7656,12144, 7664,8048, 7672,16240, 7688,8432, 7704,12528, + 7720,10480, 7736,14576, 7752,9456, 7768,13552, 7784,11504, 7800,15600, + 7816,8944, 7832,13040, 7848,10992, 7864,15088, 7880,9968, 7896,14064, + 7912,12016, 7928,16112, 7944,8688, 7960,12784, 7976,10736, 7992,14832, + 8008,9712, 8024,13808, 8040,11760, 8056,15856, 8072,9200, 8088,13296, + 8104,11248, 8120,15344, 8136,10224, 8152,14320, 8168,12272, 8184,16368, + 8216,12296, 8232,10248, 8248,14344, 8264,9224, 8280,13320, 8296,11272, + 8312,15368, 8328,8712, 8344,12808, 8360,10760, 8376,14856, 8392,9736, + 8408,13832, 8424,11784, 8440,15880, 8472,12552, 8488,10504, 8504,14600, + 8520,9480, 8536,13576, 8552,11528, 8568,15624, 8584,8968, 8600,13064, + 8616,11016, 8632,15112, 8648,9992, 8664,14088, 8680,12040, 8696,16136, + 8728,12424, 8744,10376, 8760,14472, 8776,9352, 8792,13448, 8808,11400, + 8824,15496, 8856,12936, 8872,10888, 8888,14984, 8904,9864, 8920,13960, + 8936,11912, 8952,16008, 8984,12680, 9000,10632, 9016,14728, 9032,9608, + 9048,13704, 9064,11656, 9080,15752, 9112,13192, 9128,11144, 9144,15240, + 9160,10120, 9176,14216, 9192,12168, 9208,16264, 9240,12360, 9256,10312, + 9272,14408, 9304,13384, 9320,11336, 9336,15432, 9368,12872, 9384,10824, + 9400,14920, 9416,9800, 9432,13896, 9448,11848, 9464,15944, 9496,12616, + 9512,10568, 9528,14664, 9560,13640, 9576,11592, 9592,15688, 9624,13128, + 9640,11080, 9656,15176, 9672,10056, 9688,14152, 9704,12104, 9720,16200, + 9752,12488, 9768,10440, 9784,14536, 9816,13512, 9832,11464, 9848,15560, + 9880,13000, 9896,10952, 9912,15048, 9944,14024, 9960,11976, 9976,16072, + 10008,12744, 10024,10696, 10040,14792, 10072,13768, 10088,11720, 10104,15816, + 10136,13256, 10152,11208, 10168,15304, 10200,14280, 10216,12232, 10232,16328, + 10264,12328, 10296,14376, 10328,13352, 10344,11304, 10360,15400, 10392,12840, + 10408,10792, 10424,14888, 10456,13864, 10472,11816, 10488,15912, 10520,12584, + 10552,14632, 10584,13608, 10600,11560, 10616,15656, 10648,13096, 10664,11048, + 10680,15144, 10712,14120, 10728,12072, 10744,16168, 10776,12456, 10808,14504, + 10840,13480, 10856,11432, 10872,15528, 10904,12968, 10936,15016, 10968,13992, + 10984,11944, 11000,16040, 11032,12712, 11064,14760, 11096,13736, 11112,11688, + 11128,15784, 11160,13224, 11192,15272, 11224,14248, 11240,12200, 11256,16296, + 11288,12392, 11320,14440, 11352,13416, 11384,15464, 11416,12904, 11448,14952, + 11480,13928, 11496,11880, 11512,15976, 11544,12648, 11576,14696, 11608,13672, + 11640,15720, 11672,13160, 11704,15208, 11736,14184, 11752,12136, 11768,16232, + 11800,12520, 11832,14568, 11864,13544, 11896,15592, 11928,13032, 11960,15080, + 11992,14056, 12024,16104, 12056,12776, 12088,14824, 12120,13800, 12152,15848, + 12184,13288, 12216,15336, 12248,14312, 12280,16360, 12344,14360, 12376,13336, + 12408,15384, 12440,12824, 12472,14872, 12504,13848, 12536,15896, 12600,14616, + 12632,13592, 12664,15640, 12696,13080, 12728,15128, 12760,14104, 12792,16152, + 12856,14488, 12888,13464, 12920,15512, 12984,15000, 13016,13976, 13048,16024, + 13112,14744, 13144,13720, 13176,15768, 13240,15256, 13272,14232, 13304,16280, + 13368,14424, 13432,15448, 13496,14936, 13528,13912, 13560,15960, 13624,14680, + 13688,15704, 13752,15192, 13784,14168, 13816,16216, 13880,14552, 13944,15576, + 14008,15064, 14072,16088, 14136,14808, 14200,15832, 14264,15320, 14328,16344, + 14456,15416, 14520,14904, 14584,15928, 14712,15672, 14776,15160, 14840,16184, + 14968,15544, 15096,16056, 15224,15800, 15352,16312, 15608,15992, 15864,16248 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_BITREVIDX_FXT_4096) +const uint16_t armBitRevIndexTable_fixed_4096[ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH] = +{ + /* radix 4, size 4032 */ + 8,16384, 16,8192, 24,24576, 32,4096, 40,20480, 48,12288, 56,28672, 64,2048, + 72,18432, 80,10240, 88,26624, 96,6144, 104,22528, 112,14336, 120,30720, + 128,1024, 136,17408, 144,9216, 152,25600, 160,5120, 168,21504, 176,13312, + 184,29696, 192,3072, 200,19456, 208,11264, 216,27648, 224,7168, 232,23552, + 240,15360, 248,31744, 256,512, 264,16896, 272,8704, 280,25088, 288,4608, + 296,20992, 304,12800, 312,29184, 320,2560, 328,18944, 336,10752, 344,27136, + 352,6656, 360,23040, 368,14848, 376,31232, 384,1536, 392,17920, 400,9728, + 408,26112, 416,5632, 424,22016, 432,13824, 440,30208, 448,3584, 456,19968, + 464,11776, 472,28160, 480,7680, 488,24064, 496,15872, 504,32256, 520,16640, + 528,8448, 536,24832, 544,4352, 552,20736, 560,12544, 568,28928, 576,2304, + 584,18688, 592,10496, 600,26880, 608,6400, 616,22784, 624,14592, 632,30976, + 640,1280, 648,17664, 656,9472, 664,25856, 672,5376, 680,21760, 688,13568, + 696,29952, 704,3328, 712,19712, 720,11520, 728,27904, 736,7424, 744,23808, + 752,15616, 760,32000, 776,17152, 784,8960, 792,25344, 800,4864, 808,21248, + 816,13056, 824,29440, 832,2816, 840,19200, 848,11008, 856,27392, 864,6912, + 872,23296, 880,15104, 888,31488, 896,1792, 904,18176, 912,9984, 920,26368, + 928,5888, 936,22272, 944,14080, 952,30464, 960,3840, 968,20224, 976,12032, + 984,28416, 992,7936, 1000,24320, 1008,16128, 1016,32512, 1032,16512, 1040,8320, + 1048,24704, 1056,4224, 1064,20608, 1072,12416, 1080,28800, 1088,2176, + 1096,18560, 1104,10368, 1112,26752, 1120,6272, 1128,22656, 1136,14464, + 1144,30848, 1160,17536, 1168,9344, 1176,25728, 1184,5248, 1192,21632, + 1200,13440, 1208,29824, 1216,3200, 1224,19584, 1232,11392, 1240,27776, + 1248,7296, 1256,23680, 1264,15488, 1272,31872, 1288,17024, 1296,8832, + 1304,25216, 1312,4736, 1320,21120, 1328,12928, 1336,29312, 1344,2688, + 1352,19072, 1360,10880, 1368,27264, 1376,6784, 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11096,27472, 11112,23376, 11120,15184, + 11128,31568, 11144,18256, 11160,26448, 11176,22352, 11184,14160, 11192,30544, + 11208,20304, 11216,12112, 11224,28496, 11240,24400, 11248,16208, 11256,32592, + 11272,16592, 11288,24784, 11304,20688, 11312,12496, 11320,28880, 11336,18640, + 11352,26832, 11368,22736, 11376,14544, 11384,30928, 11400,17616, 11416,25808, + 11432,21712, 11440,13520, 11448,29904, 11464,19664, 11480,27856, 11496,23760, + 11504,15568, 11512,31952, 11528,17104, 11544,25296, 11560,21200, 11568,13008, + 11576,29392, 11592,19152, 11608,27344, 11624,23248, 11632,15056, 11640,31440, + 11656,18128, 11672,26320, 11688,22224, 11696,14032, 11704,30416, 11720,20176, + 11728,11984, 11736,28368, 11752,24272, 11760,16080, 11768,32464, 11784,16848, + 11800,25040, 11816,20944, 11824,12752, 11832,29136, 11848,18896, 11864,27088, + 11880,22992, 11888,14800, 11896,31184, 11912,17872, 11928,26064, 11944,21968, + 11952,13776, 11960,30160, 11976,19920, 11992,28112, 12008,24016, 12016,15824, + 12024,32208, 12040,17360, 12056,25552, 12072,21456, 12080,13264, 12088,29648, + 12104,19408, 12120,27600, 12136,23504, 12144,15312, 12152,31696, 12168,18384, + 12184,26576, 12200,22480, 12208,14288, 12216,30672, 12232,20432, 12248,28624, + 12264,24528, 12272,16336, 12280,32720, 12296,16432, 12312,24624, 12328,20528, + 12344,28720, 12360,18480, 12376,26672, 12392,22576, 12400,14384, 12408,30768, + 12424,17456, 12440,25648, 12456,21552, 12464,13360, 12472,29744, 12488,19504, + 12504,27696, 12520,23600, 12528,15408, 12536,31792, 12552,16944, 12568,25136, + 12584,21040, 12592,12848, 12600,29232, 12616,18992, 12632,27184, 12648,23088, + 12656,14896, 12664,31280, 12680,17968, 12696,26160, 12712,22064, 12720,13872, + 12728,30256, 12744,20016, 12760,28208, 12776,24112, 12784,15920, 12792,32304, + 12808,16688, 12824,24880, 12840,20784, 12856,28976, 12872,18736, 12888,26928, + 12904,22832, 12912,14640, 12920,31024, 12936,17712, 12952,25904, 12968,21808, + 12976,13616, 12984,30000, 13000,19760, 13016,27952, 13032,23856, 13040,15664, + 13048,32048, 13064,17200, 13080,25392, 13096,21296, 13112,29488, 13128,19248, + 13144,27440, 13160,23344, 13168,15152, 13176,31536, 13192,18224, 13208,26416, + 13224,22320, 13232,14128, 13240,30512, 13256,20272, 13272,28464, 13288,24368, + 13296,16176, 13304,32560, 13320,16560, 13336,24752, 13352,20656, 13368,28848, + 13384,18608, 13400,26800, 13416,22704, 13424,14512, 13432,30896, 13448,17584, + 13464,25776, 13480,21680, 13496,29872, 13512,19632, 13528,27824, 13544,23728, + 13552,15536, 13560,31920, 13576,17072, 13592,25264, 13608,21168, 13624,29360, + 13640,19120, 13656,27312, 13672,23216, 13680,15024, 13688,31408, 13704,18096, + 13720,26288, 13736,22192, 13744,14000, 13752,30384, 13768,20144, 13784,28336, + 13800,24240, 13808,16048, 13816,32432, 13832,16816, 13848,25008, 13864,20912, + 13880,29104, 13896,18864, 13912,27056, 13928,22960, 13936,14768, 13944,31152, + 13960,17840, 13976,26032, 13992,21936, 14008,30128, 14024,19888, 14040,28080, + 14056,23984, 14064,15792, 14072,32176, 14088,17328, 14104,25520, 14120,21424, + 14136,29616, 14152,19376, 14168,27568, 14184,23472, 14192,15280, 14200,31664, + 14216,18352, 14232,26544, 14248,22448, 14264,30640, 14280,20400, 14296,28592, + 14312,24496, 14320,16304, 14328,32688, 14344,16496, 14360,24688, 14376,20592, + 14392,28784, 14408,18544, 14424,26736, 14440,22640, 14456,30832, 14472,17520, + 14488,25712, 14504,21616, 14520,29808, 14536,19568, 14552,27760, 14568,23664, + 14576,15472, 14584,31856, 14600,17008, 14616,25200, 14632,21104, 14648,29296, + 14664,19056, 14680,27248, 14696,23152, 14704,14960, 14712,31344, 14728,18032, + 14744,26224, 14760,22128, 14776,30320, 14792,20080, 14808,28272, 14824,24176, + 14832,15984, 14840,32368, 14856,16752, 14872,24944, 14888,20848, 14904,29040, + 14920,18800, 14936,26992, 14952,22896, 14968,31088, 14984,17776, 15000,25968, + 15016,21872, 15032,30064, 15048,19824, 15064,28016, 15080,23920, 15088,15728, + 15096,32112, 15112,17264, 15128,25456, 15144,21360, 15160,29552, 15176,19312, + 15192,27504, 15208,23408, 15224,31600, 15240,18288, 15256,26480, 15272,22384, + 15288,30576, 15304,20336, 15320,28528, 15336,24432, 15344,16240, 15352,32624, + 15368,16624, 15384,24816, 15400,20720, 15416,28912, 15432,18672, 15448,26864, + 15464,22768, 15480,30960, 15496,17648, 15512,25840, 15528,21744, 15544,29936, + 15560,19696, 15576,27888, 15592,23792, 15608,31984, 15624,17136, 15640,25328, + 15656,21232, 15672,29424, 15688,19184, 15704,27376, 15720,23280, 15736,31472, + 15752,18160, 15768,26352, 15784,22256, 15800,30448, 15816,20208, 15832,28400, + 15848,24304, 15856,16112, 15864,32496, 15880,16880, 15896,25072, 15912,20976, + 15928,29168, 15944,18928, 15960,27120, 15976,23024, 15992,31216, 16008,17904, + 16024,26096, 16040,22000, 16056,30192, 16072,19952, 16088,28144, 16104,24048, + 16120,32240, 16136,17392, 16152,25584, 16168,21488, 16184,29680, 16200,19440, + 16216,27632, 16232,23536, 16248,31728, 16264,18416, 16280,26608, 16296,22512, + 16312,30704, 16328,20464, 16344,28656, 16360,24560, 16376,32752, 16408,24584, + 16424,20488, 16440,28680, 16456,18440, 16472,26632, 16488,22536, 16504,30728, + 16520,17416, 16536,25608, 16552,21512, 16568,29704, 16584,19464, 16600,27656, + 16616,23560, 16632,31752, 16648,16904, 16664,25096, 16680,21000, 16696,29192, + 16712,18952, 16728,27144, 16744,23048, 16760,31240, 16776,17928, 16792,26120, + 16808,22024, 16824,30216, 16840,19976, 16856,28168, 16872,24072, 16888,32264, + 16920,24840, 16936,20744, 16952,28936, 16968,18696, 16984,26888, 17000,22792, + 17016,30984, 17032,17672, 17048,25864, 17064,21768, 17080,29960, 17096,19720, + 17112,27912, 17128,23816, 17144,32008, 17176,25352, 17192,21256, 17208,29448, + 17224,19208, 17240,27400, 17256,23304, 17272,31496, 17288,18184, 17304,26376, + 17320,22280, 17336,30472, 17352,20232, 17368,28424, 17384,24328, 17400,32520, + 17432,24712, 17448,20616, 17464,28808, 17480,18568, 17496,26760, 17512,22664, + 17528,30856, 17560,25736, 17576,21640, 17592,29832, 17608,19592, 17624,27784, + 17640,23688, 17656,31880, 17688,25224, 17704,21128, 17720,29320, 17736,19080, + 17752,27272, 17768,23176, 17784,31368, 17800,18056, 17816,26248, 17832,22152, + 17848,30344, 17864,20104, 17880,28296, 17896,24200, 17912,32392, 17944,24968, + 17960,20872, 17976,29064, 17992,18824, 18008,27016, 18024,22920, 18040,31112, + 18072,25992, 18088,21896, 18104,30088, 18120,19848, 18136,28040, 18152,23944, + 18168,32136, 18200,25480, 18216,21384, 18232,29576, 18248,19336, 18264,27528, + 18280,23432, 18296,31624, 18328,26504, 18344,22408, 18360,30600, 18376,20360, + 18392,28552, 18408,24456, 18424,32648, 18456,24648, 18472,20552, 18488,28744, + 18520,26696, 18536,22600, 18552,30792, 18584,25672, 18600,21576, 18616,29768, + 18632,19528, 18648,27720, 18664,23624, 18680,31816, 18712,25160, 18728,21064, + 18744,29256, 18760,19016, 18776,27208, 18792,23112, 18808,31304, 18840,26184, + 18856,22088, 18872,30280, 18888,20040, 18904,28232, 18920,24136, 18936,32328, + 18968,24904, 18984,20808, 19000,29000, 19032,26952, 19048,22856, 19064,31048, + 19096,25928, 19112,21832, 19128,30024, 19144,19784, 19160,27976, 19176,23880, + 19192,32072, 19224,25416, 19240,21320, 19256,29512, 19288,27464, 19304,23368, + 19320,31560, 19352,26440, 19368,22344, 19384,30536, 19400,20296, 19416,28488, + 19432,24392, 19448,32584, 19480,24776, 19496,20680, 19512,28872, 19544,26824, + 19560,22728, 19576,30920, 19608,25800, 19624,21704, 19640,29896, 19672,27848, + 19688,23752, 19704,31944, 19736,25288, 19752,21192, 19768,29384, 19800,27336, + 19816,23240, 19832,31432, 19864,26312, 19880,22216, 19896,30408, 19912,20168, + 19928,28360, 19944,24264, 19960,32456, 19992,25032, 20008,20936, 20024,29128, + 20056,27080, 20072,22984, 20088,31176, 20120,26056, 20136,21960, 20152,30152, + 20184,28104, 20200,24008, 20216,32200, 20248,25544, 20264,21448, 20280,29640, + 20312,27592, 20328,23496, 20344,31688, 20376,26568, 20392,22472, 20408,30664, + 20440,28616, 20456,24520, 20472,32712, 20504,24616, 20536,28712, 20568,26664, + 20584,22568, 20600,30760, 20632,25640, 20648,21544, 20664,29736, 20696,27688, + 20712,23592, 20728,31784, 20760,25128, 20776,21032, 20792,29224, 20824,27176, + 20840,23080, 20856,31272, 20888,26152, 20904,22056, 20920,30248, 20952,28200, + 20968,24104, 20984,32296, 21016,24872, 21048,28968, 21080,26920, 21096,22824, + 21112,31016, 21144,25896, 21160,21800, 21176,29992, 21208,27944, 21224,23848, + 21240,32040, 21272,25384, 21304,29480, 21336,27432, 21352,23336, 21368,31528, + 21400,26408, 21416,22312, 21432,30504, 21464,28456, 21480,24360, 21496,32552, + 21528,24744, 21560,28840, 21592,26792, 21608,22696, 21624,30888, 21656,25768, + 21688,29864, 21720,27816, 21736,23720, 21752,31912, 21784,25256, 21816,29352, + 21848,27304, 21864,23208, 21880,31400, 21912,26280, 21928,22184, 21944,30376, + 21976,28328, 21992,24232, 22008,32424, 22040,25000, 22072,29096, 22104,27048, + 22120,22952, 22136,31144, 22168,26024, 22200,30120, 22232,28072, 22248,23976, + 22264,32168, 22296,25512, 22328,29608, 22360,27560, 22376,23464, 22392,31656, + 22424,26536, 22456,30632, 22488,28584, 22504,24488, 22520,32680, 22552,24680, + 22584,28776, 22616,26728, 22648,30824, 22680,25704, 22712,29800, 22744,27752, + 22760,23656, 22776,31848, 22808,25192, 22840,29288, 22872,27240, 22888,23144, + 22904,31336, 22936,26216, 22968,30312, 23000,28264, 23016,24168, 23032,32360, + 23064,24936, 23096,29032, 23128,26984, 23160,31080, 23192,25960, 23224,30056, + 23256,28008, 23272,23912, 23288,32104, 23320,25448, 23352,29544, 23384,27496, + 23416,31592, 23448,26472, 23480,30568, 23512,28520, 23528,24424, 23544,32616, + 23576,24808, 23608,28904, 23640,26856, 23672,30952, 23704,25832, 23736,29928, + 23768,27880, 23800,31976, 23832,25320, 23864,29416, 23896,27368, 23928,31464, + 23960,26344, 23992,30440, 24024,28392, 24040,24296, 24056,32488, 24088,25064, + 24120,29160, 24152,27112, 24184,31208, 24216,26088, 24248,30184, 24280,28136, + 24312,32232, 24344,25576, 24376,29672, 24408,27624, 24440,31720, 24472,26600, + 24504,30696, 24536,28648, 24568,32744, 24632,28696, 24664,26648, 24696,30744, + 24728,25624, 24760,29720, 24792,27672, 24824,31768, 24856,25112, 24888,29208, + 24920,27160, 24952,31256, 24984,26136, 25016,30232, 25048,28184, 25080,32280, + 25144,28952, 25176,26904, 25208,31000, 25240,25880, 25272,29976, 25304,27928, + 25336,32024, 25400,29464, 25432,27416, 25464,31512, 25496,26392, 25528,30488, + 25560,28440, 25592,32536, 25656,28824, 25688,26776, 25720,30872, 25784,29848, + 25816,27800, 25848,31896, 25912,29336, 25944,27288, 25976,31384, 26008,26264, + 26040,30360, 26072,28312, 26104,32408, 26168,29080, 26200,27032, 26232,31128, + 26296,30104, 26328,28056, 26360,32152, 26424,29592, 26456,27544, 26488,31640, + 26552,30616, 26584,28568, 26616,32664, 26680,28760, 26744,30808, 26808,29784, + 26840,27736, 26872,31832, 26936,29272, 26968,27224, 27000,31320, 27064,30296, + 27096,28248, 27128,32344, 27192,29016, 27256,31064, 27320,30040, 27352,27992, + 27384,32088, 27448,29528, 27512,31576, 27576,30552, 27608,28504, 27640,32600, + 27704,28888, 27768,30936, 27832,29912, 27896,31960, 27960,29400, 28024,31448, + 28088,30424, 28120,28376, 28152,32472, 28216,29144, 28280,31192, 28344,30168, + 28408,32216, 28472,29656, 28536,31704, 28600,30680, 28664,32728, 28792,30776, + 28856,29752, 28920,31800, 28984,29240, 29048,31288, 29112,30264, 29176,32312, + 29304,31032, 29368,30008, 29432,32056, 29560,31544, 29624,30520, 29688,32568, + 29816,30904, 29944,31928, 30072,31416, 30136,30392, 30200,32440, 30328,31160, + 30456,32184, 30584,31672, 30712,32696, 30968,31864, 31096,31352, 31224,32376, + 31480,32120, 31736,32632, 32248,32504 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_32) +/** + @par + Example code for Double Precision Floating-point RFFT Twiddle factors Generation: + @par + 
TW = exp(pi/2*i-2*pi*i*[0:L/2-1]/L).'
+ @par + Real and Imag values are in interleaved fashion +*/ +const uint64_t twiddleCoefF64_rfft_32[32] = { + 0x0000000000000000, 0x3ff0000000000000, // 0, 1 + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, //0.19509, 0.98079 + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, //0.38268, 0.92388 + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, //0.55557, 0.83147 + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, //0.70711, 0.70711 + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, //0.83147, 0.55557 + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, //0.92388, 0.38268 + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, //0.98079, 0.19509 + 0x3ff0000000000000, 0x0000000000000000, // 1, 0 + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, //0.98079,-0.19509 + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, //0.92388,-0.38268 + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, //0.83147,-0.55557 + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, //0.70711,-0.70711 + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, //0.55557,-0.83147 + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, //0.38268,-0.92388 + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, //0.19509,-0.98079 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_64) +const uint64_t twiddleCoefF64_rfft_64[64] = { + 0x0000000000000000, 0x3ff0000000000000, // 0, 1' + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, //0.098017, 0.99518' + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079' + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694' + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388' + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192' + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147' + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301' + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711' + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439' + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557' + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714' + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268' + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028' + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509' + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017' + 0x3ff0000000000000, 0x0000000000000000, // 1, 0' + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518,-0.098017' + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509' + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028' + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268' + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714' + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557' + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439' + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711' + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301' + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147' + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192' + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388' + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694' + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079' + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, //0.098017, -0.99518' +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_128) +const uint64_t twiddleCoefF64_rfft_128[128] = { + 0x0000000000000000, 0x3ff0000000000000, // 0, 1' + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, //0.049068, 0.9988' + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, //0.098017, 0.99518' + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918' + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079' + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003' + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694' + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154' + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388' + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399' + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192' + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773' + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147' + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321' + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301' + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095' + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711' + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156' + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439' + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957' + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557' + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141' + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714' + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756' + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268' + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689' + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028' + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298' + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509' + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673' + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017' + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068' + 0x3ff0000000000000, 0x0000000000000000, // 1, 0' + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988,-0.049068' + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518,-0.098017' + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673' + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509' + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298' + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028' + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689' + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268' + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756' + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714' + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141' + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557' + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957' + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439' + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156' + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711' + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095' + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301' + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321' + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147' + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773' + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192' + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399' + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388' + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154' + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694' + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003' + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079' + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918' + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, //0.098017, -0.99518' + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, //0.049068, -0.9988' +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_256) +const uint64_t twiddleCoefF64_rfft_256[256] = { + 0x0000000000000000, 0x3ff0000000000000, // 0, 1 + 0x3f992155f7a3667e, 0x3feffd886084cd0d, //0.024541, 0.9997 + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, //0.049068, 0.9988 + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, //0.073565, 0.99729 + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, //0.098017, 0.99518 + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248 + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918 + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528 + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079 + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757 + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003 + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378 + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694 + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953 + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154 + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299 + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388 + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421 + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399 + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322 + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192 + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009 + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773 + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485 + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147 + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758 + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321 + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835 + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301 + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721 + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095 + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425 + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711 + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954 + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156 + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317 + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439 + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523 + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957 + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581 + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557 + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535 + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141 + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929 + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714 + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961 + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756 + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524 + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268 + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599 + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689 + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368 + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028 + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671 + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298 + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191 + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509 + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096 + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673 + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241 + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017 + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565 + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068 + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541 + 0x3ff0000000000000, 0x0000000000000000, // 1, 0 + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997,-0.024541 + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988,-0.049068 + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729,-0.073565 + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518,-0.098017 + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241 + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673 + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096 + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509 + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191 + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298 + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671 + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028 + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368 + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689 + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599 + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268 + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524 + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756 + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961 + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714 + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929 + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141 + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535 + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557 + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581 + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957 + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523 + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439 + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317 + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156 + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954 + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711 + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425 + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095 + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721 + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301 + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835 + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321 + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758 + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147 + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485 + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773 + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009 + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192 + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322 + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399 + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421 + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388 + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299 + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154 + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953 + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694 + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378 + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003 + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757 + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079 + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528 + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918 + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248 + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, //0.098017, -0.99518 + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, //0.073565, -0.99729 + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, //0.049068, -0.9988' + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, //0.024541, -0.9997 + + +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_512) +const uint64_t twiddleCoefF64_rfft_512[512] = { + 0x0000000000000000, 0x3ff0000000000000, // 0, 1' + 0x3f8921d1fcdec784, 0x3fefff62169b92db, //0.012272, 0.99992' + 0x3f992155f7a3667e, 0x3feffd886084cd0d, //0.024541, 0.9997' + 0x3fa2d865759455cd, 0x3feffa72effef75d, //0.036807, 0.99932' + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, //0.049068, 0.9988' + 0x3faf656e79f820e0, 0x3feff095658e71ad, //0.061321, 0.99812' + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, //0.073565, 0.99729' + 0x3fb5f6d00a9aa419, 0x3fefe1cafcbd5b09, //0.085797, 0.99631' + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, //0.098017, 0.99518' + 0x3fbc3785c79ec2d5, 0x3fefce15fd6da67b, // 0.11022, 0.99391' + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248' + 0x3fc139f0cedaf576, 0x3fefb5797195d741, // 0.13458, 0.9909' + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918' + 0x3fc45576b1293e5a, 0x3fef97f924c9099b, // 0.15886, 0.9873' + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528' + 0x3fc76dd9de50bf31, 0x3fef7599a3a12077, // 0.18304, 0.98311' + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079' + 0x3fca82a025b00451, 0x3fef4e603b0b2f2d, // 0.20711, 0.97832' + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757' + 0x3fcd934fe5454311, 0x3fef2252f7763ada, // 0.23106, 0.97294' + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003' + 0x3fd04fb80e37fdae, 0x3feef178a3e473c2, // 0.25487, 0.96698' + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378' + 0x3fd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // 0.27852, 0.96043' + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694' + 0x3fd35410c2e18152, 0x3fee817bab4cd10d, // 0.30201, 0.95331' + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953' + 0x3fd4d1e24278e76a, 0x3fee426a4b2bc17e, // 0.32531, 0.94561' + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154' + 0x3fd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // 0.34842, 0.93734' + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299' + 0x3fd7c3a9311dcce7, 0x3fedb6526238a09b, // 0.37132, 0.92851' + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388' + 0x3fd9372a63bc93d7, 0x3fed696173c9e68b, // 0.39399, 0.91911' + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421' + 0x3fdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // 0.41643, 0.90917' + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399' + 0x3fdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // 0.43862, 0.89867' + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322' + 0x3fdd79775b86e389, 0x3fec678b3488739b, // 0.46054, 0.88764' + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192' + 0x3fdedc1952ef78d5, 0x3fec08c426725549, // 0.48218, 0.87607' + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009' + 0x3fe01cfc874c3eb7, 0x3feba5aa673590d2, // 0.50354, 0.86397' + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773' + 0x3fe0c9704d5d898f, 0x3feb3e4d3ef55712, // 0.52459, 0.85136' + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485' + 0x3fe1734d63dedb49, 0x3fead2bc9e21d511, // 0.54532, 0.83822' + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147' + 0x3fe21a799933eb58, 0x3fea63091b02fae2, // 0.56573, 0.82459' + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758' + 0x3fe2bedb25faf3ea, 0x3fe9ef43ef29af94, // 0.5858, 0.81046' + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321' + 0x3fe36058b10659f3, 0x3fe9777ef4c7d742, // 0.60551, 0.79584' + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835' + 0x3fe3fed9534556d4, 0x3fe8fbcca3ef940d, // 0.62486, 0.78074' + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301' + 0x3fe49a449b9b0938, 0x3fe87c400fba2ebf, // 0.64383, 0.76517' + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721' + 0x3fe5328292a35596, 0x3fe7f8ece3571771, // 0.66242, 0.74914' + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095' + 0x3fe5c77bbe65018c, 0x3fe771e75f037261, // 0.6806, 0.73265' + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425' + 0x3fe6591925f0783e, 0x3fe6e74454eaa8ae, // 0.69838, 0.71573' + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711' + 0x3fe6e74454eaa8ae, 0x3fe6591925f0783e, // 0.71573, 0.69838' + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954' + 0x3fe771e75f037261, 0x3fe5c77bbe65018c, // 0.73265, 0.6806' + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156' + 0x3fe7f8ece3571771, 0x3fe5328292a35596, // 0.74914, 0.66242' + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317' + 0x3fe87c400fba2ebf, 0x3fe49a449b9b0938, // 0.76517, 0.64383' + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439' + 0x3fe8fbcca3ef940d, 0x3fe3fed9534556d4, // 0.78074, 0.62486' + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523' + 0x3fe9777ef4c7d742, 0x3fe36058b10659f3, // 0.79584, 0.60551' + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957' + 0x3fe9ef43ef29af94, 0x3fe2bedb25faf3ea, // 0.81046, 0.5858' + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581' + 0x3fea63091b02fae2, 0x3fe21a799933eb58, // 0.82459, 0.56573' + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557' + 0x3fead2bc9e21d511, 0x3fe1734d63dedb49, // 0.83822, 0.54532' + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535' + 0x3feb3e4d3ef55712, 0x3fe0c9704d5d898f, // 0.85136, 0.52459' + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141' + 0x3feba5aa673590d2, 0x3fe01cfc874c3eb7, // 0.86397, 0.50354' + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929' + 0x3fec08c426725549, 0x3fdedc1952ef78d5, // 0.87607, 0.48218' + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714' + 0x3fec678b3488739b, 0x3fdd79775b86e389, // 0.88764, 0.46054' + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961' + 0x3fecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // 0.89867, 0.43862' + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756' + 0x3fed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // 0.90917, 0.41643' + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524' + 0x3fed696173c9e68b, 0x3fd9372a63bc93d7, // 0.91911, 0.39399' + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268' + 0x3fedb6526238a09b, 0x3fd7c3a9311dcce7, // 0.92851, 0.37132' + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599' + 0x3fedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // 0.93734, 0.34842' + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689' + 0x3fee426a4b2bc17e, 0x3fd4d1e24278e76a, // 0.94561, 0.32531' + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368' + 0x3fee817bab4cd10d, 0x3fd35410c2e18152, // 0.95331, 0.30201' + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028' + 0x3feebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // 0.96043, 0.27852' + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671' + 0x3feef178a3e473c2, 0x3fd04fb80e37fdae, // 0.96698, 0.25487' + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298' + 0x3fef2252f7763ada, 0x3fcd934fe5454311, // 0.97294, 0.23106' + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191' + 0x3fef4e603b0b2f2d, 0x3fca82a025b00451, // 0.97832, 0.20711' + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509' + 0x3fef7599a3a12077, 0x3fc76dd9de50bf31, // 0.98311, 0.18304' + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096' + 0x3fef97f924c9099b, 0x3fc45576b1293e5a, // 0.9873, 0.15886' + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673' + 0x3fefb5797195d741, 0x3fc139f0cedaf576, // 0.9909, 0.13458' + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241' + 0x3fefce15fd6da67b, 0x3fbc3785c79ec2d5, // 0.99391, 0.11022' + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017' + 0x3fefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // 0.99631, 0.085797' + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565' + 0x3feff095658e71ad, 0x3faf656e79f820e0, // 0.99812, 0.061321' + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068' + 0x3feffa72effef75d, 0x3fa2d865759455cd, // 0.99932, 0.036807' + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541' + 0x3fefff62169b92db, 0x3f8921d1fcdec784, // 0.99992, 0.012272' + 0x3ff0000000000000, 0x0000000000000000, // 1, 0' + 0x3fefff62169b92db, 0xbf8921d1fcdec784, // 0.99992,-0.012272' + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997,-0.024541' + 0x3feffa72effef75d, 0xbfa2d865759455cd, // 0.99932,-0.036807' + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988,-0.049068' + 0x3feff095658e71ad, 0xbfaf656e79f820e0, // 0.99812,-0.061321' + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729,-0.073565' + 0x3fefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // 0.99631,-0.085797' + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518,-0.098017' + 0x3fefce15fd6da67b, 0xbfbc3785c79ec2d5, // 0.99391, -0.11022' + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241' + 0x3fefb5797195d741, 0xbfc139f0cedaf576, // 0.9909, -0.13458' + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673' + 0x3fef97f924c9099b, 0xbfc45576b1293e5a, // 0.9873, -0.15886' + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096' + 0x3fef7599a3a12077, 0xbfc76dd9de50bf31, // 0.98311, -0.18304' + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509' + 0x3fef4e603b0b2f2d, 0xbfca82a025b00451, // 0.97832, -0.20711' + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191' + 0x3fef2252f7763ada, 0xbfcd934fe5454311, // 0.97294, -0.23106' + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298' + 0x3feef178a3e473c2, 0xbfd04fb80e37fdae, // 0.96698, -0.25487' + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671' + 0x3feebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // 0.96043, -0.27852' + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028' + 0x3fee817bab4cd10d, 0xbfd35410c2e18152, // 0.95331, -0.30201' + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368' + 0x3fee426a4b2bc17e, 0xbfd4d1e24278e76a, // 0.94561, -0.32531' + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689' + 0x3fedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // 0.93734, -0.34842' + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599' + 0x3fedb6526238a09b, 0xbfd7c3a9311dcce7, // 0.92851, -0.37132' + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268' + 0x3fed696173c9e68b, 0xbfd9372a63bc93d7, // 0.91911, -0.39399' + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524' + 0x3fed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // 0.90917, -0.41643' + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756' + 0x3fecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // 0.89867, -0.43862' + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961' + 0x3fec678b3488739b, 0xbfdd79775b86e389, // 0.88764, -0.46054' + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714' + 0x3fec08c426725549, 0xbfdedc1952ef78d5, // 0.87607, -0.48218' + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929' + 0x3feba5aa673590d2, 0xbfe01cfc874c3eb7, // 0.86397, -0.50354' + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141' + 0x3feb3e4d3ef55712, 0xbfe0c9704d5d898f, // 0.85136, -0.52459' + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535' + 0x3fead2bc9e21d511, 0xbfe1734d63dedb49, // 0.83822, -0.54532' + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557' + 0x3fea63091b02fae2, 0xbfe21a799933eb58, // 0.82459, -0.56573' + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581' + 0x3fe9ef43ef29af94, 0xbfe2bedb25faf3ea, // 0.81046, -0.5858' + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957' + 0x3fe9777ef4c7d742, 0xbfe36058b10659f3, // 0.79584, -0.60551' + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523' + 0x3fe8fbcca3ef940d, 0xbfe3fed9534556d4, // 0.78074, -0.62486' + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439' + 0x3fe87c400fba2ebf, 0xbfe49a449b9b0938, // 0.76517, -0.64383' + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317' + 0x3fe7f8ece3571771, 0xbfe5328292a35596, // 0.74914, -0.66242' + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156' + 0x3fe771e75f037261, 0xbfe5c77bbe65018c, // 0.73265, -0.6806' + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954' + 0x3fe6e74454eaa8ae, 0xbfe6591925f0783e, // 0.71573, -0.69838' + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711' + 0x3fe6591925f0783e, 0xbfe6e74454eaa8ae, // 0.69838, -0.71573' + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425' + 0x3fe5c77bbe65018c, 0xbfe771e75f037261, // 0.6806, -0.73265' + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095' + 0x3fe5328292a35596, 0xbfe7f8ece3571771, // 0.66242, -0.74914' + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721' + 0x3fe49a449b9b0938, 0xbfe87c400fba2ebf, // 0.64383, -0.76517' + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301' + 0x3fe3fed9534556d4, 0xbfe8fbcca3ef940d, // 0.62486, -0.78074' + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835' + 0x3fe36058b10659f3, 0xbfe9777ef4c7d742, // 0.60551, -0.79584' + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321' + 0x3fe2bedb25faf3ea, 0xbfe9ef43ef29af94, // 0.5858, -0.81046' + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758' + 0x3fe21a799933eb58, 0xbfea63091b02fae2, // 0.56573, -0.82459' + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147' + 0x3fe1734d63dedb49, 0xbfead2bc9e21d511, // 0.54532, -0.83822' + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485' + 0x3fe0c9704d5d898f, 0xbfeb3e4d3ef55712, // 0.52459, -0.85136' + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773' + 0x3fe01cfc874c3eb7, 0xbfeba5aa673590d2, // 0.50354, -0.86397' + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009' + 0x3fdedc1952ef78d5, 0xbfec08c426725549, // 0.48218, -0.87607' + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192' + 0x3fdd79775b86e389, 0xbfec678b3488739b, // 0.46054, -0.88764' + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322' + 0x3fdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // 0.43862, -0.89867' + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399' + 0x3fdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // 0.41643, -0.90917' + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421' + 0x3fd9372a63bc93d7, 0xbfed696173c9e68b, // 0.39399, -0.91911' + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388' + 0x3fd7c3a9311dcce7, 0xbfedb6526238a09b, // 0.37132, -0.92851' + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299' + 0x3fd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // 0.34842, -0.93734' + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154' + 0x3fd4d1e24278e76a, 0xbfee426a4b2bc17e, // 0.32531, -0.94561' + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953' + 0x3fd35410c2e18152, 0xbfee817bab4cd10d, // 0.30201, -0.95331' + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694' + 0x3fd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // 0.27852, -0.96043' + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378' + 0x3fd04fb80e37fdae, 0xbfeef178a3e473c2, // 0.25487, -0.96698' + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003' + 0x3fcd934fe5454311, 0xbfef2252f7763ada, // 0.23106, -0.97294' + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757' + 0x3fca82a025b00451, 0xbfef4e603b0b2f2d, // 0.20711, -0.97832' + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079' + 0x3fc76dd9de50bf31, 0xbfef7599a3a12077, // 0.18304, -0.98311' + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528' + 0x3fc45576b1293e5a, 0xbfef97f924c9099b, // 0.15886, -0.9873' + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918' + 0x3fc139f0cedaf576, 0xbfefb5797195d741, // 0.13458, -0.9909' + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248' + 0x3fbc3785c79ec2d5, 0xbfefce15fd6da67b, // 0.11022, -0.99391' + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, //0.098017, -0.99518' + 0x3fb5f6d00a9aa419, 0xbfefe1cafcbd5b09, //0.085797, -0.99631' + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, //0.073565, -0.99729' + 0x3faf656e79f820e0, 0xbfeff095658e71ad, //0.061321, -0.99812' + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, //0.049068, -0.9988' + 0x3fa2d865759455cd, 0xbfeffa72effef75d, //0.036807, -0.99932' + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, //0.024541, -0.9997' + 0x3f8921d1fcdec784, 0xbfefff62169b92db, //0.012272, -0.99992' + + +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_1024) +const uint64_t twiddleCoefF64_rfft_1024[1024] = { + 0x0000000000000000, 0x3ff0000000000000, // 0, 1' + 0x3f7921f0fe670071, 0x3fefffd8858e8a92, //0.0061359, 0.99998' + 0x3f8921d1fcdec784, 0x3fefff62169b92db, // 0.012272, 0.99992' + 0x3f92d936bbe30efd, 0x3feffe9cb44b51a1, // 0.018407, 0.99983' + 0x3f992155f7a3667e, 0x3feffd886084cd0d, // 0.024541, 0.9997' + 0x3f9f693731d1cf01, 0x3feffc251df1d3f8, // 0.030675, 0.99953' + 0x3fa2d865759455cd, 0x3feffa72effef75d, // 0.036807, 0.99932' + 0x3fa5fc00d290cd43, 0x3feff871dadb81df, // 0.042938, 0.99908' + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, // 0.049068, 0.9988' + 0x3fac428d12c0d7e3, 0x3feff3830f8d575c, // 0.055195, 0.99848' + 0x3faf656e79f820e0, 0x3feff095658e71ad, // 0.061321, 0.99812' + 0x3fb1440134d709b2, 0x3fefed58ecb673c4, // 0.067444, 0.99772' + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, // 0.073565, 0.99729' + 0x3fb4661179272096, 0x3fefe5f3af2e3940, // 0.079682, 0.99682' + 0x3fb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // 0.085797, 0.99631' + 0x3fb787586a5d5b21, 0x3fefdd539ff1f456, // 0.091909, 0.99577' + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518' + 0x3fbaa7b724495c04, 0x3fefd37914220b84, // 0.10412, 0.99456' + 0x3fbc3785c79ec2d5, 0x3fefce15fd6da67b, // 0.11022, 0.99391' + 0x3fbdc70ecbae9fc8, 0x3fefc8646cfeb721, // 0.11632, 0.99321' + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248' + 0x3fc072a047ba831d, 0x3fefbc1617e44186, // 0.1285, 0.99171' + 0x3fc139f0cedaf576, 0x3fefb5797195d741, // 0.13458, 0.9909' + 0x3fc20116d4ec7bce, 0x3fefae8e8e46cfbb, // 0.14066, 0.99006' + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918' + 0x3fc38edbb0cd8d14, 0x3fef9fce55adb2c8, // 0.1528, 0.98826' + 0x3fc45576b1293e5a, 0x3fef97f924c9099b, // 0.15886, 0.9873' + 0x3fc51bdf8597c5f2, 0x3fef8fd5ffae41db, // 0.16491, 0.98631' + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528' + 0x3fc6a81304f64ab2, 0x3fef7ea629e63d6e, // 0.177, 0.98421' + 0x3fc76dd9de50bf31, 0x3fef7599a3a12077, // 0.18304, 0.98311' + 0x3fc83366e89c64c5, 0x3fef6c3f7df5bbb7, // 0.18907, 0.98196' + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079' + 0x3fc9bdcbf2dc4366, 0x3fef58a2b1789e84, // 0.2011, 0.97957' + 0x3fca82a025b00451, 0x3fef4e603b0b2f2d, // 0.20711, 0.97832' + 0x3fcb4732ef3d6722, 0x3fef43d085ff92dd, // 0.21311, 0.97703' + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757' + 0x3fcccf8cb312b286, 0x3fef2dc9c9089a9d, // 0.22508, 0.97434' + 0x3fcd934fe5454311, 0x3fef2252f7763ada, // 0.23106, 0.97294' + 0x3fce56ca1e101a1b, 0x3fef168f53f7205d, // 0.23702, 0.9715' + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003' + 0x3fcfdcdc1adfedf8, 0x3feefe220c0b95ec, // 0.24893, 0.96852' + 0x3fd04fb80e37fdae, 0x3feef178a3e473c2, // 0.25487, 0.96698' + 0x3fd0b0d9cfdbdb90, 0x3feee482e25a9dbc, // 0.26079, 0.96539' + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378' + 0x3fd172a0d7765177, 0x3feec9b2d3c3bf84, // 0.27262, 0.96212' + 0x3fd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // 0.27852, 0.96043' + 0x3fd233bbabc3bb72, 0x3feeadb2e8e7a88e, // 0.28441, 0.9587' + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694' + 0x3fd2f422daec0386, 0x3fee9084361df7f3, // 0.29615, 0.95514' + 0x3fd35410c2e18152, 0x3fee817bab4cd10d, // 0.30201, 0.95331' + 0x3fd3b3cefa0414b7, 0x3fee7227db6a9744, // 0.30785, 0.95144' + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953' + 0x3fd472b8a5571054, 0x3fee529f04729ffc, // 0.3195, 0.94759' + 0x3fd4d1e24278e76a, 0x3fee426a4b2bc17e, // 0.32531, 0.94561' + 0x3fd530d880af3c24, 0x3fee31eae870ce25, // 0.33111, 0.94359' + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154' + 0x3fd5ee27379ea693, 0x3fee100cca2980ac, // 0.34266, 0.93946' + 0x3fd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // 0.34842, 0.93734' + 0x3fd6aa9d7dc77e16, 0x3feded05f7de47da, // 0.35416, 0.93518' + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299' + 0x3fd766340f2418f6, 0x3fedc8d7cb410260, // 0.36561, 0.93077' + 0x3fd7c3a9311dcce7, 0x3fedb6526238a09b, // 0.37132, 0.92851' + 0x3fd820e3b04eaac4, 0x3feda383a9668988, // 0.37701, 0.92621' + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388' + 0x3fd8daa52ec8a4af, 0x3fed7d0b02b8ecf9, // 0.38835, 0.92151' + 0x3fd9372a63bc93d7, 0x3fed696173c9e68b, // 0.39399, 0.91911' + 0x3fd993716141bdfe, 0x3fed556f52e93eb1, // 0.39962, 0.91668' + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421' + 0x3fda4b4127dea1e4, 0x3fed2cb220e0ef9f, // 0.41084, 0.91171' + 0x3fdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // 0.41643, 0.90917' + 0x3fdb020d6c7f4009, 0x3fed02d4feb2bd92, // 0.422, 0.9066' + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399' + 0x3fdbb7cf2304bd01, 0x3fecd7d9898b32f6, // 0.43309, 0.90135' + 0x3fdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // 0.43862, 0.89867' + 0x3fdc6c7f4997000a, 0x3fecabc169a0b901, // 0.44412, 0.89597' + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322' + 0x3fdd2016e8e9db5b, 0x3fec7e8e52233cf3, // 0.45508, 0.89045' + 0x3fdd79775b86e389, 0x3fec678b3488739b, // 0.46054, 0.88764' + 0x3fddd28f1481cc58, 0x3fec5042012b6907, // 0.46598, 0.8848' + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192' + 0x3fde83e0eaf85113, 0x3fec20de3fa971b0, // 0.4768, 0.87901' + 0x3fdedc1952ef78d5, 0x3fec08c426725549, // 0.48218, 0.87607' + 0x3fdf3405963fd068, 0x3febf064e15377dd, // 0.48755, 0.87309' + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009' + 0x3fdfe2f64be7120f, 0x3febbed7c49380ea, // 0.49823, 0.86705' + 0x3fe01cfc874c3eb7, 0x3feba5aa673590d2, // 0.50354, 0.86397' + 0x3fe0485626ae221a, 0x3feb8c38d27504e9, // 0.50883, 0.86087' + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773' + 0x3fe09e907417c5e1, 0x3feb5889fe921405, // 0.51936, 0.85456' + 0x3fe0c9704d5d898f, 0x3feb3e4d3ef55712, // 0.52459, 0.85136' + 0x3fe0f426bb2a8e7d, 0x3feb23cd470013b4, // 0.5298, 0.84812' + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485' + 0x3fe14915af336ceb, 0x3feaee04b43c1474, // 0.54017, 0.84155' + 0x3fe1734d63dedb49, 0x3fead2bc9e21d511, // 0.54532, 0.83822' + 0x3fe19d5a09f2b9b8, 0x3feab7325916c0d4, // 0.55046, 0.83486' + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147' + 0x3fe1f0f08bbc861b, 0x3fea7f58529fe69d, // 0.56066, 0.82805' + 0x3fe21a799933eb58, 0x3fea63091b02fae2, // 0.56573, 0.82459' + 0x3fe243d5fb98ac1f, 0x3fea4678c8119ac8, // 0.57078, 0.8211' + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758' + 0x3fe2960727629ca8, 0x3fea0c95eabaf937, // 0.58081, 0.81404' + 0x3fe2bedb25faf3ea, 0x3fe9ef43ef29af94, // 0.5858, 0.81046' + 0x3fe2e780e3e8ea16, 0x3fe9d1b1f5ea80d6, // 0.59076, 0.80685' + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321' + 0x3fe338400d0c8e57, 0x3fe995cf2ed80d22, // 0.60062, 0.79954' + 0x3fe36058b10659f3, 0x3fe9777ef4c7d742, // 0.60551, 0.79584' + 0x3fe3884185dfeb22, 0x3fe958efe48e6dd7, // 0.61038, 0.79211' + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835' + 0x3fe3d78238c58343, 0x3fe91b166fd49da2, // 0.62006, 0.78456' + 0x3fe3fed9534556d4, 0x3fe8fbcca3ef940d, // 0.62486, 0.78074' + 0x3fe425ff178e6bb1, 0x3fe8dc45331698cc, // 0.62964, 0.77689' + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301' + 0x3fe473b51b987347, 0x3fe89c7e9a4dd4ab, // 0.63912, 0.7691' + 0x3fe49a449b9b0938, 0x3fe87c400fba2ebf, // 0.64383, 0.76517' + 0x3fe4c0a145ec0004, 0x3fe85bc51ae958cc, // 0.64851, 0.7612' + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721' + 0x3fe50cc09f59a09b, 0x3fe81a1b33b57acc, // 0.65781, 0.75319' + 0x3fe5328292a35596, 0x3fe7f8ece3571771, // 0.66242, 0.74914' + 0x3fe5581038975137, 0x3fe7d7836cc33db2, // 0.667, 0.74506' + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095' + 0x3fe5a28d2a5d7250, 0x3fe79400574f55e4, // 0.67609, 0.73682' + 0x3fe5c77bbe65018c, 0x3fe771e75f037261, // 0.6806, 0.73265' + 0x3fe5ec3495837074, 0x3fe74f948da8d28d, // 0.68508, 0.72846' + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425' + 0x3fe63503a31c1be8, 0x3fe70a42b3176d7a, // 0.69397, 0.72' + 0x3fe6591925f0783e, 0x3fe6e74454eaa8ae, // 0.69838, 0.71573' + 0x3fe67cf78491af10, 0x3fe6c40d73c18275, // 0.70275, 0.71143' + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711' + 0x3fe6c40d73c18275, 0x3fe67cf78491af10, // 0.71143, 0.70275' + 0x3fe6e74454eaa8ae, 0x3fe6591925f0783e, // 0.71573, 0.69838' + 0x3fe70a42b3176d7a, 0x3fe63503a31c1be8, // 0.72, 0.69397' + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954' + 0x3fe74f948da8d28d, 0x3fe5ec3495837074, // 0.72846, 0.68508' + 0x3fe771e75f037261, 0x3fe5c77bbe65018c, // 0.73265, 0.6806' + 0x3fe79400574f55e4, 0x3fe5a28d2a5d7250, // 0.73682, 0.67609' + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156' + 0x3fe7d7836cc33db2, 0x3fe5581038975137, // 0.74506, 0.667' + 0x3fe7f8ece3571771, 0x3fe5328292a35596, // 0.74914, 0.66242' + 0x3fe81a1b33b57acc, 0x3fe50cc09f59a09b, // 0.75319, 0.65781' + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317' + 0x3fe85bc51ae958cc, 0x3fe4c0a145ec0004, // 0.7612, 0.64851' + 0x3fe87c400fba2ebf, 0x3fe49a449b9b0938, // 0.76517, 0.64383' + 0x3fe89c7e9a4dd4ab, 0x3fe473b51b987347, // 0.7691, 0.63912' + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439' + 0x3fe8dc45331698cc, 0x3fe425ff178e6bb1, // 0.77689, 0.62964' + 0x3fe8fbcca3ef940d, 0x3fe3fed9534556d4, // 0.78074, 0.62486' + 0x3fe91b166fd49da2, 0x3fe3d78238c58343, // 0.78456, 0.62006' + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523' + 0x3fe958efe48e6dd7, 0x3fe3884185dfeb22, // 0.79211, 0.61038' + 0x3fe9777ef4c7d742, 0x3fe36058b10659f3, // 0.79584, 0.60551' + 0x3fe995cf2ed80d22, 0x3fe338400d0c8e57, // 0.79954, 0.60062' + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957' + 0x3fe9d1b1f5ea80d6, 0x3fe2e780e3e8ea16, // 0.80685, 0.59076' + 0x3fe9ef43ef29af94, 0x3fe2bedb25faf3ea, // 0.81046, 0.5858' + 0x3fea0c95eabaf937, 0x3fe2960727629ca8, // 0.81404, 0.58081' + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581' + 0x3fea4678c8119ac8, 0x3fe243d5fb98ac1f, // 0.8211, 0.57078' + 0x3fea63091b02fae2, 0x3fe21a799933eb58, // 0.82459, 0.56573' + 0x3fea7f58529fe69d, 0x3fe1f0f08bbc861b, // 0.82805, 0.56066' + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557' + 0x3feab7325916c0d4, 0x3fe19d5a09f2b9b8, // 0.83486, 0.55046' + 0x3fead2bc9e21d511, 0x3fe1734d63dedb49, // 0.83822, 0.54532' + 0x3feaee04b43c1474, 0x3fe14915af336ceb, // 0.84155, 0.54017' + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535' + 0x3feb23cd470013b4, 0x3fe0f426bb2a8e7d, // 0.84812, 0.5298' + 0x3feb3e4d3ef55712, 0x3fe0c9704d5d898f, // 0.85136, 0.52459' + 0x3feb5889fe921405, 0x3fe09e907417c5e1, // 0.85456, 0.51936' + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141' + 0x3feb8c38d27504e9, 0x3fe0485626ae221a, // 0.86087, 0.50883' + 0x3feba5aa673590d2, 0x3fe01cfc874c3eb7, // 0.86397, 0.50354' + 0x3febbed7c49380ea, 0x3fdfe2f64be7120f, // 0.86705, 0.49823' + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929' + 0x3febf064e15377dd, 0x3fdf3405963fd068, // 0.87309, 0.48755' + 0x3fec08c426725549, 0x3fdedc1952ef78d5, // 0.87607, 0.48218' + 0x3fec20de3fa971b0, 0x3fde83e0eaf85113, // 0.87901, 0.4768' + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714' + 0x3fec5042012b6907, 0x3fddd28f1481cc58, // 0.8848, 0.46598' + 0x3fec678b3488739b, 0x3fdd79775b86e389, // 0.88764, 0.46054' + 0x3fec7e8e52233cf3, 0x3fdd2016e8e9db5b, // 0.89045, 0.45508' + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961' + 0x3fecabc169a0b901, 0x3fdc6c7f4997000a, // 0.89597, 0.44412' + 0x3fecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // 0.89867, 0.43862' + 0x3fecd7d9898b32f6, 0x3fdbb7cf2304bd01, // 0.90135, 0.43309' + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756' + 0x3fed02d4feb2bd92, 0x3fdb020d6c7f4009, // 0.9066, 0.422' + 0x3fed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // 0.90917, 0.41643' + 0x3fed2cb220e0ef9f, 0x3fda4b4127dea1e4, // 0.91171, 0.41084' + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524' + 0x3fed556f52e93eb1, 0x3fd993716141bdfe, // 0.91668, 0.39962' + 0x3fed696173c9e68b, 0x3fd9372a63bc93d7, // 0.91911, 0.39399' + 0x3fed7d0b02b8ecf9, 0x3fd8daa52ec8a4af, // 0.92151, 0.38835' + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268' + 0x3feda383a9668988, 0x3fd820e3b04eaac4, // 0.92621, 0.37701' + 0x3fedb6526238a09b, 0x3fd7c3a9311dcce7, // 0.92851, 0.37132' + 0x3fedc8d7cb410260, 0x3fd766340f2418f6, // 0.93077, 0.36561' + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599' + 0x3feded05f7de47da, 0x3fd6aa9d7dc77e16, // 0.93518, 0.35416' + 0x3fedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // 0.93734, 0.34842' + 0x3fee100cca2980ac, 0x3fd5ee27379ea693, // 0.93946, 0.34266' + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689' + 0x3fee31eae870ce25, 0x3fd530d880af3c24, // 0.94359, 0.33111' + 0x3fee426a4b2bc17e, 0x3fd4d1e24278e76a, // 0.94561, 0.32531' + 0x3fee529f04729ffc, 0x3fd472b8a5571054, // 0.94759, 0.3195' + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368' + 0x3fee7227db6a9744, 0x3fd3b3cefa0414b7, // 0.95144, 0.30785' + 0x3fee817bab4cd10d, 0x3fd35410c2e18152, // 0.95331, 0.30201' + 0x3fee9084361df7f3, 0x3fd2f422daec0386, // 0.95514, 0.29615' + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028' + 0x3feeadb2e8e7a88e, 0x3fd233bbabc3bb72, // 0.9587, 0.28441' + 0x3feebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // 0.96043, 0.27852' + 0x3feec9b2d3c3bf84, 0x3fd172a0d7765177, // 0.96212, 0.27262' + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671' + 0x3feee482e25a9dbc, 0x3fd0b0d9cfdbdb90, // 0.96539, 0.26079' + 0x3feef178a3e473c2, 0x3fd04fb80e37fdae, // 0.96698, 0.25487' + 0x3feefe220c0b95ec, 0x3fcfdcdc1adfedf8, // 0.96852, 0.24893' + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298' + 0x3fef168f53f7205d, 0x3fce56ca1e101a1b, // 0.9715, 0.23702' + 0x3fef2252f7763ada, 0x3fcd934fe5454311, // 0.97294, 0.23106' + 0x3fef2dc9c9089a9d, 0x3fcccf8cb312b286, // 0.97434, 0.22508' + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191' + 0x3fef43d085ff92dd, 0x3fcb4732ef3d6722, // 0.97703, 0.21311' + 0x3fef4e603b0b2f2d, 0x3fca82a025b00451, // 0.97832, 0.20711' + 0x3fef58a2b1789e84, 0x3fc9bdcbf2dc4366, // 0.97957, 0.2011' + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509' + 0x3fef6c3f7df5bbb7, 0x3fc83366e89c64c5, // 0.98196, 0.18907' + 0x3fef7599a3a12077, 0x3fc76dd9de50bf31, // 0.98311, 0.18304' + 0x3fef7ea629e63d6e, 0x3fc6a81304f64ab2, // 0.98421, 0.177' + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096' + 0x3fef8fd5ffae41db, 0x3fc51bdf8597c5f2, // 0.98631, 0.16491' + 0x3fef97f924c9099b, 0x3fc45576b1293e5a, // 0.9873, 0.15886' + 0x3fef9fce55adb2c8, 0x3fc38edbb0cd8d14, // 0.98826, 0.1528' + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673' + 0x3fefae8e8e46cfbb, 0x3fc20116d4ec7bce, // 0.99006, 0.14066' + 0x3fefb5797195d741, 0x3fc139f0cedaf576, // 0.9909, 0.13458' + 0x3fefbc1617e44186, 0x3fc072a047ba831d, // 0.99171, 0.1285' + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241' + 0x3fefc8646cfeb721, 0x3fbdc70ecbae9fc8, // 0.99321, 0.11632' + 0x3fefce15fd6da67b, 0x3fbc3785c79ec2d5, // 0.99391, 0.11022' + 0x3fefd37914220b84, 0x3fbaa7b724495c04, // 0.99456, 0.10412' + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017' + 0x3fefdd539ff1f456, 0x3fb787586a5d5b21, // 0.99577, 0.091909' + 0x3fefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // 0.99631, 0.085797' + 0x3fefe5f3af2e3940, 0x3fb4661179272096, // 0.99682, 0.079682' + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565' + 0x3fefed58ecb673c4, 0x3fb1440134d709b2, // 0.99772, 0.067444' + 0x3feff095658e71ad, 0x3faf656e79f820e0, // 0.99812, 0.061321' + 0x3feff3830f8d575c, 0x3fac428d12c0d7e3, // 0.99848, 0.055195' + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068' + 0x3feff871dadb81df, 0x3fa5fc00d290cd43, // 0.99908, 0.042938' + 0x3feffa72effef75d, 0x3fa2d865759455cd, // 0.99932, 0.036807' + 0x3feffc251df1d3f8, 0x3f9f693731d1cf01, // 0.99953, 0.030675' + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541' + 0x3feffe9cb44b51a1, 0x3f92d936bbe30efd, // 0.99983, 0.018407' + 0x3fefff62169b92db, 0x3f8921d1fcdec784, // 0.99992, 0.012272' + 0x3fefffd8858e8a92, 0x3f7921f0fe670071, // 0.99998, 0.0061359' + 0x3ff0000000000000, 0x0000000000000000, // 1, 0' + 0x3fefffd8858e8a92, 0xbf7921f0fe670071, // 0.99998,-0.0061359' + 0x3fefff62169b92db, 0xbf8921d1fcdec784, // 0.99992, -0.012272' + 0x3feffe9cb44b51a1, 0xbf92d936bbe30efd, // 0.99983, -0.018407' + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997, -0.024541' + 0x3feffc251df1d3f8, 0xbf9f693731d1cf01, // 0.99953, -0.030675' + 0x3feffa72effef75d, 0xbfa2d865759455cd, // 0.99932, -0.036807' + 0x3feff871dadb81df, 0xbfa5fc00d290cd43, // 0.99908, -0.042938' + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988, -0.049068' + 0x3feff3830f8d575c, 0xbfac428d12c0d7e3, // 0.99848, -0.055195' + 0x3feff095658e71ad, 0xbfaf656e79f820e0, // 0.99812, -0.061321' + 0x3fefed58ecb673c4, 0xbfb1440134d709b2, // 0.99772, -0.067444' + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729, -0.073565' + 0x3fefe5f3af2e3940, 0xbfb4661179272096, // 0.99682, -0.079682' + 0x3fefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // 0.99631, -0.085797' + 0x3fefdd539ff1f456, 0xbfb787586a5d5b21, // 0.99577, -0.091909' + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518, -0.098017' + 0x3fefd37914220b84, 0xbfbaa7b724495c04, // 0.99456, -0.10412' + 0x3fefce15fd6da67b, 0xbfbc3785c79ec2d5, // 0.99391, -0.11022' + 0x3fefc8646cfeb721, 0xbfbdc70ecbae9fc8, // 0.99321, -0.11632' + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241' + 0x3fefbc1617e44186, 0xbfc072a047ba831d, // 0.99171, -0.1285' + 0x3fefb5797195d741, 0xbfc139f0cedaf576, // 0.9909, -0.13458' + 0x3fefae8e8e46cfbb, 0xbfc20116d4ec7bce, // 0.99006, -0.14066' + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673' + 0x3fef9fce55adb2c8, 0xbfc38edbb0cd8d14, // 0.98826, -0.1528' + 0x3fef97f924c9099b, 0xbfc45576b1293e5a, // 0.9873, -0.15886' + 0x3fef8fd5ffae41db, 0xbfc51bdf8597c5f2, // 0.98631, -0.16491' + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096' + 0x3fef7ea629e63d6e, 0xbfc6a81304f64ab2, // 0.98421, -0.177' + 0x3fef7599a3a12077, 0xbfc76dd9de50bf31, // 0.98311, -0.18304' + 0x3fef6c3f7df5bbb7, 0xbfc83366e89c64c5, // 0.98196, -0.18907' + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509' + 0x3fef58a2b1789e84, 0xbfc9bdcbf2dc4366, // 0.97957, -0.2011' + 0x3fef4e603b0b2f2d, 0xbfca82a025b00451, // 0.97832, -0.20711' + 0x3fef43d085ff92dd, 0xbfcb4732ef3d6722, // 0.97703, -0.21311' + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191' + 0x3fef2dc9c9089a9d, 0xbfcccf8cb312b286, // 0.97434, -0.22508' + 0x3fef2252f7763ada, 0xbfcd934fe5454311, // 0.97294, -0.23106' + 0x3fef168f53f7205d, 0xbfce56ca1e101a1b, // 0.9715, -0.23702' + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298' + 0x3feefe220c0b95ec, 0xbfcfdcdc1adfedf8, // 0.96852, -0.24893' + 0x3feef178a3e473c2, 0xbfd04fb80e37fdae, // 0.96698, -0.25487' + 0x3feee482e25a9dbc, 0xbfd0b0d9cfdbdb90, // 0.96539, -0.26079' + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671' + 0x3feec9b2d3c3bf84, 0xbfd172a0d7765177, // 0.96212, -0.27262' + 0x3feebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // 0.96043, -0.27852' + 0x3feeadb2e8e7a88e, 0xbfd233bbabc3bb72, // 0.9587, -0.28441' + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028' + 0x3fee9084361df7f3, 0xbfd2f422daec0386, // 0.95514, -0.29615' + 0x3fee817bab4cd10d, 0xbfd35410c2e18152, // 0.95331, -0.30201' + 0x3fee7227db6a9744, 0xbfd3b3cefa0414b7, // 0.95144, -0.30785' + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368' + 0x3fee529f04729ffc, 0xbfd472b8a5571054, // 0.94759, -0.3195' + 0x3fee426a4b2bc17e, 0xbfd4d1e24278e76a, // 0.94561, -0.32531' + 0x3fee31eae870ce25, 0xbfd530d880af3c24, // 0.94359, -0.33111' + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689' + 0x3fee100cca2980ac, 0xbfd5ee27379ea693, // 0.93946, -0.34266' + 0x3fedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // 0.93734, -0.34842' + 0x3feded05f7de47da, 0xbfd6aa9d7dc77e16, // 0.93518, -0.35416' + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599' + 0x3fedc8d7cb410260, 0xbfd766340f2418f6, // 0.93077, -0.36561' + 0x3fedb6526238a09b, 0xbfd7c3a9311dcce7, // 0.92851, -0.37132' + 0x3feda383a9668988, 0xbfd820e3b04eaac4, // 0.92621, -0.37701' + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268' + 0x3fed7d0b02b8ecf9, 0xbfd8daa52ec8a4af, // 0.92151, -0.38835' + 0x3fed696173c9e68b, 0xbfd9372a63bc93d7, // 0.91911, -0.39399' + 0x3fed556f52e93eb1, 0xbfd993716141bdfe, // 0.91668, -0.39962' + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524' + 0x3fed2cb220e0ef9f, 0xbfda4b4127dea1e4, // 0.91171, -0.41084' + 0x3fed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // 0.90917, -0.41643' + 0x3fed02d4feb2bd92, 0xbfdb020d6c7f4009, // 0.9066, -0.422' + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756' + 0x3fecd7d9898b32f6, 0xbfdbb7cf2304bd01, // 0.90135, -0.43309' + 0x3fecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // 0.89867, -0.43862' + 0x3fecabc169a0b901, 0xbfdc6c7f4997000a, // 0.89597, -0.44412' + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961' + 0x3fec7e8e52233cf3, 0xbfdd2016e8e9db5b, // 0.89045, -0.45508' + 0x3fec678b3488739b, 0xbfdd79775b86e389, // 0.88764, -0.46054' + 0x3fec5042012b6907, 0xbfddd28f1481cc58, // 0.8848, -0.46598' + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714' + 0x3fec20de3fa971b0, 0xbfde83e0eaf85113, // 0.87901, -0.4768' + 0x3fec08c426725549, 0xbfdedc1952ef78d5, // 0.87607, -0.48218' + 0x3febf064e15377dd, 0xbfdf3405963fd068, // 0.87309, -0.48755' + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929' + 0x3febbed7c49380ea, 0xbfdfe2f64be7120f, // 0.86705, -0.49823' + 0x3feba5aa673590d2, 0xbfe01cfc874c3eb7, // 0.86397, -0.50354' + 0x3feb8c38d27504e9, 0xbfe0485626ae221a, // 0.86087, -0.50883' + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141' + 0x3feb5889fe921405, 0xbfe09e907417c5e1, // 0.85456, -0.51936' + 0x3feb3e4d3ef55712, 0xbfe0c9704d5d898f, // 0.85136, -0.52459' + 0x3feb23cd470013b4, 0xbfe0f426bb2a8e7d, // 0.84812, -0.5298' + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535' + 0x3feaee04b43c1474, 0xbfe14915af336ceb, // 0.84155, -0.54017' + 0x3fead2bc9e21d511, 0xbfe1734d63dedb49, // 0.83822, -0.54532' + 0x3feab7325916c0d4, 0xbfe19d5a09f2b9b8, // 0.83486, -0.55046' + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557' + 0x3fea7f58529fe69d, 0xbfe1f0f08bbc861b, // 0.82805, -0.56066' + 0x3fea63091b02fae2, 0xbfe21a799933eb58, // 0.82459, -0.56573' + 0x3fea4678c8119ac8, 0xbfe243d5fb98ac1f, // 0.8211, -0.57078' + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581' + 0x3fea0c95eabaf937, 0xbfe2960727629ca8, // 0.81404, -0.58081' + 0x3fe9ef43ef29af94, 0xbfe2bedb25faf3ea, // 0.81046, -0.5858' + 0x3fe9d1b1f5ea80d6, 0xbfe2e780e3e8ea16, // 0.80685, -0.59076' + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957' + 0x3fe995cf2ed80d22, 0xbfe338400d0c8e57, // 0.79954, -0.60062' + 0x3fe9777ef4c7d742, 0xbfe36058b10659f3, // 0.79584, -0.60551' + 0x3fe958efe48e6dd7, 0xbfe3884185dfeb22, // 0.79211, -0.61038' + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523' + 0x3fe91b166fd49da2, 0xbfe3d78238c58343, // 0.78456, -0.62006' + 0x3fe8fbcca3ef940d, 0xbfe3fed9534556d4, // 0.78074, -0.62486' + 0x3fe8dc45331698cc, 0xbfe425ff178e6bb1, // 0.77689, -0.62964' + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439' + 0x3fe89c7e9a4dd4ab, 0xbfe473b51b987347, // 0.7691, -0.63912' + 0x3fe87c400fba2ebf, 0xbfe49a449b9b0938, // 0.76517, -0.64383' + 0x3fe85bc51ae958cc, 0xbfe4c0a145ec0004, // 0.7612, -0.64851' + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317' + 0x3fe81a1b33b57acc, 0xbfe50cc09f59a09b, // 0.75319, -0.65781' + 0x3fe7f8ece3571771, 0xbfe5328292a35596, // 0.74914, -0.66242' + 0x3fe7d7836cc33db2, 0xbfe5581038975137, // 0.74506, -0.667' + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156' + 0x3fe79400574f55e4, 0xbfe5a28d2a5d7250, // 0.73682, -0.67609' + 0x3fe771e75f037261, 0xbfe5c77bbe65018c, // 0.73265, -0.6806' + 0x3fe74f948da8d28d, 0xbfe5ec3495837074, // 0.72846, -0.68508' + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954' + 0x3fe70a42b3176d7a, 0xbfe63503a31c1be8, // 0.72, -0.69397' + 0x3fe6e74454eaa8ae, 0xbfe6591925f0783e, // 0.71573, -0.69838' + 0x3fe6c40d73c18275, 0xbfe67cf78491af10, // 0.71143, -0.70275' + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711' + 0x3fe67cf78491af10, 0xbfe6c40d73c18275, // 0.70275, -0.71143' + 0x3fe6591925f0783e, 0xbfe6e74454eaa8ae, // 0.69838, -0.71573' + 0x3fe63503a31c1be8, 0xbfe70a42b3176d7a, // 0.69397, -0.72' + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425' + 0x3fe5ec3495837074, 0xbfe74f948da8d28d, // 0.68508, -0.72846' + 0x3fe5c77bbe65018c, 0xbfe771e75f037261, // 0.6806, -0.73265' + 0x3fe5a28d2a5d7250, 0xbfe79400574f55e4, // 0.67609, -0.73682' + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095' + 0x3fe5581038975137, 0xbfe7d7836cc33db2, // 0.667, -0.74506' + 0x3fe5328292a35596, 0xbfe7f8ece3571771, // 0.66242, -0.74914' + 0x3fe50cc09f59a09b, 0xbfe81a1b33b57acc, // 0.65781, -0.75319' + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721' + 0x3fe4c0a145ec0004, 0xbfe85bc51ae958cc, // 0.64851, -0.7612' + 0x3fe49a449b9b0938, 0xbfe87c400fba2ebf, // 0.64383, -0.76517' + 0x3fe473b51b987347, 0xbfe89c7e9a4dd4ab, // 0.63912, -0.7691' + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301' + 0x3fe425ff178e6bb1, 0xbfe8dc45331698cc, // 0.62964, -0.77689' + 0x3fe3fed9534556d4, 0xbfe8fbcca3ef940d, // 0.62486, -0.78074' + 0x3fe3d78238c58343, 0xbfe91b166fd49da2, // 0.62006, -0.78456' + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835' + 0x3fe3884185dfeb22, 0xbfe958efe48e6dd7, // 0.61038, -0.79211' + 0x3fe36058b10659f3, 0xbfe9777ef4c7d742, // 0.60551, -0.79584' + 0x3fe338400d0c8e57, 0xbfe995cf2ed80d22, // 0.60062, -0.79954' + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321' + 0x3fe2e780e3e8ea16, 0xbfe9d1b1f5ea80d6, // 0.59076, -0.80685' + 0x3fe2bedb25faf3ea, 0xbfe9ef43ef29af94, // 0.5858, -0.81046' + 0x3fe2960727629ca8, 0xbfea0c95eabaf937, // 0.58081, -0.81404' + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758' + 0x3fe243d5fb98ac1f, 0xbfea4678c8119ac8, // 0.57078, -0.8211' + 0x3fe21a799933eb58, 0xbfea63091b02fae2, // 0.56573, -0.82459' + 0x3fe1f0f08bbc861b, 0xbfea7f58529fe69d, // 0.56066, -0.82805' + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147' + 0x3fe19d5a09f2b9b8, 0xbfeab7325916c0d4, // 0.55046, -0.83486' + 0x3fe1734d63dedb49, 0xbfead2bc9e21d511, // 0.54532, -0.83822' + 0x3fe14915af336ceb, 0xbfeaee04b43c1474, // 0.54017, -0.84155' + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485' + 0x3fe0f426bb2a8e7d, 0xbfeb23cd470013b4, // 0.5298, -0.84812' + 0x3fe0c9704d5d898f, 0xbfeb3e4d3ef55712, // 0.52459, -0.85136' + 0x3fe09e907417c5e1, 0xbfeb5889fe921405, // 0.51936, -0.85456' + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773' + 0x3fe0485626ae221a, 0xbfeb8c38d27504e9, // 0.50883, -0.86087' + 0x3fe01cfc874c3eb7, 0xbfeba5aa673590d2, // 0.50354, -0.86397' + 0x3fdfe2f64be7120f, 0xbfebbed7c49380ea, // 0.49823, -0.86705' + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009' + 0x3fdf3405963fd068, 0xbfebf064e15377dd, // 0.48755, -0.87309' + 0x3fdedc1952ef78d5, 0xbfec08c426725549, // 0.48218, -0.87607' + 0x3fde83e0eaf85113, 0xbfec20de3fa971b0, // 0.4768, -0.87901' + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192' + 0x3fddd28f1481cc58, 0xbfec5042012b6907, // 0.46598, -0.8848' + 0x3fdd79775b86e389, 0xbfec678b3488739b, // 0.46054, -0.88764' + 0x3fdd2016e8e9db5b, 0xbfec7e8e52233cf3, // 0.45508, -0.89045' + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322' + 0x3fdc6c7f4997000a, 0xbfecabc169a0b901, // 0.44412, -0.89597' + 0x3fdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // 0.43862, -0.89867' + 0x3fdbb7cf2304bd01, 0xbfecd7d9898b32f6, // 0.43309, -0.90135' + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399' + 0x3fdb020d6c7f4009, 0xbfed02d4feb2bd92, // 0.422, -0.9066' + 0x3fdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // 0.41643, -0.90917' + 0x3fda4b4127dea1e4, 0xbfed2cb220e0ef9f, // 0.41084, -0.91171' + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421' + 0x3fd993716141bdfe, 0xbfed556f52e93eb1, // 0.39962, -0.91668' + 0x3fd9372a63bc93d7, 0xbfed696173c9e68b, // 0.39399, -0.91911' + 0x3fd8daa52ec8a4af, 0xbfed7d0b02b8ecf9, // 0.38835, -0.92151' + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388' + 0x3fd820e3b04eaac4, 0xbfeda383a9668988, // 0.37701, -0.92621' + 0x3fd7c3a9311dcce7, 0xbfedb6526238a09b, // 0.37132, -0.92851' + 0x3fd766340f2418f6, 0xbfedc8d7cb410260, // 0.36561, -0.93077' + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299' + 0x3fd6aa9d7dc77e16, 0xbfeded05f7de47da, // 0.35416, -0.93518' + 0x3fd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // 0.34842, -0.93734' + 0x3fd5ee27379ea693, 0xbfee100cca2980ac, // 0.34266, -0.93946' + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154' + 0x3fd530d880af3c24, 0xbfee31eae870ce25, // 0.33111, -0.94359' + 0x3fd4d1e24278e76a, 0xbfee426a4b2bc17e, // 0.32531, -0.94561' + 0x3fd472b8a5571054, 0xbfee529f04729ffc, // 0.3195, -0.94759' + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953' + 0x3fd3b3cefa0414b7, 0xbfee7227db6a9744, // 0.30785, -0.95144' + 0x3fd35410c2e18152, 0xbfee817bab4cd10d, // 0.30201, -0.95331' + 0x3fd2f422daec0386, 0xbfee9084361df7f3, // 0.29615, -0.95514' + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694' + 0x3fd233bbabc3bb72, 0xbfeeadb2e8e7a88e, // 0.28441, -0.9587' + 0x3fd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // 0.27852, -0.96043' + 0x3fd172a0d7765177, 0xbfeec9b2d3c3bf84, // 0.27262, -0.96212' + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378' + 0x3fd0b0d9cfdbdb90, 0xbfeee482e25a9dbc, // 0.26079, -0.96539' + 0x3fd04fb80e37fdae, 0xbfeef178a3e473c2, // 0.25487, -0.96698' + 0x3fcfdcdc1adfedf8, 0xbfeefe220c0b95ec, // 0.24893, -0.96852' + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003' + 0x3fce56ca1e101a1b, 0xbfef168f53f7205d, // 0.23702, -0.9715' + 0x3fcd934fe5454311, 0xbfef2252f7763ada, // 0.23106, -0.97294' + 0x3fcccf8cb312b286, 0xbfef2dc9c9089a9d, // 0.22508, -0.97434' + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757' + 0x3fcb4732ef3d6722, 0xbfef43d085ff92dd, // 0.21311, -0.97703' + 0x3fca82a025b00451, 0xbfef4e603b0b2f2d, // 0.20711, -0.97832' + 0x3fc9bdcbf2dc4366, 0xbfef58a2b1789e84, // 0.2011, -0.97957' + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079' + 0x3fc83366e89c64c5, 0xbfef6c3f7df5bbb7, // 0.18907, -0.98196' + 0x3fc76dd9de50bf31, 0xbfef7599a3a12077, // 0.18304, -0.98311' + 0x3fc6a81304f64ab2, 0xbfef7ea629e63d6e, // 0.177, -0.98421' + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528' + 0x3fc51bdf8597c5f2, 0xbfef8fd5ffae41db, // 0.16491, -0.98631' + 0x3fc45576b1293e5a, 0xbfef97f924c9099b, // 0.15886, -0.9873' + 0x3fc38edbb0cd8d14, 0xbfef9fce55adb2c8, // 0.1528, -0.98826' + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918' + 0x3fc20116d4ec7bce, 0xbfefae8e8e46cfbb, // 0.14066, -0.99006' + 0x3fc139f0cedaf576, 0xbfefb5797195d741, // 0.13458, -0.9909' + 0x3fc072a047ba831d, 0xbfefbc1617e44186, // 0.1285, -0.99171' + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248' + 0x3fbdc70ecbae9fc8, 0xbfefc8646cfeb721, // 0.11632, -0.99321' + 0x3fbc3785c79ec2d5, 0xbfefce15fd6da67b, // 0.11022, -0.99391' + 0x3fbaa7b724495c04, 0xbfefd37914220b84, // 0.10412, -0.99456' + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518' + 0x3fb787586a5d5b21, 0xbfefdd539ff1f456, // 0.091909, -0.99577' + 0x3fb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // 0.085797, -0.99631' + 0x3fb4661179272096, 0xbfefe5f3af2e3940, // 0.079682, -0.99682' + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, // 0.073565, -0.99729' + 0x3fb1440134d709b2, 0xbfefed58ecb673c4, // 0.067444, -0.99772' + 0x3faf656e79f820e0, 0xbfeff095658e71ad, // 0.061321, -0.99812' + 0x3fac428d12c0d7e3, 0xbfeff3830f8d575c, // 0.055195, -0.99848' + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, // 0.049068, -0.9988' + 0x3fa5fc00d290cd43, 0xbfeff871dadb81df, // 0.042938, -0.99908' + 0x3fa2d865759455cd, 0xbfeffa72effef75d, // 0.036807, -0.99932' + 0x3f9f693731d1cf01, 0xbfeffc251df1d3f8, // 0.030675, -0.99953' + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, // 0.024541, -0.9997' + 0x3f92d936bbe30efd, 0xbfeffe9cb44b51a1, // 0.018407, -0.99983' + 0x3f8921d1fcdec784, 0xbfefff62169b92db, // 0.012272, -0.99992' + 0x3f7921f0fe670071, 0xbfefffd8858e8a92, //0.0061359, -0.99998' +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_2048) +const uint64_t twiddleCoefF64_rfft_2048[2048] = { + 0x0000000000000000, 0x3ff0000000000000, // 0, 1 + 0x3f6921f8becca4ba, 0x3feffff621621d02, // 0.003068, 1 + 0x3f7921f0fe670071, 0x3fefffd8858e8a92, //0.0061359, 0.99998 + 0x3f82d96b0e509703, 0x3fefffa72c978c4f, //0.0092038, 0.99996 + 0x3f8921d1fcdec784, 0x3fefff62169b92db, // 0.012272, 0.99992 + 0x3f8f6a296ab997ca, 0x3fefff0943c53bd1, // 0.015339, 0.99988 + 0x3f92d936bbe30efd, 0x3feffe9cb44b51a1, // 0.018407, 0.99983 + 0x3f95fd4d21fab226, 0x3feffe1c6870cb77, // 0.021474, 0.99977 + 0x3f992155f7a3667e, 0x3feffd886084cd0d, // 0.024541, 0.9997 + 0x3f9c454f4ce53b1c, 0x3feffce09ce2a679, // 0.027608, 0.99962 + 0x3f9f693731d1cf01, 0x3feffc251df1d3f8, // 0.030675, 0.99953 + 0x3fa14685db42c17e, 0x3feffb55e425fdae, // 0.033741, 0.99943 + 0x3fa2d865759455cd, 0x3feffa72effef75d, // 0.036807, 0.99932 + 0x3fa46a396ff86179, 0x3feff97c4208c014, // 0.039873, 0.9992 + 0x3fa5fc00d290cd43, 0x3feff871dadb81df, // 0.042938, 0.99908 + 0x3fa78dbaa5874685, 0x3feff753bb1b9164, // 0.046003, 0.99894 + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, // 0.049068, 0.9988 + 0x3faab101bd5f8317, 0x3feff4dc54b1bed3, // 0.052132, 0.99864 + 0x3fac428d12c0d7e3, 0x3feff3830f8d575c, // 0.055195, 0.99848 + 0x3fadd406f9808ec8, 0x3feff21614e131ed, // 0.058258, 0.9983 + 0x3faf656e79f820e0, 0x3feff095658e71ad, // 0.061321, 0.99812 + 0x3fb07b614e463064, 0x3fefef0102826191, // 0.064383, 0.99793 + 0x3fb1440134d709b2, 0x3fefed58ecb673c4, // 0.067444, 0.99772 + 0x3fb20c9674ed444c, 0x3fefeb9d2530410f, // 0.070505, 0.99751 + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, // 0.073565, 0.99729 + 0x3fb39d9f12c5a299, 0x3fefe7ea85482d60, // 0.076624, 0.99706 + 0x3fb4661179272096, 0x3fefe5f3af2e3940, // 0.079682, 0.99682 + 0x3fb52e774a4d4d0a, 0x3fefe3e92be9d886, // 0.08274, 0.99657 + 0x3fb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // 0.085797, 0.99631 + 0x3fb6bf1b3e79b129, 0x3fefdf9922f73307, // 0.088854, 0.99604 + 0x3fb787586a5d5b21, 0x3fefdd539ff1f456, // 0.091909, 0.99577 + 0x3fb84f8712c130a0, 0x3fefdafa7514538c, // 0.094963, 0.99548 + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518 + 0x3fb9dfb6eb24a85c, 0x3fefd60d2da75c9e, // 0.10107, 0.99488 + 0x3fbaa7b724495c04, 0x3fefd37914220b84, // 0.10412, 0.99456 + 0x3fbb6fa6ec38f64c, 0x3fefd0d158d86087, // 0.10717, 0.99424 + 0x3fbc3785c79ec2d5, 0x3fefce15fd6da67b, // 0.11022, 0.99391 + 0x3fbcff533b307dc1, 0x3fefcb4703914354, // 0.11327, 0.99356 + 0x3fbdc70ecbae9fc8, 0x3fefc8646cfeb721, // 0.11632, 0.99321 + 0x3fbe8eb7fde4aa3e, 0x3fefc56e3b7d9af6, // 0.11937, 0.99285 + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248 + 0x3fc00ee8ad6fb85b, 0x3fefbf470f0a8d88, // 0.12545, 0.9921 + 0x3fc072a047ba831d, 0x3fefbc1617e44186, // 0.1285, 0.99171 + 0x3fc0d64dbcb26786, 0x3fefb8d18d66adb7, // 0.13154, 0.99131 + 0x3fc139f0cedaf576, 0x3fefb5797195d741, // 0.13458, 0.9909 + 0x3fc19d8940be24e7, 0x3fefb20dc681d54d, // 0.13762, 0.99049 + 0x3fc20116d4ec7bce, 0x3fefae8e8e46cfbb, // 0.14066, 0.99006 + 0x3fc264994dfd340a, 0x3fefaafbcb0cfddc, // 0.1437, 0.98962 + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918 + 0x3fc32b7bf94516a7, 0x3fefa39bac7a1791, // 0.14976, 0.98872 + 0x3fc38edbb0cd8d14, 0x3fef9fce55adb2c8, // 0.1528, 0.98826 + 0x3fc3f22f57db4893, 0x3fef9bed7cfbde29, // 0.15583, 0.98778 + 0x3fc45576b1293e5a, 0x3fef97f924c9099b, // 0.15886, 0.9873 + 0x3fc4b8b17f79fa88, 0x3fef93f14f85ac08, // 0.16189, 0.98681 + 0x3fc51bdf8597c5f2, 0x3fef8fd5ffae41db, // 0.16491, 0.98631 + 0x3fc57f008654cbde, 0x3fef8ba737cb4b78, // 0.16794, 0.9858 + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528 + 0x3fc6451a831d830d, 0x3fef830f4a40c60c, // 0.17398, 0.98475 + 0x3fc6a81304f64ab2, 0x3fef7ea629e63d6e, // 0.177, 0.98421 + 0x3fc70afd8d08c4ff, 0x3fef7a299c1a322a, // 0.18002, 0.98366 + 0x3fc76dd9de50bf31, 0x3fef7599a3a12077, // 0.18304, 0.98311 + 0x3fc7d0a7bbd2cb1b, 0x3fef70f6434b7eb7, // 0.18606, 0.98254 + 0x3fc83366e89c64c5, 0x3fef6c3f7df5bbb7, // 0.18907, 0.98196 + 0x3fc8961727c41804, 0x3fef677556883cee, // 0.19208, 0.98138 + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079 + 0x3fc95b49e9b62af9, 0x3fef5da6ed43685d, // 0.1981, 0.98018 + 0x3fc9bdcbf2dc4366, 0x3fef58a2b1789e84, // 0.2011, 0.97957 + 0x3fca203e1b1831da, 0x3fef538b1faf2d07, // 0.20411, 0.97895 + 0x3fca82a025b00451, 0x3fef4e603b0b2f2d, // 0.20711, 0.97832 + 0x3fcae4f1d5f3b9ab, 0x3fef492206bcabb4, // 0.21011, 0.97768 + 0x3fcb4732ef3d6722, 0x3fef43d085ff92dd, // 0.21311, 0.97703 + 0x3fcba96334f15dad, 0x3fef3e6bbc1bbc65, // 0.21611, 0.97637 + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757 + 0x3fcc6d90535d74dc, 0x3fef33685a3aaef0, // 0.22209, 0.97503 + 0x3fcccf8cb312b286, 0x3fef2dc9c9089a9d, // 0.22508, 0.97434 + 0x3fcd31774d2cbdee, 0x3fef2817fc4609ce, // 0.22807, 0.97364 + 0x3fcd934fe5454311, 0x3fef2252f7763ada, // 0.23106, 0.97294 + 0x3fcdf5163f01099a, 0x3fef1c7abe284708, // 0.23404, 0.97223 + 0x3fce56ca1e101a1b, 0x3fef168f53f7205d, // 0.23702, 0.9715 + 0x3fceb86b462de348, 0x3fef1090bc898f5f, // 0.24, 0.97077 + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003 + 0x3fcf7b7480bd3801, 0x3fef045a14cf738c, // 0.24596, 0.96928 + 0x3fcfdcdc1adfedf8, 0x3feefe220c0b95ec, // 0.24893, 0.96852 + 0x3fd01f1806b9fdd2, 0x3feef7d6e51ca3c0, // 0.2519, 0.96775 + 0x3fd04fb80e37fdae, 0x3feef178a3e473c2, // 0.25487, 0.96698 + 0x3fd0804e05eb661e, 0x3feeeb074c50a544, // 0.25783, 0.96619 + 0x3fd0b0d9cfdbdb90, 0x3feee482e25a9dbc, // 0.26079, 0.96539 + 0x3fd0e15b4e1749cd, 0x3feeddeb6a078651, // 0.26375, 0.96459 + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378 + 0x3fd1423eefc69378, 0x3feed0835e999009, // 0.26967, 0.96295 + 0x3fd172a0d7765177, 0x3feec9b2d3c3bf84, // 0.27262, 0.96212 + 0x3fd1a2f7fbe8f243, 0x3feec2cf4b1af6b2, // 0.27557, 0.96128 + 0x3fd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // 0.27852, 0.96043 + 0x3fd2038583d727bd, 0x3feeb4cf515b8811, // 0.28146, 0.95957 + 0x3fd233bbabc3bb72, 0x3feeadb2e8e7a88e, // 0.28441, 0.9587 + 0x3fd263e6995554ba, 0x3feea68393e65800, // 0.28735, 0.95783 + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694 + 0x3fd2c41a4e954520, 0x3fee97ec36016b30, // 0.29322, 0.95605 + 0x3fd2f422daec0386, 0x3fee9084361df7f3, // 0.29615, 0.95514 + 0x3fd3241fb638baaf, 0x3fee89095bad6025, // 0.29908, 0.95423 + 0x3fd35410c2e18152, 0x3fee817bab4cd10d, // 0.30201, 0.95331 + 0x3fd383f5e353b6aa, 0x3fee79db29a5165a, // 0.30493, 0.95238 + 0x3fd3b3cefa0414b7, 0x3fee7227db6a9744, // 0.30785, 0.95144 + 0x3fd3e39be96ec271, 0x3fee6a61c55d53a7, // 0.31077, 0.95049 + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953 + 0x3fd44310dc8936f0, 0x3fee5a9d550467d3, // 0.31659, 0.94856 + 0x3fd472b8a5571054, 0x3fee529f04729ffc, // 0.3195, 0.94759 + 0x3fd4a253d11b82f3, 0x3fee4a8dff81ce5e, // 0.32241, 0.9466 + 0x3fd4d1e24278e76a, 0x3fee426a4b2bc17e, // 0.32531, 0.94561 + 0x3fd50163dc197047, 0x3fee3a33ec75ce85, // 0.32821, 0.9446 + 0x3fd530d880af3c24, 0x3fee31eae870ce25, // 0.33111, 0.94359 + 0x3fd5604012f467b4, 0x3fee298f4439197a, // 0.334, 0.94257 + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154 + 0x3fd5bee78b9db3b6, 0x3fee18a02fdc66d9, // 0.33978, 0.94051 + 0x3fd5ee27379ea693, 0x3fee100cca2980ac, // 0.34266, 0.93946 + 0x3fd61d595c88c203, 0x3fee0766d9280f54, // 0.34554, 0.9384 + 0x3fd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // 0.34842, 0.93734 + 0x3fd67b949cad63ca, 0x3fedf5e36a9ba59c, // 0.35129, 0.93627 + 0x3fd6aa9d7dc77e16, 0x3feded05f7de47da, // 0.35416, 0.93518 + 0x3fd6d998638a0cb5, 0x3fede4160f6d8d81, // 0.35703, 0.93409 + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299 + 0x3fd73763c9261092, 0x3fedd1fef38a915a, // 0.36276, 0.93188 + 0x3fd766340f2418f6, 0x3fedc8d7cb410260, // 0.36561, 0.93077 + 0x3fd794f5e613dfae, 0x3fedbf9e4395759a, // 0.36847, 0.92964 + 0x3fd7c3a9311dcce7, 0x3fedb6526238a09b, // 0.37132, 0.92851 + 0x3fd7f24dd37341e3, 0x3fedacf42ce68ab9, // 0.37416, 0.92736 + 0x3fd820e3b04eaac4, 0x3feda383a9668988, // 0.37701, 0.92621 + 0x3fd84f6aaaf3903f, 0x3fed9a00dd8b3d46, // 0.37985, 0.92505 + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388 + 0x3fd8ac4b86d5ed44, 0x3fed86c48445a450, // 0.38552, 0.9227 + 0x3fd8daa52ec8a4af, 0x3fed7d0b02b8ecf9, // 0.38835, 0.92151 + 0x3fd908ef81ef7bd1, 0x3fed733f508c0dff, // 0.39117, 0.92032 + 0x3fd9372a63bc93d7, 0x3fed696173c9e68b, // 0.39399, 0.91911 + 0x3fd96555b7ab948f, 0x3fed5f7172888a7f, // 0.39681, 0.9179 + 0x3fd993716141bdfe, 0x3fed556f52e93eb1, // 0.39962, 0.91668 + 0x3fd9c17d440df9f2, 0x3fed4b5b1b187524, // 0.40243, 0.91545 + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421 + 0x3fda1d6543b50ac0, 0x3fed36fc7bcbfbdc, // 0.40804, 0.91296 + 0x3fda4b4127dea1e4, 0x3fed2cb220e0ef9f, // 0.41084, 0.91171 + 0x3fda790cd3dbf31a, 0x3fed2255c6e5a4e1, // 0.41364, 0.91044 + 0x3fdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // 0.41643, 0.90917 + 0x3fdad473125cdc08, 0x3fed0d672f59d2b9, // 0.41922, 0.90789 + 0x3fdb020d6c7f4009, 0x3fed02d4feb2bd92, // 0.422, 0.9066 + 0x3fdb2f971db31972, 0x3fecf830e8ce467b, // 0.42478, 0.9053 + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399 + 0x3fdb8a7814fd5693, 0x3fece2b32799a060, // 0.43033, 0.90267 + 0x3fdbb7cf2304bd01, 0x3fecd7d9898b32f6, // 0.43309, 0.90135 + 0x3fdbe51517ffc0d9, 0x3fecccee20c2de9f, // 0.43586, 0.90002 + 0x3fdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // 0.43862, 0.89867 + 0x3fdc3f6d47263129, 0x3fecb6e20a00da99, // 0.44137, 0.89732 + 0x3fdc6c7f4997000a, 0x3fecabc169a0b901, // 0.44412, 0.89597 + 0x3fdc997fc3865388, 0x3feca08f19b9c449, // 0.44687, 0.8946 + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322 + 0x3fdcf34baee1cd21, 0x3fec89f587029c13, // 0.45235, 0.89184 + 0x3fdd2016e8e9db5b, 0x3fec7e8e52233cf3, // 0.45508, 0.89045 + 0x3fdd4cd02ba8609c, 0x3fec7315899eaad7, // 0.45781, 0.88905 + 0x3fdd79775b86e389, 0x3fec678b3488739b, // 0.46054, 0.88764 + 0x3fdda60c5cfa10d8, 0x3fec5bef59fef85a, // 0.46326, 0.88622 + 0x3fddd28f1481cc58, 0x3fec5042012b6907, // 0.46598, 0.8848 + 0x3fddfeff66a941de, 0x3fec44833141c004, // 0.46869, 0.88336 + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192 + 0x3fde57a86d3cd824, 0x3fec2cd14931e3f1, // 0.4741, 0.88047 + 0x3fde83e0eaf85113, 0x3fec20de3fa971b0, // 0.4768, 0.87901 + 0x3fdeb00695f25620, 0x3fec14d9dc465e58, // 0.47949, 0.87755 + 0x3fdedc1952ef78d5, 0x3fec08c426725549, // 0.48218, 0.87607 + 0x3fdf081906bff7fd, 0x3febfc9d25a1b147, // 0.48487, 0.87459 + 0x3fdf3405963fd068, 0x3febf064e15377dd, // 0.48755, 0.87309 + 0x3fdf5fdee656cda3, 0x3febe41b611154c1, // 0.49023, 0.8716 + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009 + 0x3fdfb7575c24d2de, 0x3febcb54cb0d2327, // 0.49557, 0.86857 + 0x3fdfe2f64be7120f, 0x3febbed7c49380ea, // 0.49823, 0.86705 + 0x3fe00740c82b82e0, 0x3febb249a0b6c40d, // 0.50089, 0.86551 + 0x3fe01cfc874c3eb7, 0x3feba5aa673590d2, // 0.50354, 0.86397 + 0x3fe032ae55edbd95, 0x3feb98fa1fd9155e, // 0.50619, 0.86242 + 0x3fe0485626ae221a, 0x3feb8c38d27504e9, // 0.50883, 0.86087 + 0x3fe05df3ec31b8b6, 0x3feb7f6686e792ea, // 0.51147, 0.8593 + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773 + 0x3fe089112032b08c, 0x3feb658f14fdbc47, // 0.51673, 0.85615 + 0x3fe09e907417c5e1, 0x3feb5889fe921405, // 0.51936, 0.85456 + 0x3fe0b405878f85ec, 0x3feb4b7409de7925, // 0.52198, 0.85296 + 0x3fe0c9704d5d898f, 0x3feb3e4d3ef55712, // 0.52459, 0.85136 + 0x3fe0ded0b84bc4b5, 0x3feb3115a5f37bf4, // 0.5272, 0.84974 + 0x3fe0f426bb2a8e7d, 0x3feb23cd470013b4, // 0.5298, 0.84812 + 0x3fe1097248d0a956, 0x3feb16742a4ca2f5, // 0.5324, 0.84649 + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485 + 0x3fe133e9cfee254e, 0x3feafb8fd89f57b6, // 0.53759, 0.84321 + 0x3fe14915af336ceb, 0x3feaee04b43c1474, // 0.54017, 0.84155 + 0x3fe15e36e4dbe2bc, 0x3feae068f345ecef, // 0.54275, 0.83989 + 0x3fe1734d63dedb49, 0x3fead2bc9e21d511, // 0.54532, 0.83822 + 0x3fe188591f3a46e5, 0x3feac4ffbd3efac8, // 0.54789, 0.83655 + 0x3fe19d5a09f2b9b8, 0x3feab7325916c0d4, // 0.55046, 0.83486 + 0x3fe1b250171373be, 0x3feaa9547a2cb98e, // 0.55302, 0.83317 + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147 + 0x3fe1dc1b64dc4872, 0x3fea8d676e545ad2, // 0.55812, 0.82976 + 0x3fe1f0f08bbc861b, 0x3fea7f58529fe69d, // 0.56066, 0.82805 + 0x3fe205baa17560d6, 0x3fea7138de9d60f5, // 0.5632, 0.82632 + 0x3fe21a799933eb58, 0x3fea63091b02fae2, // 0.56573, 0.82459 + 0x3fe22f2d662c13e1, 0x3fea54c91090f524, // 0.56826, 0.82285 + 0x3fe243d5fb98ac1f, 0x3fea4678c8119ac8, // 0.57078, 0.8211 + 0x3fe258734cbb7110, 0x3fea38184a593bc6, // 0.5733, 0.81935 + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758 + 0x3fe2818bef4d3cba, 0x3fea1b26d2c0a75e, // 0.57831, 0.81581 + 0x3fe2960727629ca8, 0x3fea0c95eabaf937, // 0.58081, 0.81404 + 0x3fe2aa76e87aeb58, 0x3fe9fdf4f13149de, // 0.58331, 0.81225 + 0x3fe2bedb25faf3ea, 0x3fe9ef43ef29af94, // 0.5858, 0.81046 + 0x3fe2d333d34e9bb7, 0x3fe9e082edb42472, // 0.58828, 0.80866 + 0x3fe2e780e3e8ea16, 0x3fe9d1b1f5ea80d6, // 0.59076, 0.80685 + 0x3fe2fbc24b441015, 0x3fe9c2d110f075c3, // 0.59323, 0.80503 + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321 + 0x3fe32421ec49a620, 0x3fe9a4dfa42b06b2, // 0.59816, 0.80138 + 0x3fe338400d0c8e57, 0x3fe995cf2ed80d22, // 0.60062, 0.79954 + 0x3fe34c5252c14de1, 0x3fe986aef1457594, // 0.60307, 0.79769 + 0x3fe36058b10659f3, 0x3fe9777ef4c7d742, // 0.60551, 0.79584 + 0x3fe374531b817f8d, 0x3fe9683f42bd7fe1, // 0.60795, 0.79398 + 0x3fe3884185dfeb22, 0x3fe958efe48e6dd7, // 0.61038, 0.79211 + 0x3fe39c23e3d63029, 0x3fe94990e3ac4a6c, // 0.61281, 0.79023 + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835 + 0x3fe3c3c44981c517, 0x3fe92aa41fc5a815, // 0.61765, 0.78646 + 0x3fe3d78238c58343, 0x3fe91b166fd49da2, // 0.62006, 0.78456 + 0x3fe3eb33eabe0680, 0x3fe90b7943575efe, // 0.62246, 0.78265 + 0x3fe3fed9534556d4, 0x3fe8fbcca3ef940d, // 0.62486, 0.78074 + 0x3fe41272663d108c, 0x3fe8ec109b486c49, // 0.62725, 0.77882 + 0x3fe425ff178e6bb1, 0x3fe8dc45331698cc, // 0.62964, 0.77689 + 0x3fe4397f5b2a4380, 0x3fe8cc6a75184655, // 0.63202, 0.77495 + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301 + 0x3fe4605a692b32a2, 0x3fe8ac871ede1d88, // 0.63676, 0.77106 + 0x3fe473b51b987347, 0x3fe89c7e9a4dd4ab, // 0.63912, 0.7691 + 0x3fe48703306091fe, 0x3fe88c66e7481ba1, // 0.64148, 0.76714 + 0x3fe49a449b9b0938, 0x3fe87c400fba2ebf, // 0.64383, 0.76517 + 0x3fe4ad79516722f0, 0x3fe86c0a1d9aa195, // 0.64618, 0.76319 + 0x3fe4c0a145ec0004, 0x3fe85bc51ae958cc, // 0.64851, 0.7612 + 0x3fe4d3bc6d589f80, 0x3fe84b7111af83f9, // 0.65085, 0.75921 + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721 + 0x3fe4f9cc25cca486, 0x3fe82a9c13f545ff, // 0.65549, 0.7552 + 0x3fe50cc09f59a09b, 0x3fe81a1b33b57acc, // 0.65781, 0.75319 + 0x3fe51fa81cd99aa6, 0x3fe8098b756e52fa, // 0.66011, 0.75117 + 0x3fe5328292a35596, 0x3fe7f8ece3571771, // 0.66242, 0.74914 + 0x3fe5454ff5159dfb, 0x3fe7e83f87b03686, // 0.66471, 0.7471 + 0x3fe5581038975137, 0x3fe7d7836cc33db2, // 0.667, 0.74506 + 0x3fe56ac35197649e, 0x3fe7c6b89ce2d333, // 0.66928, 0.74301 + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095 + 0x3fe59001d5f723df, 0x3fe7a4f707bf97d2, // 0.67383, 0.73889 + 0x3fe5a28d2a5d7250, 0x3fe79400574f55e4, // 0.67609, 0.73682 + 0x3fe5b50b264f7448, 0x3fe782fb1b90b35b, // 0.67835, 0.73474 + 0x3fe5c77bbe65018c, 0x3fe771e75f037261, // 0.6806, 0.73265 + 0x3fe5d9dee73e345c, 0x3fe760c52c304764, // 0.68285, 0.73056 + 0x3fe5ec3495837074, 0x3fe74f948da8d28d, // 0.68508, 0.72846 + 0x3fe5fe7cbde56a0f, 0x3fe73e558e079942, // 0.68732, 0.72636 + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425 + 0x3fe622e44fec22ff, 0x3fe71bac960e41bf, // 0.69176, 0.72213 + 0x3fe63503a31c1be8, 0x3fe70a42b3176d7a, // 0.69397, 0.72 + 0x3fe64715437f535b, 0x3fe6f8ca99c95b75, // 0.69618, 0.71787 + 0x3fe6591925f0783e, 0x3fe6e74454eaa8ae, // 0.69838, 0.71573 + 0x3fe66b0f3f52b386, 0x3fe6d5afef4aafcc, // 0.70057, 0.71358 + 0x3fe67cf78491af10, 0x3fe6c40d73c18275, // 0.70275, 0.71143 + 0x3fe68ed1eaa19c71, 0x3fe6b25ced2fe29c, // 0.70493, 0.70927 + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711 + 0x3fe6b25ced2fe29c, 0x3fe68ed1eaa19c71, // 0.70927, 0.70493 + 0x3fe6c40d73c18275, 0x3fe67cf78491af10, // 0.71143, 0.70275 + 0x3fe6d5afef4aafcc, 0x3fe66b0f3f52b386, // 0.71358, 0.70057 + 0x3fe6e74454eaa8ae, 0x3fe6591925f0783e, // 0.71573, 0.69838 + 0x3fe6f8ca99c95b75, 0x3fe64715437f535b, // 0.71787, 0.69618 + 0x3fe70a42b3176d7a, 0x3fe63503a31c1be8, // 0.72, 0.69397 + 0x3fe71bac960e41bf, 0x3fe622e44fec22ff, // 0.72213, 0.69176 + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954 + 0x3fe73e558e079942, 0x3fe5fe7cbde56a0f, // 0.72636, 0.68732 + 0x3fe74f948da8d28d, 0x3fe5ec3495837074, // 0.72846, 0.68508 + 0x3fe760c52c304764, 0x3fe5d9dee73e345c, // 0.73056, 0.68285 + 0x3fe771e75f037261, 0x3fe5c77bbe65018c, // 0.73265, 0.6806 + 0x3fe782fb1b90b35b, 0x3fe5b50b264f7448, // 0.73474, 0.67835 + 0x3fe79400574f55e4, 0x3fe5a28d2a5d7250, // 0.73682, 0.67609 + 0x3fe7a4f707bf97d2, 0x3fe59001d5f723df, // 0.73889, 0.67383 + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156 + 0x3fe7c6b89ce2d333, 0x3fe56ac35197649e, // 0.74301, 0.66928 + 0x3fe7d7836cc33db2, 0x3fe5581038975137, // 0.74506, 0.667 + 0x3fe7e83f87b03686, 0x3fe5454ff5159dfb, // 0.7471, 0.66471 + 0x3fe7f8ece3571771, 0x3fe5328292a35596, // 0.74914, 0.66242 + 0x3fe8098b756e52fa, 0x3fe51fa81cd99aa6, // 0.75117, 0.66011 + 0x3fe81a1b33b57acc, 0x3fe50cc09f59a09b, // 0.75319, 0.65781 + 0x3fe82a9c13f545ff, 0x3fe4f9cc25cca486, // 0.7552, 0.65549 + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317 + 0x3fe84b7111af83f9, 0x3fe4d3bc6d589f80, // 0.75921, 0.65085 + 0x3fe85bc51ae958cc, 0x3fe4c0a145ec0004, // 0.7612, 0.64851 + 0x3fe86c0a1d9aa195, 0x3fe4ad79516722f0, // 0.76319, 0.64618 + 0x3fe87c400fba2ebf, 0x3fe49a449b9b0938, // 0.76517, 0.64383 + 0x3fe88c66e7481ba1, 0x3fe48703306091fe, // 0.76714, 0.64148 + 0x3fe89c7e9a4dd4ab, 0x3fe473b51b987347, // 0.7691, 0.63912 + 0x3fe8ac871ede1d88, 0x3fe4605a692b32a2, // 0.77106, 0.63676 + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439 + 0x3fe8cc6a75184655, 0x3fe4397f5b2a4380, // 0.77495, 0.63202 + 0x3fe8dc45331698cc, 0x3fe425ff178e6bb1, // 0.77689, 0.62964 + 0x3fe8ec109b486c49, 0x3fe41272663d108c, // 0.77882, 0.62725 + 0x3fe8fbcca3ef940d, 0x3fe3fed9534556d4, // 0.78074, 0.62486 + 0x3fe90b7943575efe, 0x3fe3eb33eabe0680, // 0.78265, 0.62246 + 0x3fe91b166fd49da2, 0x3fe3d78238c58343, // 0.78456, 0.62006 + 0x3fe92aa41fc5a815, 0x3fe3c3c44981c517, // 0.78646, 0.61765 + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523 + 0x3fe94990e3ac4a6c, 0x3fe39c23e3d63029, // 0.79023, 0.61281 + 0x3fe958efe48e6dd7, 0x3fe3884185dfeb22, // 0.79211, 0.61038 + 0x3fe9683f42bd7fe1, 0x3fe374531b817f8d, // 0.79398, 0.60795 + 0x3fe9777ef4c7d742, 0x3fe36058b10659f3, // 0.79584, 0.60551 + 0x3fe986aef1457594, 0x3fe34c5252c14de1, // 0.79769, 0.60307 + 0x3fe995cf2ed80d22, 0x3fe338400d0c8e57, // 0.79954, 0.60062 + 0x3fe9a4dfa42b06b2, 0x3fe32421ec49a620, // 0.80138, 0.59816 + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957 + 0x3fe9c2d110f075c3, 0x3fe2fbc24b441015, // 0.80503, 0.59323 + 0x3fe9d1b1f5ea80d6, 0x3fe2e780e3e8ea16, // 0.80685, 0.59076 + 0x3fe9e082edb42472, 0x3fe2d333d34e9bb7, // 0.80866, 0.58828 + 0x3fe9ef43ef29af94, 0x3fe2bedb25faf3ea, // 0.81046, 0.5858 + 0x3fe9fdf4f13149de, 0x3fe2aa76e87aeb58, // 0.81225, 0.58331 + 0x3fea0c95eabaf937, 0x3fe2960727629ca8, // 0.81404, 0.58081 + 0x3fea1b26d2c0a75e, 0x3fe2818bef4d3cba, // 0.81581, 0.57831 + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581 + 0x3fea38184a593bc6, 0x3fe258734cbb7110, // 0.81935, 0.5733 + 0x3fea4678c8119ac8, 0x3fe243d5fb98ac1f, // 0.8211, 0.57078 + 0x3fea54c91090f524, 0x3fe22f2d662c13e1, // 0.82285, 0.56826 + 0x3fea63091b02fae2, 0x3fe21a799933eb58, // 0.82459, 0.56573 + 0x3fea7138de9d60f5, 0x3fe205baa17560d6, // 0.82632, 0.5632 + 0x3fea7f58529fe69d, 0x3fe1f0f08bbc861b, // 0.82805, 0.56066 + 0x3fea8d676e545ad2, 0x3fe1dc1b64dc4872, // 0.82976, 0.55812 + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557 + 0x3feaa9547a2cb98e, 0x3fe1b250171373be, // 0.83317, 0.55302 + 0x3feab7325916c0d4, 0x3fe19d5a09f2b9b8, // 0.83486, 0.55046 + 0x3feac4ffbd3efac8, 0x3fe188591f3a46e5, // 0.83655, 0.54789 + 0x3fead2bc9e21d511, 0x3fe1734d63dedb49, // 0.83822, 0.54532 + 0x3feae068f345ecef, 0x3fe15e36e4dbe2bc, // 0.83989, 0.54275 + 0x3feaee04b43c1474, 0x3fe14915af336ceb, // 0.84155, 0.54017 + 0x3feafb8fd89f57b6, 0x3fe133e9cfee254e, // 0.84321, 0.53759 + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535 + 0x3feb16742a4ca2f5, 0x3fe1097248d0a956, // 0.84649, 0.5324 + 0x3feb23cd470013b4, 0x3fe0f426bb2a8e7d, // 0.84812, 0.5298 + 0x3feb3115a5f37bf4, 0x3fe0ded0b84bc4b5, // 0.84974, 0.5272 + 0x3feb3e4d3ef55712, 0x3fe0c9704d5d898f, // 0.85136, 0.52459 + 0x3feb4b7409de7925, 0x3fe0b405878f85ec, // 0.85296, 0.52198 + 0x3feb5889fe921405, 0x3fe09e907417c5e1, // 0.85456, 0.51936 + 0x3feb658f14fdbc47, 0x3fe089112032b08c, // 0.85615, 0.51673 + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141 + 0x3feb7f6686e792ea, 0x3fe05df3ec31b8b6, // 0.8593, 0.51147 + 0x3feb8c38d27504e9, 0x3fe0485626ae221a, // 0.86087, 0.50883 + 0x3feb98fa1fd9155e, 0x3fe032ae55edbd95, // 0.86242, 0.50619 + 0x3feba5aa673590d2, 0x3fe01cfc874c3eb7, // 0.86397, 0.50354 + 0x3febb249a0b6c40d, 0x3fe00740c82b82e0, // 0.86551, 0.50089 + 0x3febbed7c49380ea, 0x3fdfe2f64be7120f, // 0.86705, 0.49823 + 0x3febcb54cb0d2327, 0x3fdfb7575c24d2de, // 0.86857, 0.49557 + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929 + 0x3febe41b611154c1, 0x3fdf5fdee656cda3, // 0.8716, 0.49023 + 0x3febf064e15377dd, 0x3fdf3405963fd068, // 0.87309, 0.48755 + 0x3febfc9d25a1b147, 0x3fdf081906bff7fd, // 0.87459, 0.48487 + 0x3fec08c426725549, 0x3fdedc1952ef78d5, // 0.87607, 0.48218 + 0x3fec14d9dc465e58, 0x3fdeb00695f25620, // 0.87755, 0.47949 + 0x3fec20de3fa971b0, 0x3fde83e0eaf85113, // 0.87901, 0.4768 + 0x3fec2cd14931e3f1, 0x3fde57a86d3cd824, // 0.88047, 0.4741 + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714 + 0x3fec44833141c004, 0x3fddfeff66a941de, // 0.88336, 0.46869 + 0x3fec5042012b6907, 0x3fddd28f1481cc58, // 0.8848, 0.46598 + 0x3fec5bef59fef85a, 0x3fdda60c5cfa10d8, // 0.88622, 0.46326 + 0x3fec678b3488739b, 0x3fdd79775b86e389, // 0.88764, 0.46054 + 0x3fec7315899eaad7, 0x3fdd4cd02ba8609c, // 0.88905, 0.45781 + 0x3fec7e8e52233cf3, 0x3fdd2016e8e9db5b, // 0.89045, 0.45508 + 0x3fec89f587029c13, 0x3fdcf34baee1cd21, // 0.89184, 0.45235 + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961 + 0x3feca08f19b9c449, 0x3fdc997fc3865388, // 0.8946, 0.44687 + 0x3fecabc169a0b901, 0x3fdc6c7f4997000a, // 0.89597, 0.44412 + 0x3fecb6e20a00da99, 0x3fdc3f6d47263129, // 0.89732, 0.44137 + 0x3fecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // 0.89867, 0.43862 + 0x3fecccee20c2de9f, 0x3fdbe51517ffc0d9, // 0.90002, 0.43586 + 0x3fecd7d9898b32f6, 0x3fdbb7cf2304bd01, // 0.90135, 0.43309 + 0x3fece2b32799a060, 0x3fdb8a7814fd5693, // 0.90267, 0.43033 + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756 + 0x3fecf830e8ce467b, 0x3fdb2f971db31972, // 0.9053, 0.42478 + 0x3fed02d4feb2bd92, 0x3fdb020d6c7f4009, // 0.9066, 0.422 + 0x3fed0d672f59d2b9, 0x3fdad473125cdc08, // 0.90789, 0.41922 + 0x3fed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // 0.90917, 0.41643 + 0x3fed2255c6e5a4e1, 0x3fda790cd3dbf31a, // 0.91044, 0.41364 + 0x3fed2cb220e0ef9f, 0x3fda4b4127dea1e4, // 0.91171, 0.41084 + 0x3fed36fc7bcbfbdc, 0x3fda1d6543b50ac0, // 0.91296, 0.40804 + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524 + 0x3fed4b5b1b187524, 0x3fd9c17d440df9f2, // 0.91545, 0.40243 + 0x3fed556f52e93eb1, 0x3fd993716141bdfe, // 0.91668, 0.39962 + 0x3fed5f7172888a7f, 0x3fd96555b7ab948f, // 0.9179, 0.39681 + 0x3fed696173c9e68b, 0x3fd9372a63bc93d7, // 0.91911, 0.39399 + 0x3fed733f508c0dff, 0x3fd908ef81ef7bd1, // 0.92032, 0.39117 + 0x3fed7d0b02b8ecf9, 0x3fd8daa52ec8a4af, // 0.92151, 0.38835 + 0x3fed86c48445a450, 0x3fd8ac4b86d5ed44, // 0.9227, 0.38552 + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268 + 0x3fed9a00dd8b3d46, 0x3fd84f6aaaf3903f, // 0.92505, 0.37985 + 0x3feda383a9668988, 0x3fd820e3b04eaac4, // 0.92621, 0.37701 + 0x3fedacf42ce68ab9, 0x3fd7f24dd37341e3, // 0.92736, 0.37416 + 0x3fedb6526238a09b, 0x3fd7c3a9311dcce7, // 0.92851, 0.37132 + 0x3fedbf9e4395759a, 0x3fd794f5e613dfae, // 0.92964, 0.36847 + 0x3fedc8d7cb410260, 0x3fd766340f2418f6, // 0.93077, 0.36561 + 0x3fedd1fef38a915a, 0x3fd73763c9261092, // 0.93188, 0.36276 + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599 + 0x3fede4160f6d8d81, 0x3fd6d998638a0cb5, // 0.93409, 0.35703 + 0x3feded05f7de47da, 0x3fd6aa9d7dc77e16, // 0.93518, 0.35416 + 0x3fedf5e36a9ba59c, 0x3fd67b949cad63ca, // 0.93627, 0.35129 + 0x3fedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // 0.93734, 0.34842 + 0x3fee0766d9280f54, 0x3fd61d595c88c203, // 0.9384, 0.34554 + 0x3fee100cca2980ac, 0x3fd5ee27379ea693, // 0.93946, 0.34266 + 0x3fee18a02fdc66d9, 0x3fd5bee78b9db3b6, // 0.94051, 0.33978 + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689 + 0x3fee298f4439197a, 0x3fd5604012f467b4, // 0.94257, 0.334 + 0x3fee31eae870ce25, 0x3fd530d880af3c24, // 0.94359, 0.33111 + 0x3fee3a33ec75ce85, 0x3fd50163dc197047, // 0.9446, 0.32821 + 0x3fee426a4b2bc17e, 0x3fd4d1e24278e76a, // 0.94561, 0.32531 + 0x3fee4a8dff81ce5e, 0x3fd4a253d11b82f3, // 0.9466, 0.32241 + 0x3fee529f04729ffc, 0x3fd472b8a5571054, // 0.94759, 0.3195 + 0x3fee5a9d550467d3, 0x3fd44310dc8936f0, // 0.94856, 0.31659 + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368 + 0x3fee6a61c55d53a7, 0x3fd3e39be96ec271, // 0.95049, 0.31077 + 0x3fee7227db6a9744, 0x3fd3b3cefa0414b7, // 0.95144, 0.30785 + 0x3fee79db29a5165a, 0x3fd383f5e353b6aa, // 0.95238, 0.30493 + 0x3fee817bab4cd10d, 0x3fd35410c2e18152, // 0.95331, 0.30201 + 0x3fee89095bad6025, 0x3fd3241fb638baaf, // 0.95423, 0.29908 + 0x3fee9084361df7f3, 0x3fd2f422daec0386, // 0.95514, 0.29615 + 0x3fee97ec36016b30, 0x3fd2c41a4e954520, // 0.95605, 0.29322 + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028 + 0x3feea68393e65800, 0x3fd263e6995554ba, // 0.95783, 0.28735 + 0x3feeadb2e8e7a88e, 0x3fd233bbabc3bb72, // 0.9587, 0.28441 + 0x3feeb4cf515b8811, 0x3fd2038583d727bd, // 0.95957, 0.28146 + 0x3feebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // 0.96043, 0.27852 + 0x3feec2cf4b1af6b2, 0x3fd1a2f7fbe8f243, // 0.96128, 0.27557 + 0x3feec9b2d3c3bf84, 0x3fd172a0d7765177, // 0.96212, 0.27262 + 0x3feed0835e999009, 0x3fd1423eefc69378, // 0.96295, 0.26967 + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671 + 0x3feeddeb6a078651, 0x3fd0e15b4e1749cd, // 0.96459, 0.26375 + 0x3feee482e25a9dbc, 0x3fd0b0d9cfdbdb90, // 0.96539, 0.26079 + 0x3feeeb074c50a544, 0x3fd0804e05eb661e, // 0.96619, 0.25783 + 0x3feef178a3e473c2, 0x3fd04fb80e37fdae, // 0.96698, 0.25487 + 0x3feef7d6e51ca3c0, 0x3fd01f1806b9fdd2, // 0.96775, 0.2519 + 0x3feefe220c0b95ec, 0x3fcfdcdc1adfedf8, // 0.96852, 0.24893 + 0x3fef045a14cf738c, 0x3fcf7b7480bd3801, // 0.96928, 0.24596 + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298 + 0x3fef1090bc898f5f, 0x3fceb86b462de348, // 0.97077, 0.24 + 0x3fef168f53f7205d, 0x3fce56ca1e101a1b, // 0.9715, 0.23702 + 0x3fef1c7abe284708, 0x3fcdf5163f01099a, // 0.97223, 0.23404 + 0x3fef2252f7763ada, 0x3fcd934fe5454311, // 0.97294, 0.23106 + 0x3fef2817fc4609ce, 0x3fcd31774d2cbdee, // 0.97364, 0.22807 + 0x3fef2dc9c9089a9d, 0x3fcccf8cb312b286, // 0.97434, 0.22508 + 0x3fef33685a3aaef0, 0x3fcc6d90535d74dc, // 0.97503, 0.22209 + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191 + 0x3fef3e6bbc1bbc65, 0x3fcba96334f15dad, // 0.97637, 0.21611 + 0x3fef43d085ff92dd, 0x3fcb4732ef3d6722, // 0.97703, 0.21311 + 0x3fef492206bcabb4, 0x3fcae4f1d5f3b9ab, // 0.97768, 0.21011 + 0x3fef4e603b0b2f2d, 0x3fca82a025b00451, // 0.97832, 0.20711 + 0x3fef538b1faf2d07, 0x3fca203e1b1831da, // 0.97895, 0.20411 + 0x3fef58a2b1789e84, 0x3fc9bdcbf2dc4366, // 0.97957, 0.2011 + 0x3fef5da6ed43685d, 0x3fc95b49e9b62af9, // 0.98018, 0.1981 + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509 + 0x3fef677556883cee, 0x3fc8961727c41804, // 0.98138, 0.19208 + 0x3fef6c3f7df5bbb7, 0x3fc83366e89c64c5, // 0.98196, 0.18907 + 0x3fef70f6434b7eb7, 0x3fc7d0a7bbd2cb1b, // 0.98254, 0.18606 + 0x3fef7599a3a12077, 0x3fc76dd9de50bf31, // 0.98311, 0.18304 + 0x3fef7a299c1a322a, 0x3fc70afd8d08c4ff, // 0.98366, 0.18002 + 0x3fef7ea629e63d6e, 0x3fc6a81304f64ab2, // 0.98421, 0.177 + 0x3fef830f4a40c60c, 0x3fc6451a831d830d, // 0.98475, 0.17398 + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096 + 0x3fef8ba737cb4b78, 0x3fc57f008654cbde, // 0.9858, 0.16794 + 0x3fef8fd5ffae41db, 0x3fc51bdf8597c5f2, // 0.98631, 0.16491 + 0x3fef93f14f85ac08, 0x3fc4b8b17f79fa88, // 0.98681, 0.16189 + 0x3fef97f924c9099b, 0x3fc45576b1293e5a, // 0.9873, 0.15886 + 0x3fef9bed7cfbde29, 0x3fc3f22f57db4893, // 0.98778, 0.15583 + 0x3fef9fce55adb2c8, 0x3fc38edbb0cd8d14, // 0.98826, 0.1528 + 0x3fefa39bac7a1791, 0x3fc32b7bf94516a7, // 0.98872, 0.14976 + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673 + 0x3fefaafbcb0cfddc, 0x3fc264994dfd340a, // 0.98962, 0.1437 + 0x3fefae8e8e46cfbb, 0x3fc20116d4ec7bce, // 0.99006, 0.14066 + 0x3fefb20dc681d54d, 0x3fc19d8940be24e7, // 0.99049, 0.13762 + 0x3fefb5797195d741, 0x3fc139f0cedaf576, // 0.9909, 0.13458 + 0x3fefb8d18d66adb7, 0x3fc0d64dbcb26786, // 0.99131, 0.13154 + 0x3fefbc1617e44186, 0x3fc072a047ba831d, // 0.99171, 0.1285 + 0x3fefbf470f0a8d88, 0x3fc00ee8ad6fb85b, // 0.9921, 0.12545 + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241 + 0x3fefc56e3b7d9af6, 0x3fbe8eb7fde4aa3e, // 0.99285, 0.11937 + 0x3fefc8646cfeb721, 0x3fbdc70ecbae9fc8, // 0.99321, 0.11632 + 0x3fefcb4703914354, 0x3fbcff533b307dc1, // 0.99356, 0.11327 + 0x3fefce15fd6da67b, 0x3fbc3785c79ec2d5, // 0.99391, 0.11022 + 0x3fefd0d158d86087, 0x3fbb6fa6ec38f64c, // 0.99424, 0.10717 + 0x3fefd37914220b84, 0x3fbaa7b724495c04, // 0.99456, 0.10412 + 0x3fefd60d2da75c9e, 0x3fb9dfb6eb24a85c, // 0.99488, 0.10107 + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017 + 0x3fefdafa7514538c, 0x3fb84f8712c130a0, // 0.99548, 0.094963 + 0x3fefdd539ff1f456, 0x3fb787586a5d5b21, // 0.99577, 0.091909 + 0x3fefdf9922f73307, 0x3fb6bf1b3e79b129, // 0.99604, 0.088854 + 0x3fefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // 0.99631, 0.085797 + 0x3fefe3e92be9d886, 0x3fb52e774a4d4d0a, // 0.99657, 0.08274 + 0x3fefe5f3af2e3940, 0x3fb4661179272096, // 0.99682, 0.079682 + 0x3fefe7ea85482d60, 0x3fb39d9f12c5a299, // 0.99706, 0.076624 + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565 + 0x3fefeb9d2530410f, 0x3fb20c9674ed444c, // 0.99751, 0.070505 + 0x3fefed58ecb673c4, 0x3fb1440134d709b2, // 0.99772, 0.067444 + 0x3fefef0102826191, 0x3fb07b614e463064, // 0.99793, 0.064383 + 0x3feff095658e71ad, 0x3faf656e79f820e0, // 0.99812, 0.061321 + 0x3feff21614e131ed, 0x3fadd406f9808ec8, // 0.9983, 0.058258 + 0x3feff3830f8d575c, 0x3fac428d12c0d7e3, // 0.99848, 0.055195 + 0x3feff4dc54b1bed3, 0x3faab101bd5f8317, // 0.99864, 0.052132 + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068 + 0x3feff753bb1b9164, 0x3fa78dbaa5874685, // 0.99894, 0.046003 + 0x3feff871dadb81df, 0x3fa5fc00d290cd43, // 0.99908, 0.042938 + 0x3feff97c4208c014, 0x3fa46a396ff86179, // 0.9992, 0.039873 + 0x3feffa72effef75d, 0x3fa2d865759455cd, // 0.99932, 0.036807 + 0x3feffb55e425fdae, 0x3fa14685db42c17e, // 0.99943, 0.033741 + 0x3feffc251df1d3f8, 0x3f9f693731d1cf01, // 0.99953, 0.030675 + 0x3feffce09ce2a679, 0x3f9c454f4ce53b1c, // 0.99962, 0.027608 + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541 + 0x3feffe1c6870cb77, 0x3f95fd4d21fab226, // 0.99977, 0.021474 + 0x3feffe9cb44b51a1, 0x3f92d936bbe30efd, // 0.99983, 0.018407 + 0x3fefff0943c53bd1, 0x3f8f6a296ab997ca, // 0.99988, 0.015339 + 0x3fefff62169b92db, 0x3f8921d1fcdec784, // 0.99992, 0.012272 + 0x3fefffa72c978c4f, 0x3f82d96b0e509703, // 0.99996, 0.0092038 + 0x3fefffd8858e8a92, 0x3f7921f0fe670071, // 0.99998, 0.0061359 + 0x3feffff621621d02, 0x3f6921f8becca4ba, // 1, 0.003068 + 0x3ff0000000000000, 0x0000000000000000, // 1, 0 + 0x3feffff621621d02, 0xbf6921f8becca4ba, // 1, -0.003068 + 0x3fefffd8858e8a92, 0xbf7921f0fe670071, // 0.99998,-0.0061359 + 0x3fefffa72c978c4f, 0xbf82d96b0e509703, // 0.99996,-0.0092038 + 0x3fefff62169b92db, 0xbf8921d1fcdec784, // 0.99992, -0.012272 + 0x3fefff0943c53bd1, 0xbf8f6a296ab997ca, // 0.99988, -0.015339 + 0x3feffe9cb44b51a1, 0xbf92d936bbe30efd, // 0.99983, -0.018407 + 0x3feffe1c6870cb77, 0xbf95fd4d21fab226, // 0.99977, -0.021474 + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997, -0.024541 + 0x3feffce09ce2a679, 0xbf9c454f4ce53b1c, // 0.99962, -0.027608 + 0x3feffc251df1d3f8, 0xbf9f693731d1cf01, // 0.99953, -0.030675 + 0x3feffb55e425fdae, 0xbfa14685db42c17e, // 0.99943, -0.033741 + 0x3feffa72effef75d, 0xbfa2d865759455cd, // 0.99932, -0.036807 + 0x3feff97c4208c014, 0xbfa46a396ff86179, // 0.9992, -0.039873 + 0x3feff871dadb81df, 0xbfa5fc00d290cd43, // 0.99908, -0.042938 + 0x3feff753bb1b9164, 0xbfa78dbaa5874685, // 0.99894, -0.046003 + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988, -0.049068 + 0x3feff4dc54b1bed3, 0xbfaab101bd5f8317, // 0.99864, -0.052132 + 0x3feff3830f8d575c, 0xbfac428d12c0d7e3, // 0.99848, -0.055195 + 0x3feff21614e131ed, 0xbfadd406f9808ec8, // 0.9983, -0.058258 + 0x3feff095658e71ad, 0xbfaf656e79f820e0, // 0.99812, -0.061321 + 0x3fefef0102826191, 0xbfb07b614e463064, // 0.99793, -0.064383 + 0x3fefed58ecb673c4, 0xbfb1440134d709b2, // 0.99772, -0.067444 + 0x3fefeb9d2530410f, 0xbfb20c9674ed444c, // 0.99751, -0.070505 + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729, -0.073565 + 0x3fefe7ea85482d60, 0xbfb39d9f12c5a299, // 0.99706, -0.076624 + 0x3fefe5f3af2e3940, 0xbfb4661179272096, // 0.99682, -0.079682 + 0x3fefe3e92be9d886, 0xbfb52e774a4d4d0a, // 0.99657, -0.08274 + 0x3fefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // 0.99631, -0.085797 + 0x3fefdf9922f73307, 0xbfb6bf1b3e79b129, // 0.99604, -0.088854 + 0x3fefdd539ff1f456, 0xbfb787586a5d5b21, // 0.99577, -0.091909 + 0x3fefdafa7514538c, 0xbfb84f8712c130a0, // 0.99548, -0.094963 + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518, -0.098017 + 0x3fefd60d2da75c9e, 0xbfb9dfb6eb24a85c, // 0.99488, -0.10107 + 0x3fefd37914220b84, 0xbfbaa7b724495c04, // 0.99456, -0.10412 + 0x3fefd0d158d86087, 0xbfbb6fa6ec38f64c, // 0.99424, -0.10717 + 0x3fefce15fd6da67b, 0xbfbc3785c79ec2d5, // 0.99391, -0.11022 + 0x3fefcb4703914354, 0xbfbcff533b307dc1, // 0.99356, -0.11327 + 0x3fefc8646cfeb721, 0xbfbdc70ecbae9fc8, // 0.99321, -0.11632 + 0x3fefc56e3b7d9af6, 0xbfbe8eb7fde4aa3e, // 0.99285, -0.11937 + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241 + 0x3fefbf470f0a8d88, 0xbfc00ee8ad6fb85b, // 0.9921, -0.12545 + 0x3fefbc1617e44186, 0xbfc072a047ba831d, // 0.99171, -0.1285 + 0x3fefb8d18d66adb7, 0xbfc0d64dbcb26786, // 0.99131, -0.13154 + 0x3fefb5797195d741, 0xbfc139f0cedaf576, // 0.9909, -0.13458 + 0x3fefb20dc681d54d, 0xbfc19d8940be24e7, // 0.99049, -0.13762 + 0x3fefae8e8e46cfbb, 0xbfc20116d4ec7bce, // 0.99006, -0.14066 + 0x3fefaafbcb0cfddc, 0xbfc264994dfd340a, // 0.98962, -0.1437 + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673 + 0x3fefa39bac7a1791, 0xbfc32b7bf94516a7, // 0.98872, -0.14976 + 0x3fef9fce55adb2c8, 0xbfc38edbb0cd8d14, // 0.98826, -0.1528 + 0x3fef9bed7cfbde29, 0xbfc3f22f57db4893, // 0.98778, -0.15583 + 0x3fef97f924c9099b, 0xbfc45576b1293e5a, // 0.9873, -0.15886 + 0x3fef93f14f85ac08, 0xbfc4b8b17f79fa88, // 0.98681, -0.16189 + 0x3fef8fd5ffae41db, 0xbfc51bdf8597c5f2, // 0.98631, -0.16491 + 0x3fef8ba737cb4b78, 0xbfc57f008654cbde, // 0.9858, -0.16794 + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096 + 0x3fef830f4a40c60c, 0xbfc6451a831d830d, // 0.98475, -0.17398 + 0x3fef7ea629e63d6e, 0xbfc6a81304f64ab2, // 0.98421, -0.177 + 0x3fef7a299c1a322a, 0xbfc70afd8d08c4ff, // 0.98366, -0.18002 + 0x3fef7599a3a12077, 0xbfc76dd9de50bf31, // 0.98311, -0.18304 + 0x3fef70f6434b7eb7, 0xbfc7d0a7bbd2cb1b, // 0.98254, -0.18606 + 0x3fef6c3f7df5bbb7, 0xbfc83366e89c64c5, // 0.98196, -0.18907 + 0x3fef677556883cee, 0xbfc8961727c41804, // 0.98138, -0.19208 + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509 + 0x3fef5da6ed43685d, 0xbfc95b49e9b62af9, // 0.98018, -0.1981 + 0x3fef58a2b1789e84, 0xbfc9bdcbf2dc4366, // 0.97957, -0.2011 + 0x3fef538b1faf2d07, 0xbfca203e1b1831da, // 0.97895, -0.20411 + 0x3fef4e603b0b2f2d, 0xbfca82a025b00451, // 0.97832, -0.20711 + 0x3fef492206bcabb4, 0xbfcae4f1d5f3b9ab, // 0.97768, -0.21011 + 0x3fef43d085ff92dd, 0xbfcb4732ef3d6722, // 0.97703, -0.21311 + 0x3fef3e6bbc1bbc65, 0xbfcba96334f15dad, // 0.97637, -0.21611 + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191 + 0x3fef33685a3aaef0, 0xbfcc6d90535d74dc, // 0.97503, -0.22209 + 0x3fef2dc9c9089a9d, 0xbfcccf8cb312b286, // 0.97434, -0.22508 + 0x3fef2817fc4609ce, 0xbfcd31774d2cbdee, // 0.97364, -0.22807 + 0x3fef2252f7763ada, 0xbfcd934fe5454311, // 0.97294, -0.23106 + 0x3fef1c7abe284708, 0xbfcdf5163f01099a, // 0.97223, -0.23404 + 0x3fef168f53f7205d, 0xbfce56ca1e101a1b, // 0.9715, -0.23702 + 0x3fef1090bc898f5f, 0xbfceb86b462de348, // 0.97077, -0.24 + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298 + 0x3fef045a14cf738c, 0xbfcf7b7480bd3801, // 0.96928, -0.24596 + 0x3feefe220c0b95ec, 0xbfcfdcdc1adfedf8, // 0.96852, -0.24893 + 0x3feef7d6e51ca3c0, 0xbfd01f1806b9fdd2, // 0.96775, -0.2519 + 0x3feef178a3e473c2, 0xbfd04fb80e37fdae, // 0.96698, -0.25487 + 0x3feeeb074c50a544, 0xbfd0804e05eb661e, // 0.96619, -0.25783 + 0x3feee482e25a9dbc, 0xbfd0b0d9cfdbdb90, // 0.96539, -0.26079 + 0x3feeddeb6a078651, 0xbfd0e15b4e1749cd, // 0.96459, -0.26375 + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671 + 0x3feed0835e999009, 0xbfd1423eefc69378, // 0.96295, -0.26967 + 0x3feec9b2d3c3bf84, 0xbfd172a0d7765177, // 0.96212, -0.27262 + 0x3feec2cf4b1af6b2, 0xbfd1a2f7fbe8f243, // 0.96128, -0.27557 + 0x3feebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // 0.96043, -0.27852 + 0x3feeb4cf515b8811, 0xbfd2038583d727bd, // 0.95957, -0.28146 + 0x3feeadb2e8e7a88e, 0xbfd233bbabc3bb72, // 0.9587, -0.28441 + 0x3feea68393e65800, 0xbfd263e6995554ba, // 0.95783, -0.28735 + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028 + 0x3fee97ec36016b30, 0xbfd2c41a4e954520, // 0.95605, -0.29322 + 0x3fee9084361df7f3, 0xbfd2f422daec0386, // 0.95514, -0.29615 + 0x3fee89095bad6025, 0xbfd3241fb638baaf, // 0.95423, -0.29908 + 0x3fee817bab4cd10d, 0xbfd35410c2e18152, // 0.95331, -0.30201 + 0x3fee79db29a5165a, 0xbfd383f5e353b6aa, // 0.95238, -0.30493 + 0x3fee7227db6a9744, 0xbfd3b3cefa0414b7, // 0.95144, -0.30785 + 0x3fee6a61c55d53a7, 0xbfd3e39be96ec271, // 0.95049, -0.31077 + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368 + 0x3fee5a9d550467d3, 0xbfd44310dc8936f0, // 0.94856, -0.31659 + 0x3fee529f04729ffc, 0xbfd472b8a5571054, // 0.94759, -0.3195 + 0x3fee4a8dff81ce5e, 0xbfd4a253d11b82f3, // 0.9466, -0.32241 + 0x3fee426a4b2bc17e, 0xbfd4d1e24278e76a, // 0.94561, -0.32531 + 0x3fee3a33ec75ce85, 0xbfd50163dc197047, // 0.9446, -0.32821 + 0x3fee31eae870ce25, 0xbfd530d880af3c24, // 0.94359, -0.33111 + 0x3fee298f4439197a, 0xbfd5604012f467b4, // 0.94257, -0.334 + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689 + 0x3fee18a02fdc66d9, 0xbfd5bee78b9db3b6, // 0.94051, -0.33978 + 0x3fee100cca2980ac, 0xbfd5ee27379ea693, // 0.93946, -0.34266 + 0x3fee0766d9280f54, 0xbfd61d595c88c203, // 0.9384, -0.34554 + 0x3fedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // 0.93734, -0.34842 + 0x3fedf5e36a9ba59c, 0xbfd67b949cad63ca, // 0.93627, -0.35129 + 0x3feded05f7de47da, 0xbfd6aa9d7dc77e16, // 0.93518, -0.35416 + 0x3fede4160f6d8d81, 0xbfd6d998638a0cb5, // 0.93409, -0.35703 + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599 + 0x3fedd1fef38a915a, 0xbfd73763c9261092, // 0.93188, -0.36276 + 0x3fedc8d7cb410260, 0xbfd766340f2418f6, // 0.93077, -0.36561 + 0x3fedbf9e4395759a, 0xbfd794f5e613dfae, // 0.92964, -0.36847 + 0x3fedb6526238a09b, 0xbfd7c3a9311dcce7, // 0.92851, -0.37132 + 0x3fedacf42ce68ab9, 0xbfd7f24dd37341e3, // 0.92736, -0.37416 + 0x3feda383a9668988, 0xbfd820e3b04eaac4, // 0.92621, -0.37701 + 0x3fed9a00dd8b3d46, 0xbfd84f6aaaf3903f, // 0.92505, -0.37985 + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268 + 0x3fed86c48445a450, 0xbfd8ac4b86d5ed44, // 0.9227, -0.38552 + 0x3fed7d0b02b8ecf9, 0xbfd8daa52ec8a4af, // 0.92151, -0.38835 + 0x3fed733f508c0dff, 0xbfd908ef81ef7bd1, // 0.92032, -0.39117 + 0x3fed696173c9e68b, 0xbfd9372a63bc93d7, // 0.91911, -0.39399 + 0x3fed5f7172888a7f, 0xbfd96555b7ab948f, // 0.9179, -0.39681 + 0x3fed556f52e93eb1, 0xbfd993716141bdfe, // 0.91668, -0.39962 + 0x3fed4b5b1b187524, 0xbfd9c17d440df9f2, // 0.91545, -0.40243 + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524 + 0x3fed36fc7bcbfbdc, 0xbfda1d6543b50ac0, // 0.91296, -0.40804 + 0x3fed2cb220e0ef9f, 0xbfda4b4127dea1e4, // 0.91171, -0.41084 + 0x3fed2255c6e5a4e1, 0xbfda790cd3dbf31a, // 0.91044, -0.41364 + 0x3fed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // 0.90917, -0.41643 + 0x3fed0d672f59d2b9, 0xbfdad473125cdc08, // 0.90789, -0.41922 + 0x3fed02d4feb2bd92, 0xbfdb020d6c7f4009, // 0.9066, -0.422 + 0x3fecf830e8ce467b, 0xbfdb2f971db31972, // 0.9053, -0.42478 + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756 + 0x3fece2b32799a060, 0xbfdb8a7814fd5693, // 0.90267, -0.43033 + 0x3fecd7d9898b32f6, 0xbfdbb7cf2304bd01, // 0.90135, -0.43309 + 0x3fecccee20c2de9f, 0xbfdbe51517ffc0d9, // 0.90002, -0.43586 + 0x3fecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // 0.89867, -0.43862 + 0x3fecb6e20a00da99, 0xbfdc3f6d47263129, // 0.89732, -0.44137 + 0x3fecabc169a0b901, 0xbfdc6c7f4997000a, // 0.89597, -0.44412 + 0x3feca08f19b9c449, 0xbfdc997fc3865388, // 0.8946, -0.44687 + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961 + 0x3fec89f587029c13, 0xbfdcf34baee1cd21, // 0.89184, -0.45235 + 0x3fec7e8e52233cf3, 0xbfdd2016e8e9db5b, // 0.89045, -0.45508 + 0x3fec7315899eaad7, 0xbfdd4cd02ba8609c, // 0.88905, -0.45781 + 0x3fec678b3488739b, 0xbfdd79775b86e389, // 0.88764, -0.46054 + 0x3fec5bef59fef85a, 0xbfdda60c5cfa10d8, // 0.88622, -0.46326 + 0x3fec5042012b6907, 0xbfddd28f1481cc58, // 0.8848, -0.46598 + 0x3fec44833141c004, 0xbfddfeff66a941de, // 0.88336, -0.46869 + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714 + 0x3fec2cd14931e3f1, 0xbfde57a86d3cd824, // 0.88047, -0.4741 + 0x3fec20de3fa971b0, 0xbfde83e0eaf85113, // 0.87901, -0.4768 + 0x3fec14d9dc465e58, 0xbfdeb00695f25620, // 0.87755, -0.47949 + 0x3fec08c426725549, 0xbfdedc1952ef78d5, // 0.87607, -0.48218 + 0x3febfc9d25a1b147, 0xbfdf081906bff7fd, // 0.87459, -0.48487 + 0x3febf064e15377dd, 0xbfdf3405963fd068, // 0.87309, -0.48755 + 0x3febe41b611154c1, 0xbfdf5fdee656cda3, // 0.8716, -0.49023 + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929 + 0x3febcb54cb0d2327, 0xbfdfb7575c24d2de, // 0.86857, -0.49557 + 0x3febbed7c49380ea, 0xbfdfe2f64be7120f, // 0.86705, -0.49823 + 0x3febb249a0b6c40d, 0xbfe00740c82b82e0, // 0.86551, -0.50089 + 0x3feba5aa673590d2, 0xbfe01cfc874c3eb7, // 0.86397, -0.50354 + 0x3feb98fa1fd9155e, 0xbfe032ae55edbd95, // 0.86242, -0.50619 + 0x3feb8c38d27504e9, 0xbfe0485626ae221a, // 0.86087, -0.50883 + 0x3feb7f6686e792ea, 0xbfe05df3ec31b8b6, // 0.8593, -0.51147 + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141 + 0x3feb658f14fdbc47, 0xbfe089112032b08c, // 0.85615, -0.51673 + 0x3feb5889fe921405, 0xbfe09e907417c5e1, // 0.85456, -0.51936 + 0x3feb4b7409de7925, 0xbfe0b405878f85ec, // 0.85296, -0.52198 + 0x3feb3e4d3ef55712, 0xbfe0c9704d5d898f, // 0.85136, -0.52459 + 0x3feb3115a5f37bf4, 0xbfe0ded0b84bc4b5, // 0.84974, -0.5272 + 0x3feb23cd470013b4, 0xbfe0f426bb2a8e7d, // 0.84812, -0.5298 + 0x3feb16742a4ca2f5, 0xbfe1097248d0a956, // 0.84649, -0.5324 + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535 + 0x3feafb8fd89f57b6, 0xbfe133e9cfee254e, // 0.84321, -0.53759 + 0x3feaee04b43c1474, 0xbfe14915af336ceb, // 0.84155, -0.54017 + 0x3feae068f345ecef, 0xbfe15e36e4dbe2bc, // 0.83989, -0.54275 + 0x3fead2bc9e21d511, 0xbfe1734d63dedb49, // 0.83822, -0.54532 + 0x3feac4ffbd3efac8, 0xbfe188591f3a46e5, // 0.83655, -0.54789 + 0x3feab7325916c0d4, 0xbfe19d5a09f2b9b8, // 0.83486, -0.55046 + 0x3feaa9547a2cb98e, 0xbfe1b250171373be, // 0.83317, -0.55302 + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557 + 0x3fea8d676e545ad2, 0xbfe1dc1b64dc4872, // 0.82976, -0.55812 + 0x3fea7f58529fe69d, 0xbfe1f0f08bbc861b, // 0.82805, -0.56066 + 0x3fea7138de9d60f5, 0xbfe205baa17560d6, // 0.82632, -0.5632 + 0x3fea63091b02fae2, 0xbfe21a799933eb58, // 0.82459, -0.56573 + 0x3fea54c91090f524, 0xbfe22f2d662c13e1, // 0.82285, -0.56826 + 0x3fea4678c8119ac8, 0xbfe243d5fb98ac1f, // 0.8211, -0.57078 + 0x3fea38184a593bc6, 0xbfe258734cbb7110, // 0.81935, -0.5733 + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581 + 0x3fea1b26d2c0a75e, 0xbfe2818bef4d3cba, // 0.81581, -0.57831 + 0x3fea0c95eabaf937, 0xbfe2960727629ca8, // 0.81404, -0.58081 + 0x3fe9fdf4f13149de, 0xbfe2aa76e87aeb58, // 0.81225, -0.58331 + 0x3fe9ef43ef29af94, 0xbfe2bedb25faf3ea, // 0.81046, -0.5858 + 0x3fe9e082edb42472, 0xbfe2d333d34e9bb7, // 0.80866, -0.58828 + 0x3fe9d1b1f5ea80d6, 0xbfe2e780e3e8ea16, // 0.80685, -0.59076 + 0x3fe9c2d110f075c3, 0xbfe2fbc24b441015, // 0.80503, -0.59323 + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957 + 0x3fe9a4dfa42b06b2, 0xbfe32421ec49a620, // 0.80138, -0.59816 + 0x3fe995cf2ed80d22, 0xbfe338400d0c8e57, // 0.79954, -0.60062 + 0x3fe986aef1457594, 0xbfe34c5252c14de1, // 0.79769, -0.60307 + 0x3fe9777ef4c7d742, 0xbfe36058b10659f3, // 0.79584, -0.60551 + 0x3fe9683f42bd7fe1, 0xbfe374531b817f8d, // 0.79398, -0.60795 + 0x3fe958efe48e6dd7, 0xbfe3884185dfeb22, // 0.79211, -0.61038 + 0x3fe94990e3ac4a6c, 0xbfe39c23e3d63029, // 0.79023, -0.61281 + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523 + 0x3fe92aa41fc5a815, 0xbfe3c3c44981c517, // 0.78646, -0.61765 + 0x3fe91b166fd49da2, 0xbfe3d78238c58343, // 0.78456, -0.62006 + 0x3fe90b7943575efe, 0xbfe3eb33eabe0680, // 0.78265, -0.62246 + 0x3fe8fbcca3ef940d, 0xbfe3fed9534556d4, // 0.78074, -0.62486 + 0x3fe8ec109b486c49, 0xbfe41272663d108c, // 0.77882, -0.62725 + 0x3fe8dc45331698cc, 0xbfe425ff178e6bb1, // 0.77689, -0.62964 + 0x3fe8cc6a75184655, 0xbfe4397f5b2a4380, // 0.77495, -0.63202 + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439 + 0x3fe8ac871ede1d88, 0xbfe4605a692b32a2, // 0.77106, -0.63676 + 0x3fe89c7e9a4dd4ab, 0xbfe473b51b987347, // 0.7691, -0.63912 + 0x3fe88c66e7481ba1, 0xbfe48703306091fe, // 0.76714, -0.64148 + 0x3fe87c400fba2ebf, 0xbfe49a449b9b0938, // 0.76517, -0.64383 + 0x3fe86c0a1d9aa195, 0xbfe4ad79516722f0, // 0.76319, -0.64618 + 0x3fe85bc51ae958cc, 0xbfe4c0a145ec0004, // 0.7612, -0.64851 + 0x3fe84b7111af83f9, 0xbfe4d3bc6d589f80, // 0.75921, -0.65085 + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317 + 0x3fe82a9c13f545ff, 0xbfe4f9cc25cca486, // 0.7552, -0.65549 + 0x3fe81a1b33b57acc, 0xbfe50cc09f59a09b, // 0.75319, -0.65781 + 0x3fe8098b756e52fa, 0xbfe51fa81cd99aa6, // 0.75117, -0.66011 + 0x3fe7f8ece3571771, 0xbfe5328292a35596, // 0.74914, -0.66242 + 0x3fe7e83f87b03686, 0xbfe5454ff5159dfb, // 0.7471, -0.66471 + 0x3fe7d7836cc33db2, 0xbfe5581038975137, // 0.74506, -0.667 + 0x3fe7c6b89ce2d333, 0xbfe56ac35197649e, // 0.74301, -0.66928 + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156 + 0x3fe7a4f707bf97d2, 0xbfe59001d5f723df, // 0.73889, -0.67383 + 0x3fe79400574f55e4, 0xbfe5a28d2a5d7250, // 0.73682, -0.67609 + 0x3fe782fb1b90b35b, 0xbfe5b50b264f7448, // 0.73474, -0.67835 + 0x3fe771e75f037261, 0xbfe5c77bbe65018c, // 0.73265, -0.6806 + 0x3fe760c52c304764, 0xbfe5d9dee73e345c, // 0.73056, -0.68285 + 0x3fe74f948da8d28d, 0xbfe5ec3495837074, // 0.72846, -0.68508 + 0x3fe73e558e079942, 0xbfe5fe7cbde56a0f, // 0.72636, -0.68732 + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954 + 0x3fe71bac960e41bf, 0xbfe622e44fec22ff, // 0.72213, -0.69176 + 0x3fe70a42b3176d7a, 0xbfe63503a31c1be8, // 0.72, -0.69397 + 0x3fe6f8ca99c95b75, 0xbfe64715437f535b, // 0.71787, -0.69618 + 0x3fe6e74454eaa8ae, 0xbfe6591925f0783e, // 0.71573, -0.69838 + 0x3fe6d5afef4aafcc, 0xbfe66b0f3f52b386, // 0.71358, -0.70057 + 0x3fe6c40d73c18275, 0xbfe67cf78491af10, // 0.71143, -0.70275 + 0x3fe6b25ced2fe29c, 0xbfe68ed1eaa19c71, // 0.70927, -0.70493 + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711 + 0x3fe68ed1eaa19c71, 0xbfe6b25ced2fe29c, // 0.70493, -0.70927 + 0x3fe67cf78491af10, 0xbfe6c40d73c18275, // 0.70275, -0.71143 + 0x3fe66b0f3f52b386, 0xbfe6d5afef4aafcc, // 0.70057, -0.71358 + 0x3fe6591925f0783e, 0xbfe6e74454eaa8ae, // 0.69838, -0.71573 + 0x3fe64715437f535b, 0xbfe6f8ca99c95b75, // 0.69618, -0.71787 + 0x3fe63503a31c1be8, 0xbfe70a42b3176d7a, // 0.69397, -0.72 + 0x3fe622e44fec22ff, 0xbfe71bac960e41bf, // 0.69176, -0.72213 + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425 + 0x3fe5fe7cbde56a0f, 0xbfe73e558e079942, // 0.68732, -0.72636 + 0x3fe5ec3495837074, 0xbfe74f948da8d28d, // 0.68508, -0.72846 + 0x3fe5d9dee73e345c, 0xbfe760c52c304764, // 0.68285, -0.73056 + 0x3fe5c77bbe65018c, 0xbfe771e75f037261, // 0.6806, -0.73265 + 0x3fe5b50b264f7448, 0xbfe782fb1b90b35b, // 0.67835, -0.73474 + 0x3fe5a28d2a5d7250, 0xbfe79400574f55e4, // 0.67609, -0.73682 + 0x3fe59001d5f723df, 0xbfe7a4f707bf97d2, // 0.67383, -0.73889 + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095 + 0x3fe56ac35197649e, 0xbfe7c6b89ce2d333, // 0.66928, -0.74301 + 0x3fe5581038975137, 0xbfe7d7836cc33db2, // 0.667, -0.74506 + 0x3fe5454ff5159dfb, 0xbfe7e83f87b03686, // 0.66471, -0.7471 + 0x3fe5328292a35596, 0xbfe7f8ece3571771, // 0.66242, -0.74914 + 0x3fe51fa81cd99aa6, 0xbfe8098b756e52fa, // 0.66011, -0.75117 + 0x3fe50cc09f59a09b, 0xbfe81a1b33b57acc, // 0.65781, -0.75319 + 0x3fe4f9cc25cca486, 0xbfe82a9c13f545ff, // 0.65549, -0.7552 + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721 + 0x3fe4d3bc6d589f80, 0xbfe84b7111af83f9, // 0.65085, -0.75921 + 0x3fe4c0a145ec0004, 0xbfe85bc51ae958cc, // 0.64851, -0.7612 + 0x3fe4ad79516722f0, 0xbfe86c0a1d9aa195, // 0.64618, -0.76319 + 0x3fe49a449b9b0938, 0xbfe87c400fba2ebf, // 0.64383, -0.76517 + 0x3fe48703306091fe, 0xbfe88c66e7481ba1, // 0.64148, -0.76714 + 0x3fe473b51b987347, 0xbfe89c7e9a4dd4ab, // 0.63912, -0.7691 + 0x3fe4605a692b32a2, 0xbfe8ac871ede1d88, // 0.63676, -0.77106 + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301 + 0x3fe4397f5b2a4380, 0xbfe8cc6a75184655, // 0.63202, -0.77495 + 0x3fe425ff178e6bb1, 0xbfe8dc45331698cc, // 0.62964, -0.77689 + 0x3fe41272663d108c, 0xbfe8ec109b486c49, // 0.62725, -0.77882 + 0x3fe3fed9534556d4, 0xbfe8fbcca3ef940d, // 0.62486, -0.78074 + 0x3fe3eb33eabe0680, 0xbfe90b7943575efe, // 0.62246, -0.78265 + 0x3fe3d78238c58343, 0xbfe91b166fd49da2, // 0.62006, -0.78456 + 0x3fe3c3c44981c517, 0xbfe92aa41fc5a815, // 0.61765, -0.78646 + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835 + 0x3fe39c23e3d63029, 0xbfe94990e3ac4a6c, // 0.61281, -0.79023 + 0x3fe3884185dfeb22, 0xbfe958efe48e6dd7, // 0.61038, -0.79211 + 0x3fe374531b817f8d, 0xbfe9683f42bd7fe1, // 0.60795, -0.79398 + 0x3fe36058b10659f3, 0xbfe9777ef4c7d742, // 0.60551, -0.79584 + 0x3fe34c5252c14de1, 0xbfe986aef1457594, // 0.60307, -0.79769 + 0x3fe338400d0c8e57, 0xbfe995cf2ed80d22, // 0.60062, -0.79954 + 0x3fe32421ec49a620, 0xbfe9a4dfa42b06b2, // 0.59816, -0.80138 + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321 + 0x3fe2fbc24b441015, 0xbfe9c2d110f075c3, // 0.59323, -0.80503 + 0x3fe2e780e3e8ea16, 0xbfe9d1b1f5ea80d6, // 0.59076, -0.80685 + 0x3fe2d333d34e9bb7, 0xbfe9e082edb42472, // 0.58828, -0.80866 + 0x3fe2bedb25faf3ea, 0xbfe9ef43ef29af94, // 0.5858, -0.81046 + 0x3fe2aa76e87aeb58, 0xbfe9fdf4f13149de, // 0.58331, -0.81225 + 0x3fe2960727629ca8, 0xbfea0c95eabaf937, // 0.58081, -0.81404 + 0x3fe2818bef4d3cba, 0xbfea1b26d2c0a75e, // 0.57831, -0.81581 + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758 + 0x3fe258734cbb7110, 0xbfea38184a593bc6, // 0.5733, -0.81935 + 0x3fe243d5fb98ac1f, 0xbfea4678c8119ac8, // 0.57078, -0.8211 + 0x3fe22f2d662c13e1, 0xbfea54c91090f524, // 0.56826, -0.82285 + 0x3fe21a799933eb58, 0xbfea63091b02fae2, // 0.56573, -0.82459 + 0x3fe205baa17560d6, 0xbfea7138de9d60f5, // 0.5632, -0.82632 + 0x3fe1f0f08bbc861b, 0xbfea7f58529fe69d, // 0.56066, -0.82805 + 0x3fe1dc1b64dc4872, 0xbfea8d676e545ad2, // 0.55812, -0.82976 + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147 + 0x3fe1b250171373be, 0xbfeaa9547a2cb98e, // 0.55302, -0.83317 + 0x3fe19d5a09f2b9b8, 0xbfeab7325916c0d4, // 0.55046, -0.83486 + 0x3fe188591f3a46e5, 0xbfeac4ffbd3efac8, // 0.54789, -0.83655 + 0x3fe1734d63dedb49, 0xbfead2bc9e21d511, // 0.54532, -0.83822 + 0x3fe15e36e4dbe2bc, 0xbfeae068f345ecef, // 0.54275, -0.83989 + 0x3fe14915af336ceb, 0xbfeaee04b43c1474, // 0.54017, -0.84155 + 0x3fe133e9cfee254e, 0xbfeafb8fd89f57b6, // 0.53759, -0.84321 + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485 + 0x3fe1097248d0a956, 0xbfeb16742a4ca2f5, // 0.5324, -0.84649 + 0x3fe0f426bb2a8e7d, 0xbfeb23cd470013b4, // 0.5298, -0.84812 + 0x3fe0ded0b84bc4b5, 0xbfeb3115a5f37bf4, // 0.5272, -0.84974 + 0x3fe0c9704d5d898f, 0xbfeb3e4d3ef55712, // 0.52459, -0.85136 + 0x3fe0b405878f85ec, 0xbfeb4b7409de7925, // 0.52198, -0.85296 + 0x3fe09e907417c5e1, 0xbfeb5889fe921405, // 0.51936, -0.85456 + 0x3fe089112032b08c, 0xbfeb658f14fdbc47, // 0.51673, -0.85615 + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773 + 0x3fe05df3ec31b8b6, 0xbfeb7f6686e792ea, // 0.51147, -0.8593 + 0x3fe0485626ae221a, 0xbfeb8c38d27504e9, // 0.50883, -0.86087 + 0x3fe032ae55edbd95, 0xbfeb98fa1fd9155e, // 0.50619, -0.86242 + 0x3fe01cfc874c3eb7, 0xbfeba5aa673590d2, // 0.50354, -0.86397 + 0x3fe00740c82b82e0, 0xbfebb249a0b6c40d, // 0.50089, -0.86551 + 0x3fdfe2f64be7120f, 0xbfebbed7c49380ea, // 0.49823, -0.86705 + 0x3fdfb7575c24d2de, 0xbfebcb54cb0d2327, // 0.49557, -0.86857 + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009 + 0x3fdf5fdee656cda3, 0xbfebe41b611154c1, // 0.49023, -0.8716 + 0x3fdf3405963fd068, 0xbfebf064e15377dd, // 0.48755, -0.87309 + 0x3fdf081906bff7fd, 0xbfebfc9d25a1b147, // 0.48487, -0.87459 + 0x3fdedc1952ef78d5, 0xbfec08c426725549, // 0.48218, -0.87607 + 0x3fdeb00695f25620, 0xbfec14d9dc465e58, // 0.47949, -0.87755 + 0x3fde83e0eaf85113, 0xbfec20de3fa971b0, // 0.4768, -0.87901 + 0x3fde57a86d3cd824, 0xbfec2cd14931e3f1, // 0.4741, -0.88047 + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192 + 0x3fddfeff66a941de, 0xbfec44833141c004, // 0.46869, -0.88336 + 0x3fddd28f1481cc58, 0xbfec5042012b6907, // 0.46598, -0.8848 + 0x3fdda60c5cfa10d8, 0xbfec5bef59fef85a, // 0.46326, -0.88622 + 0x3fdd79775b86e389, 0xbfec678b3488739b, // 0.46054, -0.88764 + 0x3fdd4cd02ba8609c, 0xbfec7315899eaad7, // 0.45781, -0.88905 + 0x3fdd2016e8e9db5b, 0xbfec7e8e52233cf3, // 0.45508, -0.89045 + 0x3fdcf34baee1cd21, 0xbfec89f587029c13, // 0.45235, -0.89184 + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322 + 0x3fdc997fc3865388, 0xbfeca08f19b9c449, // 0.44687, -0.8946 + 0x3fdc6c7f4997000a, 0xbfecabc169a0b901, // 0.44412, -0.89597 + 0x3fdc3f6d47263129, 0xbfecb6e20a00da99, // 0.44137, -0.89732 + 0x3fdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // 0.43862, -0.89867 + 0x3fdbe51517ffc0d9, 0xbfecccee20c2de9f, // 0.43586, -0.90002 + 0x3fdbb7cf2304bd01, 0xbfecd7d9898b32f6, // 0.43309, -0.90135 + 0x3fdb8a7814fd5693, 0xbfece2b32799a060, // 0.43033, -0.90267 + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399 + 0x3fdb2f971db31972, 0xbfecf830e8ce467b, // 0.42478, -0.9053 + 0x3fdb020d6c7f4009, 0xbfed02d4feb2bd92, // 0.422, -0.9066 + 0x3fdad473125cdc08, 0xbfed0d672f59d2b9, // 0.41922, -0.90789 + 0x3fdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // 0.41643, -0.90917 + 0x3fda790cd3dbf31a, 0xbfed2255c6e5a4e1, // 0.41364, -0.91044 + 0x3fda4b4127dea1e4, 0xbfed2cb220e0ef9f, // 0.41084, -0.91171 + 0x3fda1d6543b50ac0, 0xbfed36fc7bcbfbdc, // 0.40804, -0.91296 + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421 + 0x3fd9c17d440df9f2, 0xbfed4b5b1b187524, // 0.40243, -0.91545 + 0x3fd993716141bdfe, 0xbfed556f52e93eb1, // 0.39962, -0.91668 + 0x3fd96555b7ab948f, 0xbfed5f7172888a7f, // 0.39681, -0.9179 + 0x3fd9372a63bc93d7, 0xbfed696173c9e68b, // 0.39399, -0.91911 + 0x3fd908ef81ef7bd1, 0xbfed733f508c0dff, // 0.39117, -0.92032 + 0x3fd8daa52ec8a4af, 0xbfed7d0b02b8ecf9, // 0.38835, -0.92151 + 0x3fd8ac4b86d5ed44, 0xbfed86c48445a450, // 0.38552, -0.9227 + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388 + 0x3fd84f6aaaf3903f, 0xbfed9a00dd8b3d46, // 0.37985, -0.92505 + 0x3fd820e3b04eaac4, 0xbfeda383a9668988, // 0.37701, -0.92621 + 0x3fd7f24dd37341e3, 0xbfedacf42ce68ab9, // 0.37416, -0.92736 + 0x3fd7c3a9311dcce7, 0xbfedb6526238a09b, // 0.37132, -0.92851 + 0x3fd794f5e613dfae, 0xbfedbf9e4395759a, // 0.36847, -0.92964 + 0x3fd766340f2418f6, 0xbfedc8d7cb410260, // 0.36561, -0.93077 + 0x3fd73763c9261092, 0xbfedd1fef38a915a, // 0.36276, -0.93188 + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299 + 0x3fd6d998638a0cb5, 0xbfede4160f6d8d81, // 0.35703, -0.93409 + 0x3fd6aa9d7dc77e16, 0xbfeded05f7de47da, // 0.35416, -0.93518 + 0x3fd67b949cad63ca, 0xbfedf5e36a9ba59c, // 0.35129, -0.93627 + 0x3fd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // 0.34842, -0.93734 + 0x3fd61d595c88c203, 0xbfee0766d9280f54, // 0.34554, -0.9384 + 0x3fd5ee27379ea693, 0xbfee100cca2980ac, // 0.34266, -0.93946 + 0x3fd5bee78b9db3b6, 0xbfee18a02fdc66d9, // 0.33978, -0.94051 + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154 + 0x3fd5604012f467b4, 0xbfee298f4439197a, // 0.334, -0.94257 + 0x3fd530d880af3c24, 0xbfee31eae870ce25, // 0.33111, -0.94359 + 0x3fd50163dc197047, 0xbfee3a33ec75ce85, // 0.32821, -0.9446 + 0x3fd4d1e24278e76a, 0xbfee426a4b2bc17e, // 0.32531, -0.94561 + 0x3fd4a253d11b82f3, 0xbfee4a8dff81ce5e, // 0.32241, -0.9466 + 0x3fd472b8a5571054, 0xbfee529f04729ffc, // 0.3195, -0.94759 + 0x3fd44310dc8936f0, 0xbfee5a9d550467d3, // 0.31659, -0.94856 + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953 + 0x3fd3e39be96ec271, 0xbfee6a61c55d53a7, // 0.31077, -0.95049 + 0x3fd3b3cefa0414b7, 0xbfee7227db6a9744, // 0.30785, -0.95144 + 0x3fd383f5e353b6aa, 0xbfee79db29a5165a, // 0.30493, -0.95238 + 0x3fd35410c2e18152, 0xbfee817bab4cd10d, // 0.30201, -0.95331 + 0x3fd3241fb638baaf, 0xbfee89095bad6025, // 0.29908, -0.95423 + 0x3fd2f422daec0386, 0xbfee9084361df7f3, // 0.29615, -0.95514 + 0x3fd2c41a4e954520, 0xbfee97ec36016b30, // 0.29322, -0.95605 + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694 + 0x3fd263e6995554ba, 0xbfeea68393e65800, // 0.28735, -0.95783 + 0x3fd233bbabc3bb72, 0xbfeeadb2e8e7a88e, // 0.28441, -0.9587 + 0x3fd2038583d727bd, 0xbfeeb4cf515b8811, // 0.28146, -0.95957 + 0x3fd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // 0.27852, -0.96043 + 0x3fd1a2f7fbe8f243, 0xbfeec2cf4b1af6b2, // 0.27557, -0.96128 + 0x3fd172a0d7765177, 0xbfeec9b2d3c3bf84, // 0.27262, -0.96212 + 0x3fd1423eefc69378, 0xbfeed0835e999009, // 0.26967, -0.96295 + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378 + 0x3fd0e15b4e1749cd, 0xbfeeddeb6a078651, // 0.26375, -0.96459 + 0x3fd0b0d9cfdbdb90, 0xbfeee482e25a9dbc, // 0.26079, -0.96539 + 0x3fd0804e05eb661e, 0xbfeeeb074c50a544, // 0.25783, -0.96619 + 0x3fd04fb80e37fdae, 0xbfeef178a3e473c2, // 0.25487, -0.96698 + 0x3fd01f1806b9fdd2, 0xbfeef7d6e51ca3c0, // 0.2519, -0.96775 + 0x3fcfdcdc1adfedf8, 0xbfeefe220c0b95ec, // 0.24893, -0.96852 + 0x3fcf7b7480bd3801, 0xbfef045a14cf738c, // 0.24596, -0.96928 + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003 + 0x3fceb86b462de348, 0xbfef1090bc898f5f, // 0.24, -0.97077 + 0x3fce56ca1e101a1b, 0xbfef168f53f7205d, // 0.23702, -0.9715 + 0x3fcdf5163f01099a, 0xbfef1c7abe284708, // 0.23404, -0.97223 + 0x3fcd934fe5454311, 0xbfef2252f7763ada, // 0.23106, -0.97294 + 0x3fcd31774d2cbdee, 0xbfef2817fc4609ce, // 0.22807, -0.97364 + 0x3fcccf8cb312b286, 0xbfef2dc9c9089a9d, // 0.22508, -0.97434 + 0x3fcc6d90535d74dc, 0xbfef33685a3aaef0, // 0.22209, -0.97503 + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757 + 0x3fcba96334f15dad, 0xbfef3e6bbc1bbc65, // 0.21611, -0.97637 + 0x3fcb4732ef3d6722, 0xbfef43d085ff92dd, // 0.21311, -0.97703 + 0x3fcae4f1d5f3b9ab, 0xbfef492206bcabb4, // 0.21011, -0.97768 + 0x3fca82a025b00451, 0xbfef4e603b0b2f2d, // 0.20711, -0.97832 + 0x3fca203e1b1831da, 0xbfef538b1faf2d07, // 0.20411, -0.97895 + 0x3fc9bdcbf2dc4366, 0xbfef58a2b1789e84, // 0.2011, -0.97957 + 0x3fc95b49e9b62af9, 0xbfef5da6ed43685d, // 0.1981, -0.98018 + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079 + 0x3fc8961727c41804, 0xbfef677556883cee, // 0.19208, -0.98138 + 0x3fc83366e89c64c5, 0xbfef6c3f7df5bbb7, // 0.18907, -0.98196 + 0x3fc7d0a7bbd2cb1b, 0xbfef70f6434b7eb7, // 0.18606, -0.98254 + 0x3fc76dd9de50bf31, 0xbfef7599a3a12077, // 0.18304, -0.98311 + 0x3fc70afd8d08c4ff, 0xbfef7a299c1a322a, // 0.18002, -0.98366 + 0x3fc6a81304f64ab2, 0xbfef7ea629e63d6e, // 0.177, -0.98421 + 0x3fc6451a831d830d, 0xbfef830f4a40c60c, // 0.17398, -0.98475 + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528 + 0x3fc57f008654cbde, 0xbfef8ba737cb4b78, // 0.16794, -0.9858 + 0x3fc51bdf8597c5f2, 0xbfef8fd5ffae41db, // 0.16491, -0.98631 + 0x3fc4b8b17f79fa88, 0xbfef93f14f85ac08, // 0.16189, -0.98681 + 0x3fc45576b1293e5a, 0xbfef97f924c9099b, // 0.15886, -0.9873 + 0x3fc3f22f57db4893, 0xbfef9bed7cfbde29, // 0.15583, -0.98778 + 0x3fc38edbb0cd8d14, 0xbfef9fce55adb2c8, // 0.1528, -0.98826 + 0x3fc32b7bf94516a7, 0xbfefa39bac7a1791, // 0.14976, -0.98872 + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918 + 0x3fc264994dfd340a, 0xbfefaafbcb0cfddc, // 0.1437, -0.98962 + 0x3fc20116d4ec7bce, 0xbfefae8e8e46cfbb, // 0.14066, -0.99006 + 0x3fc19d8940be24e7, 0xbfefb20dc681d54d, // 0.13762, -0.99049 + 0x3fc139f0cedaf576, 0xbfefb5797195d741, // 0.13458, -0.9909 + 0x3fc0d64dbcb26786, 0xbfefb8d18d66adb7, // 0.13154, -0.99131 + 0x3fc072a047ba831d, 0xbfefbc1617e44186, // 0.1285, -0.99171 + 0x3fc00ee8ad6fb85b, 0xbfefbf470f0a8d88, // 0.12545, -0.9921 + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248 + 0x3fbe8eb7fde4aa3e, 0xbfefc56e3b7d9af6, // 0.11937, -0.99285 + 0x3fbdc70ecbae9fc8, 0xbfefc8646cfeb721, // 0.11632, -0.99321 + 0x3fbcff533b307dc1, 0xbfefcb4703914354, // 0.11327, -0.99356 + 0x3fbc3785c79ec2d5, 0xbfefce15fd6da67b, // 0.11022, -0.99391 + 0x3fbb6fa6ec38f64c, 0xbfefd0d158d86087, // 0.10717, -0.99424 + 0x3fbaa7b724495c04, 0xbfefd37914220b84, // 0.10412, -0.99456 + 0x3fb9dfb6eb24a85c, 0xbfefd60d2da75c9e, // 0.10107, -0.99488 + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518 + 0x3fb84f8712c130a0, 0xbfefdafa7514538c, // 0.094963, -0.99548 + 0x3fb787586a5d5b21, 0xbfefdd539ff1f456, // 0.091909, -0.99577 + 0x3fb6bf1b3e79b129, 0xbfefdf9922f73307, // 0.088854, -0.99604 + 0x3fb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // 0.085797, -0.99631 + 0x3fb52e774a4d4d0a, 0xbfefe3e92be9d886, // 0.08274, -0.99657 + 0x3fb4661179272096, 0xbfefe5f3af2e3940, // 0.079682, -0.99682 + 0x3fb39d9f12c5a299, 0xbfefe7ea85482d60, // 0.076624, -0.99706 + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, // 0.073565, -0.99729 + 0x3fb20c9674ed444c, 0xbfefeb9d2530410f, // 0.070505, -0.99751 + 0x3fb1440134d709b2, 0xbfefed58ecb673c4, // 0.067444, -0.99772 + 0x3fb07b614e463064, 0xbfefef0102826191, // 0.064383, -0.99793 + 0x3faf656e79f820e0, 0xbfeff095658e71ad, // 0.061321, -0.99812 + 0x3fadd406f9808ec8, 0xbfeff21614e131ed, // 0.058258, -0.9983 + 0x3fac428d12c0d7e3, 0xbfeff3830f8d575c, // 0.055195, -0.99848 + 0x3faab101bd5f8317, 0xbfeff4dc54b1bed3, // 0.052132, -0.99864 + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, // 0.049068, -0.9988 + 0x3fa78dbaa5874685, 0xbfeff753bb1b9164, // 0.046003, -0.99894 + 0x3fa5fc00d290cd43, 0xbfeff871dadb81df, // 0.042938, -0.99908 + 0x3fa46a396ff86179, 0xbfeff97c4208c014, // 0.039873, -0.9992 + 0x3fa2d865759455cd, 0xbfeffa72effef75d, // 0.036807, -0.99932 + 0x3fa14685db42c17e, 0xbfeffb55e425fdae, // 0.033741, -0.99943 + 0x3f9f693731d1cf01, 0xbfeffc251df1d3f8, // 0.030675, -0.99953 + 0x3f9c454f4ce53b1c, 0xbfeffce09ce2a679, // 0.027608, -0.99962 + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, // 0.024541, -0.9997 + 0x3f95fd4d21fab226, 0xbfeffe1c6870cb77, // 0.021474, -0.99977 + 0x3f92d936bbe30efd, 0xbfeffe9cb44b51a1, // 0.018407, -0.99983 + 0x3f8f6a296ab997ca, 0xbfefff0943c53bd1, // 0.015339, -0.99988 + 0x3f8921d1fcdec784, 0xbfefff62169b92db, // 0.012272, -0.99992 + 0x3f82d96b0e509703, 0xbfefffa72c978c4f, //0.0092038, -0.99996 + 0x3f7921f0fe670071, 0xbfefffd8858e8a92, //0.0061359, -0.99998 + 0x3f6921f8becca4ba, 0xbfeffff621621d02, // 0.003068, -1 +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_4096) +const uint64_t twiddleCoefF64_rfft_4096[4096] = { + 0x0000000000000000, 0x3ff0000000000000, // 0, 1 + 0x3f5921faaee6472d, 0x3feffffd88586ee6, // 0.001534, 1 + 0x3f6921f8becca4ba, 0x3feffff621621d02, // 0.003068, 1 + 0x3f72d97822f996bc, 0x3fefffe9cb1e2e8d, //0.0046019, 0.99999 + 0x3f7921f0fe670071, 0x3fefffd8858e8a92, //0.0061359, 0.99998 + 0x3f7f6a65f9a2a3c5, 0x3fefffc250b5daef, //0.0076698, 0.99997 + 0x3f82d96b0e509703, 0x3fefffa72c978c4f, //0.0092038, 0.99996 + 0x3f85fda037ac05e0, 0x3fefff871937ce2f, // 0.010738, 0.99994 + 0x3f8921d1fcdec784, 0x3fefff62169b92db, // 0.012272, 0.99992 + 0x3f8c45ffe1e48ad9, 0x3fefff3824c88f6f, // 0.013805, 0.9999 + 0x3f8f6a296ab997ca, 0x3fefff0943c53bd1, // 0.015339, 0.99988 + 0x3f9147270dad7132, 0x3feffed57398d2b7, // 0.016873, 0.99986 + 0x3f92d936bbe30efd, 0x3feffe9cb44b51a1, // 0.018407, 0.99983 + 0x3f946b4381fce81c, 0x3feffe5f05e578db, // 0.01994, 0.9998 + 0x3f95fd4d21fab226, 0x3feffe1c6870cb77, // 0.021474, 0.99977 + 0x3f978f535ddc9f03, 0x3feffdd4dbf78f52, // 0.023008, 0.99974 + 0x3f992155f7a3667e, 0x3feffd886084cd0d, // 0.024541, 0.9997 + 0x3f9ab354b1504fca, 0x3feffd36f624500c, // 0.026075, 0.99966 + 0x3f9c454f4ce53b1c, 0x3feffce09ce2a679, // 0.027608, 0.99962 + 0x3f9dd7458c64ab39, 0x3feffc8554cd213a, // 0.029142, 0.99958 + 0x3f9f693731d1cf01, 0x3feffc251df1d3f8, // 0.030675, 0.99953 + 0x3fa07d91ff984580, 0x3feffbbff85f9515, // 0.032208, 0.99948 + 0x3fa14685db42c17e, 0x3feffb55e425fdae, // 0.033741, 0.99943 + 0x3fa20f770ceb11c6, 0x3feffae6e1556998, // 0.035274, 0.99938 + 0x3fa2d865759455cd, 0x3feffa72effef75d, // 0.036807, 0.99932 + 0x3fa3a150f6421afc, 0x3feff9fa10348837, // 0.03834, 0.99926 + 0x3fa46a396ff86179, 0x3feff97c4208c014, // 0.039873, 0.9992 + 0x3fa5331ec3bba0eb, 0x3feff8f9858f058b, // 0.041406, 0.99914 + 0x3fa5fc00d290cd43, 0x3feff871dadb81df, // 0.042938, 0.99908 + 0x3fa6c4df7d7d5b84, 0x3feff7e5420320f9, // 0.044471, 0.99901 + 0x3fa78dbaa5874685, 0x3feff753bb1b9164, // 0.046003, 0.99894 + 0x3fa856922bb513c1, 0x3feff6bd463b444d, // 0.047535, 0.99887 + 0x3fa91f65f10dd814, 0x3feff621e3796d7e, // 0.049068, 0.9988 + 0x3fa9e835d6993c87, 0x3feff58192ee0358, // 0.0506, 0.99872 + 0x3faab101bd5f8317, 0x3feff4dc54b1bed3, // 0.052132, 0.99864 + 0x3fab79c986698b78, 0x3feff43228de1b77, // 0.053664, 0.99856 + 0x3fac428d12c0d7e3, 0x3feff3830f8d575c, // 0.055195, 0.99848 + 0x3fad0b4c436f91d0, 0x3feff2cf08da7321, // 0.056727, 0.99839 + 0x3fadd406f9808ec8, 0x3feff21614e131ed, // 0.058258, 0.9983 + 0x3fae9cbd15ff5527, 0x3feff15833be1965, // 0.05979, 0.99821 + 0x3faf656e79f820e0, 0x3feff095658e71ad, // 0.061321, 0.99812 + 0x3fb0170d833bf421, 0x3fefefcdaa704562, // 0.062852, 0.99802 + 0x3fb07b614e463064, 0x3fefef0102826191, // 0.064383, 0.99793 + 0x3fb0dfb28ea201e6, 0x3fefee2f6de455ba, // 0.065913, 0.99783 + 0x3fb1440134d709b2, 0x3fefed58ecb673c4, // 0.067444, 0.99772 + 0x3fb1a84d316d4f8a, 0x3fefec7d7f19cffc, // 0.068974, 0.99762 + 0x3fb20c9674ed444c, 0x3fefeb9d2530410f, // 0.070505, 0.99751 + 0x3fb270dcefdfc45b, 0x3fefeab7df1c6005, // 0.072035, 0.9974 + 0x3fb2d52092ce19f6, 0x3fefe9cdad01883a, // 0.073565, 0.99729 + 0x3fb339614e41ffa5, 0x3fefe8de8f03d75c, // 0.075094, 0.99718 + 0x3fb39d9f12c5a299, 0x3fefe7ea85482d60, // 0.076624, 0.99706 + 0x3fb401d9d0e3a507, 0x3fefe6f18ff42c84, // 0.078153, 0.99694 + 0x3fb4661179272096, 0x3fefe5f3af2e3940, // 0.079682, 0.99682 + 0x3fb4ca45fc1ba8b6, 0x3fefe4f0e31d7a4a, // 0.081211, 0.9967 + 0x3fb52e774a4d4d0a, 0x3fefe3e92be9d886, // 0.08274, 0.99657 + 0x3fb592a554489bc8, 0x3fefe2dc89bbff08, // 0.084269, 0.99644 + 0x3fb5f6d00a9aa419, 0x3fefe1cafcbd5b09, // 0.085797, 0.99631 + 0x3fb65af75dd0f87b, 0x3fefe0b485181be3, // 0.087326, 0.99618 + 0x3fb6bf1b3e79b129, 0x3fefdf9922f73307, // 0.088854, 0.99604 + 0x3fb7233b9d236e71, 0x3fefde78d68653fd, // 0.090381, 0.99591 + 0x3fb787586a5d5b21, 0x3fefdd539ff1f456, // 0.091909, 0.99577 + 0x3fb7eb7196b72ee4, 0x3fefdc297f674ba9, // 0.093436, 0.99563 + 0x3fb84f8712c130a0, 0x3fefdafa7514538c, // 0.094963, 0.99548 + 0x3fb8b398cf0c38e0, 0x3fefd9c68127c78c, // 0.09649, 0.99533 + 0x3fb917a6bc29b42c, 0x3fefd88da3d12526, // 0.098017, 0.99518 + 0x3fb97bb0caaba56f, 0x3fefd74fdd40abbf, // 0.099544, 0.99503 + 0x3fb9dfb6eb24a85c, 0x3fefd60d2da75c9e, // 0.10107, 0.99488 + 0x3fba43b90e27f3c4, 0x3fefd4c59536fae4, // 0.1026, 0.99472 + 0x3fbaa7b724495c04, 0x3fefd37914220b84, // 0.10412, 0.99456 + 0x3fbb0bb11e1d5559, 0x3fefd227aa9bd53b, // 0.10565, 0.9944 + 0x3fbb6fa6ec38f64c, 0x3fefd0d158d86087, // 0.10717, 0.99424 + 0x3fbbd3987f31fa0e, 0x3fefcf761f0c77a3, // 0.1087, 0.99407 + 0x3fbc3785c79ec2d5, 0x3fefce15fd6da67b, // 0.11022, 0.99391 + 0x3fbc9b6eb6165c42, 0x3fefccb0f4323aa3, // 0.11175, 0.99374 + 0x3fbcff533b307dc1, 0x3fefcb4703914354, // 0.11327, 0.99356 + 0x3fbd633347858ce4, 0x3fefc9d82bc2915e, // 0.11479, 0.99339 + 0x3fbdc70ecbae9fc8, 0x3fefc8646cfeb721, // 0.11632, 0.99321 + 0x3fbe2ae5b8457f77, 0x3fefc6ebc77f0887, // 0.11784, 0.99303 + 0x3fbe8eb7fde4aa3e, 0x3fefc56e3b7d9af6, // 0.11937, 0.99285 + 0x3fbef2858d27561b, 0x3fefc3ebc935454c, // 0.12089, 0.99267 + 0x3fbf564e56a9730e, 0x3fefc26470e19fd3, // 0.12241, 0.99248 + 0x3fbfba124b07ad85, 0x3fefc0d832bf043a, // 0.12393, 0.99229 + 0x3fc00ee8ad6fb85b, 0x3fefbf470f0a8d88, // 0.12545, 0.9921 + 0x3fc040c5bb67747e, 0x3fefbdb106021816, // 0.12698, 0.99191 + 0x3fc072a047ba831d, 0x3fefbc1617e44186, // 0.1285, 0.99171 + 0x3fc0a4784ab8bf1d, 0x3fefba7644f068b5, // 0.13002, 0.99151 + 0x3fc0d64dbcb26786, 0x3fefb8d18d66adb7, // 0.13154, 0.99131 + 0x3fc1082095f820b0, 0x3fefb727f187f1c7, // 0.13306, 0.99111 + 0x3fc139f0cedaf576, 0x3fefb5797195d741, // 0.13458, 0.9909 + 0x3fc16bbe5fac5865, 0x3fefb3c60dd2c199, // 0.1361, 0.9907 + 0x3fc19d8940be24e7, 0x3fefb20dc681d54d, // 0.13762, 0.99049 + 0x3fc1cf516a62a077, 0x3fefb0509be6f7db, // 0.13914, 0.99027 + 0x3fc20116d4ec7bce, 0x3fefae8e8e46cfbb, // 0.14066, 0.99006 + 0x3fc232d978aed413, 0x3fefacc79de6c44f, // 0.14218, 0.98984 + 0x3fc264994dfd340a, 0x3fefaafbcb0cfddc, // 0.1437, 0.98962 + 0x3fc296564d2b953e, 0x3fefa92b1600657c, // 0.14521, 0.9894 + 0x3fc2c8106e8e613a, 0x3fefa7557f08a517, // 0.14673, 0.98918 + 0x3fc2f9c7aa7a72af, 0x3fefa57b066e2754, // 0.14825, 0.98895 + 0x3fc32b7bf94516a7, 0x3fefa39bac7a1791, // 0.14976, 0.98872 + 0x3fc35d2d53440db2, 0x3fefa1b7717661d5, // 0.15128, 0.98849 + 0x3fc38edbb0cd8d14, 0x3fef9fce55adb2c8, // 0.1528, 0.98826 + 0x3fc3c0870a383ff6, 0x3fef9de0596b77a3, // 0.15431, 0.98802 + 0x3fc3f22f57db4893, 0x3fef9bed7cfbde29, // 0.15583, 0.98778 + 0x3fc423d4920e4166, 0x3fef99f5c0abd496, // 0.15734, 0.98754 + 0x3fc45576b1293e5a, 0x3fef97f924c9099b, // 0.15886, 0.9873 + 0x3fc48715ad84cdf5, 0x3fef95f7a9a1ec47, // 0.16037, 0.98706 + 0x3fc4b8b17f79fa88, 0x3fef93f14f85ac08, // 0.16189, 0.98681 + 0x3fc4ea4a1f624b61, 0x3fef91e616c43891, // 0.1634, 0.98656 + 0x3fc51bdf8597c5f2, 0x3fef8fd5ffae41db, // 0.16491, 0.98631 + 0x3fc54d71aa74ef02, 0x3fef8dc10a95380d, // 0.16643, 0.98605 + 0x3fc57f008654cbde, 0x3fef8ba737cb4b78, // 0.16794, 0.9858 + 0x3fc5b08c1192e381, 0x3fef898887a36c84, // 0.16945, 0.98554 + 0x3fc5e214448b3fc6, 0x3fef8764fa714ba9, // 0.17096, 0.98528 + 0x3fc61399179a6e94, 0x3fef853c9089595e, // 0.17247, 0.98501 + 0x3fc6451a831d830d, 0x3fef830f4a40c60c, // 0.17398, 0.98475 + 0x3fc676987f7216b8, 0x3fef80dd27ed8204, // 0.17549, 0.98448 + 0x3fc6a81304f64ab2, 0x3fef7ea629e63d6e, // 0.177, 0.98421 + 0x3fc6d98a0c08c8da, 0x3fef7c6a50826840, // 0.17851, 0.98394 + 0x3fc70afd8d08c4ff, 0x3fef7a299c1a322a, // 0.18002, 0.98366 + 0x3fc73c6d8055fe0a, 0x3fef77e40d068a90, // 0.18153, 0.98339 + 0x3fc76dd9de50bf31, 0x3fef7599a3a12077, // 0.18304, 0.98311 + 0x3fc79f429f59e11d, 0x3fef734a60446279, // 0.18455, 0.98282 + 0x3fc7d0a7bbd2cb1b, 0x3fef70f6434b7eb7, // 0.18606, 0.98254 + 0x3fc802092c1d744b, 0x3fef6e9d4d1262ca, // 0.18756, 0.98225 + 0x3fc83366e89c64c5, 0x3fef6c3f7df5bbb7, // 0.18907, 0.98196 + 0x3fc864c0e9b2b6cf, 0x3fef69dcd652f5de, // 0.19057, 0.98167 + 0x3fc8961727c41804, 0x3fef677556883cee, // 0.19208, 0.98138 + 0x3fc8c7699b34ca7e, 0x3fef6508fef47bd5, // 0.19359, 0.98108 + 0x3fc8f8b83c69a60a, 0x3fef6297cff75cb0, // 0.19509, 0.98079 + 0x3fc92a0303c8194f, 0x3fef6021c9f148c2, // 0.19659, 0.98048 + 0x3fc95b49e9b62af9, 0x3fef5da6ed43685d, // 0.1981, 0.98018 + 0x3fc98c8ce69a7aec, 0x3fef5b273a4fa2d9, // 0.1996, 0.97988 + 0x3fc9bdcbf2dc4366, 0x3fef58a2b1789e84, // 0.2011, 0.97957 + 0x3fc9ef0706e35a35, 0x3fef56195321c090, // 0.20261, 0.97926 + 0x3fca203e1b1831da, 0x3fef538b1faf2d07, // 0.20411, 0.97895 + 0x3fca517127e3dabc, 0x3fef50f81785c6b9, // 0.20561, 0.97863 + 0x3fca82a025b00451, 0x3fef4e603b0b2f2d, // 0.20711, 0.97832 + 0x3fcab3cb0ce6fe44, 0x3fef4bc38aa5c694, // 0.20861, 0.978 + 0x3fcae4f1d5f3b9ab, 0x3fef492206bcabb4, // 0.21011, 0.97768 + 0x3fcb16147941ca2a, 0x3fef467bafb7bbe0, // 0.21161, 0.97735 + 0x3fcb4732ef3d6722, 0x3fef43d085ff92dd, // 0.21311, 0.97703 + 0x3fcb784d30536cda, 0x3fef412089fd8adc, // 0.21461, 0.9767 + 0x3fcba96334f15dad, 0x3fef3e6bbc1bbc65, // 0.21611, 0.97637 + 0x3fcbda74f5856330, 0x3fef3bb21cc4fe47, // 0.2176, 0.97604 + 0x3fcc0b826a7e4f63, 0x3fef38f3ac64e589, // 0.2191, 0.9757 + 0x3fcc3c8b8c4b9dd7, 0x3fef36306b67c556, // 0.2206, 0.97536 + 0x3fcc6d90535d74dc, 0x3fef33685a3aaef0, // 0.22209, 0.97503 + 0x3fcc9e90b824a6a9, 0x3fef309b794b719f, // 0.22359, 0.97468 + 0x3fcccf8cb312b286, 0x3fef2dc9c9089a9d, // 0.22508, 0.97434 + 0x3fcd00843c99c5f9, 0x3fef2af349e17507, // 0.22658, 0.97399 + 0x3fcd31774d2cbdee, 0x3fef2817fc4609ce, // 0.22807, 0.97364 + 0x3fcd6265dd3f27e3, 0x3fef2537e0a71f9f, // 0.22957, 0.97329 + 0x3fcd934fe5454311, 0x3fef2252f7763ada, // 0.23106, 0.97294 + 0x3fcdc4355db40195, 0x3fef1f6941259d7a, // 0.23255, 0.97258 + 0x3fcdf5163f01099a, 0x3fef1c7abe284708, // 0.23404, 0.97223 + 0x3fce25f281a2b684, 0x3fef19876ef1f486, // 0.23553, 0.97187 + 0x3fce56ca1e101a1b, 0x3fef168f53f7205d, // 0.23702, 0.9715 + 0x3fce879d0cc0fdaf, 0x3fef13926dad024e, // 0.23851, 0.97114 + 0x3fceb86b462de348, 0x3fef1090bc898f5f, // 0.24, 0.97077 + 0x3fcee934c2d006c7, 0x3fef0d8a410379c5, // 0.24149, 0.9704 + 0x3fcf19f97b215f1a, 0x3fef0a7efb9230d7, // 0.24298, 0.97003 + 0x3fcf4ab9679c9f5c, 0x3fef076eecade0fa, // 0.24447, 0.96966 + 0x3fcf7b7480bd3801, 0x3fef045a14cf738c, // 0.24596, 0.96928 + 0x3fcfac2abeff57ff, 0x3fef014074708ed3, // 0.24744, 0.9689 + 0x3fcfdcdc1adfedf8, 0x3feefe220c0b95ec, // 0.24893, 0.96852 + 0x3fd006c4466e54af, 0x3feefafedc1ba8b7, // 0.25041, 0.96814 + 0x3fd01f1806b9fdd2, 0x3feef7d6e51ca3c0, // 0.2519, 0.96775 + 0x3fd037694a928cac, 0x3feef4aa278b2032, // 0.25338, 0.96737 + 0x3fd04fb80e37fdae, 0x3feef178a3e473c2, // 0.25487, 0.96698 + 0x3fd068044deab002, 0x3feeee425aa6b09a, // 0.25635, 0.96658 + 0x3fd0804e05eb661e, 0x3feeeb074c50a544, // 0.25783, 0.96619 + 0x3fd09895327b465e, 0x3feee7c77961dc9e, // 0.25931, 0.96579 + 0x3fd0b0d9cfdbdb90, 0x3feee482e25a9dbc, // 0.26079, 0.96539 + 0x3fd0c91bda4f158d, 0x3feee13987bbebdc, // 0.26227, 0.96499 + 0x3fd0e15b4e1749cd, 0x3feeddeb6a078651, // 0.26375, 0.96459 + 0x3fd0f998277733f7, 0x3feeda9889bfe86a, // 0.26523, 0.96418 + 0x3fd111d262b1f677, 0x3feed740e7684963, // 0.26671, 0.96378 + 0x3fd12a09fc0b1b12, 0x3feed3e483849c51, // 0.26819, 0.96337 + 0x3fd1423eefc69378, 0x3feed0835e999009, // 0.26967, 0.96295 + 0x3fd15a713a28b9d9, 0x3feecd1d792c8f10, // 0.27115, 0.96254 + 0x3fd172a0d7765177, 0x3feec9b2d3c3bf84, // 0.27262, 0.96212 + 0x3fd18acdc3f4873a, 0x3feec6436ee60309, // 0.2741, 0.9617 + 0x3fd1a2f7fbe8f243, 0x3feec2cf4b1af6b2, // 0.27557, 0.96128 + 0x3fd1bb1f7b999480, 0x3feebf5668eaf2ef, // 0.27705, 0.96086 + 0x3fd1d3443f4cdb3d, 0x3feebbd8c8df0b74, // 0.27852, 0.96043 + 0x3fd1eb6643499fbb, 0x3feeb8566b810f2a, // 0.27999, 0.96 + 0x3fd2038583d727bd, 0x3feeb4cf515b8811, // 0.28146, 0.95957 + 0x3fd21ba1fd3d2623, 0x3feeb1437af9bb34, // 0.28294, 0.95914 + 0x3fd233bbabc3bb72, 0x3feeadb2e8e7a88e, // 0.28441, 0.9587 + 0x3fd24bd28bb37672, 0x3feeaa1d9bb20af3, // 0.28588, 0.95827 + 0x3fd263e6995554ba, 0x3feea68393e65800, // 0.28735, 0.95783 + 0x3fd27bf7d0f2c346, 0x3feea2e4d212c000, // 0.28882, 0.95738 + 0x3fd294062ed59f05, 0x3fee9f4156c62dda, // 0.29028, 0.95694 + 0x3fd2ac11af483572, 0x3fee9b99229046f8, // 0.29175, 0.95649 + 0x3fd2c41a4e954520, 0x3fee97ec36016b30, // 0.29322, 0.95605 + 0x3fd2dc200907fe51, 0x3fee943a91aab4b4, // 0.29469, 0.95559 + 0x3fd2f422daec0386, 0x3fee9084361df7f3, // 0.29615, 0.95514 + 0x3fd30c22c08d6a13, 0x3fee8cc923edc388, // 0.29762, 0.95469 + 0x3fd3241fb638baaf, 0x3fee89095bad6025, // 0.29908, 0.95423 + 0x3fd33c19b83af207, 0x3fee8544ddf0d075, // 0.30054, 0.95377 + 0x3fd35410c2e18152, 0x3fee817bab4cd10d, // 0.30201, 0.95331 + 0x3fd36c04d27a4edf, 0x3fee7dadc456d850, // 0.30347, 0.95284 + 0x3fd383f5e353b6aa, 0x3fee79db29a5165a, // 0.30493, 0.95238 + 0x3fd39be3f1bc8aef, 0x3fee7603dbce74e9, // 0.30639, 0.95191 + 0x3fd3b3cefa0414b7, 0x3fee7227db6a9744, // 0.30785, 0.95144 + 0x3fd3cbb6f87a146e, 0x3fee6e472911da27, // 0.30931, 0.95096 + 0x3fd3e39be96ec271, 0x3fee6a61c55d53a7, // 0.31077, 0.95049 + 0x3fd3fb7dc932cfa4, 0x3fee6677b0e6d31e, // 0.31222, 0.95001 + 0x3fd4135c94176602, 0x3fee6288ec48e112, // 0.31368, 0.94953 + 0x3fd42b38466e2928, 0x3fee5e95781ebf1c, // 0.31514, 0.94905 + 0x3fd44310dc8936f0, 0x3fee5a9d550467d3, // 0.31659, 0.94856 + 0x3fd45ae652bb2800, 0x3fee56a083968eb1, // 0.31805, 0.94807 + 0x3fd472b8a5571054, 0x3fee529f04729ffc, // 0.3195, 0.94759 + 0x3fd48a87d0b07fd7, 0x3fee4e98d836c0af, // 0.32096, 0.94709 + 0x3fd4a253d11b82f3, 0x3fee4a8dff81ce5e, // 0.32241, 0.9466 + 0x3fd4ba1ca2eca31c, 0x3fee467e7af35f23, // 0.32386, 0.94611 + 0x3fd4d1e24278e76a, 0x3fee426a4b2bc17e, // 0.32531, 0.94561 + 0x3fd4e9a4ac15d520, 0x3fee3e5170cbfc46, // 0.32676, 0.94511 + 0x3fd50163dc197047, 0x3fee3a33ec75ce85, // 0.32821, 0.9446 + 0x3fd5191fceda3c35, 0x3fee3611becbaf69, // 0.32966, 0.9441 + 0x3fd530d880af3c24, 0x3fee31eae870ce25, // 0.33111, 0.94359 + 0x3fd5488dedeff3be, 0x3fee2dbf6a0911d9, // 0.33255, 0.94308 + 0x3fd5604012f467b4, 0x3fee298f4439197a, // 0.334, 0.94257 + 0x3fd577eeec151e47, 0x3fee255a77a63bb8, // 0.33545, 0.94206 + 0x3fd58f9a75ab1fdd, 0x3fee212104f686e5, // 0.33689, 0.94154 + 0x3fd5a742ac0ff78d, 0x3fee1ce2ecd0c0d8, // 0.33833, 0.94103 + 0x3fd5bee78b9db3b6, 0x3fee18a02fdc66d9, // 0.33978, 0.94051 + 0x3fd5d68910aee686, 0x3fee1458cec1ad83, // 0.34122, 0.93998 + 0x3fd5ee27379ea693, 0x3fee100cca2980ac, // 0.34266, 0.93946 + 0x3fd605c1fcc88f63, 0x3fee0bbc22bd8349, // 0.3441, 0.93893 + 0x3fd61d595c88c203, 0x3fee0766d9280f54, // 0.34554, 0.9384 + 0x3fd634ed533be58e, 0x3fee030cee1435b8, // 0.34698, 0.93787 + 0x3fd64c7ddd3f27c6, 0x3fedfeae622dbe2b, // 0.34842, 0.93734 + 0x3fd6640af6f03d9e, 0x3fedfa4b3621271d, // 0.34986, 0.9368 + 0x3fd67b949cad63ca, 0x3fedf5e36a9ba59c, // 0.35129, 0.93627 + 0x3fd6931acad55f51, 0x3fedf177004b2534, // 0.35273, 0.93573 + 0x3fd6aa9d7dc77e16, 0x3feded05f7de47da, // 0.35416, 0.93518 + 0x3fd6c21cb1e39771, 0x3fede890520465ce, // 0.3556, 0.93464 + 0x3fd6d998638a0cb5, 0x3fede4160f6d8d81, // 0.35703, 0.93409 + 0x3fd6f1108f1bc9c5, 0x3feddf9730ca837b, // 0.35846, 0.93354 + 0x3fd7088530fa459e, 0x3feddb13b6ccc23d, // 0.3599, 0.93299 + 0x3fd71ff6458782ec, 0x3fedd68ba2267a25, // 0.36133, 0.93244 + 0x3fd73763c9261092, 0x3fedd1fef38a915a, // 0.36276, 0.93188 + 0x3fd74ecdb8390a3e, 0x3fedcd6dabaca3a5, // 0.36418, 0.93133 + 0x3fd766340f2418f6, 0x3fedc8d7cb410260, // 0.36561, 0.93077 + 0x3fd77d96ca4b73a6, 0x3fedc43d52fcb453, // 0.36704, 0.93021 + 0x3fd794f5e613dfae, 0x3fedbf9e4395759a, // 0.36847, 0.92964 + 0x3fd7ac515ee2b172, 0x3fedbafa9dc1b78d, // 0.36989, 0.92907 + 0x3fd7c3a9311dcce7, 0x3fedb6526238a09b, // 0.37132, 0.92851 + 0x3fd7dafd592ba621, 0x3fedb1a591b20c38, // 0.37274, 0.92794 + 0x3fd7f24dd37341e3, 0x3fedacf42ce68ab9, // 0.37416, 0.92736 + 0x3fd8099a9c5c362d, 0x3feda83e348f613b, // 0.37559, 0.92679 + 0x3fd820e3b04eaac4, 0x3feda383a9668988, // 0.37701, 0.92621 + 0x3fd838290bb359c8, 0x3fed9ec48c26b1f3, // 0.37843, 0.92563 + 0x3fd84f6aaaf3903f, 0x3fed9a00dd8b3d46, // 0.37985, 0.92505 + 0x3fd866a88a792ea0, 0x3fed95389e50429b, // 0.38127, 0.92447 + 0x3fd87de2a6aea963, 0x3fed906bcf328d46, // 0.38268, 0.92388 + 0x3fd89518fbff098e, 0x3fed8b9a70ef9cb4, // 0.3841, 0.92329 + 0x3fd8ac4b86d5ed44, 0x3fed86c48445a450, // 0.38552, 0.9227 + 0x3fd8c37a439f884f, 0x3fed81ea09f38b63, // 0.38693, 0.92211 + 0x3fd8daa52ec8a4af, 0x3fed7d0b02b8ecf9, // 0.38835, 0.92151 + 0x3fd8f1cc44bea329, 0x3fed78276f5617c6, // 0.38976, 0.92092 + 0x3fd908ef81ef7bd1, 0x3fed733f508c0dff, // 0.39117, 0.92032 + 0x3fd9200ee2c9be97, 0x3fed6e52a71c8547, // 0.39258, 0.91972 + 0x3fd9372a63bc93d7, 0x3fed696173c9e68b, // 0.39399, 0.91911 + 0x3fd94e420137bce3, 0x3fed646bb7574de5, // 0.3954, 0.91851 + 0x3fd96555b7ab948f, 0x3fed5f7172888a7f, // 0.39681, 0.9179 + 0x3fd97c6583890fc2, 0x3fed5a72a6221e73, // 0.39822, 0.91729 + 0x3fd993716141bdfe, 0x3fed556f52e93eb1, // 0.39962, 0.91668 + 0x3fd9aa794d47c9ee, 0x3fed506779a3d2d9, // 0.40103, 0.91606 + 0x3fd9c17d440df9f2, 0x3fed4b5b1b187524, // 0.40243, 0.91545 + 0x3fd9d87d4207b0ab, 0x3fed464a380e7242, // 0.40384, 0.91483 + 0x3fd9ef7943a8ed8a, 0x3fed4134d14dc93a, // 0.40524, 0.91421 + 0x3fda067145664d57, 0x3fed3c1ae79f2b4e, // 0.40664, 0.91359 + 0x3fda1d6543b50ac0, 0x3fed36fc7bcbfbdc, // 0.40804, 0.91296 + 0x3fda34553b0afee5, 0x3fed31d98e9e503a, // 0.40944, 0.91234 + 0x3fda4b4127dea1e4, 0x3fed2cb220e0ef9f, // 0.41084, 0.91171 + 0x3fda622906a70b63, 0x3fed2786335f52fc, // 0.41224, 0.91107 + 0x3fda790cd3dbf31a, 0x3fed2255c6e5a4e1, // 0.41364, 0.91044 + 0x3fda8fec8bf5b166, 0x3fed1d20dc40c15c, // 0.41503, 0.90981 + 0x3fdaa6c82b6d3fc9, 0x3fed17e7743e35dc, // 0.41643, 0.90917 + 0x3fdabd9faebc3980, 0x3fed12a98fac410c, // 0.41782, 0.90853 + 0x3fdad473125cdc08, 0x3fed0d672f59d2b9, // 0.41922, 0.90789 + 0x3fdaeb4252ca07ab, 0x3fed082054168bac, // 0.42061, 0.90724 + 0x3fdb020d6c7f4009, 0x3fed02d4feb2bd92, // 0.422, 0.9066 + 0x3fdb18d45bf8aca6, 0x3fecfd852fff6ad4, // 0.42339, 0.90595 + 0x3fdb2f971db31972, 0x3fecf830e8ce467b, // 0.42478, 0.9053 + 0x3fdb4655ae2bf757, 0x3fecf2d829f1b40e, // 0.42617, 0.90464 + 0x3fdb5d1009e15cc0, 0x3feced7af43cc773, // 0.42756, 0.90399 + 0x3fdb73c62d520624, 0x3fece819488344ce, // 0.42894, 0.90333 + 0x3fdb8a7814fd5693, 0x3fece2b32799a060, // 0.43033, 0.90267 + 0x3fdba125bd63583e, 0x3fecdd489254fe65, // 0.43171, 0.90201 + 0x3fdbb7cf2304bd01, 0x3fecd7d9898b32f6, // 0.43309, 0.90135 + 0x3fdbce744262deee, 0x3fecd2660e12c1e6, // 0.43448, 0.90068 + 0x3fdbe51517ffc0d9, 0x3fecccee20c2de9f, // 0.43586, 0.90002 + 0x3fdbfbb1a05e0edc, 0x3fecc771c2736c09, // 0.43724, 0.89935 + 0x3fdc1249d8011ee7, 0x3fecc1f0f3fcfc5c, // 0.43862, 0.89867 + 0x3fdc28ddbb6cf145, 0x3fecbc6bb638d10b, // 0.43999, 0.898 + 0x3fdc3f6d47263129, 0x3fecb6e20a00da99, // 0.44137, 0.89732 + 0x3fdc55f877b23537, 0x3fecb153f02fb87d, // 0.44275, 0.89665 + 0x3fdc6c7f4997000a, 0x3fecabc169a0b901, // 0.44412, 0.89597 + 0x3fdc8301b95b40c2, 0x3feca62a772fd919, // 0.4455, 0.89528 + 0x3fdc997fc3865388, 0x3feca08f19b9c449, // 0.44687, 0.8946 + 0x3fdcaff964a0421d, 0x3fec9aef521bd480, // 0.44824, 0.89391 + 0x3fdcc66e9931c45d, 0x3fec954b213411f5, // 0.44961, 0.89322 + 0x3fdcdcdf5dc440ce, 0x3fec8fa287e13305, // 0.45098, 0.89253 + 0x3fdcf34baee1cd21, 0x3fec89f587029c13, // 0.45235, 0.89184 + 0x3fdd09b389152ec1, 0x3fec84441f785f61, // 0.45372, 0.89115 + 0x3fdd2016e8e9db5b, 0x3fec7e8e52233cf3, // 0.45508, 0.89045 + 0x3fdd3675caebf962, 0x3fec78d41fe4a267, // 0.45645, 0.88975 + 0x3fdd4cd02ba8609c, 0x3fec7315899eaad7, // 0.45781, 0.88905 + 0x3fdd632607ac9aa9, 0x3fec6d5290341eb2, // 0.45918, 0.88835 + 0x3fdd79775b86e389, 0x3fec678b3488739b, // 0.46054, 0.88764 + 0x3fdd8fc423c62a25, 0x3fec61bf777fcc48, // 0.4619, 0.88693 + 0x3fdda60c5cfa10d8, 0x3fec5bef59fef85a, // 0.46326, 0.88622 + 0x3fddbc5003b2edf8, 0x3fec561adceb743e, // 0.46462, 0.88551 + 0x3fddd28f1481cc58, 0x3fec5042012b6907, // 0.46598, 0.8848 + 0x3fdde8c98bf86bd6, 0x3fec4a64c7a5ac4c, // 0.46733, 0.88408 + 0x3fddfeff66a941de, 0x3fec44833141c004, // 0.46869, 0.88336 + 0x3fde1530a12779f4, 0x3fec3e9d3ee7d262, // 0.47004, 0.88264 + 0x3fde2b5d3806f63b, 0x3fec38b2f180bdb1, // 0.4714, 0.88192 + 0x3fde418527dc4ffa, 0x3fec32c449f60831, // 0.47275, 0.8812 + 0x3fde57a86d3cd824, 0x3fec2cd14931e3f1, // 0.4741, 0.88047 + 0x3fde6dc704be97e2, 0x3fec26d9f01f2eaf, // 0.47545, 0.87974 + 0x3fde83e0eaf85113, 0x3fec20de3fa971b0, // 0.4768, 0.87901 + 0x3fde99f61c817eda, 0x3fec1ade38bce19b, // 0.47815, 0.87828 + 0x3fdeb00695f25620, 0x3fec14d9dc465e58, // 0.47949, 0.87755 + 0x3fdec61253e3c61b, 0x3fec0ed12b3372e9, // 0.48084, 0.87681 + 0x3fdedc1952ef78d5, 0x3fec08c426725549, // 0.48218, 0.87607 + 0x3fdef21b8fafd3b5, 0x3fec02b2cef1e641, // 0.48353, 0.87533 + 0x3fdf081906bff7fd, 0x3febfc9d25a1b147, // 0.48487, 0.87459 + 0x3fdf1e11b4bbc35c, 0x3febf6832b71ec5b, // 0.48621, 0.87384 + 0x3fdf3405963fd068, 0x3febf064e15377dd, // 0.48755, 0.87309 + 0x3fdf49f4a7e97729, 0x3febea424837de6d, // 0.48889, 0.87235 + 0x3fdf5fdee656cda3, 0x3febe41b611154c1, // 0.49023, 0.8716 + 0x3fdf75c44e26a852, 0x3febddf02cd2b983, // 0.49156, 0.87084 + 0x3fdf8ba4dbf89aba, 0x3febd7c0ac6f952a, // 0.4929, 0.87009 + 0x3fdfa1808c6cf7e0, 0x3febd18ce0dc19d6, // 0.49423, 0.86933 + 0x3fdfb7575c24d2de, 0x3febcb54cb0d2327, // 0.49557, 0.86857 + 0x3fdfcd2947c1ff57, 0x3febc5186bf8361d, // 0.4969, 0.86781 + 0x3fdfe2f64be7120f, 0x3febbed7c49380ea, // 0.49823, 0.86705 + 0x3fdff8be6537615e, 0x3febb892d5d5dad5, // 0.49956, 0.86628 + 0x3fe00740c82b82e0, 0x3febb249a0b6c40d, // 0.50089, 0.86551 + 0x3fe0121fe4f56d2c, 0x3febabfc262e6586, // 0.50221, 0.86474 + 0x3fe01cfc874c3eb7, 0x3feba5aa673590d2, // 0.50354, 0.86397 + 0x3fe027d6ad83287e, 0x3feb9f5464c5bffc, // 0.50486, 0.8632 + 0x3fe032ae55edbd95, 0x3feb98fa1fd9155e, // 0.50619, 0.86242 + 0x3fe03d837edff370, 0x3feb929b996a5b7f, // 0.50751, 0.86165 + 0x3fe0485626ae221a, 0x3feb8c38d27504e9, // 0.50883, 0.86087 + 0x3fe053264bad0483, 0x3feb85d1cbf52c02, // 0.51015, 0.86009 + 0x3fe05df3ec31b8b6, 0x3feb7f6686e792ea, // 0.51147, 0.8593 + 0x3fe068bf0691c028, 0x3feb78f70449a34b, // 0.51279, 0.85852 + 0x3fe073879922ffed, 0x3feb728345196e3e, // 0.5141, 0.85773 + 0x3fe07e4da23bc102, 0x3feb6c0b4a55ac17, // 0.51542, 0.85694 + 0x3fe089112032b08c, 0x3feb658f14fdbc47, // 0.51673, 0.85615 + 0x3fe093d2115ee018, 0x3feb5f0ea611a532, // 0.51804, 0.85535 + 0x3fe09e907417c5e1, 0x3feb5889fe921405, // 0.51936, 0.85456 + 0x3fe0a94c46b53d0b, 0x3feb52011f805c92, // 0.52067, 0.85376 + 0x3fe0b405878f85ec, 0x3feb4b7409de7925, // 0.52198, 0.85296 + 0x3fe0bebc34ff4646, 0x3feb44e2beaf0a61, // 0.52328, 0.85216 + 0x3fe0c9704d5d898f, 0x3feb3e4d3ef55712, // 0.52459, 0.85136 + 0x3fe0d421cf03c12b, 0x3feb37b38bb54c09, // 0.5259, 0.85055 + 0x3fe0ded0b84bc4b5, 0x3feb3115a5f37bf4, // 0.5272, 0.84974 + 0x3fe0e97d078fd23b, 0x3feb2a738eb51f33, // 0.5285, 0.84893 + 0x3fe0f426bb2a8e7d, 0x3feb23cd470013b4, // 0.5298, 0.84812 + 0x3fe0fecdd1770537, 0x3feb1d22cfdadcc6, // 0.5311, 0.84731 + 0x3fe1097248d0a956, 0x3feb16742a4ca2f5, // 0.5324, 0.84649 + 0x3fe114141f935545, 0x3feb0fc1575d33db, // 0.5337, 0.84567 + 0x3fe11eb3541b4b22, 0x3feb090a58150200, // 0.535, 0.84485 + 0x3fe1294fe4c5350a, 0x3feb024f2d7d24a9, // 0.53629, 0.84403 + 0x3fe133e9cfee254e, 0x3feafb8fd89f57b6, // 0.53759, 0.84321 + 0x3fe13e8113f396c1, 0x3feaf4cc5a85fb73, // 0.53888, 0.84238 + 0x3fe14915af336ceb, 0x3feaee04b43c1474, // 0.54017, 0.84155 + 0x3fe153a7a00bf453, 0x3feae738e6cd4b67, // 0.54146, 0.84073 + 0x3fe15e36e4dbe2bc, 0x3feae068f345ecef, // 0.54275, 0.83989 + 0x3fe168c37c025764, 0x3fead994dab2e979, // 0.54404, 0.83906 + 0x3fe1734d63dedb49, 0x3fead2bc9e21d511, // 0.54532, 0.83822 + 0x3fe17dd49ad16161, 0x3feacbe03ea0e73b, // 0.54661, 0.83739 + 0x3fe188591f3a46e5, 0x3feac4ffbd3efac8, // 0.54789, 0.83655 + 0x3fe192daef7a5386, 0x3feabe1b1b0b8dac, // 0.54918, 0.83571 + 0x3fe19d5a09f2b9b8, 0x3feab7325916c0d4, // 0.55046, 0.83486 + 0x3fe1a7d66d0516e6, 0x3feab045787157ff, // 0.55174, 0.83402 + 0x3fe1b250171373be, 0x3feaa9547a2cb98e, // 0.55302, 0.83317 + 0x3fe1bcc706804467, 0x3feaa25f5f5aee60, // 0.55429, 0.83232 + 0x3fe1c73b39ae68c8, 0x3fea9b66290ea1a3, // 0.55557, 0.83147 + 0x3fe1d1acaf012cc2, 0x3fea9468d85b20ae, // 0.55685, 0.83062 + 0x3fe1dc1b64dc4872, 0x3fea8d676e545ad2, // 0.55812, 0.82976 + 0x3fe1e68759a3e074, 0x3fea8661ec0ee133, // 0.55939, 0.8289 + 0x3fe1f0f08bbc861b, 0x3fea7f58529fe69d, // 0.56066, 0.82805 + 0x3fe1fb56f98b37b8, 0x3fea784aa31d3f55, // 0.56193, 0.82718 + 0x3fe205baa17560d6, 0x3fea7138de9d60f5, // 0.5632, 0.82632 + 0x3fe2101b81e0da78, 0x3fea6a230637623b, // 0.56447, 0.82546 + 0x3fe21a799933eb58, 0x3fea63091b02fae2, // 0.56573, 0.82459 + 0x3fe224d4e5d5482e, 0x3fea5beb1e188375, // 0.567, 0.82372 + 0x3fe22f2d662c13e1, 0x3fea54c91090f524, // 0.56826, 0.82285 + 0x3fe23983189fdfd5, 0x3fea4da2f385e997, // 0.56952, 0.82198 + 0x3fe243d5fb98ac1f, 0x3fea4678c8119ac8, // 0.57078, 0.8211 + 0x3fe24e260d7ee7c9, 0x3fea3f4a8f4ee2d2, // 0.57204, 0.82023 + 0x3fe258734cbb7110, 0x3fea38184a593bc6, // 0.5733, 0.81935 + 0x3fe262bdb7b795a2, 0x3fea30e1fa4cbf81, // 0.57455, 0.81847 + 0x3fe26d054cdd12df, 0x3fea29a7a0462782, // 0.57581, 0.81758 + 0x3fe2774a0a961612, 0x3fea22693d62ccb9, // 0.57706, 0.8167 + 0x3fe2818bef4d3cba, 0x3fea1b26d2c0a75e, // 0.57831, 0.81581 + 0x3fe28bcaf96d94ba, 0x3fea13e0617e4ec7, // 0.57956, 0.81493 + 0x3fe2960727629ca8, 0x3fea0c95eabaf937, // 0.58081, 0.81404 + 0x3fe2a040779843fb, 0x3fea05476f967bb5, // 0.58206, 0.81314 + 0x3fe2aa76e87aeb58, 0x3fe9fdf4f13149de, // 0.58331, 0.81225 + 0x3fe2b4aa787764c4, 0x3fe9f69e70ac75bc, // 0.58455, 0.81135 + 0x3fe2bedb25faf3ea, 0x3fe9ef43ef29af94, // 0.5858, 0.81046 + 0x3fe2c908ef734e57, 0x3fe9e7e56dcb45bd, // 0.58704, 0.80956 + 0x3fe2d333d34e9bb7, 0x3fe9e082edb42472, // 0.58828, 0.80866 + 0x3fe2dd5bcffb7616, 0x3fe9d91c7007d5a6, // 0.58952, 0.80775 + 0x3fe2e780e3e8ea16, 0x3fe9d1b1f5ea80d6, // 0.59076, 0.80685 + 0x3fe2f1a30d86773a, 0x3fe9ca438080eadb, // 0.592, 0.80594 + 0x3fe2fbc24b441015, 0x3fe9c2d110f075c3, // 0.59323, 0.80503 + 0x3fe305de9b921a94, 0x3fe9bb5aa85f2098, // 0.59447, 0.80412 + 0x3fe30ff7fce17035, 0x3fe9b3e047f38741, // 0.5957, 0.80321 + 0x3fe31a0e6da35e44, 0x3fe9ac61f0d4e247, // 0.59693, 0.80229 + 0x3fe32421ec49a620, 0x3fe9a4dfa42b06b2, // 0.59816, 0.80138 + 0x3fe32e3277467d6b, 0x3fe99d59631e65d5, // 0.59939, 0.80046 + 0x3fe338400d0c8e57, 0x3fe995cf2ed80d22, // 0.60062, 0.79954 + 0x3fe3424aac0ef7d6, 0x3fe98e410881a600, // 0.60184, 0.79861 + 0x3fe34c5252c14de1, 0x3fe986aef1457594, // 0.60307, 0.79769 + 0x3fe35656ff9799ae, 0x3fe97f18ea4e5c9e, // 0.60429, 0.79676 + 0x3fe36058b10659f3, 0x3fe9777ef4c7d742, // 0.60551, 0.79584 + 0x3fe36a576582831b, 0x3fe96fe111ddfce0, // 0.60673, 0.79491 + 0x3fe374531b817f8d, 0x3fe9683f42bd7fe1, // 0.60795, 0.79398 + 0x3fe37e4bd1792fe2, 0x3fe960998893ad8c, // 0.60917, 0.79304 + 0x3fe3884185dfeb22, 0x3fe958efe48e6dd7, // 0.61038, 0.79211 + 0x3fe39234372c7f04, 0x3fe9514257dc4335, // 0.6116, 0.79117 + 0x3fe39c23e3d63029, 0x3fe94990e3ac4a6c, // 0.61281, 0.79023 + 0x3fe3a6108a54ba58, 0x3fe941db892e3a65, // 0.61402, 0.78929 + 0x3fe3affa292050b9, 0x3fe93a22499263fc, // 0.61523, 0.78835 + 0x3fe3b9e0beb19e18, 0x3fe932652609b1cf, // 0.61644, 0.7874 + 0x3fe3c3c44981c517, 0x3fe92aa41fc5a815, // 0.61765, 0.78646 + 0x3fe3cda4c80a6076, 0x3fe922df37f8646a, // 0.61885, 0.78551 + 0x3fe3d78238c58343, 0x3fe91b166fd49da2, // 0.62006, 0.78456 + 0x3fe3e15c9a2db922, 0x3fe91349c88da398, // 0.62126, 0.7836 + 0x3fe3eb33eabe0680, 0x3fe90b7943575efe, // 0.62246, 0.78265 + 0x3fe3f50828f1e8d2, 0x3fe903a4e1665133, // 0.62366, 0.78169 + 0x3fe3fed9534556d4, 0x3fe8fbcca3ef940d, // 0.62486, 0.78074 + 0x3fe408a76834c0c0, 0x3fe8f3f08c28d9ac, // 0.62606, 0.77978 + 0x3fe41272663d108c, 0x3fe8ec109b486c49, // 0.62725, 0.77882 + 0x3fe41c3a4bdbaa26, 0x3fe8e42cd2852e0a, // 0.62845, 0.77785 + 0x3fe425ff178e6bb1, 0x3fe8dc45331698cc, // 0.62964, 0.77689 + 0x3fe42fc0c7d3adbb, 0x3fe8d459be34bdfa, // 0.63083, 0.77592 + 0x3fe4397f5b2a4380, 0x3fe8cc6a75184655, // 0.63202, 0.77495 + 0x3fe4433ad0117b1d, 0x3fe8c47758fa71cb, // 0.63321, 0.77398 + 0x3fe44cf325091dd6, 0x3fe8bc806b151741, // 0.63439, 0.77301 + 0x3fe456a858917046, 0x3fe8b485aca2a468, // 0.63558, 0.77204 + 0x3fe4605a692b32a2, 0x3fe8ac871ede1d88, // 0.63676, 0.77106 + 0x3fe46a095557a0f1, 0x3fe8a484c3031d50, // 0.63794, 0.77008 + 0x3fe473b51b987347, 0x3fe89c7e9a4dd4ab, // 0.63912, 0.7691 + 0x3fe47d5dba6fde01, 0x3fe89474a5fb0a84, // 0.6403, 0.76812 + 0x3fe48703306091fe, 0x3fe88c66e7481ba1, // 0.64148, 0.76714 + 0x3fe490a57bedbcdf, 0x3fe884555f72fa6b, // 0.64266, 0.76615 + 0x3fe49a449b9b0938, 0x3fe87c400fba2ebf, // 0.64383, 0.76517 + 0x3fe4a3e08dec9ed6, 0x3fe87426f95cd5bd, // 0.645, 0.76418 + 0x3fe4ad79516722f0, 0x3fe86c0a1d9aa195, // 0.64618, 0.76319 + 0x3fe4b70ee48fb869, 0x3fe863e97db3d95a, // 0.64735, 0.7622 + 0x3fe4c0a145ec0004, 0x3fe85bc51ae958cc, // 0.64851, 0.7612 + 0x3fe4ca30740218a3, 0x3fe8539cf67c9029, // 0.64968, 0.76021 + 0x3fe4d3bc6d589f80, 0x3fe84b7111af83f9, // 0.65085, 0.75921 + 0x3fe4dd453076b064, 0x3fe843416dc4cce2, // 0.65201, 0.75821 + 0x3fe4e6cabbe3e5e9, 0x3fe83b0e0bff976e, // 0.65317, 0.75721 + 0x3fe4f04d0e2859aa, 0x3fe832d6eda3a3e0, // 0.65433, 0.75621 + 0x3fe4f9cc25cca486, 0x3fe82a9c13f545ff, // 0.65549, 0.7552 + 0x3fe503480159ded2, 0x3fe8225d803964e5, // 0.65665, 0.75419 + 0x3fe50cc09f59a09b, 0x3fe81a1b33b57acc, // 0.65781, 0.75319 + 0x3fe51635fe5601d7, 0x3fe811d52faf94dc, // 0.65896, 0.75218 + 0x3fe51fa81cd99aa6, 0x3fe8098b756e52fa, // 0.66011, 0.75117 + 0x3fe52916f96f8388, 0x3fe8013e0638e795, // 0.66127, 0.75015 + 0x3fe5328292a35596, 0x3fe7f8ece3571771, // 0.66242, 0.74914 + 0x3fe53beae7012abe, 0x3fe7f0980e113978, // 0.66356, 0.74812 + 0x3fe5454ff5159dfb, 0x3fe7e83f87b03686, // 0.66471, 0.7471 + 0x3fe54eb1bb6dcb8f, 0x3fe7dfe3517d8937, // 0.66586, 0.74608 + 0x3fe5581038975137, 0x3fe7d7836cc33db2, // 0.667, 0.74506 + 0x3fe5616b6b204e6e, 0x3fe7cf1fdacbf179, // 0.66814, 0.74403 + 0x3fe56ac35197649e, 0x3fe7c6b89ce2d333, // 0.66928, 0.74301 + 0x3fe57417ea8bb75c, 0x3fe7be4db453a27c, // 0.67042, 0.74198 + 0x3fe57d69348cec9f, 0x3fe7b5df226aafb0, // 0.67156, 0.74095 + 0x3fe586b72e2b2cfd, 0x3fe7ad6ce874dbb6, // 0.67269, 0.73992 + 0x3fe59001d5f723df, 0x3fe7a4f707bf97d2, // 0.67383, 0.73889 + 0x3fe599492a81ffbc, 0x3fe79c7d8198e56e, // 0.67496, 0.73785 + 0x3fe5a28d2a5d7250, 0x3fe79400574f55e4, // 0.67609, 0.73682 + 0x3fe5abcdd41bb0d8, 0x3fe78b7f8a320a52, // 0.67722, 0.73578 + 0x3fe5b50b264f7448, 0x3fe782fb1b90b35b, // 0.67835, 0.73474 + 0x3fe5be451f8bf980, 0x3fe77a730cbb9100, // 0.67948, 0.7337 + 0x3fe5c77bbe65018c, 0x3fe771e75f037261, // 0.6806, 0.73265 + 0x3fe5d0af016ed1d4, 0x3fe7695813b9b594, // 0.68172, 0.73161 + 0x3fe5d9dee73e345c, 0x3fe760c52c304764, // 0.68285, 0.73056 + 0x3fe5e30b6e6877f3, 0x3fe7582ea9b9a329, // 0.68397, 0.72951 + 0x3fe5ec3495837074, 0x3fe74f948da8d28d, // 0.68508, 0.72846 + 0x3fe5f55a5b2576f8, 0x3fe746f6d9516d59, // 0.6862, 0.72741 + 0x3fe5fe7cbde56a0f, 0x3fe73e558e079942, // 0.68732, 0.72636 + 0x3fe6079bbc5aadfa, 0x3fe735b0ad2009b2, // 0.68843, 0.7253 + 0x3fe610b7551d2cde, 0x3fe72d0837efff97, // 0.68954, 0.72425 + 0x3fe619cf86c55702, 0x3fe7245c2fcd492a, // 0.69065, 0.72319 + 0x3fe622e44fec22ff, 0x3fe71bac960e41bf, // 0.69176, 0.72213 + 0x3fe62bf5af2b0dfd, 0x3fe712f96c09d18d, // 0.69287, 0.72107 + 0x3fe63503a31c1be8, 0x3fe70a42b3176d7a, // 0.69397, 0.72 + 0x3fe63e0e2a59d7aa, 0x3fe701886c8f16e6, // 0.69508, 0.71894 + 0x3fe64715437f535b, 0x3fe6f8ca99c95b75, // 0.69618, 0.71787 + 0x3fe65018ed28287f, 0x3fe6f0093c1f54de, // 0.69728, 0.7168 + 0x3fe6591925f0783e, 0x3fe6e74454eaa8ae, // 0.69838, 0.71573 + 0x3fe66215ec74eb91, 0x3fe6de7be585881d, // 0.69947, 0.71466 + 0x3fe66b0f3f52b386, 0x3fe6d5afef4aafcc, // 0.70057, 0.71358 + 0x3fe674051d27896c, 0x3fe6cce07395679f, // 0.70166, 0.71251 + 0x3fe67cf78491af10, 0x3fe6c40d73c18275, // 0.70275, 0.71143 + 0x3fe685e6742feeef, 0x3fe6bb36f12b5e06, // 0.70385, 0.71035 + 0x3fe68ed1eaa19c71, 0x3fe6b25ced2fe29c, // 0.70493, 0.70927 + 0x3fe697b9e686941c, 0x3fe6a97f692c82ea, // 0.70602, 0.70819 + 0x3fe6a09e667f3bcc, 0x3fe6a09e667f3bcc, // 0.70711, 0.70711 + 0x3fe6a97f692c82ea, 0x3fe697b9e686941c, // 0.70819, 0.70602 + 0x3fe6b25ced2fe29c, 0x3fe68ed1eaa19c71, // 0.70927, 0.70493 + 0x3fe6bb36f12b5e06, 0x3fe685e6742feeef, // 0.71035, 0.70385 + 0x3fe6c40d73c18275, 0x3fe67cf78491af10, // 0.71143, 0.70275 + 0x3fe6cce07395679f, 0x3fe674051d27896c, // 0.71251, 0.70166 + 0x3fe6d5afef4aafcc, 0x3fe66b0f3f52b386, // 0.71358, 0.70057 + 0x3fe6de7be585881d, 0x3fe66215ec74eb91, // 0.71466, 0.69947 + 0x3fe6e74454eaa8ae, 0x3fe6591925f0783e, // 0.71573, 0.69838 + 0x3fe6f0093c1f54de, 0x3fe65018ed28287f, // 0.7168, 0.69728 + 0x3fe6f8ca99c95b75, 0x3fe64715437f535b, // 0.71787, 0.69618 + 0x3fe701886c8f16e6, 0x3fe63e0e2a59d7aa, // 0.71894, 0.69508 + 0x3fe70a42b3176d7a, 0x3fe63503a31c1be8, // 0.72, 0.69397 + 0x3fe712f96c09d18d, 0x3fe62bf5af2b0dfd, // 0.72107, 0.69287 + 0x3fe71bac960e41bf, 0x3fe622e44fec22ff, // 0.72213, 0.69176 + 0x3fe7245c2fcd492a, 0x3fe619cf86c55702, // 0.72319, 0.69065 + 0x3fe72d0837efff97, 0x3fe610b7551d2cde, // 0.72425, 0.68954 + 0x3fe735b0ad2009b2, 0x3fe6079bbc5aadfa, // 0.7253, 0.68843 + 0x3fe73e558e079942, 0x3fe5fe7cbde56a0f, // 0.72636, 0.68732 + 0x3fe746f6d9516d59, 0x3fe5f55a5b2576f8, // 0.72741, 0.6862 + 0x3fe74f948da8d28d, 0x3fe5ec3495837074, // 0.72846, 0.68508 + 0x3fe7582ea9b9a329, 0x3fe5e30b6e6877f3, // 0.72951, 0.68397 + 0x3fe760c52c304764, 0x3fe5d9dee73e345c, // 0.73056, 0.68285 + 0x3fe7695813b9b594, 0x3fe5d0af016ed1d4, // 0.73161, 0.68172 + 0x3fe771e75f037261, 0x3fe5c77bbe65018c, // 0.73265, 0.6806 + 0x3fe77a730cbb9100, 0x3fe5be451f8bf980, // 0.7337, 0.67948 + 0x3fe782fb1b90b35b, 0x3fe5b50b264f7448, // 0.73474, 0.67835 + 0x3fe78b7f8a320a52, 0x3fe5abcdd41bb0d8, // 0.73578, 0.67722 + 0x3fe79400574f55e4, 0x3fe5a28d2a5d7250, // 0.73682, 0.67609 + 0x3fe79c7d8198e56e, 0x3fe599492a81ffbc, // 0.73785, 0.67496 + 0x3fe7a4f707bf97d2, 0x3fe59001d5f723df, // 0.73889, 0.67383 + 0x3fe7ad6ce874dbb6, 0x3fe586b72e2b2cfd, // 0.73992, 0.67269 + 0x3fe7b5df226aafb0, 0x3fe57d69348cec9f, // 0.74095, 0.67156 + 0x3fe7be4db453a27c, 0x3fe57417ea8bb75c, // 0.74198, 0.67042 + 0x3fe7c6b89ce2d333, 0x3fe56ac35197649e, // 0.74301, 0.66928 + 0x3fe7cf1fdacbf179, 0x3fe5616b6b204e6e, // 0.74403, 0.66814 + 0x3fe7d7836cc33db2, 0x3fe5581038975137, // 0.74506, 0.667 + 0x3fe7dfe3517d8937, 0x3fe54eb1bb6dcb8f, // 0.74608, 0.66586 + 0x3fe7e83f87b03686, 0x3fe5454ff5159dfb, // 0.7471, 0.66471 + 0x3fe7f0980e113978, 0x3fe53beae7012abe, // 0.74812, 0.66356 + 0x3fe7f8ece3571771, 0x3fe5328292a35596, // 0.74914, 0.66242 + 0x3fe8013e0638e795, 0x3fe52916f96f8388, // 0.75015, 0.66127 + 0x3fe8098b756e52fa, 0x3fe51fa81cd99aa6, // 0.75117, 0.66011 + 0x3fe811d52faf94dc, 0x3fe51635fe5601d7, // 0.75218, 0.65896 + 0x3fe81a1b33b57acc, 0x3fe50cc09f59a09b, // 0.75319, 0.65781 + 0x3fe8225d803964e5, 0x3fe503480159ded2, // 0.75419, 0.65665 + 0x3fe82a9c13f545ff, 0x3fe4f9cc25cca486, // 0.7552, 0.65549 + 0x3fe832d6eda3a3e0, 0x3fe4f04d0e2859aa, // 0.75621, 0.65433 + 0x3fe83b0e0bff976e, 0x3fe4e6cabbe3e5e9, // 0.75721, 0.65317 + 0x3fe843416dc4cce2, 0x3fe4dd453076b064, // 0.75821, 0.65201 + 0x3fe84b7111af83f9, 0x3fe4d3bc6d589f80, // 0.75921, 0.65085 + 0x3fe8539cf67c9029, 0x3fe4ca30740218a3, // 0.76021, 0.64968 + 0x3fe85bc51ae958cc, 0x3fe4c0a145ec0004, // 0.7612, 0.64851 + 0x3fe863e97db3d95a, 0x3fe4b70ee48fb869, // 0.7622, 0.64735 + 0x3fe86c0a1d9aa195, 0x3fe4ad79516722f0, // 0.76319, 0.64618 + 0x3fe87426f95cd5bd, 0x3fe4a3e08dec9ed6, // 0.76418, 0.645 + 0x3fe87c400fba2ebf, 0x3fe49a449b9b0938, // 0.76517, 0.64383 + 0x3fe884555f72fa6b, 0x3fe490a57bedbcdf, // 0.76615, 0.64266 + 0x3fe88c66e7481ba1, 0x3fe48703306091fe, // 0.76714, 0.64148 + 0x3fe89474a5fb0a84, 0x3fe47d5dba6fde01, // 0.76812, 0.6403 + 0x3fe89c7e9a4dd4ab, 0x3fe473b51b987347, // 0.7691, 0.63912 + 0x3fe8a484c3031d50, 0x3fe46a095557a0f1, // 0.77008, 0.63794 + 0x3fe8ac871ede1d88, 0x3fe4605a692b32a2, // 0.77106, 0.63676 + 0x3fe8b485aca2a468, 0x3fe456a858917046, // 0.77204, 0.63558 + 0x3fe8bc806b151741, 0x3fe44cf325091dd6, // 0.77301, 0.63439 + 0x3fe8c47758fa71cb, 0x3fe4433ad0117b1d, // 0.77398, 0.63321 + 0x3fe8cc6a75184655, 0x3fe4397f5b2a4380, // 0.77495, 0.63202 + 0x3fe8d459be34bdfa, 0x3fe42fc0c7d3adbb, // 0.77592, 0.63083 + 0x3fe8dc45331698cc, 0x3fe425ff178e6bb1, // 0.77689, 0.62964 + 0x3fe8e42cd2852e0a, 0x3fe41c3a4bdbaa26, // 0.77785, 0.62845 + 0x3fe8ec109b486c49, 0x3fe41272663d108c, // 0.77882, 0.62725 + 0x3fe8f3f08c28d9ac, 0x3fe408a76834c0c0, // 0.77978, 0.62606 + 0x3fe8fbcca3ef940d, 0x3fe3fed9534556d4, // 0.78074, 0.62486 + 0x3fe903a4e1665133, 0x3fe3f50828f1e8d2, // 0.78169, 0.62366 + 0x3fe90b7943575efe, 0x3fe3eb33eabe0680, // 0.78265, 0.62246 + 0x3fe91349c88da398, 0x3fe3e15c9a2db922, // 0.7836, 0.62126 + 0x3fe91b166fd49da2, 0x3fe3d78238c58343, // 0.78456, 0.62006 + 0x3fe922df37f8646a, 0x3fe3cda4c80a6076, // 0.78551, 0.61885 + 0x3fe92aa41fc5a815, 0x3fe3c3c44981c517, // 0.78646, 0.61765 + 0x3fe932652609b1cf, 0x3fe3b9e0beb19e18, // 0.7874, 0.61644 + 0x3fe93a22499263fc, 0x3fe3affa292050b9, // 0.78835, 0.61523 + 0x3fe941db892e3a65, 0x3fe3a6108a54ba58, // 0.78929, 0.61402 + 0x3fe94990e3ac4a6c, 0x3fe39c23e3d63029, // 0.79023, 0.61281 + 0x3fe9514257dc4335, 0x3fe39234372c7f04, // 0.79117, 0.6116 + 0x3fe958efe48e6dd7, 0x3fe3884185dfeb22, // 0.79211, 0.61038 + 0x3fe960998893ad8c, 0x3fe37e4bd1792fe2, // 0.79304, 0.60917 + 0x3fe9683f42bd7fe1, 0x3fe374531b817f8d, // 0.79398, 0.60795 + 0x3fe96fe111ddfce0, 0x3fe36a576582831b, // 0.79491, 0.60673 + 0x3fe9777ef4c7d742, 0x3fe36058b10659f3, // 0.79584, 0.60551 + 0x3fe97f18ea4e5c9e, 0x3fe35656ff9799ae, // 0.79676, 0.60429 + 0x3fe986aef1457594, 0x3fe34c5252c14de1, // 0.79769, 0.60307 + 0x3fe98e410881a600, 0x3fe3424aac0ef7d6, // 0.79861, 0.60184 + 0x3fe995cf2ed80d22, 0x3fe338400d0c8e57, // 0.79954, 0.60062 + 0x3fe99d59631e65d5, 0x3fe32e3277467d6b, // 0.80046, 0.59939 + 0x3fe9a4dfa42b06b2, 0x3fe32421ec49a620, // 0.80138, 0.59816 + 0x3fe9ac61f0d4e247, 0x3fe31a0e6da35e44, // 0.80229, 0.59693 + 0x3fe9b3e047f38741, 0x3fe30ff7fce17035, // 0.80321, 0.5957 + 0x3fe9bb5aa85f2098, 0x3fe305de9b921a94, // 0.80412, 0.59447 + 0x3fe9c2d110f075c3, 0x3fe2fbc24b441015, // 0.80503, 0.59323 + 0x3fe9ca438080eadb, 0x3fe2f1a30d86773a, // 0.80594, 0.592 + 0x3fe9d1b1f5ea80d6, 0x3fe2e780e3e8ea16, // 0.80685, 0.59076 + 0x3fe9d91c7007d5a6, 0x3fe2dd5bcffb7616, // 0.80775, 0.58952 + 0x3fe9e082edb42472, 0x3fe2d333d34e9bb7, // 0.80866, 0.58828 + 0x3fe9e7e56dcb45bd, 0x3fe2c908ef734e57, // 0.80956, 0.58704 + 0x3fe9ef43ef29af94, 0x3fe2bedb25faf3ea, // 0.81046, 0.5858 + 0x3fe9f69e70ac75bc, 0x3fe2b4aa787764c4, // 0.81135, 0.58455 + 0x3fe9fdf4f13149de, 0x3fe2aa76e87aeb58, // 0.81225, 0.58331 + 0x3fea05476f967bb5, 0x3fe2a040779843fb, // 0.81314, 0.58206 + 0x3fea0c95eabaf937, 0x3fe2960727629ca8, // 0.81404, 0.58081 + 0x3fea13e0617e4ec7, 0x3fe28bcaf96d94ba, // 0.81493, 0.57956 + 0x3fea1b26d2c0a75e, 0x3fe2818bef4d3cba, // 0.81581, 0.57831 + 0x3fea22693d62ccb9, 0x3fe2774a0a961612, // 0.8167, 0.57706 + 0x3fea29a7a0462782, 0x3fe26d054cdd12df, // 0.81758, 0.57581 + 0x3fea30e1fa4cbf81, 0x3fe262bdb7b795a2, // 0.81847, 0.57455 + 0x3fea38184a593bc6, 0x3fe258734cbb7110, // 0.81935, 0.5733 + 0x3fea3f4a8f4ee2d2, 0x3fe24e260d7ee7c9, // 0.82023, 0.57204 + 0x3fea4678c8119ac8, 0x3fe243d5fb98ac1f, // 0.8211, 0.57078 + 0x3fea4da2f385e997, 0x3fe23983189fdfd5, // 0.82198, 0.56952 + 0x3fea54c91090f524, 0x3fe22f2d662c13e1, // 0.82285, 0.56826 + 0x3fea5beb1e188375, 0x3fe224d4e5d5482e, // 0.82372, 0.567 + 0x3fea63091b02fae2, 0x3fe21a799933eb58, // 0.82459, 0.56573 + 0x3fea6a230637623b, 0x3fe2101b81e0da78, // 0.82546, 0.56447 + 0x3fea7138de9d60f5, 0x3fe205baa17560d6, // 0.82632, 0.5632 + 0x3fea784aa31d3f55, 0x3fe1fb56f98b37b8, // 0.82718, 0.56193 + 0x3fea7f58529fe69d, 0x3fe1f0f08bbc861b, // 0.82805, 0.56066 + 0x3fea8661ec0ee133, 0x3fe1e68759a3e074, // 0.8289, 0.55939 + 0x3fea8d676e545ad2, 0x3fe1dc1b64dc4872, // 0.82976, 0.55812 + 0x3fea9468d85b20ae, 0x3fe1d1acaf012cc2, // 0.83062, 0.55685 + 0x3fea9b66290ea1a3, 0x3fe1c73b39ae68c8, // 0.83147, 0.55557 + 0x3feaa25f5f5aee60, 0x3fe1bcc706804467, // 0.83232, 0.55429 + 0x3feaa9547a2cb98e, 0x3fe1b250171373be, // 0.83317, 0.55302 + 0x3feab045787157ff, 0x3fe1a7d66d0516e6, // 0.83402, 0.55174 + 0x3feab7325916c0d4, 0x3fe19d5a09f2b9b8, // 0.83486, 0.55046 + 0x3feabe1b1b0b8dac, 0x3fe192daef7a5386, // 0.83571, 0.54918 + 0x3feac4ffbd3efac8, 0x3fe188591f3a46e5, // 0.83655, 0.54789 + 0x3feacbe03ea0e73b, 0x3fe17dd49ad16161, // 0.83739, 0.54661 + 0x3fead2bc9e21d511, 0x3fe1734d63dedb49, // 0.83822, 0.54532 + 0x3fead994dab2e979, 0x3fe168c37c025764, // 0.83906, 0.54404 + 0x3feae068f345ecef, 0x3fe15e36e4dbe2bc, // 0.83989, 0.54275 + 0x3feae738e6cd4b67, 0x3fe153a7a00bf453, // 0.84073, 0.54146 + 0x3feaee04b43c1474, 0x3fe14915af336ceb, // 0.84155, 0.54017 + 0x3feaf4cc5a85fb73, 0x3fe13e8113f396c1, // 0.84238, 0.53888 + 0x3feafb8fd89f57b6, 0x3fe133e9cfee254e, // 0.84321, 0.53759 + 0x3feb024f2d7d24a9, 0x3fe1294fe4c5350a, // 0.84403, 0.53629 + 0x3feb090a58150200, 0x3fe11eb3541b4b22, // 0.84485, 0.535 + 0x3feb0fc1575d33db, 0x3fe114141f935545, // 0.84567, 0.5337 + 0x3feb16742a4ca2f5, 0x3fe1097248d0a956, // 0.84649, 0.5324 + 0x3feb1d22cfdadcc6, 0x3fe0fecdd1770537, // 0.84731, 0.5311 + 0x3feb23cd470013b4, 0x3fe0f426bb2a8e7d, // 0.84812, 0.5298 + 0x3feb2a738eb51f33, 0x3fe0e97d078fd23b, // 0.84893, 0.5285 + 0x3feb3115a5f37bf4, 0x3fe0ded0b84bc4b5, // 0.84974, 0.5272 + 0x3feb37b38bb54c09, 0x3fe0d421cf03c12b, // 0.85055, 0.5259 + 0x3feb3e4d3ef55712, 0x3fe0c9704d5d898f, // 0.85136, 0.52459 + 0x3feb44e2beaf0a61, 0x3fe0bebc34ff4646, // 0.85216, 0.52328 + 0x3feb4b7409de7925, 0x3fe0b405878f85ec, // 0.85296, 0.52198 + 0x3feb52011f805c92, 0x3fe0a94c46b53d0b, // 0.85376, 0.52067 + 0x3feb5889fe921405, 0x3fe09e907417c5e1, // 0.85456, 0.51936 + 0x3feb5f0ea611a532, 0x3fe093d2115ee018, // 0.85535, 0.51804 + 0x3feb658f14fdbc47, 0x3fe089112032b08c, // 0.85615, 0.51673 + 0x3feb6c0b4a55ac17, 0x3fe07e4da23bc102, // 0.85694, 0.51542 + 0x3feb728345196e3e, 0x3fe073879922ffed, // 0.85773, 0.5141 + 0x3feb78f70449a34b, 0x3fe068bf0691c028, // 0.85852, 0.51279 + 0x3feb7f6686e792ea, 0x3fe05df3ec31b8b6, // 0.8593, 0.51147 + 0x3feb85d1cbf52c02, 0x3fe053264bad0483, // 0.86009, 0.51015 + 0x3feb8c38d27504e9, 0x3fe0485626ae221a, // 0.86087, 0.50883 + 0x3feb929b996a5b7f, 0x3fe03d837edff370, // 0.86165, 0.50751 + 0x3feb98fa1fd9155e, 0x3fe032ae55edbd95, // 0.86242, 0.50619 + 0x3feb9f5464c5bffc, 0x3fe027d6ad83287e, // 0.8632, 0.50486 + 0x3feba5aa673590d2, 0x3fe01cfc874c3eb7, // 0.86397, 0.50354 + 0x3febabfc262e6586, 0x3fe0121fe4f56d2c, // 0.86474, 0.50221 + 0x3febb249a0b6c40d, 0x3fe00740c82b82e0, // 0.86551, 0.50089 + 0x3febb892d5d5dad5, 0x3fdff8be6537615e, // 0.86628, 0.49956 + 0x3febbed7c49380ea, 0x3fdfe2f64be7120f, // 0.86705, 0.49823 + 0x3febc5186bf8361d, 0x3fdfcd2947c1ff57, // 0.86781, 0.4969 + 0x3febcb54cb0d2327, 0x3fdfb7575c24d2de, // 0.86857, 0.49557 + 0x3febd18ce0dc19d6, 0x3fdfa1808c6cf7e0, // 0.86933, 0.49423 + 0x3febd7c0ac6f952a, 0x3fdf8ba4dbf89aba, // 0.87009, 0.4929 + 0x3febddf02cd2b983, 0x3fdf75c44e26a852, // 0.87084, 0.49156 + 0x3febe41b611154c1, 0x3fdf5fdee656cda3, // 0.8716, 0.49023 + 0x3febea424837de6d, 0x3fdf49f4a7e97729, // 0.87235, 0.48889 + 0x3febf064e15377dd, 0x3fdf3405963fd068, // 0.87309, 0.48755 + 0x3febf6832b71ec5b, 0x3fdf1e11b4bbc35c, // 0.87384, 0.48621 + 0x3febfc9d25a1b147, 0x3fdf081906bff7fd, // 0.87459, 0.48487 + 0x3fec02b2cef1e641, 0x3fdef21b8fafd3b5, // 0.87533, 0.48353 + 0x3fec08c426725549, 0x3fdedc1952ef78d5, // 0.87607, 0.48218 + 0x3fec0ed12b3372e9, 0x3fdec61253e3c61b, // 0.87681, 0.48084 + 0x3fec14d9dc465e58, 0x3fdeb00695f25620, // 0.87755, 0.47949 + 0x3fec1ade38bce19b, 0x3fde99f61c817eda, // 0.87828, 0.47815 + 0x3fec20de3fa971b0, 0x3fde83e0eaf85113, // 0.87901, 0.4768 + 0x3fec26d9f01f2eaf, 0x3fde6dc704be97e2, // 0.87974, 0.47545 + 0x3fec2cd14931e3f1, 0x3fde57a86d3cd824, // 0.88047, 0.4741 + 0x3fec32c449f60831, 0x3fde418527dc4ffa, // 0.8812, 0.47275 + 0x3fec38b2f180bdb1, 0x3fde2b5d3806f63b, // 0.88192, 0.4714 + 0x3fec3e9d3ee7d262, 0x3fde1530a12779f4, // 0.88264, 0.47004 + 0x3fec44833141c004, 0x3fddfeff66a941de, // 0.88336, 0.46869 + 0x3fec4a64c7a5ac4c, 0x3fdde8c98bf86bd6, // 0.88408, 0.46733 + 0x3fec5042012b6907, 0x3fddd28f1481cc58, // 0.8848, 0.46598 + 0x3fec561adceb743e, 0x3fddbc5003b2edf8, // 0.88551, 0.46462 + 0x3fec5bef59fef85a, 0x3fdda60c5cfa10d8, // 0.88622, 0.46326 + 0x3fec61bf777fcc48, 0x3fdd8fc423c62a25, // 0.88693, 0.4619 + 0x3fec678b3488739b, 0x3fdd79775b86e389, // 0.88764, 0.46054 + 0x3fec6d5290341eb2, 0x3fdd632607ac9aa9, // 0.88835, 0.45918 + 0x3fec7315899eaad7, 0x3fdd4cd02ba8609c, // 0.88905, 0.45781 + 0x3fec78d41fe4a267, 0x3fdd3675caebf962, // 0.88975, 0.45645 + 0x3fec7e8e52233cf3, 0x3fdd2016e8e9db5b, // 0.89045, 0.45508 + 0x3fec84441f785f61, 0x3fdd09b389152ec1, // 0.89115, 0.45372 + 0x3fec89f587029c13, 0x3fdcf34baee1cd21, // 0.89184, 0.45235 + 0x3fec8fa287e13305, 0x3fdcdcdf5dc440ce, // 0.89253, 0.45098 + 0x3fec954b213411f5, 0x3fdcc66e9931c45d, // 0.89322, 0.44961 + 0x3fec9aef521bd480, 0x3fdcaff964a0421d, // 0.89391, 0.44824 + 0x3feca08f19b9c449, 0x3fdc997fc3865388, // 0.8946, 0.44687 + 0x3feca62a772fd919, 0x3fdc8301b95b40c2, // 0.89528, 0.4455 + 0x3fecabc169a0b901, 0x3fdc6c7f4997000a, // 0.89597, 0.44412 + 0x3fecb153f02fb87d, 0x3fdc55f877b23537, // 0.89665, 0.44275 + 0x3fecb6e20a00da99, 0x3fdc3f6d47263129, // 0.89732, 0.44137 + 0x3fecbc6bb638d10b, 0x3fdc28ddbb6cf145, // 0.898, 0.43999 + 0x3fecc1f0f3fcfc5c, 0x3fdc1249d8011ee7, // 0.89867, 0.43862 + 0x3fecc771c2736c09, 0x3fdbfbb1a05e0edc, // 0.89935, 0.43724 + 0x3fecccee20c2de9f, 0x3fdbe51517ffc0d9, // 0.90002, 0.43586 + 0x3fecd2660e12c1e6, 0x3fdbce744262deee, // 0.90068, 0.43448 + 0x3fecd7d9898b32f6, 0x3fdbb7cf2304bd01, // 0.90135, 0.43309 + 0x3fecdd489254fe65, 0x3fdba125bd63583e, // 0.90201, 0.43171 + 0x3fece2b32799a060, 0x3fdb8a7814fd5693, // 0.90267, 0.43033 + 0x3fece819488344ce, 0x3fdb73c62d520624, // 0.90333, 0.42894 + 0x3feced7af43cc773, 0x3fdb5d1009e15cc0, // 0.90399, 0.42756 + 0x3fecf2d829f1b40e, 0x3fdb4655ae2bf757, // 0.90464, 0.42617 + 0x3fecf830e8ce467b, 0x3fdb2f971db31972, // 0.9053, 0.42478 + 0x3fecfd852fff6ad4, 0x3fdb18d45bf8aca6, // 0.90595, 0.42339 + 0x3fed02d4feb2bd92, 0x3fdb020d6c7f4009, // 0.9066, 0.422 + 0x3fed082054168bac, 0x3fdaeb4252ca07ab, // 0.90724, 0.42061 + 0x3fed0d672f59d2b9, 0x3fdad473125cdc08, // 0.90789, 0.41922 + 0x3fed12a98fac410c, 0x3fdabd9faebc3980, // 0.90853, 0.41782 + 0x3fed17e7743e35dc, 0x3fdaa6c82b6d3fc9, // 0.90917, 0.41643 + 0x3fed1d20dc40c15c, 0x3fda8fec8bf5b166, // 0.90981, 0.41503 + 0x3fed2255c6e5a4e1, 0x3fda790cd3dbf31a, // 0.91044, 0.41364 + 0x3fed2786335f52fc, 0x3fda622906a70b63, // 0.91107, 0.41224 + 0x3fed2cb220e0ef9f, 0x3fda4b4127dea1e4, // 0.91171, 0.41084 + 0x3fed31d98e9e503a, 0x3fda34553b0afee5, // 0.91234, 0.40944 + 0x3fed36fc7bcbfbdc, 0x3fda1d6543b50ac0, // 0.91296, 0.40804 + 0x3fed3c1ae79f2b4e, 0x3fda067145664d57, // 0.91359, 0.40664 + 0x3fed4134d14dc93a, 0x3fd9ef7943a8ed8a, // 0.91421, 0.40524 + 0x3fed464a380e7242, 0x3fd9d87d4207b0ab, // 0.91483, 0.40384 + 0x3fed4b5b1b187524, 0x3fd9c17d440df9f2, // 0.91545, 0.40243 + 0x3fed506779a3d2d9, 0x3fd9aa794d47c9ee, // 0.91606, 0.40103 + 0x3fed556f52e93eb1, 0x3fd993716141bdfe, // 0.91668, 0.39962 + 0x3fed5a72a6221e73, 0x3fd97c6583890fc2, // 0.91729, 0.39822 + 0x3fed5f7172888a7f, 0x3fd96555b7ab948f, // 0.9179, 0.39681 + 0x3fed646bb7574de5, 0x3fd94e420137bce3, // 0.91851, 0.3954 + 0x3fed696173c9e68b, 0x3fd9372a63bc93d7, // 0.91911, 0.39399 + 0x3fed6e52a71c8547, 0x3fd9200ee2c9be97, // 0.91972, 0.39258 + 0x3fed733f508c0dff, 0x3fd908ef81ef7bd1, // 0.92032, 0.39117 + 0x3fed78276f5617c6, 0x3fd8f1cc44bea329, // 0.92092, 0.38976 + 0x3fed7d0b02b8ecf9, 0x3fd8daa52ec8a4af, // 0.92151, 0.38835 + 0x3fed81ea09f38b63, 0x3fd8c37a439f884f, // 0.92211, 0.38693 + 0x3fed86c48445a450, 0x3fd8ac4b86d5ed44, // 0.9227, 0.38552 + 0x3fed8b9a70ef9cb4, 0x3fd89518fbff098e, // 0.92329, 0.3841 + 0x3fed906bcf328d46, 0x3fd87de2a6aea963, // 0.92388, 0.38268 + 0x3fed95389e50429b, 0x3fd866a88a792ea0, // 0.92447, 0.38127 + 0x3fed9a00dd8b3d46, 0x3fd84f6aaaf3903f, // 0.92505, 0.37985 + 0x3fed9ec48c26b1f3, 0x3fd838290bb359c8, // 0.92563, 0.37843 + 0x3feda383a9668988, 0x3fd820e3b04eaac4, // 0.92621, 0.37701 + 0x3feda83e348f613b, 0x3fd8099a9c5c362d, // 0.92679, 0.37559 + 0x3fedacf42ce68ab9, 0x3fd7f24dd37341e3, // 0.92736, 0.37416 + 0x3fedb1a591b20c38, 0x3fd7dafd592ba621, // 0.92794, 0.37274 + 0x3fedb6526238a09b, 0x3fd7c3a9311dcce7, // 0.92851, 0.37132 + 0x3fedbafa9dc1b78d, 0x3fd7ac515ee2b172, // 0.92907, 0.36989 + 0x3fedbf9e4395759a, 0x3fd794f5e613dfae, // 0.92964, 0.36847 + 0x3fedc43d52fcb453, 0x3fd77d96ca4b73a6, // 0.93021, 0.36704 + 0x3fedc8d7cb410260, 0x3fd766340f2418f6, // 0.93077, 0.36561 + 0x3fedcd6dabaca3a5, 0x3fd74ecdb8390a3e, // 0.93133, 0.36418 + 0x3fedd1fef38a915a, 0x3fd73763c9261092, // 0.93188, 0.36276 + 0x3fedd68ba2267a25, 0x3fd71ff6458782ec, // 0.93244, 0.36133 + 0x3feddb13b6ccc23d, 0x3fd7088530fa459e, // 0.93299, 0.3599 + 0x3feddf9730ca837b, 0x3fd6f1108f1bc9c5, // 0.93354, 0.35846 + 0x3fede4160f6d8d81, 0x3fd6d998638a0cb5, // 0.93409, 0.35703 + 0x3fede890520465ce, 0x3fd6c21cb1e39771, // 0.93464, 0.3556 + 0x3feded05f7de47da, 0x3fd6aa9d7dc77e16, // 0.93518, 0.35416 + 0x3fedf177004b2534, 0x3fd6931acad55f51, // 0.93573, 0.35273 + 0x3fedf5e36a9ba59c, 0x3fd67b949cad63ca, // 0.93627, 0.35129 + 0x3fedfa4b3621271d, 0x3fd6640af6f03d9e, // 0.9368, 0.34986 + 0x3fedfeae622dbe2b, 0x3fd64c7ddd3f27c6, // 0.93734, 0.34842 + 0x3fee030cee1435b8, 0x3fd634ed533be58e, // 0.93787, 0.34698 + 0x3fee0766d9280f54, 0x3fd61d595c88c203, // 0.9384, 0.34554 + 0x3fee0bbc22bd8349, 0x3fd605c1fcc88f63, // 0.93893, 0.3441 + 0x3fee100cca2980ac, 0x3fd5ee27379ea693, // 0.93946, 0.34266 + 0x3fee1458cec1ad83, 0x3fd5d68910aee686, // 0.93998, 0.34122 + 0x3fee18a02fdc66d9, 0x3fd5bee78b9db3b6, // 0.94051, 0.33978 + 0x3fee1ce2ecd0c0d8, 0x3fd5a742ac0ff78d, // 0.94103, 0.33833 + 0x3fee212104f686e5, 0x3fd58f9a75ab1fdd, // 0.94154, 0.33689 + 0x3fee255a77a63bb8, 0x3fd577eeec151e47, // 0.94206, 0.33545 + 0x3fee298f4439197a, 0x3fd5604012f467b4, // 0.94257, 0.334 + 0x3fee2dbf6a0911d9, 0x3fd5488dedeff3be, // 0.94308, 0.33255 + 0x3fee31eae870ce25, 0x3fd530d880af3c24, // 0.94359, 0.33111 + 0x3fee3611becbaf69, 0x3fd5191fceda3c35, // 0.9441, 0.32966 + 0x3fee3a33ec75ce85, 0x3fd50163dc197047, // 0.9446, 0.32821 + 0x3fee3e5170cbfc46, 0x3fd4e9a4ac15d520, // 0.94511, 0.32676 + 0x3fee426a4b2bc17e, 0x3fd4d1e24278e76a, // 0.94561, 0.32531 + 0x3fee467e7af35f23, 0x3fd4ba1ca2eca31c, // 0.94611, 0.32386 + 0x3fee4a8dff81ce5e, 0x3fd4a253d11b82f3, // 0.9466, 0.32241 + 0x3fee4e98d836c0af, 0x3fd48a87d0b07fd7, // 0.94709, 0.32096 + 0x3fee529f04729ffc, 0x3fd472b8a5571054, // 0.94759, 0.3195 + 0x3fee56a083968eb1, 0x3fd45ae652bb2800, // 0.94807, 0.31805 + 0x3fee5a9d550467d3, 0x3fd44310dc8936f0, // 0.94856, 0.31659 + 0x3fee5e95781ebf1c, 0x3fd42b38466e2928, // 0.94905, 0.31514 + 0x3fee6288ec48e112, 0x3fd4135c94176602, // 0.94953, 0.31368 + 0x3fee6677b0e6d31e, 0x3fd3fb7dc932cfa4, // 0.95001, 0.31222 + 0x3fee6a61c55d53a7, 0x3fd3e39be96ec271, // 0.95049, 0.31077 + 0x3fee6e472911da27, 0x3fd3cbb6f87a146e, // 0.95096, 0.30931 + 0x3fee7227db6a9744, 0x3fd3b3cefa0414b7, // 0.95144, 0.30785 + 0x3fee7603dbce74e9, 0x3fd39be3f1bc8aef, // 0.95191, 0.30639 + 0x3fee79db29a5165a, 0x3fd383f5e353b6aa, // 0.95238, 0.30493 + 0x3fee7dadc456d850, 0x3fd36c04d27a4edf, // 0.95284, 0.30347 + 0x3fee817bab4cd10d, 0x3fd35410c2e18152, // 0.95331, 0.30201 + 0x3fee8544ddf0d075, 0x3fd33c19b83af207, // 0.95377, 0.30054 + 0x3fee89095bad6025, 0x3fd3241fb638baaf, // 0.95423, 0.29908 + 0x3fee8cc923edc388, 0x3fd30c22c08d6a13, // 0.95469, 0.29762 + 0x3fee9084361df7f3, 0x3fd2f422daec0386, // 0.95514, 0.29615 + 0x3fee943a91aab4b4, 0x3fd2dc200907fe51, // 0.95559, 0.29469 + 0x3fee97ec36016b30, 0x3fd2c41a4e954520, // 0.95605, 0.29322 + 0x3fee9b99229046f8, 0x3fd2ac11af483572, // 0.95649, 0.29175 + 0x3fee9f4156c62dda, 0x3fd294062ed59f05, // 0.95694, 0.29028 + 0x3feea2e4d212c000, 0x3fd27bf7d0f2c346, // 0.95738, 0.28882 + 0x3feea68393e65800, 0x3fd263e6995554ba, // 0.95783, 0.28735 + 0x3feeaa1d9bb20af3, 0x3fd24bd28bb37672, // 0.95827, 0.28588 + 0x3feeadb2e8e7a88e, 0x3fd233bbabc3bb72, // 0.9587, 0.28441 + 0x3feeb1437af9bb34, 0x3fd21ba1fd3d2623, // 0.95914, 0.28294 + 0x3feeb4cf515b8811, 0x3fd2038583d727bd, // 0.95957, 0.28146 + 0x3feeb8566b810f2a, 0x3fd1eb6643499fbb, // 0.96, 0.27999 + 0x3feebbd8c8df0b74, 0x3fd1d3443f4cdb3d, // 0.96043, 0.27852 + 0x3feebf5668eaf2ef, 0x3fd1bb1f7b999480, // 0.96086, 0.27705 + 0x3feec2cf4b1af6b2, 0x3fd1a2f7fbe8f243, // 0.96128, 0.27557 + 0x3feec6436ee60309, 0x3fd18acdc3f4873a, // 0.9617, 0.2741 + 0x3feec9b2d3c3bf84, 0x3fd172a0d7765177, // 0.96212, 0.27262 + 0x3feecd1d792c8f10, 0x3fd15a713a28b9d9, // 0.96254, 0.27115 + 0x3feed0835e999009, 0x3fd1423eefc69378, // 0.96295, 0.26967 + 0x3feed3e483849c51, 0x3fd12a09fc0b1b12, // 0.96337, 0.26819 + 0x3feed740e7684963, 0x3fd111d262b1f677, // 0.96378, 0.26671 + 0x3feeda9889bfe86a, 0x3fd0f998277733f7, // 0.96418, 0.26523 + 0x3feeddeb6a078651, 0x3fd0e15b4e1749cd, // 0.96459, 0.26375 + 0x3feee13987bbebdc, 0x3fd0c91bda4f158d, // 0.96499, 0.26227 + 0x3feee482e25a9dbc, 0x3fd0b0d9cfdbdb90, // 0.96539, 0.26079 + 0x3feee7c77961dc9e, 0x3fd09895327b465e, // 0.96579, 0.25931 + 0x3feeeb074c50a544, 0x3fd0804e05eb661e, // 0.96619, 0.25783 + 0x3feeee425aa6b09a, 0x3fd068044deab002, // 0.96658, 0.25635 + 0x3feef178a3e473c2, 0x3fd04fb80e37fdae, // 0.96698, 0.25487 + 0x3feef4aa278b2032, 0x3fd037694a928cac, // 0.96737, 0.25338 + 0x3feef7d6e51ca3c0, 0x3fd01f1806b9fdd2, // 0.96775, 0.2519 + 0x3feefafedc1ba8b7, 0x3fd006c4466e54af, // 0.96814, 0.25041 + 0x3feefe220c0b95ec, 0x3fcfdcdc1adfedf8, // 0.96852, 0.24893 + 0x3fef014074708ed3, 0x3fcfac2abeff57ff, // 0.9689, 0.24744 + 0x3fef045a14cf738c, 0x3fcf7b7480bd3801, // 0.96928, 0.24596 + 0x3fef076eecade0fa, 0x3fcf4ab9679c9f5c, // 0.96966, 0.24447 + 0x3fef0a7efb9230d7, 0x3fcf19f97b215f1a, // 0.97003, 0.24298 + 0x3fef0d8a410379c5, 0x3fcee934c2d006c7, // 0.9704, 0.24149 + 0x3fef1090bc898f5f, 0x3fceb86b462de348, // 0.97077, 0.24 + 0x3fef13926dad024e, 0x3fce879d0cc0fdaf, // 0.97114, 0.23851 + 0x3fef168f53f7205d, 0x3fce56ca1e101a1b, // 0.9715, 0.23702 + 0x3fef19876ef1f486, 0x3fce25f281a2b684, // 0.97187, 0.23553 + 0x3fef1c7abe284708, 0x3fcdf5163f01099a, // 0.97223, 0.23404 + 0x3fef1f6941259d7a, 0x3fcdc4355db40195, // 0.97258, 0.23255 + 0x3fef2252f7763ada, 0x3fcd934fe5454311, // 0.97294, 0.23106 + 0x3fef2537e0a71f9f, 0x3fcd6265dd3f27e3, // 0.97329, 0.22957 + 0x3fef2817fc4609ce, 0x3fcd31774d2cbdee, // 0.97364, 0.22807 + 0x3fef2af349e17507, 0x3fcd00843c99c5f9, // 0.97399, 0.22658 + 0x3fef2dc9c9089a9d, 0x3fcccf8cb312b286, // 0.97434, 0.22508 + 0x3fef309b794b719f, 0x3fcc9e90b824a6a9, // 0.97468, 0.22359 + 0x3fef33685a3aaef0, 0x3fcc6d90535d74dc, // 0.97503, 0.22209 + 0x3fef36306b67c556, 0x3fcc3c8b8c4b9dd7, // 0.97536, 0.2206 + 0x3fef38f3ac64e589, 0x3fcc0b826a7e4f63, // 0.9757, 0.2191 + 0x3fef3bb21cc4fe47, 0x3fcbda74f5856330, // 0.97604, 0.2176 + 0x3fef3e6bbc1bbc65, 0x3fcba96334f15dad, // 0.97637, 0.21611 + 0x3fef412089fd8adc, 0x3fcb784d30536cda, // 0.9767, 0.21461 + 0x3fef43d085ff92dd, 0x3fcb4732ef3d6722, // 0.97703, 0.21311 + 0x3fef467bafb7bbe0, 0x3fcb16147941ca2a, // 0.97735, 0.21161 + 0x3fef492206bcabb4, 0x3fcae4f1d5f3b9ab, // 0.97768, 0.21011 + 0x3fef4bc38aa5c694, 0x3fcab3cb0ce6fe44, // 0.978, 0.20861 + 0x3fef4e603b0b2f2d, 0x3fca82a025b00451, // 0.97832, 0.20711 + 0x3fef50f81785c6b9, 0x3fca517127e3dabc, // 0.97863, 0.20561 + 0x3fef538b1faf2d07, 0x3fca203e1b1831da, // 0.97895, 0.20411 + 0x3fef56195321c090, 0x3fc9ef0706e35a35, // 0.97926, 0.20261 + 0x3fef58a2b1789e84, 0x3fc9bdcbf2dc4366, // 0.97957, 0.2011 + 0x3fef5b273a4fa2d9, 0x3fc98c8ce69a7aec, // 0.97988, 0.1996 + 0x3fef5da6ed43685d, 0x3fc95b49e9b62af9, // 0.98018, 0.1981 + 0x3fef6021c9f148c2, 0x3fc92a0303c8194f, // 0.98048, 0.19659 + 0x3fef6297cff75cb0, 0x3fc8f8b83c69a60a, // 0.98079, 0.19509 + 0x3fef6508fef47bd5, 0x3fc8c7699b34ca7e, // 0.98108, 0.19359 + 0x3fef677556883cee, 0x3fc8961727c41804, // 0.98138, 0.19208 + 0x3fef69dcd652f5de, 0x3fc864c0e9b2b6cf, // 0.98167, 0.19057 + 0x3fef6c3f7df5bbb7, 0x3fc83366e89c64c5, // 0.98196, 0.18907 + 0x3fef6e9d4d1262ca, 0x3fc802092c1d744b, // 0.98225, 0.18756 + 0x3fef70f6434b7eb7, 0x3fc7d0a7bbd2cb1b, // 0.98254, 0.18606 + 0x3fef734a60446279, 0x3fc79f429f59e11d, // 0.98282, 0.18455 + 0x3fef7599a3a12077, 0x3fc76dd9de50bf31, // 0.98311, 0.18304 + 0x3fef77e40d068a90, 0x3fc73c6d8055fe0a, // 0.98339, 0.18153 + 0x3fef7a299c1a322a, 0x3fc70afd8d08c4ff, // 0.98366, 0.18002 + 0x3fef7c6a50826840, 0x3fc6d98a0c08c8da, // 0.98394, 0.17851 + 0x3fef7ea629e63d6e, 0x3fc6a81304f64ab2, // 0.98421, 0.177 + 0x3fef80dd27ed8204, 0x3fc676987f7216b8, // 0.98448, 0.17549 + 0x3fef830f4a40c60c, 0x3fc6451a831d830d, // 0.98475, 0.17398 + 0x3fef853c9089595e, 0x3fc61399179a6e94, // 0.98501, 0.17247 + 0x3fef8764fa714ba9, 0x3fc5e214448b3fc6, // 0.98528, 0.17096 + 0x3fef898887a36c84, 0x3fc5b08c1192e381, // 0.98554, 0.16945 + 0x3fef8ba737cb4b78, 0x3fc57f008654cbde, // 0.9858, 0.16794 + 0x3fef8dc10a95380d, 0x3fc54d71aa74ef02, // 0.98605, 0.16643 + 0x3fef8fd5ffae41db, 0x3fc51bdf8597c5f2, // 0.98631, 0.16491 + 0x3fef91e616c43891, 0x3fc4ea4a1f624b61, // 0.98656, 0.1634 + 0x3fef93f14f85ac08, 0x3fc4b8b17f79fa88, // 0.98681, 0.16189 + 0x3fef95f7a9a1ec47, 0x3fc48715ad84cdf5, // 0.98706, 0.16037 + 0x3fef97f924c9099b, 0x3fc45576b1293e5a, // 0.9873, 0.15886 + 0x3fef99f5c0abd496, 0x3fc423d4920e4166, // 0.98754, 0.15734 + 0x3fef9bed7cfbde29, 0x3fc3f22f57db4893, // 0.98778, 0.15583 + 0x3fef9de0596b77a3, 0x3fc3c0870a383ff6, // 0.98802, 0.15431 + 0x3fef9fce55adb2c8, 0x3fc38edbb0cd8d14, // 0.98826, 0.1528 + 0x3fefa1b7717661d5, 0x3fc35d2d53440db2, // 0.98849, 0.15128 + 0x3fefa39bac7a1791, 0x3fc32b7bf94516a7, // 0.98872, 0.14976 + 0x3fefa57b066e2754, 0x3fc2f9c7aa7a72af, // 0.98895, 0.14825 + 0x3fefa7557f08a517, 0x3fc2c8106e8e613a, // 0.98918, 0.14673 + 0x3fefa92b1600657c, 0x3fc296564d2b953e, // 0.9894, 0.14521 + 0x3fefaafbcb0cfddc, 0x3fc264994dfd340a, // 0.98962, 0.1437 + 0x3fefacc79de6c44f, 0x3fc232d978aed413, // 0.98984, 0.14218 + 0x3fefae8e8e46cfbb, 0x3fc20116d4ec7bce, // 0.99006, 0.14066 + 0x3fefb0509be6f7db, 0x3fc1cf516a62a077, // 0.99027, 0.13914 + 0x3fefb20dc681d54d, 0x3fc19d8940be24e7, // 0.99049, 0.13762 + 0x3fefb3c60dd2c199, 0x3fc16bbe5fac5865, // 0.9907, 0.1361 + 0x3fefb5797195d741, 0x3fc139f0cedaf576, // 0.9909, 0.13458 + 0x3fefb727f187f1c7, 0x3fc1082095f820b0, // 0.99111, 0.13306 + 0x3fefb8d18d66adb7, 0x3fc0d64dbcb26786, // 0.99131, 0.13154 + 0x3fefba7644f068b5, 0x3fc0a4784ab8bf1d, // 0.99151, 0.13002 + 0x3fefbc1617e44186, 0x3fc072a047ba831d, // 0.99171, 0.1285 + 0x3fefbdb106021816, 0x3fc040c5bb67747e, // 0.99191, 0.12698 + 0x3fefbf470f0a8d88, 0x3fc00ee8ad6fb85b, // 0.9921, 0.12545 + 0x3fefc0d832bf043a, 0x3fbfba124b07ad85, // 0.99229, 0.12393 + 0x3fefc26470e19fd3, 0x3fbf564e56a9730e, // 0.99248, 0.12241 + 0x3fefc3ebc935454c, 0x3fbef2858d27561b, // 0.99267, 0.12089 + 0x3fefc56e3b7d9af6, 0x3fbe8eb7fde4aa3e, // 0.99285, 0.11937 + 0x3fefc6ebc77f0887, 0x3fbe2ae5b8457f77, // 0.99303, 0.11784 + 0x3fefc8646cfeb721, 0x3fbdc70ecbae9fc8, // 0.99321, 0.11632 + 0x3fefc9d82bc2915e, 0x3fbd633347858ce4, // 0.99339, 0.11479 + 0x3fefcb4703914354, 0x3fbcff533b307dc1, // 0.99356, 0.11327 + 0x3fefccb0f4323aa3, 0x3fbc9b6eb6165c42, // 0.99374, 0.11175 + 0x3fefce15fd6da67b, 0x3fbc3785c79ec2d5, // 0.99391, 0.11022 + 0x3fefcf761f0c77a3, 0x3fbbd3987f31fa0e, // 0.99407, 0.1087 + 0x3fefd0d158d86087, 0x3fbb6fa6ec38f64c, // 0.99424, 0.10717 + 0x3fefd227aa9bd53b, 0x3fbb0bb11e1d5559, // 0.9944, 0.10565 + 0x3fefd37914220b84, 0x3fbaa7b724495c04, // 0.99456, 0.10412 + 0x3fefd4c59536fae4, 0x3fba43b90e27f3c4, // 0.99472, 0.1026 + 0x3fefd60d2da75c9e, 0x3fb9dfb6eb24a85c, // 0.99488, 0.10107 + 0x3fefd74fdd40abbf, 0x3fb97bb0caaba56f, // 0.99503, 0.099544 + 0x3fefd88da3d12526, 0x3fb917a6bc29b42c, // 0.99518, 0.098017 + 0x3fefd9c68127c78c, 0x3fb8b398cf0c38e0, // 0.99533, 0.09649 + 0x3fefdafa7514538c, 0x3fb84f8712c130a0, // 0.99548, 0.094963 + 0x3fefdc297f674ba9, 0x3fb7eb7196b72ee4, // 0.99563, 0.093436 + 0x3fefdd539ff1f456, 0x3fb787586a5d5b21, // 0.99577, 0.091909 + 0x3fefde78d68653fd, 0x3fb7233b9d236e71, // 0.99591, 0.090381 + 0x3fefdf9922f73307, 0x3fb6bf1b3e79b129, // 0.99604, 0.088854 + 0x3fefe0b485181be3, 0x3fb65af75dd0f87b, // 0.99618, 0.087326 + 0x3fefe1cafcbd5b09, 0x3fb5f6d00a9aa419, // 0.99631, 0.085797 + 0x3fefe2dc89bbff08, 0x3fb592a554489bc8, // 0.99644, 0.084269 + 0x3fefe3e92be9d886, 0x3fb52e774a4d4d0a, // 0.99657, 0.08274 + 0x3fefe4f0e31d7a4a, 0x3fb4ca45fc1ba8b6, // 0.9967, 0.081211 + 0x3fefe5f3af2e3940, 0x3fb4661179272096, // 0.99682, 0.079682 + 0x3fefe6f18ff42c84, 0x3fb401d9d0e3a507, // 0.99694, 0.078153 + 0x3fefe7ea85482d60, 0x3fb39d9f12c5a299, // 0.99706, 0.076624 + 0x3fefe8de8f03d75c, 0x3fb339614e41ffa5, // 0.99718, 0.075094 + 0x3fefe9cdad01883a, 0x3fb2d52092ce19f6, // 0.99729, 0.073565 + 0x3fefeab7df1c6005, 0x3fb270dcefdfc45b, // 0.9974, 0.072035 + 0x3fefeb9d2530410f, 0x3fb20c9674ed444c, // 0.99751, 0.070505 + 0x3fefec7d7f19cffc, 0x3fb1a84d316d4f8a, // 0.99762, 0.068974 + 0x3fefed58ecb673c4, 0x3fb1440134d709b2, // 0.99772, 0.067444 + 0x3fefee2f6de455ba, 0x3fb0dfb28ea201e6, // 0.99783, 0.065913 + 0x3fefef0102826191, 0x3fb07b614e463064, // 0.99793, 0.064383 + 0x3fefefcdaa704562, 0x3fb0170d833bf421, // 0.99802, 0.062852 + 0x3feff095658e71ad, 0x3faf656e79f820e0, // 0.99812, 0.061321 + 0x3feff15833be1965, 0x3fae9cbd15ff5527, // 0.99821, 0.05979 + 0x3feff21614e131ed, 0x3fadd406f9808ec8, // 0.9983, 0.058258 + 0x3feff2cf08da7321, 0x3fad0b4c436f91d0, // 0.99839, 0.056727 + 0x3feff3830f8d575c, 0x3fac428d12c0d7e3, // 0.99848, 0.055195 + 0x3feff43228de1b77, 0x3fab79c986698b78, // 0.99856, 0.053664 + 0x3feff4dc54b1bed3, 0x3faab101bd5f8317, // 0.99864, 0.052132 + 0x3feff58192ee0358, 0x3fa9e835d6993c87, // 0.99872, 0.0506 + 0x3feff621e3796d7e, 0x3fa91f65f10dd814, // 0.9988, 0.049068 + 0x3feff6bd463b444d, 0x3fa856922bb513c1, // 0.99887, 0.047535 + 0x3feff753bb1b9164, 0x3fa78dbaa5874685, // 0.99894, 0.046003 + 0x3feff7e5420320f9, 0x3fa6c4df7d7d5b84, // 0.99901, 0.044471 + 0x3feff871dadb81df, 0x3fa5fc00d290cd43, // 0.99908, 0.042938 + 0x3feff8f9858f058b, 0x3fa5331ec3bba0eb, // 0.99914, 0.041406 + 0x3feff97c4208c014, 0x3fa46a396ff86179, // 0.9992, 0.039873 + 0x3feff9fa10348837, 0x3fa3a150f6421afc, // 0.99926, 0.03834 + 0x3feffa72effef75d, 0x3fa2d865759455cd, // 0.99932, 0.036807 + 0x3feffae6e1556998, 0x3fa20f770ceb11c6, // 0.99938, 0.035274 + 0x3feffb55e425fdae, 0x3fa14685db42c17e, // 0.99943, 0.033741 + 0x3feffbbff85f9515, 0x3fa07d91ff984580, // 0.99948, 0.032208 + 0x3feffc251df1d3f8, 0x3f9f693731d1cf01, // 0.99953, 0.030675 + 0x3feffc8554cd213a, 0x3f9dd7458c64ab39, // 0.99958, 0.029142 + 0x3feffce09ce2a679, 0x3f9c454f4ce53b1c, // 0.99962, 0.027608 + 0x3feffd36f624500c, 0x3f9ab354b1504fca, // 0.99966, 0.026075 + 0x3feffd886084cd0d, 0x3f992155f7a3667e, // 0.9997, 0.024541 + 0x3feffdd4dbf78f52, 0x3f978f535ddc9f03, // 0.99974, 0.023008 + 0x3feffe1c6870cb77, 0x3f95fd4d21fab226, // 0.99977, 0.021474 + 0x3feffe5f05e578db, 0x3f946b4381fce81c, // 0.9998, 0.01994 + 0x3feffe9cb44b51a1, 0x3f92d936bbe30efd, // 0.99983, 0.018407 + 0x3feffed57398d2b7, 0x3f9147270dad7132, // 0.99986, 0.016873 + 0x3fefff0943c53bd1, 0x3f8f6a296ab997ca, // 0.99988, 0.015339 + 0x3fefff3824c88f6f, 0x3f8c45ffe1e48ad9, // 0.9999, 0.013805 + 0x3fefff62169b92db, 0x3f8921d1fcdec784, // 0.99992, 0.012272 + 0x3fefff871937ce2f, 0x3f85fda037ac05e0, // 0.99994, 0.010738 + 0x3fefffa72c978c4f, 0x3f82d96b0e509703, // 0.99996, 0.0092038 + 0x3fefffc250b5daef, 0x3f7f6a65f9a2a3c5, // 0.99997, 0.0076698 + 0x3fefffd8858e8a92, 0x3f7921f0fe670071, // 0.99998, 0.0061359 + 0x3fefffe9cb1e2e8d, 0x3f72d97822f996bc, // 0.99999, 0.0046019 + 0x3feffff621621d02, 0x3f6921f8becca4ba, // 1, 0.003068 + 0x3feffffd88586ee6, 0x3f5921faaee6472d, // 1, 0.001534 + 0x3ff0000000000000, 0x0000000000000000, // 1, 0 + 0x3feffffd88586ee6, 0xbf5921faaee6472d, // 1, -0.001534 + 0x3feffff621621d02, 0xbf6921f8becca4ba, // 1, -0.003068 + 0x3fefffe9cb1e2e8d, 0xbf72d97822f996bc, // 0.99999,-0.0046019 + 0x3fefffd8858e8a92, 0xbf7921f0fe670071, // 0.99998,-0.0061359 + 0x3fefffc250b5daef, 0xbf7f6a65f9a2a3c5, // 0.99997,-0.0076698 + 0x3fefffa72c978c4f, 0xbf82d96b0e509703, // 0.99996,-0.0092038 + 0x3fefff871937ce2f, 0xbf85fda037ac05e0, // 0.99994, -0.010738 + 0x3fefff62169b92db, 0xbf8921d1fcdec784, // 0.99992, -0.012272 + 0x3fefff3824c88f6f, 0xbf8c45ffe1e48ad9, // 0.9999, -0.013805 + 0x3fefff0943c53bd1, 0xbf8f6a296ab997ca, // 0.99988, -0.015339 + 0x3feffed57398d2b7, 0xbf9147270dad7132, // 0.99986, -0.016873 + 0x3feffe9cb44b51a1, 0xbf92d936bbe30efd, // 0.99983, -0.018407 + 0x3feffe5f05e578db, 0xbf946b4381fce81c, // 0.9998, -0.01994 + 0x3feffe1c6870cb77, 0xbf95fd4d21fab226, // 0.99977, -0.021474 + 0x3feffdd4dbf78f52, 0xbf978f535ddc9f03, // 0.99974, -0.023008 + 0x3feffd886084cd0d, 0xbf992155f7a3667e, // 0.9997, -0.024541 + 0x3feffd36f624500c, 0xbf9ab354b1504fca, // 0.99966, -0.026075 + 0x3feffce09ce2a679, 0xbf9c454f4ce53b1c, // 0.99962, -0.027608 + 0x3feffc8554cd213a, 0xbf9dd7458c64ab39, // 0.99958, -0.029142 + 0x3feffc251df1d3f8, 0xbf9f693731d1cf01, // 0.99953, -0.030675 + 0x3feffbbff85f9515, 0xbfa07d91ff984580, // 0.99948, -0.032208 + 0x3feffb55e425fdae, 0xbfa14685db42c17e, // 0.99943, -0.033741 + 0x3feffae6e1556998, 0xbfa20f770ceb11c6, // 0.99938, -0.035274 + 0x3feffa72effef75d, 0xbfa2d865759455cd, // 0.99932, -0.036807 + 0x3feff9fa10348837, 0xbfa3a150f6421afc, // 0.99926, -0.03834 + 0x3feff97c4208c014, 0xbfa46a396ff86179, // 0.9992, -0.039873 + 0x3feff8f9858f058b, 0xbfa5331ec3bba0eb, // 0.99914, -0.041406 + 0x3feff871dadb81df, 0xbfa5fc00d290cd43, // 0.99908, -0.042938 + 0x3feff7e5420320f9, 0xbfa6c4df7d7d5b84, // 0.99901, -0.044471 + 0x3feff753bb1b9164, 0xbfa78dbaa5874685, // 0.99894, -0.046003 + 0x3feff6bd463b444d, 0xbfa856922bb513c1, // 0.99887, -0.047535 + 0x3feff621e3796d7e, 0xbfa91f65f10dd814, // 0.9988, -0.049068 + 0x3feff58192ee0358, 0xbfa9e835d6993c87, // 0.99872, -0.0506 + 0x3feff4dc54b1bed3, 0xbfaab101bd5f8317, // 0.99864, -0.052132 + 0x3feff43228de1b77, 0xbfab79c986698b78, // 0.99856, -0.053664 + 0x3feff3830f8d575c, 0xbfac428d12c0d7e3, // 0.99848, -0.055195 + 0x3feff2cf08da7321, 0xbfad0b4c436f91d0, // 0.99839, -0.056727 + 0x3feff21614e131ed, 0xbfadd406f9808ec8, // 0.9983, -0.058258 + 0x3feff15833be1965, 0xbfae9cbd15ff5527, // 0.99821, -0.05979 + 0x3feff095658e71ad, 0xbfaf656e79f820e0, // 0.99812, -0.061321 + 0x3fefefcdaa704562, 0xbfb0170d833bf421, // 0.99802, -0.062852 + 0x3fefef0102826191, 0xbfb07b614e463064, // 0.99793, -0.064383 + 0x3fefee2f6de455ba, 0xbfb0dfb28ea201e6, // 0.99783, -0.065913 + 0x3fefed58ecb673c4, 0xbfb1440134d709b2, // 0.99772, -0.067444 + 0x3fefec7d7f19cffc, 0xbfb1a84d316d4f8a, // 0.99762, -0.068974 + 0x3fefeb9d2530410f, 0xbfb20c9674ed444c, // 0.99751, -0.070505 + 0x3fefeab7df1c6005, 0xbfb270dcefdfc45b, // 0.9974, -0.072035 + 0x3fefe9cdad01883a, 0xbfb2d52092ce19f6, // 0.99729, -0.073565 + 0x3fefe8de8f03d75c, 0xbfb339614e41ffa5, // 0.99718, -0.075094 + 0x3fefe7ea85482d60, 0xbfb39d9f12c5a299, // 0.99706, -0.076624 + 0x3fefe6f18ff42c84, 0xbfb401d9d0e3a507, // 0.99694, -0.078153 + 0x3fefe5f3af2e3940, 0xbfb4661179272096, // 0.99682, -0.079682 + 0x3fefe4f0e31d7a4a, 0xbfb4ca45fc1ba8b6, // 0.9967, -0.081211 + 0x3fefe3e92be9d886, 0xbfb52e774a4d4d0a, // 0.99657, -0.08274 + 0x3fefe2dc89bbff08, 0xbfb592a554489bc8, // 0.99644, -0.084269 + 0x3fefe1cafcbd5b09, 0xbfb5f6d00a9aa419, // 0.99631, -0.085797 + 0x3fefe0b485181be3, 0xbfb65af75dd0f87b, // 0.99618, -0.087326 + 0x3fefdf9922f73307, 0xbfb6bf1b3e79b129, // 0.99604, -0.088854 + 0x3fefde78d68653fd, 0xbfb7233b9d236e71, // 0.99591, -0.090381 + 0x3fefdd539ff1f456, 0xbfb787586a5d5b21, // 0.99577, -0.091909 + 0x3fefdc297f674ba9, 0xbfb7eb7196b72ee4, // 0.99563, -0.093436 + 0x3fefdafa7514538c, 0xbfb84f8712c130a0, // 0.99548, -0.094963 + 0x3fefd9c68127c78c, 0xbfb8b398cf0c38e0, // 0.99533, -0.09649 + 0x3fefd88da3d12526, 0xbfb917a6bc29b42c, // 0.99518, -0.098017 + 0x3fefd74fdd40abbf, 0xbfb97bb0caaba56f, // 0.99503, -0.099544 + 0x3fefd60d2da75c9e, 0xbfb9dfb6eb24a85c, // 0.99488, -0.10107 + 0x3fefd4c59536fae4, 0xbfba43b90e27f3c4, // 0.99472, -0.1026 + 0x3fefd37914220b84, 0xbfbaa7b724495c04, // 0.99456, -0.10412 + 0x3fefd227aa9bd53b, 0xbfbb0bb11e1d5559, // 0.9944, -0.10565 + 0x3fefd0d158d86087, 0xbfbb6fa6ec38f64c, // 0.99424, -0.10717 + 0x3fefcf761f0c77a3, 0xbfbbd3987f31fa0e, // 0.99407, -0.1087 + 0x3fefce15fd6da67b, 0xbfbc3785c79ec2d5, // 0.99391, -0.11022 + 0x3fefccb0f4323aa3, 0xbfbc9b6eb6165c42, // 0.99374, -0.11175 + 0x3fefcb4703914354, 0xbfbcff533b307dc1, // 0.99356, -0.11327 + 0x3fefc9d82bc2915e, 0xbfbd633347858ce4, // 0.99339, -0.11479 + 0x3fefc8646cfeb721, 0xbfbdc70ecbae9fc8, // 0.99321, -0.11632 + 0x3fefc6ebc77f0887, 0xbfbe2ae5b8457f77, // 0.99303, -0.11784 + 0x3fefc56e3b7d9af6, 0xbfbe8eb7fde4aa3e, // 0.99285, -0.11937 + 0x3fefc3ebc935454c, 0xbfbef2858d27561b, // 0.99267, -0.12089 + 0x3fefc26470e19fd3, 0xbfbf564e56a9730e, // 0.99248, -0.12241 + 0x3fefc0d832bf043a, 0xbfbfba124b07ad85, // 0.99229, -0.12393 + 0x3fefbf470f0a8d88, 0xbfc00ee8ad6fb85b, // 0.9921, -0.12545 + 0x3fefbdb106021816, 0xbfc040c5bb67747e, // 0.99191, -0.12698 + 0x3fefbc1617e44186, 0xbfc072a047ba831d, // 0.99171, -0.1285 + 0x3fefba7644f068b5, 0xbfc0a4784ab8bf1d, // 0.99151, -0.13002 + 0x3fefb8d18d66adb7, 0xbfc0d64dbcb26786, // 0.99131, -0.13154 + 0x3fefb727f187f1c7, 0xbfc1082095f820b0, // 0.99111, -0.13306 + 0x3fefb5797195d741, 0xbfc139f0cedaf576, // 0.9909, -0.13458 + 0x3fefb3c60dd2c199, 0xbfc16bbe5fac5865, // 0.9907, -0.1361 + 0x3fefb20dc681d54d, 0xbfc19d8940be24e7, // 0.99049, -0.13762 + 0x3fefb0509be6f7db, 0xbfc1cf516a62a077, // 0.99027, -0.13914 + 0x3fefae8e8e46cfbb, 0xbfc20116d4ec7bce, // 0.99006, -0.14066 + 0x3fefacc79de6c44f, 0xbfc232d978aed413, // 0.98984, -0.14218 + 0x3fefaafbcb0cfddc, 0xbfc264994dfd340a, // 0.98962, -0.1437 + 0x3fefa92b1600657c, 0xbfc296564d2b953e, // 0.9894, -0.14521 + 0x3fefa7557f08a517, 0xbfc2c8106e8e613a, // 0.98918, -0.14673 + 0x3fefa57b066e2754, 0xbfc2f9c7aa7a72af, // 0.98895, -0.14825 + 0x3fefa39bac7a1791, 0xbfc32b7bf94516a7, // 0.98872, -0.14976 + 0x3fefa1b7717661d5, 0xbfc35d2d53440db2, // 0.98849, -0.15128 + 0x3fef9fce55adb2c8, 0xbfc38edbb0cd8d14, // 0.98826, -0.1528 + 0x3fef9de0596b77a3, 0xbfc3c0870a383ff6, // 0.98802, -0.15431 + 0x3fef9bed7cfbde29, 0xbfc3f22f57db4893, // 0.98778, -0.15583 + 0x3fef99f5c0abd496, 0xbfc423d4920e4166, // 0.98754, -0.15734 + 0x3fef97f924c9099b, 0xbfc45576b1293e5a, // 0.9873, -0.15886 + 0x3fef95f7a9a1ec47, 0xbfc48715ad84cdf5, // 0.98706, -0.16037 + 0x3fef93f14f85ac08, 0xbfc4b8b17f79fa88, // 0.98681, -0.16189 + 0x3fef91e616c43891, 0xbfc4ea4a1f624b61, // 0.98656, -0.1634 + 0x3fef8fd5ffae41db, 0xbfc51bdf8597c5f2, // 0.98631, -0.16491 + 0x3fef8dc10a95380d, 0xbfc54d71aa74ef02, // 0.98605, -0.16643 + 0x3fef8ba737cb4b78, 0xbfc57f008654cbde, // 0.9858, -0.16794 + 0x3fef898887a36c84, 0xbfc5b08c1192e381, // 0.98554, -0.16945 + 0x3fef8764fa714ba9, 0xbfc5e214448b3fc6, // 0.98528, -0.17096 + 0x3fef853c9089595e, 0xbfc61399179a6e94, // 0.98501, -0.17247 + 0x3fef830f4a40c60c, 0xbfc6451a831d830d, // 0.98475, -0.17398 + 0x3fef80dd27ed8204, 0xbfc676987f7216b8, // 0.98448, -0.17549 + 0x3fef7ea629e63d6e, 0xbfc6a81304f64ab2, // 0.98421, -0.177 + 0x3fef7c6a50826840, 0xbfc6d98a0c08c8da, // 0.98394, -0.17851 + 0x3fef7a299c1a322a, 0xbfc70afd8d08c4ff, // 0.98366, -0.18002 + 0x3fef77e40d068a90, 0xbfc73c6d8055fe0a, // 0.98339, -0.18153 + 0x3fef7599a3a12077, 0xbfc76dd9de50bf31, // 0.98311, -0.18304 + 0x3fef734a60446279, 0xbfc79f429f59e11d, // 0.98282, -0.18455 + 0x3fef70f6434b7eb7, 0xbfc7d0a7bbd2cb1b, // 0.98254, -0.18606 + 0x3fef6e9d4d1262ca, 0xbfc802092c1d744b, // 0.98225, -0.18756 + 0x3fef6c3f7df5bbb7, 0xbfc83366e89c64c5, // 0.98196, -0.18907 + 0x3fef69dcd652f5de, 0xbfc864c0e9b2b6cf, // 0.98167, -0.19057 + 0x3fef677556883cee, 0xbfc8961727c41804, // 0.98138, -0.19208 + 0x3fef6508fef47bd5, 0xbfc8c7699b34ca7e, // 0.98108, -0.19359 + 0x3fef6297cff75cb0, 0xbfc8f8b83c69a60a, // 0.98079, -0.19509 + 0x3fef6021c9f148c2, 0xbfc92a0303c8194f, // 0.98048, -0.19659 + 0x3fef5da6ed43685d, 0xbfc95b49e9b62af9, // 0.98018, -0.1981 + 0x3fef5b273a4fa2d9, 0xbfc98c8ce69a7aec, // 0.97988, -0.1996 + 0x3fef58a2b1789e84, 0xbfc9bdcbf2dc4366, // 0.97957, -0.2011 + 0x3fef56195321c090, 0xbfc9ef0706e35a35, // 0.97926, -0.20261 + 0x3fef538b1faf2d07, 0xbfca203e1b1831da, // 0.97895, -0.20411 + 0x3fef50f81785c6b9, 0xbfca517127e3dabc, // 0.97863, -0.20561 + 0x3fef4e603b0b2f2d, 0xbfca82a025b00451, // 0.97832, -0.20711 + 0x3fef4bc38aa5c694, 0xbfcab3cb0ce6fe44, // 0.978, -0.20861 + 0x3fef492206bcabb4, 0xbfcae4f1d5f3b9ab, // 0.97768, -0.21011 + 0x3fef467bafb7bbe0, 0xbfcb16147941ca2a, // 0.97735, -0.21161 + 0x3fef43d085ff92dd, 0xbfcb4732ef3d6722, // 0.97703, -0.21311 + 0x3fef412089fd8adc, 0xbfcb784d30536cda, // 0.9767, -0.21461 + 0x3fef3e6bbc1bbc65, 0xbfcba96334f15dad, // 0.97637, -0.21611 + 0x3fef3bb21cc4fe47, 0xbfcbda74f5856330, // 0.97604, -0.2176 + 0x3fef38f3ac64e589, 0xbfcc0b826a7e4f63, // 0.9757, -0.2191 + 0x3fef36306b67c556, 0xbfcc3c8b8c4b9dd7, // 0.97536, -0.2206 + 0x3fef33685a3aaef0, 0xbfcc6d90535d74dc, // 0.97503, -0.22209 + 0x3fef309b794b719f, 0xbfcc9e90b824a6a9, // 0.97468, -0.22359 + 0x3fef2dc9c9089a9d, 0xbfcccf8cb312b286, // 0.97434, -0.22508 + 0x3fef2af349e17507, 0xbfcd00843c99c5f9, // 0.97399, -0.22658 + 0x3fef2817fc4609ce, 0xbfcd31774d2cbdee, // 0.97364, -0.22807 + 0x3fef2537e0a71f9f, 0xbfcd6265dd3f27e3, // 0.97329, -0.22957 + 0x3fef2252f7763ada, 0xbfcd934fe5454311, // 0.97294, -0.23106 + 0x3fef1f6941259d7a, 0xbfcdc4355db40195, // 0.97258, -0.23255 + 0x3fef1c7abe284708, 0xbfcdf5163f01099a, // 0.97223, -0.23404 + 0x3fef19876ef1f486, 0xbfce25f281a2b684, // 0.97187, -0.23553 + 0x3fef168f53f7205d, 0xbfce56ca1e101a1b, // 0.9715, -0.23702 + 0x3fef13926dad024e, 0xbfce879d0cc0fdaf, // 0.97114, -0.23851 + 0x3fef1090bc898f5f, 0xbfceb86b462de348, // 0.97077, -0.24 + 0x3fef0d8a410379c5, 0xbfcee934c2d006c7, // 0.9704, -0.24149 + 0x3fef0a7efb9230d7, 0xbfcf19f97b215f1a, // 0.97003, -0.24298 + 0x3fef076eecade0fa, 0xbfcf4ab9679c9f5c, // 0.96966, -0.24447 + 0x3fef045a14cf738c, 0xbfcf7b7480bd3801, // 0.96928, -0.24596 + 0x3fef014074708ed3, 0xbfcfac2abeff57ff, // 0.9689, -0.24744 + 0x3feefe220c0b95ec, 0xbfcfdcdc1adfedf8, // 0.96852, -0.24893 + 0x3feefafedc1ba8b7, 0xbfd006c4466e54af, // 0.96814, -0.25041 + 0x3feef7d6e51ca3c0, 0xbfd01f1806b9fdd2, // 0.96775, -0.2519 + 0x3feef4aa278b2032, 0xbfd037694a928cac, // 0.96737, -0.25338 + 0x3feef178a3e473c2, 0xbfd04fb80e37fdae, // 0.96698, -0.25487 + 0x3feeee425aa6b09a, 0xbfd068044deab002, // 0.96658, -0.25635 + 0x3feeeb074c50a544, 0xbfd0804e05eb661e, // 0.96619, -0.25783 + 0x3feee7c77961dc9e, 0xbfd09895327b465e, // 0.96579, -0.25931 + 0x3feee482e25a9dbc, 0xbfd0b0d9cfdbdb90, // 0.96539, -0.26079 + 0x3feee13987bbebdc, 0xbfd0c91bda4f158d, // 0.96499, -0.26227 + 0x3feeddeb6a078651, 0xbfd0e15b4e1749cd, // 0.96459, -0.26375 + 0x3feeda9889bfe86a, 0xbfd0f998277733f7, // 0.96418, -0.26523 + 0x3feed740e7684963, 0xbfd111d262b1f677, // 0.96378, -0.26671 + 0x3feed3e483849c51, 0xbfd12a09fc0b1b12, // 0.96337, -0.26819 + 0x3feed0835e999009, 0xbfd1423eefc69378, // 0.96295, -0.26967 + 0x3feecd1d792c8f10, 0xbfd15a713a28b9d9, // 0.96254, -0.27115 + 0x3feec9b2d3c3bf84, 0xbfd172a0d7765177, // 0.96212, -0.27262 + 0x3feec6436ee60309, 0xbfd18acdc3f4873a, // 0.9617, -0.2741 + 0x3feec2cf4b1af6b2, 0xbfd1a2f7fbe8f243, // 0.96128, -0.27557 + 0x3feebf5668eaf2ef, 0xbfd1bb1f7b999480, // 0.96086, -0.27705 + 0x3feebbd8c8df0b74, 0xbfd1d3443f4cdb3d, // 0.96043, -0.27852 + 0x3feeb8566b810f2a, 0xbfd1eb6643499fbb, // 0.96, -0.27999 + 0x3feeb4cf515b8811, 0xbfd2038583d727bd, // 0.95957, -0.28146 + 0x3feeb1437af9bb34, 0xbfd21ba1fd3d2623, // 0.95914, -0.28294 + 0x3feeadb2e8e7a88e, 0xbfd233bbabc3bb72, // 0.9587, -0.28441 + 0x3feeaa1d9bb20af3, 0xbfd24bd28bb37672, // 0.95827, -0.28588 + 0x3feea68393e65800, 0xbfd263e6995554ba, // 0.95783, -0.28735 + 0x3feea2e4d212c000, 0xbfd27bf7d0f2c346, // 0.95738, -0.28882 + 0x3fee9f4156c62dda, 0xbfd294062ed59f05, // 0.95694, -0.29028 + 0x3fee9b99229046f8, 0xbfd2ac11af483572, // 0.95649, -0.29175 + 0x3fee97ec36016b30, 0xbfd2c41a4e954520, // 0.95605, -0.29322 + 0x3fee943a91aab4b4, 0xbfd2dc200907fe51, // 0.95559, -0.29469 + 0x3fee9084361df7f3, 0xbfd2f422daec0386, // 0.95514, -0.29615 + 0x3fee8cc923edc388, 0xbfd30c22c08d6a13, // 0.95469, -0.29762 + 0x3fee89095bad6025, 0xbfd3241fb638baaf, // 0.95423, -0.29908 + 0x3fee8544ddf0d075, 0xbfd33c19b83af207, // 0.95377, -0.30054 + 0x3fee817bab4cd10d, 0xbfd35410c2e18152, // 0.95331, -0.30201 + 0x3fee7dadc456d850, 0xbfd36c04d27a4edf, // 0.95284, -0.30347 + 0x3fee79db29a5165a, 0xbfd383f5e353b6aa, // 0.95238, -0.30493 + 0x3fee7603dbce74e9, 0xbfd39be3f1bc8aef, // 0.95191, -0.30639 + 0x3fee7227db6a9744, 0xbfd3b3cefa0414b7, // 0.95144, -0.30785 + 0x3fee6e472911da27, 0xbfd3cbb6f87a146e, // 0.95096, -0.30931 + 0x3fee6a61c55d53a7, 0xbfd3e39be96ec271, // 0.95049, -0.31077 + 0x3fee6677b0e6d31e, 0xbfd3fb7dc932cfa4, // 0.95001, -0.31222 + 0x3fee6288ec48e112, 0xbfd4135c94176602, // 0.94953, -0.31368 + 0x3fee5e95781ebf1c, 0xbfd42b38466e2928, // 0.94905, -0.31514 + 0x3fee5a9d550467d3, 0xbfd44310dc8936f0, // 0.94856, -0.31659 + 0x3fee56a083968eb1, 0xbfd45ae652bb2800, // 0.94807, -0.31805 + 0x3fee529f04729ffc, 0xbfd472b8a5571054, // 0.94759, -0.3195 + 0x3fee4e98d836c0af, 0xbfd48a87d0b07fd7, // 0.94709, -0.32096 + 0x3fee4a8dff81ce5e, 0xbfd4a253d11b82f3, // 0.9466, -0.32241 + 0x3fee467e7af35f23, 0xbfd4ba1ca2eca31c, // 0.94611, -0.32386 + 0x3fee426a4b2bc17e, 0xbfd4d1e24278e76a, // 0.94561, -0.32531 + 0x3fee3e5170cbfc46, 0xbfd4e9a4ac15d520, // 0.94511, -0.32676 + 0x3fee3a33ec75ce85, 0xbfd50163dc197047, // 0.9446, -0.32821 + 0x3fee3611becbaf69, 0xbfd5191fceda3c35, // 0.9441, -0.32966 + 0x3fee31eae870ce25, 0xbfd530d880af3c24, // 0.94359, -0.33111 + 0x3fee2dbf6a0911d9, 0xbfd5488dedeff3be, // 0.94308, -0.33255 + 0x3fee298f4439197a, 0xbfd5604012f467b4, // 0.94257, -0.334 + 0x3fee255a77a63bb8, 0xbfd577eeec151e47, // 0.94206, -0.33545 + 0x3fee212104f686e5, 0xbfd58f9a75ab1fdd, // 0.94154, -0.33689 + 0x3fee1ce2ecd0c0d8, 0xbfd5a742ac0ff78d, // 0.94103, -0.33833 + 0x3fee18a02fdc66d9, 0xbfd5bee78b9db3b6, // 0.94051, -0.33978 + 0x3fee1458cec1ad83, 0xbfd5d68910aee686, // 0.93998, -0.34122 + 0x3fee100cca2980ac, 0xbfd5ee27379ea693, // 0.93946, -0.34266 + 0x3fee0bbc22bd8349, 0xbfd605c1fcc88f63, // 0.93893, -0.3441 + 0x3fee0766d9280f54, 0xbfd61d595c88c203, // 0.9384, -0.34554 + 0x3fee030cee1435b8, 0xbfd634ed533be58e, // 0.93787, -0.34698 + 0x3fedfeae622dbe2b, 0xbfd64c7ddd3f27c6, // 0.93734, -0.34842 + 0x3fedfa4b3621271d, 0xbfd6640af6f03d9e, // 0.9368, -0.34986 + 0x3fedf5e36a9ba59c, 0xbfd67b949cad63ca, // 0.93627, -0.35129 + 0x3fedf177004b2534, 0xbfd6931acad55f51, // 0.93573, -0.35273 + 0x3feded05f7de47da, 0xbfd6aa9d7dc77e16, // 0.93518, -0.35416 + 0x3fede890520465ce, 0xbfd6c21cb1e39771, // 0.93464, -0.3556 + 0x3fede4160f6d8d81, 0xbfd6d998638a0cb5, // 0.93409, -0.35703 + 0x3feddf9730ca837b, 0xbfd6f1108f1bc9c5, // 0.93354, -0.35846 + 0x3feddb13b6ccc23d, 0xbfd7088530fa459e, // 0.93299, -0.3599 + 0x3fedd68ba2267a25, 0xbfd71ff6458782ec, // 0.93244, -0.36133 + 0x3fedd1fef38a915a, 0xbfd73763c9261092, // 0.93188, -0.36276 + 0x3fedcd6dabaca3a5, 0xbfd74ecdb8390a3e, // 0.93133, -0.36418 + 0x3fedc8d7cb410260, 0xbfd766340f2418f6, // 0.93077, -0.36561 + 0x3fedc43d52fcb453, 0xbfd77d96ca4b73a6, // 0.93021, -0.36704 + 0x3fedbf9e4395759a, 0xbfd794f5e613dfae, // 0.92964, -0.36847 + 0x3fedbafa9dc1b78d, 0xbfd7ac515ee2b172, // 0.92907, -0.36989 + 0x3fedb6526238a09b, 0xbfd7c3a9311dcce7, // 0.92851, -0.37132 + 0x3fedb1a591b20c38, 0xbfd7dafd592ba621, // 0.92794, -0.37274 + 0x3fedacf42ce68ab9, 0xbfd7f24dd37341e3, // 0.92736, -0.37416 + 0x3feda83e348f613b, 0xbfd8099a9c5c362d, // 0.92679, -0.37559 + 0x3feda383a9668988, 0xbfd820e3b04eaac4, // 0.92621, -0.37701 + 0x3fed9ec48c26b1f3, 0xbfd838290bb359c8, // 0.92563, -0.37843 + 0x3fed9a00dd8b3d46, 0xbfd84f6aaaf3903f, // 0.92505, -0.37985 + 0x3fed95389e50429b, 0xbfd866a88a792ea0, // 0.92447, -0.38127 + 0x3fed906bcf328d46, 0xbfd87de2a6aea963, // 0.92388, -0.38268 + 0x3fed8b9a70ef9cb4, 0xbfd89518fbff098e, // 0.92329, -0.3841 + 0x3fed86c48445a450, 0xbfd8ac4b86d5ed44, // 0.9227, -0.38552 + 0x3fed81ea09f38b63, 0xbfd8c37a439f884f, // 0.92211, -0.38693 + 0x3fed7d0b02b8ecf9, 0xbfd8daa52ec8a4af, // 0.92151, -0.38835 + 0x3fed78276f5617c6, 0xbfd8f1cc44bea329, // 0.92092, -0.38976 + 0x3fed733f508c0dff, 0xbfd908ef81ef7bd1, // 0.92032, -0.39117 + 0x3fed6e52a71c8547, 0xbfd9200ee2c9be97, // 0.91972, -0.39258 + 0x3fed696173c9e68b, 0xbfd9372a63bc93d7, // 0.91911, -0.39399 + 0x3fed646bb7574de5, 0xbfd94e420137bce3, // 0.91851, -0.3954 + 0x3fed5f7172888a7f, 0xbfd96555b7ab948f, // 0.9179, -0.39681 + 0x3fed5a72a6221e73, 0xbfd97c6583890fc2, // 0.91729, -0.39822 + 0x3fed556f52e93eb1, 0xbfd993716141bdfe, // 0.91668, -0.39962 + 0x3fed506779a3d2d9, 0xbfd9aa794d47c9ee, // 0.91606, -0.40103 + 0x3fed4b5b1b187524, 0xbfd9c17d440df9f2, // 0.91545, -0.40243 + 0x3fed464a380e7242, 0xbfd9d87d4207b0ab, // 0.91483, -0.40384 + 0x3fed4134d14dc93a, 0xbfd9ef7943a8ed8a, // 0.91421, -0.40524 + 0x3fed3c1ae79f2b4e, 0xbfda067145664d57, // 0.91359, -0.40664 + 0x3fed36fc7bcbfbdc, 0xbfda1d6543b50ac0, // 0.91296, -0.40804 + 0x3fed31d98e9e503a, 0xbfda34553b0afee5, // 0.91234, -0.40944 + 0x3fed2cb220e0ef9f, 0xbfda4b4127dea1e4, // 0.91171, -0.41084 + 0x3fed2786335f52fc, 0xbfda622906a70b63, // 0.91107, -0.41224 + 0x3fed2255c6e5a4e1, 0xbfda790cd3dbf31a, // 0.91044, -0.41364 + 0x3fed1d20dc40c15c, 0xbfda8fec8bf5b166, // 0.90981, -0.41503 + 0x3fed17e7743e35dc, 0xbfdaa6c82b6d3fc9, // 0.90917, -0.41643 + 0x3fed12a98fac410c, 0xbfdabd9faebc3980, // 0.90853, -0.41782 + 0x3fed0d672f59d2b9, 0xbfdad473125cdc08, // 0.90789, -0.41922 + 0x3fed082054168bac, 0xbfdaeb4252ca07ab, // 0.90724, -0.42061 + 0x3fed02d4feb2bd92, 0xbfdb020d6c7f4009, // 0.9066, -0.422 + 0x3fecfd852fff6ad4, 0xbfdb18d45bf8aca6, // 0.90595, -0.42339 + 0x3fecf830e8ce467b, 0xbfdb2f971db31972, // 0.9053, -0.42478 + 0x3fecf2d829f1b40e, 0xbfdb4655ae2bf757, // 0.90464, -0.42617 + 0x3feced7af43cc773, 0xbfdb5d1009e15cc0, // 0.90399, -0.42756 + 0x3fece819488344ce, 0xbfdb73c62d520624, // 0.90333, -0.42894 + 0x3fece2b32799a060, 0xbfdb8a7814fd5693, // 0.90267, -0.43033 + 0x3fecdd489254fe65, 0xbfdba125bd63583e, // 0.90201, -0.43171 + 0x3fecd7d9898b32f6, 0xbfdbb7cf2304bd01, // 0.90135, -0.43309 + 0x3fecd2660e12c1e6, 0xbfdbce744262deee, // 0.90068, -0.43448 + 0x3fecccee20c2de9f, 0xbfdbe51517ffc0d9, // 0.90002, -0.43586 + 0x3fecc771c2736c09, 0xbfdbfbb1a05e0edc, // 0.89935, -0.43724 + 0x3fecc1f0f3fcfc5c, 0xbfdc1249d8011ee7, // 0.89867, -0.43862 + 0x3fecbc6bb638d10b, 0xbfdc28ddbb6cf145, // 0.898, -0.43999 + 0x3fecb6e20a00da99, 0xbfdc3f6d47263129, // 0.89732, -0.44137 + 0x3fecb153f02fb87d, 0xbfdc55f877b23537, // 0.89665, -0.44275 + 0x3fecabc169a0b901, 0xbfdc6c7f4997000a, // 0.89597, -0.44412 + 0x3feca62a772fd919, 0xbfdc8301b95b40c2, // 0.89528, -0.4455 + 0x3feca08f19b9c449, 0xbfdc997fc3865388, // 0.8946, -0.44687 + 0x3fec9aef521bd480, 0xbfdcaff964a0421d, // 0.89391, -0.44824 + 0x3fec954b213411f5, 0xbfdcc66e9931c45d, // 0.89322, -0.44961 + 0x3fec8fa287e13305, 0xbfdcdcdf5dc440ce, // 0.89253, -0.45098 + 0x3fec89f587029c13, 0xbfdcf34baee1cd21, // 0.89184, -0.45235 + 0x3fec84441f785f61, 0xbfdd09b389152ec1, // 0.89115, -0.45372 + 0x3fec7e8e52233cf3, 0xbfdd2016e8e9db5b, // 0.89045, -0.45508 + 0x3fec78d41fe4a267, 0xbfdd3675caebf962, // 0.88975, -0.45645 + 0x3fec7315899eaad7, 0xbfdd4cd02ba8609c, // 0.88905, -0.45781 + 0x3fec6d5290341eb2, 0xbfdd632607ac9aa9, // 0.88835, -0.45918 + 0x3fec678b3488739b, 0xbfdd79775b86e389, // 0.88764, -0.46054 + 0x3fec61bf777fcc48, 0xbfdd8fc423c62a25, // 0.88693, -0.4619 + 0x3fec5bef59fef85a, 0xbfdda60c5cfa10d8, // 0.88622, -0.46326 + 0x3fec561adceb743e, 0xbfddbc5003b2edf8, // 0.88551, -0.46462 + 0x3fec5042012b6907, 0xbfddd28f1481cc58, // 0.8848, -0.46598 + 0x3fec4a64c7a5ac4c, 0xbfdde8c98bf86bd6, // 0.88408, -0.46733 + 0x3fec44833141c004, 0xbfddfeff66a941de, // 0.88336, -0.46869 + 0x3fec3e9d3ee7d262, 0xbfde1530a12779f4, // 0.88264, -0.47004 + 0x3fec38b2f180bdb1, 0xbfde2b5d3806f63b, // 0.88192, -0.4714 + 0x3fec32c449f60831, 0xbfde418527dc4ffa, // 0.8812, -0.47275 + 0x3fec2cd14931e3f1, 0xbfde57a86d3cd824, // 0.88047, -0.4741 + 0x3fec26d9f01f2eaf, 0xbfde6dc704be97e2, // 0.87974, -0.47545 + 0x3fec20de3fa971b0, 0xbfde83e0eaf85113, // 0.87901, -0.4768 + 0x3fec1ade38bce19b, 0xbfde99f61c817eda, // 0.87828, -0.47815 + 0x3fec14d9dc465e58, 0xbfdeb00695f25620, // 0.87755, -0.47949 + 0x3fec0ed12b3372e9, 0xbfdec61253e3c61b, // 0.87681, -0.48084 + 0x3fec08c426725549, 0xbfdedc1952ef78d5, // 0.87607, -0.48218 + 0x3fec02b2cef1e641, 0xbfdef21b8fafd3b5, // 0.87533, -0.48353 + 0x3febfc9d25a1b147, 0xbfdf081906bff7fd, // 0.87459, -0.48487 + 0x3febf6832b71ec5b, 0xbfdf1e11b4bbc35c, // 0.87384, -0.48621 + 0x3febf064e15377dd, 0xbfdf3405963fd068, // 0.87309, -0.48755 + 0x3febea424837de6d, 0xbfdf49f4a7e97729, // 0.87235, -0.48889 + 0x3febe41b611154c1, 0xbfdf5fdee656cda3, // 0.8716, -0.49023 + 0x3febddf02cd2b983, 0xbfdf75c44e26a852, // 0.87084, -0.49156 + 0x3febd7c0ac6f952a, 0xbfdf8ba4dbf89aba, // 0.87009, -0.4929 + 0x3febd18ce0dc19d6, 0xbfdfa1808c6cf7e0, // 0.86933, -0.49423 + 0x3febcb54cb0d2327, 0xbfdfb7575c24d2de, // 0.86857, -0.49557 + 0x3febc5186bf8361d, 0xbfdfcd2947c1ff57, // 0.86781, -0.4969 + 0x3febbed7c49380ea, 0xbfdfe2f64be7120f, // 0.86705, -0.49823 + 0x3febb892d5d5dad5, 0xbfdff8be6537615e, // 0.86628, -0.49956 + 0x3febb249a0b6c40d, 0xbfe00740c82b82e0, // 0.86551, -0.50089 + 0x3febabfc262e6586, 0xbfe0121fe4f56d2c, // 0.86474, -0.50221 + 0x3feba5aa673590d2, 0xbfe01cfc874c3eb7, // 0.86397, -0.50354 + 0x3feb9f5464c5bffc, 0xbfe027d6ad83287e, // 0.8632, -0.50486 + 0x3feb98fa1fd9155e, 0xbfe032ae55edbd95, // 0.86242, -0.50619 + 0x3feb929b996a5b7f, 0xbfe03d837edff370, // 0.86165, -0.50751 + 0x3feb8c38d27504e9, 0xbfe0485626ae221a, // 0.86087, -0.50883 + 0x3feb85d1cbf52c02, 0xbfe053264bad0483, // 0.86009, -0.51015 + 0x3feb7f6686e792ea, 0xbfe05df3ec31b8b6, // 0.8593, -0.51147 + 0x3feb78f70449a34b, 0xbfe068bf0691c028, // 0.85852, -0.51279 + 0x3feb728345196e3e, 0xbfe073879922ffed, // 0.85773, -0.5141 + 0x3feb6c0b4a55ac17, 0xbfe07e4da23bc102, // 0.85694, -0.51542 + 0x3feb658f14fdbc47, 0xbfe089112032b08c, // 0.85615, -0.51673 + 0x3feb5f0ea611a532, 0xbfe093d2115ee018, // 0.85535, -0.51804 + 0x3feb5889fe921405, 0xbfe09e907417c5e1, // 0.85456, -0.51936 + 0x3feb52011f805c92, 0xbfe0a94c46b53d0b, // 0.85376, -0.52067 + 0x3feb4b7409de7925, 0xbfe0b405878f85ec, // 0.85296, -0.52198 + 0x3feb44e2beaf0a61, 0xbfe0bebc34ff4646, // 0.85216, -0.52328 + 0x3feb3e4d3ef55712, 0xbfe0c9704d5d898f, // 0.85136, -0.52459 + 0x3feb37b38bb54c09, 0xbfe0d421cf03c12b, // 0.85055, -0.5259 + 0x3feb3115a5f37bf4, 0xbfe0ded0b84bc4b5, // 0.84974, -0.5272 + 0x3feb2a738eb51f33, 0xbfe0e97d078fd23b, // 0.84893, -0.5285 + 0x3feb23cd470013b4, 0xbfe0f426bb2a8e7d, // 0.84812, -0.5298 + 0x3feb1d22cfdadcc6, 0xbfe0fecdd1770537, // 0.84731, -0.5311 + 0x3feb16742a4ca2f5, 0xbfe1097248d0a956, // 0.84649, -0.5324 + 0x3feb0fc1575d33db, 0xbfe114141f935545, // 0.84567, -0.5337 + 0x3feb090a58150200, 0xbfe11eb3541b4b22, // 0.84485, -0.535 + 0x3feb024f2d7d24a9, 0xbfe1294fe4c5350a, // 0.84403, -0.53629 + 0x3feafb8fd89f57b6, 0xbfe133e9cfee254e, // 0.84321, -0.53759 + 0x3feaf4cc5a85fb73, 0xbfe13e8113f396c1, // 0.84238, -0.53888 + 0x3feaee04b43c1474, 0xbfe14915af336ceb, // 0.84155, -0.54017 + 0x3feae738e6cd4b67, 0xbfe153a7a00bf453, // 0.84073, -0.54146 + 0x3feae068f345ecef, 0xbfe15e36e4dbe2bc, // 0.83989, -0.54275 + 0x3fead994dab2e979, 0xbfe168c37c025764, // 0.83906, -0.54404 + 0x3fead2bc9e21d511, 0xbfe1734d63dedb49, // 0.83822, -0.54532 + 0x3feacbe03ea0e73b, 0xbfe17dd49ad16161, // 0.83739, -0.54661 + 0x3feac4ffbd3efac8, 0xbfe188591f3a46e5, // 0.83655, -0.54789 + 0x3feabe1b1b0b8dac, 0xbfe192daef7a5386, // 0.83571, -0.54918 + 0x3feab7325916c0d4, 0xbfe19d5a09f2b9b8, // 0.83486, -0.55046 + 0x3feab045787157ff, 0xbfe1a7d66d0516e6, // 0.83402, -0.55174 + 0x3feaa9547a2cb98e, 0xbfe1b250171373be, // 0.83317, -0.55302 + 0x3feaa25f5f5aee60, 0xbfe1bcc706804467, // 0.83232, -0.55429 + 0x3fea9b66290ea1a3, 0xbfe1c73b39ae68c8, // 0.83147, -0.55557 + 0x3fea9468d85b20ae, 0xbfe1d1acaf012cc2, // 0.83062, -0.55685 + 0x3fea8d676e545ad2, 0xbfe1dc1b64dc4872, // 0.82976, -0.55812 + 0x3fea8661ec0ee133, 0xbfe1e68759a3e074, // 0.8289, -0.55939 + 0x3fea7f58529fe69d, 0xbfe1f0f08bbc861b, // 0.82805, -0.56066 + 0x3fea784aa31d3f55, 0xbfe1fb56f98b37b8, // 0.82718, -0.56193 + 0x3fea7138de9d60f5, 0xbfe205baa17560d6, // 0.82632, -0.5632 + 0x3fea6a230637623b, 0xbfe2101b81e0da78, // 0.82546, -0.56447 + 0x3fea63091b02fae2, 0xbfe21a799933eb58, // 0.82459, -0.56573 + 0x3fea5beb1e188375, 0xbfe224d4e5d5482e, // 0.82372, -0.567 + 0x3fea54c91090f524, 0xbfe22f2d662c13e1, // 0.82285, -0.56826 + 0x3fea4da2f385e997, 0xbfe23983189fdfd5, // 0.82198, -0.56952 + 0x3fea4678c8119ac8, 0xbfe243d5fb98ac1f, // 0.8211, -0.57078 + 0x3fea3f4a8f4ee2d2, 0xbfe24e260d7ee7c9, // 0.82023, -0.57204 + 0x3fea38184a593bc6, 0xbfe258734cbb7110, // 0.81935, -0.5733 + 0x3fea30e1fa4cbf81, 0xbfe262bdb7b795a2, // 0.81847, -0.57455 + 0x3fea29a7a0462782, 0xbfe26d054cdd12df, // 0.81758, -0.57581 + 0x3fea22693d62ccb9, 0xbfe2774a0a961612, // 0.8167, -0.57706 + 0x3fea1b26d2c0a75e, 0xbfe2818bef4d3cba, // 0.81581, -0.57831 + 0x3fea13e0617e4ec7, 0xbfe28bcaf96d94ba, // 0.81493, -0.57956 + 0x3fea0c95eabaf937, 0xbfe2960727629ca8, // 0.81404, -0.58081 + 0x3fea05476f967bb5, 0xbfe2a040779843fb, // 0.81314, -0.58206 + 0x3fe9fdf4f13149de, 0xbfe2aa76e87aeb58, // 0.81225, -0.58331 + 0x3fe9f69e70ac75bc, 0xbfe2b4aa787764c4, // 0.81135, -0.58455 + 0x3fe9ef43ef29af94, 0xbfe2bedb25faf3ea, // 0.81046, -0.5858 + 0x3fe9e7e56dcb45bd, 0xbfe2c908ef734e57, // 0.80956, -0.58704 + 0x3fe9e082edb42472, 0xbfe2d333d34e9bb7, // 0.80866, -0.58828 + 0x3fe9d91c7007d5a6, 0xbfe2dd5bcffb7616, // 0.80775, -0.58952 + 0x3fe9d1b1f5ea80d6, 0xbfe2e780e3e8ea16, // 0.80685, -0.59076 + 0x3fe9ca438080eadb, 0xbfe2f1a30d86773a, // 0.80594, -0.592 + 0x3fe9c2d110f075c3, 0xbfe2fbc24b441015, // 0.80503, -0.59323 + 0x3fe9bb5aa85f2098, 0xbfe305de9b921a94, // 0.80412, -0.59447 + 0x3fe9b3e047f38741, 0xbfe30ff7fce17035, // 0.80321, -0.5957 + 0x3fe9ac61f0d4e247, 0xbfe31a0e6da35e44, // 0.80229, -0.59693 + 0x3fe9a4dfa42b06b2, 0xbfe32421ec49a620, // 0.80138, -0.59816 + 0x3fe99d59631e65d5, 0xbfe32e3277467d6b, // 0.80046, -0.59939 + 0x3fe995cf2ed80d22, 0xbfe338400d0c8e57, // 0.79954, -0.60062 + 0x3fe98e410881a600, 0xbfe3424aac0ef7d6, // 0.79861, -0.60184 + 0x3fe986aef1457594, 0xbfe34c5252c14de1, // 0.79769, -0.60307 + 0x3fe97f18ea4e5c9e, 0xbfe35656ff9799ae, // 0.79676, -0.60429 + 0x3fe9777ef4c7d742, 0xbfe36058b10659f3, // 0.79584, -0.60551 + 0x3fe96fe111ddfce0, 0xbfe36a576582831b, // 0.79491, -0.60673 + 0x3fe9683f42bd7fe1, 0xbfe374531b817f8d, // 0.79398, -0.60795 + 0x3fe960998893ad8c, 0xbfe37e4bd1792fe2, // 0.79304, -0.60917 + 0x3fe958efe48e6dd7, 0xbfe3884185dfeb22, // 0.79211, -0.61038 + 0x3fe9514257dc4335, 0xbfe39234372c7f04, // 0.79117, -0.6116 + 0x3fe94990e3ac4a6c, 0xbfe39c23e3d63029, // 0.79023, -0.61281 + 0x3fe941db892e3a65, 0xbfe3a6108a54ba58, // 0.78929, -0.61402 + 0x3fe93a22499263fc, 0xbfe3affa292050b9, // 0.78835, -0.61523 + 0x3fe932652609b1cf, 0xbfe3b9e0beb19e18, // 0.7874, -0.61644 + 0x3fe92aa41fc5a815, 0xbfe3c3c44981c517, // 0.78646, -0.61765 + 0x3fe922df37f8646a, 0xbfe3cda4c80a6076, // 0.78551, -0.61885 + 0x3fe91b166fd49da2, 0xbfe3d78238c58343, // 0.78456, -0.62006 + 0x3fe91349c88da398, 0xbfe3e15c9a2db922, // 0.7836, -0.62126 + 0x3fe90b7943575efe, 0xbfe3eb33eabe0680, // 0.78265, -0.62246 + 0x3fe903a4e1665133, 0xbfe3f50828f1e8d2, // 0.78169, -0.62366 + 0x3fe8fbcca3ef940d, 0xbfe3fed9534556d4, // 0.78074, -0.62486 + 0x3fe8f3f08c28d9ac, 0xbfe408a76834c0c0, // 0.77978, -0.62606 + 0x3fe8ec109b486c49, 0xbfe41272663d108c, // 0.77882, -0.62725 + 0x3fe8e42cd2852e0a, 0xbfe41c3a4bdbaa26, // 0.77785, -0.62845 + 0x3fe8dc45331698cc, 0xbfe425ff178e6bb1, // 0.77689, -0.62964 + 0x3fe8d459be34bdfa, 0xbfe42fc0c7d3adbb, // 0.77592, -0.63083 + 0x3fe8cc6a75184655, 0xbfe4397f5b2a4380, // 0.77495, -0.63202 + 0x3fe8c47758fa71cb, 0xbfe4433ad0117b1d, // 0.77398, -0.63321 + 0x3fe8bc806b151741, 0xbfe44cf325091dd6, // 0.77301, -0.63439 + 0x3fe8b485aca2a468, 0xbfe456a858917046, // 0.77204, -0.63558 + 0x3fe8ac871ede1d88, 0xbfe4605a692b32a2, // 0.77106, -0.63676 + 0x3fe8a484c3031d50, 0xbfe46a095557a0f1, // 0.77008, -0.63794 + 0x3fe89c7e9a4dd4ab, 0xbfe473b51b987347, // 0.7691, -0.63912 + 0x3fe89474a5fb0a84, 0xbfe47d5dba6fde01, // 0.76812, -0.6403 + 0x3fe88c66e7481ba1, 0xbfe48703306091fe, // 0.76714, -0.64148 + 0x3fe884555f72fa6b, 0xbfe490a57bedbcdf, // 0.76615, -0.64266 + 0x3fe87c400fba2ebf, 0xbfe49a449b9b0938, // 0.76517, -0.64383 + 0x3fe87426f95cd5bd, 0xbfe4a3e08dec9ed6, // 0.76418, -0.645 + 0x3fe86c0a1d9aa195, 0xbfe4ad79516722f0, // 0.76319, -0.64618 + 0x3fe863e97db3d95a, 0xbfe4b70ee48fb869, // 0.7622, -0.64735 + 0x3fe85bc51ae958cc, 0xbfe4c0a145ec0004, // 0.7612, -0.64851 + 0x3fe8539cf67c9029, 0xbfe4ca30740218a3, // 0.76021, -0.64968 + 0x3fe84b7111af83f9, 0xbfe4d3bc6d589f80, // 0.75921, -0.65085 + 0x3fe843416dc4cce2, 0xbfe4dd453076b064, // 0.75821, -0.65201 + 0x3fe83b0e0bff976e, 0xbfe4e6cabbe3e5e9, // 0.75721, -0.65317 + 0x3fe832d6eda3a3e0, 0xbfe4f04d0e2859aa, // 0.75621, -0.65433 + 0x3fe82a9c13f545ff, 0xbfe4f9cc25cca486, // 0.7552, -0.65549 + 0x3fe8225d803964e5, 0xbfe503480159ded2, // 0.75419, -0.65665 + 0x3fe81a1b33b57acc, 0xbfe50cc09f59a09b, // 0.75319, -0.65781 + 0x3fe811d52faf94dc, 0xbfe51635fe5601d7, // 0.75218, -0.65896 + 0x3fe8098b756e52fa, 0xbfe51fa81cd99aa6, // 0.75117, -0.66011 + 0x3fe8013e0638e795, 0xbfe52916f96f8388, // 0.75015, -0.66127 + 0x3fe7f8ece3571771, 0xbfe5328292a35596, // 0.74914, -0.66242 + 0x3fe7f0980e113978, 0xbfe53beae7012abe, // 0.74812, -0.66356 + 0x3fe7e83f87b03686, 0xbfe5454ff5159dfb, // 0.7471, -0.66471 + 0x3fe7dfe3517d8937, 0xbfe54eb1bb6dcb8f, // 0.74608, -0.66586 + 0x3fe7d7836cc33db2, 0xbfe5581038975137, // 0.74506, -0.667 + 0x3fe7cf1fdacbf179, 0xbfe5616b6b204e6e, // 0.74403, -0.66814 + 0x3fe7c6b89ce2d333, 0xbfe56ac35197649e, // 0.74301, -0.66928 + 0x3fe7be4db453a27c, 0xbfe57417ea8bb75c, // 0.74198, -0.67042 + 0x3fe7b5df226aafb0, 0xbfe57d69348cec9f, // 0.74095, -0.67156 + 0x3fe7ad6ce874dbb6, 0xbfe586b72e2b2cfd, // 0.73992, -0.67269 + 0x3fe7a4f707bf97d2, 0xbfe59001d5f723df, // 0.73889, -0.67383 + 0x3fe79c7d8198e56e, 0xbfe599492a81ffbc, // 0.73785, -0.67496 + 0x3fe79400574f55e4, 0xbfe5a28d2a5d7250, // 0.73682, -0.67609 + 0x3fe78b7f8a320a52, 0xbfe5abcdd41bb0d8, // 0.73578, -0.67722 + 0x3fe782fb1b90b35b, 0xbfe5b50b264f7448, // 0.73474, -0.67835 + 0x3fe77a730cbb9100, 0xbfe5be451f8bf980, // 0.7337, -0.67948 + 0x3fe771e75f037261, 0xbfe5c77bbe65018c, // 0.73265, -0.6806 + 0x3fe7695813b9b594, 0xbfe5d0af016ed1d4, // 0.73161, -0.68172 + 0x3fe760c52c304764, 0xbfe5d9dee73e345c, // 0.73056, -0.68285 + 0x3fe7582ea9b9a329, 0xbfe5e30b6e6877f3, // 0.72951, -0.68397 + 0x3fe74f948da8d28d, 0xbfe5ec3495837074, // 0.72846, -0.68508 + 0x3fe746f6d9516d59, 0xbfe5f55a5b2576f8, // 0.72741, -0.6862 + 0x3fe73e558e079942, 0xbfe5fe7cbde56a0f, // 0.72636, -0.68732 + 0x3fe735b0ad2009b2, 0xbfe6079bbc5aadfa, // 0.7253, -0.68843 + 0x3fe72d0837efff97, 0xbfe610b7551d2cde, // 0.72425, -0.68954 + 0x3fe7245c2fcd492a, 0xbfe619cf86c55702, // 0.72319, -0.69065 + 0x3fe71bac960e41bf, 0xbfe622e44fec22ff, // 0.72213, -0.69176 + 0x3fe712f96c09d18d, 0xbfe62bf5af2b0dfd, // 0.72107, -0.69287 + 0x3fe70a42b3176d7a, 0xbfe63503a31c1be8, // 0.72, -0.69397 + 0x3fe701886c8f16e6, 0xbfe63e0e2a59d7aa, // 0.71894, -0.69508 + 0x3fe6f8ca99c95b75, 0xbfe64715437f535b, // 0.71787, -0.69618 + 0x3fe6f0093c1f54de, 0xbfe65018ed28287f, // 0.7168, -0.69728 + 0x3fe6e74454eaa8ae, 0xbfe6591925f0783e, // 0.71573, -0.69838 + 0x3fe6de7be585881d, 0xbfe66215ec74eb91, // 0.71466, -0.69947 + 0x3fe6d5afef4aafcc, 0xbfe66b0f3f52b386, // 0.71358, -0.70057 + 0x3fe6cce07395679f, 0xbfe674051d27896c, // 0.71251, -0.70166 + 0x3fe6c40d73c18275, 0xbfe67cf78491af10, // 0.71143, -0.70275 + 0x3fe6bb36f12b5e06, 0xbfe685e6742feeef, // 0.71035, -0.70385 + 0x3fe6b25ced2fe29c, 0xbfe68ed1eaa19c71, // 0.70927, -0.70493 + 0x3fe6a97f692c82ea, 0xbfe697b9e686941c, // 0.70819, -0.70602 + 0x3fe6a09e667f3bcc, 0xbfe6a09e667f3bcc, // 0.70711, -0.70711 + 0x3fe697b9e686941c, 0xbfe6a97f692c82ea, // 0.70602, -0.70819 + 0x3fe68ed1eaa19c71, 0xbfe6b25ced2fe29c, // 0.70493, -0.70927 + 0x3fe685e6742feeef, 0xbfe6bb36f12b5e06, // 0.70385, -0.71035 + 0x3fe67cf78491af10, 0xbfe6c40d73c18275, // 0.70275, -0.71143 + 0x3fe674051d27896c, 0xbfe6cce07395679f, // 0.70166, -0.71251 + 0x3fe66b0f3f52b386, 0xbfe6d5afef4aafcc, // 0.70057, -0.71358 + 0x3fe66215ec74eb91, 0xbfe6de7be585881d, // 0.69947, -0.71466 + 0x3fe6591925f0783e, 0xbfe6e74454eaa8ae, // 0.69838, -0.71573 + 0x3fe65018ed28287f, 0xbfe6f0093c1f54de, // 0.69728, -0.7168 + 0x3fe64715437f535b, 0xbfe6f8ca99c95b75, // 0.69618, -0.71787 + 0x3fe63e0e2a59d7aa, 0xbfe701886c8f16e6, // 0.69508, -0.71894 + 0x3fe63503a31c1be8, 0xbfe70a42b3176d7a, // 0.69397, -0.72 + 0x3fe62bf5af2b0dfd, 0xbfe712f96c09d18d, // 0.69287, -0.72107 + 0x3fe622e44fec22ff, 0xbfe71bac960e41bf, // 0.69176, -0.72213 + 0x3fe619cf86c55702, 0xbfe7245c2fcd492a, // 0.69065, -0.72319 + 0x3fe610b7551d2cde, 0xbfe72d0837efff97, // 0.68954, -0.72425 + 0x3fe6079bbc5aadfa, 0xbfe735b0ad2009b2, // 0.68843, -0.7253 + 0x3fe5fe7cbde56a0f, 0xbfe73e558e079942, // 0.68732, -0.72636 + 0x3fe5f55a5b2576f8, 0xbfe746f6d9516d59, // 0.6862, -0.72741 + 0x3fe5ec3495837074, 0xbfe74f948da8d28d, // 0.68508, -0.72846 + 0x3fe5e30b6e6877f3, 0xbfe7582ea9b9a329, // 0.68397, -0.72951 + 0x3fe5d9dee73e345c, 0xbfe760c52c304764, // 0.68285, -0.73056 + 0x3fe5d0af016ed1d4, 0xbfe7695813b9b594, // 0.68172, -0.73161 + 0x3fe5c77bbe65018c, 0xbfe771e75f037261, // 0.6806, -0.73265 + 0x3fe5be451f8bf980, 0xbfe77a730cbb9100, // 0.67948, -0.7337 + 0x3fe5b50b264f7448, 0xbfe782fb1b90b35b, // 0.67835, -0.73474 + 0x3fe5abcdd41bb0d8, 0xbfe78b7f8a320a52, // 0.67722, -0.73578 + 0x3fe5a28d2a5d7250, 0xbfe79400574f55e4, // 0.67609, -0.73682 + 0x3fe599492a81ffbc, 0xbfe79c7d8198e56e, // 0.67496, -0.73785 + 0x3fe59001d5f723df, 0xbfe7a4f707bf97d2, // 0.67383, -0.73889 + 0x3fe586b72e2b2cfd, 0xbfe7ad6ce874dbb6, // 0.67269, -0.73992 + 0x3fe57d69348cec9f, 0xbfe7b5df226aafb0, // 0.67156, -0.74095 + 0x3fe57417ea8bb75c, 0xbfe7be4db453a27c, // 0.67042, -0.74198 + 0x3fe56ac35197649e, 0xbfe7c6b89ce2d333, // 0.66928, -0.74301 + 0x3fe5616b6b204e6e, 0xbfe7cf1fdacbf179, // 0.66814, -0.74403 + 0x3fe5581038975137, 0xbfe7d7836cc33db2, // 0.667, -0.74506 + 0x3fe54eb1bb6dcb8f, 0xbfe7dfe3517d8937, // 0.66586, -0.74608 + 0x3fe5454ff5159dfb, 0xbfe7e83f87b03686, // 0.66471, -0.7471 + 0x3fe53beae7012abe, 0xbfe7f0980e113978, // 0.66356, -0.74812 + 0x3fe5328292a35596, 0xbfe7f8ece3571771, // 0.66242, -0.74914 + 0x3fe52916f96f8388, 0xbfe8013e0638e795, // 0.66127, -0.75015 + 0x3fe51fa81cd99aa6, 0xbfe8098b756e52fa, // 0.66011, -0.75117 + 0x3fe51635fe5601d7, 0xbfe811d52faf94dc, // 0.65896, -0.75218 + 0x3fe50cc09f59a09b, 0xbfe81a1b33b57acc, // 0.65781, -0.75319 + 0x3fe503480159ded2, 0xbfe8225d803964e5, // 0.65665, -0.75419 + 0x3fe4f9cc25cca486, 0xbfe82a9c13f545ff, // 0.65549, -0.7552 + 0x3fe4f04d0e2859aa, 0xbfe832d6eda3a3e0, // 0.65433, -0.75621 + 0x3fe4e6cabbe3e5e9, 0xbfe83b0e0bff976e, // 0.65317, -0.75721 + 0x3fe4dd453076b064, 0xbfe843416dc4cce2, // 0.65201, -0.75821 + 0x3fe4d3bc6d589f80, 0xbfe84b7111af83f9, // 0.65085, -0.75921 + 0x3fe4ca30740218a3, 0xbfe8539cf67c9029, // 0.64968, -0.76021 + 0x3fe4c0a145ec0004, 0xbfe85bc51ae958cc, // 0.64851, -0.7612 + 0x3fe4b70ee48fb869, 0xbfe863e97db3d95a, // 0.64735, -0.7622 + 0x3fe4ad79516722f0, 0xbfe86c0a1d9aa195, // 0.64618, -0.76319 + 0x3fe4a3e08dec9ed6, 0xbfe87426f95cd5bd, // 0.645, -0.76418 + 0x3fe49a449b9b0938, 0xbfe87c400fba2ebf, // 0.64383, -0.76517 + 0x3fe490a57bedbcdf, 0xbfe884555f72fa6b, // 0.64266, -0.76615 + 0x3fe48703306091fe, 0xbfe88c66e7481ba1, // 0.64148, -0.76714 + 0x3fe47d5dba6fde01, 0xbfe89474a5fb0a84, // 0.6403, -0.76812 + 0x3fe473b51b987347, 0xbfe89c7e9a4dd4ab, // 0.63912, -0.7691 + 0x3fe46a095557a0f1, 0xbfe8a484c3031d50, // 0.63794, -0.77008 + 0x3fe4605a692b32a2, 0xbfe8ac871ede1d88, // 0.63676, -0.77106 + 0x3fe456a858917046, 0xbfe8b485aca2a468, // 0.63558, -0.77204 + 0x3fe44cf325091dd6, 0xbfe8bc806b151741, // 0.63439, -0.77301 + 0x3fe4433ad0117b1d, 0xbfe8c47758fa71cb, // 0.63321, -0.77398 + 0x3fe4397f5b2a4380, 0xbfe8cc6a75184655, // 0.63202, -0.77495 + 0x3fe42fc0c7d3adbb, 0xbfe8d459be34bdfa, // 0.63083, -0.77592 + 0x3fe425ff178e6bb1, 0xbfe8dc45331698cc, // 0.62964, -0.77689 + 0x3fe41c3a4bdbaa26, 0xbfe8e42cd2852e0a, // 0.62845, -0.77785 + 0x3fe41272663d108c, 0xbfe8ec109b486c49, // 0.62725, -0.77882 + 0x3fe408a76834c0c0, 0xbfe8f3f08c28d9ac, // 0.62606, -0.77978 + 0x3fe3fed9534556d4, 0xbfe8fbcca3ef940d, // 0.62486, -0.78074 + 0x3fe3f50828f1e8d2, 0xbfe903a4e1665133, // 0.62366, -0.78169 + 0x3fe3eb33eabe0680, 0xbfe90b7943575efe, // 0.62246, -0.78265 + 0x3fe3e15c9a2db922, 0xbfe91349c88da398, // 0.62126, -0.7836 + 0x3fe3d78238c58343, 0xbfe91b166fd49da2, // 0.62006, -0.78456 + 0x3fe3cda4c80a6076, 0xbfe922df37f8646a, // 0.61885, -0.78551 + 0x3fe3c3c44981c517, 0xbfe92aa41fc5a815, // 0.61765, -0.78646 + 0x3fe3b9e0beb19e18, 0xbfe932652609b1cf, // 0.61644, -0.7874 + 0x3fe3affa292050b9, 0xbfe93a22499263fc, // 0.61523, -0.78835 + 0x3fe3a6108a54ba58, 0xbfe941db892e3a65, // 0.61402, -0.78929 + 0x3fe39c23e3d63029, 0xbfe94990e3ac4a6c, // 0.61281, -0.79023 + 0x3fe39234372c7f04, 0xbfe9514257dc4335, // 0.6116, -0.79117 + 0x3fe3884185dfeb22, 0xbfe958efe48e6dd7, // 0.61038, -0.79211 + 0x3fe37e4bd1792fe2, 0xbfe960998893ad8c, // 0.60917, -0.79304 + 0x3fe374531b817f8d, 0xbfe9683f42bd7fe1, // 0.60795, -0.79398 + 0x3fe36a576582831b, 0xbfe96fe111ddfce0, // 0.60673, -0.79491 + 0x3fe36058b10659f3, 0xbfe9777ef4c7d742, // 0.60551, -0.79584 + 0x3fe35656ff9799ae, 0xbfe97f18ea4e5c9e, // 0.60429, -0.79676 + 0x3fe34c5252c14de1, 0xbfe986aef1457594, // 0.60307, -0.79769 + 0x3fe3424aac0ef7d6, 0xbfe98e410881a600, // 0.60184, -0.79861 + 0x3fe338400d0c8e57, 0xbfe995cf2ed80d22, // 0.60062, -0.79954 + 0x3fe32e3277467d6b, 0xbfe99d59631e65d5, // 0.59939, -0.80046 + 0x3fe32421ec49a620, 0xbfe9a4dfa42b06b2, // 0.59816, -0.80138 + 0x3fe31a0e6da35e44, 0xbfe9ac61f0d4e247, // 0.59693, -0.80229 + 0x3fe30ff7fce17035, 0xbfe9b3e047f38741, // 0.5957, -0.80321 + 0x3fe305de9b921a94, 0xbfe9bb5aa85f2098, // 0.59447, -0.80412 + 0x3fe2fbc24b441015, 0xbfe9c2d110f075c3, // 0.59323, -0.80503 + 0x3fe2f1a30d86773a, 0xbfe9ca438080eadb, // 0.592, -0.80594 + 0x3fe2e780e3e8ea16, 0xbfe9d1b1f5ea80d6, // 0.59076, -0.80685 + 0x3fe2dd5bcffb7616, 0xbfe9d91c7007d5a6, // 0.58952, -0.80775 + 0x3fe2d333d34e9bb7, 0xbfe9e082edb42472, // 0.58828, -0.80866 + 0x3fe2c908ef734e57, 0xbfe9e7e56dcb45bd, // 0.58704, -0.80956 + 0x3fe2bedb25faf3ea, 0xbfe9ef43ef29af94, // 0.5858, -0.81046 + 0x3fe2b4aa787764c4, 0xbfe9f69e70ac75bc, // 0.58455, -0.81135 + 0x3fe2aa76e87aeb58, 0xbfe9fdf4f13149de, // 0.58331, -0.81225 + 0x3fe2a040779843fb, 0xbfea05476f967bb5, // 0.58206, -0.81314 + 0x3fe2960727629ca8, 0xbfea0c95eabaf937, // 0.58081, -0.81404 + 0x3fe28bcaf96d94ba, 0xbfea13e0617e4ec7, // 0.57956, -0.81493 + 0x3fe2818bef4d3cba, 0xbfea1b26d2c0a75e, // 0.57831, -0.81581 + 0x3fe2774a0a961612, 0xbfea22693d62ccb9, // 0.57706, -0.8167 + 0x3fe26d054cdd12df, 0xbfea29a7a0462782, // 0.57581, -0.81758 + 0x3fe262bdb7b795a2, 0xbfea30e1fa4cbf81, // 0.57455, -0.81847 + 0x3fe258734cbb7110, 0xbfea38184a593bc6, // 0.5733, -0.81935 + 0x3fe24e260d7ee7c9, 0xbfea3f4a8f4ee2d2, // 0.57204, -0.82023 + 0x3fe243d5fb98ac1f, 0xbfea4678c8119ac8, // 0.57078, -0.8211 + 0x3fe23983189fdfd5, 0xbfea4da2f385e997, // 0.56952, -0.82198 + 0x3fe22f2d662c13e1, 0xbfea54c91090f524, // 0.56826, -0.82285 + 0x3fe224d4e5d5482e, 0xbfea5beb1e188375, // 0.567, -0.82372 + 0x3fe21a799933eb58, 0xbfea63091b02fae2, // 0.56573, -0.82459 + 0x3fe2101b81e0da78, 0xbfea6a230637623b, // 0.56447, -0.82546 + 0x3fe205baa17560d6, 0xbfea7138de9d60f5, // 0.5632, -0.82632 + 0x3fe1fb56f98b37b8, 0xbfea784aa31d3f55, // 0.56193, -0.82718 + 0x3fe1f0f08bbc861b, 0xbfea7f58529fe69d, // 0.56066, -0.82805 + 0x3fe1e68759a3e074, 0xbfea8661ec0ee133, // 0.55939, -0.8289 + 0x3fe1dc1b64dc4872, 0xbfea8d676e545ad2, // 0.55812, -0.82976 + 0x3fe1d1acaf012cc2, 0xbfea9468d85b20ae, // 0.55685, -0.83062 + 0x3fe1c73b39ae68c8, 0xbfea9b66290ea1a3, // 0.55557, -0.83147 + 0x3fe1bcc706804467, 0xbfeaa25f5f5aee60, // 0.55429, -0.83232 + 0x3fe1b250171373be, 0xbfeaa9547a2cb98e, // 0.55302, -0.83317 + 0x3fe1a7d66d0516e6, 0xbfeab045787157ff, // 0.55174, -0.83402 + 0x3fe19d5a09f2b9b8, 0xbfeab7325916c0d4, // 0.55046, -0.83486 + 0x3fe192daef7a5386, 0xbfeabe1b1b0b8dac, // 0.54918, -0.83571 + 0x3fe188591f3a46e5, 0xbfeac4ffbd3efac8, // 0.54789, -0.83655 + 0x3fe17dd49ad16161, 0xbfeacbe03ea0e73b, // 0.54661, -0.83739 + 0x3fe1734d63dedb49, 0xbfead2bc9e21d511, // 0.54532, -0.83822 + 0x3fe168c37c025764, 0xbfead994dab2e979, // 0.54404, -0.83906 + 0x3fe15e36e4dbe2bc, 0xbfeae068f345ecef, // 0.54275, -0.83989 + 0x3fe153a7a00bf453, 0xbfeae738e6cd4b67, // 0.54146, -0.84073 + 0x3fe14915af336ceb, 0xbfeaee04b43c1474, // 0.54017, -0.84155 + 0x3fe13e8113f396c1, 0xbfeaf4cc5a85fb73, // 0.53888, -0.84238 + 0x3fe133e9cfee254e, 0xbfeafb8fd89f57b6, // 0.53759, -0.84321 + 0x3fe1294fe4c5350a, 0xbfeb024f2d7d24a9, // 0.53629, -0.84403 + 0x3fe11eb3541b4b22, 0xbfeb090a58150200, // 0.535, -0.84485 + 0x3fe114141f935545, 0xbfeb0fc1575d33db, // 0.5337, -0.84567 + 0x3fe1097248d0a956, 0xbfeb16742a4ca2f5, // 0.5324, -0.84649 + 0x3fe0fecdd1770537, 0xbfeb1d22cfdadcc6, // 0.5311, -0.84731 + 0x3fe0f426bb2a8e7d, 0xbfeb23cd470013b4, // 0.5298, -0.84812 + 0x3fe0e97d078fd23b, 0xbfeb2a738eb51f33, // 0.5285, -0.84893 + 0x3fe0ded0b84bc4b5, 0xbfeb3115a5f37bf4, // 0.5272, -0.84974 + 0x3fe0d421cf03c12b, 0xbfeb37b38bb54c09, // 0.5259, -0.85055 + 0x3fe0c9704d5d898f, 0xbfeb3e4d3ef55712, // 0.52459, -0.85136 + 0x3fe0bebc34ff4646, 0xbfeb44e2beaf0a61, // 0.52328, -0.85216 + 0x3fe0b405878f85ec, 0xbfeb4b7409de7925, // 0.52198, -0.85296 + 0x3fe0a94c46b53d0b, 0xbfeb52011f805c92, // 0.52067, -0.85376 + 0x3fe09e907417c5e1, 0xbfeb5889fe921405, // 0.51936, -0.85456 + 0x3fe093d2115ee018, 0xbfeb5f0ea611a532, // 0.51804, -0.85535 + 0x3fe089112032b08c, 0xbfeb658f14fdbc47, // 0.51673, -0.85615 + 0x3fe07e4da23bc102, 0xbfeb6c0b4a55ac17, // 0.51542, -0.85694 + 0x3fe073879922ffed, 0xbfeb728345196e3e, // 0.5141, -0.85773 + 0x3fe068bf0691c028, 0xbfeb78f70449a34b, // 0.51279, -0.85852 + 0x3fe05df3ec31b8b6, 0xbfeb7f6686e792ea, // 0.51147, -0.8593 + 0x3fe053264bad0483, 0xbfeb85d1cbf52c02, // 0.51015, -0.86009 + 0x3fe0485626ae221a, 0xbfeb8c38d27504e9, // 0.50883, -0.86087 + 0x3fe03d837edff370, 0xbfeb929b996a5b7f, // 0.50751, -0.86165 + 0x3fe032ae55edbd95, 0xbfeb98fa1fd9155e, // 0.50619, -0.86242 + 0x3fe027d6ad83287e, 0xbfeb9f5464c5bffc, // 0.50486, -0.8632 + 0x3fe01cfc874c3eb7, 0xbfeba5aa673590d2, // 0.50354, -0.86397 + 0x3fe0121fe4f56d2c, 0xbfebabfc262e6586, // 0.50221, -0.86474 + 0x3fe00740c82b82e0, 0xbfebb249a0b6c40d, // 0.50089, -0.86551 + 0x3fdff8be6537615e, 0xbfebb892d5d5dad5, // 0.49956, -0.86628 + 0x3fdfe2f64be7120f, 0xbfebbed7c49380ea, // 0.49823, -0.86705 + 0x3fdfcd2947c1ff57, 0xbfebc5186bf8361d, // 0.4969, -0.86781 + 0x3fdfb7575c24d2de, 0xbfebcb54cb0d2327, // 0.49557, -0.86857 + 0x3fdfa1808c6cf7e0, 0xbfebd18ce0dc19d6, // 0.49423, -0.86933 + 0x3fdf8ba4dbf89aba, 0xbfebd7c0ac6f952a, // 0.4929, -0.87009 + 0x3fdf75c44e26a852, 0xbfebddf02cd2b983, // 0.49156, -0.87084 + 0x3fdf5fdee656cda3, 0xbfebe41b611154c1, // 0.49023, -0.8716 + 0x3fdf49f4a7e97729, 0xbfebea424837de6d, // 0.48889, -0.87235 + 0x3fdf3405963fd068, 0xbfebf064e15377dd, // 0.48755, -0.87309 + 0x3fdf1e11b4bbc35c, 0xbfebf6832b71ec5b, // 0.48621, -0.87384 + 0x3fdf081906bff7fd, 0xbfebfc9d25a1b147, // 0.48487, -0.87459 + 0x3fdef21b8fafd3b5, 0xbfec02b2cef1e641, // 0.48353, -0.87533 + 0x3fdedc1952ef78d5, 0xbfec08c426725549, // 0.48218, -0.87607 + 0x3fdec61253e3c61b, 0xbfec0ed12b3372e9, // 0.48084, -0.87681 + 0x3fdeb00695f25620, 0xbfec14d9dc465e58, // 0.47949, -0.87755 + 0x3fde99f61c817eda, 0xbfec1ade38bce19b, // 0.47815, -0.87828 + 0x3fde83e0eaf85113, 0xbfec20de3fa971b0, // 0.4768, -0.87901 + 0x3fde6dc704be97e2, 0xbfec26d9f01f2eaf, // 0.47545, -0.87974 + 0x3fde57a86d3cd824, 0xbfec2cd14931e3f1, // 0.4741, -0.88047 + 0x3fde418527dc4ffa, 0xbfec32c449f60831, // 0.47275, -0.8812 + 0x3fde2b5d3806f63b, 0xbfec38b2f180bdb1, // 0.4714, -0.88192 + 0x3fde1530a12779f4, 0xbfec3e9d3ee7d262, // 0.47004, -0.88264 + 0x3fddfeff66a941de, 0xbfec44833141c004, // 0.46869, -0.88336 + 0x3fdde8c98bf86bd6, 0xbfec4a64c7a5ac4c, // 0.46733, -0.88408 + 0x3fddd28f1481cc58, 0xbfec5042012b6907, // 0.46598, -0.8848 + 0x3fddbc5003b2edf8, 0xbfec561adceb743e, // 0.46462, -0.88551 + 0x3fdda60c5cfa10d8, 0xbfec5bef59fef85a, // 0.46326, -0.88622 + 0x3fdd8fc423c62a25, 0xbfec61bf777fcc48, // 0.4619, -0.88693 + 0x3fdd79775b86e389, 0xbfec678b3488739b, // 0.46054, -0.88764 + 0x3fdd632607ac9aa9, 0xbfec6d5290341eb2, // 0.45918, -0.88835 + 0x3fdd4cd02ba8609c, 0xbfec7315899eaad7, // 0.45781, -0.88905 + 0x3fdd3675caebf962, 0xbfec78d41fe4a267, // 0.45645, -0.88975 + 0x3fdd2016e8e9db5b, 0xbfec7e8e52233cf3, // 0.45508, -0.89045 + 0x3fdd09b389152ec1, 0xbfec84441f785f61, // 0.45372, -0.89115 + 0x3fdcf34baee1cd21, 0xbfec89f587029c13, // 0.45235, -0.89184 + 0x3fdcdcdf5dc440ce, 0xbfec8fa287e13305, // 0.45098, -0.89253 + 0x3fdcc66e9931c45d, 0xbfec954b213411f5, // 0.44961, -0.89322 + 0x3fdcaff964a0421d, 0xbfec9aef521bd480, // 0.44824, -0.89391 + 0x3fdc997fc3865388, 0xbfeca08f19b9c449, // 0.44687, -0.8946 + 0x3fdc8301b95b40c2, 0xbfeca62a772fd919, // 0.4455, -0.89528 + 0x3fdc6c7f4997000a, 0xbfecabc169a0b901, // 0.44412, -0.89597 + 0x3fdc55f877b23537, 0xbfecb153f02fb87d, // 0.44275, -0.89665 + 0x3fdc3f6d47263129, 0xbfecb6e20a00da99, // 0.44137, -0.89732 + 0x3fdc28ddbb6cf145, 0xbfecbc6bb638d10b, // 0.43999, -0.898 + 0x3fdc1249d8011ee7, 0xbfecc1f0f3fcfc5c, // 0.43862, -0.89867 + 0x3fdbfbb1a05e0edc, 0xbfecc771c2736c09, // 0.43724, -0.89935 + 0x3fdbe51517ffc0d9, 0xbfecccee20c2de9f, // 0.43586, -0.90002 + 0x3fdbce744262deee, 0xbfecd2660e12c1e6, // 0.43448, -0.90068 + 0x3fdbb7cf2304bd01, 0xbfecd7d9898b32f6, // 0.43309, -0.90135 + 0x3fdba125bd63583e, 0xbfecdd489254fe65, // 0.43171, -0.90201 + 0x3fdb8a7814fd5693, 0xbfece2b32799a060, // 0.43033, -0.90267 + 0x3fdb73c62d520624, 0xbfece819488344ce, // 0.42894, -0.90333 + 0x3fdb5d1009e15cc0, 0xbfeced7af43cc773, // 0.42756, -0.90399 + 0x3fdb4655ae2bf757, 0xbfecf2d829f1b40e, // 0.42617, -0.90464 + 0x3fdb2f971db31972, 0xbfecf830e8ce467b, // 0.42478, -0.9053 + 0x3fdb18d45bf8aca6, 0xbfecfd852fff6ad4, // 0.42339, -0.90595 + 0x3fdb020d6c7f4009, 0xbfed02d4feb2bd92, // 0.422, -0.9066 + 0x3fdaeb4252ca07ab, 0xbfed082054168bac, // 0.42061, -0.90724 + 0x3fdad473125cdc08, 0xbfed0d672f59d2b9, // 0.41922, -0.90789 + 0x3fdabd9faebc3980, 0xbfed12a98fac410c, // 0.41782, -0.90853 + 0x3fdaa6c82b6d3fc9, 0xbfed17e7743e35dc, // 0.41643, -0.90917 + 0x3fda8fec8bf5b166, 0xbfed1d20dc40c15c, // 0.41503, -0.90981 + 0x3fda790cd3dbf31a, 0xbfed2255c6e5a4e1, // 0.41364, -0.91044 + 0x3fda622906a70b63, 0xbfed2786335f52fc, // 0.41224, -0.91107 + 0x3fda4b4127dea1e4, 0xbfed2cb220e0ef9f, // 0.41084, -0.91171 + 0x3fda34553b0afee5, 0xbfed31d98e9e503a, // 0.40944, -0.91234 + 0x3fda1d6543b50ac0, 0xbfed36fc7bcbfbdc, // 0.40804, -0.91296 + 0x3fda067145664d57, 0xbfed3c1ae79f2b4e, // 0.40664, -0.91359 + 0x3fd9ef7943a8ed8a, 0xbfed4134d14dc93a, // 0.40524, -0.91421 + 0x3fd9d87d4207b0ab, 0xbfed464a380e7242, // 0.40384, -0.91483 + 0x3fd9c17d440df9f2, 0xbfed4b5b1b187524, // 0.40243, -0.91545 + 0x3fd9aa794d47c9ee, 0xbfed506779a3d2d9, // 0.40103, -0.91606 + 0x3fd993716141bdfe, 0xbfed556f52e93eb1, // 0.39962, -0.91668 + 0x3fd97c6583890fc2, 0xbfed5a72a6221e73, // 0.39822, -0.91729 + 0x3fd96555b7ab948f, 0xbfed5f7172888a7f, // 0.39681, -0.9179 + 0x3fd94e420137bce3, 0xbfed646bb7574de5, // 0.3954, -0.91851 + 0x3fd9372a63bc93d7, 0xbfed696173c9e68b, // 0.39399, -0.91911 + 0x3fd9200ee2c9be97, 0xbfed6e52a71c8547, // 0.39258, -0.91972 + 0x3fd908ef81ef7bd1, 0xbfed733f508c0dff, // 0.39117, -0.92032 + 0x3fd8f1cc44bea329, 0xbfed78276f5617c6, // 0.38976, -0.92092 + 0x3fd8daa52ec8a4af, 0xbfed7d0b02b8ecf9, // 0.38835, -0.92151 + 0x3fd8c37a439f884f, 0xbfed81ea09f38b63, // 0.38693, -0.92211 + 0x3fd8ac4b86d5ed44, 0xbfed86c48445a450, // 0.38552, -0.9227 + 0x3fd89518fbff098e, 0xbfed8b9a70ef9cb4, // 0.3841, -0.92329 + 0x3fd87de2a6aea963, 0xbfed906bcf328d46, // 0.38268, -0.92388 + 0x3fd866a88a792ea0, 0xbfed95389e50429b, // 0.38127, -0.92447 + 0x3fd84f6aaaf3903f, 0xbfed9a00dd8b3d46, // 0.37985, -0.92505 + 0x3fd838290bb359c8, 0xbfed9ec48c26b1f3, // 0.37843, -0.92563 + 0x3fd820e3b04eaac4, 0xbfeda383a9668988, // 0.37701, -0.92621 + 0x3fd8099a9c5c362d, 0xbfeda83e348f613b, // 0.37559, -0.92679 + 0x3fd7f24dd37341e3, 0xbfedacf42ce68ab9, // 0.37416, -0.92736 + 0x3fd7dafd592ba621, 0xbfedb1a591b20c38, // 0.37274, -0.92794 + 0x3fd7c3a9311dcce7, 0xbfedb6526238a09b, // 0.37132, -0.92851 + 0x3fd7ac515ee2b172, 0xbfedbafa9dc1b78d, // 0.36989, -0.92907 + 0x3fd794f5e613dfae, 0xbfedbf9e4395759a, // 0.36847, -0.92964 + 0x3fd77d96ca4b73a6, 0xbfedc43d52fcb453, // 0.36704, -0.93021 + 0x3fd766340f2418f6, 0xbfedc8d7cb410260, // 0.36561, -0.93077 + 0x3fd74ecdb8390a3e, 0xbfedcd6dabaca3a5, // 0.36418, -0.93133 + 0x3fd73763c9261092, 0xbfedd1fef38a915a, // 0.36276, -0.93188 + 0x3fd71ff6458782ec, 0xbfedd68ba2267a25, // 0.36133, -0.93244 + 0x3fd7088530fa459e, 0xbfeddb13b6ccc23d, // 0.3599, -0.93299 + 0x3fd6f1108f1bc9c5, 0xbfeddf9730ca837b, // 0.35846, -0.93354 + 0x3fd6d998638a0cb5, 0xbfede4160f6d8d81, // 0.35703, -0.93409 + 0x3fd6c21cb1e39771, 0xbfede890520465ce, // 0.3556, -0.93464 + 0x3fd6aa9d7dc77e16, 0xbfeded05f7de47da, // 0.35416, -0.93518 + 0x3fd6931acad55f51, 0xbfedf177004b2534, // 0.35273, -0.93573 + 0x3fd67b949cad63ca, 0xbfedf5e36a9ba59c, // 0.35129, -0.93627 + 0x3fd6640af6f03d9e, 0xbfedfa4b3621271d, // 0.34986, -0.9368 + 0x3fd64c7ddd3f27c6, 0xbfedfeae622dbe2b, // 0.34842, -0.93734 + 0x3fd634ed533be58e, 0xbfee030cee1435b8, // 0.34698, -0.93787 + 0x3fd61d595c88c203, 0xbfee0766d9280f54, // 0.34554, -0.9384 + 0x3fd605c1fcc88f63, 0xbfee0bbc22bd8349, // 0.3441, -0.93893 + 0x3fd5ee27379ea693, 0xbfee100cca2980ac, // 0.34266, -0.93946 + 0x3fd5d68910aee686, 0xbfee1458cec1ad83, // 0.34122, -0.93998 + 0x3fd5bee78b9db3b6, 0xbfee18a02fdc66d9, // 0.33978, -0.94051 + 0x3fd5a742ac0ff78d, 0xbfee1ce2ecd0c0d8, // 0.33833, -0.94103 + 0x3fd58f9a75ab1fdd, 0xbfee212104f686e5, // 0.33689, -0.94154 + 0x3fd577eeec151e47, 0xbfee255a77a63bb8, // 0.33545, -0.94206 + 0x3fd5604012f467b4, 0xbfee298f4439197a, // 0.334, -0.94257 + 0x3fd5488dedeff3be, 0xbfee2dbf6a0911d9, // 0.33255, -0.94308 + 0x3fd530d880af3c24, 0xbfee31eae870ce25, // 0.33111, -0.94359 + 0x3fd5191fceda3c35, 0xbfee3611becbaf69, // 0.32966, -0.9441 + 0x3fd50163dc197047, 0xbfee3a33ec75ce85, // 0.32821, -0.9446 + 0x3fd4e9a4ac15d520, 0xbfee3e5170cbfc46, // 0.32676, -0.94511 + 0x3fd4d1e24278e76a, 0xbfee426a4b2bc17e, // 0.32531, -0.94561 + 0x3fd4ba1ca2eca31c, 0xbfee467e7af35f23, // 0.32386, -0.94611 + 0x3fd4a253d11b82f3, 0xbfee4a8dff81ce5e, // 0.32241, -0.9466 + 0x3fd48a87d0b07fd7, 0xbfee4e98d836c0af, // 0.32096, -0.94709 + 0x3fd472b8a5571054, 0xbfee529f04729ffc, // 0.3195, -0.94759 + 0x3fd45ae652bb2800, 0xbfee56a083968eb1, // 0.31805, -0.94807 + 0x3fd44310dc8936f0, 0xbfee5a9d550467d3, // 0.31659, -0.94856 + 0x3fd42b38466e2928, 0xbfee5e95781ebf1c, // 0.31514, -0.94905 + 0x3fd4135c94176602, 0xbfee6288ec48e112, // 0.31368, -0.94953 + 0x3fd3fb7dc932cfa4, 0xbfee6677b0e6d31e, // 0.31222, -0.95001 + 0x3fd3e39be96ec271, 0xbfee6a61c55d53a7, // 0.31077, -0.95049 + 0x3fd3cbb6f87a146e, 0xbfee6e472911da27, // 0.30931, -0.95096 + 0x3fd3b3cefa0414b7, 0xbfee7227db6a9744, // 0.30785, -0.95144 + 0x3fd39be3f1bc8aef, 0xbfee7603dbce74e9, // 0.30639, -0.95191 + 0x3fd383f5e353b6aa, 0xbfee79db29a5165a, // 0.30493, -0.95238 + 0x3fd36c04d27a4edf, 0xbfee7dadc456d850, // 0.30347, -0.95284 + 0x3fd35410c2e18152, 0xbfee817bab4cd10d, // 0.30201, -0.95331 + 0x3fd33c19b83af207, 0xbfee8544ddf0d075, // 0.30054, -0.95377 + 0x3fd3241fb638baaf, 0xbfee89095bad6025, // 0.29908, -0.95423 + 0x3fd30c22c08d6a13, 0xbfee8cc923edc388, // 0.29762, -0.95469 + 0x3fd2f422daec0386, 0xbfee9084361df7f3, // 0.29615, -0.95514 + 0x3fd2dc200907fe51, 0xbfee943a91aab4b4, // 0.29469, -0.95559 + 0x3fd2c41a4e954520, 0xbfee97ec36016b30, // 0.29322, -0.95605 + 0x3fd2ac11af483572, 0xbfee9b99229046f8, // 0.29175, -0.95649 + 0x3fd294062ed59f05, 0xbfee9f4156c62dda, // 0.29028, -0.95694 + 0x3fd27bf7d0f2c346, 0xbfeea2e4d212c000, // 0.28882, -0.95738 + 0x3fd263e6995554ba, 0xbfeea68393e65800, // 0.28735, -0.95783 + 0x3fd24bd28bb37672, 0xbfeeaa1d9bb20af3, // 0.28588, -0.95827 + 0x3fd233bbabc3bb72, 0xbfeeadb2e8e7a88e, // 0.28441, -0.9587 + 0x3fd21ba1fd3d2623, 0xbfeeb1437af9bb34, // 0.28294, -0.95914 + 0x3fd2038583d727bd, 0xbfeeb4cf515b8811, // 0.28146, -0.95957 + 0x3fd1eb6643499fbb, 0xbfeeb8566b810f2a, // 0.27999, -0.96 + 0x3fd1d3443f4cdb3d, 0xbfeebbd8c8df0b74, // 0.27852, -0.96043 + 0x3fd1bb1f7b999480, 0xbfeebf5668eaf2ef, // 0.27705, -0.96086 + 0x3fd1a2f7fbe8f243, 0xbfeec2cf4b1af6b2, // 0.27557, -0.96128 + 0x3fd18acdc3f4873a, 0xbfeec6436ee60309, // 0.2741, -0.9617 + 0x3fd172a0d7765177, 0xbfeec9b2d3c3bf84, // 0.27262, -0.96212 + 0x3fd15a713a28b9d9, 0xbfeecd1d792c8f10, // 0.27115, -0.96254 + 0x3fd1423eefc69378, 0xbfeed0835e999009, // 0.26967, -0.96295 + 0x3fd12a09fc0b1b12, 0xbfeed3e483849c51, // 0.26819, -0.96337 + 0x3fd111d262b1f677, 0xbfeed740e7684963, // 0.26671, -0.96378 + 0x3fd0f998277733f7, 0xbfeeda9889bfe86a, // 0.26523, -0.96418 + 0x3fd0e15b4e1749cd, 0xbfeeddeb6a078651, // 0.26375, -0.96459 + 0x3fd0c91bda4f158d, 0xbfeee13987bbebdc, // 0.26227, -0.96499 + 0x3fd0b0d9cfdbdb90, 0xbfeee482e25a9dbc, // 0.26079, -0.96539 + 0x3fd09895327b465e, 0xbfeee7c77961dc9e, // 0.25931, -0.96579 + 0x3fd0804e05eb661e, 0xbfeeeb074c50a544, // 0.25783, -0.96619 + 0x3fd068044deab002, 0xbfeeee425aa6b09a, // 0.25635, -0.96658 + 0x3fd04fb80e37fdae, 0xbfeef178a3e473c2, // 0.25487, -0.96698 + 0x3fd037694a928cac, 0xbfeef4aa278b2032, // 0.25338, -0.96737 + 0x3fd01f1806b9fdd2, 0xbfeef7d6e51ca3c0, // 0.2519, -0.96775 + 0x3fd006c4466e54af, 0xbfeefafedc1ba8b7, // 0.25041, -0.96814 + 0x3fcfdcdc1adfedf8, 0xbfeefe220c0b95ec, // 0.24893, -0.96852 + 0x3fcfac2abeff57ff, 0xbfef014074708ed3, // 0.24744, -0.9689 + 0x3fcf7b7480bd3801, 0xbfef045a14cf738c, // 0.24596, -0.96928 + 0x3fcf4ab9679c9f5c, 0xbfef076eecade0fa, // 0.24447, -0.96966 + 0x3fcf19f97b215f1a, 0xbfef0a7efb9230d7, // 0.24298, -0.97003 + 0x3fcee934c2d006c7, 0xbfef0d8a410379c5, // 0.24149, -0.9704 + 0x3fceb86b462de348, 0xbfef1090bc898f5f, // 0.24, -0.97077 + 0x3fce879d0cc0fdaf, 0xbfef13926dad024e, // 0.23851, -0.97114 + 0x3fce56ca1e101a1b, 0xbfef168f53f7205d, // 0.23702, -0.9715 + 0x3fce25f281a2b684, 0xbfef19876ef1f486, // 0.23553, -0.97187 + 0x3fcdf5163f01099a, 0xbfef1c7abe284708, // 0.23404, -0.97223 + 0x3fcdc4355db40195, 0xbfef1f6941259d7a, // 0.23255, -0.97258 + 0x3fcd934fe5454311, 0xbfef2252f7763ada, // 0.23106, -0.97294 + 0x3fcd6265dd3f27e3, 0xbfef2537e0a71f9f, // 0.22957, -0.97329 + 0x3fcd31774d2cbdee, 0xbfef2817fc4609ce, // 0.22807, -0.97364 + 0x3fcd00843c99c5f9, 0xbfef2af349e17507, // 0.22658, -0.97399 + 0x3fcccf8cb312b286, 0xbfef2dc9c9089a9d, // 0.22508, -0.97434 + 0x3fcc9e90b824a6a9, 0xbfef309b794b719f, // 0.22359, -0.97468 + 0x3fcc6d90535d74dc, 0xbfef33685a3aaef0, // 0.22209, -0.97503 + 0x3fcc3c8b8c4b9dd7, 0xbfef36306b67c556, // 0.2206, -0.97536 + 0x3fcc0b826a7e4f63, 0xbfef38f3ac64e589, // 0.2191, -0.9757 + 0x3fcbda74f5856330, 0xbfef3bb21cc4fe47, // 0.2176, -0.97604 + 0x3fcba96334f15dad, 0xbfef3e6bbc1bbc65, // 0.21611, -0.97637 + 0x3fcb784d30536cda, 0xbfef412089fd8adc, // 0.21461, -0.9767 + 0x3fcb4732ef3d6722, 0xbfef43d085ff92dd, // 0.21311, -0.97703 + 0x3fcb16147941ca2a, 0xbfef467bafb7bbe0, // 0.21161, -0.97735 + 0x3fcae4f1d5f3b9ab, 0xbfef492206bcabb4, // 0.21011, -0.97768 + 0x3fcab3cb0ce6fe44, 0xbfef4bc38aa5c694, // 0.20861, -0.978 + 0x3fca82a025b00451, 0xbfef4e603b0b2f2d, // 0.20711, -0.97832 + 0x3fca517127e3dabc, 0xbfef50f81785c6b9, // 0.20561, -0.97863 + 0x3fca203e1b1831da, 0xbfef538b1faf2d07, // 0.20411, -0.97895 + 0x3fc9ef0706e35a35, 0xbfef56195321c090, // 0.20261, -0.97926 + 0x3fc9bdcbf2dc4366, 0xbfef58a2b1789e84, // 0.2011, -0.97957 + 0x3fc98c8ce69a7aec, 0xbfef5b273a4fa2d9, // 0.1996, -0.97988 + 0x3fc95b49e9b62af9, 0xbfef5da6ed43685d, // 0.1981, -0.98018 + 0x3fc92a0303c8194f, 0xbfef6021c9f148c2, // 0.19659, -0.98048 + 0x3fc8f8b83c69a60a, 0xbfef6297cff75cb0, // 0.19509, -0.98079 + 0x3fc8c7699b34ca7e, 0xbfef6508fef47bd5, // 0.19359, -0.98108 + 0x3fc8961727c41804, 0xbfef677556883cee, // 0.19208, -0.98138 + 0x3fc864c0e9b2b6cf, 0xbfef69dcd652f5de, // 0.19057, -0.98167 + 0x3fc83366e89c64c5, 0xbfef6c3f7df5bbb7, // 0.18907, -0.98196 + 0x3fc802092c1d744b, 0xbfef6e9d4d1262ca, // 0.18756, -0.98225 + 0x3fc7d0a7bbd2cb1b, 0xbfef70f6434b7eb7, // 0.18606, -0.98254 + 0x3fc79f429f59e11d, 0xbfef734a60446279, // 0.18455, -0.98282 + 0x3fc76dd9de50bf31, 0xbfef7599a3a12077, // 0.18304, -0.98311 + 0x3fc73c6d8055fe0a, 0xbfef77e40d068a90, // 0.18153, -0.98339 + 0x3fc70afd8d08c4ff, 0xbfef7a299c1a322a, // 0.18002, -0.98366 + 0x3fc6d98a0c08c8da, 0xbfef7c6a50826840, // 0.17851, -0.98394 + 0x3fc6a81304f64ab2, 0xbfef7ea629e63d6e, // 0.177, -0.98421 + 0x3fc676987f7216b8, 0xbfef80dd27ed8204, // 0.17549, -0.98448 + 0x3fc6451a831d830d, 0xbfef830f4a40c60c, // 0.17398, -0.98475 + 0x3fc61399179a6e94, 0xbfef853c9089595e, // 0.17247, -0.98501 + 0x3fc5e214448b3fc6, 0xbfef8764fa714ba9, // 0.17096, -0.98528 + 0x3fc5b08c1192e381, 0xbfef898887a36c84, // 0.16945, -0.98554 + 0x3fc57f008654cbde, 0xbfef8ba737cb4b78, // 0.16794, -0.9858 + 0x3fc54d71aa74ef02, 0xbfef8dc10a95380d, // 0.16643, -0.98605 + 0x3fc51bdf8597c5f2, 0xbfef8fd5ffae41db, // 0.16491, -0.98631 + 0x3fc4ea4a1f624b61, 0xbfef91e616c43891, // 0.1634, -0.98656 + 0x3fc4b8b17f79fa88, 0xbfef93f14f85ac08, // 0.16189, -0.98681 + 0x3fc48715ad84cdf5, 0xbfef95f7a9a1ec47, // 0.16037, -0.98706 + 0x3fc45576b1293e5a, 0xbfef97f924c9099b, // 0.15886, -0.9873 + 0x3fc423d4920e4166, 0xbfef99f5c0abd496, // 0.15734, -0.98754 + 0x3fc3f22f57db4893, 0xbfef9bed7cfbde29, // 0.15583, -0.98778 + 0x3fc3c0870a383ff6, 0xbfef9de0596b77a3, // 0.15431, -0.98802 + 0x3fc38edbb0cd8d14, 0xbfef9fce55adb2c8, // 0.1528, -0.98826 + 0x3fc35d2d53440db2, 0xbfefa1b7717661d5, // 0.15128, -0.98849 + 0x3fc32b7bf94516a7, 0xbfefa39bac7a1791, // 0.14976, -0.98872 + 0x3fc2f9c7aa7a72af, 0xbfefa57b066e2754, // 0.14825, -0.98895 + 0x3fc2c8106e8e613a, 0xbfefa7557f08a517, // 0.14673, -0.98918 + 0x3fc296564d2b953e, 0xbfefa92b1600657c, // 0.14521, -0.9894 + 0x3fc264994dfd340a, 0xbfefaafbcb0cfddc, // 0.1437, -0.98962 + 0x3fc232d978aed413, 0xbfefacc79de6c44f, // 0.14218, -0.98984 + 0x3fc20116d4ec7bce, 0xbfefae8e8e46cfbb, // 0.14066, -0.99006 + 0x3fc1cf516a62a077, 0xbfefb0509be6f7db, // 0.13914, -0.99027 + 0x3fc19d8940be24e7, 0xbfefb20dc681d54d, // 0.13762, -0.99049 + 0x3fc16bbe5fac5865, 0xbfefb3c60dd2c199, // 0.1361, -0.9907 + 0x3fc139f0cedaf576, 0xbfefb5797195d741, // 0.13458, -0.9909 + 0x3fc1082095f820b0, 0xbfefb727f187f1c7, // 0.13306, -0.99111 + 0x3fc0d64dbcb26786, 0xbfefb8d18d66adb7, // 0.13154, -0.99131 + 0x3fc0a4784ab8bf1d, 0xbfefba7644f068b5, // 0.13002, -0.99151 + 0x3fc072a047ba831d, 0xbfefbc1617e44186, // 0.1285, -0.99171 + 0x3fc040c5bb67747e, 0xbfefbdb106021816, // 0.12698, -0.99191 + 0x3fc00ee8ad6fb85b, 0xbfefbf470f0a8d88, // 0.12545, -0.9921 + 0x3fbfba124b07ad85, 0xbfefc0d832bf043a, // 0.12393, -0.99229 + 0x3fbf564e56a9730e, 0xbfefc26470e19fd3, // 0.12241, -0.99248 + 0x3fbef2858d27561b, 0xbfefc3ebc935454c, // 0.12089, -0.99267 + 0x3fbe8eb7fde4aa3e, 0xbfefc56e3b7d9af6, // 0.11937, -0.99285 + 0x3fbe2ae5b8457f77, 0xbfefc6ebc77f0887, // 0.11784, -0.99303 + 0x3fbdc70ecbae9fc8, 0xbfefc8646cfeb721, // 0.11632, -0.99321 + 0x3fbd633347858ce4, 0xbfefc9d82bc2915e, // 0.11479, -0.99339 + 0x3fbcff533b307dc1, 0xbfefcb4703914354, // 0.11327, -0.99356 + 0x3fbc9b6eb6165c42, 0xbfefccb0f4323aa3, // 0.11175, -0.99374 + 0x3fbc3785c79ec2d5, 0xbfefce15fd6da67b, // 0.11022, -0.99391 + 0x3fbbd3987f31fa0e, 0xbfefcf761f0c77a3, // 0.1087, -0.99407 + 0x3fbb6fa6ec38f64c, 0xbfefd0d158d86087, // 0.10717, -0.99424 + 0x3fbb0bb11e1d5559, 0xbfefd227aa9bd53b, // 0.10565, -0.9944 + 0x3fbaa7b724495c04, 0xbfefd37914220b84, // 0.10412, -0.99456 + 0x3fba43b90e27f3c4, 0xbfefd4c59536fae4, // 0.1026, -0.99472 + 0x3fb9dfb6eb24a85c, 0xbfefd60d2da75c9e, // 0.10107, -0.99488 + 0x3fb97bb0caaba56f, 0xbfefd74fdd40abbf, // 0.099544, -0.99503 + 0x3fb917a6bc29b42c, 0xbfefd88da3d12526, // 0.098017, -0.99518 + 0x3fb8b398cf0c38e0, 0xbfefd9c68127c78c, // 0.09649, -0.99533 + 0x3fb84f8712c130a0, 0xbfefdafa7514538c, // 0.094963, -0.99548 + 0x3fb7eb7196b72ee4, 0xbfefdc297f674ba9, // 0.093436, -0.99563 + 0x3fb787586a5d5b21, 0xbfefdd539ff1f456, // 0.091909, -0.99577 + 0x3fb7233b9d236e71, 0xbfefde78d68653fd, // 0.090381, -0.99591 + 0x3fb6bf1b3e79b129, 0xbfefdf9922f73307, // 0.088854, -0.99604 + 0x3fb65af75dd0f87b, 0xbfefe0b485181be3, // 0.087326, -0.99618 + 0x3fb5f6d00a9aa419, 0xbfefe1cafcbd5b09, // 0.085797, -0.99631 + 0x3fb592a554489bc8, 0xbfefe2dc89bbff08, // 0.084269, -0.99644 + 0x3fb52e774a4d4d0a, 0xbfefe3e92be9d886, // 0.08274, -0.99657 + 0x3fb4ca45fc1ba8b6, 0xbfefe4f0e31d7a4a, // 0.081211, -0.9967 + 0x3fb4661179272096, 0xbfefe5f3af2e3940, // 0.079682, -0.99682 + 0x3fb401d9d0e3a507, 0xbfefe6f18ff42c84, // 0.078153, -0.99694 + 0x3fb39d9f12c5a299, 0xbfefe7ea85482d60, // 0.076624, -0.99706 + 0x3fb339614e41ffa5, 0xbfefe8de8f03d75c, // 0.075094, -0.99718 + 0x3fb2d52092ce19f6, 0xbfefe9cdad01883a, // 0.073565, -0.99729 + 0x3fb270dcefdfc45b, 0xbfefeab7df1c6005, // 0.072035, -0.9974 + 0x3fb20c9674ed444c, 0xbfefeb9d2530410f, // 0.070505, -0.99751 + 0x3fb1a84d316d4f8a, 0xbfefec7d7f19cffc, // 0.068974, -0.99762 + 0x3fb1440134d709b2, 0xbfefed58ecb673c4, // 0.067444, -0.99772 + 0x3fb0dfb28ea201e6, 0xbfefee2f6de455ba, // 0.065913, -0.99783 + 0x3fb07b614e463064, 0xbfefef0102826191, // 0.064383, -0.99793 + 0x3fb0170d833bf421, 0xbfefefcdaa704562, // 0.062852, -0.99802 + 0x3faf656e79f820e0, 0xbfeff095658e71ad, // 0.061321, -0.99812 + 0x3fae9cbd15ff5527, 0xbfeff15833be1965, // 0.05979, -0.99821 + 0x3fadd406f9808ec8, 0xbfeff21614e131ed, // 0.058258, -0.9983 + 0x3fad0b4c436f91d0, 0xbfeff2cf08da7321, // 0.056727, -0.99839 + 0x3fac428d12c0d7e3, 0xbfeff3830f8d575c, // 0.055195, -0.99848 + 0x3fab79c986698b78, 0xbfeff43228de1b77, // 0.053664, -0.99856 + 0x3faab101bd5f8317, 0xbfeff4dc54b1bed3, // 0.052132, -0.99864 + 0x3fa9e835d6993c87, 0xbfeff58192ee0358, // 0.0506, -0.99872 + 0x3fa91f65f10dd814, 0xbfeff621e3796d7e, // 0.049068, -0.9988 + 0x3fa856922bb513c1, 0xbfeff6bd463b444d, // 0.047535, -0.99887 + 0x3fa78dbaa5874685, 0xbfeff753bb1b9164, // 0.046003, -0.99894 + 0x3fa6c4df7d7d5b84, 0xbfeff7e5420320f9, // 0.044471, -0.99901 + 0x3fa5fc00d290cd43, 0xbfeff871dadb81df, // 0.042938, -0.99908 + 0x3fa5331ec3bba0eb, 0xbfeff8f9858f058b, // 0.041406, -0.99914 + 0x3fa46a396ff86179, 0xbfeff97c4208c014, // 0.039873, -0.9992 + 0x3fa3a150f6421afc, 0xbfeff9fa10348837, // 0.03834, -0.99926 + 0x3fa2d865759455cd, 0xbfeffa72effef75d, // 0.036807, -0.99932 + 0x3fa20f770ceb11c6, 0xbfeffae6e1556998, // 0.035274, -0.99938 + 0x3fa14685db42c17e, 0xbfeffb55e425fdae, // 0.033741, -0.99943 + 0x3fa07d91ff984580, 0xbfeffbbff85f9515, // 0.032208, -0.99948 + 0x3f9f693731d1cf01, 0xbfeffc251df1d3f8, // 0.030675, -0.99953 + 0x3f9dd7458c64ab39, 0xbfeffc8554cd213a, // 0.029142, -0.99958 + 0x3f9c454f4ce53b1c, 0xbfeffce09ce2a679, // 0.027608, -0.99962 + 0x3f9ab354b1504fca, 0xbfeffd36f624500c, // 0.026075, -0.99966 + 0x3f992155f7a3667e, 0xbfeffd886084cd0d, // 0.024541, -0.9997 + 0x3f978f535ddc9f03, 0xbfeffdd4dbf78f52, // 0.023008, -0.99974 + 0x3f95fd4d21fab226, 0xbfeffe1c6870cb77, // 0.021474, -0.99977 + 0x3f946b4381fce81c, 0xbfeffe5f05e578db, // 0.01994, -0.9998 + 0x3f92d936bbe30efd, 0xbfeffe9cb44b51a1, // 0.018407, -0.99983 + 0x3f9147270dad7132, 0xbfeffed57398d2b7, // 0.016873, -0.99986 + 0x3f8f6a296ab997ca, 0xbfefff0943c53bd1, // 0.015339, -0.99988 + 0x3f8c45ffe1e48ad9, 0xbfefff3824c88f6f, // 0.013805, -0.9999 + 0x3f8921d1fcdec784, 0xbfefff62169b92db, // 0.012272, -0.99992 + 0x3f85fda037ac05e0, 0xbfefff871937ce2f, // 0.010738, -0.99994 + 0x3f82d96b0e509703, 0xbfefffa72c978c4f, //0.0092038, -0.99996 + 0x3f7f6a65f9a2a3c5, 0xbfefffc250b5daef, //0.0076698, -0.99997 + 0x3f7921f0fe670071, 0xbfefffd8858e8a92, //0.0061359, -0.99998 + 0x3f72d97822f996bc, 0xbfefffe9cb1e2e8d, //0.0046019, -0.99999 + 0x3f6921f8becca4ba, 0xbfeffff621621d02, // 0.003068, -1 + 0x3f5921faaee6472d, 0xbfeffffd88586ee6, // 0.001534, -1 +}; + +#endif + + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_32) +/** + @par + Example code for Floating-point RFFT Twiddle factors Generation: + @par + 
TW = exp(pi/2*i-2*pi*i*[0:L/2-1]/L).'
+ @par + Real and Imag values are in interleaved fashion +*/ +const float32_t twiddleCoef_rfft_32[32] = { + 0.000000000f, 1.000000000f, + 0.195090322f, 0.980785280f, + 0.382683432f, 0.923879533f, + 0.555570233f, 0.831469612f, + 0.707106781f, 0.707106781f, + 0.831469612f, 0.555570233f, + 0.923879533f, 0.382683432f, + 0.980785280f, 0.195090322f, + 1.000000000f, 0.000000000f, + 0.980785280f, -0.195090322f, + 0.923879533f, -0.382683432f, + 0.831469612f, -0.555570233f, + 0.707106781f, -0.707106781f, + 0.555570233f, -0.831469612f, + 0.382683432f, -0.923879533f, + 0.195090322f, -0.980785280f +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_64) +const float32_t twiddleCoef_rfft_64[64] = { + 0.000000000000000f, 1.000000000000000f, + 0.098017140329561f, 0.995184726672197f, + 0.195090322016128f, 0.980785280403230f, + 0.290284677254462f, 0.956940335732209f, + 0.382683432365090f, 0.923879532511287f, + 0.471396736825998f, 0.881921264348355f, + 0.555570233019602f, 0.831469612302545f, + 0.634393284163645f, 0.773010453362737f, + 0.707106781186547f, 0.707106781186548f, + 0.773010453362737f, 0.634393284163645f, + 0.831469612302545f, 0.555570233019602f, + 0.881921264348355f, 0.471396736825998f, + 0.923879532511287f, 0.382683432365090f, + 0.956940335732209f, 0.290284677254462f, + 0.980785280403230f, 0.195090322016128f, + 0.995184726672197f, 0.098017140329561f, + 1.000000000000000f, 0.000000000000000f, + 0.995184726672197f, -0.098017140329561f, + 0.980785280403230f, -0.195090322016128f, + 0.956940335732209f, -0.290284677254462f, + 0.923879532511287f, -0.382683432365090f, + 0.881921264348355f, -0.471396736825998f, + 0.831469612302545f, -0.555570233019602f, + 0.773010453362737f, -0.634393284163645f, + 0.707106781186548f, -0.707106781186547f, + 0.634393284163645f, -0.773010453362737f, + 0.555570233019602f, -0.831469612302545f, + 0.471396736825998f, -0.881921264348355f, + 0.382683432365090f, -0.923879532511287f, + 0.290284677254462f, -0.956940335732209f, + 0.195090322016129f, -0.980785280403230f, + 0.098017140329561f, -0.995184726672197f +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_128) +const float32_t twiddleCoef_rfft_128[128] = { + 0.000000000f, 1.000000000f, + 0.049067674f, 0.998795456f, + 0.098017140f, 0.995184727f, + 0.146730474f, 0.989176510f, + 0.195090322f, 0.980785280f, + 0.242980180f, 0.970031253f, + 0.290284677f, 0.956940336f, + 0.336889853f, 0.941544065f, + 0.382683432f, 0.923879533f, + 0.427555093f, 0.903989293f, + 0.471396737f, 0.881921264f, + 0.514102744f, 0.857728610f, + 0.555570233f, 0.831469612f, + 0.595699304f, 0.803207531f, + 0.634393284f, 0.773010453f, + 0.671558955f, 0.740951125f, + 0.707106781f, 0.707106781f, + 0.740951125f, 0.671558955f, + 0.773010453f, 0.634393284f, + 0.803207531f, 0.595699304f, + 0.831469612f, 0.555570233f, + 0.857728610f, 0.514102744f, + 0.881921264f, 0.471396737f, + 0.903989293f, 0.427555093f, + 0.923879533f, 0.382683432f, + 0.941544065f, 0.336889853f, + 0.956940336f, 0.290284677f, + 0.970031253f, 0.242980180f, + 0.980785280f, 0.195090322f, + 0.989176510f, 0.146730474f, + 0.995184727f, 0.098017140f, + 0.998795456f, 0.049067674f, + 1.000000000f, 0.000000000f, + 0.998795456f, -0.049067674f, + 0.995184727f, -0.098017140f, + 0.989176510f, -0.146730474f, + 0.980785280f, -0.195090322f, + 0.970031253f, -0.242980180f, + 0.956940336f, -0.290284677f, + 0.941544065f, -0.336889853f, + 0.923879533f, -0.382683432f, + 0.903989293f, -0.427555093f, + 0.881921264f, -0.471396737f, + 0.857728610f, -0.514102744f, + 0.831469612f, -0.555570233f, + 0.803207531f, -0.595699304f, + 0.773010453f, -0.634393284f, + 0.740951125f, -0.671558955f, + 0.707106781f, -0.707106781f, + 0.671558955f, -0.740951125f, + 0.634393284f, -0.773010453f, + 0.595699304f, -0.803207531f, + 0.555570233f, -0.831469612f, + 0.514102744f, -0.857728610f, + 0.471396737f, -0.881921264f, + 0.427555093f, -0.903989293f, + 0.382683432f, -0.923879533f, + 0.336889853f, -0.941544065f, + 0.290284677f, -0.956940336f, + 0.242980180f, -0.970031253f, + 0.195090322f, -0.980785280f, + 0.146730474f, -0.989176510f, + 0.098017140f, -0.995184727f, + 0.049067674f, -0.998795456f +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_256) +const float32_t twiddleCoef_rfft_256[256] = { + 0.000000000f, 1.000000000f, + 0.024541229f, 0.999698819f, + 0.049067674f, 0.998795456f, + 0.073564564f, 0.997290457f, + 0.098017140f, 0.995184727f, + 0.122410675f, 0.992479535f, + 0.146730474f, 0.989176510f, + 0.170961889f, 0.985277642f, + 0.195090322f, 0.980785280f, + 0.219101240f, 0.975702130f, + 0.242980180f, 0.970031253f, + 0.266712757f, 0.963776066f, + 0.290284677f, 0.956940336f, + 0.313681740f, 0.949528181f, + 0.336889853f, 0.941544065f, + 0.359895037f, 0.932992799f, + 0.382683432f, 0.923879533f, + 0.405241314f, 0.914209756f, + 0.427555093f, 0.903989293f, + 0.449611330f, 0.893224301f, + 0.471396737f, 0.881921264f, + 0.492898192f, 0.870086991f, + 0.514102744f, 0.857728610f, + 0.534997620f, 0.844853565f, + 0.555570233f, 0.831469612f, + 0.575808191f, 0.817584813f, + 0.595699304f, 0.803207531f, + 0.615231591f, 0.788346428f, + 0.634393284f, 0.773010453f, + 0.653172843f, 0.757208847f, + 0.671558955f, 0.740951125f, + 0.689540545f, 0.724247083f, + 0.707106781f, 0.707106781f, + 0.724247083f, 0.689540545f, + 0.740951125f, 0.671558955f, + 0.757208847f, 0.653172843f, + 0.773010453f, 0.634393284f, + 0.788346428f, 0.615231591f, + 0.803207531f, 0.595699304f, + 0.817584813f, 0.575808191f, + 0.831469612f, 0.555570233f, + 0.844853565f, 0.534997620f, + 0.857728610f, 0.514102744f, + 0.870086991f, 0.492898192f, + 0.881921264f, 0.471396737f, + 0.893224301f, 0.449611330f, + 0.903989293f, 0.427555093f, + 0.914209756f, 0.405241314f, + 0.923879533f, 0.382683432f, + 0.932992799f, 0.359895037f, + 0.941544065f, 0.336889853f, + 0.949528181f, 0.313681740f, + 0.956940336f, 0.290284677f, + 0.963776066f, 0.266712757f, + 0.970031253f, 0.242980180f, + 0.975702130f, 0.219101240f, + 0.980785280f, 0.195090322f, + 0.985277642f, 0.170961889f, + 0.989176510f, 0.146730474f, + 0.992479535f, 0.122410675f, + 0.995184727f, 0.098017140f, + 0.997290457f, 0.073564564f, + 0.998795456f, 0.049067674f, + 0.999698819f, 0.024541229f, + 1.000000000f, 0.000000000f, + 0.999698819f, -0.024541229f, + 0.998795456f, -0.049067674f, + 0.997290457f, -0.073564564f, + 0.995184727f, -0.098017140f, + 0.992479535f, -0.122410675f, + 0.989176510f, -0.146730474f, + 0.985277642f, -0.170961889f, + 0.980785280f, -0.195090322f, + 0.975702130f, -0.219101240f, + 0.970031253f, -0.242980180f, + 0.963776066f, -0.266712757f, + 0.956940336f, -0.290284677f, + 0.949528181f, -0.313681740f, + 0.941544065f, -0.336889853f, + 0.932992799f, -0.359895037f, + 0.923879533f, -0.382683432f, + 0.914209756f, -0.405241314f, + 0.903989293f, -0.427555093f, + 0.893224301f, -0.449611330f, + 0.881921264f, -0.471396737f, + 0.870086991f, -0.492898192f, + 0.857728610f, -0.514102744f, + 0.844853565f, -0.534997620f, + 0.831469612f, -0.555570233f, + 0.817584813f, -0.575808191f, + 0.803207531f, -0.595699304f, + 0.788346428f, -0.615231591f, + 0.773010453f, -0.634393284f, + 0.757208847f, -0.653172843f, + 0.740951125f, -0.671558955f, + 0.724247083f, -0.689540545f, + 0.707106781f, -0.707106781f, + 0.689540545f, -0.724247083f, + 0.671558955f, -0.740951125f, + 0.653172843f, -0.757208847f, + 0.634393284f, -0.773010453f, + 0.615231591f, -0.788346428f, + 0.595699304f, -0.803207531f, + 0.575808191f, -0.817584813f, + 0.555570233f, -0.831469612f, + 0.534997620f, -0.844853565f, + 0.514102744f, -0.857728610f, + 0.492898192f, -0.870086991f, + 0.471396737f, -0.881921264f, + 0.449611330f, -0.893224301f, + 0.427555093f, -0.903989293f, + 0.405241314f, -0.914209756f, + 0.382683432f, -0.923879533f, + 0.359895037f, -0.932992799f, + 0.336889853f, -0.941544065f, + 0.313681740f, -0.949528181f, + 0.290284677f, -0.956940336f, + 0.266712757f, -0.963776066f, + 0.242980180f, -0.970031253f, + 0.219101240f, -0.975702130f, + 0.195090322f, -0.980785280f, + 0.170961889f, -0.985277642f, + 0.146730474f, -0.989176510f, + 0.122410675f, -0.992479535f, + 0.098017140f, -0.995184727f, + 0.073564564f, -0.997290457f, + 0.049067674f, -0.998795456f, + 0.024541229f, -0.999698819f +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_512) +const float32_t twiddleCoef_rfft_512[512] = { + 0.000000000f, 1.000000000f, + 0.012271538f, 0.999924702f, + 0.024541229f, 0.999698819f, + 0.036807223f, 0.999322385f, + 0.049067674f, 0.998795456f, + 0.061320736f, 0.998118113f, + 0.073564564f, 0.997290457f, + 0.085797312f, 0.996312612f, + 0.098017140f, 0.995184727f, + 0.110222207f, 0.993906970f, + 0.122410675f, 0.992479535f, + 0.134580709f, 0.990902635f, + 0.146730474f, 0.989176510f, + 0.158858143f, 0.987301418f, + 0.170961889f, 0.985277642f, + 0.183039888f, 0.983105487f, + 0.195090322f, 0.980785280f, + 0.207111376f, 0.978317371f, + 0.219101240f, 0.975702130f, + 0.231058108f, 0.972939952f, + 0.242980180f, 0.970031253f, + 0.254865660f, 0.966976471f, + 0.266712757f, 0.963776066f, + 0.278519689f, 0.960430519f, + 0.290284677f, 0.956940336f, + 0.302005949f, 0.953306040f, + 0.313681740f, 0.949528181f, + 0.325310292f, 0.945607325f, + 0.336889853f, 0.941544065f, + 0.348418680f, 0.937339012f, + 0.359895037f, 0.932992799f, + 0.371317194f, 0.928506080f, + 0.382683432f, 0.923879533f, + 0.393992040f, 0.919113852f, + 0.405241314f, 0.914209756f, + 0.416429560f, 0.909167983f, + 0.427555093f, 0.903989293f, + 0.438616239f, 0.898674466f, + 0.449611330f, 0.893224301f, + 0.460538711f, 0.887639620f, + 0.471396737f, 0.881921264f, + 0.482183772f, 0.876070094f, + 0.492898192f, 0.870086991f, + 0.503538384f, 0.863972856f, + 0.514102744f, 0.857728610f, + 0.524589683f, 0.851355193f, + 0.534997620f, 0.844853565f, + 0.545324988f, 0.838224706f, + 0.555570233f, 0.831469612f, + 0.565731811f, 0.824589303f, + 0.575808191f, 0.817584813f, + 0.585797857f, 0.810457198f, + 0.595699304f, 0.803207531f, + 0.605511041f, 0.795836905f, + 0.615231591f, 0.788346428f, + 0.624859488f, 0.780737229f, + 0.634393284f, 0.773010453f, + 0.643831543f, 0.765167266f, + 0.653172843f, 0.757208847f, + 0.662415778f, 0.749136395f, + 0.671558955f, 0.740951125f, + 0.680600998f, 0.732654272f, + 0.689540545f, 0.724247083f, + 0.698376249f, 0.715730825f, + 0.707106781f, 0.707106781f, + 0.715730825f, 0.698376249f, + 0.724247083f, 0.689540545f, + 0.732654272f, 0.680600998f, + 0.740951125f, 0.671558955f, + 0.749136395f, 0.662415778f, + 0.757208847f, 0.653172843f, + 0.765167266f, 0.643831543f, + 0.773010453f, 0.634393284f, + 0.780737229f, 0.624859488f, + 0.788346428f, 0.615231591f, + 0.795836905f, 0.605511041f, + 0.803207531f, 0.595699304f, + 0.810457198f, 0.585797857f, + 0.817584813f, 0.575808191f, + 0.824589303f, 0.565731811f, + 0.831469612f, 0.555570233f, + 0.838224706f, 0.545324988f, + 0.844853565f, 0.534997620f, + 0.851355193f, 0.524589683f, + 0.857728610f, 0.514102744f, + 0.863972856f, 0.503538384f, + 0.870086991f, 0.492898192f, + 0.876070094f, 0.482183772f, + 0.881921264f, 0.471396737f, + 0.887639620f, 0.460538711f, + 0.893224301f, 0.449611330f, + 0.898674466f, 0.438616239f, + 0.903989293f, 0.427555093f, + 0.909167983f, 0.416429560f, + 0.914209756f, 0.405241314f, + 0.919113852f, 0.393992040f, + 0.923879533f, 0.382683432f, + 0.928506080f, 0.371317194f, + 0.932992799f, 0.359895037f, + 0.937339012f, 0.348418680f, + 0.941544065f, 0.336889853f, + 0.945607325f, 0.325310292f, + 0.949528181f, 0.313681740f, + 0.953306040f, 0.302005949f, + 0.956940336f, 0.290284677f, + 0.960430519f, 0.278519689f, + 0.963776066f, 0.266712757f, + 0.966976471f, 0.254865660f, + 0.970031253f, 0.242980180f, + 0.972939952f, 0.231058108f, + 0.975702130f, 0.219101240f, + 0.978317371f, 0.207111376f, + 0.980785280f, 0.195090322f, + 0.983105487f, 0.183039888f, + 0.985277642f, 0.170961889f, + 0.987301418f, 0.158858143f, + 0.989176510f, 0.146730474f, + 0.990902635f, 0.134580709f, + 0.992479535f, 0.122410675f, + 0.993906970f, 0.110222207f, + 0.995184727f, 0.098017140f, + 0.996312612f, 0.085797312f, + 0.997290457f, 0.073564564f, + 0.998118113f, 0.061320736f, + 0.998795456f, 0.049067674f, + 0.999322385f, 0.036807223f, + 0.999698819f, 0.024541229f, + 0.999924702f, 0.012271538f, + 1.000000000f, 0.000000000f, + 0.999924702f, -0.012271538f, + 0.999698819f, -0.024541229f, + 0.999322385f, -0.036807223f, + 0.998795456f, -0.049067674f, + 0.998118113f, -0.061320736f, + 0.997290457f, -0.073564564f, + 0.996312612f, -0.085797312f, + 0.995184727f, -0.098017140f, + 0.993906970f, -0.110222207f, + 0.992479535f, -0.122410675f, + 0.990902635f, -0.134580709f, + 0.989176510f, -0.146730474f, + 0.987301418f, -0.158858143f, + 0.985277642f, -0.170961889f, + 0.983105487f, -0.183039888f, + 0.980785280f, -0.195090322f, + 0.978317371f, -0.207111376f, + 0.975702130f, -0.219101240f, + 0.972939952f, -0.231058108f, + 0.970031253f, -0.242980180f, + 0.966976471f, -0.254865660f, + 0.963776066f, -0.266712757f, + 0.960430519f, -0.278519689f, + 0.956940336f, -0.290284677f, + 0.953306040f, -0.302005949f, + 0.949528181f, -0.313681740f, + 0.945607325f, -0.325310292f, + 0.941544065f, -0.336889853f, + 0.937339012f, -0.348418680f, + 0.932992799f, -0.359895037f, + 0.928506080f, -0.371317194f, + 0.923879533f, -0.382683432f, + 0.919113852f, -0.393992040f, + 0.914209756f, -0.405241314f, + 0.909167983f, -0.416429560f, + 0.903989293f, -0.427555093f, + 0.898674466f, -0.438616239f, + 0.893224301f, -0.449611330f, + 0.887639620f, -0.460538711f, + 0.881921264f, -0.471396737f, + 0.876070094f, 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-0.960430519f, + 0.266712757f, -0.963776066f, + 0.254865660f, -0.966976471f, + 0.242980180f, -0.970031253f, + 0.231058108f, -0.972939952f, + 0.219101240f, -0.975702130f, + 0.207111376f, -0.978317371f, + 0.195090322f, -0.980785280f, + 0.183039888f, -0.983105487f, + 0.170961889f, -0.985277642f, + 0.158858143f, -0.987301418f, + 0.146730474f, -0.989176510f, + 0.134580709f, -0.990902635f, + 0.122410675f, -0.992479535f, + 0.110222207f, -0.993906970f, + 0.098017140f, -0.995184727f, + 0.085797312f, -0.996312612f, + 0.073564564f, -0.997290457f, + 0.061320736f, -0.998118113f, + 0.049067674f, -0.998795456f, + 0.036807223f, -0.999322385f, + 0.024541229f, -0.999698819f, + 0.012271538f, -0.999924702f +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_1024) +const float32_t twiddleCoef_rfft_1024[1024] = { + 0.000000000f, 1.000000000f, + 0.006135885f, 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-0.999322385f, + 0.035274239f, -0.999377670f, + 0.033741172f, -0.999430605f, + 0.032208025f, -0.999481187f, + 0.030674803f, -0.999529418f, + 0.029141509f, -0.999575296f, + 0.027608146f, -0.999618822f, + 0.026074718f, -0.999659997f, + 0.024541229f, -0.999698819f, + 0.023007681f, -0.999735288f, + 0.021474080f, -0.999769405f, + 0.019940429f, -0.999801170f, + 0.018406730f, -0.999830582f, + 0.016872988f, -0.999857641f, + 0.015339206f, -0.999882347f, + 0.013805389f, -0.999904701f, + 0.012271538f, -0.999924702f, + 0.010737659f, -0.999942350f, + 0.009203755f, -0.999957645f, + 0.007669829f, -0.999970586f, + 0.006135885f, -0.999981175f, + 0.004601926f, -0.999989411f, + 0.003067957f, -0.999995294f, + 0.001533980f, -0.999998823f +}; + +#endif /* if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FFT_ALL_TABLES) */ + +/** + @ingroup RealFFT + */ + +/** + @addtogroup RealFFT_Table Real FFT Tables + @{ + */ + +/** + @par + Generation of realCoefA array: + @par + n = 4096 + 
for (i = 0; i < n; i++)
+  {
+     pATable[2 * i]     = 0.5 * ( 1.0 - sin (2 * PI / (double) (2 * n) * (double) i));
+     pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));
+  }
+ */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_REALCOEF_F32) +const float32_t realCoefA[8192] = { + 0.500000000000000f, -0.500000000000000f, 0.499616503715515f, -0.499999850988388f, + 0.499233007431030f, -0.499999403953552f, 0.498849511146545f, -0.499998688697815f, + 0.498466014862061f, -0.499997645616531f, 0.498082518577576f, -0.499996334314346f, + 0.497699022293091f, -0.499994695186615f, 0.497315555810928f, -0.499992787837982f, + 0.496932059526443f, -0.499990582466125f, 0.496548563241959f, -0.499988079071045f, + 0.496165096759796f, -0.499985307455063f, 0.495781600475311f, -0.499982208013535f, + 0.495398133993149f, -0.499978810548782f, 0.495014637708664f, -0.499975144863129f, + 0.494631171226501f, -0.499971181154251f, 0.494247704744339f, -0.499966919422150f, + 0.493864238262177f, -0.499962359666824f, 0.493480771780014f, -0.499957501888275f, + 0.493097305297852f, -0.499952346086502f, 0.492713838815689f, -0.499946922063828f, + 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0.485045909881592f, 0.499776333570480f, + 0.485429257154465f, 0.499787658452988f, 0.485812574625015f, 0.499798685312271f, + 0.486195921897888f, 0.499809414148331f, 0.486579269170761f, 0.499819844961166f, + 0.486962646245956f, 0.499830007553101f, 0.487346023321152f, 0.499839842319489f, + 0.487729400396347f, 0.499849408864975f, 0.488112777471542f, 0.499858677387238f, + 0.488496154546738f, 0.499867647886276f, 0.488879561424255f, 0.499876320362091f, + 0.489262968301773f, 0.499884694814682f, 0.489646375179291f, 0.499892801046371f, + 0.490029782056808f, 0.499900579452515f, 0.490413218736649f, 0.499908089637756f, + 0.490796625614166f, 0.499915301799774f, 0.491180062294006f, 0.499922215938568f, + 0.491563498973846f, 0.499928832054138f, 0.491946935653687f, 0.499935150146484f, + 0.492330402135849f, 0.499941170215607f, 0.492713838815689f, 0.499946922063828f, + 0.493097305297852f, 0.499952346086502f, 0.493480771780014f, 0.499957501888275f, + 0.493864238262177f, 0.499962359666824f, 0.494247704744339f, 0.499966919422150f, + 0.494631171226501f, 0.499971181154251f, 0.495014637708664f, 0.499975144863129f, + 0.495398133993149f, 0.499978810548782f, 0.495781600475311f, 0.499982208013535f, + 0.496165096759796f, 0.499985307455063f, 0.496548563241959f, 0.499988079071045f, + 0.496932059526443f, 0.499990582466125f, 0.497315555810928f, 0.499992787837982f, + 0.497699022293091f, 0.499994695186615f, 0.498082518577576f, 0.499996334314346f, + 0.498466014862061f, 0.499997645616531f, 0.498849511146545f, 0.499998688697815f, + 0.499233007431030f, 0.499999403953552f, 0.499616503715515f, 0.499999850988388f, +}; + + +/** + @par + Generation of realCoefB array: + @par + n = 4096 + 
for (i = 0; i < n; i++)
+  {
+     pBTable[2 * i]     = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));
+     pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));
+  }
+ */ + +const float32_t realCoefB[8192] = { + 0.500000000000000f, 0.500000000000000f, 0.500383496284485f, 0.499999850988388f, + 0.500766992568970f, 0.499999403953552f, 0.501150488853455f, 0.499998688697815f, + 0.501533985137939f, 0.499997645616531f, 0.501917481422424f, 0.499996334314346f, + 0.502300977706909f, 0.499994695186615f, 0.502684473991394f, 0.499992787837982f, + 0.503067970275879f, 0.499990582466125f, 0.503451406955719f, 0.499988079071045f, + 0.503834903240204f, 0.499985307455063f, 0.504218399524689f, 0.499982208013535f, + 0.504601895809174f, 0.499978810548782f, 0.504985332489014f, 0.499975144863129f, + 0.505368828773499f, 0.499971181154251f, 0.505752325057983f, 0.499966919422150f, + 0.506135761737823f, 0.499962359666824f, 0.506519258022308f, 0.499957501888275f, + 0.506902694702148f, 0.499952346086502f, 0.507286131381989f, 0.499946922063828f, + 0.507669627666473f, 0.499941170215607f, 0.508053064346313f, 0.499935150146484f, + 0.508436501026154f, 0.499928832054138f, 0.508819937705994f, 0.499922215938568f, + 0.509203374385834f, 0.499915301799774f, 0.509586811065674f, 0.499908089637756f, + 0.509970188140869f, 0.499900579452515f, 0.510353624820709f, 0.499892801046371f, + 0.510737061500549f, 0.499884694814682f, 0.511120438575745f, 0.499876320362091f, + 0.511503815650940f, 0.499867647886276f, 0.511887252330780f, 0.499858677387238f, + 0.512270629405975f, 0.499849408864975f, 0.512654006481171f, 0.499839842319489f, + 0.513037383556366f, 0.499830007553101f, 0.513420701026917f, 0.499819844961166f, + 0.513804078102112f, 0.499809414148331f, 0.514187395572662f, 0.499798685312271f, + 0.514570772647858f, 0.499787658452988f, 0.514954090118408f, 0.499776333570480f, + 0.515337407588959f, 0.499764710664749f, 0.515720725059509f, 0.499752789735794f, + 0.516103982925415f, 0.499740600585938f, 0.516487300395966f, 0.499728083610535f, + 0.516870558261871f, 0.499715298414230f, 0.517253875732422f, 0.499702215194702f, + 0.517637133598328f, 0.499688833951950f, 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for (i = 0; i < n; i++)
+  {
+     pATable[2 * i]     = 0.5 * ( 1.0 - sin (2 * PI / (double) (2 * n) * (double) i));
+     pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));
+  }
+ @par + Convert to fixed point Q31 format + round(pATable[i] * pow(2, 31)) +*/ +const q31_t realCoefAQ31[8192] = { + (q31_t)0x40000000, (q31_t)0xc0000000, (q31_t)0x3ff36f02, (q31_t)0xc000013c, + (q31_t)0x3fe6de05, (q31_t)0xc00004ef, (q31_t)0x3fda4d09, (q31_t)0xc0000b1a, + (q31_t)0x3fcdbc0f, (q31_t)0xc00013bd, (q31_t)0x3fc12b16, (q31_t)0xc0001ed8, + (q31_t)0x3fb49a1f, (q31_t)0xc0002c6a, (q31_t)0x3fa8092c, (q31_t)0xc0003c74, + (q31_t)0x3f9b783c, (q31_t)0xc0004ef5, (q31_t)0x3f8ee750, (q31_t)0xc00063ee, + (q31_t)0x3f825668, (q31_t)0xc0007b5f, (q31_t)0x3f75c585, (q31_t)0xc0009547, + (q31_t)0x3f6934a8, (q31_t)0xc000b1a7, (q31_t)0x3f5ca3d0, (q31_t)0xc000d07e, + (q31_t)0x3f5012fe, (q31_t)0xc000f1ce, (q31_t)0x3f438234, (q31_t)0xc0011594, + (q31_t)0x3f36f170, (q31_t)0xc0013bd3, (q31_t)0x3f2a60b4, (q31_t)0xc0016489, + (q31_t)0x3f1dd001, (q31_t)0xc0018fb6, (q31_t)0x3f113f56, (q31_t)0xc001bd5c, + (q31_t)0x3f04aeb5, (q31_t)0xc001ed78, (q31_t)0x3ef81e1d, (q31_t)0xc002200d, + (q31_t)0x3eeb8d8f, (q31_t)0xc0025519, (q31_t)0x3edefd0c, (q31_t)0xc0028c9c, + (q31_t)0x3ed26c94, (q31_t)0xc002c697, (q31_t)0x3ec5dc28, (q31_t)0xc003030a, + (q31_t)0x3eb94bc8, (q31_t)0xc00341f4, (q31_t)0x3eacbb74, (q31_t)0xc0038356, + (q31_t)0x3ea02b2e, (q31_t)0xc003c72f, (q31_t)0x3e939af5, (q31_t)0xc0040d80, + (q31_t)0x3e870aca, (q31_t)0xc0045648, (q31_t)0x3e7a7aae, (q31_t)0xc004a188, + (q31_t)0x3e6deaa1, (q31_t)0xc004ef3f, (q31_t)0x3e615aa3, (q31_t)0xc0053f6e, + (q31_t)0x3e54cab5, (q31_t)0xc0059214, (q31_t)0x3e483ad8, (q31_t)0xc005e731, + (q31_t)0x3e3bab0b, (q31_t)0xc0063ec6, (q31_t)0x3e2f1b50, (q31_t)0xc00698d3, + (q31_t)0x3e228ba7, (q31_t)0xc006f556, (q31_t)0x3e15fc11, (q31_t)0xc0075452, + (q31_t)0x3e096c8d, (q31_t)0xc007b5c4, (q31_t)0x3dfcdd1d, (q31_t)0xc00819ae, + (q31_t)0x3df04dc0, (q31_t)0xc008800f, (q31_t)0x3de3be78, (q31_t)0xc008e8e8, + (q31_t)0x3dd72f45, (q31_t)0xc0095438, (q31_t)0x3dcaa027, (q31_t)0xc009c1ff, + (q31_t)0x3dbe111e, (q31_t)0xc00a323d, (q31_t)0x3db1822c, (q31_t)0xc00aa4f3, + (q31_t)0x3da4f351, (q31_t)0xc00b1a20, (q31_t)0x3d98648d, (q31_t)0xc00b91c4, + (q31_t)0x3d8bd5e1, (q31_t)0xc00c0be0, (q31_t)0x3d7f474d, (q31_t)0xc00c8872, + (q31_t)0x3d72b8d2, (q31_t)0xc00d077c, (q31_t)0x3d662a70, (q31_t)0xc00d88fd, + (q31_t)0x3d599c28, (q31_t)0xc00e0cf5, (q31_t)0x3d4d0df9, (q31_t)0xc00e9364, + (q31_t)0x3d407fe6, (q31_t)0xc00f1c4a, (q31_t)0x3d33f1ed, (q31_t)0xc00fa7a8, + (q31_t)0x3d276410, (q31_t)0xc010357c, (q31_t)0x3d1ad650, (q31_t)0xc010c5c7, + (q31_t)0x3d0e48ab, (q31_t)0xc011588a, (q31_t)0x3d01bb24, (q31_t)0xc011edc3, + (q31_t)0x3cf52dbb, (q31_t)0xc0128574, (q31_t)0x3ce8a06f, (q31_t)0xc0131f9b, + (q31_t)0x3cdc1342, (q31_t)0xc013bc39, (q31_t)0x3ccf8634, (q31_t)0xc0145b4e, + (q31_t)0x3cc2f945, (q31_t)0xc014fcda, (q31_t)0x3cb66c77, (q31_t)0xc015a0dd, + (q31_t)0x3ca9dfc8, (q31_t)0xc0164757, (q31_t)0x3c9d533b, (q31_t)0xc016f047, + (q31_t)0x3c90c6cf, (q31_t)0xc0179bae, (q31_t)0x3c843a85, (q31_t)0xc018498c, + (q31_t)0x3c77ae5e, (q31_t)0xc018f9e1, (q31_t)0x3c6b2259, (q31_t)0xc019acac, + (q31_t)0x3c5e9678, (q31_t)0xc01a61ee, (q31_t)0x3c520aba, (q31_t)0xc01b19a7, + (q31_t)0x3c457f21, (q31_t)0xc01bd3d6, (q31_t)0x3c38f3ac, (q31_t)0xc01c907c, + (q31_t)0x3c2c685d, (q31_t)0xc01d4f99, (q31_t)0x3c1fdd34, (q31_t)0xc01e112b, + (q31_t)0x3c135231, (q31_t)0xc01ed535, (q31_t)0x3c06c754, (q31_t)0xc01f9bb5, + (q31_t)0x3bfa3c9f, (q31_t)0xc02064ab, (q31_t)0x3bedb212, (q31_t)0xc0213018, + (q31_t)0x3be127ac, (q31_t)0xc021fdfb, (q31_t)0x3bd49d70, (q31_t)0xc022ce54, + (q31_t)0x3bc8135c, (q31_t)0xc023a124, (q31_t)0x3bbb8973, (q31_t)0xc024766a, + (q31_t)0x3baeffb3, (q31_t)0xc0254e27, (q31_t)0x3ba2761e, (q31_t)0xc0262859, + (q31_t)0x3b95ecb4, (q31_t)0xc0270502, (q31_t)0x3b896375, (q31_t)0xc027e421, + (q31_t)0x3b7cda63, (q31_t)0xc028c5b6, (q31_t)0x3b70517d, (q31_t)0xc029a9c1, + (q31_t)0x3b63c8c4, (q31_t)0xc02a9042, (q31_t)0x3b574039, (q31_t)0xc02b7939, + (q31_t)0x3b4ab7db, (q31_t)0xc02c64a6, (q31_t)0x3b3e2fac, (q31_t)0xc02d5289, + (q31_t)0x3b31a7ac, (q31_t)0xc02e42e2, (q31_t)0x3b251fdc, (q31_t)0xc02f35b1, + (q31_t)0x3b18983b, (q31_t)0xc0302af5, (q31_t)0x3b0c10cb, (q31_t)0xc03122b0, + (q31_t)0x3aff898c, (q31_t)0xc0321ce0, (q31_t)0x3af3027e, (q31_t)0xc0331986, + (q31_t)0x3ae67ba2, (q31_t)0xc03418a2, (q31_t)0x3ad9f4f8, (q31_t)0xc0351a33, + (q31_t)0x3acd6e81, (q31_t)0xc0361e3a, (q31_t)0x3ac0e83d, (q31_t)0xc03724b6, + (q31_t)0x3ab4622d, (q31_t)0xc0382da8, (q31_t)0x3aa7dc52, (q31_t)0xc0393910, + (q31_t)0x3a9b56ab, (q31_t)0xc03a46ed, (q31_t)0x3a8ed139, (q31_t)0xc03b573f, + (q31_t)0x3a824bfd, (q31_t)0xc03c6a07, (q31_t)0x3a75c6f8, (q31_t)0xc03d7f44, + (q31_t)0x3a694229, (q31_t)0xc03e96f6, (q31_t)0x3a5cbd91, (q31_t)0xc03fb11d, + (q31_t)0x3a503930, (q31_t)0xc040cdba, (q31_t)0x3a43b508, (q31_t)0xc041eccc, + (q31_t)0x3a373119, (q31_t)0xc0430e53, (q31_t)0x3a2aad62, (q31_t)0xc044324f, + (q31_t)0x3a1e29e5, (q31_t)0xc04558c0, (q31_t)0x3a11a6a3, (q31_t)0xc04681a6, + (q31_t)0x3a05239a, (q31_t)0xc047ad01, (q31_t)0x39f8a0cd, (q31_t)0xc048dad1, + (q31_t)0x39ec1e3b, (q31_t)0xc04a0b16, (q31_t)0x39df9be6, (q31_t)0xc04b3dcf, + (q31_t)0x39d319cc, (q31_t)0xc04c72fe, (q31_t)0x39c697f0, (q31_t)0xc04daaa1, + (q31_t)0x39ba1651, (q31_t)0xc04ee4b8, (q31_t)0x39ad94f0, (q31_t)0xc0502145, + (q31_t)0x39a113cd, (q31_t)0xc0516045, (q31_t)0x399492ea, (q31_t)0xc052a1bb, + (q31_t)0x39881245, (q31_t)0xc053e5a5, (q31_t)0x397b91e1, (q31_t)0xc0552c03, + (q31_t)0x396f11bc, (q31_t)0xc05674d6, (q31_t)0x396291d9, (q31_t)0xc057c01d, + (q31_t)0x39561237, (q31_t)0xc0590dd8, (q31_t)0x394992d7, (q31_t)0xc05a5e07, + (q31_t)0x393d13b8, (q31_t)0xc05bb0ab, (q31_t)0x393094dd, (q31_t)0xc05d05c3, + (q31_t)0x39241645, (q31_t)0xc05e5d4e, (q31_t)0x391797f0, (q31_t)0xc05fb74e, + (q31_t)0x390b19e0, (q31_t)0xc06113c2, (q31_t)0x38fe9c15, (q31_t)0xc06272aa, + (q31_t)0x38f21e8e, (q31_t)0xc063d405, (q31_t)0x38e5a14d, (q31_t)0xc06537d4, + (q31_t)0x38d92452, (q31_t)0xc0669e18, (q31_t)0x38cca79e, (q31_t)0xc06806ce, + (q31_t)0x38c02b31, (q31_t)0xc06971f9, (q31_t)0x38b3af0c, (q31_t)0xc06adf97, + (q31_t)0x38a7332e, (q31_t)0xc06c4fa8, (q31_t)0x389ab799, (q31_t)0xc06dc22e, + (q31_t)0x388e3c4d, (q31_t)0xc06f3726, (q31_t)0x3881c14b, (q31_t)0xc070ae92, + (q31_t)0x38754692, (q31_t)0xc0722871, (q31_t)0x3868cc24, (q31_t)0xc073a4c3, + (q31_t)0x385c5201, (q31_t)0xc0752389, (q31_t)0x384fd829, (q31_t)0xc076a4c2, + (q31_t)0x38435e9d, (q31_t)0xc078286e, (q31_t)0x3836e55d, (q31_t)0xc079ae8c, + (q31_t)0x382a6c6a, (q31_t)0xc07b371e, (q31_t)0x381df3c5, (q31_t)0xc07cc223, + (q31_t)0x38117b6d, (q31_t)0xc07e4f9b, (q31_t)0x38050364, (q31_t)0xc07fdf85, + (q31_t)0x37f88ba9, (q31_t)0xc08171e2, (q31_t)0x37ec143e, (q31_t)0xc08306b2, + (q31_t)0x37df9d22, (q31_t)0xc0849df4, (q31_t)0x37d32657, (q31_t)0xc08637a9, + (q31_t)0x37c6afdc, (q31_t)0xc087d3d0, (q31_t)0x37ba39b3, (q31_t)0xc089726a, + (q31_t)0x37adc3db, (q31_t)0xc08b1376, (q31_t)0x37a14e55, (q31_t)0xc08cb6f5, + (q31_t)0x3794d922, (q31_t)0xc08e5ce5, (q31_t)0x37886442, (q31_t)0xc0900548, + (q31_t)0x377befb5, (q31_t)0xc091b01d, (q31_t)0x376f7b7d, (q31_t)0xc0935d64, + (q31_t)0x37630799, (q31_t)0xc0950d1d, (q31_t)0x3756940a, (q31_t)0xc096bf48, + (q31_t)0x374a20d0, (q31_t)0xc09873e4, (q31_t)0x373daded, (q31_t)0xc09a2af3, + (q31_t)0x37313b60, (q31_t)0xc09be473, (q31_t)0x3724c92a, (q31_t)0xc09da065, + (q31_t)0x3718574b, (q31_t)0xc09f5ec8, (q31_t)0x370be5c4, (q31_t)0xc0a11f9d, + (q31_t)0x36ff7496, (q31_t)0xc0a2e2e3, (q31_t)0x36f303c0, (q31_t)0xc0a4a89b, + (q31_t)0x36e69344, (q31_t)0xc0a670c4, (q31_t)0x36da2321, (q31_t)0xc0a83b5e, + (q31_t)0x36cdb359, (q31_t)0xc0aa086a, (q31_t)0x36c143ec, (q31_t)0xc0abd7e6, + (q31_t)0x36b4d4d9, (q31_t)0xc0ada9d4, (q31_t)0x36a86623, (q31_t)0xc0af7e33, + (q31_t)0x369bf7c9, (q31_t)0xc0b15502, (q31_t)0x368f89cb, (q31_t)0xc0b32e42, + (q31_t)0x36831c2b, (q31_t)0xc0b509f3, (q31_t)0x3676aee8, (q31_t)0xc0b6e815, + (q31_t)0x366a4203, (q31_t)0xc0b8c8a7, (q31_t)0x365dd57d, (q31_t)0xc0baabaa, + (q31_t)0x36516956, (q31_t)0xc0bc911d, (q31_t)0x3644fd8f, (q31_t)0xc0be7901, + (q31_t)0x36389228, (q31_t)0xc0c06355, (q31_t)0x362c2721, (q31_t)0xc0c25019, + (q31_t)0x361fbc7b, (q31_t)0xc0c43f4d, (q31_t)0x36135237, (q31_t)0xc0c630f2, + (q31_t)0x3606e854, (q31_t)0xc0c82506, (q31_t)0x35fa7ed4, (q31_t)0xc0ca1b8a, + (q31_t)0x35ee15b7, (q31_t)0xc0cc147f, (q31_t)0x35e1acfd, (q31_t)0xc0ce0fe3, + (q31_t)0x35d544a7, (q31_t)0xc0d00db6, (q31_t)0x35c8dcb6, (q31_t)0xc0d20dfa, + (q31_t)0x35bc7529, (q31_t)0xc0d410ad, (q31_t)0x35b00e02, (q31_t)0xc0d615cf, + (q31_t)0x35a3a740, (q31_t)0xc0d81d61, (q31_t)0x359740e5, (q31_t)0xc0da2762, + (q31_t)0x358adaf0, (q31_t)0xc0dc33d2, (q31_t)0x357e7563, (q31_t)0xc0de42b2, + (q31_t)0x3572103d, (q31_t)0xc0e05401, (q31_t)0x3565ab80, (q31_t)0xc0e267be, + (q31_t)0x3559472b, (q31_t)0xc0e47deb, (q31_t)0x354ce33f, (q31_t)0xc0e69686, + (q31_t)0x35407fbd, (q31_t)0xc0e8b190, (q31_t)0x35341ca5, (q31_t)0xc0eacf09, + (q31_t)0x3527b9f7, (q31_t)0xc0eceef1, (q31_t)0x351b57b5, (q31_t)0xc0ef1147, + (q31_t)0x350ef5de, (q31_t)0xc0f1360b, (q31_t)0x35029473, (q31_t)0xc0f35d3e, + (q31_t)0x34f63374, (q31_t)0xc0f586df, (q31_t)0x34e9d2e3, (q31_t)0xc0f7b2ee, + (q31_t)0x34dd72be, (q31_t)0xc0f9e16b, (q31_t)0x34d11308, (q31_t)0xc0fc1257, + (q31_t)0x34c4b3c0, (q31_t)0xc0fe45b0, (q31_t)0x34b854e7, (q31_t)0xc1007b77, + (q31_t)0x34abf67e, (q31_t)0xc102b3ac, (q31_t)0x349f9884, (q31_t)0xc104ee4f, + (q31_t)0x34933afa, (q31_t)0xc1072b5f, (q31_t)0x3486dde1, (q31_t)0xc1096add, + (q31_t)0x347a8139, (q31_t)0xc10bacc8, (q31_t)0x346e2504, (q31_t)0xc10df120, + (q31_t)0x3461c940, (q31_t)0xc11037e6, (q31_t)0x34556def, (q31_t)0xc1128119, + (q31_t)0x34491311, (q31_t)0xc114ccb9, (q31_t)0x343cb8a7, (q31_t)0xc1171ac6, + (q31_t)0x34305eb0, (q31_t)0xc1196b3f, (q31_t)0x3424052f, (q31_t)0xc11bbe26, + (q31_t)0x3417ac22, (q31_t)0xc11e1379, (q31_t)0x340b538b, (q31_t)0xc1206b39, + (q31_t)0x33fefb6a, (q31_t)0xc122c566, (q31_t)0x33f2a3bf, (q31_t)0xc12521ff, + (q31_t)0x33e64c8c, (q31_t)0xc1278104, (q31_t)0x33d9f5cf, (q31_t)0xc129e276, + (q31_t)0x33cd9f8b, (q31_t)0xc12c4653, (q31_t)0x33c149bf, (q31_t)0xc12eac9d, + (q31_t)0x33b4f46c, (q31_t)0xc1311553, (q31_t)0x33a89f92, (q31_t)0xc1338075, + (q31_t)0x339c4b32, (q31_t)0xc135ee02, (q31_t)0x338ff74d, (q31_t)0xc1385dfb, + (q31_t)0x3383a3e2, (q31_t)0xc13ad060, (q31_t)0x337750f2, (q31_t)0xc13d4530, + (q31_t)0x336afe7e, (q31_t)0xc13fbc6c, (q31_t)0x335eac86, (q31_t)0xc1423613, + (q31_t)0x33525b0b, (q31_t)0xc144b225, (q31_t)0x33460a0d, (q31_t)0xc14730a3, + (q31_t)0x3339b98d, (q31_t)0xc149b18b, (q31_t)0x332d698a, (q31_t)0xc14c34df, + (q31_t)0x33211a07, (q31_t)0xc14eba9d, (q31_t)0x3314cb02, (q31_t)0xc15142c6, + (q31_t)0x33087c7d, (q31_t)0xc153cd5a, (q31_t)0x32fc2e77, (q31_t)0xc1565a58, + (q31_t)0x32efe0f2, (q31_t)0xc158e9c1, (q31_t)0x32e393ef, (q31_t)0xc15b7b94, + (q31_t)0x32d7476c, (q31_t)0xc15e0fd1, (q31_t)0x32cafb6b, (q31_t)0xc160a678, + (q31_t)0x32beafed, (q31_t)0xc1633f8a, (q31_t)0x32b264f2, (q31_t)0xc165db05, + (q31_t)0x32a61a7a, (q31_t)0xc16878eb, (q31_t)0x3299d085, (q31_t)0xc16b193a, + (q31_t)0x328d8715, (q31_t)0xc16dbbf3, (q31_t)0x32813e2a, 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(q31_t)0x3acd6e81, (q31_t)0x3fc9e1c6, (q31_t)0x3ad9f4f8, (q31_t)0x3fcae5cd, + (q31_t)0x3ae67ba2, (q31_t)0x3fcbe75e, (q31_t)0x3af3027e, (q31_t)0x3fcce67a, + (q31_t)0x3aff898c, (q31_t)0x3fcde320, (q31_t)0x3b0c10cb, (q31_t)0x3fcedd50, + (q31_t)0x3b18983b, (q31_t)0x3fcfd50b, (q31_t)0x3b251fdc, (q31_t)0x3fd0ca4f, + (q31_t)0x3b31a7ac, (q31_t)0x3fd1bd1e, (q31_t)0x3b3e2fac, (q31_t)0x3fd2ad77, + (q31_t)0x3b4ab7db, (q31_t)0x3fd39b5a, (q31_t)0x3b574039, (q31_t)0x3fd486c7, + (q31_t)0x3b63c8c4, (q31_t)0x3fd56fbe, (q31_t)0x3b70517d, (q31_t)0x3fd6563f, + (q31_t)0x3b7cda63, (q31_t)0x3fd73a4a, (q31_t)0x3b896375, (q31_t)0x3fd81bdf, + (q31_t)0x3b95ecb4, (q31_t)0x3fd8fafe, (q31_t)0x3ba2761e, (q31_t)0x3fd9d7a7, + (q31_t)0x3baeffb3, (q31_t)0x3fdab1d9, (q31_t)0x3bbb8973, (q31_t)0x3fdb8996, + (q31_t)0x3bc8135c, (q31_t)0x3fdc5edc, (q31_t)0x3bd49d70, (q31_t)0x3fdd31ac, + (q31_t)0x3be127ac, (q31_t)0x3fde0205, (q31_t)0x3bedb212, (q31_t)0x3fdecfe8, + (q31_t)0x3bfa3c9f, (q31_t)0x3fdf9b55, (q31_t)0x3c06c754, (q31_t)0x3fe0644b, + (q31_t)0x3c135231, (q31_t)0x3fe12acb, (q31_t)0x3c1fdd34, (q31_t)0x3fe1eed5, + (q31_t)0x3c2c685d, (q31_t)0x3fe2b067, (q31_t)0x3c38f3ac, (q31_t)0x3fe36f84, + (q31_t)0x3c457f21, (q31_t)0x3fe42c2a, (q31_t)0x3c520aba, (q31_t)0x3fe4e659, + (q31_t)0x3c5e9678, (q31_t)0x3fe59e12, (q31_t)0x3c6b2259, (q31_t)0x3fe65354, + (q31_t)0x3c77ae5e, (q31_t)0x3fe7061f, (q31_t)0x3c843a85, (q31_t)0x3fe7b674, + (q31_t)0x3c90c6cf, (q31_t)0x3fe86452, (q31_t)0x3c9d533b, (q31_t)0x3fe90fb9, + (q31_t)0x3ca9dfc8, (q31_t)0x3fe9b8a9, (q31_t)0x3cb66c77, (q31_t)0x3fea5f23, + (q31_t)0x3cc2f945, (q31_t)0x3feb0326, (q31_t)0x3ccf8634, (q31_t)0x3feba4b2, + (q31_t)0x3cdc1342, (q31_t)0x3fec43c7, (q31_t)0x3ce8a06f, (q31_t)0x3fece065, + (q31_t)0x3cf52dbb, (q31_t)0x3fed7a8c, (q31_t)0x3d01bb24, (q31_t)0x3fee123d, + (q31_t)0x3d0e48ab, (q31_t)0x3feea776, (q31_t)0x3d1ad650, (q31_t)0x3fef3a39, + (q31_t)0x3d276410, (q31_t)0x3fefca84, (q31_t)0x3d33f1ed, (q31_t)0x3ff05858, + (q31_t)0x3d407fe6, (q31_t)0x3ff0e3b6, (q31_t)0x3d4d0df9, (q31_t)0x3ff16c9c, + (q31_t)0x3d599c28, (q31_t)0x3ff1f30b, (q31_t)0x3d662a70, (q31_t)0x3ff27703, + (q31_t)0x3d72b8d2, (q31_t)0x3ff2f884, (q31_t)0x3d7f474d, (q31_t)0x3ff3778e, + (q31_t)0x3d8bd5e1, (q31_t)0x3ff3f420, (q31_t)0x3d98648d, (q31_t)0x3ff46e3c, + (q31_t)0x3da4f351, (q31_t)0x3ff4e5e0, (q31_t)0x3db1822c, (q31_t)0x3ff55b0d, + (q31_t)0x3dbe111e, (q31_t)0x3ff5cdc3, (q31_t)0x3dcaa027, (q31_t)0x3ff63e01, + (q31_t)0x3dd72f45, (q31_t)0x3ff6abc8, (q31_t)0x3de3be78, (q31_t)0x3ff71718, + (q31_t)0x3df04dc0, (q31_t)0x3ff77ff1, (q31_t)0x3dfcdd1d, (q31_t)0x3ff7e652, + (q31_t)0x3e096c8d, (q31_t)0x3ff84a3c, (q31_t)0x3e15fc11, (q31_t)0x3ff8abae, + (q31_t)0x3e228ba7, (q31_t)0x3ff90aaa, (q31_t)0x3e2f1b50, (q31_t)0x3ff9672d, + (q31_t)0x3e3bab0b, (q31_t)0x3ff9c13a, (q31_t)0x3e483ad8, (q31_t)0x3ffa18cf, + (q31_t)0x3e54cab5, (q31_t)0x3ffa6dec, (q31_t)0x3e615aa3, (q31_t)0x3ffac092, + (q31_t)0x3e6deaa1, (q31_t)0x3ffb10c1, (q31_t)0x3e7a7aae, (q31_t)0x3ffb5e78, + (q31_t)0x3e870aca, (q31_t)0x3ffba9b8, (q31_t)0x3e939af5, (q31_t)0x3ffbf280, + (q31_t)0x3ea02b2e, (q31_t)0x3ffc38d1, (q31_t)0x3eacbb74, (q31_t)0x3ffc7caa, + (q31_t)0x3eb94bc8, (q31_t)0x3ffcbe0c, (q31_t)0x3ec5dc28, (q31_t)0x3ffcfcf6, + (q31_t)0x3ed26c94, (q31_t)0x3ffd3969, (q31_t)0x3edefd0c, (q31_t)0x3ffd7364, + (q31_t)0x3eeb8d8f, (q31_t)0x3ffdaae7, (q31_t)0x3ef81e1d, (q31_t)0x3ffddff3, + (q31_t)0x3f04aeb5, (q31_t)0x3ffe1288, (q31_t)0x3f113f56, (q31_t)0x3ffe42a4, + (q31_t)0x3f1dd001, (q31_t)0x3ffe704a, (q31_t)0x3f2a60b4, (q31_t)0x3ffe9b77, + (q31_t)0x3f36f170, (q31_t)0x3ffec42d, (q31_t)0x3f438234, (q31_t)0x3ffeea6c, + (q31_t)0x3f5012fe, (q31_t)0x3fff0e32, (q31_t)0x3f5ca3d0, (q31_t)0x3fff2f82, + (q31_t)0x3f6934a8, (q31_t)0x3fff4e59, (q31_t)0x3f75c585, (q31_t)0x3fff6ab9, + (q31_t)0x3f825668, (q31_t)0x3fff84a1, (q31_t)0x3f8ee750, (q31_t)0x3fff9c12, + (q31_t)0x3f9b783c, (q31_t)0x3fffb10b, (q31_t)0x3fa8092c, (q31_t)0x3fffc38c, + (q31_t)0x3fb49a1f, (q31_t)0x3fffd396, (q31_t)0x3fc12b16, (q31_t)0x3fffe128, + (q31_t)0x3fcdbc0f, (q31_t)0x3fffec43, (q31_t)0x3fda4d09, (q31_t)0x3ffff4e6, + (q31_t)0x3fe6de05, (q31_t)0x3ffffb11, (q31_t)0x3ff36f02, (q31_t)0x3ffffec4, +}; + + +/** + @par + Generation of realCoefBQ31 array: + @par + n = 4096 + 
for (i = 0; i < n; i++)
+  {
+     pBTable[2 * i]     = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));
+     pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));
+  }
+ @par + Convert to fixed point Q31 format + round(pBTable[i] * pow(2, 31)) + */ + +const q31_t realCoefBQ31[8192] = { + (q31_t)0x40000000, (q31_t)0x40000000, (q31_t)0x400c90fe, (q31_t)0x3ffffec4, + (q31_t)0x401921fb, (q31_t)0x3ffffb11, (q31_t)0x4025b2f7, (q31_t)0x3ffff4e6, + (q31_t)0x403243f1, (q31_t)0x3fffec43, (q31_t)0x403ed4ea, (q31_t)0x3fffe128, + (q31_t)0x404b65e1, (q31_t)0x3fffd396, (q31_t)0x4057f6d4, (q31_t)0x3fffc38c, + (q31_t)0x406487c4, (q31_t)0x3fffb10b, (q31_t)0x407118b0, (q31_t)0x3fff9c12, + (q31_t)0x407da998, (q31_t)0x3fff84a1, (q31_t)0x408a3a7b, (q31_t)0x3fff6ab9, + (q31_t)0x4096cb58, (q31_t)0x3fff4e59, (q31_t)0x40a35c30, (q31_t)0x3fff2f82, + (q31_t)0x40afed02, (q31_t)0x3fff0e32, (q31_t)0x40bc7dcc, (q31_t)0x3ffeea6c, + (q31_t)0x40c90e90, (q31_t)0x3ffec42d, (q31_t)0x40d59f4c, (q31_t)0x3ffe9b77, + (q31_t)0x40e22fff, (q31_t)0x3ffe704a, (q31_t)0x40eec0aa, (q31_t)0x3ffe42a4, + (q31_t)0x40fb514b, (q31_t)0x3ffe1288, (q31_t)0x4107e1e3, (q31_t)0x3ffddff3, + (q31_t)0x41147271, (q31_t)0x3ffdaae7, (q31_t)0x412102f4, (q31_t)0x3ffd7364, + (q31_t)0x412d936c, (q31_t)0x3ffd3969, (q31_t)0x413a23d8, (q31_t)0x3ffcfcf6, + (q31_t)0x4146b438, (q31_t)0x3ffcbe0c, (q31_t)0x4153448c, (q31_t)0x3ffc7caa, + (q31_t)0x415fd4d2, (q31_t)0x3ffc38d1, (q31_t)0x416c650b, (q31_t)0x3ffbf280, + (q31_t)0x4178f536, (q31_t)0x3ffba9b8, (q31_t)0x41858552, (q31_t)0x3ffb5e78, + (q31_t)0x4192155f, (q31_t)0x3ffb10c1, (q31_t)0x419ea55d, (q31_t)0x3ffac092, + (q31_t)0x41ab354b, (q31_t)0x3ffa6dec, (q31_t)0x41b7c528, (q31_t)0x3ffa18cf, + (q31_t)0x41c454f5, (q31_t)0x3ff9c13a, (q31_t)0x41d0e4b0, (q31_t)0x3ff9672d, + (q31_t)0x41dd7459, (q31_t)0x3ff90aaa, (q31_t)0x41ea03ef, (q31_t)0x3ff8abae, + (q31_t)0x41f69373, (q31_t)0x3ff84a3c, (q31_t)0x420322e3, (q31_t)0x3ff7e652, + (q31_t)0x420fb240, (q31_t)0x3ff77ff1, (q31_t)0x421c4188, (q31_t)0x3ff71718, + (q31_t)0x4228d0bb, (q31_t)0x3ff6abc8, (q31_t)0x42355fd9, (q31_t)0x3ff63e01, + (q31_t)0x4241eee2, (q31_t)0x3ff5cdc3, (q31_t)0x424e7dd4, (q31_t)0x3ff55b0d, + (q31_t)0x425b0caf, (q31_t)0x3ff4e5e0, (q31_t)0x42679b73, (q31_t)0x3ff46e3c, + (q31_t)0x42742a1f, (q31_t)0x3ff3f420, (q31_t)0x4280b8b3, (q31_t)0x3ff3778e, + (q31_t)0x428d472e, (q31_t)0x3ff2f884, (q31_t)0x4299d590, (q31_t)0x3ff27703, + (q31_t)0x42a663d8, (q31_t)0x3ff1f30b, (q31_t)0x42b2f207, (q31_t)0x3ff16c9c, + (q31_t)0x42bf801a, (q31_t)0x3ff0e3b6, (q31_t)0x42cc0e13, (q31_t)0x3ff05858, + (q31_t)0x42d89bf0, (q31_t)0x3fefca84, (q31_t)0x42e529b0, (q31_t)0x3fef3a39, + (q31_t)0x42f1b755, (q31_t)0x3feea776, (q31_t)0x42fe44dc, (q31_t)0x3fee123d, + (q31_t)0x430ad245, (q31_t)0x3fed7a8c, (q31_t)0x43175f91, (q31_t)0x3fece065, + (q31_t)0x4323ecbe, (q31_t)0x3fec43c7, (q31_t)0x433079cc, (q31_t)0x3feba4b2, + (q31_t)0x433d06bb, (q31_t)0x3feb0326, (q31_t)0x43499389, (q31_t)0x3fea5f23, + (q31_t)0x43562038, (q31_t)0x3fe9b8a9, (q31_t)0x4362acc5, (q31_t)0x3fe90fb9, + (q31_t)0x436f3931, (q31_t)0x3fe86452, (q31_t)0x437bc57b, (q31_t)0x3fe7b674, + (q31_t)0x438851a2, (q31_t)0x3fe7061f, (q31_t)0x4394dda7, (q31_t)0x3fe65354, + (q31_t)0x43a16988, (q31_t)0x3fe59e12, (q31_t)0x43adf546, (q31_t)0x3fe4e659, + (q31_t)0x43ba80df, (q31_t)0x3fe42c2a, (q31_t)0x43c70c54, (q31_t)0x3fe36f84, + (q31_t)0x43d397a3, (q31_t)0x3fe2b067, (q31_t)0x43e022cc, (q31_t)0x3fe1eed5, + (q31_t)0x43ecadcf, (q31_t)0x3fe12acb, (q31_t)0x43f938ac, (q31_t)0x3fe0644b, + (q31_t)0x4405c361, (q31_t)0x3fdf9b55, (q31_t)0x44124dee, (q31_t)0x3fdecfe8, + (q31_t)0x441ed854, (q31_t)0x3fde0205, (q31_t)0x442b6290, (q31_t)0x3fdd31ac, + (q31_t)0x4437eca4, (q31_t)0x3fdc5edc, (q31_t)0x4444768d, (q31_t)0x3fdb8996, + (q31_t)0x4451004d, (q31_t)0x3fdab1d9, (q31_t)0x445d89e2, (q31_t)0x3fd9d7a7, + (q31_t)0x446a134c, (q31_t)0x3fd8fafe, (q31_t)0x44769c8b, (q31_t)0x3fd81bdf, + (q31_t)0x4483259d, (q31_t)0x3fd73a4a, (q31_t)0x448fae83, (q31_t)0x3fd6563f, + (q31_t)0x449c373c, (q31_t)0x3fd56fbe, (q31_t)0x44a8bfc7, (q31_t)0x3fd486c7, + (q31_t)0x44b54825, (q31_t)0x3fd39b5a, (q31_t)0x44c1d054, (q31_t)0x3fd2ad77, + (q31_t)0x44ce5854, (q31_t)0x3fd1bd1e, (q31_t)0x44dae024, (q31_t)0x3fd0ca4f, + (q31_t)0x44e767c5, (q31_t)0x3fcfd50b, (q31_t)0x44f3ef35, (q31_t)0x3fcedd50, + (q31_t)0x45007674, (q31_t)0x3fcde320, (q31_t)0x450cfd82, (q31_t)0x3fcce67a, + (q31_t)0x4519845e, (q31_t)0x3fcbe75e, (q31_t)0x45260b08, (q31_t)0x3fcae5cd, + (q31_t)0x4532917f, (q31_t)0x3fc9e1c6, (q31_t)0x453f17c3, (q31_t)0x3fc8db4a, + (q31_t)0x454b9dd3, (q31_t)0x3fc7d258, (q31_t)0x455823ae, (q31_t)0x3fc6c6f0, + (q31_t)0x4564a955, (q31_t)0x3fc5b913, (q31_t)0x45712ec7, (q31_t)0x3fc4a8c1, + (q31_t)0x457db403, (q31_t)0x3fc395f9, (q31_t)0x458a3908, (q31_t)0x3fc280bc, + (q31_t)0x4596bdd7, (q31_t)0x3fc1690a, (q31_t)0x45a3426f, (q31_t)0x3fc04ee3, + (q31_t)0x45afc6d0, (q31_t)0x3fbf3246, (q31_t)0x45bc4af8, (q31_t)0x3fbe1334, + (q31_t)0x45c8cee7, (q31_t)0x3fbcf1ad, (q31_t)0x45d5529e, (q31_t)0x3fbbcdb1, + (q31_t)0x45e1d61b, (q31_t)0x3fbaa740, (q31_t)0x45ee595d, (q31_t)0x3fb97e5a, + (q31_t)0x45fadc66, (q31_t)0x3fb852ff, (q31_t)0x46075f33, (q31_t)0x3fb7252f, + (q31_t)0x4613e1c5, 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(q31_t)0x4596bdd7, (q31_t)0xc03e96f6, (q31_t)0x458a3908, (q31_t)0xc03d7f44, + (q31_t)0x457db403, (q31_t)0xc03c6a07, (q31_t)0x45712ec7, (q31_t)0xc03b573f, + (q31_t)0x4564a955, (q31_t)0xc03a46ed, (q31_t)0x455823ae, (q31_t)0xc0393910, + (q31_t)0x454b9dd3, (q31_t)0xc0382da8, (q31_t)0x453f17c3, (q31_t)0xc03724b6, + (q31_t)0x4532917f, (q31_t)0xc0361e3a, (q31_t)0x45260b08, (q31_t)0xc0351a33, + (q31_t)0x4519845e, (q31_t)0xc03418a2, (q31_t)0x450cfd82, (q31_t)0xc0331986, + (q31_t)0x45007674, (q31_t)0xc0321ce0, (q31_t)0x44f3ef35, (q31_t)0xc03122b0, + (q31_t)0x44e767c5, (q31_t)0xc0302af5, (q31_t)0x44dae024, (q31_t)0xc02f35b1, + (q31_t)0x44ce5854, (q31_t)0xc02e42e2, (q31_t)0x44c1d054, (q31_t)0xc02d5289, + (q31_t)0x44b54825, (q31_t)0xc02c64a6, (q31_t)0x44a8bfc7, (q31_t)0xc02b7939, + (q31_t)0x449c373c, (q31_t)0xc02a9042, (q31_t)0x448fae83, (q31_t)0xc029a9c1, + (q31_t)0x4483259d, (q31_t)0xc028c5b6, (q31_t)0x44769c8b, (q31_t)0xc027e421, + (q31_t)0x446a134c, (q31_t)0xc0270502, (q31_t)0x445d89e2, (q31_t)0xc0262859, + (q31_t)0x4451004d, (q31_t)0xc0254e27, (q31_t)0x4444768d, (q31_t)0xc024766a, + (q31_t)0x4437eca4, (q31_t)0xc023a124, (q31_t)0x442b6290, (q31_t)0xc022ce54, + (q31_t)0x441ed854, (q31_t)0xc021fdfb, (q31_t)0x44124dee, (q31_t)0xc0213018, + (q31_t)0x4405c361, (q31_t)0xc02064ab, (q31_t)0x43f938ac, (q31_t)0xc01f9bb5, + (q31_t)0x43ecadcf, (q31_t)0xc01ed535, (q31_t)0x43e022cc, (q31_t)0xc01e112b, + (q31_t)0x43d397a3, (q31_t)0xc01d4f99, (q31_t)0x43c70c54, (q31_t)0xc01c907c, + (q31_t)0x43ba80df, (q31_t)0xc01bd3d6, (q31_t)0x43adf546, (q31_t)0xc01b19a7, + (q31_t)0x43a16988, (q31_t)0xc01a61ee, (q31_t)0x4394dda7, (q31_t)0xc019acac, + (q31_t)0x438851a2, (q31_t)0xc018f9e1, (q31_t)0x437bc57b, (q31_t)0xc018498c, + (q31_t)0x436f3931, (q31_t)0xc0179bae, (q31_t)0x4362acc5, (q31_t)0xc016f047, + (q31_t)0x43562038, (q31_t)0xc0164757, (q31_t)0x43499389, (q31_t)0xc015a0dd, + (q31_t)0x433d06bb, (q31_t)0xc014fcda, (q31_t)0x433079cc, (q31_t)0xc0145b4e, + (q31_t)0x4323ecbe, (q31_t)0xc013bc39, (q31_t)0x43175f91, (q31_t)0xc0131f9b, + (q31_t)0x430ad245, (q31_t)0xc0128574, (q31_t)0x42fe44dc, (q31_t)0xc011edc3, + (q31_t)0x42f1b755, (q31_t)0xc011588a, (q31_t)0x42e529b0, (q31_t)0xc010c5c7, + (q31_t)0x42d89bf0, (q31_t)0xc010357c, (q31_t)0x42cc0e13, (q31_t)0xc00fa7a8, + (q31_t)0x42bf801a, (q31_t)0xc00f1c4a, (q31_t)0x42b2f207, (q31_t)0xc00e9364, + (q31_t)0x42a663d8, (q31_t)0xc00e0cf5, (q31_t)0x4299d590, (q31_t)0xc00d88fd, + (q31_t)0x428d472e, (q31_t)0xc00d077c, (q31_t)0x4280b8b3, (q31_t)0xc00c8872, + (q31_t)0x42742a1f, (q31_t)0xc00c0be0, (q31_t)0x42679b73, (q31_t)0xc00b91c4, + (q31_t)0x425b0caf, (q31_t)0xc00b1a20, (q31_t)0x424e7dd4, (q31_t)0xc00aa4f3, + (q31_t)0x4241eee2, (q31_t)0xc00a323d, (q31_t)0x42355fd9, (q31_t)0xc009c1ff, + (q31_t)0x4228d0bb, (q31_t)0xc0095438, (q31_t)0x421c4188, (q31_t)0xc008e8e8, + (q31_t)0x420fb240, (q31_t)0xc008800f, (q31_t)0x420322e3, (q31_t)0xc00819ae, + (q31_t)0x41f69373, (q31_t)0xc007b5c4, (q31_t)0x41ea03ef, (q31_t)0xc0075452, + (q31_t)0x41dd7459, (q31_t)0xc006f556, (q31_t)0x41d0e4b0, (q31_t)0xc00698d3, + (q31_t)0x41c454f5, (q31_t)0xc0063ec6, (q31_t)0x41b7c528, (q31_t)0xc005e731, + (q31_t)0x41ab354b, (q31_t)0xc0059214, (q31_t)0x419ea55d, (q31_t)0xc0053f6e, + (q31_t)0x4192155f, (q31_t)0xc004ef3f, (q31_t)0x41858552, (q31_t)0xc004a188, + (q31_t)0x4178f536, (q31_t)0xc0045648, (q31_t)0x416c650b, (q31_t)0xc0040d80, + (q31_t)0x415fd4d2, (q31_t)0xc003c72f, (q31_t)0x4153448c, (q31_t)0xc0038356, + (q31_t)0x4146b438, (q31_t)0xc00341f4, (q31_t)0x413a23d8, (q31_t)0xc003030a, + (q31_t)0x412d936c, (q31_t)0xc002c697, (q31_t)0x412102f4, (q31_t)0xc0028c9c, + (q31_t)0x41147271, (q31_t)0xc0025519, (q31_t)0x4107e1e3, (q31_t)0xc002200d, + (q31_t)0x40fb514b, (q31_t)0xc001ed78, (q31_t)0x40eec0aa, (q31_t)0xc001bd5c, + (q31_t)0x40e22fff, (q31_t)0xc0018fb6, (q31_t)0x40d59f4c, (q31_t)0xc0016489, + (q31_t)0x40c90e90, (q31_t)0xc0013bd3, (q31_t)0x40bc7dcc, (q31_t)0xc0011594, + (q31_t)0x40afed02, (q31_t)0xc000f1ce, (q31_t)0x40a35c30, (q31_t)0xc000d07e, + (q31_t)0x4096cb58, (q31_t)0xc000b1a7, (q31_t)0x408a3a7b, (q31_t)0xc0009547, + (q31_t)0x407da998, (q31_t)0xc0007b5f, (q31_t)0x407118b0, (q31_t)0xc00063ee, + (q31_t)0x406487c4, (q31_t)0xc0004ef5, (q31_t)0x4057f6d4, (q31_t)0xc0003c74, + (q31_t)0x404b65e1, (q31_t)0xc0002c6a, (q31_t)0x403ed4ea, (q31_t)0xc0001ed8, + (q31_t)0x403243f1, (q31_t)0xc00013bd, (q31_t)0x4025b2f7, (q31_t)0xc0000b1a, + (q31_t)0x401921fb, (q31_t)0xc00004ef, (q31_t)0x400c90fe, (q31_t)0xc000013c, +}; +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_REALCOEF_Q15) +/** + @par + Generation fixed-point realCoefAQ15 array in Q15 format: + @par + n = 4096 + 
for (i = 0; i < n; i++)
+  {
+     pATable[2 * i]     = 0.5 * ( 1.0 - sin (2 * PI / (double) (2 * n) * (double) i));
+     pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));
+  }
+ @par + Convert to fixed point Q15 format + round(pATable[i] * pow(2, 15)) + */ +const q15_t __ALIGNED(4) realCoefAQ15[8192] = { + (q15_t)0x4000, (q15_t)0xc000, (q15_t)0x3ff3, (q15_t)0xc000, (q15_t)0x3fe7, (q15_t)0xc000, (q15_t)0x3fda, (q15_t)0xc000, + (q15_t)0x3fce, (q15_t)0xc000, (q15_t)0x3fc1, (q15_t)0xc000, (q15_t)0x3fb5, (q15_t)0xc000, (q15_t)0x3fa8, (q15_t)0xc000, + (q15_t)0x3f9b, (q15_t)0xc000, (q15_t)0x3f8f, (q15_t)0xc000, (q15_t)0x3f82, (q15_t)0xc000, (q15_t)0x3f76, (q15_t)0xc001, + (q15_t)0x3f69, (q15_t)0xc001, (q15_t)0x3f5d, (q15_t)0xc001, (q15_t)0x3f50, (q15_t)0xc001, (q15_t)0x3f44, (q15_t)0xc001, + (q15_t)0x3f37, (q15_t)0xc001, (q15_t)0x3f2a, (q15_t)0xc001, (q15_t)0x3f1e, (q15_t)0xc002, (q15_t)0x3f11, (q15_t)0xc002, + (q15_t)0x3f05, (q15_t)0xc002, (q15_t)0x3ef8, (q15_t)0xc002, (q15_t)0x3eec, (q15_t)0xc002, (q15_t)0x3edf, (q15_t)0xc003, + (q15_t)0x3ed2, (q15_t)0xc003, (q15_t)0x3ec6, (q15_t)0xc003, (q15_t)0x3eb9, (q15_t)0xc003, (q15_t)0x3ead, (q15_t)0xc004, + (q15_t)0x3ea0, (q15_t)0xc004, (q15_t)0x3e94, (q15_t)0xc004, (q15_t)0x3e87, (q15_t)0xc004, (q15_t)0x3e7a, (q15_t)0xc005, + (q15_t)0x3e6e, (q15_t)0xc005, (q15_t)0x3e61, (q15_t)0xc005, (q15_t)0x3e55, (q15_t)0xc006, (q15_t)0x3e48, (q15_t)0xc006, + (q15_t)0x3e3c, (q15_t)0xc006, (q15_t)0x3e2f, (q15_t)0xc007, (q15_t)0x3e23, (q15_t)0xc007, (q15_t)0x3e16, (q15_t)0xc007, + (q15_t)0x3e09, (q15_t)0xc008, (q15_t)0x3dfd, (q15_t)0xc008, (q15_t)0x3df0, (q15_t)0xc009, (q15_t)0x3de4, (q15_t)0xc009, + (q15_t)0x3dd7, (q15_t)0xc009, (q15_t)0x3dcb, (q15_t)0xc00a, (q15_t)0x3dbe, (q15_t)0xc00a, (q15_t)0x3db2, (q15_t)0xc00b, + (q15_t)0x3da5, (q15_t)0xc00b, (q15_t)0x3d98, (q15_t)0xc00c, (q15_t)0x3d8c, (q15_t)0xc00c, (q15_t)0x3d7f, (q15_t)0xc00d, + (q15_t)0x3d73, (q15_t)0xc00d, (q15_t)0x3d66, (q15_t)0xc00e, (q15_t)0x3d5a, (q15_t)0xc00e, (q15_t)0x3d4d, (q15_t)0xc00f, + (q15_t)0x3d40, (q15_t)0xc00f, (q15_t)0x3d34, (q15_t)0xc010, (q15_t)0x3d27, (q15_t)0xc010, (q15_t)0x3d1b, (q15_t)0xc011, + (q15_t)0x3d0e, (q15_t)0xc011, (q15_t)0x3d02, (q15_t)0xc012, (q15_t)0x3cf5, (q15_t)0xc013, (q15_t)0x3ce9, (q15_t)0xc013, + (q15_t)0x3cdc, (q15_t)0xc014, (q15_t)0x3cd0, (q15_t)0xc014, (q15_t)0x3cc3, (q15_t)0xc015, (q15_t)0x3cb6, (q15_t)0xc016, + (q15_t)0x3caa, (q15_t)0xc016, (q15_t)0x3c9d, (q15_t)0xc017, (q15_t)0x3c91, (q15_t)0xc018, (q15_t)0x3c84, (q15_t)0xc018, + (q15_t)0x3c78, (q15_t)0xc019, (q15_t)0x3c6b, (q15_t)0xc01a, (q15_t)0x3c5f, (q15_t)0xc01a, (q15_t)0x3c52, (q15_t)0xc01b, + (q15_t)0x3c45, (q15_t)0xc01c, (q15_t)0x3c39, (q15_t)0xc01d, (q15_t)0x3c2c, (q15_t)0xc01d, (q15_t)0x3c20, (q15_t)0xc01e, + (q15_t)0x3c13, (q15_t)0xc01f, (q15_t)0x3c07, (q15_t)0xc020, (q15_t)0x3bfa, (q15_t)0xc020, (q15_t)0x3bee, (q15_t)0xc021, + (q15_t)0x3be1, (q15_t)0xc022, (q15_t)0x3bd5, (q15_t)0xc023, (q15_t)0x3bc8, (q15_t)0xc024, (q15_t)0x3bbc, (q15_t)0xc024, + (q15_t)0x3baf, (q15_t)0xc025, (q15_t)0x3ba2, (q15_t)0xc026, (q15_t)0x3b96, (q15_t)0xc027, (q15_t)0x3b89, (q15_t)0xc028, + (q15_t)0x3b7d, (q15_t)0xc029, (q15_t)0x3b70, (q15_t)0xc02a, (q15_t)0x3b64, (q15_t)0xc02b, (q15_t)0x3b57, (q15_t)0xc02b, + (q15_t)0x3b4b, (q15_t)0xc02c, (q15_t)0x3b3e, (q15_t)0xc02d, (q15_t)0x3b32, (q15_t)0xc02e, (q15_t)0x3b25, (q15_t)0xc02f, + (q15_t)0x3b19, (q15_t)0xc030, (q15_t)0x3b0c, (q15_t)0xc031, (q15_t)0x3b00, (q15_t)0xc032, (q15_t)0x3af3, (q15_t)0xc033, + (q15_t)0x3ae6, (q15_t)0xc034, (q15_t)0x3ada, (q15_t)0xc035, (q15_t)0x3acd, (q15_t)0xc036, (q15_t)0x3ac1, (q15_t)0xc037, + (q15_t)0x3ab4, (q15_t)0xc038, (q15_t)0x3aa8, (q15_t)0xc039, (q15_t)0x3a9b, (q15_t)0xc03a, (q15_t)0x3a8f, (q15_t)0xc03b, + (q15_t)0x3a82, (q15_t)0xc03c, (q15_t)0x3a76, (q15_t)0xc03d, (q15_t)0x3a69, (q15_t)0xc03f, (q15_t)0x3a5d, (q15_t)0xc040, + (q15_t)0x3a50, (q15_t)0xc041, (q15_t)0x3a44, (q15_t)0xc042, (q15_t)0x3a37, (q15_t)0xc043, (q15_t)0x3a2b, (q15_t)0xc044, + (q15_t)0x3a1e, (q15_t)0xc045, (q15_t)0x3a12, (q15_t)0xc047, (q15_t)0x3a05, (q15_t)0xc048, (q15_t)0x39f9, (q15_t)0xc049, + (q15_t)0x39ec, (q15_t)0xc04a, (q15_t)0x39e0, (q15_t)0xc04b, (q15_t)0x39d3, (q15_t)0xc04c, (q15_t)0x39c7, (q15_t)0xc04e, + (q15_t)0x39ba, (q15_t)0xc04f, (q15_t)0x39ae, (q15_t)0xc050, (q15_t)0x39a1, (q15_t)0xc051, (q15_t)0x3995, (q15_t)0xc053, + (q15_t)0x3988, (q15_t)0xc054, (q15_t)0x397c, (q15_t)0xc055, (q15_t)0x396f, (q15_t)0xc056, (q15_t)0x3963, (q15_t)0xc058, + (q15_t)0x3956, (q15_t)0xc059, (q15_t)0x394a, (q15_t)0xc05a, (q15_t)0x393d, (q15_t)0xc05c, (q15_t)0x3931, (q15_t)0xc05d, + (q15_t)0x3924, (q15_t)0xc05e, (q15_t)0x3918, (q15_t)0xc060, (q15_t)0x390b, (q15_t)0xc061, (q15_t)0x38ff, (q15_t)0xc062, + (q15_t)0x38f2, (q15_t)0xc064, (q15_t)0x38e6, (q15_t)0xc065, (q15_t)0x38d9, (q15_t)0xc067, (q15_t)0x38cd, (q15_t)0xc068, + (q15_t)0x38c0, (q15_t)0xc069, (q15_t)0x38b4, (q15_t)0xc06b, (q15_t)0x38a7, (q15_t)0xc06c, (q15_t)0x389b, (q15_t)0xc06e, + (q15_t)0x388e, (q15_t)0xc06f, (q15_t)0x3882, (q15_t)0xc071, (q15_t)0x3875, (q15_t)0xc072, (q15_t)0x3869, (q15_t)0xc074, + (q15_t)0x385c, (q15_t)0xc075, (q15_t)0x3850, (q15_t)0xc077, (q15_t)0x3843, (q15_t)0xc078, (q15_t)0x3837, (q15_t)0xc07a, + (q15_t)0x382a, (q15_t)0xc07b, (q15_t)0x381e, (q15_t)0xc07d, (q15_t)0x3811, (q15_t)0xc07e, (q15_t)0x3805, (q15_t)0xc080, + (q15_t)0x37f9, (q15_t)0xc081, (q15_t)0x37ec, (q15_t)0xc083, (q15_t)0x37e0, (q15_t)0xc085, (q15_t)0x37d3, (q15_t)0xc086, + (q15_t)0x37c7, (q15_t)0xc088, (q15_t)0x37ba, (q15_t)0xc089, (q15_t)0x37ae, (q15_t)0xc08b, (q15_t)0x37a1, (q15_t)0xc08d, + (q15_t)0x3795, (q15_t)0xc08e, (q15_t)0x3788, (q15_t)0xc090, (q15_t)0x377c, (q15_t)0xc092, (q15_t)0x376f, (q15_t)0xc093, + (q15_t)0x3763, (q15_t)0xc095, (q15_t)0x3757, (q15_t)0xc097, (q15_t)0x374a, (q15_t)0xc098, (q15_t)0x373e, (q15_t)0xc09a, + (q15_t)0x3731, (q15_t)0xc09c, (q15_t)0x3725, (q15_t)0xc09e, (q15_t)0x3718, (q15_t)0xc09f, (q15_t)0x370c, (q15_t)0xc0a1, + (q15_t)0x36ff, (q15_t)0xc0a3, (q15_t)0x36f3, (q15_t)0xc0a5, (q15_t)0x36e7, (q15_t)0xc0a6, (q15_t)0x36da, (q15_t)0xc0a8, + (q15_t)0x36ce, (q15_t)0xc0aa, (q15_t)0x36c1, (q15_t)0xc0ac, (q15_t)0x36b5, (q15_t)0xc0ae, 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(q15_t)0x3fc6, (q15_t)0x3aa8, (q15_t)0x3fc7, + (q15_t)0x3ab4, (q15_t)0x3fc8, (q15_t)0x3ac1, (q15_t)0x3fc9, (q15_t)0x3acd, (q15_t)0x3fca, (q15_t)0x3ada, (q15_t)0x3fcb, + (q15_t)0x3ae6, (q15_t)0x3fcc, (q15_t)0x3af3, (q15_t)0x3fcd, (q15_t)0x3b00, (q15_t)0x3fce, (q15_t)0x3b0c, (q15_t)0x3fcf, + (q15_t)0x3b19, (q15_t)0x3fd0, (q15_t)0x3b25, (q15_t)0x3fd1, (q15_t)0x3b32, (q15_t)0x3fd2, (q15_t)0x3b3e, (q15_t)0x3fd3, + (q15_t)0x3b4b, (q15_t)0x3fd4, (q15_t)0x3b57, (q15_t)0x3fd5, (q15_t)0x3b64, (q15_t)0x3fd5, (q15_t)0x3b70, (q15_t)0x3fd6, + (q15_t)0x3b7d, (q15_t)0x3fd7, (q15_t)0x3b89, (q15_t)0x3fd8, (q15_t)0x3b96, (q15_t)0x3fd9, (q15_t)0x3ba2, (q15_t)0x3fda, + (q15_t)0x3baf, (q15_t)0x3fdb, (q15_t)0x3bbc, (q15_t)0x3fdc, (q15_t)0x3bc8, (q15_t)0x3fdc, (q15_t)0x3bd5, (q15_t)0x3fdd, + (q15_t)0x3be1, (q15_t)0x3fde, (q15_t)0x3bee, (q15_t)0x3fdf, (q15_t)0x3bfa, (q15_t)0x3fe0, (q15_t)0x3c07, (q15_t)0x3fe0, + (q15_t)0x3c13, (q15_t)0x3fe1, (q15_t)0x3c20, (q15_t)0x3fe2, (q15_t)0x3c2c, (q15_t)0x3fe3, (q15_t)0x3c39, (q15_t)0x3fe3, + (q15_t)0x3c45, (q15_t)0x3fe4, (q15_t)0x3c52, (q15_t)0x3fe5, (q15_t)0x3c5f, (q15_t)0x3fe6, (q15_t)0x3c6b, (q15_t)0x3fe6, + (q15_t)0x3c78, (q15_t)0x3fe7, (q15_t)0x3c84, (q15_t)0x3fe8, (q15_t)0x3c91, (q15_t)0x3fe8, (q15_t)0x3c9d, (q15_t)0x3fe9, + (q15_t)0x3caa, (q15_t)0x3fea, (q15_t)0x3cb6, (q15_t)0x3fea, (q15_t)0x3cc3, (q15_t)0x3feb, (q15_t)0x3cd0, (q15_t)0x3fec, + (q15_t)0x3cdc, (q15_t)0x3fec, (q15_t)0x3ce9, (q15_t)0x3fed, (q15_t)0x3cf5, (q15_t)0x3fed, (q15_t)0x3d02, (q15_t)0x3fee, + (q15_t)0x3d0e, (q15_t)0x3fef, (q15_t)0x3d1b, (q15_t)0x3fef, (q15_t)0x3d27, (q15_t)0x3ff0, (q15_t)0x3d34, (q15_t)0x3ff0, + (q15_t)0x3d40, (q15_t)0x3ff1, (q15_t)0x3d4d, (q15_t)0x3ff1, (q15_t)0x3d5a, (q15_t)0x3ff2, (q15_t)0x3d66, (q15_t)0x3ff2, + (q15_t)0x3d73, (q15_t)0x3ff3, (q15_t)0x3d7f, (q15_t)0x3ff3, (q15_t)0x3d8c, (q15_t)0x3ff4, (q15_t)0x3d98, (q15_t)0x3ff4, + (q15_t)0x3da5, (q15_t)0x3ff5, (q15_t)0x3db2, (q15_t)0x3ff5, (q15_t)0x3dbe, (q15_t)0x3ff6, (q15_t)0x3dcb, (q15_t)0x3ff6, + (q15_t)0x3dd7, (q15_t)0x3ff7, (q15_t)0x3de4, (q15_t)0x3ff7, (q15_t)0x3df0, (q15_t)0x3ff7, (q15_t)0x3dfd, (q15_t)0x3ff8, + (q15_t)0x3e09, (q15_t)0x3ff8, (q15_t)0x3e16, (q15_t)0x3ff9, (q15_t)0x3e23, (q15_t)0x3ff9, (q15_t)0x3e2f, (q15_t)0x3ff9, + (q15_t)0x3e3c, (q15_t)0x3ffa, (q15_t)0x3e48, (q15_t)0x3ffa, (q15_t)0x3e55, (q15_t)0x3ffa, (q15_t)0x3e61, (q15_t)0x3ffb, + (q15_t)0x3e6e, (q15_t)0x3ffb, (q15_t)0x3e7a, (q15_t)0x3ffb, (q15_t)0x3e87, (q15_t)0x3ffc, (q15_t)0x3e94, (q15_t)0x3ffc, + (q15_t)0x3ea0, (q15_t)0x3ffc, (q15_t)0x3ead, (q15_t)0x3ffc, (q15_t)0x3eb9, (q15_t)0x3ffd, (q15_t)0x3ec6, (q15_t)0x3ffd, + (q15_t)0x3ed2, (q15_t)0x3ffd, (q15_t)0x3edf, (q15_t)0x3ffd, (q15_t)0x3eec, (q15_t)0x3ffe, (q15_t)0x3ef8, (q15_t)0x3ffe, + (q15_t)0x3f05, (q15_t)0x3ffe, (q15_t)0x3f11, (q15_t)0x3ffe, (q15_t)0x3f1e, (q15_t)0x3ffe, (q15_t)0x3f2a, (q15_t)0x3fff, + (q15_t)0x3f37, (q15_t)0x3fff, (q15_t)0x3f44, (q15_t)0x3fff, (q15_t)0x3f50, (q15_t)0x3fff, (q15_t)0x3f5d, (q15_t)0x3fff, + (q15_t)0x3f69, (q15_t)0x3fff, (q15_t)0x3f76, (q15_t)0x3fff, (q15_t)0x3f82, (q15_t)0x4000, (q15_t)0x3f8f, (q15_t)0x4000, + (q15_t)0x3f9b, (q15_t)0x4000, (q15_t)0x3fa8, (q15_t)0x4000, (q15_t)0x3fb5, (q15_t)0x4000, (q15_t)0x3fc1, (q15_t)0x4000, + (q15_t)0x3fce, (q15_t)0x4000, (q15_t)0x3fda, (q15_t)0x4000, (q15_t)0x3fe7, (q15_t)0x4000, (q15_t)0x3ff3, (q15_t)0x4000, +}; + +/** + @par + Generation of real_CoefB array: + @par + n = 4096 + 
for (i = 0; i < n; i++)
+  {
+     pBTable[2 * i]     = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));
+     pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));
+  }
+ @par + Convert to fixed point Q15 format + round(pBTable[i] * pow(2, 15)) +*/ +const q15_t __ALIGNED(4) realCoefBQ15[8192] = { + (q15_t)0x4000, (q15_t)0x4000, (q15_t)0x400d, (q15_t)0x4000, (q15_t)0x4019, (q15_t)0x4000, (q15_t)0x4026, (q15_t)0x4000, + (q15_t)0x4032, (q15_t)0x4000, (q15_t)0x403f, (q15_t)0x4000, (q15_t)0x404b, (q15_t)0x4000, (q15_t)0x4058, (q15_t)0x4000, + (q15_t)0x4065, (q15_t)0x4000, (q15_t)0x4071, (q15_t)0x4000, (q15_t)0x407e, (q15_t)0x4000, (q15_t)0x408a, (q15_t)0x3fff, + (q15_t)0x4097, (q15_t)0x3fff, (q15_t)0x40a3, (q15_t)0x3fff, (q15_t)0x40b0, (q15_t)0x3fff, (q15_t)0x40bc, (q15_t)0x3fff, + (q15_t)0x40c9, (q15_t)0x3fff, (q15_t)0x40d6, (q15_t)0x3fff, (q15_t)0x40e2, (q15_t)0x3ffe, (q15_t)0x40ef, (q15_t)0x3ffe, + (q15_t)0x40fb, (q15_t)0x3ffe, (q15_t)0x4108, (q15_t)0x3ffe, (q15_t)0x4114, (q15_t)0x3ffe, (q15_t)0x4121, (q15_t)0x3ffd, + (q15_t)0x412e, (q15_t)0x3ffd, (q15_t)0x413a, (q15_t)0x3ffd, (q15_t)0x4147, (q15_t)0x3ffd, (q15_t)0x4153, (q15_t)0x3ffc, + (q15_t)0x4160, (q15_t)0x3ffc, (q15_t)0x416c, (q15_t)0x3ffc, (q15_t)0x4179, (q15_t)0x3ffc, (q15_t)0x4186, (q15_t)0x3ffb, + (q15_t)0x4192, (q15_t)0x3ffb, (q15_t)0x419f, (q15_t)0x3ffb, (q15_t)0x41ab, (q15_t)0x3ffa, (q15_t)0x41b8, (q15_t)0x3ffa, + (q15_t)0x41c4, (q15_t)0x3ffa, (q15_t)0x41d1, (q15_t)0x3ff9, (q15_t)0x41dd, (q15_t)0x3ff9, (q15_t)0x41ea, (q15_t)0x3ff9, + (q15_t)0x41f7, (q15_t)0x3ff8, (q15_t)0x4203, (q15_t)0x3ff8, (q15_t)0x4210, (q15_t)0x3ff7, (q15_t)0x421c, (q15_t)0x3ff7, + (q15_t)0x4229, (q15_t)0x3ff7, (q15_t)0x4235, (q15_t)0x3ff6, (q15_t)0x4242, (q15_t)0x3ff6, (q15_t)0x424e, (q15_t)0x3ff5, + (q15_t)0x425b, (q15_t)0x3ff5, (q15_t)0x4268, (q15_t)0x3ff4, (q15_t)0x4274, (q15_t)0x3ff4, (q15_t)0x4281, (q15_t)0x3ff3, + (q15_t)0x428d, (q15_t)0x3ff3, (q15_t)0x429a, (q15_t)0x3ff2, (q15_t)0x42a6, (q15_t)0x3ff2, (q15_t)0x42b3, (q15_t)0x3ff1, + (q15_t)0x42c0, (q15_t)0x3ff1, (q15_t)0x42cc, (q15_t)0x3ff0, (q15_t)0x42d9, (q15_t)0x3ff0, (q15_t)0x42e5, (q15_t)0x3fef, + (q15_t)0x42f2, (q15_t)0x3fef, (q15_t)0x42fe, (q15_t)0x3fee, (q15_t)0x430b, (q15_t)0x3fed, (q15_t)0x4317, (q15_t)0x3fed, + (q15_t)0x4324, (q15_t)0x3fec, (q15_t)0x4330, (q15_t)0x3fec, (q15_t)0x433d, (q15_t)0x3feb, (q15_t)0x434a, (q15_t)0x3fea, + (q15_t)0x4356, (q15_t)0x3fea, (q15_t)0x4363, (q15_t)0x3fe9, (q15_t)0x436f, (q15_t)0x3fe8, (q15_t)0x437c, (q15_t)0x3fe8, + (q15_t)0x4388, (q15_t)0x3fe7, (q15_t)0x4395, (q15_t)0x3fe6, (q15_t)0x43a1, (q15_t)0x3fe6, (q15_t)0x43ae, (q15_t)0x3fe5, + (q15_t)0x43bb, (q15_t)0x3fe4, (q15_t)0x43c7, (q15_t)0x3fe3, (q15_t)0x43d4, (q15_t)0x3fe3, (q15_t)0x43e0, (q15_t)0x3fe2, + (q15_t)0x43ed, (q15_t)0x3fe1, (q15_t)0x43f9, (q15_t)0x3fe0, (q15_t)0x4406, (q15_t)0x3fe0, (q15_t)0x4412, (q15_t)0x3fdf, + (q15_t)0x441f, (q15_t)0x3fde, (q15_t)0x442b, (q15_t)0x3fdd, (q15_t)0x4438, (q15_t)0x3fdc, (q15_t)0x4444, (q15_t)0x3fdc, + (q15_t)0x4451, (q15_t)0x3fdb, (q15_t)0x445e, (q15_t)0x3fda, (q15_t)0x446a, (q15_t)0x3fd9, (q15_t)0x4477, (q15_t)0x3fd8, + (q15_t)0x4483, (q15_t)0x3fd7, (q15_t)0x4490, (q15_t)0x3fd6, (q15_t)0x449c, (q15_t)0x3fd5, (q15_t)0x44a9, (q15_t)0x3fd5, + (q15_t)0x44b5, (q15_t)0x3fd4, (q15_t)0x44c2, (q15_t)0x3fd3, (q15_t)0x44ce, (q15_t)0x3fd2, (q15_t)0x44db, (q15_t)0x3fd1, + (q15_t)0x44e7, (q15_t)0x3fd0, (q15_t)0x44f4, (q15_t)0x3fcf, (q15_t)0x4500, (q15_t)0x3fce, (q15_t)0x450d, (q15_t)0x3fcd, + (q15_t)0x451a, (q15_t)0x3fcc, (q15_t)0x4526, (q15_t)0x3fcb, (q15_t)0x4533, (q15_t)0x3fca, (q15_t)0x453f, (q15_t)0x3fc9, + (q15_t)0x454c, (q15_t)0x3fc8, (q15_t)0x4558, (q15_t)0x3fc7, (q15_t)0x4565, (q15_t)0x3fc6, (q15_t)0x4571, (q15_t)0x3fc5, + (q15_t)0x457e, (q15_t)0x3fc4, (q15_t)0x458a, (q15_t)0x3fc3, (q15_t)0x4597, (q15_t)0x3fc1, (q15_t)0x45a3, (q15_t)0x3fc0, + (q15_t)0x45b0, (q15_t)0x3fbf, (q15_t)0x45bc, (q15_t)0x3fbe, (q15_t)0x45c9, (q15_t)0x3fbd, (q15_t)0x45d5, (q15_t)0x3fbc, + (q15_t)0x45e2, (q15_t)0x3fbb, (q15_t)0x45ee, (q15_t)0x3fb9, (q15_t)0x45fb, (q15_t)0x3fb8, (q15_t)0x4607, (q15_t)0x3fb7, + (q15_t)0x4614, (q15_t)0x3fb6, (q15_t)0x4620, (q15_t)0x3fb5, (q15_t)0x462d, (q15_t)0x3fb4, (q15_t)0x4639, (q15_t)0x3fb2, + (q15_t)0x4646, (q15_t)0x3fb1, (q15_t)0x4652, (q15_t)0x3fb0, (q15_t)0x465f, (q15_t)0x3faf, (q15_t)0x466b, (q15_t)0x3fad, + (q15_t)0x4678, (q15_t)0x3fac, (q15_t)0x4684, (q15_t)0x3fab, (q15_t)0x4691, (q15_t)0x3faa, (q15_t)0x469d, (q15_t)0x3fa8, + (q15_t)0x46aa, (q15_t)0x3fa7, (q15_t)0x46b6, (q15_t)0x3fa6, (q15_t)0x46c3, (q15_t)0x3fa4, (q15_t)0x46cf, (q15_t)0x3fa3, + (q15_t)0x46dc, (q15_t)0x3fa2, (q15_t)0x46e8, (q15_t)0x3fa0, (q15_t)0x46f5, (q15_t)0x3f9f, (q15_t)0x4701, (q15_t)0x3f9e, + (q15_t)0x470e, (q15_t)0x3f9c, (q15_t)0x471a, (q15_t)0x3f9b, (q15_t)0x4727, (q15_t)0x3f99, (q15_t)0x4733, (q15_t)0x3f98, + (q15_t)0x4740, (q15_t)0x3f97, (q15_t)0x474c, (q15_t)0x3f95, (q15_t)0x4759, (q15_t)0x3f94, (q15_t)0x4765, (q15_t)0x3f92, + (q15_t)0x4772, (q15_t)0x3f91, (q15_t)0x477e, (q15_t)0x3f8f, (q15_t)0x478b, (q15_t)0x3f8e, (q15_t)0x4797, (q15_t)0x3f8c, + (q15_t)0x47a4, (q15_t)0x3f8b, (q15_t)0x47b0, (q15_t)0x3f89, (q15_t)0x47bd, (q15_t)0x3f88, (q15_t)0x47c9, (q15_t)0x3f86, + (q15_t)0x47d6, (q15_t)0x3f85, (q15_t)0x47e2, (q15_t)0x3f83, (q15_t)0x47ef, (q15_t)0x3f82, (q15_t)0x47fb, (q15_t)0x3f80, + (q15_t)0x4807, (q15_t)0x3f7f, (q15_t)0x4814, (q15_t)0x3f7d, (q15_t)0x4820, (q15_t)0x3f7b, (q15_t)0x482d, (q15_t)0x3f7a, + (q15_t)0x4839, (q15_t)0x3f78, (q15_t)0x4846, (q15_t)0x3f77, (q15_t)0x4852, (q15_t)0x3f75, (q15_t)0x485f, (q15_t)0x3f73, + (q15_t)0x486b, (q15_t)0x3f72, (q15_t)0x4878, (q15_t)0x3f70, (q15_t)0x4884, (q15_t)0x3f6e, (q15_t)0x4891, (q15_t)0x3f6d, + (q15_t)0x489d, (q15_t)0x3f6b, (q15_t)0x48a9, (q15_t)0x3f69, (q15_t)0x48b6, (q15_t)0x3f68, (q15_t)0x48c2, (q15_t)0x3f66, + (q15_t)0x48cf, (q15_t)0x3f64, (q15_t)0x48db, (q15_t)0x3f62, (q15_t)0x48e8, (q15_t)0x3f61, (q15_t)0x48f4, (q15_t)0x3f5f, + (q15_t)0x4901, (q15_t)0x3f5d, (q15_t)0x490d, (q15_t)0x3f5b, (q15_t)0x4919, (q15_t)0x3f5a, (q15_t)0x4926, (q15_t)0x3f58, + (q15_t)0x4932, (q15_t)0x3f56, (q15_t)0x493f, (q15_t)0x3f54, (q15_t)0x494b, (q15_t)0x3f52, (q15_t)0x4958, (q15_t)0x3f51, + (q15_t)0x4964, (q15_t)0x3f4f, (q15_t)0x4970, (q15_t)0x3f4d, (q15_t)0x497d, (q15_t)0x3f4b, (q15_t)0x4989, (q15_t)0x3f49, + (q15_t)0x4996, (q15_t)0x3f47, (q15_t)0x49a2, (q15_t)0x3f45, (q15_t)0x49af, (q15_t)0x3f43, (q15_t)0x49bb, (q15_t)0x3f42, + (q15_t)0x49c7, (q15_t)0x3f40, (q15_t)0x49d4, (q15_t)0x3f3e, (q15_t)0x49e0, (q15_t)0x3f3c, (q15_t)0x49ed, (q15_t)0x3f3a, + (q15_t)0x49f9, (q15_t)0x3f38, (q15_t)0x4a06, (q15_t)0x3f36, (q15_t)0x4a12, (q15_t)0x3f34, (q15_t)0x4a1e, (q15_t)0x3f32, + (q15_t)0x4a2b, (q15_t)0x3f30, (q15_t)0x4a37, (q15_t)0x3f2e, (q15_t)0x4a44, (q15_t)0x3f2c, (q15_t)0x4a50, (q15_t)0x3f2a, + (q15_t)0x4a5c, (q15_t)0x3f28, (q15_t)0x4a69, (q15_t)0x3f26, (q15_t)0x4a75, (q15_t)0x3f24, (q15_t)0x4a82, (q15_t)0x3f22, + (q15_t)0x4a8e, (q15_t)0x3f20, (q15_t)0x4a9a, (q15_t)0x3f1e, (q15_t)0x4aa7, (q15_t)0x3f1c, (q15_t)0x4ab3, (q15_t)0x3f19, + (q15_t)0x4ac0, (q15_t)0x3f17, (q15_t)0x4acc, (q15_t)0x3f15, (q15_t)0x4ad8, (q15_t)0x3f13, (q15_t)0x4ae5, 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(q15_t)0x493f, (q15_t)0xc0ac, + (q15_t)0x4932, (q15_t)0xc0aa, (q15_t)0x4926, (q15_t)0xc0a8, (q15_t)0x4919, (q15_t)0xc0a6, (q15_t)0x490d, (q15_t)0xc0a5, + (q15_t)0x4901, (q15_t)0xc0a3, (q15_t)0x48f4, (q15_t)0xc0a1, (q15_t)0x48e8, (q15_t)0xc09f, (q15_t)0x48db, (q15_t)0xc09e, + (q15_t)0x48cf, (q15_t)0xc09c, (q15_t)0x48c2, (q15_t)0xc09a, (q15_t)0x48b6, (q15_t)0xc098, (q15_t)0x48a9, (q15_t)0xc097, + (q15_t)0x489d, (q15_t)0xc095, (q15_t)0x4891, (q15_t)0xc093, (q15_t)0x4884, (q15_t)0xc092, (q15_t)0x4878, (q15_t)0xc090, + (q15_t)0x486b, (q15_t)0xc08e, (q15_t)0x485f, (q15_t)0xc08d, (q15_t)0x4852, (q15_t)0xc08b, (q15_t)0x4846, (q15_t)0xc089, + (q15_t)0x4839, (q15_t)0xc088, (q15_t)0x482d, (q15_t)0xc086, (q15_t)0x4820, (q15_t)0xc085, (q15_t)0x4814, (q15_t)0xc083, + (q15_t)0x4807, (q15_t)0xc081, (q15_t)0x47fb, (q15_t)0xc080, (q15_t)0x47ef, (q15_t)0xc07e, (q15_t)0x47e2, (q15_t)0xc07d, + (q15_t)0x47d6, (q15_t)0xc07b, (q15_t)0x47c9, (q15_t)0xc07a, (q15_t)0x47bd, (q15_t)0xc078, (q15_t)0x47b0, (q15_t)0xc077, + (q15_t)0x47a4, (q15_t)0xc075, (q15_t)0x4797, (q15_t)0xc074, (q15_t)0x478b, (q15_t)0xc072, (q15_t)0x477e, (q15_t)0xc071, + (q15_t)0x4772, (q15_t)0xc06f, (q15_t)0x4765, (q15_t)0xc06e, (q15_t)0x4759, (q15_t)0xc06c, (q15_t)0x474c, (q15_t)0xc06b, + (q15_t)0x4740, (q15_t)0xc069, (q15_t)0x4733, (q15_t)0xc068, (q15_t)0x4727, (q15_t)0xc067, (q15_t)0x471a, (q15_t)0xc065, + (q15_t)0x470e, (q15_t)0xc064, (q15_t)0x4701, (q15_t)0xc062, (q15_t)0x46f5, (q15_t)0xc061, (q15_t)0x46e8, (q15_t)0xc060, + (q15_t)0x46dc, (q15_t)0xc05e, (q15_t)0x46cf, (q15_t)0xc05d, (q15_t)0x46c3, (q15_t)0xc05c, (q15_t)0x46b6, (q15_t)0xc05a, + (q15_t)0x46aa, (q15_t)0xc059, (q15_t)0x469d, (q15_t)0xc058, (q15_t)0x4691, (q15_t)0xc056, (q15_t)0x4684, (q15_t)0xc055, + (q15_t)0x4678, (q15_t)0xc054, (q15_t)0x466b, (q15_t)0xc053, (q15_t)0x465f, (q15_t)0xc051, (q15_t)0x4652, (q15_t)0xc050, + (q15_t)0x4646, (q15_t)0xc04f, (q15_t)0x4639, (q15_t)0xc04e, (q15_t)0x462d, (q15_t)0xc04c, (q15_t)0x4620, (q15_t)0xc04b, + (q15_t)0x4614, (q15_t)0xc04a, (q15_t)0x4607, (q15_t)0xc049, (q15_t)0x45fb, (q15_t)0xc048, (q15_t)0x45ee, (q15_t)0xc047, + (q15_t)0x45e2, (q15_t)0xc045, (q15_t)0x45d5, (q15_t)0xc044, (q15_t)0x45c9, (q15_t)0xc043, (q15_t)0x45bc, (q15_t)0xc042, + (q15_t)0x45b0, (q15_t)0xc041, (q15_t)0x45a3, (q15_t)0xc040, (q15_t)0x4597, (q15_t)0xc03f, (q15_t)0x458a, (q15_t)0xc03d, + (q15_t)0x457e, (q15_t)0xc03c, (q15_t)0x4571, (q15_t)0xc03b, (q15_t)0x4565, (q15_t)0xc03a, (q15_t)0x4558, (q15_t)0xc039, + (q15_t)0x454c, (q15_t)0xc038, (q15_t)0x453f, (q15_t)0xc037, (q15_t)0x4533, (q15_t)0xc036, (q15_t)0x4526, (q15_t)0xc035, + (q15_t)0x451a, (q15_t)0xc034, (q15_t)0x450d, (q15_t)0xc033, (q15_t)0x4500, (q15_t)0xc032, (q15_t)0x44f4, (q15_t)0xc031, + (q15_t)0x44e7, (q15_t)0xc030, (q15_t)0x44db, (q15_t)0xc02f, (q15_t)0x44ce, (q15_t)0xc02e, (q15_t)0x44c2, (q15_t)0xc02d, + (q15_t)0x44b5, (q15_t)0xc02c, (q15_t)0x44a9, (q15_t)0xc02b, (q15_t)0x449c, (q15_t)0xc02b, (q15_t)0x4490, (q15_t)0xc02a, + (q15_t)0x4483, (q15_t)0xc029, (q15_t)0x4477, (q15_t)0xc028, (q15_t)0x446a, (q15_t)0xc027, (q15_t)0x445e, (q15_t)0xc026, + (q15_t)0x4451, (q15_t)0xc025, (q15_t)0x4444, (q15_t)0xc024, (q15_t)0x4438, (q15_t)0xc024, (q15_t)0x442b, (q15_t)0xc023, + (q15_t)0x441f, (q15_t)0xc022, (q15_t)0x4412, (q15_t)0xc021, (q15_t)0x4406, (q15_t)0xc020, (q15_t)0x43f9, (q15_t)0xc020, + (q15_t)0x43ed, (q15_t)0xc01f, (q15_t)0x43e0, (q15_t)0xc01e, (q15_t)0x43d4, (q15_t)0xc01d, (q15_t)0x43c7, (q15_t)0xc01d, + (q15_t)0x43bb, (q15_t)0xc01c, (q15_t)0x43ae, (q15_t)0xc01b, (q15_t)0x43a1, (q15_t)0xc01a, (q15_t)0x4395, (q15_t)0xc01a, + (q15_t)0x4388, (q15_t)0xc019, (q15_t)0x437c, (q15_t)0xc018, (q15_t)0x436f, (q15_t)0xc018, (q15_t)0x4363, (q15_t)0xc017, + (q15_t)0x4356, (q15_t)0xc016, (q15_t)0x434a, (q15_t)0xc016, (q15_t)0x433d, (q15_t)0xc015, (q15_t)0x4330, (q15_t)0xc014, + (q15_t)0x4324, (q15_t)0xc014, (q15_t)0x4317, (q15_t)0xc013, (q15_t)0x430b, (q15_t)0xc013, (q15_t)0x42fe, (q15_t)0xc012, + (q15_t)0x42f2, (q15_t)0xc011, (q15_t)0x42e5, (q15_t)0xc011, (q15_t)0x42d9, (q15_t)0xc010, (q15_t)0x42cc, (q15_t)0xc010, + (q15_t)0x42c0, (q15_t)0xc00f, (q15_t)0x42b3, (q15_t)0xc00f, (q15_t)0x42a6, (q15_t)0xc00e, (q15_t)0x429a, (q15_t)0xc00e, + (q15_t)0x428d, (q15_t)0xc00d, (q15_t)0x4281, (q15_t)0xc00d, (q15_t)0x4274, (q15_t)0xc00c, (q15_t)0x4268, (q15_t)0xc00c, + (q15_t)0x425b, (q15_t)0xc00b, (q15_t)0x424e, (q15_t)0xc00b, (q15_t)0x4242, (q15_t)0xc00a, (q15_t)0x4235, (q15_t)0xc00a, + (q15_t)0x4229, (q15_t)0xc009, (q15_t)0x421c, (q15_t)0xc009, (q15_t)0x4210, (q15_t)0xc009, (q15_t)0x4203, (q15_t)0xc008, + (q15_t)0x41f7, (q15_t)0xc008, (q15_t)0x41ea, (q15_t)0xc007, (q15_t)0x41dd, (q15_t)0xc007, (q15_t)0x41d1, (q15_t)0xc007, + (q15_t)0x41c4, (q15_t)0xc006, (q15_t)0x41b8, (q15_t)0xc006, (q15_t)0x41ab, (q15_t)0xc006, (q15_t)0x419f, (q15_t)0xc005, + (q15_t)0x4192, (q15_t)0xc005, (q15_t)0x4186, (q15_t)0xc005, (q15_t)0x4179, (q15_t)0xc004, (q15_t)0x416c, (q15_t)0xc004, + (q15_t)0x4160, (q15_t)0xc004, (q15_t)0x4153, (q15_t)0xc004, (q15_t)0x4147, (q15_t)0xc003, (q15_t)0x413a, (q15_t)0xc003, + (q15_t)0x412e, (q15_t)0xc003, (q15_t)0x4121, (q15_t)0xc003, (q15_t)0x4114, (q15_t)0xc002, (q15_t)0x4108, (q15_t)0xc002, + (q15_t)0x40fb, (q15_t)0xc002, (q15_t)0x40ef, (q15_t)0xc002, (q15_t)0x40e2, (q15_t)0xc002, (q15_t)0x40d6, (q15_t)0xc001, + (q15_t)0x40c9, (q15_t)0xc001, (q15_t)0x40bc, (q15_t)0xc001, (q15_t)0x40b0, (q15_t)0xc001, (q15_t)0x40a3, (q15_t)0xc001, + (q15_t)0x4097, (q15_t)0xc001, (q15_t)0x408a, (q15_t)0xc001, (q15_t)0x407e, (q15_t)0xc000, (q15_t)0x4071, (q15_t)0xc000, + (q15_t)0x4065, (q15_t)0xc000, (q15_t)0x4058, (q15_t)0xc000, (q15_t)0x404b, (q15_t)0xc000, (q15_t)0x403f, (q15_t)0xc000, + (q15_t)0x4032, (q15_t)0xc000, (q15_t)0x4026, (q15_t)0xc000, (q15_t)0x4019, (q15_t)0xc000, (q15_t)0x400d, (q15_t)0xc000, +}; + +#endif +/** + @} end of RealFFT_Table group + */ + +/** + @ingroup DCT4_IDCT4 + */ + +/** + @addtogroup DCT4_IDCT4_Table DCT Type IV Tables + @{ + */ + +/** + @brief Weights Table + */ + +/** + @par + Weights tables are generated using the formula : 
weights[n] = e^(-j*n*pi/(2*N))
+ @par + C command to generate the table + 
+  for(i = 0; i< N; i++)
+  {
+    weights[(2*i)]   =  cos (i*c);
+    weights[(2*i)+1] = -sin (i*c);
+  }
+ @par + where N is the Number of weights to be calculated and c is pi/(2*N) + @par + In the tables below the real and imaginary values are placed alternatively, hence the + array length is 2*N. + */ + + +/** + @par + cosFactor tables are generated using the formula : 
cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
+ @par + C command to generate the table + @par + 
 for(i = 0; i< N; i++)
+  {
+     cos_factors[i]= 2 * cos((2*i+1)*c/2);
+  }
+ @par + where N is the number of factors to generate and c is pi/(2*N) +*/ + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_F32_128) + const float32_t Weights_128[256] = { + 1.000000000000000000f, 0.000000000000000000f, 0.999924701839144500f, -0.012271538285719925f, + 0.999698818696204250f, -0.024541228522912288f, 0.999322384588349540f, -0.036807222941358832f, + 0.998795456205172410f, -0.049067674327418015f, 0.998118112900149180f, -0.061320736302208578f, + 0.997290456678690210f, -0.073564563599667426f, 0.996312612182778000f, -0.085797312344439894f, + 0.995184726672196930f, -0.098017140329560604f, 0.993906970002356060f, -0.110222207293883060f, + 0.992479534598709970f, -0.122410675199216200f, 0.990902635427780010f, -0.134580708507126170f, + 0.989176509964781010f, -0.146730474455361750f, 0.987301418157858430f, -0.158858143333861450f, + 0.985277642388941220f, -0.170961888760301220f, 0.983105487431216290f, -0.183039887955140950f, + 0.980785280403230430f, -0.195090322016128250f, 0.978317370719627650f, -0.207111376192218560f, + 0.975702130038528570f, -0.219101240156869800f, 0.972939952205560180f, -0.231058108280671110f, + 0.970031253194543970f, -0.242980179903263870f, 0.966976471044852070f, -0.254865659604514570f, + 0.963776065795439840f, -0.266712757474898370f, 0.960430519415565790f, -0.278519689385053060f, + 0.956940335732208820f, -0.290284677254462330f, 0.953306040354193860f, -0.302005949319228080f, + 0.949528180593036670f, -0.313681740398891520f, 0.945607325380521280f, -0.325310292162262930f, + 0.941544065183020810f, -0.336889853392220050f, 0.937339011912574960f, -0.348418680249434560f, + 0.932992798834738960f, -0.359895036534988110f, 0.928506080473215590f, -0.371317193951837540f, + 0.923879532511286740f, -0.382683432365089780f, 0.919113851690057770f, -0.393992040061048100f, + 0.914209755703530690f, -0.405241314004989860f, 0.909167983090522380f, -0.416429560097637150f, + 0.903989293123443340f, -0.427555093430282080f, 0.898674465693953820f, -0.438616238538527660f, + 0.893224301195515320f, -0.449611329654606540f, 0.887639620402853930f, -0.460538710958240010f, + 0.881921264348355050f, -0.471396736825997640f, 0.876070094195406600f, -0.482183772079122720f, + 0.870086991108711460f, -0.492898192229784040f, 0.863972856121586810f, -0.503538383725717580f, + 0.857728610000272120f, -0.514102744193221660f, 0.851355193105265200f, -0.524589682678468950f, + 0.844853565249707120f, -0.534997619887097150f, 0.838224705554838080f, -0.545324988422046460f, + 0.831469612302545240f, -0.555570233019602180f, 0.824589302785025290f, -0.565731810783613120f, + 0.817584813151583710f, -0.575808191417845340f, 0.810457198252594770f, -0.585797857456438860f, + 0.803207531480644940f, -0.595699304492433360f, 0.795836904608883570f, -0.605511041404325550f, + 0.788346427626606340f, -0.615231590580626820f, 0.780737228572094490f, -0.624859488142386340f, + 0.773010453362736990f, -0.634393284163645490f, 0.765167265622458960f, -0.643831542889791390f, + 0.757208846506484570f, -0.653172842953776760f, 0.749136394523459370f, -0.662415777590171780f, + 0.740951125354959110f, -0.671558954847018330f, 0.732654271672412820f, -0.680600997795453020f, + 0.724247082951467000f, -0.689540544737066830f, 0.715730825283818590f, -0.698376249408972920f, + 0.707106781186547570f, -0.707106781186547460f, 0.698376249408972920f, -0.715730825283818590f, + 0.689540544737066940f, -0.724247082951466890f, 0.680600997795453130f, -0.732654271672412820f, + 0.671558954847018330f, -0.740951125354959110f, 0.662415777590171780f, -0.749136394523459260f, + 0.653172842953776760f, -0.757208846506484460f, 0.643831542889791500f, -0.765167265622458960f, + 0.634393284163645490f, -0.773010453362736990f, 0.624859488142386450f, -0.780737228572094380f, + 0.615231590580626820f, -0.788346427626606230f, 0.605511041404325550f, -0.795836904608883460f, + 0.595699304492433470f, -0.803207531480644830f, 0.585797857456438860f, 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0.359895036534988280f, -0.932992798834738850f, 0.348418680249434510f, -0.937339011912574960f, + 0.336889853392220050f, -0.941544065183020810f, 0.325310292162262980f, -0.945607325380521280f, + 0.313681740398891570f, -0.949528180593036670f, 0.302005949319228200f, -0.953306040354193750f, + 0.290284677254462330f, -0.956940335732208940f, 0.278519689385053060f, -0.960430519415565790f, + 0.266712757474898420f, -0.963776065795439840f, 0.254865659604514630f, -0.966976471044852070f, + 0.242980179903263980f, -0.970031253194543970f, 0.231058108280671280f, -0.972939952205560070f, + 0.219101240156869770f, -0.975702130038528570f, 0.207111376192218560f, -0.978317370719627650f, + 0.195090322016128330f, -0.980785280403230430f, 0.183039887955141060f, -0.983105487431216290f, + 0.170961888760301360f, -0.985277642388941220f, 0.158858143333861390f, -0.987301418157858430f, + 0.146730474455361750f, -0.989176509964781010f, 0.134580708507126220f, -0.990902635427780010f, + 0.122410675199216280f, -0.992479534598709970f, 0.110222207293883180f, -0.993906970002356060f, + 0.098017140329560770f, -0.995184726672196820f, 0.085797312344439880f, -0.996312612182778000f, + 0.073564563599667454f, -0.997290456678690210f, 0.061320736302208648f, -0.998118112900149180f, + 0.049067674327418126f, -0.998795456205172410f, 0.036807222941358991f, -0.999322384588349540f, + 0.024541228522912264f, -0.999698818696204250f, 0.012271538285719944f, -0.999924701839144500f +}; + + const float32_t cos_factors_128[128] = { + 0.999981175282601110f, 0.999830581795823400f, 0.999529417501093140f, + 0.999077727752645360f, + 0.998475580573294770f, 0.997723066644191640f, 0.996820299291165670f, + 0.995767414467659820f, + 0.994564570734255420f, 0.993211949234794500f, 0.991709753669099530f, + 0.990058210262297120f, + 0.988257567730749460f, 0.986308097244598670f, 0.984210092386929030f, + 0.981963869109555240f, + 0.979569765685440520f, 0.977028142657754390f, 0.974339382785575860f, + 0.971503890986251780f, + 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0.000191747598192208f +}; + #endif + +/** + @brief Weights Table + */ + +/** + @par + Weights tables are generated using the formula : 
weights[n] = e^(-j*n*pi/(2*N))
+ @par + C command to generate the table + 
+  for(i = 0; i< N; i++)
+  { 
+    weights[(2*i)]   =  cos(i*c);
+    weights[(2*i)+1] = -sin(i*c);
+  }
+ @par + where N is the Number of weights to be calculated and c is pi/(2*N) + @par + Converted the output to q15 format by multiplying with 2^31 and saturated if required. + @par + In the tables below the real and imaginary values are placed alternatively, hence the + array length is 2*N. + */ + +/** + @par + cosFactor tables are generated using the formula : 
 cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
+ @par + C command to generate the table + 
+  for (i = 0; i< N; i++)
+  {
+    cos_factors[i] = 2 * cos((2*i+1)*c/2);
+  }
+ @par + where N is the number of factors to generate and c is pi/(2*N) + @par + Then converted to q15 format by multiplying with 2^31 and saturated if required. +*/ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q15_128) + + const q15_t __ALIGNED(4) WeightsQ15_128[256] = { + (q15_t)0x7fff, (q15_t)0x0, (q15_t)0x7ffd, (q15_t)0xfe6e, (q15_t)0x7ff6, (q15_t)0xfcdc, (q15_t)0x7fe9, (q15_t)0xfb4a, + (q15_t)0x7fd8, (q15_t)0xf9b9, (q15_t)0x7fc2, (q15_t)0xf827, (q15_t)0x7fa7, (q15_t)0xf696, (q15_t)0x7f87, (q15_t)0xf505, + (q15_t)0x7f62, (q15_t)0xf375, (q15_t)0x7f38, (q15_t)0xf1e5, (q15_t)0x7f09, (q15_t)0xf055, (q15_t)0x7ed5, (q15_t)0xeec7, + (q15_t)0x7e9d, (q15_t)0xed38, (q15_t)0x7e5f, (q15_t)0xebab, (q15_t)0x7e1d, (q15_t)0xea1e, (q15_t)0x7dd6, (q15_t)0xe893, + (q15_t)0x7d8a, (q15_t)0xe708, (q15_t)0x7d39, (q15_t)0xe57e, (q15_t)0x7ce3, (q15_t)0xe3f5, (q15_t)0x7c89, (q15_t)0xe26d, + (q15_t)0x7c29, (q15_t)0xe0e7, (q15_t)0x7bc5, (q15_t)0xdf61, (q15_t)0x7b5d, (q15_t)0xdddd, (q15_t)0x7aef, (q15_t)0xdc5a, + (q15_t)0x7a7d, (q15_t)0xdad8, (q15_t)0x7a05, (q15_t)0xd958, (q15_t)0x798a, (q15_t)0xd7da, (q15_t)0x7909, (q15_t)0xd65d, + (q15_t)0x7884, (q15_t)0xd4e1, (q15_t)0x77fa, (q15_t)0xd368, (q15_t)0x776c, (q15_t)0xd1ef, (q15_t)0x76d9, (q15_t)0xd079, + (q15_t)0x7641, (q15_t)0xcf05, (q15_t)0x75a5, (q15_t)0xcd92, (q15_t)0x7504, (q15_t)0xcc22, (q15_t)0x745f, (q15_t)0xcab3, + (q15_t)0x73b5, (q15_t)0xc946, (q15_t)0x7307, (q15_t)0xc7dc, (q15_t)0x7255, (q15_t)0xc674, (q15_t)0x719e, (q15_t)0xc50e, + (q15_t)0x70e2, (q15_t)0xc3aa, (q15_t)0x7023, (q15_t)0xc248, (q15_t)0x6f5f, (q15_t)0xc0e9, (q15_t)0x6e96, (q15_t)0xbf8d, + (q15_t)0x6dca, (q15_t)0xbe32, (q15_t)0x6cf9, (q15_t)0xbcdb, (q15_t)0x6c24, (q15_t)0xbb86, (q15_t)0x6b4a, (q15_t)0xba33, + (q15_t)0x6a6d, (q15_t)0xb8e4, (q15_t)0x698c, (q15_t)0xb797, (q15_t)0x68a6, (q15_t)0xb64c, (q15_t)0x67bd, (q15_t)0xb505, + (q15_t)0x66cf, (q15_t)0xb3c1, (q15_t)0x65dd, (q15_t)0xb27f, (q15_t)0x64e8, (q15_t)0xb141, (q15_t)0x63ef, (q15_t)0xb005, + (q15_t)0x62f2, (q15_t)0xaecd, (q15_t)0x61f1, (q15_t)0xad97, (q15_t)0x60ec, (q15_t)0xac65, (q15_t)0x5fe3, (q15_t)0xab36, + (q15_t)0x5ed7, (q15_t)0xaa0b, (q15_t)0x5dc7, (q15_t)0xa8e3, (q15_t)0x5cb4, (q15_t)0xa7be, (q15_t)0x5b9d, (q15_t)0xa69c, + (q15_t)0x5a82, (q15_t)0xa57e, (q15_t)0x5964, (q15_t)0xa463, (q15_t)0x5842, (q15_t)0xa34c, (q15_t)0x571d, (q15_t)0xa239, + (q15_t)0x55f5, (q15_t)0xa129, (q15_t)0x54ca, (q15_t)0xa01d, (q15_t)0x539b, (q15_t)0x9f14, (q15_t)0x5269, (q15_t)0x9e0f, + (q15_t)0x5133, (q15_t)0x9d0e, (q15_t)0x4ffb, (q15_t)0x9c11, (q15_t)0x4ebf, (q15_t)0x9b18, (q15_t)0x4d81, (q15_t)0x9a23, + (q15_t)0x4c3f, (q15_t)0x9931, (q15_t)0x4afb, (q15_t)0x9843, (q15_t)0x49b4, (q15_t)0x975a, (q15_t)0x4869, (q15_t)0x9674, + (q15_t)0x471c, (q15_t)0x9593, (q15_t)0x45cd, (q15_t)0x94b6, (q15_t)0x447a, (q15_t)0x93dc, (q15_t)0x4325, (q15_t)0x9307, + (q15_t)0x41ce, (q15_t)0x9236, (q15_t)0x4073, (q15_t)0x916a, (q15_t)0x3f17, (q15_t)0x90a1, (q15_t)0x3db8, (q15_t)0x8fdd, + (q15_t)0x3c56, (q15_t)0x8f1e, (q15_t)0x3af2, (q15_t)0x8e62, (q15_t)0x398c, (q15_t)0x8dab, (q15_t)0x3824, (q15_t)0x8cf9, + (q15_t)0x36ba, (q15_t)0x8c4b, (q15_t)0x354d, (q15_t)0x8ba1, (q15_t)0x33de, (q15_t)0x8afc, (q15_t)0x326e, (q15_t)0x8a5b, + (q15_t)0x30fb, (q15_t)0x89bf, (q15_t)0x2f87, (q15_t)0x8927, (q15_t)0x2e11, (q15_t)0x8894, (q15_t)0x2c98, (q15_t)0x8806, + (q15_t)0x2b1f, (q15_t)0x877c, (q15_t)0x29a3, (q15_t)0x86f7, (q15_t)0x2826, (q15_t)0x8676, (q15_t)0x26a8, (q15_t)0x85fb, + (q15_t)0x2528, (q15_t)0x8583, (q15_t)0x23a6, (q15_t)0x8511, (q15_t)0x2223, (q15_t)0x84a3, (q15_t)0x209f, (q15_t)0x843b, + (q15_t)0x1f19, (q15_t)0x83d7, (q15_t)0x1d93, (q15_t)0x8377, (q15_t)0x1c0b, (q15_t)0x831d, (q15_t)0x1a82, (q15_t)0x82c7, + (q15_t)0x18f8, (q15_t)0x8276, (q15_t)0x176d, (q15_t)0x822a, (q15_t)0x15e2, (q15_t)0x81e3, (q15_t)0x1455, (q15_t)0x81a1, + (q15_t)0x12c8, (q15_t)0x8163, (q15_t)0x1139, (q15_t)0x812b, (q15_t)0xfab, (q15_t)0x80f7, (q15_t)0xe1b, (q15_t)0x80c8, + (q15_t)0xc8b, (q15_t)0x809e, (q15_t)0xafb, (q15_t)0x8079, (q15_t)0x96a, (q15_t)0x8059, (q15_t)0x7d9, (q15_t)0x803e, + (q15_t)0x647, (q15_t)0x8028, (q15_t)0x4b6, (q15_t)0x8017, (q15_t)0x324, (q15_t)0x800a, (q15_t)0x192, (q15_t)0x8003 +}; + const q15_t __ALIGNED(4) cos_factorsQ15_128[128] = { + (q15_t)0x7fff, (q15_t)0x7ffa, (q15_t)0x7ff0, (q15_t)0x7fe1, (q15_t)0x7fce, (q15_t)0x7fb5, (q15_t)0x7f97, (q15_t)0x7f75, + (q15_t)0x7f4d, (q15_t)0x7f21, (q15_t)0x7ef0, (q15_t)0x7eba, (q15_t)0x7e7f, (q15_t)0x7e3f, (q15_t)0x7dfa, (q15_t)0x7db0, + (q15_t)0x7d62, (q15_t)0x7d0f, (q15_t)0x7cb7, (q15_t)0x7c5a, (q15_t)0x7bf8, (q15_t)0x7b92, (q15_t)0x7b26, (q15_t)0x7ab6, + (q15_t)0x7a42, (q15_t)0x79c8, (q15_t)0x794a, (q15_t)0x78c7, (q15_t)0x7840, (q15_t)0x77b4, (q15_t)0x7723, (q15_t)0x768e, + (q15_t)0x75f4, (q15_t)0x7555, (q15_t)0x74b2, (q15_t)0x740b, (q15_t)0x735f, (q15_t)0x72af, (q15_t)0x71fa, (q15_t)0x7141, + (q15_t)0x7083, (q15_t)0x6fc1, (q15_t)0x6efb, (q15_t)0x6e30, (q15_t)0x6d62, (q15_t)0x6c8f, (q15_t)0x6bb8, (q15_t)0x6adc, + (q15_t)0x69fd, (q15_t)0x6919, (q15_t)0x6832, (q15_t)0x6746, (q15_t)0x6657, (q15_t)0x6563, (q15_t)0x646c, (q15_t)0x6371, + (q15_t)0x6271, (q15_t)0x616f, (q15_t)0x6068, (q15_t)0x5f5e, (q15_t)0x5e50, (q15_t)0x5d3e, (q15_t)0x5c29, (q15_t)0x5b10, + (q15_t)0x59f3, (q15_t)0x58d4, (q15_t)0x57b0, (q15_t)0x568a, (q15_t)0x5560, (q15_t)0x5433, (q15_t)0x5302, (q15_t)0x51ce, + (q15_t)0x5097, (q15_t)0x4f5e, (q15_t)0x4e21, (q15_t)0x4ce1, (q15_t)0x4b9e, (q15_t)0x4a58, (q15_t)0x490f, (q15_t)0x47c3, + (q15_t)0x4675, (q15_t)0x4524, (q15_t)0x43d0, (q15_t)0x427a, (q15_t)0x4121, (q15_t)0x3fc5, (q15_t)0x3e68, (q15_t)0x3d07, + (q15_t)0x3ba5, (q15_t)0x3a40, (q15_t)0x38d8, (q15_t)0x376f, (q15_t)0x3604, (q15_t)0x3496, (q15_t)0x3326, (q15_t)0x31b5, + (q15_t)0x3041, (q15_t)0x2ecc, (q15_t)0x2d55, (q15_t)0x2bdc, (q15_t)0x2a61, (q15_t)0x28e5, (q15_t)0x2767, (q15_t)0x25e8, + (q15_t)0x2467, (q15_t)0x22e5, (q15_t)0x2161, (q15_t)0x1fdc, (q15_t)0x1e56, (q15_t)0x1ccf, (q15_t)0x1b47, (q15_t)0x19bd, + (q15_t)0x1833, (q15_t)0x16a8, (q15_t)0x151b, (q15_t)0x138e, (q15_t)0x1201, (q15_t)0x1072, (q15_t)0xee3, (q15_t)0xd53, + (q15_t)0xbc3, (q15_t)0xa33, (q15_t)0x8a2, (q15_t)0x710, (q15_t)0x57f, (q15_t)0x3ed, (q15_t)0x25b, (q15_t)0xc9 +}; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q15_512) + const q15_t __ALIGNED(4) WeightsQ15_512[1024] = { + (q15_t)0x7fff, (q15_t)0x0, (q15_t)0x7fff, (q15_t)0xff9c, (q15_t)0x7fff, (q15_t)0xff37, (q15_t)0x7ffe, (q15_t)0xfed3, + (q15_t)0x7ffd, (q15_t)0xfe6e, (q15_t)0x7ffc, (q15_t)0xfe0a, (q15_t)0x7ffa, (q15_t)0xfda5, (q15_t)0x7ff8, (q15_t)0xfd41, + (q15_t)0x7ff6, (q15_t)0xfcdc, (q15_t)0x7ff3, (q15_t)0xfc78, (q15_t)0x7ff0, (q15_t)0xfc13, (q15_t)0x7fed, (q15_t)0xfbaf, + (q15_t)0x7fe9, (q15_t)0xfb4a, (q15_t)0x7fe5, (q15_t)0xfae6, (q15_t)0x7fe1, (q15_t)0xfa81, (q15_t)0x7fdd, (q15_t)0xfa1d, + (q15_t)0x7fd8, (q15_t)0xf9b9, (q15_t)0x7fd3, (q15_t)0xf954, (q15_t)0x7fce, (q15_t)0xf8f0, (q15_t)0x7fc8, (q15_t)0xf88b, + (q15_t)0x7fc2, (q15_t)0xf827, (q15_t)0x7fbc, (q15_t)0xf7c3, (q15_t)0x7fb5, (q15_t)0xf75e, (q15_t)0x7fae, (q15_t)0xf6fa, + (q15_t)0x7fa7, (q15_t)0xf696, (q15_t)0x7f9f, (q15_t)0xf632, (q15_t)0x7f97, (q15_t)0xf5cd, (q15_t)0x7f8f, (q15_t)0xf569, + (q15_t)0x7f87, (q15_t)0xf505, (q15_t)0x7f7e, (q15_t)0xf4a1, (q15_t)0x7f75, (q15_t)0xf43d, (q15_t)0x7f6b, (q15_t)0xf3d9, + (q15_t)0x7f62, (q15_t)0xf375, (q15_t)0x7f58, (q15_t)0xf311, (q15_t)0x7f4d, (q15_t)0xf2ad, (q15_t)0x7f43, (q15_t)0xf249, + (q15_t)0x7f38, (q15_t)0xf1e5, (q15_t)0x7f2d, (q15_t)0xf181, (q15_t)0x7f21, (q15_t)0xf11d, (q15_t)0x7f15, (q15_t)0xf0b9, + (q15_t)0x7f09, (q15_t)0xf055, (q15_t)0x7efd, (q15_t)0xeff2, (q15_t)0x7ef0, (q15_t)0xef8e, (q15_t)0x7ee3, (q15_t)0xef2a, + (q15_t)0x7ed5, (q15_t)0xeec7, (q15_t)0x7ec8, (q15_t)0xee63, (q15_t)0x7eba, (q15_t)0xedff, (q15_t)0x7eab, (q15_t)0xed9c, + (q15_t)0x7e9d, (q15_t)0xed38, (q15_t)0x7e8e, (q15_t)0xecd5, (q15_t)0x7e7f, (q15_t)0xec72, (q15_t)0x7e6f, (q15_t)0xec0e, + (q15_t)0x7e5f, (q15_t)0xebab, (q15_t)0x7e4f, (q15_t)0xeb48, (q15_t)0x7e3f, (q15_t)0xeae5, (q15_t)0x7e2e, (q15_t)0xea81, + (q15_t)0x7e1d, (q15_t)0xea1e, (q15_t)0x7e0c, (q15_t)0xe9bb, (q15_t)0x7dfa, (q15_t)0xe958, (q15_t)0x7de8, (q15_t)0xe8f6, + (q15_t)0x7dd6, (q15_t)0xe893, (q15_t)0x7dc3, (q15_t)0xe830, (q15_t)0x7db0, (q15_t)0xe7cd, (q15_t)0x7d9d, (q15_t)0xe76a, + (q15_t)0x7d8a, (q15_t)0xe708, (q15_t)0x7d76, (q15_t)0xe6a5, (q15_t)0x7d62, (q15_t)0xe643, (q15_t)0x7d4e, (q15_t)0xe5e0, + (q15_t)0x7d39, (q15_t)0xe57e, (q15_t)0x7d24, (q15_t)0xe51c, (q15_t)0x7d0f, (q15_t)0xe4b9, (q15_t)0x7cf9, (q15_t)0xe457, + (q15_t)0x7ce3, (q15_t)0xe3f5, (q15_t)0x7ccd, (q15_t)0xe393, (q15_t)0x7cb7, (q15_t)0xe331, (q15_t)0x7ca0, (q15_t)0xe2cf, + (q15_t)0x7c89, (q15_t)0xe26d, (q15_t)0x7c71, (q15_t)0xe20b, (q15_t)0x7c5a, (q15_t)0xe1aa, (q15_t)0x7c42, (q15_t)0xe148, + (q15_t)0x7c29, (q15_t)0xe0e7, (q15_t)0x7c11, (q15_t)0xe085, (q15_t)0x7bf8, (q15_t)0xe024, (q15_t)0x7bdf, (q15_t)0xdfc2, + (q15_t)0x7bc5, (q15_t)0xdf61, (q15_t)0x7bac, (q15_t)0xdf00, (q15_t)0x7b92, (q15_t)0xde9f, (q15_t)0x7b77, (q15_t)0xde3e, + (q15_t)0x7b5d, (q15_t)0xdddd, (q15_t)0x7b42, (q15_t)0xdd7c, (q15_t)0x7b26, (q15_t)0xdd1b, (q15_t)0x7b0b, (q15_t)0xdcbb, + (q15_t)0x7aef, (q15_t)0xdc5a, (q15_t)0x7ad3, (q15_t)0xdbf9, (q15_t)0x7ab6, (q15_t)0xdb99, (q15_t)0x7a9a, (q15_t)0xdb39, + (q15_t)0x7a7d, (q15_t)0xdad8, (q15_t)0x7a5f, (q15_t)0xda78, (q15_t)0x7a42, (q15_t)0xda18, (q15_t)0x7a24, (q15_t)0xd9b8, + (q15_t)0x7a05, (q15_t)0xd958, (q15_t)0x79e7, (q15_t)0xd8f9, (q15_t)0x79c8, (q15_t)0xd899, (q15_t)0x79a9, (q15_t)0xd839, + (q15_t)0x798a, (q15_t)0xd7da, (q15_t)0x796a, (q15_t)0xd77a, (q15_t)0x794a, (q15_t)0xd71b, (q15_t)0x792a, (q15_t)0xd6bc, + (q15_t)0x7909, (q15_t)0xd65d, (q15_t)0x78e8, (q15_t)0xd5fe, (q15_t)0x78c7, (q15_t)0xd59f, (q15_t)0x78a6, (q15_t)0xd540, + (q15_t)0x7884, (q15_t)0xd4e1, (q15_t)0x7862, (q15_t)0xd483, (q15_t)0x7840, (q15_t)0xd424, (q15_t)0x781d, (q15_t)0xd3c6, + (q15_t)0x77fa, (q15_t)0xd368, (q15_t)0x77d7, (q15_t)0xd309, (q15_t)0x77b4, (q15_t)0xd2ab, (q15_t)0x7790, (q15_t)0xd24d, + (q15_t)0x776c, (q15_t)0xd1ef, (q15_t)0x7747, (q15_t)0xd192, (q15_t)0x7723, (q15_t)0xd134, (q15_t)0x76fe, (q15_t)0xd0d7, + (q15_t)0x76d9, (q15_t)0xd079, (q15_t)0x76b3, (q15_t)0xd01c, (q15_t)0x768e, (q15_t)0xcfbf, (q15_t)0x7668, (q15_t)0xcf62, + (q15_t)0x7641, (q15_t)0xcf05, (q15_t)0x761b, (q15_t)0xcea8, (q15_t)0x75f4, (q15_t)0xce4b, (q15_t)0x75cc, (q15_t)0xcdef, + (q15_t)0x75a5, (q15_t)0xcd92, (q15_t)0x757d, (q15_t)0xcd36, (q15_t)0x7555, (q15_t)0xccda, (q15_t)0x752d, (q15_t)0xcc7e, + (q15_t)0x7504, (q15_t)0xcc22, (q15_t)0x74db, (q15_t)0xcbc6, (q15_t)0x74b2, (q15_t)0xcb6a, (q15_t)0x7489, (q15_t)0xcb0e, + (q15_t)0x745f, (q15_t)0xcab3, (q15_t)0x7435, (q15_t)0xca58, (q15_t)0x740b, (q15_t)0xc9fc, (q15_t)0x73e0, (q15_t)0xc9a1, + (q15_t)0x73b5, (q15_t)0xc946, (q15_t)0x738a, (q15_t)0xc8ec, (q15_t)0x735f, (q15_t)0xc891, (q15_t)0x7333, (q15_t)0xc836, + (q15_t)0x7307, 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(q15_t)0x90d3, + (q15_t)0x3f17, (q15_t)0x90a1, (q15_t)0x3ebf, (q15_t)0x9070, (q15_t)0x3e68, (q15_t)0x903f, (q15_t)0x3e10, (q15_t)0x900e, + (q15_t)0x3db8, (q15_t)0x8fdd, (q15_t)0x3d60, (q15_t)0x8fad, (q15_t)0x3d07, (q15_t)0x8f7d, (q15_t)0x3caf, (q15_t)0x8f4d, + (q15_t)0x3c56, (q15_t)0x8f1e, (q15_t)0x3bfd, (q15_t)0x8eee, (q15_t)0x3ba5, (q15_t)0x8ebf, (q15_t)0x3b4c, (q15_t)0x8e91, + (q15_t)0x3af2, (q15_t)0x8e62, (q15_t)0x3a99, (q15_t)0x8e34, (q15_t)0x3a40, (q15_t)0x8e06, (q15_t)0x39e6, (q15_t)0x8dd9, + (q15_t)0x398c, (q15_t)0x8dab, (q15_t)0x3932, (q15_t)0x8d7e, (q15_t)0x38d8, (q15_t)0x8d51, (q15_t)0x387e, (q15_t)0x8d25, + (q15_t)0x3824, (q15_t)0x8cf9, (q15_t)0x37ca, (q15_t)0x8ccd, (q15_t)0x376f, (q15_t)0x8ca1, (q15_t)0x3714, (q15_t)0x8c76, + (q15_t)0x36ba, (q15_t)0x8c4b, (q15_t)0x365f, (q15_t)0x8c20, (q15_t)0x3604, (q15_t)0x8bf5, (q15_t)0x35a8, (q15_t)0x8bcb, + (q15_t)0x354d, (q15_t)0x8ba1, (q15_t)0x34f2, (q15_t)0x8b77, (q15_t)0x3496, (q15_t)0x8b4e, (q15_t)0x343a, (q15_t)0x8b25, + (q15_t)0x33de, (q15_t)0x8afc, (q15_t)0x3382, (q15_t)0x8ad3, (q15_t)0x3326, (q15_t)0x8aab, (q15_t)0x32ca, (q15_t)0x8a83, + (q15_t)0x326e, (q15_t)0x8a5b, (q15_t)0x3211, (q15_t)0x8a34, (q15_t)0x31b5, (q15_t)0x8a0c, (q15_t)0x3158, (q15_t)0x89e5, + (q15_t)0x30fb, (q15_t)0x89bf, (q15_t)0x309e, (q15_t)0x8998, (q15_t)0x3041, (q15_t)0x8972, (q15_t)0x2fe4, (q15_t)0x894d, + (q15_t)0x2f87, (q15_t)0x8927, (q15_t)0x2f29, (q15_t)0x8902, (q15_t)0x2ecc, (q15_t)0x88dd, (q15_t)0x2e6e, (q15_t)0x88b9, + (q15_t)0x2e11, (q15_t)0x8894, (q15_t)0x2db3, (q15_t)0x8870, (q15_t)0x2d55, (q15_t)0x884c, (q15_t)0x2cf7, (q15_t)0x8829, + (q15_t)0x2c98, (q15_t)0x8806, (q15_t)0x2c3a, (q15_t)0x87e3, (q15_t)0x2bdc, (q15_t)0x87c0, (q15_t)0x2b7d, (q15_t)0x879e, + (q15_t)0x2b1f, (q15_t)0x877c, (q15_t)0x2ac0, (q15_t)0x875a, (q15_t)0x2a61, (q15_t)0x8739, (q15_t)0x2a02, (q15_t)0x8718, + (q15_t)0x29a3, (q15_t)0x86f7, (q15_t)0x2944, (q15_t)0x86d6, (q15_t)0x28e5, (q15_t)0x86b6, (q15_t)0x2886, (q15_t)0x8696, + (q15_t)0x2826, (q15_t)0x8676, (q15_t)0x27c7, (q15_t)0x8657, (q15_t)0x2767, (q15_t)0x8638, (q15_t)0x2707, (q15_t)0x8619, + (q15_t)0x26a8, (q15_t)0x85fb, (q15_t)0x2648, (q15_t)0x85dc, (q15_t)0x25e8, (q15_t)0x85be, (q15_t)0x2588, (q15_t)0x85a1, + (q15_t)0x2528, (q15_t)0x8583, (q15_t)0x24c7, (q15_t)0x8566, (q15_t)0x2467, (q15_t)0x854a, (q15_t)0x2407, (q15_t)0x852d, + (q15_t)0x23a6, (q15_t)0x8511, (q15_t)0x2345, (q15_t)0x84f5, (q15_t)0x22e5, (q15_t)0x84da, (q15_t)0x2284, (q15_t)0x84be, + (q15_t)0x2223, (q15_t)0x84a3, (q15_t)0x21c2, (q15_t)0x8489, (q15_t)0x2161, (q15_t)0x846e, (q15_t)0x2100, (q15_t)0x8454, + (q15_t)0x209f, (q15_t)0x843b, (q15_t)0x203e, (q15_t)0x8421, (q15_t)0x1fdc, (q15_t)0x8408, (q15_t)0x1f7b, (q15_t)0x83ef, + (q15_t)0x1f19, (q15_t)0x83d7, (q15_t)0x1eb8, (q15_t)0x83be, (q15_t)0x1e56, (q15_t)0x83a6, (q15_t)0x1df5, (q15_t)0x838f, + (q15_t)0x1d93, (q15_t)0x8377, (q15_t)0x1d31, (q15_t)0x8360, (q15_t)0x1ccf, (q15_t)0x8349, (q15_t)0x1c6d, (q15_t)0x8333, + (q15_t)0x1c0b, (q15_t)0x831d, (q15_t)0x1ba9, (q15_t)0x8307, (q15_t)0x1b47, (q15_t)0x82f1, (q15_t)0x1ae4, (q15_t)0x82dc, + (q15_t)0x1a82, (q15_t)0x82c7, (q15_t)0x1a20, (q15_t)0x82b2, (q15_t)0x19bd, (q15_t)0x829e, (q15_t)0x195b, (q15_t)0x828a, + (q15_t)0x18f8, (q15_t)0x8276, (q15_t)0x1896, (q15_t)0x8263, (q15_t)0x1833, (q15_t)0x8250, (q15_t)0x17d0, (q15_t)0x823d, + (q15_t)0x176d, (q15_t)0x822a, (q15_t)0x170a, (q15_t)0x8218, (q15_t)0x16a8, (q15_t)0x8206, (q15_t)0x1645, (q15_t)0x81f4, + (q15_t)0x15e2, (q15_t)0x81e3, (q15_t)0x157f, (q15_t)0x81d2, (q15_t)0x151b, (q15_t)0x81c1, (q15_t)0x14b8, (q15_t)0x81b1, + (q15_t)0x1455, (q15_t)0x81a1, (q15_t)0x13f2, (q15_t)0x8191, (q15_t)0x138e, (q15_t)0x8181, (q15_t)0x132b, (q15_t)0x8172, + (q15_t)0x12c8, (q15_t)0x8163, (q15_t)0x1264, (q15_t)0x8155, (q15_t)0x1201, (q15_t)0x8146, (q15_t)0x119d, (q15_t)0x8138, + (q15_t)0x1139, (q15_t)0x812b, (q15_t)0x10d6, (q15_t)0x811d, (q15_t)0x1072, (q15_t)0x8110, (q15_t)0x100e, (q15_t)0x8103, + (q15_t)0xfab, (q15_t)0x80f7, (q15_t)0xf47, (q15_t)0x80eb, (q15_t)0xee3, (q15_t)0x80df, (q15_t)0xe7f, (q15_t)0x80d3, + (q15_t)0xe1b, (q15_t)0x80c8, (q15_t)0xdb7, (q15_t)0x80bd, (q15_t)0xd53, (q15_t)0x80b3, (q15_t)0xcef, (q15_t)0x80a8, + (q15_t)0xc8b, (q15_t)0x809e, (q15_t)0xc27, (q15_t)0x8095, (q15_t)0xbc3, (q15_t)0x808b, (q15_t)0xb5f, (q15_t)0x8082, + (q15_t)0xafb, (q15_t)0x8079, (q15_t)0xa97, (q15_t)0x8071, (q15_t)0xa33, (q15_t)0x8069, (q15_t)0x9ce, (q15_t)0x8061, + (q15_t)0x96a, (q15_t)0x8059, (q15_t)0x906, (q15_t)0x8052, (q15_t)0x8a2, (q15_t)0x804b, (q15_t)0x83d, (q15_t)0x8044, + (q15_t)0x7d9, (q15_t)0x803e, (q15_t)0x775, (q15_t)0x8038, (q15_t)0x710, (q15_t)0x8032, (q15_t)0x6ac, (q15_t)0x802d, + (q15_t)0x647, (q15_t)0x8028, (q15_t)0x5e3, (q15_t)0x8023, (q15_t)0x57f, (q15_t)0x801f, (q15_t)0x51a, (q15_t)0x801b, + (q15_t)0x4b6, (q15_t)0x8017, (q15_t)0x451, (q15_t)0x8013, (q15_t)0x3ed, (q15_t)0x8010, (q15_t)0x388, (q15_t)0x800d, + (q15_t)0x324, (q15_t)0x800a, (q15_t)0x2bf, (q15_t)0x8008, (q15_t)0x25b, (q15_t)0x8006, (q15_t)0x1f6, (q15_t)0x8004, + (q15_t)0x192, (q15_t)0x8003, (q15_t)0x12d, (q15_t)0x8002, (q15_t)0xc9, (q15_t)0x8001, (q15_t)0x64, (q15_t)0x8001 +}; + + const q15_t __ALIGNED(4) cos_factorsQ15_512[512] = { + (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7ffe, (q15_t)0x7ffc, (q15_t)0x7ffb, (q15_t)0x7ff9, (q15_t)0x7ff7, + (q15_t)0x7ff4, (q15_t)0x7ff2, (q15_t)0x7fee, (q15_t)0x7feb, (q15_t)0x7fe7, (q15_t)0x7fe3, (q15_t)0x7fdf, (q15_t)0x7fda, + (q15_t)0x7fd6, (q15_t)0x7fd0, (q15_t)0x7fcb, (q15_t)0x7fc5, (q15_t)0x7fbf, (q15_t)0x7fb8, (q15_t)0x7fb1, (q15_t)0x7faa, + (q15_t)0x7fa3, (q15_t)0x7f9b, (q15_t)0x7f93, (q15_t)0x7f8b, (q15_t)0x7f82, (q15_t)0x7f79, (q15_t)0x7f70, (q15_t)0x7f67, + (q15_t)0x7f5d, (q15_t)0x7f53, (q15_t)0x7f48, (q15_t)0x7f3d, (q15_t)0x7f32, (q15_t)0x7f27, (q15_t)0x7f1b, (q15_t)0x7f0f, + (q15_t)0x7f03, (q15_t)0x7ef6, (q15_t)0x7ee9, (q15_t)0x7edc, (q15_t)0x7ecf, (q15_t)0x7ec1, (q15_t)0x7eb3, (q15_t)0x7ea4, + (q15_t)0x7e95, (q15_t)0x7e86, (q15_t)0x7e77, (q15_t)0x7e67, (q15_t)0x7e57, (q15_t)0x7e47, (q15_t)0x7e37, (q15_t)0x7e26, + (q15_t)0x7e14, (q15_t)0x7e03, (q15_t)0x7df1, (q15_t)0x7ddf, (q15_t)0x7dcd, (q15_t)0x7dba, (q15_t)0x7da7, (q15_t)0x7d94, + (q15_t)0x7d80, (q15_t)0x7d6c, (q15_t)0x7d58, (q15_t)0x7d43, (q15_t)0x7d2f, (q15_t)0x7d19, (q15_t)0x7d04, (q15_t)0x7cee, + (q15_t)0x7cd8, (q15_t)0x7cc2, (q15_t)0x7cab, (q15_t)0x7c94, (q15_t)0x7c7d, (q15_t)0x7c66, (q15_t)0x7c4e, (q15_t)0x7c36, + (q15_t)0x7c1d, (q15_t)0x7c05, (q15_t)0x7beb, (q15_t)0x7bd2, (q15_t)0x7bb9, (q15_t)0x7b9f, (q15_t)0x7b84, (q15_t)0x7b6a, + (q15_t)0x7b4f, (q15_t)0x7b34, (q15_t)0x7b19, (q15_t)0x7afd, (q15_t)0x7ae1, (q15_t)0x7ac5, (q15_t)0x7aa8, (q15_t)0x7a8b, + (q15_t)0x7a6e, (q15_t)0x7a50, (q15_t)0x7a33, (q15_t)0x7a15, (q15_t)0x79f6, (q15_t)0x79d8, (q15_t)0x79b9, (q15_t)0x7999, + (q15_t)0x797a, (q15_t)0x795a, (q15_t)0x793a, (q15_t)0x7919, (q15_t)0x78f9, (q15_t)0x78d8, (q15_t)0x78b6, (q15_t)0x7895, + (q15_t)0x7873, (q15_t)0x7851, (q15_t)0x782e, (q15_t)0x780c, (q15_t)0x77e9, (q15_t)0x77c5, (q15_t)0x77a2, (q15_t)0x777e, + (q15_t)0x775a, (q15_t)0x7735, (q15_t)0x7710, (q15_t)0x76eb, (q15_t)0x76c6, (q15_t)0x76a0, (q15_t)0x767b, (q15_t)0x7654, + (q15_t)0x762e, (q15_t)0x7607, (q15_t)0x75e0, (q15_t)0x75b9, (q15_t)0x7591, (q15_t)0x7569, (q15_t)0x7541, (q15_t)0x7519, + (q15_t)0x74f0, (q15_t)0x74c7, (q15_t)0x749e, (q15_t)0x7474, (q15_t)0x744a, (q15_t)0x7420, (q15_t)0x73f6, (q15_t)0x73cb, + (q15_t)0x73a0, (q15_t)0x7375, (q15_t)0x7349, (q15_t)0x731d, (q15_t)0x72f1, (q15_t)0x72c5, (q15_t)0x7298, (q15_t)0x726b, + (q15_t)0x723e, (q15_t)0x7211, (q15_t)0x71e3, (q15_t)0x71b5, (q15_t)0x7186, (q15_t)0x7158, (q15_t)0x7129, (q15_t)0x70fa, + (q15_t)0x70cb, (q15_t)0x709b, (q15_t)0x706b, (q15_t)0x703b, (q15_t)0x700a, (q15_t)0x6fda, (q15_t)0x6fa9, (q15_t)0x6f77, + (q15_t)0x6f46, (q15_t)0x6f14, (q15_t)0x6ee2, (q15_t)0x6eaf, (q15_t)0x6e7d, (q15_t)0x6e4a, (q15_t)0x6e17, (q15_t)0x6de3, + (q15_t)0x6db0, (q15_t)0x6d7c, (q15_t)0x6d48, (q15_t)0x6d13, (q15_t)0x6cde, (q15_t)0x6ca9, (q15_t)0x6c74, (q15_t)0x6c3f, + (q15_t)0x6c09, (q15_t)0x6bd3, (q15_t)0x6b9c, (q15_t)0x6b66, (q15_t)0x6b2f, (q15_t)0x6af8, (q15_t)0x6ac1, (q15_t)0x6a89, + (q15_t)0x6a51, (q15_t)0x6a19, (q15_t)0x69e1, (q15_t)0x69a8, (q15_t)0x696f, (q15_t)0x6936, (q15_t)0x68fd, (q15_t)0x68c3, + (q15_t)0x6889, (q15_t)0x684f, (q15_t)0x6815, (q15_t)0x67da, (q15_t)0x679f, (q15_t)0x6764, (q15_t)0x6729, (q15_t)0x66ed, + (q15_t)0x66b1, (q15_t)0x6675, (q15_t)0x6639, (q15_t)0x65fc, (q15_t)0x65bf, (q15_t)0x6582, (q15_t)0x6545, (q15_t)0x6507, + (q15_t)0x64c9, (q15_t)0x648b, (q15_t)0x644d, (q15_t)0x640e, (q15_t)0x63cf, (q15_t)0x6390, (q15_t)0x6351, (q15_t)0x6311, + (q15_t)0x62d2, (q15_t)0x6292, (q15_t)0x6251, (q15_t)0x6211, (q15_t)0x61d0, (q15_t)0x618f, (q15_t)0x614e, (q15_t)0x610d, + (q15_t)0x60cb, (q15_t)0x6089, (q15_t)0x6047, (q15_t)0x6004, (q15_t)0x5fc2, (q15_t)0x5f7f, (q15_t)0x5f3c, (q15_t)0x5ef9, + (q15_t)0x5eb5, (q15_t)0x5e71, (q15_t)0x5e2d, (q15_t)0x5de9, (q15_t)0x5da5, (q15_t)0x5d60, (q15_t)0x5d1b, (q15_t)0x5cd6, + (q15_t)0x5c91, (q15_t)0x5c4b, (q15_t)0x5c06, (q15_t)0x5bc0, (q15_t)0x5b79, (q15_t)0x5b33, (q15_t)0x5aec, (q15_t)0x5aa5, + (q15_t)0x5a5e, (q15_t)0x5a17, (q15_t)0x59d0, (q15_t)0x5988, (q15_t)0x5940, (q15_t)0x58f8, (q15_t)0x58af, (q15_t)0x5867, + (q15_t)0x581e, (q15_t)0x57d5, (q15_t)0x578c, (q15_t)0x5742, (q15_t)0x56f9, (q15_t)0x56af, (q15_t)0x5665, (q15_t)0x561a, + (q15_t)0x55d0, (q15_t)0x5585, (q15_t)0x553a, (q15_t)0x54ef, (q15_t)0x54a4, (q15_t)0x5458, (q15_t)0x540d, (q15_t)0x53c1, + (q15_t)0x5375, (q15_t)0x5328, (q15_t)0x52dc, (q15_t)0x528f, (q15_t)0x5242, (q15_t)0x51f5, (q15_t)0x51a8, (q15_t)0x515a, + (q15_t)0x510c, (q15_t)0x50bf, (q15_t)0x5070, (q15_t)0x5022, (q15_t)0x4fd4, (q15_t)0x4f85, (q15_t)0x4f36, (q15_t)0x4ee7, + (q15_t)0x4e98, (q15_t)0x4e48, (q15_t)0x4df9, (q15_t)0x4da9, (q15_t)0x4d59, (q15_t)0x4d09, (q15_t)0x4cb8, (q15_t)0x4c68, + (q15_t)0x4c17, (q15_t)0x4bc6, (q15_t)0x4b75, (q15_t)0x4b24, (q15_t)0x4ad2, (q15_t)0x4a81, (q15_t)0x4a2f, (q15_t)0x49dd, + (q15_t)0x498a, (q15_t)0x4938, (q15_t)0x48e6, (q15_t)0x4893, (q15_t)0x4840, (q15_t)0x47ed, (q15_t)0x479a, (q15_t)0x4746, + (q15_t)0x46f3, (q15_t)0x469f, (q15_t)0x464b, (q15_t)0x45f7, (q15_t)0x45a3, (q15_t)0x454e, (q15_t)0x44fa, (q15_t)0x44a5, + (q15_t)0x4450, (q15_t)0x43fb, (q15_t)0x43a5, (q15_t)0x4350, (q15_t)0x42fa, (q15_t)0x42a5, (q15_t)0x424f, (q15_t)0x41f9, + (q15_t)0x41a2, (q15_t)0x414c, (q15_t)0x40f6, (q15_t)0x409f, (q15_t)0x4048, (q15_t)0x3ff1, (q15_t)0x3f9a, (q15_t)0x3f43, + (q15_t)0x3eeb, (q15_t)0x3e93, (q15_t)0x3e3c, (q15_t)0x3de4, (q15_t)0x3d8c, (q15_t)0x3d33, (q15_t)0x3cdb, (q15_t)0x3c83, + (q15_t)0x3c2a, (q15_t)0x3bd1, (q15_t)0x3b78, (q15_t)0x3b1f, (q15_t)0x3ac6, (q15_t)0x3a6c, (q15_t)0x3a13, (q15_t)0x39b9, + (q15_t)0x395f, (q15_t)0x3906, (q15_t)0x38ab, (q15_t)0x3851, (q15_t)0x37f7, (q15_t)0x379c, (q15_t)0x3742, (q15_t)0x36e7, + (q15_t)0x368c, (q15_t)0x3631, (q15_t)0x35d6, (q15_t)0x357b, (q15_t)0x351f, (q15_t)0x34c4, (q15_t)0x3468, (q15_t)0x340c, + (q15_t)0x33b0, (q15_t)0x3354, (q15_t)0x32f8, (q15_t)0x329c, (q15_t)0x3240, (q15_t)0x31e3, (q15_t)0x3186, (q15_t)0x312a, + (q15_t)0x30cd, (q15_t)0x3070, (q15_t)0x3013, (q15_t)0x2fb5, (q15_t)0x2f58, (q15_t)0x2efb, (q15_t)0x2e9d, (q15_t)0x2e3f, + (q15_t)0x2de2, (q15_t)0x2d84, (q15_t)0x2d26, (q15_t)0x2cc8, (q15_t)0x2c69, (q15_t)0x2c0b, (q15_t)0x2bad, (q15_t)0x2b4e, + (q15_t)0x2aef, (q15_t)0x2a91, (q15_t)0x2a32, (q15_t)0x29d3, (q15_t)0x2974, (q15_t)0x2915, (q15_t)0x28b5, (q15_t)0x2856, + (q15_t)0x27f6, (q15_t)0x2797, (q15_t)0x2737, (q15_t)0x26d8, (q15_t)0x2678, (q15_t)0x2618, (q15_t)0x25b8, (q15_t)0x2558, + (q15_t)0x24f7, (q15_t)0x2497, (q15_t)0x2437, (q15_t)0x23d6, (q15_t)0x2376, (q15_t)0x2315, (q15_t)0x22b4, (q15_t)0x2254, + (q15_t)0x21f3, (q15_t)0x2192, (q15_t)0x2131, (q15_t)0x20d0, (q15_t)0x206e, (q15_t)0x200d, (q15_t)0x1fac, (q15_t)0x1f4a, + (q15_t)0x1ee9, (q15_t)0x1e87, (q15_t)0x1e25, (q15_t)0x1dc4, (q15_t)0x1d62, (q15_t)0x1d00, (q15_t)0x1c9e, (q15_t)0x1c3c, + (q15_t)0x1bda, (q15_t)0x1b78, (q15_t)0x1b16, (q15_t)0x1ab3, (q15_t)0x1a51, (q15_t)0x19ef, (q15_t)0x198c, (q15_t)0x192a, + (q15_t)0x18c7, (q15_t)0x1864, (q15_t)0x1802, (q15_t)0x179f, (q15_t)0x173c, (q15_t)0x16d9, (q15_t)0x1676, (q15_t)0x1613, + (q15_t)0x15b0, (q15_t)0x154d, (q15_t)0x14ea, (q15_t)0x1487, (q15_t)0x1423, (q15_t)0x13c0, (q15_t)0x135d, (q15_t)0x12f9, + (q15_t)0x1296, (q15_t)0x1232, (q15_t)0x11cf, (q15_t)0x116b, (q15_t)0x1108, (q15_t)0x10a4, (q15_t)0x1040, (q15_t)0xfdd, + (q15_t)0xf79, (q15_t)0xf15, (q15_t)0xeb1, (q15_t)0xe4d, (q15_t)0xde9, (q15_t)0xd85, (q15_t)0xd21, (q15_t)0xcbd, + (q15_t)0xc59, (q15_t)0xbf5, (q15_t)0xb91, (q15_t)0xb2d, (q15_t)0xac9, (q15_t)0xa65, (q15_t)0xa00, (q15_t)0x99c, + (q15_t)0x938, (q15_t)0x8d4, (q15_t)0x86f, (q15_t)0x80b, (q15_t)0x7a7, (q15_t)0x742, (q15_t)0x6de, (q15_t)0x67a, + (q15_t)0x615, (q15_t)0x5b1, (q15_t)0x54c, (q15_t)0x4e8, (q15_t)0x483, (q15_t)0x41f, (q15_t)0x3ba, (q15_t)0x356, + (q15_t)0x2f1, (q15_t)0x28d, (q15_t)0x228, (q15_t)0x1c4, (q15_t)0x15f, (q15_t)0xfb, (q15_t)0x96, (q15_t)0x32 +}; + + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q15_2048) + const q15_t __ALIGNED(4) WeightsQ15_2048[4096] = { + (q15_t)0x7fff, (q15_t)0x0, (q15_t)0x7fff, (q15_t)0xffe7, (q15_t)0x7fff, (q15_t)0xffce, (q15_t)0x7fff, (q15_t)0xffb5, + (q15_t)0x7fff, (q15_t)0xff9c, (q15_t)0x7fff, (q15_t)0xff83, (q15_t)0x7fff, (q15_t)0xff6a, (q15_t)0x7fff, (q15_t)0xff51, + (q15_t)0x7fff, (q15_t)0xff37, (q15_t)0x7fff, (q15_t)0xff1e, (q15_t)0x7fff, (q15_t)0xff05, (q15_t)0x7ffe, (q15_t)0xfeec, + (q15_t)0x7ffe, (q15_t)0xfed3, (q15_t)0x7ffe, (q15_t)0xfeba, (q15_t)0x7ffe, (q15_t)0xfea1, (q15_t)0x7ffd, (q15_t)0xfe88, + (q15_t)0x7ffd, (q15_t)0xfe6e, (q15_t)0x7ffd, (q15_t)0xfe55, (q15_t)0x7ffc, (q15_t)0xfe3c, (q15_t)0x7ffc, (q15_t)0xfe23, + (q15_t)0x7ffc, (q15_t)0xfe0a, (q15_t)0x7ffb, (q15_t)0xfdf1, (q15_t)0x7ffb, (q15_t)0xfdd8, (q15_t)0x7ffa, (q15_t)0xfdbe, + (q15_t)0x7ffa, (q15_t)0xfda5, (q15_t)0x7ff9, (q15_t)0xfd8c, (q15_t)0x7ff9, (q15_t)0xfd73, (q15_t)0x7ff8, (q15_t)0xfd5a, + (q15_t)0x7ff8, (q15_t)0xfd41, (q15_t)0x7ff7, (q15_t)0xfd28, (q15_t)0x7ff7, (q15_t)0xfd0f, (q15_t)0x7ff6, (q15_t)0xfcf5, + (q15_t)0x7ff6, (q15_t)0xfcdc, (q15_t)0x7ff5, (q15_t)0xfcc3, (q15_t)0x7ff4, (q15_t)0xfcaa, (q15_t)0x7ff4, (q15_t)0xfc91, + (q15_t)0x7ff3, (q15_t)0xfc78, (q15_t)0x7ff2, (q15_t)0xfc5f, (q15_t)0x7ff2, (q15_t)0xfc46, (q15_t)0x7ff1, (q15_t)0xfc2c, + (q15_t)0x7ff0, (q15_t)0xfc13, (q15_t)0x7fef, (q15_t)0xfbfa, (q15_t)0x7fee, (q15_t)0xfbe1, (q15_t)0x7fee, (q15_t)0xfbc8, + (q15_t)0x7fed, (q15_t)0xfbaf, (q15_t)0x7fec, (q15_t)0xfb96, (q15_t)0x7feb, (q15_t)0xfb7d, (q15_t)0x7fea, (q15_t)0xfb64, + (q15_t)0x7fe9, (q15_t)0xfb4a, (q15_t)0x7fe8, (q15_t)0xfb31, (q15_t)0x7fe7, (q15_t)0xfb18, (q15_t)0x7fe6, (q15_t)0xfaff, + (q15_t)0x7fe5, (q15_t)0xfae6, (q15_t)0x7fe4, (q15_t)0xfacd, (q15_t)0x7fe3, (q15_t)0xfab4, (q15_t)0x7fe2, (q15_t)0xfa9b, + (q15_t)0x7fe1, (q15_t)0xfa81, (q15_t)0x7fe0, (q15_t)0xfa68, (q15_t)0x7fdf, (q15_t)0xfa4f, (q15_t)0x7fde, (q15_t)0xfa36, + (q15_t)0x7fdd, (q15_t)0xfa1d, (q15_t)0x7fdc, (q15_t)0xfa04, (q15_t)0x7fda, (q15_t)0xf9eb, (q15_t)0x7fd9, (q15_t)0xf9d2, + (q15_t)0x7fd8, (q15_t)0xf9b9, (q15_t)0x7fd7, (q15_t)0xf9a0, (q15_t)0x7fd6, (q15_t)0xf986, (q15_t)0x7fd4, (q15_t)0xf96d, + (q15_t)0x7fd3, (q15_t)0xf954, (q15_t)0x7fd2, (q15_t)0xf93b, (q15_t)0x7fd0, (q15_t)0xf922, (q15_t)0x7fcf, (q15_t)0xf909, + (q15_t)0x7fce, (q15_t)0xf8f0, (q15_t)0x7fcc, (q15_t)0xf8d7, (q15_t)0x7fcb, (q15_t)0xf8be, (q15_t)0x7fc9, (q15_t)0xf8a5, + (q15_t)0x7fc8, (q15_t)0xf88b, (q15_t)0x7fc6, (q15_t)0xf872, (q15_t)0x7fc5, (q15_t)0xf859, (q15_t)0x7fc3, (q15_t)0xf840, + (q15_t)0x7fc2, (q15_t)0xf827, (q15_t)0x7fc0, (q15_t)0xf80e, (q15_t)0x7fbf, (q15_t)0xf7f5, (q15_t)0x7fbd, (q15_t)0xf7dc, + (q15_t)0x7fbc, (q15_t)0xf7c3, (q15_t)0x7fba, (q15_t)0xf7aa, (q15_t)0x7fb8, (q15_t)0xf791, (q15_t)0x7fb7, (q15_t)0xf778, + (q15_t)0x7fb5, (q15_t)0xf75e, (q15_t)0x7fb3, (q15_t)0xf745, (q15_t)0x7fb1, (q15_t)0xf72c, (q15_t)0x7fb0, (q15_t)0xf713, + (q15_t)0x7fae, (q15_t)0xf6fa, (q15_t)0x7fac, (q15_t)0xf6e1, (q15_t)0x7faa, (q15_t)0xf6c8, (q15_t)0x7fa9, (q15_t)0xf6af, + (q15_t)0x7fa7, (q15_t)0xf696, (q15_t)0x7fa5, (q15_t)0xf67d, (q15_t)0x7fa3, (q15_t)0xf664, (q15_t)0x7fa1, (q15_t)0xf64b, + (q15_t)0x7f9f, (q15_t)0xf632, (q15_t)0x7f9d, (q15_t)0xf619, (q15_t)0x7f9b, (q15_t)0xf600, (q15_t)0x7f99, (q15_t)0xf5e7, + (q15_t)0x7f97, (q15_t)0xf5cd, (q15_t)0x7f95, (q15_t)0xf5b4, (q15_t)0x7f93, (q15_t)0xf59b, (q15_t)0x7f91, (q15_t)0xf582, + (q15_t)0x7f8f, (q15_t)0xf569, (q15_t)0x7f8d, (q15_t)0xf550, (q15_t)0x7f8b, (q15_t)0xf537, (q15_t)0x7f89, (q15_t)0xf51e, + (q15_t)0x7f87, (q15_t)0xf505, (q15_t)0x7f85, (q15_t)0xf4ec, (q15_t)0x7f82, (q15_t)0xf4d3, (q15_t)0x7f80, (q15_t)0xf4ba, + (q15_t)0x7f7e, (q15_t)0xf4a1, (q15_t)0x7f7c, (q15_t)0xf488, (q15_t)0x7f79, (q15_t)0xf46f, (q15_t)0x7f77, (q15_t)0xf456, + (q15_t)0x7f75, (q15_t)0xf43d, (q15_t)0x7f72, (q15_t)0xf424, (q15_t)0x7f70, (q15_t)0xf40b, (q15_t)0x7f6e, (q15_t)0xf3f2, + (q15_t)0x7f6b, (q15_t)0xf3d9, (q15_t)0x7f69, (q15_t)0xf3c0, (q15_t)0x7f67, (q15_t)0xf3a7, (q15_t)0x7f64, (q15_t)0xf38e, + (q15_t)0x7f62, (q15_t)0xf375, (q15_t)0x7f5f, (q15_t)0xf35c, (q15_t)0x7f5d, (q15_t)0xf343, (q15_t)0x7f5a, (q15_t)0xf32a, + (q15_t)0x7f58, (q15_t)0xf311, (q15_t)0x7f55, (q15_t)0xf2f8, (q15_t)0x7f53, (q15_t)0xf2df, (q15_t)0x7f50, (q15_t)0xf2c6, + (q15_t)0x7f4d, (q15_t)0xf2ad, (q15_t)0x7f4b, (q15_t)0xf294, (q15_t)0x7f48, (q15_t)0xf27b, (q15_t)0x7f45, (q15_t)0xf262, + (q15_t)0x7f43, (q15_t)0xf249, (q15_t)0x7f40, (q15_t)0xf230, (q15_t)0x7f3d, (q15_t)0xf217, (q15_t)0x7f3b, (q15_t)0xf1fe, + (q15_t)0x7f38, (q15_t)0xf1e5, (q15_t)0x7f35, (q15_t)0xf1cc, (q15_t)0x7f32, (q15_t)0xf1b3, (q15_t)0x7f2f, (q15_t)0xf19a, + (q15_t)0x7f2d, (q15_t)0xf181, (q15_t)0x7f2a, (q15_t)0xf168, (q15_t)0x7f27, (q15_t)0xf14f, (q15_t)0x7f24, (q15_t)0xf136, + (q15_t)0x7f21, (q15_t)0xf11d, (q15_t)0x7f1e, (q15_t)0xf104, (q15_t)0x7f1b, (q15_t)0xf0eb, (q15_t)0x7f18, (q15_t)0xf0d2, + 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(q15_t)0x8067, (q15_t)0xa00, (q15_t)0x8065, (q15_t)0x9e7, (q15_t)0x8063, + (q15_t)0x9ce, (q15_t)0x8061, (q15_t)0x9b5, (q15_t)0x805f, (q15_t)0x99c, (q15_t)0x805d, (q15_t)0x983, (q15_t)0x805b, + (q15_t)0x96a, (q15_t)0x8059, (q15_t)0x951, (q15_t)0x8057, (q15_t)0x938, (q15_t)0x8056, (q15_t)0x91f, (q15_t)0x8054, + (q15_t)0x906, (q15_t)0x8052, (q15_t)0x8ed, (q15_t)0x8050, (q15_t)0x8d4, (q15_t)0x804f, (q15_t)0x8bb, (q15_t)0x804d, + (q15_t)0x8a2, (q15_t)0x804b, (q15_t)0x888, (q15_t)0x8049, (q15_t)0x86f, (q15_t)0x8048, (q15_t)0x856, (q15_t)0x8046, + (q15_t)0x83d, (q15_t)0x8044, (q15_t)0x824, (q15_t)0x8043, (q15_t)0x80b, (q15_t)0x8041, (q15_t)0x7f2, (q15_t)0x8040, + (q15_t)0x7d9, (q15_t)0x803e, (q15_t)0x7c0, (q15_t)0x803d, (q15_t)0x7a7, (q15_t)0x803b, (q15_t)0x78e, (q15_t)0x803a, + (q15_t)0x775, (q15_t)0x8038, (q15_t)0x75b, (q15_t)0x8037, (q15_t)0x742, (q15_t)0x8035, (q15_t)0x729, (q15_t)0x8034, + (q15_t)0x710, (q15_t)0x8032, (q15_t)0x6f7, (q15_t)0x8031, (q15_t)0x6de, (q15_t)0x8030, (q15_t)0x6c5, (q15_t)0x802e, + (q15_t)0x6ac, (q15_t)0x802d, (q15_t)0x693, (q15_t)0x802c, (q15_t)0x67a, (q15_t)0x802a, (q15_t)0x660, (q15_t)0x8029, + (q15_t)0x647, (q15_t)0x8028, (q15_t)0x62e, (q15_t)0x8027, (q15_t)0x615, (q15_t)0x8026, (q15_t)0x5fc, (q15_t)0x8024, + (q15_t)0x5e3, (q15_t)0x8023, (q15_t)0x5ca, (q15_t)0x8022, (q15_t)0x5b1, (q15_t)0x8021, (q15_t)0x598, (q15_t)0x8020, + (q15_t)0x57f, (q15_t)0x801f, (q15_t)0x565, (q15_t)0x801e, (q15_t)0x54c, (q15_t)0x801d, (q15_t)0x533, (q15_t)0x801c, + (q15_t)0x51a, (q15_t)0x801b, (q15_t)0x501, (q15_t)0x801a, (q15_t)0x4e8, (q15_t)0x8019, (q15_t)0x4cf, (q15_t)0x8018, + (q15_t)0x4b6, (q15_t)0x8017, (q15_t)0x49c, (q15_t)0x8016, (q15_t)0x483, (q15_t)0x8015, (q15_t)0x46a, (q15_t)0x8014, + (q15_t)0x451, (q15_t)0x8013, (q15_t)0x438, (q15_t)0x8012, (q15_t)0x41f, (q15_t)0x8012, (q15_t)0x406, (q15_t)0x8011, + (q15_t)0x3ed, (q15_t)0x8010, (q15_t)0x3d4, (q15_t)0x800f, (q15_t)0x3ba, (q15_t)0x800e, (q15_t)0x3a1, (q15_t)0x800e, + (q15_t)0x388, (q15_t)0x800d, (q15_t)0x36f, (q15_t)0x800c, (q15_t)0x356, (q15_t)0x800c, (q15_t)0x33d, (q15_t)0x800b, + (q15_t)0x324, (q15_t)0x800a, (q15_t)0x30b, (q15_t)0x800a, (q15_t)0x2f1, (q15_t)0x8009, (q15_t)0x2d8, (q15_t)0x8009, + (q15_t)0x2bf, (q15_t)0x8008, (q15_t)0x2a6, (q15_t)0x8008, (q15_t)0x28d, (q15_t)0x8007, (q15_t)0x274, (q15_t)0x8007, + (q15_t)0x25b, (q15_t)0x8006, (q15_t)0x242, (q15_t)0x8006, (q15_t)0x228, (q15_t)0x8005, (q15_t)0x20f, (q15_t)0x8005, + (q15_t)0x1f6, (q15_t)0x8004, (q15_t)0x1dd, (q15_t)0x8004, (q15_t)0x1c4, (q15_t)0x8004, (q15_t)0x1ab, (q15_t)0x8003, + (q15_t)0x192, (q15_t)0x8003, (q15_t)0x178, (q15_t)0x8003, (q15_t)0x15f, (q15_t)0x8002, (q15_t)0x146, (q15_t)0x8002, + (q15_t)0x12d, (q15_t)0x8002, (q15_t)0x114, (q15_t)0x8002, (q15_t)0xfb, (q15_t)0x8001, (q15_t)0xe2, (q15_t)0x8001, + (q15_t)0xc9, (q15_t)0x8001, (q15_t)0xaf, (q15_t)0x8001, (q15_t)0x96, (q15_t)0x8001, (q15_t)0x7d, (q15_t)0x8001, + (q15_t)0x64, (q15_t)0x8001, (q15_t)0x4b, (q15_t)0x8001, (q15_t)0x32, (q15_t)0x8001, (q15_t)0x19, (q15_t)0x8001 +}; + const q15_t __ALIGNED(4) cos_factorsQ15_2048[2048] = { + (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, + (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffd, (q15_t)0x7ffd, + (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffc, (q15_t)0x7ffc, (q15_t)0x7ffb, (q15_t)0x7ffb, (q15_t)0x7ffb, (q15_t)0x7ffa, + (q15_t)0x7ffa, (q15_t)0x7ff9, (q15_t)0x7ff9, (q15_t)0x7ff8, (q15_t)0x7ff8, (q15_t)0x7ff7, (q15_t)0x7ff7, (q15_t)0x7ff6, + (q15_t)0x7ff5, (q15_t)0x7ff5, (q15_t)0x7ff4, (q15_t)0x7ff3, (q15_t)0x7ff3, (q15_t)0x7ff2, (q15_t)0x7ff1, (q15_t)0x7ff0, + (q15_t)0x7ff0, (q15_t)0x7fef, (q15_t)0x7fee, (q15_t)0x7fed, (q15_t)0x7fec, (q15_t)0x7fec, (q15_t)0x7feb, (q15_t)0x7fea, + (q15_t)0x7fe9, (q15_t)0x7fe8, (q15_t)0x7fe7, (q15_t)0x7fe6, (q15_t)0x7fe5, (q15_t)0x7fe4, (q15_t)0x7fe3, (q15_t)0x7fe2, + (q15_t)0x7fe1, (q15_t)0x7fe0, (q15_t)0x7fdf, (q15_t)0x7fdd, (q15_t)0x7fdc, (q15_t)0x7fdb, (q15_t)0x7fda, (q15_t)0x7fd9, + (q15_t)0x7fd7, (q15_t)0x7fd6, (q15_t)0x7fd5, (q15_t)0x7fd4, (q15_t)0x7fd2, (q15_t)0x7fd1, (q15_t)0x7fd0, (q15_t)0x7fce, + (q15_t)0x7fcd, (q15_t)0x7fcb, (q15_t)0x7fca, (q15_t)0x7fc9, (q15_t)0x7fc7, (q15_t)0x7fc6, (q15_t)0x7fc4, (q15_t)0x7fc3, + (q15_t)0x7fc1, (q15_t)0x7fc0, (q15_t)0x7fbe, (q15_t)0x7fbc, (q15_t)0x7fbb, (q15_t)0x7fb9, (q15_t)0x7fb7, (q15_t)0x7fb6, + (q15_t)0x7fb4, (q15_t)0x7fb2, (q15_t)0x7fb1, (q15_t)0x7faf, (q15_t)0x7fad, (q15_t)0x7fab, (q15_t)0x7fa9, (q15_t)0x7fa8, + (q15_t)0x7fa6, (q15_t)0x7fa4, (q15_t)0x7fa2, (q15_t)0x7fa0, (q15_t)0x7f9e, (q15_t)0x7f9c, (q15_t)0x7f9a, (q15_t)0x7f98, + (q15_t)0x7f96, (q15_t)0x7f94, (q15_t)0x7f92, (q15_t)0x7f90, (q15_t)0x7f8e, (q15_t)0x7f8c, (q15_t)0x7f8a, (q15_t)0x7f88, + (q15_t)0x7f86, (q15_t)0x7f83, (q15_t)0x7f81, (q15_t)0x7f7f, (q15_t)0x7f7d, (q15_t)0x7f7b, (q15_t)0x7f78, (q15_t)0x7f76, + (q15_t)0x7f74, (q15_t)0x7f71, (q15_t)0x7f6f, (q15_t)0x7f6d, (q15_t)0x7f6a, (q15_t)0x7f68, (q15_t)0x7f65, (q15_t)0x7f63, + (q15_t)0x7f60, (q15_t)0x7f5e, (q15_t)0x7f5b, (q15_t)0x7f59, (q15_t)0x7f56, (q15_t)0x7f54, (q15_t)0x7f51, (q15_t)0x7f4f, + (q15_t)0x7f4c, (q15_t)0x7f49, (q15_t)0x7f47, (q15_t)0x7f44, (q15_t)0x7f41, (q15_t)0x7f3f, (q15_t)0x7f3c, (q15_t)0x7f39, + (q15_t)0x7f36, (q15_t)0x7f34, (q15_t)0x7f31, (q15_t)0x7f2e, (q15_t)0x7f2b, (q15_t)0x7f28, (q15_t)0x7f25, (q15_t)0x7f23, + (q15_t)0x7f20, (q15_t)0x7f1d, (q15_t)0x7f1a, (q15_t)0x7f17, (q15_t)0x7f14, (q15_t)0x7f11, (q15_t)0x7f0e, (q15_t)0x7f0b, + (q15_t)0x7f08, (q15_t)0x7f04, (q15_t)0x7f01, (q15_t)0x7efe, (q15_t)0x7efb, (q15_t)0x7ef8, (q15_t)0x7ef5, (q15_t)0x7ef1, + (q15_t)0x7eee, (q15_t)0x7eeb, (q15_t)0x7ee8, (q15_t)0x7ee4, (q15_t)0x7ee1, (q15_t)0x7ede, (q15_t)0x7eda, (q15_t)0x7ed7, + (q15_t)0x7ed4, (q15_t)0x7ed0, (q15_t)0x7ecd, (q15_t)0x7ec9, (q15_t)0x7ec6, (q15_t)0x7ec3, (q15_t)0x7ebf, (q15_t)0x7ebb, + (q15_t)0x7eb8, (q15_t)0x7eb4, (q15_t)0x7eb1, (q15_t)0x7ead, (q15_t)0x7eaa, (q15_t)0x7ea6, (q15_t)0x7ea2, (q15_t)0x7e9f, + (q15_t)0x7e9b, (q15_t)0x7e97, (q15_t)0x7e94, (q15_t)0x7e90, (q15_t)0x7e8c, (q15_t)0x7e88, (q15_t)0x7e84, (q15_t)0x7e81, + (q15_t)0x7e7d, (q15_t)0x7e79, (q15_t)0x7e75, (q15_t)0x7e71, (q15_t)0x7e6d, (q15_t)0x7e69, (q15_t)0x7e65, (q15_t)0x7e61, + (q15_t)0x7e5d, (q15_t)0x7e59, (q15_t)0x7e55, (q15_t)0x7e51, (q15_t)0x7e4d, (q15_t)0x7e49, (q15_t)0x7e45, (q15_t)0x7e41, + (q15_t)0x7e3d, (q15_t)0x7e39, (q15_t)0x7e34, (q15_t)0x7e30, (q15_t)0x7e2c, (q15_t)0x7e28, (q15_t)0x7e24, (q15_t)0x7e1f, + (q15_t)0x7e1b, (q15_t)0x7e17, (q15_t)0x7e12, (q15_t)0x7e0e, (q15_t)0x7e0a, (q15_t)0x7e05, (q15_t)0x7e01, (q15_t)0x7dfc, + (q15_t)0x7df8, (q15_t)0x7df3, (q15_t)0x7def, (q15_t)0x7dea, (q15_t)0x7de6, (q15_t)0x7de1, (q15_t)0x7ddd, (q15_t)0x7dd8, + (q15_t)0x7dd4, (q15_t)0x7dcf, (q15_t)0x7dca, (q15_t)0x7dc6, (q15_t)0x7dc1, (q15_t)0x7dbc, (q15_t)0x7db8, (q15_t)0x7db3, + (q15_t)0x7dae, (q15_t)0x7da9, (q15_t)0x7da5, (q15_t)0x7da0, (q15_t)0x7d9b, (q15_t)0x7d96, (q15_t)0x7d91, (q15_t)0x7d8c, + (q15_t)0x7d87, (q15_t)0x7d82, (q15_t)0x7d7e, (q15_t)0x7d79, (q15_t)0x7d74, (q15_t)0x7d6f, (q15_t)0x7d6a, (q15_t)0x7d65, + (q15_t)0x7d60, (q15_t)0x7d5a, (q15_t)0x7d55, (q15_t)0x7d50, (q15_t)0x7d4b, (q15_t)0x7d46, (q15_t)0x7d41, (q15_t)0x7d3c, + (q15_t)0x7d36, (q15_t)0x7d31, (q15_t)0x7d2c, (q15_t)0x7d27, (q15_t)0x7d21, (q15_t)0x7d1c, (q15_t)0x7d17, (q15_t)0x7d11, + (q15_t)0x7d0c, (q15_t)0x7d07, (q15_t)0x7d01, (q15_t)0x7cfc, (q15_t)0x7cf6, (q15_t)0x7cf1, (q15_t)0x7cec, (q15_t)0x7ce6, + (q15_t)0x7ce1, (q15_t)0x7cdb, (q15_t)0x7cd5, (q15_t)0x7cd0, (q15_t)0x7cca, (q15_t)0x7cc5, (q15_t)0x7cbf, (q15_t)0x7cb9, + (q15_t)0x7cb4, (q15_t)0x7cae, (q15_t)0x7ca8, (q15_t)0x7ca3, (q15_t)0x7c9d, (q15_t)0x7c97, (q15_t)0x7c91, (q15_t)0x7c8c, + (q15_t)0x7c86, (q15_t)0x7c80, (q15_t)0x7c7a, (q15_t)0x7c74, (q15_t)0x7c6e, (q15_t)0x7c69, (q15_t)0x7c63, (q15_t)0x7c5d, + (q15_t)0x7c57, (q15_t)0x7c51, (q15_t)0x7c4b, (q15_t)0x7c45, (q15_t)0x7c3f, (q15_t)0x7c39, (q15_t)0x7c33, (q15_t)0x7c2d, + (q15_t)0x7c26, (q15_t)0x7c20, (q15_t)0x7c1a, (q15_t)0x7c14, (q15_t)0x7c0e, (q15_t)0x7c08, (q15_t)0x7c01, (q15_t)0x7bfb, + (q15_t)0x7bf5, (q15_t)0x7bef, (q15_t)0x7be8, (q15_t)0x7be2, (q15_t)0x7bdc, (q15_t)0x7bd5, (q15_t)0x7bcf, (q15_t)0x7bc9, + (q15_t)0x7bc2, (q15_t)0x7bbc, (q15_t)0x7bb5, (q15_t)0x7baf, (q15_t)0x7ba8, (q15_t)0x7ba2, (q15_t)0x7b9b, (q15_t)0x7b95, + (q15_t)0x7b8e, (q15_t)0x7b88, (q15_t)0x7b81, (q15_t)0x7b7a, (q15_t)0x7b74, (q15_t)0x7b6d, (q15_t)0x7b67, (q15_t)0x7b60, + (q15_t)0x7b59, (q15_t)0x7b52, (q15_t)0x7b4c, (q15_t)0x7b45, (q15_t)0x7b3e, (q15_t)0x7b37, (q15_t)0x7b31, (q15_t)0x7b2a, + (q15_t)0x7b23, (q15_t)0x7b1c, (q15_t)0x7b15, (q15_t)0x7b0e, (q15_t)0x7b07, (q15_t)0x7b00, (q15_t)0x7af9, (q15_t)0x7af2, + (q15_t)0x7aeb, (q15_t)0x7ae4, (q15_t)0x7add, (q15_t)0x7ad6, (q15_t)0x7acf, (q15_t)0x7ac8, (q15_t)0x7ac1, (q15_t)0x7aba, + (q15_t)0x7ab3, (q15_t)0x7aac, (q15_t)0x7aa4, (q15_t)0x7a9d, (q15_t)0x7a96, (q15_t)0x7a8f, (q15_t)0x7a87, (q15_t)0x7a80, + (q15_t)0x7a79, (q15_t)0x7a72, (q15_t)0x7a6a, (q15_t)0x7a63, (q15_t)0x7a5c, (q15_t)0x7a54, (q15_t)0x7a4d, (q15_t)0x7a45, + (q15_t)0x7a3e, (q15_t)0x7a36, (q15_t)0x7a2f, (q15_t)0x7a27, (q15_t)0x7a20, (q15_t)0x7a18, (q15_t)0x7a11, (q15_t)0x7a09, + (q15_t)0x7a02, (q15_t)0x79fa, (q15_t)0x79f2, (q15_t)0x79eb, (q15_t)0x79e3, (q15_t)0x79db, (q15_t)0x79d4, (q15_t)0x79cc, + (q15_t)0x79c4, (q15_t)0x79bc, (q15_t)0x79b5, (q15_t)0x79ad, (q15_t)0x79a5, (q15_t)0x799d, (q15_t)0x7995, (q15_t)0x798e, + (q15_t)0x7986, (q15_t)0x797e, (q15_t)0x7976, (q15_t)0x796e, (q15_t)0x7966, (q15_t)0x795e, (q15_t)0x7956, (q15_t)0x794e, + (q15_t)0x7946, (q15_t)0x793e, (q15_t)0x7936, (q15_t)0x792e, (q15_t)0x7926, (q15_t)0x791e, (q15_t)0x7915, (q15_t)0x790d, + (q15_t)0x7905, (q15_t)0x78fd, (q15_t)0x78f5, (q15_t)0x78ec, (q15_t)0x78e4, (q15_t)0x78dc, (q15_t)0x78d4, (q15_t)0x78cb, + (q15_t)0x78c3, (q15_t)0x78bb, (q15_t)0x78b2, (q15_t)0x78aa, (q15_t)0x78a2, (q15_t)0x7899, (q15_t)0x7891, (q15_t)0x7888, + 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(q15_t)0x1098, (q15_t)0x107f, + (q15_t)0x1066, (q15_t)0x104d, (q15_t)0x1034, (q15_t)0x101b, (q15_t)0x1002, (q15_t)0xfe9, (q15_t)0xfd0, (q15_t)0xfb7, + (q15_t)0xf9e, (q15_t)0xf85, (q15_t)0xf6c, (q15_t)0xf53, (q15_t)0xf3a, (q15_t)0xf21, (q15_t)0xf08, (q15_t)0xef0, + (q15_t)0xed7, (q15_t)0xebe, (q15_t)0xea5, (q15_t)0xe8c, (q15_t)0xe73, (q15_t)0xe5a, (q15_t)0xe41, (q15_t)0xe28, + (q15_t)0xe0f, (q15_t)0xdf6, (q15_t)0xddd, (q15_t)0xdc4, (q15_t)0xdab, (q15_t)0xd92, (q15_t)0xd79, (q15_t)0xd60, + (q15_t)0xd47, (q15_t)0xd2e, (q15_t)0xd15, (q15_t)0xcfc, (q15_t)0xce3, (q15_t)0xcca, (q15_t)0xcb1, (q15_t)0xc98, + (q15_t)0xc7f, (q15_t)0xc66, (q15_t)0xc4d, (q15_t)0xc34, (q15_t)0xc1b, (q15_t)0xc02, (q15_t)0xbe9, (q15_t)0xbd0, + (q15_t)0xbb7, (q15_t)0xb9e, (q15_t)0xb85, (q15_t)0xb6c, (q15_t)0xb53, (q15_t)0xb3a, (q15_t)0xb20, (q15_t)0xb07, + (q15_t)0xaee, (q15_t)0xad5, (q15_t)0xabc, (q15_t)0xaa3, (q15_t)0xa8a, (q15_t)0xa71, (q15_t)0xa58, (q15_t)0xa3f, + (q15_t)0xa26, (q15_t)0xa0d, (q15_t)0x9f4, (q15_t)0x9db, (q15_t)0x9c2, (q15_t)0x9a9, (q15_t)0x990, (q15_t)0x977, + (q15_t)0x95e, (q15_t)0x944, (q15_t)0x92b, (q15_t)0x912, (q15_t)0x8f9, (q15_t)0x8e0, (q15_t)0x8c7, (q15_t)0x8ae, + (q15_t)0x895, (q15_t)0x87c, (q15_t)0x863, (q15_t)0x84a, (q15_t)0x831, (q15_t)0x818, (q15_t)0x7fe, (q15_t)0x7e5, + (q15_t)0x7cc, (q15_t)0x7b3, (q15_t)0x79a, (q15_t)0x781, (q15_t)0x768, (q15_t)0x74f, (q15_t)0x736, (q15_t)0x71d, + (q15_t)0x704, (q15_t)0x6ea, (q15_t)0x6d1, (q15_t)0x6b8, (q15_t)0x69f, (q15_t)0x686, (q15_t)0x66d, (q15_t)0x654, + (q15_t)0x63b, (q15_t)0x622, (q15_t)0x609, (q15_t)0x5ef, (q15_t)0x5d6, (q15_t)0x5bd, (q15_t)0x5a4, (q15_t)0x58b, + (q15_t)0x572, (q15_t)0x559, (q15_t)0x540, (q15_t)0x527, (q15_t)0x50d, (q15_t)0x4f4, (q15_t)0x4db, (q15_t)0x4c2, + (q15_t)0x4a9, (q15_t)0x490, (q15_t)0x477, (q15_t)0x45e, (q15_t)0x445, (q15_t)0x42b, (q15_t)0x412, (q15_t)0x3f9, + (q15_t)0x3e0, (q15_t)0x3c7, (q15_t)0x3ae, (q15_t)0x395, (q15_t)0x37c, (q15_t)0x362, (q15_t)0x349, (q15_t)0x330, + (q15_t)0x317, (q15_t)0x2fe, (q15_t)0x2e5, (q15_t)0x2cc, (q15_t)0x2b3, (q15_t)0x299, (q15_t)0x280, (q15_t)0x267, + (q15_t)0x24e, (q15_t)0x235, (q15_t)0x21c, (q15_t)0x203, (q15_t)0x1ea, (q15_t)0x1d0, (q15_t)0x1b7, (q15_t)0x19e, + (q15_t)0x185, (q15_t)0x16c, (q15_t)0x153, (q15_t)0x13a, (q15_t)0x121, (q15_t)0x107, (q15_t)0xee, (q15_t)0xd5, + (q15_t)0xbc, (q15_t)0xa3, (q15_t)0x8a, (q15_t)0x71, (q15_t)0x57, (q15_t)0x3e, (q15_t)0x25, (q15_t)0xc + +}; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q15_8192) + const q15_t __ALIGNED(4) WeightsQ15_8192[16384] = { + (q15_t)0x7fff, (q15_t)0x0, (q15_t)0x7fff, (q15_t)0xfffa, (q15_t)0x7fff, (q15_t)0xfff4, (q15_t)0x7fff, (q15_t)0xffee, + (q15_t)0x7fff, (q15_t)0xffe7, (q15_t)0x7fff, (q15_t)0xffe1, (q15_t)0x7fff, (q15_t)0xffdb, (q15_t)0x7fff, (q15_t)0xffd5, + (q15_t)0x7fff, (q15_t)0xffce, (q15_t)0x7fff, (q15_t)0xffc8, (q15_t)0x7fff, (q15_t)0xffc2, (q15_t)0x7fff, (q15_t)0xffbb, + (q15_t)0x7fff, (q15_t)0xffb5, (q15_t)0x7fff, (q15_t)0xffaf, (q15_t)0x7fff, (q15_t)0xffa9, (q15_t)0x7fff, (q15_t)0xffa2, + (q15_t)0x7fff, (q15_t)0xff9c, (q15_t)0x7fff, (q15_t)0xff96, (q15_t)0x7fff, (q15_t)0xff8f, (q15_t)0x7fff, (q15_t)0xff89, + (q15_t)0x7fff, (q15_t)0xff83, (q15_t)0x7fff, (q15_t)0xff7d, (q15_t)0x7fff, (q15_t)0xff76, (q15_t)0x7fff, (q15_t)0xff70, + (q15_t)0x7fff, (q15_t)0xff6a, (q15_t)0x7fff, (q15_t)0xff63, (q15_t)0x7fff, (q15_t)0xff5d, (q15_t)0x7fff, (q15_t)0xff57, + (q15_t)0x7fff, (q15_t)0xff51, (q15_t)0x7fff, (q15_t)0xff4a, (q15_t)0x7fff, (q15_t)0xff44, (q15_t)0x7fff, (q15_t)0xff3e, + (q15_t)0x7fff, (q15_t)0xff37, (q15_t)0x7fff, (q15_t)0xff31, (q15_t)0x7fff, (q15_t)0xff2b, (q15_t)0x7fff, (q15_t)0xff25, + (q15_t)0x7fff, (q15_t)0xff1e, (q15_t)0x7fff, (q15_t)0xff18, (q15_t)0x7fff, (q15_t)0xff12, (q15_t)0x7fff, (q15_t)0xff0b, + (q15_t)0x7fff, (q15_t)0xff05, (q15_t)0x7ffe, (q15_t)0xfeff, (q15_t)0x7ffe, (q15_t)0xfef9, (q15_t)0x7ffe, (q15_t)0xfef2, + (q15_t)0x7ffe, (q15_t)0xfeec, (q15_t)0x7ffe, (q15_t)0xfee6, (q15_t)0x7ffe, (q15_t)0xfedf, (q15_t)0x7ffe, (q15_t)0xfed9, + (q15_t)0x7ffe, (q15_t)0xfed3, (q15_t)0x7ffe, (q15_t)0xfecd, (q15_t)0x7ffe, (q15_t)0xfec6, (q15_t)0x7ffe, (q15_t)0xfec0, + (q15_t)0x7ffe, (q15_t)0xfeba, (q15_t)0x7ffe, (q15_t)0xfeb3, (q15_t)0x7ffe, (q15_t)0xfead, (q15_t)0x7ffe, (q15_t)0xfea7, + (q15_t)0x7ffe, (q15_t)0xfea1, (q15_t)0x7ffe, (q15_t)0xfe9a, (q15_t)0x7ffd, (q15_t)0xfe94, (q15_t)0x7ffd, (q15_t)0xfe8e, + (q15_t)0x7ffd, (q15_t)0xfe88, (q15_t)0x7ffd, (q15_t)0xfe81, (q15_t)0x7ffd, (q15_t)0xfe7b, (q15_t)0x7ffd, (q15_t)0xfe75, + (q15_t)0x7ffd, (q15_t)0xfe6e, (q15_t)0x7ffd, (q15_t)0xfe68, (q15_t)0x7ffd, (q15_t)0xfe62, (q15_t)0x7ffd, (q15_t)0xfe5c, + (q15_t)0x7ffd, (q15_t)0xfe55, (q15_t)0x7ffd, (q15_t)0xfe4f, (q15_t)0x7ffd, (q15_t)0xfe49, (q15_t)0x7ffc, (q15_t)0xfe42, + (q15_t)0x7ffc, (q15_t)0xfe3c, (q15_t)0x7ffc, (q15_t)0xfe36, (q15_t)0x7ffc, (q15_t)0xfe30, (q15_t)0x7ffc, (q15_t)0xfe29, + (q15_t)0x7ffc, (q15_t)0xfe23, (q15_t)0x7ffc, (q15_t)0xfe1d, (q15_t)0x7ffc, (q15_t)0xfe16, (q15_t)0x7ffc, (q15_t)0xfe10, + (q15_t)0x7ffc, (q15_t)0xfe0a, (q15_t)0x7ffc, (q15_t)0xfe04, (q15_t)0x7ffb, (q15_t)0xfdfd, (q15_t)0x7ffb, (q15_t)0xfdf7, + (q15_t)0x7ffb, (q15_t)0xfdf1, (q15_t)0x7ffb, (q15_t)0xfdea, (q15_t)0x7ffb, (q15_t)0xfde4, (q15_t)0x7ffb, (q15_t)0xfdde, + (q15_t)0x7ffb, (q15_t)0xfdd8, (q15_t)0x7ffb, (q15_t)0xfdd1, (q15_t)0x7ffb, (q15_t)0xfdcb, (q15_t)0x7ffb, (q15_t)0xfdc5, + (q15_t)0x7ffa, (q15_t)0xfdbe, (q15_t)0x7ffa, (q15_t)0xfdb8, (q15_t)0x7ffa, (q15_t)0xfdb2, (q15_t)0x7ffa, (q15_t)0xfdac, + (q15_t)0x7ffa, (q15_t)0xfda5, (q15_t)0x7ffa, (q15_t)0xfd9f, (q15_t)0x7ffa, (q15_t)0xfd99, (q15_t)0x7ffa, (q15_t)0xfd93, + (q15_t)0x7ff9, (q15_t)0xfd8c, (q15_t)0x7ff9, (q15_t)0xfd86, (q15_t)0x7ff9, (q15_t)0xfd80, (q15_t)0x7ff9, (q15_t)0xfd79, + (q15_t)0x7ff9, (q15_t)0xfd73, (q15_t)0x7ff9, (q15_t)0xfd6d, (q15_t)0x7ff9, (q15_t)0xfd67, (q15_t)0x7ff9, (q15_t)0xfd60, + (q15_t)0x7ff8, (q15_t)0xfd5a, (q15_t)0x7ff8, (q15_t)0xfd54, (q15_t)0x7ff8, (q15_t)0xfd4d, (q15_t)0x7ff8, (q15_t)0xfd47, + (q15_t)0x7ff8, (q15_t)0xfd41, (q15_t)0x7ff8, (q15_t)0xfd3b, (q15_t)0x7ff8, (q15_t)0xfd34, (q15_t)0x7ff8, (q15_t)0xfd2e, + (q15_t)0x7ff7, (q15_t)0xfd28, (q15_t)0x7ff7, (q15_t)0xfd21, (q15_t)0x7ff7, (q15_t)0xfd1b, (q15_t)0x7ff7, (q15_t)0xfd15, + (q15_t)0x7ff7, (q15_t)0xfd0f, (q15_t)0x7ff7, (q15_t)0xfd08, (q15_t)0x7ff7, (q15_t)0xfd02, (q15_t)0x7ff6, (q15_t)0xfcfc, + (q15_t)0x7ff6, (q15_t)0xfcf5, (q15_t)0x7ff6, (q15_t)0xfcef, (q15_t)0x7ff6, (q15_t)0xfce9, (q15_t)0x7ff6, (q15_t)0xfce3, + (q15_t)0x7ff6, (q15_t)0xfcdc, (q15_t)0x7ff5, (q15_t)0xfcd6, (q15_t)0x7ff5, (q15_t)0xfcd0, (q15_t)0x7ff5, (q15_t)0xfcc9, + (q15_t)0x7ff5, (q15_t)0xfcc3, (q15_t)0x7ff5, (q15_t)0xfcbd, (q15_t)0x7ff5, (q15_t)0xfcb7, (q15_t)0x7ff5, (q15_t)0xfcb0, + (q15_t)0x7ff4, (q15_t)0xfcaa, (q15_t)0x7ff4, (q15_t)0xfca4, (q15_t)0x7ff4, (q15_t)0xfc9e, (q15_t)0x7ff4, (q15_t)0xfc97, + (q15_t)0x7ff4, (q15_t)0xfc91, (q15_t)0x7ff4, (q15_t)0xfc8b, (q15_t)0x7ff3, (q15_t)0xfc84, (q15_t)0x7ff3, (q15_t)0xfc7e, + (q15_t)0x7ff3, (q15_t)0xfc78, (q15_t)0x7ff3, (q15_t)0xfc72, (q15_t)0x7ff3, (q15_t)0xfc6b, (q15_t)0x7ff2, (q15_t)0xfc65, + (q15_t)0x7ff2, (q15_t)0xfc5f, (q15_t)0x7ff2, (q15_t)0xfc58, (q15_t)0x7ff2, (q15_t)0xfc52, (q15_t)0x7ff2, (q15_t)0xfc4c, + (q15_t)0x7ff2, (q15_t)0xfc46, (q15_t)0x7ff1, (q15_t)0xfc3f, (q15_t)0x7ff1, (q15_t)0xfc39, (q15_t)0x7ff1, (q15_t)0xfc33, + (q15_t)0x7ff1, (q15_t)0xfc2c, (q15_t)0x7ff1, (q15_t)0xfc26, (q15_t)0x7ff0, (q15_t)0xfc20, (q15_t)0x7ff0, (q15_t)0xfc1a, + (q15_t)0x7ff0, (q15_t)0xfc13, (q15_t)0x7ff0, (q15_t)0xfc0d, (q15_t)0x7ff0, (q15_t)0xfc07, (q15_t)0x7fef, (q15_t)0xfc01, + (q15_t)0x7fef, (q15_t)0xfbfa, (q15_t)0x7fef, (q15_t)0xfbf4, (q15_t)0x7fef, (q15_t)0xfbee, (q15_t)0x7fef, (q15_t)0xfbe7, + (q15_t)0x7fee, (q15_t)0xfbe1, (q15_t)0x7fee, (q15_t)0xfbdb, (q15_t)0x7fee, (q15_t)0xfbd5, (q15_t)0x7fee, (q15_t)0xfbce, + (q15_t)0x7fee, (q15_t)0xfbc8, (q15_t)0x7fed, (q15_t)0xfbc2, (q15_t)0x7fed, (q15_t)0xfbbb, (q15_t)0x7fed, (q15_t)0xfbb5, + (q15_t)0x7fed, (q15_t)0xfbaf, (q15_t)0x7fed, (q15_t)0xfba9, (q15_t)0x7fec, (q15_t)0xfba2, (q15_t)0x7fec, (q15_t)0xfb9c, + (q15_t)0x7fec, (q15_t)0xfb96, (q15_t)0x7fec, (q15_t)0xfb8f, (q15_t)0x7fec, (q15_t)0xfb89, (q15_t)0x7feb, (q15_t)0xfb83, + (q15_t)0x7feb, (q15_t)0xfb7d, (q15_t)0x7feb, (q15_t)0xfb76, (q15_t)0x7feb, (q15_t)0xfb70, (q15_t)0x7fea, (q15_t)0xfb6a, + (q15_t)0x7fea, (q15_t)0xfb64, (q15_t)0x7fea, (q15_t)0xfb5d, (q15_t)0x7fea, (q15_t)0xfb57, (q15_t)0x7fea, (q15_t)0xfb51, + (q15_t)0x7fe9, (q15_t)0xfb4a, (q15_t)0x7fe9, (q15_t)0xfb44, (q15_t)0x7fe9, (q15_t)0xfb3e, (q15_t)0x7fe9, (q15_t)0xfb38, + (q15_t)0x7fe8, (q15_t)0xfb31, (q15_t)0x7fe8, (q15_t)0xfb2b, (q15_t)0x7fe8, (q15_t)0xfb25, (q15_t)0x7fe8, (q15_t)0xfb1e, + (q15_t)0x7fe7, (q15_t)0xfb18, (q15_t)0x7fe7, (q15_t)0xfb12, (q15_t)0x7fe7, (q15_t)0xfb0c, (q15_t)0x7fe7, (q15_t)0xfb05, + (q15_t)0x7fe6, (q15_t)0xfaff, (q15_t)0x7fe6, (q15_t)0xfaf9, (q15_t)0x7fe6, (q15_t)0xfaf3, (q15_t)0x7fe6, (q15_t)0xfaec, + (q15_t)0x7fe5, (q15_t)0xfae6, (q15_t)0x7fe5, (q15_t)0xfae0, (q15_t)0x7fe5, (q15_t)0xfad9, (q15_t)0x7fe5, (q15_t)0xfad3, + (q15_t)0x7fe4, (q15_t)0xfacd, (q15_t)0x7fe4, (q15_t)0xfac7, (q15_t)0x7fe4, (q15_t)0xfac0, (q15_t)0x7fe4, (q15_t)0xfaba, + (q15_t)0x7fe3, (q15_t)0xfab4, (q15_t)0x7fe3, (q15_t)0xfaad, (q15_t)0x7fe3, (q15_t)0xfaa7, (q15_t)0x7fe3, (q15_t)0xfaa1, + (q15_t)0x7fe2, (q15_t)0xfa9b, (q15_t)0x7fe2, (q15_t)0xfa94, (q15_t)0x7fe2, (q15_t)0xfa8e, (q15_t)0x7fe2, (q15_t)0xfa88, + (q15_t)0x7fe1, (q15_t)0xfa81, (q15_t)0x7fe1, (q15_t)0xfa7b, (q15_t)0x7fe1, (q15_t)0xfa75, (q15_t)0x7fe0, (q15_t)0xfa6f, + (q15_t)0x7fe0, (q15_t)0xfa68, (q15_t)0x7fe0, (q15_t)0xfa62, (q15_t)0x7fe0, (q15_t)0xfa5c, (q15_t)0x7fdf, (q15_t)0xfa56, + (q15_t)0x7fdf, (q15_t)0xfa4f, (q15_t)0x7fdf, (q15_t)0xfa49, (q15_t)0x7fdf, (q15_t)0xfa43, (q15_t)0x7fde, (q15_t)0xfa3c, + (q15_t)0x7fde, (q15_t)0xfa36, (q15_t)0x7fde, (q15_t)0xfa30, (q15_t)0x7fdd, (q15_t)0xfa2a, (q15_t)0x7fdd, (q15_t)0xfa23, + (q15_t)0x7fdd, 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(q15_t)0x356, (q15_t)0x800c, (q15_t)0x350, (q15_t)0x800b, (q15_t)0x349, (q15_t)0x800b, (q15_t)0x343, (q15_t)0x800b, + (q15_t)0x33d, (q15_t)0x800b, (q15_t)0x337, (q15_t)0x800b, (q15_t)0x330, (q15_t)0x800b, (q15_t)0x32a, (q15_t)0x800b, + (q15_t)0x324, (q15_t)0x800a, (q15_t)0x31d, (q15_t)0x800a, (q15_t)0x317, (q15_t)0x800a, (q15_t)0x311, (q15_t)0x800a, + (q15_t)0x30b, (q15_t)0x800a, (q15_t)0x304, (q15_t)0x800a, (q15_t)0x2fe, (q15_t)0x8009, (q15_t)0x2f8, (q15_t)0x8009, + (q15_t)0x2f1, (q15_t)0x8009, (q15_t)0x2eb, (q15_t)0x8009, (q15_t)0x2e5, (q15_t)0x8009, (q15_t)0x2df, (q15_t)0x8009, + (q15_t)0x2d8, (q15_t)0x8009, (q15_t)0x2d2, (q15_t)0x8008, (q15_t)0x2cc, (q15_t)0x8008, (q15_t)0x2c5, (q15_t)0x8008, + (q15_t)0x2bf, (q15_t)0x8008, (q15_t)0x2b9, (q15_t)0x8008, (q15_t)0x2b3, (q15_t)0x8008, (q15_t)0x2ac, (q15_t)0x8008, + (q15_t)0x2a6, (q15_t)0x8008, (q15_t)0x2a0, (q15_t)0x8007, (q15_t)0x299, (q15_t)0x8007, (q15_t)0x293, (q15_t)0x8007, + (q15_t)0x28d, (q15_t)0x8007, (q15_t)0x287, (q15_t)0x8007, (q15_t)0x280, (q15_t)0x8007, (q15_t)0x27a, (q15_t)0x8007, + (q15_t)0x274, (q15_t)0x8007, (q15_t)0x26d, (q15_t)0x8006, (q15_t)0x267, (q15_t)0x8006, (q15_t)0x261, (q15_t)0x8006, + (q15_t)0x25b, (q15_t)0x8006, (q15_t)0x254, (q15_t)0x8006, (q15_t)0x24e, (q15_t)0x8006, (q15_t)0x248, (q15_t)0x8006, + (q15_t)0x242, (q15_t)0x8006, (q15_t)0x23b, (q15_t)0x8005, (q15_t)0x235, (q15_t)0x8005, (q15_t)0x22f, (q15_t)0x8005, + (q15_t)0x228, (q15_t)0x8005, (q15_t)0x222, (q15_t)0x8005, (q15_t)0x21c, (q15_t)0x8005, (q15_t)0x216, (q15_t)0x8005, + (q15_t)0x20f, (q15_t)0x8005, (q15_t)0x209, (q15_t)0x8005, (q15_t)0x203, (q15_t)0x8005, (q15_t)0x1fc, (q15_t)0x8004, + (q15_t)0x1f6, (q15_t)0x8004, (q15_t)0x1f0, (q15_t)0x8004, (q15_t)0x1ea, (q15_t)0x8004, (q15_t)0x1e3, (q15_t)0x8004, + (q15_t)0x1dd, (q15_t)0x8004, (q15_t)0x1d7, (q15_t)0x8004, (q15_t)0x1d0, (q15_t)0x8004, (q15_t)0x1ca, (q15_t)0x8004, + (q15_t)0x1c4, (q15_t)0x8004, (q15_t)0x1be, (q15_t)0x8004, (q15_t)0x1b7, (q15_t)0x8003, (q15_t)0x1b1, (q15_t)0x8003, + (q15_t)0x1ab, (q15_t)0x8003, (q15_t)0x1a4, (q15_t)0x8003, (q15_t)0x19e, (q15_t)0x8003, (q15_t)0x198, (q15_t)0x8003, + (q15_t)0x192, (q15_t)0x8003, (q15_t)0x18b, (q15_t)0x8003, (q15_t)0x185, (q15_t)0x8003, (q15_t)0x17f, (q15_t)0x8003, + (q15_t)0x178, (q15_t)0x8003, (q15_t)0x172, (q15_t)0x8003, (q15_t)0x16c, (q15_t)0x8003, (q15_t)0x166, (q15_t)0x8002, + (q15_t)0x15f, (q15_t)0x8002, (q15_t)0x159, (q15_t)0x8002, (q15_t)0x153, (q15_t)0x8002, (q15_t)0x14d, (q15_t)0x8002, + (q15_t)0x146, (q15_t)0x8002, (q15_t)0x140, (q15_t)0x8002, (q15_t)0x13a, (q15_t)0x8002, (q15_t)0x133, (q15_t)0x8002, + (q15_t)0x12d, (q15_t)0x8002, (q15_t)0x127, (q15_t)0x8002, (q15_t)0x121, (q15_t)0x8002, (q15_t)0x11a, (q15_t)0x8002, + (q15_t)0x114, (q15_t)0x8002, (q15_t)0x10e, (q15_t)0x8002, (q15_t)0x107, (q15_t)0x8002, (q15_t)0x101, (q15_t)0x8002, + (q15_t)0xfb, (q15_t)0x8001, (q15_t)0xf5, (q15_t)0x8001, (q15_t)0xee, (q15_t)0x8001, (q15_t)0xe8, (q15_t)0x8001, + (q15_t)0xe2, (q15_t)0x8001, (q15_t)0xdb, (q15_t)0x8001, (q15_t)0xd5, (q15_t)0x8001, (q15_t)0xcf, (q15_t)0x8001, + (q15_t)0xc9, (q15_t)0x8001, (q15_t)0xc2, (q15_t)0x8001, (q15_t)0xbc, (q15_t)0x8001, (q15_t)0xb6, (q15_t)0x8001, + (q15_t)0xaf, (q15_t)0x8001, (q15_t)0xa9, (q15_t)0x8001, (q15_t)0xa3, (q15_t)0x8001, (q15_t)0x9d, (q15_t)0x8001, + (q15_t)0x96, (q15_t)0x8001, (q15_t)0x90, (q15_t)0x8001, (q15_t)0x8a, (q15_t)0x8001, (q15_t)0x83, (q15_t)0x8001, + (q15_t)0x7d, (q15_t)0x8001, (q15_t)0x77, (q15_t)0x8001, (q15_t)0x71, (q15_t)0x8001, (q15_t)0x6a, (q15_t)0x8001, + (q15_t)0x64, (q15_t)0x8001, (q15_t)0x5e, (q15_t)0x8001, (q15_t)0x57, (q15_t)0x8001, (q15_t)0x51, (q15_t)0x8001, + (q15_t)0x4b, (q15_t)0x8001, (q15_t)0x45, (q15_t)0x8001, (q15_t)0x3e, (q15_t)0x8001, (q15_t)0x38, (q15_t)0x8001, + (q15_t)0x32, (q15_t)0x8001, (q15_t)0x2b, (q15_t)0x8001, (q15_t)0x25, (q15_t)0x8001, (q15_t)0x1f, (q15_t)0x8001, + (q15_t)0x19, (q15_t)0x8001, (q15_t)0x12, (q15_t)0x8001, (q15_t)0xc, (q15_t)0x8001, (q15_t)0x6, (q15_t)0x8001 +}; + + const q15_t __ALIGNED(4) cos_factorsQ15_8192[8192] = { + (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, + (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, + (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, + (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, + (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, (q15_t)0x7fff, + (q15_t)0x7fff, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, + (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffe, + (q15_t)0x7ffe, (q15_t)0x7ffe, (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffd, + (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffd, (q15_t)0x7ffc, + (q15_t)0x7ffc, (q15_t)0x7ffc, (q15_t)0x7ffc, (q15_t)0x7ffc, (q15_t)0x7ffc, (q15_t)0x7ffc, (q15_t)0x7ffc, (q15_t)0x7ffc, + (q15_t)0x7ffc, (q15_t)0x7ffb, (q15_t)0x7ffb, (q15_t)0x7ffb, (q15_t)0x7ffb, (q15_t)0x7ffb, (q15_t)0x7ffb, (q15_t)0x7ffb, + (q15_t)0x7ffb, (q15_t)0x7ffb, (q15_t)0x7ffb, (q15_t)0x7ffa, (q15_t)0x7ffa, (q15_t)0x7ffa, (q15_t)0x7ffa, (q15_t)0x7ffa, + (q15_t)0x7ffa, (q15_t)0x7ffa, (q15_t)0x7ffa, (q15_t)0x7ffa, (q15_t)0x7ff9, (q15_t)0x7ff9, (q15_t)0x7ff9, (q15_t)0x7ff9, + (q15_t)0x7ff9, (q15_t)0x7ff9, (q15_t)0x7ff9, (q15_t)0x7ff9, (q15_t)0x7ff8, (q15_t)0x7ff8, (q15_t)0x7ff8, (q15_t)0x7ff8, + (q15_t)0x7ff8, (q15_t)0x7ff8, (q15_t)0x7ff8, (q15_t)0x7ff7, (q15_t)0x7ff7, (q15_t)0x7ff7, (q15_t)0x7ff7, (q15_t)0x7ff7, + (q15_t)0x7ff7, (q15_t)0x7ff7, (q15_t)0x7ff6, (q15_t)0x7ff6, (q15_t)0x7ff6, (q15_t)0x7ff6, (q15_t)0x7ff6, (q15_t)0x7ff6, + (q15_t)0x7ff6, (q15_t)0x7ff5, (q15_t)0x7ff5, (q15_t)0x7ff5, (q15_t)0x7ff5, (q15_t)0x7ff5, (q15_t)0x7ff5, (q15_t)0x7ff4, + (q15_t)0x7ff4, (q15_t)0x7ff4, (q15_t)0x7ff4, (q15_t)0x7ff4, (q15_t)0x7ff4, (q15_t)0x7ff3, (q15_t)0x7ff3, (q15_t)0x7ff3, + (q15_t)0x7ff3, (q15_t)0x7ff3, (q15_t)0x7ff3, (q15_t)0x7ff2, (q15_t)0x7ff2, (q15_t)0x7ff2, (q15_t)0x7ff2, (q15_t)0x7ff2, + (q15_t)0x7ff1, (q15_t)0x7ff1, (q15_t)0x7ff1, (q15_t)0x7ff1, (q15_t)0x7ff1, (q15_t)0x7ff1, (q15_t)0x7ff0, (q15_t)0x7ff0, + (q15_t)0x7ff0, (q15_t)0x7ff0, (q15_t)0x7ff0, (q15_t)0x7fef, (q15_t)0x7fef, (q15_t)0x7fef, (q15_t)0x7fef, (q15_t)0x7fef, + (q15_t)0x7fee, (q15_t)0x7fee, (q15_t)0x7fee, (q15_t)0x7fee, (q15_t)0x7fee, (q15_t)0x7fed, (q15_t)0x7fed, (q15_t)0x7fed, + (q15_t)0x7fed, (q15_t)0x7fed, (q15_t)0x7fec, (q15_t)0x7fec, (q15_t)0x7fec, (q15_t)0x7fec, (q15_t)0x7feb, (q15_t)0x7feb, + (q15_t)0x7feb, (q15_t)0x7feb, (q15_t)0x7feb, (q15_t)0x7fea, (q15_t)0x7fea, (q15_t)0x7fea, (q15_t)0x7fea, (q15_t)0x7fe9, + (q15_t)0x7fe9, (q15_t)0x7fe9, (q15_t)0x7fe9, (q15_t)0x7fe8, (q15_t)0x7fe8, (q15_t)0x7fe8, (q15_t)0x7fe8, (q15_t)0x7fe8, + (q15_t)0x7fe7, (q15_t)0x7fe7, (q15_t)0x7fe7, (q15_t)0x7fe7, (q15_t)0x7fe6, (q15_t)0x7fe6, (q15_t)0x7fe6, (q15_t)0x7fe6, + (q15_t)0x7fe5, (q15_t)0x7fe5, (q15_t)0x7fe5, (q15_t)0x7fe5, (q15_t)0x7fe4, (q15_t)0x7fe4, (q15_t)0x7fe4, (q15_t)0x7fe4, + (q15_t)0x7fe3, (q15_t)0x7fe3, (q15_t)0x7fe3, (q15_t)0x7fe2, (q15_t)0x7fe2, (q15_t)0x7fe2, (q15_t)0x7fe2, (q15_t)0x7fe1, + (q15_t)0x7fe1, (q15_t)0x7fe1, (q15_t)0x7fe1, (q15_t)0x7fe0, (q15_t)0x7fe0, (q15_t)0x7fe0, (q15_t)0x7fdf, (q15_t)0x7fdf, + (q15_t)0x7fdf, (q15_t)0x7fdf, (q15_t)0x7fde, (q15_t)0x7fde, (q15_t)0x7fde, (q15_t)0x7fde, (q15_t)0x7fdd, (q15_t)0x7fdd, + (q15_t)0x7fdd, (q15_t)0x7fdc, (q15_t)0x7fdc, (q15_t)0x7fdc, (q15_t)0x7fdb, (q15_t)0x7fdb, (q15_t)0x7fdb, (q15_t)0x7fdb, + (q15_t)0x7fda, (q15_t)0x7fda, (q15_t)0x7fda, (q15_t)0x7fd9, (q15_t)0x7fd9, (q15_t)0x7fd9, (q15_t)0x7fd8, (q15_t)0x7fd8, + (q15_t)0x7fd8, (q15_t)0x7fd8, (q15_t)0x7fd7, (q15_t)0x7fd7, (q15_t)0x7fd7, (q15_t)0x7fd6, (q15_t)0x7fd6, (q15_t)0x7fd6, + (q15_t)0x7fd5, (q15_t)0x7fd5, (q15_t)0x7fd5, (q15_t)0x7fd4, (q15_t)0x7fd4, (q15_t)0x7fd4, (q15_t)0x7fd3, (q15_t)0x7fd3, + (q15_t)0x7fd3, (q15_t)0x7fd2, (q15_t)0x7fd2, (q15_t)0x7fd2, (q15_t)0x7fd1, (q15_t)0x7fd1, (q15_t)0x7fd1, (q15_t)0x7fd0, + (q15_t)0x7fd0, (q15_t)0x7fd0, (q15_t)0x7fcf, (q15_t)0x7fcf, (q15_t)0x7fcf, (q15_t)0x7fce, (q15_t)0x7fce, (q15_t)0x7fce, + (q15_t)0x7fcd, (q15_t)0x7fcd, (q15_t)0x7fcd, (q15_t)0x7fcc, (q15_t)0x7fcc, (q15_t)0x7fcc, (q15_t)0x7fcb, (q15_t)0x7fcb, + (q15_t)0x7fcb, (q15_t)0x7fca, (q15_t)0x7fca, (q15_t)0x7fc9, (q15_t)0x7fc9, (q15_t)0x7fc9, (q15_t)0x7fc8, (q15_t)0x7fc8, + (q15_t)0x7fc8, (q15_t)0x7fc7, (q15_t)0x7fc7, (q15_t)0x7fc7, (q15_t)0x7fc6, (q15_t)0x7fc6, (q15_t)0x7fc5, (q15_t)0x7fc5, + (q15_t)0x7fc5, (q15_t)0x7fc4, (q15_t)0x7fc4, (q15_t)0x7fc4, (q15_t)0x7fc3, (q15_t)0x7fc3, (q15_t)0x7fc2, (q15_t)0x7fc2, + (q15_t)0x7fc2, (q15_t)0x7fc1, (q15_t)0x7fc1, (q15_t)0x7fc0, (q15_t)0x7fc0, (q15_t)0x7fc0, (q15_t)0x7fbf, (q15_t)0x7fbf, + (q15_t)0x7fbf, (q15_t)0x7fbe, (q15_t)0x7fbe, (q15_t)0x7fbd, (q15_t)0x7fbd, (q15_t)0x7fbd, (q15_t)0x7fbc, (q15_t)0x7fbc, + (q15_t)0x7fbb, (q15_t)0x7fbb, (q15_t)0x7fbb, (q15_t)0x7fba, (q15_t)0x7fba, (q15_t)0x7fb9, (q15_t)0x7fb9, (q15_t)0x7fb8, + (q15_t)0x7fb8, (q15_t)0x7fb8, (q15_t)0x7fb7, (q15_t)0x7fb7, (q15_t)0x7fb6, (q15_t)0x7fb6, (q15_t)0x7fb6, (q15_t)0x7fb5, + (q15_t)0x7fb5, (q15_t)0x7fb4, (q15_t)0x7fb4, (q15_t)0x7fb3, (q15_t)0x7fb3, (q15_t)0x7fb3, (q15_t)0x7fb2, (q15_t)0x7fb2, + (q15_t)0x7fb1, (q15_t)0x7fb1, (q15_t)0x7fb0, (q15_t)0x7fb0, (q15_t)0x7faf, (q15_t)0x7faf, (q15_t)0x7faf, (q15_t)0x7fae, + (q15_t)0x7fae, (q15_t)0x7fad, (q15_t)0x7fad, (q15_t)0x7fac, (q15_t)0x7fac, (q15_t)0x7fac, (q15_t)0x7fab, (q15_t)0x7fab, + (q15_t)0x7faa, (q15_t)0x7faa, (q15_t)0x7fa9, (q15_t)0x7fa9, (q15_t)0x7fa8, (q15_t)0x7fa8, (q15_t)0x7fa7, (q15_t)0x7fa7, + (q15_t)0x7fa6, (q15_t)0x7fa6, (q15_t)0x7fa6, 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(q15_t)0xe50, + (q15_t)0xe4a, (q15_t)0xe44, (q15_t)0xe3e, (q15_t)0xe37, (q15_t)0xe31, (q15_t)0xe2b, (q15_t)0xe25, (q15_t)0xe1e, + (q15_t)0xe18, (q15_t)0xe12, (q15_t)0xe0c, (q15_t)0xe05, (q15_t)0xdff, (q15_t)0xdf9, (q15_t)0xdf3, (q15_t)0xdec, + (q15_t)0xde6, (q15_t)0xde0, (q15_t)0xdda, (q15_t)0xdd3, (q15_t)0xdcd, (q15_t)0xdc7, (q15_t)0xdc1, (q15_t)0xdba, + (q15_t)0xdb4, (q15_t)0xdae, (q15_t)0xda8, (q15_t)0xda1, (q15_t)0xd9b, (q15_t)0xd95, (q15_t)0xd8f, (q15_t)0xd88, + (q15_t)0xd82, (q15_t)0xd7c, (q15_t)0xd76, (q15_t)0xd6f, (q15_t)0xd69, (q15_t)0xd63, (q15_t)0xd5d, (q15_t)0xd56, + (q15_t)0xd50, (q15_t)0xd4a, (q15_t)0xd44, (q15_t)0xd3d, (q15_t)0xd37, (q15_t)0xd31, (q15_t)0xd2b, (q15_t)0xd24, + (q15_t)0xd1e, (q15_t)0xd18, (q15_t)0xd12, (q15_t)0xd0b, (q15_t)0xd05, (q15_t)0xcff, (q15_t)0xcf9, (q15_t)0xcf2, + (q15_t)0xcec, (q15_t)0xce6, (q15_t)0xce0, (q15_t)0xcd9, (q15_t)0xcd3, (q15_t)0xccd, (q15_t)0xcc7, (q15_t)0xcc0, + (q15_t)0xcba, (q15_t)0xcb4, (q15_t)0xcae, (q15_t)0xca7, (q15_t)0xca1, (q15_t)0xc9b, (q15_t)0xc95, (q15_t)0xc8e, + (q15_t)0xc88, (q15_t)0xc82, (q15_t)0xc7c, (q15_t)0xc75, (q15_t)0xc6f, (q15_t)0xc69, (q15_t)0xc63, (q15_t)0xc5c, + (q15_t)0xc56, (q15_t)0xc50, (q15_t)0xc4a, (q15_t)0xc43, (q15_t)0xc3d, (q15_t)0xc37, (q15_t)0xc31, (q15_t)0xc2a, + (q15_t)0xc24, (q15_t)0xc1e, (q15_t)0xc18, (q15_t)0xc11, (q15_t)0xc0b, (q15_t)0xc05, (q15_t)0xbff, (q15_t)0xbf8, + (q15_t)0xbf2, (q15_t)0xbec, (q15_t)0xbe6, (q15_t)0xbdf, (q15_t)0xbd9, (q15_t)0xbd3, (q15_t)0xbcd, (q15_t)0xbc6, + (q15_t)0xbc0, (q15_t)0xbba, (q15_t)0xbb4, (q15_t)0xbad, (q15_t)0xba7, (q15_t)0xba1, (q15_t)0xb9b, (q15_t)0xb94, + (q15_t)0xb8e, (q15_t)0xb88, (q15_t)0xb81, (q15_t)0xb7b, (q15_t)0xb75, (q15_t)0xb6f, (q15_t)0xb68, (q15_t)0xb62, + (q15_t)0xb5c, (q15_t)0xb56, (q15_t)0xb4f, (q15_t)0xb49, (q15_t)0xb43, (q15_t)0xb3d, (q15_t)0xb36, (q15_t)0xb30, + (q15_t)0xb2a, (q15_t)0xb24, (q15_t)0xb1d, (q15_t)0xb17, (q15_t)0xb11, (q15_t)0xb0b, (q15_t)0xb04, (q15_t)0xafe, + (q15_t)0xaf8, (q15_t)0xaf2, (q15_t)0xaeb, (q15_t)0xae5, (q15_t)0xadf, (q15_t)0xad8, (q15_t)0xad2, (q15_t)0xacc, + (q15_t)0xac6, (q15_t)0xabf, (q15_t)0xab9, (q15_t)0xab3, (q15_t)0xaad, (q15_t)0xaa6, (q15_t)0xaa0, (q15_t)0xa9a, + (q15_t)0xa94, (q15_t)0xa8d, (q15_t)0xa87, (q15_t)0xa81, (q15_t)0xa7b, (q15_t)0xa74, (q15_t)0xa6e, (q15_t)0xa68, + (q15_t)0xa62, (q15_t)0xa5b, (q15_t)0xa55, (q15_t)0xa4f, (q15_t)0xa48, (q15_t)0xa42, (q15_t)0xa3c, (q15_t)0xa36, + (q15_t)0xa2f, (q15_t)0xa29, (q15_t)0xa23, (q15_t)0xa1d, (q15_t)0xa16, (q15_t)0xa10, (q15_t)0xa0a, (q15_t)0xa04, + (q15_t)0x9fd, (q15_t)0x9f7, (q15_t)0x9f1, (q15_t)0x9eb, (q15_t)0x9e4, (q15_t)0x9de, (q15_t)0x9d8, (q15_t)0x9d1, + (q15_t)0x9cb, (q15_t)0x9c5, (q15_t)0x9bf, (q15_t)0x9b8, (q15_t)0x9b2, (q15_t)0x9ac, (q15_t)0x9a6, (q15_t)0x99f, + (q15_t)0x999, (q15_t)0x993, (q15_t)0x98d, (q15_t)0x986, (q15_t)0x980, (q15_t)0x97a, (q15_t)0x973, (q15_t)0x96d, + (q15_t)0x967, (q15_t)0x961, (q15_t)0x95a, (q15_t)0x954, (q15_t)0x94e, (q15_t)0x948, (q15_t)0x941, (q15_t)0x93b, + (q15_t)0x935, (q15_t)0x92f, (q15_t)0x928, (q15_t)0x922, (q15_t)0x91c, (q15_t)0x915, (q15_t)0x90f, (q15_t)0x909, + (q15_t)0x903, (q15_t)0x8fc, (q15_t)0x8f6, (q15_t)0x8f0, (q15_t)0x8ea, (q15_t)0x8e3, (q15_t)0x8dd, (q15_t)0x8d7, + (q15_t)0x8d1, (q15_t)0x8ca, (q15_t)0x8c4, (q15_t)0x8be, (q15_t)0x8b7, (q15_t)0x8b1, (q15_t)0x8ab, (q15_t)0x8a5, + (q15_t)0x89e, (q15_t)0x898, (q15_t)0x892, (q15_t)0x88c, (q15_t)0x885, (q15_t)0x87f, (q15_t)0x879, (q15_t)0x872, + (q15_t)0x86c, (q15_t)0x866, (q15_t)0x860, (q15_t)0x859, (q15_t)0x853, (q15_t)0x84d, (q15_t)0x847, (q15_t)0x840, + (q15_t)0x83a, (q15_t)0x834, (q15_t)0x82e, (q15_t)0x827, (q15_t)0x821, (q15_t)0x81b, (q15_t)0x814, (q15_t)0x80e, + (q15_t)0x808, (q15_t)0x802, (q15_t)0x7fb, (q15_t)0x7f5, (q15_t)0x7ef, (q15_t)0x7e9, (q15_t)0x7e2, (q15_t)0x7dc, + (q15_t)0x7d6, (q15_t)0x7cf, (q15_t)0x7c9, (q15_t)0x7c3, (q15_t)0x7bd, (q15_t)0x7b6, (q15_t)0x7b0, (q15_t)0x7aa, + (q15_t)0x7a4, (q15_t)0x79d, (q15_t)0x797, (q15_t)0x791, (q15_t)0x78a, (q15_t)0x784, (q15_t)0x77e, (q15_t)0x778, + (q15_t)0x771, (q15_t)0x76b, (q15_t)0x765, (q15_t)0x75f, (q15_t)0x758, (q15_t)0x752, (q15_t)0x74c, (q15_t)0x745, + (q15_t)0x73f, (q15_t)0x739, (q15_t)0x733, (q15_t)0x72c, (q15_t)0x726, (q15_t)0x720, (q15_t)0x71a, (q15_t)0x713, + (q15_t)0x70d, (q15_t)0x707, (q15_t)0x700, (q15_t)0x6fa, (q15_t)0x6f4, (q15_t)0x6ee, (q15_t)0x6e7, (q15_t)0x6e1, + (q15_t)0x6db, (q15_t)0x6d5, (q15_t)0x6ce, (q15_t)0x6c8, (q15_t)0x6c2, (q15_t)0x6bb, (q15_t)0x6b5, (q15_t)0x6af, + (q15_t)0x6a9, (q15_t)0x6a2, (q15_t)0x69c, (q15_t)0x696, (q15_t)0x690, (q15_t)0x689, (q15_t)0x683, (q15_t)0x67d, + (q15_t)0x676, (q15_t)0x670, (q15_t)0x66a, (q15_t)0x664, (q15_t)0x65d, (q15_t)0x657, (q15_t)0x651, (q15_t)0x64a, + (q15_t)0x644, (q15_t)0x63e, (q15_t)0x638, (q15_t)0x631, (q15_t)0x62b, (q15_t)0x625, (q15_t)0x61f, (q15_t)0x618, + (q15_t)0x612, (q15_t)0x60c, (q15_t)0x605, (q15_t)0x5ff, (q15_t)0x5f9, (q15_t)0x5f3, (q15_t)0x5ec, (q15_t)0x5e6, + (q15_t)0x5e0, (q15_t)0x5da, (q15_t)0x5d3, (q15_t)0x5cd, (q15_t)0x5c7, (q15_t)0x5c0, (q15_t)0x5ba, (q15_t)0x5b4, + (q15_t)0x5ae, (q15_t)0x5a7, (q15_t)0x5a1, (q15_t)0x59b, (q15_t)0x594, (q15_t)0x58e, (q15_t)0x588, (q15_t)0x582, + (q15_t)0x57b, (q15_t)0x575, (q15_t)0x56f, (q15_t)0x569, (q15_t)0x562, (q15_t)0x55c, (q15_t)0x556, (q15_t)0x54f, + (q15_t)0x549, (q15_t)0x543, (q15_t)0x53d, (q15_t)0x536, (q15_t)0x530, (q15_t)0x52a, (q15_t)0x523, (q15_t)0x51d, + (q15_t)0x517, (q15_t)0x511, (q15_t)0x50a, (q15_t)0x504, (q15_t)0x4fe, (q15_t)0x4f8, (q15_t)0x4f1, (q15_t)0x4eb, + (q15_t)0x4e5, (q15_t)0x4de, (q15_t)0x4d8, (q15_t)0x4d2, (q15_t)0x4cc, (q15_t)0x4c5, (q15_t)0x4bf, (q15_t)0x4b9, + (q15_t)0x4b2, (q15_t)0x4ac, (q15_t)0x4a6, (q15_t)0x4a0, (q15_t)0x499, (q15_t)0x493, (q15_t)0x48d, (q15_t)0x487, + (q15_t)0x480, (q15_t)0x47a, (q15_t)0x474, (q15_t)0x46d, (q15_t)0x467, (q15_t)0x461, (q15_t)0x45b, (q15_t)0x454, + (q15_t)0x44e, (q15_t)0x448, (q15_t)0x441, (q15_t)0x43b, (q15_t)0x435, (q15_t)0x42f, (q15_t)0x428, (q15_t)0x422, + (q15_t)0x41c, (q15_t)0x415, (q15_t)0x40f, (q15_t)0x409, (q15_t)0x403, (q15_t)0x3fc, (q15_t)0x3f6, (q15_t)0x3f0, + (q15_t)0x3ea, (q15_t)0x3e3, (q15_t)0x3dd, (q15_t)0x3d7, (q15_t)0x3d0, (q15_t)0x3ca, (q15_t)0x3c4, (q15_t)0x3be, + (q15_t)0x3b7, (q15_t)0x3b1, (q15_t)0x3ab, (q15_t)0x3a4, (q15_t)0x39e, (q15_t)0x398, (q15_t)0x392, (q15_t)0x38b, + (q15_t)0x385, (q15_t)0x37f, (q15_t)0x378, (q15_t)0x372, (q15_t)0x36c, (q15_t)0x366, (q15_t)0x35f, (q15_t)0x359, + (q15_t)0x353, (q15_t)0x34c, (q15_t)0x346, (q15_t)0x340, (q15_t)0x33a, (q15_t)0x333, (q15_t)0x32d, (q15_t)0x327, + (q15_t)0x321, (q15_t)0x31a, (q15_t)0x314, (q15_t)0x30e, (q15_t)0x307, (q15_t)0x301, (q15_t)0x2fb, (q15_t)0x2f5, + (q15_t)0x2ee, (q15_t)0x2e8, (q15_t)0x2e2, (q15_t)0x2db, (q15_t)0x2d5, (q15_t)0x2cf, (q15_t)0x2c9, (q15_t)0x2c2, + (q15_t)0x2bc, (q15_t)0x2b6, (q15_t)0x2af, (q15_t)0x2a9, (q15_t)0x2a3, (q15_t)0x29d, (q15_t)0x296, (q15_t)0x290, + (q15_t)0x28a, (q15_t)0x283, (q15_t)0x27d, (q15_t)0x277, (q15_t)0x271, (q15_t)0x26a, (q15_t)0x264, (q15_t)0x25e, + (q15_t)0x258, (q15_t)0x251, (q15_t)0x24b, (q15_t)0x245, (q15_t)0x23e, (q15_t)0x238, (q15_t)0x232, (q15_t)0x22c, + (q15_t)0x225, (q15_t)0x21f, (q15_t)0x219, (q15_t)0x212, (q15_t)0x20c, (q15_t)0x206, (q15_t)0x200, (q15_t)0x1f9, + (q15_t)0x1f3, (q15_t)0x1ed, (q15_t)0x1e6, (q15_t)0x1e0, (q15_t)0x1da, (q15_t)0x1d4, (q15_t)0x1cd, (q15_t)0x1c7, + (q15_t)0x1c1, (q15_t)0x1ba, (q15_t)0x1b4, (q15_t)0x1ae, (q15_t)0x1a8, (q15_t)0x1a1, (q15_t)0x19b, (q15_t)0x195, + (q15_t)0x18e, (q15_t)0x188, (q15_t)0x182, (q15_t)0x17c, (q15_t)0x175, (q15_t)0x16f, (q15_t)0x169, (q15_t)0x162, + (q15_t)0x15c, (q15_t)0x156, (q15_t)0x150, (q15_t)0x149, (q15_t)0x143, (q15_t)0x13d, (q15_t)0x137, (q15_t)0x130, + (q15_t)0x12a, (q15_t)0x124, (q15_t)0x11d, (q15_t)0x117, (q15_t)0x111, (q15_t)0x10b, (q15_t)0x104, (q15_t)0xfe, + (q15_t)0xf8, (q15_t)0xf1, (q15_t)0xeb, (q15_t)0xe5, (q15_t)0xdf, (q15_t)0xd8, (q15_t)0xd2, (q15_t)0xcc, + (q15_t)0xc5, (q15_t)0xbf, (q15_t)0xb9, (q15_t)0xb3, (q15_t)0xac, (q15_t)0xa6, (q15_t)0xa0, (q15_t)0x99, + (q15_t)0x93, (q15_t)0x8d, (q15_t)0x87, (q15_t)0x80, (q15_t)0x7a, (q15_t)0x74, (q15_t)0x6d, (q15_t)0x67, + (q15_t)0x61, (q15_t)0x5b, (q15_t)0x54, (q15_t)0x4e, (q15_t)0x48, (q15_t)0x41, (q15_t)0x3b, (q15_t)0x35, + (q15_t)0x2f, (q15_t)0x28, (q15_t)0x22, (q15_t)0x1c, (q15_t)0x15, (q15_t)0xf, (q15_t)0x9, (q15_t)0x3 +}; + #endif + +/** + @par + Weights tables are generated using the formula : 
weights[n] = e^(-j*n*pi/(2*N))
+ @par + C command to generate the table + 
+  for (i = 0; i< N; i++)
+  {
+    weights[(2*i)]   =  cos(i*c);
+    weights[(2*i)+1] = -sin(i*c);
+  }
+ @par + where N is the Number of weights to be calculated and c is pi/(2*N) + @par + Convert the output to q31 format by multiplying with 2^31 and saturated if required. + @par + In the tables below the real and imaginary values are placed alternatively, hence the + array length is 2*N. + */ + +/** + @par + cosFactor tables are generated using the formula : 
cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
+ @par + C command to generate the table + 
+  for (i = 0; i< N; i++)
+  {
+    cos_factors[i] = 2 * cos((2*i+1)*c/2);
+  }
+ @par + where N is the number of factors to generate and c is pi/(2*N) + @par + Then converted to q31 format by multiplying with 2^31 and saturated if required. +*/ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q31_128) + const q31_t WeightsQ31_128[256] = { + (q31_t)0x7fffffff, (q31_t)0x00000000, (q31_t)0x7ffd885a, (q31_t)0xfe6de2e0, (q31_t)0x7ff62182, (q31_t)0xfcdbd541, (q31_t)0x7fe9cbc0, (q31_t)0xfb49e6a3, + (q31_t)0x7fd8878e, (q31_t)0xf9b82684, (q31_t)0x7fc25596, (q31_t)0xf826a462, (q31_t)0x7fa736b4, (q31_t)0xf6956fb7, (q31_t)0x7f872bf3, (q31_t)0xf50497fb, + (q31_t)0x7f62368f, (q31_t)0xf3742ca2, (q31_t)0x7f3857f6, (q31_t)0xf1e43d1c, (q31_t)0x7f0991c4, (q31_t)0xf054d8d5, (q31_t)0x7ed5e5c6, (q31_t)0xeec60f31, + (q31_t)0x7e9d55fc, (q31_t)0xed37ef91, (q31_t)0x7e5fe493, (q31_t)0xebaa894f, (q31_t)0x7e1d93ea, (q31_t)0xea1debbb, (q31_t)0x7dd6668f, (q31_t)0xe8922622, + (q31_t)0x7d8a5f40, (q31_t)0xe70747c4, (q31_t)0x7d3980ec, (q31_t)0xe57d5fda, (q31_t)0x7ce3ceb2, (q31_t)0xe3f47d96, (q31_t)0x7c894bde, (q31_t)0xe26cb01b, + (q31_t)0x7c29fbee, (q31_t)0xe0e60685, (q31_t)0x7bc5e290, (q31_t)0xdf608fe4, (q31_t)0x7b5d039e, (q31_t)0xdddc5b3b, (q31_t)0x7aef6323, (q31_t)0xdc597781, + (q31_t)0x7a7d055b, (q31_t)0xdad7f3a2, (q31_t)0x7a05eead, (q31_t)0xd957de7a, (q31_t)0x798a23b1, (q31_t)0xd7d946d8, (q31_t)0x7909a92d, (q31_t)0xd65c3b7b, + (q31_t)0x78848414, (q31_t)0xd4e0cb15, (q31_t)0x77fab989, (q31_t)0xd3670446, (q31_t)0x776c4edb, (q31_t)0xd1eef59e, (q31_t)0x76d94989, (q31_t)0xd078ad9e, + (q31_t)0x7641af3d, (q31_t)0xcf043ab3, (q31_t)0x75a585cf, (q31_t)0xcd91ab39, (q31_t)0x7504d345, (q31_t)0xcc210d79, (q31_t)0x745f9dd1, (q31_t)0xcab26fa9, + (q31_t)0x73b5ebd1, (q31_t)0xc945dfec, (q31_t)0x7307c3d0, (q31_t)0xc7db6c50, (q31_t)0x72552c85, (q31_t)0xc67322ce, (q31_t)0x719e2cd2, (q31_t)0xc50d1149, + (q31_t)0x70e2cbc6, (q31_t)0xc3a94590, (q31_t)0x7023109a, (q31_t)0xc247cd5a, (q31_t)0x6f5f02b2, (q31_t)0xc0e8b648, (q31_t)0x6e96a99d, (q31_t)0xbf8c0de3, + (q31_t)0x6dca0d14, (q31_t)0xbe31e19b, (q31_t)0x6cf934fc, (q31_t)0xbcda3ecb, (q31_t)0x6c242960, (q31_t)0xbb8532b0, (q31_t)0x6b4af279, (q31_t)0xba32ca71, + (q31_t)0x6a6d98a4, (q31_t)0xb8e31319, (q31_t)0x698c246c, (q31_t)0xb796199b, (q31_t)0x68a69e81, (q31_t)0xb64beacd, (q31_t)0x67bd0fbd, (q31_t)0xb5049368, + (q31_t)0x66cf8120, (q31_t)0xb3c0200c, (q31_t)0x65ddfbd3, (q31_t)0xb27e9d3c, (q31_t)0x64e88926, (q31_t)0xb140175b, (q31_t)0x63ef3290, (q31_t)0xb0049ab3, + (q31_t)0x62f201ac, (q31_t)0xaecc336c, (q31_t)0x61f1003f, (q31_t)0xad96ed92, (q31_t)0x60ec3830, (q31_t)0xac64d510, (q31_t)0x5fe3b38d, (q31_t)0xab35f5b5, + (q31_t)0x5ed77c8a, (q31_t)0xaa0a5b2e, (q31_t)0x5dc79d7c, (q31_t)0xa8e21106, (q31_t)0x5cb420e0, (q31_t)0xa7bd22ac, (q31_t)0x5b9d1154, (q31_t)0xa69b9b68, + (q31_t)0x5a82799a, (q31_t)0xa57d8666, (q31_t)0x59646498, (q31_t)0xa462eeac, (q31_t)0x5842dd54, (q31_t)0xa34bdf20, (q31_t)0x571deefa, (q31_t)0xa2386284, + (q31_t)0x55f5a4d2, (q31_t)0xa1288376, (q31_t)0x54ca0a4b, (q31_t)0xa01c4c73, (q31_t)0x539b2af0, (q31_t)0x9f13c7d0, (q31_t)0x5269126e, (q31_t)0x9e0effc1, + (q31_t)0x5133cc94, (q31_t)0x9d0dfe54, (q31_t)0x4ffb654d, (q31_t)0x9c10cd70, (q31_t)0x4ebfe8a5, (q31_t)0x9b1776da, (q31_t)0x4d8162c4, (q31_t)0x9a22042d, + (q31_t)0x4c3fdff4, (q31_t)0x99307ee0, (q31_t)0x4afb6c98, (q31_t)0x9842f043, (q31_t)0x49b41533, (q31_t)0x9759617f, (q31_t)0x4869e665, (q31_t)0x9673db94, + (q31_t)0x471cece7, (q31_t)0x9592675c, (q31_t)0x45cd358f, (q31_t)0x94b50d87, (q31_t)0x447acd50, (q31_t)0x93dbd6a0, (q31_t)0x4325c135, (q31_t)0x9306cb04, + (q31_t)0x41ce1e65, (q31_t)0x9235f2ec, (q31_t)0x4073f21d, (q31_t)0x91695663, (q31_t)0x3f1749b8, (q31_t)0x90a0fd4e, (q31_t)0x3db832a6, (q31_t)0x8fdcef66, + (q31_t)0x3c56ba70, (q31_t)0x8f1d343a, (q31_t)0x3af2eeb7, (q31_t)0x8e61d32e, (q31_t)0x398cdd32, (q31_t)0x8daad37b, (q31_t)0x382493b0, (q31_t)0x8cf83c30, + (q31_t)0x36ba2014, (q31_t)0x8c4a142f, (q31_t)0x354d9057, (q31_t)0x8ba0622f, (q31_t)0x33def287, (q31_t)0x8afb2cbb, (q31_t)0x326e54c7, (q31_t)0x8a5a7a31, + (q31_t)0x30fbc54d, (q31_t)0x89be50c3, (q31_t)0x2f875262, (q31_t)0x8926b677, (q31_t)0x2e110a62, (q31_t)0x8893b125, (q31_t)0x2c98fbba, (q31_t)0x88054677, + (q31_t)0x2b1f34eb, (q31_t)0x877b7bec, (q31_t)0x29a3c485, (q31_t)0x86f656d3, (q31_t)0x2826b928, (q31_t)0x8675dc4f, (q31_t)0x26a82186, (q31_t)0x85fa1153, + (q31_t)0x25280c5e, (q31_t)0x8582faa5, (q31_t)0x23a6887f, (q31_t)0x85109cdd, (q31_t)0x2223a4c5, (q31_t)0x84a2fc62, (q31_t)0x209f701c, (q31_t)0x843a1d70, + (q31_t)0x1f19f97b, (q31_t)0x83d60412, (q31_t)0x1d934fe5, (q31_t)0x8376b422, (q31_t)0x1c0b826a, (q31_t)0x831c314e, (q31_t)0x1a82a026, (q31_t)0x82c67f14, + (q31_t)0x18f8b83c, (q31_t)0x8275a0c0, (q31_t)0x176dd9de, (q31_t)0x82299971, (q31_t)0x15e21445, (q31_t)0x81e26c16, (q31_t)0x145576b1, (q31_t)0x81a01b6d, + (q31_t)0x12c8106f, (q31_t)0x8162aa04, (q31_t)0x1139f0cf, (q31_t)0x812a1a3a, (q31_t)0x0fab272b, (q31_t)0x80f66e3c, (q31_t)0x0e1bc2e4, (q31_t)0x80c7a80a, + (q31_t)0x0c8bd35e, (q31_t)0x809dc971, (q31_t)0x0afb6805, (q31_t)0x8078d40d, (q31_t)0x096a9049, (q31_t)0x8058c94c, (q31_t)0x07d95b9e, (q31_t)0x803daa6a, + (q31_t)0x0647d97c, (q31_t)0x80277872, (q31_t)0x04b6195d, (q31_t)0x80163440, (q31_t)0x03242abf, (q31_t)0x8009de7e, (q31_t)0x01921d20, (q31_t)0x800277a6 +}; + const q31_t cos_factorsQ31_128[128] = { + (q31_t)0x7fff6216, (q31_t)0x7ffa72d1, (q31_t)0x7ff09478, (q31_t)0x7fe1c76b, (q31_t)0x7fce0c3e, (q31_t)0x7fb563b3, + (q31_t)0x7f97cebd, (q31_t)0x7f754e80, + (q31_t)0x7f4de451, (q31_t)0x7f2191b4, (q31_t)0x7ef05860, (q31_t)0x7eba3a39, (q31_t)0x7e7f3957, (q31_t)0x7e3f57ff, + (q31_t)0x7dfa98a8, (q31_t)0x7db0fdf8, + (q31_t)0x7d628ac6, (q31_t)0x7d0f4218, (q31_t)0x7cb72724, (q31_t)0x7c5a3d50, (q31_t)0x7bf88830, (q31_t)0x7b920b89, + (q31_t)0x7b26cb4f, (q31_t)0x7ab6cba4, + (q31_t)0x7a4210d8, (q31_t)0x79c89f6e, (q31_t)0x794a7c12, (q31_t)0x78c7aba2, (q31_t)0x78403329, (q31_t)0x77b417df, + (q31_t)0x77235f2d, (q31_t)0x768e0ea6, + (q31_t)0x75f42c0b, (q31_t)0x7555bd4c, (q31_t)0x74b2c884, (q31_t)0x740b53fb, (q31_t)0x735f6626, (q31_t)0x72af05a7, + (q31_t)0x71fa3949, (q31_t)0x71410805, + (q31_t)0x708378ff, (q31_t)0x6fc19385, (q31_t)0x6efb5f12, (q31_t)0x6e30e34a, (q31_t)0x6d6227fa, (q31_t)0x6c8f351c, + (q31_t)0x6bb812d1, (q31_t)0x6adcc964, + (q31_t)0x69fd614a, (q31_t)0x6919e320, (q31_t)0x683257ab, (q31_t)0x6746c7d8, (q31_t)0x66573cbb, (q31_t)0x6563bf92, + (q31_t)0x646c59bf, (q31_t)0x637114cc, + (q31_t)0x6271fa69, (q31_t)0x616f146c, (q31_t)0x60686ccf, (q31_t)0x5f5e0db3, (q31_t)0x5e50015d, (q31_t)0x5d3e5237, + (q31_t)0x5c290acc, (q31_t)0x5b1035cf, + (q31_t)0x59f3de12, (q31_t)0x58d40e8c, (q31_t)0x57b0d256, (q31_t)0x568a34a9, (q31_t)0x556040e2, (q31_t)0x5433027d, + (q31_t)0x53028518, (q31_t)0x51ced46e, + (q31_t)0x5097fc5e, (q31_t)0x4f5e08e3, (q31_t)0x4e210617, (q31_t)0x4ce10034, (q31_t)0x4b9e0390, (q31_t)0x4a581c9e, + (q31_t)0x490f57ee, (q31_t)0x47c3c22f, + (q31_t)0x46756828, (q31_t)0x452456bd, (q31_t)0x43d09aed, (q31_t)0x427a41d0, (q31_t)0x4121589b, (q31_t)0x3fc5ec98, + (q31_t)0x3e680b2c, (q31_t)0x3d07c1d6, + (q31_t)0x3ba51e29, (q31_t)0x3a402dd2, (q31_t)0x38d8fe93, (q31_t)0x376f9e46, (q31_t)0x36041ad9, (q31_t)0x34968250, + (q31_t)0x3326e2c3, (q31_t)0x31b54a5e, + (q31_t)0x3041c761, (q31_t)0x2ecc681e, (q31_t)0x2d553afc, (q31_t)0x2bdc4e6f, (q31_t)0x2a61b101, (q31_t)0x28e5714b, + (q31_t)0x27679df4, (q31_t)0x25e845b6, + (q31_t)0x24677758, (q31_t)0x22e541af, (q31_t)0x2161b3a0, (q31_t)0x1fdcdc1b, (q31_t)0x1e56ca1e, (q31_t)0x1ccf8cb3, + (q31_t)0x1b4732ef, (q31_t)0x19bdcbf3, + (q31_t)0x183366e9, (q31_t)0x16a81305, (q31_t)0x151bdf86, (q31_t)0x138edbb1, (q31_t)0x120116d5, (q31_t)0x1072a048, + (q31_t)0xee38766, (q31_t)0xd53db92, + (q31_t)0xbc3ac35, (q31_t)0xa3308bd, (q31_t)0x8a2009a, (q31_t)0x710a345, (q31_t)0x57f0035, (q31_t)0x3ed26e6, (q31_t)0x25b26d7, + (q31_t)0xc90f88 +}; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q31_512) + const q31_t WeightsQ31_512[1024] = { + (q31_t)0x7fffffff, (q31_t)0x00000000, (q31_t)0x7fffd886, (q31_t)0xff9b781d, (q31_t)0x7fff6216, (q31_t)0xff36f078, (q31_t)0x7ffe9cb2, (q31_t)0xfed2694f, + (q31_t)0x7ffd885a, (q31_t)0xfe6de2e0, (q31_t)0x7ffc250f, (q31_t)0xfe095d69, (q31_t)0x7ffa72d1, (q31_t)0xfda4d929, (q31_t)0x7ff871a2, (q31_t)0xfd40565c, + (q31_t)0x7ff62182, (q31_t)0xfcdbd541, (q31_t)0x7ff38274, (q31_t)0xfc775616, (q31_t)0x7ff09478, (q31_t)0xfc12d91a, (q31_t)0x7fed5791, (q31_t)0xfbae5e89, + (q31_t)0x7fe9cbc0, (q31_t)0xfb49e6a3, (q31_t)0x7fe5f108, (q31_t)0xfae571a4, (q31_t)0x7fe1c76b, (q31_t)0xfa80ffcb, (q31_t)0x7fdd4eec, (q31_t)0xfa1c9157, + (q31_t)0x7fd8878e, (q31_t)0xf9b82684, (q31_t)0x7fd37153, (q31_t)0xf953bf91, (q31_t)0x7fce0c3e, (q31_t)0xf8ef5cbb, (q31_t)0x7fc85854, (q31_t)0xf88afe42, + (q31_t)0x7fc25596, (q31_t)0xf826a462, (q31_t)0x7fbc040a, (q31_t)0xf7c24f59, (q31_t)0x7fb563b3, (q31_t)0xf75dff66, (q31_t)0x7fae7495, (q31_t)0xf6f9b4c6, + (q31_t)0x7fa736b4, (q31_t)0xf6956fb7, (q31_t)0x7f9faa15, (q31_t)0xf6313077, (q31_t)0x7f97cebd, (q31_t)0xf5ccf743, (q31_t)0x7f8fa4b0, (q31_t)0xf568c45b, + (q31_t)0x7f872bf3, (q31_t)0xf50497fb, (q31_t)0x7f7e648c, (q31_t)0xf4a07261, (q31_t)0x7f754e80, (q31_t)0xf43c53cb, (q31_t)0x7f6be9d4, (q31_t)0xf3d83c77, + (q31_t)0x7f62368f, (q31_t)0xf3742ca2, (q31_t)0x7f5834b7, (q31_t)0xf310248a, (q31_t)0x7f4de451, (q31_t)0xf2ac246e, (q31_t)0x7f434563, (q31_t)0xf2482c8a, + (q31_t)0x7f3857f6, (q31_t)0xf1e43d1c, (q31_t)0x7f2d1c0e, (q31_t)0xf1805662, (q31_t)0x7f2191b4, (q31_t)0xf11c789a, (q31_t)0x7f15b8ee, (q31_t)0xf0b8a401, + (q31_t)0x7f0991c4, (q31_t)0xf054d8d5, (q31_t)0x7efd1c3c, (q31_t)0xeff11753, (q31_t)0x7ef05860, (q31_t)0xef8d5fb8, (q31_t)0x7ee34636, (q31_t)0xef29b243, + (q31_t)0x7ed5e5c6, (q31_t)0xeec60f31, (q31_t)0x7ec8371a, (q31_t)0xee6276bf, (q31_t)0x7eba3a39, (q31_t)0xedfee92b, (q31_t)0x7eabef2c, (q31_t)0xed9b66b2, + (q31_t)0x7e9d55fc, (q31_t)0xed37ef91, (q31_t)0x7e8e6eb2, (q31_t)0xecd48407, (q31_t)0x7e7f3957, (q31_t)0xec71244f, (q31_t)0x7e6fb5f4, (q31_t)0xec0dd0a8, + (q31_t)0x7e5fe493, (q31_t)0xebaa894f, (q31_t)0x7e4fc53e, (q31_t)0xeb474e81, (q31_t)0x7e3f57ff, (q31_t)0xeae4207a, (q31_t)0x7e2e9cdf, (q31_t)0xea80ff7a, + (q31_t)0x7e1d93ea, (q31_t)0xea1debbb, (q31_t)0x7e0c3d29, (q31_t)0xe9bae57d, (q31_t)0x7dfa98a8, (q31_t)0xe957ecfb, (q31_t)0x7de8a670, (q31_t)0xe8f50273, + (q31_t)0x7dd6668f, (q31_t)0xe8922622, (q31_t)0x7dc3d90d, (q31_t)0xe82f5844, (q31_t)0x7db0fdf8, (q31_t)0xe7cc9917, (q31_t)0x7d9dd55a, (q31_t)0xe769e8d8, + (q31_t)0x7d8a5f40, (q31_t)0xe70747c4, (q31_t)0x7d769bb5, (q31_t)0xe6a4b616, (q31_t)0x7d628ac6, (q31_t)0xe642340d, (q31_t)0x7d4e2c7f, (q31_t)0xe5dfc1e5, + (q31_t)0x7d3980ec, (q31_t)0xe57d5fda, (q31_t)0x7d24881b, (q31_t)0xe51b0e2a, (q31_t)0x7d0f4218, (q31_t)0xe4b8cd11, (q31_t)0x7cf9aef0, (q31_t)0xe4569ccb, + (q31_t)0x7ce3ceb2, (q31_t)0xe3f47d96, (q31_t)0x7ccda169, (q31_t)0xe3926fad, (q31_t)0x7cb72724, (q31_t)0xe330734d, (q31_t)0x7ca05ff1, (q31_t)0xe2ce88b3, + (q31_t)0x7c894bde, (q31_t)0xe26cb01b, (q31_t)0x7c71eaf9, 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(q31_t)0x59f3de12, (q31_t)0xa4efca31, (q31_t)0x59ac3cfd, (q31_t)0xa4a94043, + (q31_t)0x59646498, (q31_t)0xa462eeac, (q31_t)0x591c550e, (q31_t)0xa41cd599, (q31_t)0x58d40e8c, (q31_t)0xa3d6f534, (q31_t)0x588b9140, (q31_t)0xa3914da8, + (q31_t)0x5842dd54, (q31_t)0xa34bdf20, (q31_t)0x57f9f2f8, (q31_t)0xa306a9c8, (q31_t)0x57b0d256, (q31_t)0xa2c1adc9, (q31_t)0x57677b9d, (q31_t)0xa27ceb4f, + (q31_t)0x571deefa, (q31_t)0xa2386284, (q31_t)0x56d42c99, (q31_t)0xa1f41392, (q31_t)0x568a34a9, (q31_t)0xa1affea3, (q31_t)0x56400758, (q31_t)0xa16c23e1, + (q31_t)0x55f5a4d2, (q31_t)0xa1288376, (q31_t)0x55ab0d46, (q31_t)0xa0e51d8c, (q31_t)0x556040e2, (q31_t)0xa0a1f24d, (q31_t)0x55153fd4, (q31_t)0xa05f01e1, + (q31_t)0x54ca0a4b, (q31_t)0xa01c4c73, (q31_t)0x547ea073, (q31_t)0x9fd9d22a, (q31_t)0x5433027d, (q31_t)0x9f979331, (q31_t)0x53e73097, (q31_t)0x9f558fb0, + (q31_t)0x539b2af0, (q31_t)0x9f13c7d0, (q31_t)0x534ef1b5, (q31_t)0x9ed23bb9, (q31_t)0x53028518, (q31_t)0x9e90eb94, (q31_t)0x52b5e546, (q31_t)0x9e4fd78a, + (q31_t)0x5269126e, (q31_t)0x9e0effc1, (q31_t)0x521c0cc2, (q31_t)0x9dce6463, (q31_t)0x51ced46e, (q31_t)0x9d8e0597, (q31_t)0x518169a5, (q31_t)0x9d4de385, + (q31_t)0x5133cc94, (q31_t)0x9d0dfe54, (q31_t)0x50e5fd6d, (q31_t)0x9cce562c, (q31_t)0x5097fc5e, (q31_t)0x9c8eeb34, (q31_t)0x5049c999, (q31_t)0x9c4fbd93, + (q31_t)0x4ffb654d, (q31_t)0x9c10cd70, (q31_t)0x4faccfab, (q31_t)0x9bd21af3, (q31_t)0x4f5e08e3, (q31_t)0x9b93a641, (q31_t)0x4f0f1126, (q31_t)0x9b556f81, + (q31_t)0x4ebfe8a5, (q31_t)0x9b1776da, (q31_t)0x4e708f8f, (q31_t)0x9ad9bc71, (q31_t)0x4e210617, (q31_t)0x9a9c406e, (q31_t)0x4dd14c6e, (q31_t)0x9a5f02f5, + (q31_t)0x4d8162c4, (q31_t)0x9a22042d, (q31_t)0x4d31494b, (q31_t)0x99e5443b, (q31_t)0x4ce10034, (q31_t)0x99a8c345, (q31_t)0x4c9087b1, (q31_t)0x996c816f, + (q31_t)0x4c3fdff4, (q31_t)0x99307ee0, (q31_t)0x4bef092d, (q31_t)0x98f4bbbc, (q31_t)0x4b9e0390, (q31_t)0x98b93828, (q31_t)0x4b4ccf4d, (q31_t)0x987df449, + (q31_t)0x4afb6c98, (q31_t)0x9842f043, (q31_t)0x4aa9dba2, (q31_t)0x98082c3b, (q31_t)0x4a581c9e, (q31_t)0x97cda855, (q31_t)0x4a062fbd, (q31_t)0x979364b5, + (q31_t)0x49b41533, (q31_t)0x9759617f, (q31_t)0x4961cd33, (q31_t)0x971f9ed7, (q31_t)0x490f57ee, (q31_t)0x96e61ce0, (q31_t)0x48bcb599, (q31_t)0x96acdbbe, + (q31_t)0x4869e665, (q31_t)0x9673db94, (q31_t)0x4816ea86, (q31_t)0x963b1c86, (q31_t)0x47c3c22f, (q31_t)0x96029eb6, (q31_t)0x47706d93, (q31_t)0x95ca6247, + (q31_t)0x471cece7, (q31_t)0x9592675c, (q31_t)0x46c9405c, (q31_t)0x955aae17, (q31_t)0x46756828, (q31_t)0x9523369c, (q31_t)0x4621647d, (q31_t)0x94ec010b, + (q31_t)0x45cd358f, (q31_t)0x94b50d87, (q31_t)0x4578db93, (q31_t)0x947e5c33, (q31_t)0x452456bd, (q31_t)0x9447ed2f, (q31_t)0x44cfa740, (q31_t)0x9411c09e, + (q31_t)0x447acd50, (q31_t)0x93dbd6a0, (q31_t)0x4425c923, (q31_t)0x93a62f57, (q31_t)0x43d09aed, (q31_t)0x9370cae4, (q31_t)0x437b42e1, (q31_t)0x933ba968, + (q31_t)0x4325c135, (q31_t)0x9306cb04, (q31_t)0x42d0161e, (q31_t)0x92d22fd9, (q31_t)0x427a41d0, (q31_t)0x929dd806, (q31_t)0x42244481, (q31_t)0x9269c3ac, + (q31_t)0x41ce1e65, (q31_t)0x9235f2ec, (q31_t)0x4177cfb1, (q31_t)0x920265e4, (q31_t)0x4121589b, (q31_t)0x91cf1cb6, (q31_t)0x40cab958, (q31_t)0x919c1781, + (q31_t)0x4073f21d, (q31_t)0x91695663, (q31_t)0x401d0321, (q31_t)0x9136d97d, (q31_t)0x3fc5ec98, (q31_t)0x9104a0ee, (q31_t)0x3f6eaeb8, (q31_t)0x90d2acd4, + (q31_t)0x3f1749b8, (q31_t)0x90a0fd4e, (q31_t)0x3ebfbdcd, (q31_t)0x906f927c, (q31_t)0x3e680b2c, (q31_t)0x903e6c7b, (q31_t)0x3e10320d, (q31_t)0x900d8b69, + (q31_t)0x3db832a6, (q31_t)0x8fdcef66, (q31_t)0x3d600d2c, (q31_t)0x8fac988f, (q31_t)0x3d07c1d6, (q31_t)0x8f7c8701, (q31_t)0x3caf50da, (q31_t)0x8f4cbadb, + (q31_t)0x3c56ba70, (q31_t)0x8f1d343a, (q31_t)0x3bfdfecd, (q31_t)0x8eedf33b, (q31_t)0x3ba51e29, (q31_t)0x8ebef7fb, (q31_t)0x3b4c18ba, (q31_t)0x8e904298, + (q31_t)0x3af2eeb7, (q31_t)0x8e61d32e, (q31_t)0x3a99a057, (q31_t)0x8e33a9da, (q31_t)0x3a402dd2, (q31_t)0x8e05c6b7, (q31_t)0x39e6975e, (q31_t)0x8dd829e4, + (q31_t)0x398cdd32, (q31_t)0x8daad37b, (q31_t)0x3932ff87, (q31_t)0x8d7dc399, (q31_t)0x38d8fe93, (q31_t)0x8d50fa59, (q31_t)0x387eda8e, (q31_t)0x8d2477d8, + (q31_t)0x382493b0, (q31_t)0x8cf83c30, (q31_t)0x37ca2a30, (q31_t)0x8ccc477d, (q31_t)0x376f9e46, (q31_t)0x8ca099da, (q31_t)0x3714f02a, (q31_t)0x8c753362, + (q31_t)0x36ba2014, (q31_t)0x8c4a142f, (q31_t)0x365f2e3b, (q31_t)0x8c1f3c5d, (q31_t)0x36041ad9, (q31_t)0x8bf4ac05, (q31_t)0x35a8e625, (q31_t)0x8bca6343, + (q31_t)0x354d9057, (q31_t)0x8ba0622f, (q31_t)0x34f219a8, (q31_t)0x8b76a8e4, (q31_t)0x34968250, (q31_t)0x8b4d377c, (q31_t)0x343aca87, (q31_t)0x8b240e11, + (q31_t)0x33def287, (q31_t)0x8afb2cbb, (q31_t)0x3382fa88, (q31_t)0x8ad29394, (q31_t)0x3326e2c3, (q31_t)0x8aaa42b4, (q31_t)0x32caab6f, (q31_t)0x8a823a36, + (q31_t)0x326e54c7, (q31_t)0x8a5a7a31, (q31_t)0x3211df04, (q31_t)0x8a3302be, (q31_t)0x31b54a5e, (q31_t)0x8a0bd3f5, (q31_t)0x3158970e, (q31_t)0x89e4edef, + (q31_t)0x30fbc54d, (q31_t)0x89be50c3, (q31_t)0x309ed556, (q31_t)0x8997fc8a, (q31_t)0x3041c761, (q31_t)0x8971f15a, (q31_t)0x2fe49ba7, (q31_t)0x894c2f4c, + (q31_t)0x2f875262, (q31_t)0x8926b677, (q31_t)0x2f29ebcc, (q31_t)0x890186f2, (q31_t)0x2ecc681e, (q31_t)0x88dca0d3, (q31_t)0x2e6ec792, (q31_t)0x88b80432, + (q31_t)0x2e110a62, (q31_t)0x8893b125, (q31_t)0x2db330c7, (q31_t)0x886fa7c2, (q31_t)0x2d553afc, (q31_t)0x884be821, (q31_t)0x2cf72939, (q31_t)0x88287256, + (q31_t)0x2c98fbba, (q31_t)0x88054677, (q31_t)0x2c3ab2b9, (q31_t)0x87e2649b, (q31_t)0x2bdc4e6f, (q31_t)0x87bfccd7, (q31_t)0x2b7dcf17, (q31_t)0x879d7f41, + (q31_t)0x2b1f34eb, (q31_t)0x877b7bec, (q31_t)0x2ac08026, (q31_t)0x8759c2ef, (q31_t)0x2a61b101, (q31_t)0x8738545e, (q31_t)0x2a02c7b8, (q31_t)0x8717304e, + (q31_t)0x29a3c485, (q31_t)0x86f656d3, (q31_t)0x2944a7a2, (q31_t)0x86d5c802, (q31_t)0x28e5714b, (q31_t)0x86b583ee, (q31_t)0x288621b9, (q31_t)0x86958aac, + (q31_t)0x2826b928, (q31_t)0x8675dc4f, (q31_t)0x27c737d3, (q31_t)0x865678eb, (q31_t)0x27679df4, (q31_t)0x86376092, (q31_t)0x2707ebc7, (q31_t)0x86189359, + (q31_t)0x26a82186, (q31_t)0x85fa1153, (q31_t)0x26483f6c, (q31_t)0x85dbda91, (q31_t)0x25e845b6, (q31_t)0x85bdef28, (q31_t)0x2588349d, (q31_t)0x85a04f28, + (q31_t)0x25280c5e, (q31_t)0x8582faa5, (q31_t)0x24c7cd33, (q31_t)0x8565f1b0, (q31_t)0x24677758, (q31_t)0x8549345c, (q31_t)0x24070b08, (q31_t)0x852cc2bb, + (q31_t)0x23a6887f, (q31_t)0x85109cdd, (q31_t)0x2345eff8, (q31_t)0x84f4c2d4, (q31_t)0x22e541af, (q31_t)0x84d934b1, (q31_t)0x22847de0, (q31_t)0x84bdf286, + (q31_t)0x2223a4c5, (q31_t)0x84a2fc62, (q31_t)0x21c2b69c, (q31_t)0x84885258, (q31_t)0x2161b3a0, (q31_t)0x846df477, (q31_t)0x21009c0c, (q31_t)0x8453e2cf, + (q31_t)0x209f701c, (q31_t)0x843a1d70, (q31_t)0x203e300d, (q31_t)0x8420a46c, (q31_t)0x1fdcdc1b, (q31_t)0x840777d0, (q31_t)0x1f7b7481, (q31_t)0x83ee97ad, + (q31_t)0x1f19f97b, (q31_t)0x83d60412, (q31_t)0x1eb86b46, (q31_t)0x83bdbd0e, (q31_t)0x1e56ca1e, (q31_t)0x83a5c2b0, (q31_t)0x1df5163f, (q31_t)0x838e1507, + (q31_t)0x1d934fe5, (q31_t)0x8376b422, (q31_t)0x1d31774d, (q31_t)0x835fa00f, (q31_t)0x1ccf8cb3, (q31_t)0x8348d8dc, (q31_t)0x1c6d9053, (q31_t)0x83325e97, + (q31_t)0x1c0b826a, (q31_t)0x831c314e, (q31_t)0x1ba96335, (q31_t)0x83065110, (q31_t)0x1b4732ef, (q31_t)0x82f0bde8, (q31_t)0x1ae4f1d6, (q31_t)0x82db77e5, + (q31_t)0x1a82a026, (q31_t)0x82c67f14, (q31_t)0x1a203e1b, (q31_t)0x82b1d381, (q31_t)0x19bdcbf3, (q31_t)0x829d753a, (q31_t)0x195b49ea, (q31_t)0x8289644b, + (q31_t)0x18f8b83c, (q31_t)0x8275a0c0, (q31_t)0x18961728, (q31_t)0x82622aa6, (q31_t)0x183366e9, (q31_t)0x824f0208, (q31_t)0x17d0a7bc, (q31_t)0x823c26f3, + (q31_t)0x176dd9de, (q31_t)0x82299971, (q31_t)0x170afd8d, (q31_t)0x82175990, (q31_t)0x16a81305, (q31_t)0x82056758, (q31_t)0x16451a83, (q31_t)0x81f3c2d7, + (q31_t)0x15e21445, (q31_t)0x81e26c16, (q31_t)0x157f0086, (q31_t)0x81d16321, (q31_t)0x151bdf86, (q31_t)0x81c0a801, (q31_t)0x14b8b17f, (q31_t)0x81b03ac2, + (q31_t)0x145576b1, (q31_t)0x81a01b6d, (q31_t)0x13f22f58, (q31_t)0x81904a0c, (q31_t)0x138edbb1, (q31_t)0x8180c6a9, (q31_t)0x132b7bf9, (q31_t)0x8171914e, + (q31_t)0x12c8106f, (q31_t)0x8162aa04, (q31_t)0x1264994e, (q31_t)0x815410d4, (q31_t)0x120116d5, (q31_t)0x8145c5c7, (q31_t)0x119d8941, (q31_t)0x8137c8e6, + (q31_t)0x1139f0cf, (q31_t)0x812a1a3a, (q31_t)0x10d64dbd, (q31_t)0x811cb9ca, (q31_t)0x1072a048, (q31_t)0x810fa7a0, (q31_t)0x100ee8ad, (q31_t)0x8102e3c4, + (q31_t)0x0fab272b, (q31_t)0x80f66e3c, (q31_t)0x0f475bff, (q31_t)0x80ea4712, (q31_t)0x0ee38766, (q31_t)0x80de6e4c, (q31_t)0x0e7fa99e, (q31_t)0x80d2e3f2, + (q31_t)0x0e1bc2e4, (q31_t)0x80c7a80a, (q31_t)0x0db7d376, (q31_t)0x80bcba9d, (q31_t)0x0d53db92, (q31_t)0x80b21baf, (q31_t)0x0cefdb76, (q31_t)0x80a7cb49, + (q31_t)0x0c8bd35e, (q31_t)0x809dc971, (q31_t)0x0c27c389, (q31_t)0x8094162c, (q31_t)0x0bc3ac35, (q31_t)0x808ab180, (q31_t)0x0b5f8d9f, (q31_t)0x80819b74, + (q31_t)0x0afb6805, (q31_t)0x8078d40d, (q31_t)0x0a973ba5, (q31_t)0x80705b50, (q31_t)0x0a3308bd, (q31_t)0x80683143, (q31_t)0x09cecf89, (q31_t)0x806055eb, + (q31_t)0x096a9049, (q31_t)0x8058c94c, (q31_t)0x09064b3a, (q31_t)0x80518b6b, (q31_t)0x08a2009a, (q31_t)0x804a9c4d, (q31_t)0x083db0a7, (q31_t)0x8043fbf6, + (q31_t)0x07d95b9e, (q31_t)0x803daa6a, (q31_t)0x077501be, (q31_t)0x8037a7ac, (q31_t)0x0710a345, (q31_t)0x8031f3c2, (q31_t)0x06ac406f, (q31_t)0x802c8ead, + (q31_t)0x0647d97c, (q31_t)0x80277872, (q31_t)0x05e36ea9, (q31_t)0x8022b114, (q31_t)0x057f0035, (q31_t)0x801e3895, (q31_t)0x051a8e5c, (q31_t)0x801a0ef8, + (q31_t)0x04b6195d, (q31_t)0x80163440, (q31_t)0x0451a177, (q31_t)0x8012a86f, (q31_t)0x03ed26e6, (q31_t)0x800f6b88, (q31_t)0x0388a9ea, (q31_t)0x800c7d8c, + (q31_t)0x03242abf, (q31_t)0x8009de7e, (q31_t)0x02bfa9a4, (q31_t)0x80078e5e, (q31_t)0x025b26d7, (q31_t)0x80058d2f, (q31_t)0x01f6a297, (q31_t)0x8003daf1, + (q31_t)0x01921d20, (q31_t)0x800277a6, (q31_t)0x012d96b1, (q31_t)0x8001634e, (q31_t)0x00c90f88, (q31_t)0x80009dea, (q31_t)0x006487e3, (q31_t)0x8000277a +}; + const q31_t cos_factorsQ31_512[512] = { + (q31_t)0x7ffff621, (q31_t)0x7fffa72c, (q31_t)0x7fff0943, (q31_t)0x7ffe1c65, (q31_t)0x7ffce093, (q31_t)0x7ffb55ce, + (q31_t)0x7ff97c18, (q31_t)0x7ff75370, + (q31_t)0x7ff4dbd9, (q31_t)0x7ff21553, (q31_t)0x7feeffe1, (q31_t)0x7feb9b85, (q31_t)0x7fe7e841, (q31_t)0x7fe3e616, + (q31_t)0x7fdf9508, (q31_t)0x7fdaf519, + (q31_t)0x7fd6064c, (q31_t)0x7fd0c8a3, (q31_t)0x7fcb3c23, (q31_t)0x7fc560cf, (q31_t)0x7fbf36aa, (q31_t)0x7fb8bdb8, + (q31_t)0x7fb1f5fc, (q31_t)0x7faadf7c, + (q31_t)0x7fa37a3c, (q31_t)0x7f9bc640, (q31_t)0x7f93c38c, (q31_t)0x7f8b7227, (q31_t)0x7f82d214, (q31_t)0x7f79e35a, + (q31_t)0x7f70a5fe, (q31_t)0x7f671a05, + (q31_t)0x7f5d3f75, (q31_t)0x7f531655, (q31_t)0x7f489eaa, (q31_t)0x7f3dd87c, (q31_t)0x7f32c3d1, (q31_t)0x7f2760af, + (q31_t)0x7f1baf1e, (q31_t)0x7f0faf25, + (q31_t)0x7f0360cb, (q31_t)0x7ef6c418, (q31_t)0x7ee9d914, (q31_t)0x7edc9fc6, (q31_t)0x7ecf1837, (q31_t)0x7ec14270, + (q31_t)0x7eb31e78, (q31_t)0x7ea4ac58, + (q31_t)0x7e95ec1a, (q31_t)0x7e86ddc6, (q31_t)0x7e778166, (q31_t)0x7e67d703, (q31_t)0x7e57dea7, (q31_t)0x7e47985b, + (q31_t)0x7e37042a, (q31_t)0x7e26221f, + (q31_t)0x7e14f242, (q31_t)0x7e0374a0, (q31_t)0x7df1a942, (q31_t)0x7ddf9034, (q31_t)0x7dcd2981, (q31_t)0x7dba7534, + (q31_t)0x7da77359, (q31_t)0x7d9423fc, + (q31_t)0x7d808728, (q31_t)0x7d6c9ce9, (q31_t)0x7d58654d, (q31_t)0x7d43e05e, (q31_t)0x7d2f0e2b, (q31_t)0x7d19eebf, + (q31_t)0x7d048228, (q31_t)0x7ceec873, + (q31_t)0x7cd8c1ae, (q31_t)0x7cc26de5, (q31_t)0x7cabcd28, (q31_t)0x7c94df83, (q31_t)0x7c7da505, (q31_t)0x7c661dbc, + (q31_t)0x7c4e49b7, (q31_t)0x7c362904, + (q31_t)0x7c1dbbb3, (q31_t)0x7c0501d2, (q31_t)0x7bebfb70, (q31_t)0x7bd2a89e, (q31_t)0x7bb9096b, (q31_t)0x7b9f1de6, + (q31_t)0x7b84e61f, (q31_t)0x7b6a6227, + (q31_t)0x7b4f920e, (q31_t)0x7b3475e5, (q31_t)0x7b190dbc, (q31_t)0x7afd59a4, (q31_t)0x7ae159ae, (q31_t)0x7ac50dec, + (q31_t)0x7aa8766f, (q31_t)0x7a8b9348, + (q31_t)0x7a6e648a, (q31_t)0x7a50ea47, (q31_t)0x7a332490, (q31_t)0x7a151378, (q31_t)0x79f6b711, (q31_t)0x79d80f6f, + (q31_t)0x79b91ca4, (q31_t)0x7999dec4, + (q31_t)0x797a55e0, (q31_t)0x795a820e, (q31_t)0x793a6361, (q31_t)0x7919f9ec, (q31_t)0x78f945c3, (q31_t)0x78d846fb, + (q31_t)0x78b6fda8, (q31_t)0x789569df, + (q31_t)0x78738bb3, (q31_t)0x7851633b, (q31_t)0x782ef08b, (q31_t)0x780c33b8, (q31_t)0x77e92cd9, (q31_t)0x77c5dc01, + (q31_t)0x77a24148, (q31_t)0x777e5cc3, + (q31_t)0x775a2e89, (q31_t)0x7735b6af, (q31_t)0x7710f54c, (q31_t)0x76ebea77, (q31_t)0x76c69647, (q31_t)0x76a0f8d2, + (q31_t)0x767b1231, (q31_t)0x7654e279, + (q31_t)0x762e69c4, (q31_t)0x7607a828, (q31_t)0x75e09dbd, (q31_t)0x75b94a9c, (q31_t)0x7591aedd, (q31_t)0x7569ca99, + (q31_t)0x75419de7, (q31_t)0x751928e0, + (q31_t)0x74f06b9e, (q31_t)0x74c7663a, (q31_t)0x749e18cd, (q31_t)0x74748371, (q31_t)0x744aa63f, (q31_t)0x74208150, + (q31_t)0x73f614c0, (q31_t)0x73cb60a8, + (q31_t)0x73a06522, (q31_t)0x73752249, (q31_t)0x73499838, (q31_t)0x731dc70a, (q31_t)0x72f1aed9, (q31_t)0x72c54fc1, + (q31_t)0x7298a9dd, (q31_t)0x726bbd48, + (q31_t)0x723e8a20, (q31_t)0x7211107e, (q31_t)0x71e35080, (q31_t)0x71b54a41, (q31_t)0x7186fdde, (q31_t)0x71586b74, + (q31_t)0x7129931f, (q31_t)0x70fa74fc, + (q31_t)0x70cb1128, (q31_t)0x709b67c0, (q31_t)0x706b78e3, (q31_t)0x703b44ad, (q31_t)0x700acb3c, (q31_t)0x6fda0cae, + (q31_t)0x6fa90921, (q31_t)0x6f77c0b3, + (q31_t)0x6f463383, (q31_t)0x6f1461b0, (q31_t)0x6ee24b57, (q31_t)0x6eaff099, (q31_t)0x6e7d5193, (q31_t)0x6e4a6e66, + (q31_t)0x6e174730, (q31_t)0x6de3dc11, + (q31_t)0x6db02d29, (q31_t)0x6d7c3a98, (q31_t)0x6d48047e, (q31_t)0x6d138afb, (q31_t)0x6cdece2f, (q31_t)0x6ca9ce3b, + (q31_t)0x6c748b3f, (q31_t)0x6c3f055d, + (q31_t)0x6c093cb6, (q31_t)0x6bd3316a, (q31_t)0x6b9ce39b, (q31_t)0x6b66536b, (q31_t)0x6b2f80fb, (q31_t)0x6af86c6c, + (q31_t)0x6ac115e2, (q31_t)0x6a897d7d, + (q31_t)0x6a51a361, (q31_t)0x6a1987b0, (q31_t)0x69e12a8c, (q31_t)0x69a88c19, (q31_t)0x696fac78, (q31_t)0x69368bce, + (q31_t)0x68fd2a3d, (q31_t)0x68c387e9, + (q31_t)0x6889a4f6, (q31_t)0x684f8186, (q31_t)0x68151dbe, (q31_t)0x67da79c3, (q31_t)0x679f95b7, (q31_t)0x676471c0, + (q31_t)0x67290e02, (q31_t)0x66ed6aa1, + (q31_t)0x66b187c3, (q31_t)0x6675658c, (q31_t)0x66390422, (q31_t)0x65fc63a9, (q31_t)0x65bf8447, (q31_t)0x65826622, + (q31_t)0x6545095f, (q31_t)0x65076e25, + (q31_t)0x64c99498, (q31_t)0x648b7ce0, (q31_t)0x644d2722, (q31_t)0x640e9386, (q31_t)0x63cfc231, (q31_t)0x6390b34a, + (q31_t)0x635166f9, (q31_t)0x6311dd64, + (q31_t)0x62d216b3, (q31_t)0x6292130c, (q31_t)0x6251d298, (q31_t)0x6211557e, (q31_t)0x61d09be5, (q31_t)0x618fa5f7, + (q31_t)0x614e73da, (q31_t)0x610d05b7, + (q31_t)0x60cb5bb7, (q31_t)0x60897601, (q31_t)0x604754bf, (q31_t)0x6004f819, (q31_t)0x5fc26038, (q31_t)0x5f7f8d46, + (q31_t)0x5f3c7f6b, (q31_t)0x5ef936d1, + (q31_t)0x5eb5b3a2, (q31_t)0x5e71f606, (q31_t)0x5e2dfe29, (q31_t)0x5de9cc33, (q31_t)0x5da5604f, (q31_t)0x5d60baa7, + (q31_t)0x5d1bdb65, (q31_t)0x5cd6c2b5, + (q31_t)0x5c9170bf, (q31_t)0x5c4be5b0, (q31_t)0x5c0621b2, (q31_t)0x5bc024f0, (q31_t)0x5b79ef96, (q31_t)0x5b3381ce, + (q31_t)0x5aecdbc5, (q31_t)0x5aa5fda5, + (q31_t)0x5a5ee79a, (q31_t)0x5a1799d1, (q31_t)0x59d01475, (q31_t)0x598857b2, (q31_t)0x594063b5, (q31_t)0x58f838a9, + (q31_t)0x58afd6bd, (q31_t)0x58673e1b, + (q31_t)0x581e6ef1, (q31_t)0x57d5696d, (q31_t)0x578c2dba, (q31_t)0x5742bc06, (q31_t)0x56f9147e, (q31_t)0x56af3750, + (q31_t)0x566524aa, (q31_t)0x561adcb9, + (q31_t)0x55d05faa, (q31_t)0x5585adad, (q31_t)0x553ac6ee, (q31_t)0x54efab9c, (q31_t)0x54a45be6, (q31_t)0x5458d7f9, + (q31_t)0x540d2005, (q31_t)0x53c13439, + (q31_t)0x537514c2, (q31_t)0x5328c1d0, (q31_t)0x52dc3b92, (q31_t)0x528f8238, (q31_t)0x524295f0, (q31_t)0x51f576ea, + (q31_t)0x51a82555, (q31_t)0x515aa162, + (q31_t)0x510ceb40, (q31_t)0x50bf031f, (q31_t)0x5070e92f, (q31_t)0x50229da1, (q31_t)0x4fd420a4, (q31_t)0x4f857269, + (q31_t)0x4f369320, (q31_t)0x4ee782fb, + (q31_t)0x4e984229, (q31_t)0x4e48d0dd, (q31_t)0x4df92f46, (q31_t)0x4da95d96, (q31_t)0x4d595bfe, (q31_t)0x4d092ab0, + (q31_t)0x4cb8c9dd, (q31_t)0x4c6839b7, + (q31_t)0x4c177a6e, (q31_t)0x4bc68c36, (q31_t)0x4b756f40, (q31_t)0x4b2423be, (q31_t)0x4ad2a9e2, (q31_t)0x4a8101de, + (q31_t)0x4a2f2be6, (q31_t)0x49dd282a, + (q31_t)0x498af6df, (q31_t)0x49389836, (q31_t)0x48e60c62, (q31_t)0x48935397, (q31_t)0x48406e08, (q31_t)0x47ed5be6, + (q31_t)0x479a1d67, (q31_t)0x4746b2bc, + (q31_t)0x46f31c1a, (q31_t)0x469f59b4, (q31_t)0x464b6bbe, (q31_t)0x45f7526b, (q31_t)0x45a30df0, (q31_t)0x454e9e80, + (q31_t)0x44fa0450, (q31_t)0x44a53f93, + (q31_t)0x4450507e, (q31_t)0x43fb3746, (q31_t)0x43a5f41e, (q31_t)0x4350873c, (q31_t)0x42faf0d4, (q31_t)0x42a5311b, + (q31_t)0x424f4845, (q31_t)0x41f93689, + (q31_t)0x41a2fc1a, (q31_t)0x414c992f, (q31_t)0x40f60dfb, (q31_t)0x409f5ab6, (q31_t)0x40487f94, (q31_t)0x3ff17cca, + (q31_t)0x3f9a5290, (q31_t)0x3f430119, + (q31_t)0x3eeb889c, (q31_t)0x3e93e950, (q31_t)0x3e3c2369, (q31_t)0x3de4371f, (q31_t)0x3d8c24a8, (q31_t)0x3d33ec39, + (q31_t)0x3cdb8e09, (q31_t)0x3c830a50, + (q31_t)0x3c2a6142, (q31_t)0x3bd19318, (q31_t)0x3b78a007, (q31_t)0x3b1f8848, (q31_t)0x3ac64c0f, (q31_t)0x3a6ceb96, + (q31_t)0x3a136712, (q31_t)0x39b9bebc, + (q31_t)0x395ff2c9, (q31_t)0x39060373, (q31_t)0x38abf0ef, (q31_t)0x3851bb77, (q31_t)0x37f76341, (q31_t)0x379ce885, + (q31_t)0x37424b7b, (q31_t)0x36e78c5b, + (q31_t)0x368cab5c, (q31_t)0x3631a8b8, (q31_t)0x35d684a6, (q31_t)0x357b3f5d, (q31_t)0x351fd918, (q31_t)0x34c4520d, + (q31_t)0x3468aa76, (q31_t)0x340ce28b, + (q31_t)0x33b0fa84, (q31_t)0x3354f29b, (q31_t)0x32f8cb07, (q31_t)0x329c8402, (q31_t)0x32401dc6, (q31_t)0x31e39889, + (q31_t)0x3186f487, (q31_t)0x312a31f8, + (q31_t)0x30cd5115, (q31_t)0x30705217, (q31_t)0x30133539, (q31_t)0x2fb5fab2, (q31_t)0x2f58a2be, (q31_t)0x2efb2d95, + (q31_t)0x2e9d9b70, (q31_t)0x2e3fec8b, + (q31_t)0x2de2211e, (q31_t)0x2d843964, (q31_t)0x2d263596, (q31_t)0x2cc815ee, (q31_t)0x2c69daa6, (q31_t)0x2c0b83fa, + (q31_t)0x2bad1221, (q31_t)0x2b4e8558, + (q31_t)0x2aefddd8, (q31_t)0x2a911bdc, (q31_t)0x2a323f9e, (q31_t)0x29d34958, (q31_t)0x29743946, (q31_t)0x29150fa1, + (q31_t)0x28b5cca5, (q31_t)0x2856708d, + (q31_t)0x27f6fb92, (q31_t)0x27976df1, (q31_t)0x2737c7e3, (q31_t)0x26d809a5, (q31_t)0x26783370, (q31_t)0x26184581, + (q31_t)0x25b84012, (q31_t)0x2558235f, + (q31_t)0x24f7efa2, (q31_t)0x2497a517, (q31_t)0x243743fa, (q31_t)0x23d6cc87, (q31_t)0x23763ef7, (q31_t)0x23159b88, + (q31_t)0x22b4e274, (q31_t)0x225413f8, + (q31_t)0x21f3304f, (q31_t)0x219237b5, (q31_t)0x21312a65, (q31_t)0x20d0089c, (q31_t)0x206ed295, (q31_t)0x200d888d, + (q31_t)0x1fac2abf, (q31_t)0x1f4ab968, + (q31_t)0x1ee934c3, (q31_t)0x1e879d0d, (q31_t)0x1e25f282, (q31_t)0x1dc4355e, (q31_t)0x1d6265dd, (q31_t)0x1d00843d, + (q31_t)0x1c9e90b8, (q31_t)0x1c3c8b8c, + (q31_t)0x1bda74f6, (q31_t)0x1b784d30, (q31_t)0x1b161479, (q31_t)0x1ab3cb0d, (q31_t)0x1a517128, (q31_t)0x19ef0707, + (q31_t)0x198c8ce7, (q31_t)0x192a0304, + (q31_t)0x18c7699b, (q31_t)0x1864c0ea, (q31_t)0x1802092c, (q31_t)0x179f429f, (q31_t)0x173c6d80, (q31_t)0x16d98a0c, + (q31_t)0x1676987f, (q31_t)0x16139918, + (q31_t)0x15b08c12, (q31_t)0x154d71aa, (q31_t)0x14ea4a1f, (q31_t)0x148715ae, (q31_t)0x1423d492, (q31_t)0x13c0870a, + (q31_t)0x135d2d53, (q31_t)0x12f9c7aa, + (q31_t)0x1296564d, (q31_t)0x1232d979, (q31_t)0x11cf516a, (q31_t)0x116bbe60, (q31_t)0x11082096, (q31_t)0x10a4784b, + (q31_t)0x1040c5bb, (q31_t)0xfdd0926, + (q31_t)0xf7942c7, (q31_t)0xf1572dc, (q31_t)0xeb199a4, (q31_t)0xe4db75b, (q31_t)0xde9cc40, (q31_t)0xd85d88f, (q31_t)0xd21dc87, + (q31_t)0xcbdd865, + (q31_t)0xc59cc68, (q31_t)0xbf5b8cb, (q31_t)0xb919dcf, (q31_t)0xb2d7baf, (q31_t)0xac952aa, (q31_t)0xa6522fe, (q31_t)0xa00ece8, + (q31_t)0x99cb0a7, + (q31_t)0x9386e78, (q31_t)0x8d42699, (q31_t)0x86fd947, (q31_t)0x80b86c2, (q31_t)0x7a72f45, (q31_t)0x742d311, (q31_t)0x6de7262, + (q31_t)0x67a0d76, + (q31_t)0x615a48b, (q31_t)0x5b137df, (q31_t)0x54cc7b1, (q31_t)0x4e8543e, (q31_t)0x483ddc3, (q31_t)0x41f6480, (q31_t)0x3bae8b2, + (q31_t)0x3566a96, + (q31_t)0x2f1ea6c, (q31_t)0x28d6870, (q31_t)0x228e4e2, (q31_t)0x1c45ffe, (q31_t)0x15fda03, (q31_t)0xfb5330, (q31_t)0x96cbc1, + (q31_t)0x3243f5 +}; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q31_2048) + const q31_t WeightsQ31_2048[4096] = { + (q31_t)0x7fffffff, (q31_t)0x00000000, (q31_t)0x7ffffd88, (q31_t)0xffe6de05, (q31_t)0x7ffff621, (q31_t)0xffcdbc0b, (q31_t)0x7fffe9cb, (q31_t)0xffb49a12, + (q31_t)0x7fffd886, (q31_t)0xff9b781d, (q31_t)0x7fffc251, (q31_t)0xff82562c, (q31_t)0x7fffa72c, (q31_t)0xff69343f, (q31_t)0x7fff8719, (q31_t)0xff501258, + (q31_t)0x7fff6216, (q31_t)0xff36f078, (q31_t)0x7fff3824, (q31_t)0xff1dcea0, (q31_t)0x7fff0943, (q31_t)0xff04acd0, (q31_t)0x7ffed572, (q31_t)0xfeeb8b0a, + (q31_t)0x7ffe9cb2, (q31_t)0xfed2694f, (q31_t)0x7ffe5f03, (q31_t)0xfeb947a0, (q31_t)0x7ffe1c65, (q31_t)0xfea025fd, (q31_t)0x7ffdd4d7, (q31_t)0xfe870467, + (q31_t)0x7ffd885a, (q31_t)0xfe6de2e0, (q31_t)0x7ffd36ee, (q31_t)0xfe54c169, (q31_t)0x7ffce093, (q31_t)0xfe3ba002, (q31_t)0x7ffc8549, (q31_t)0xfe227eac, + (q31_t)0x7ffc250f, (q31_t)0xfe095d69, (q31_t)0x7ffbbfe6, (q31_t)0xfdf03c3a, (q31_t)0x7ffb55ce, (q31_t)0xfdd71b1e, (q31_t)0x7ffae6c7, (q31_t)0xfdbdfa18, + (q31_t)0x7ffa72d1, (q31_t)0xfda4d929, (q31_t)0x7ff9f9ec, (q31_t)0xfd8bb850, (q31_t)0x7ff97c18, (q31_t)0xfd729790, (q31_t)0x7ff8f954, (q31_t)0xfd5976e9, + (q31_t)0x7ff871a2, (q31_t)0xfd40565c, (q31_t)0x7ff7e500, (q31_t)0xfd2735ea, (q31_t)0x7ff75370, (q31_t)0xfd0e1594, (q31_t)0x7ff6bcf0, (q31_t)0xfcf4f55c, + (q31_t)0x7ff62182, (q31_t)0xfcdbd541, (q31_t)0x7ff58125, (q31_t)0xfcc2b545, (q31_t)0x7ff4dbd9, (q31_t)0xfca9956a, (q31_t)0x7ff4319d, (q31_t)0xfc9075af, + (q31_t)0x7ff38274, (q31_t)0xfc775616, (q31_t)0x7ff2ce5b, (q31_t)0xfc5e36a0, (q31_t)0x7ff21553, (q31_t)0xfc45174e, (q31_t)0x7ff1575d, (q31_t)0xfc2bf821, + (q31_t)0x7ff09478, (q31_t)0xfc12d91a, (q31_t)0x7fefcca4, (q31_t)0xfbf9ba39, (q31_t)0x7feeffe1, (q31_t)0xfbe09b80, (q31_t)0x7fee2e30, (q31_t)0xfbc77cf0, + (q31_t)0x7fed5791, (q31_t)0xfbae5e89, (q31_t)0x7fec7c02, (q31_t)0xfb95404d, (q31_t)0x7feb9b85, (q31_t)0xfb7c223d, (q31_t)0x7feab61a, (q31_t)0xfb630459, + (q31_t)0x7fe9cbc0, (q31_t)0xfb49e6a3, (q31_t)0x7fe8dc78, (q31_t)0xfb30c91b, (q31_t)0x7fe7e841, (q31_t)0xfb17abc2, (q31_t)0x7fe6ef1c, (q31_t)0xfafe8e9b, + (q31_t)0x7fe5f108, (q31_t)0xfae571a4, (q31_t)0x7fe4ee06, (q31_t)0xfacc54e0, (q31_t)0x7fe3e616, (q31_t)0xfab3384f, (q31_t)0x7fe2d938, (q31_t)0xfa9a1bf3, + (q31_t)0x7fe1c76b, (q31_t)0xfa80ffcb, (q31_t)0x7fe0b0b1, (q31_t)0xfa67e3da, (q31_t)0x7fdf9508, (q31_t)0xfa4ec821, (q31_t)0x7fde7471, (q31_t)0xfa35ac9f, + (q31_t)0x7fdd4eec, (q31_t)0xfa1c9157, (q31_t)0x7fdc247a, (q31_t)0xfa037648, (q31_t)0x7fdaf519, (q31_t)0xf9ea5b75, (q31_t)0x7fd9c0ca, (q31_t)0xf9d140de, + (q31_t)0x7fd8878e, (q31_t)0xf9b82684, (q31_t)0x7fd74964, (q31_t)0xf99f0c68, (q31_t)0x7fd6064c, (q31_t)0xf985f28a, (q31_t)0x7fd4be46, (q31_t)0xf96cd8ed, + (q31_t)0x7fd37153, (q31_t)0xf953bf91, (q31_t)0x7fd21f72, (q31_t)0xf93aa676, (q31_t)0x7fd0c8a3, (q31_t)0xf9218d9e, (q31_t)0x7fcf6ce8, (q31_t)0xf908750a, + (q31_t)0x7fce0c3e, (q31_t)0xf8ef5cbb, (q31_t)0x7fcca6a7, (q31_t)0xf8d644b2, (q31_t)0x7fcb3c23, (q31_t)0xf8bd2cef, (q31_t)0x7fc9ccb2, (q31_t)0xf8a41574, + (q31_t)0x7fc85854, (q31_t)0xf88afe42, (q31_t)0x7fc6df08, (q31_t)0xf871e759, (q31_t)0x7fc560cf, (q31_t)0xf858d0bb, (q31_t)0x7fc3dda9, (q31_t)0xf83fba68, + (q31_t)0x7fc25596, (q31_t)0xf826a462, (q31_t)0x7fc0c896, (q31_t)0xf80d8ea9, (q31_t)0x7fbf36aa, (q31_t)0xf7f4793e, (q31_t)0x7fbd9fd0, (q31_t)0xf7db6423, + (q31_t)0x7fbc040a, (q31_t)0xf7c24f59, (q31_t)0x7fba6357, (q31_t)0xf7a93ae0, (q31_t)0x7fb8bdb8, (q31_t)0xf79026b9, (q31_t)0x7fb7132b, (q31_t)0xf77712e5, + (q31_t)0x7fb563b3, (q31_t)0xf75dff66, (q31_t)0x7fb3af4e, (q31_t)0xf744ec3b, (q31_t)0x7fb1f5fc, (q31_t)0xf72bd967, (q31_t)0x7fb037bf, (q31_t)0xf712c6ea, + (q31_t)0x7fae7495, (q31_t)0xf6f9b4c6, (q31_t)0x7facac7f, (q31_t)0xf6e0a2fa, (q31_t)0x7faadf7c, (q31_t)0xf6c79188, (q31_t)0x7fa90d8e, (q31_t)0xf6ae8071, + (q31_t)0x7fa736b4, (q31_t)0xf6956fb7, (q31_t)0x7fa55aee, (q31_t)0xf67c5f59, (q31_t)0x7fa37a3c, (q31_t)0xf6634f59, (q31_t)0x7fa1949e, (q31_t)0xf64a3fb8, + (q31_t)0x7f9faa15, (q31_t)0xf6313077, (q31_t)0x7f9dbaa0, (q31_t)0xf6182196, (q31_t)0x7f9bc640, (q31_t)0xf5ff1318, (q31_t)0x7f99ccf4, (q31_t)0xf5e604fc, + (q31_t)0x7f97cebd, (q31_t)0xf5ccf743, (q31_t)0x7f95cb9a, (q31_t)0xf5b3e9f0, (q31_t)0x7f93c38c, (q31_t)0xf59add02, (q31_t)0x7f91b694, (q31_t)0xf581d07b, + (q31_t)0x7f8fa4b0, (q31_t)0xf568c45b, (q31_t)0x7f8d8de1, (q31_t)0xf54fb8a4, (q31_t)0x7f8b7227, (q31_t)0xf536ad56, (q31_t)0x7f895182, (q31_t)0xf51da273, + (q31_t)0x7f872bf3, (q31_t)0xf50497fb, (q31_t)0x7f850179, (q31_t)0xf4eb8def, (q31_t)0x7f82d214, (q31_t)0xf4d28451, (q31_t)0x7f809dc5, (q31_t)0xf4b97b21, + (q31_t)0x7f7e648c, (q31_t)0xf4a07261, (q31_t)0x7f7c2668, (q31_t)0xf4876a10, (q31_t)0x7f79e35a, (q31_t)0xf46e6231, (q31_t)0x7f779b62, (q31_t)0xf4555ac5, + (q31_t)0x7f754e80, (q31_t)0xf43c53cb, (q31_t)0x7f72fcb4, (q31_t)0xf4234d45, (q31_t)0x7f70a5fe, (q31_t)0xf40a4735, (q31_t)0x7f6e4a5e, (q31_t)0xf3f1419a, + (q31_t)0x7f6be9d4, (q31_t)0xf3d83c77, (q31_t)0x7f698461, (q31_t)0xf3bf37cb, (q31_t)0x7f671a05, (q31_t)0xf3a63398, (q31_t)0x7f64aabf, (q31_t)0xf38d2fe0, + (q31_t)0x7f62368f, (q31_t)0xf3742ca2, (q31_t)0x7f5fbd77, (q31_t)0xf35b29e0, (q31_t)0x7f5d3f75, (q31_t)0xf342279b, (q31_t)0x7f5abc8a, (q31_t)0xf32925d3, + (q31_t)0x7f5834b7, (q31_t)0xf310248a, (q31_t)0x7f55a7fa, (q31_t)0xf2f723c1, (q31_t)0x7f531655, (q31_t)0xf2de2379, (q31_t)0x7f507fc7, (q31_t)0xf2c523b2, + (q31_t)0x7f4de451, (q31_t)0xf2ac246e, (q31_t)0x7f4b43f2, (q31_t)0xf29325ad, (q31_t)0x7f489eaa, (q31_t)0xf27a2771, (q31_t)0x7f45f47b, (q31_t)0xf26129ba, + (q31_t)0x7f434563, (q31_t)0xf2482c8a, (q31_t)0x7f409164, (q31_t)0xf22f2fe1, (q31_t)0x7f3dd87c, (q31_t)0xf21633c0, (q31_t)0x7f3b1aad, (q31_t)0xf1fd3829, + (q31_t)0x7f3857f6, (q31_t)0xf1e43d1c, (q31_t)0x7f359057, (q31_t)0xf1cb429a, (q31_t)0x7f32c3d1, (q31_t)0xf1b248a5, (q31_t)0x7f2ff263, (q31_t)0xf1994f3d, + (q31_t)0x7f2d1c0e, (q31_t)0xf1805662, (q31_t)0x7f2a40d2, (q31_t)0xf1675e17, (q31_t)0x7f2760af, (q31_t)0xf14e665c, (q31_t)0x7f247ba5, (q31_t)0xf1356f32, + (q31_t)0x7f2191b4, (q31_t)0xf11c789a, (q31_t)0x7f1ea2dc, (q31_t)0xf1038295, (q31_t)0x7f1baf1e, (q31_t)0xf0ea8d24, (q31_t)0x7f18b679, (q31_t)0xf0d19848, + (q31_t)0x7f15b8ee, (q31_t)0xf0b8a401, (q31_t)0x7f12b67c, (q31_t)0xf09fb051, (q31_t)0x7f0faf25, (q31_t)0xf086bd39, (q31_t)0x7f0ca2e7, (q31_t)0xf06dcaba, + (q31_t)0x7f0991c4, (q31_t)0xf054d8d5, (q31_t)0x7f067bba, (q31_t)0xf03be78a, (q31_t)0x7f0360cb, (q31_t)0xf022f6da, (q31_t)0x7f0040f6, (q31_t)0xf00a06c8, + (q31_t)0x7efd1c3c, (q31_t)0xeff11753, (q31_t)0x7ef9f29d, (q31_t)0xefd8287c, (q31_t)0x7ef6c418, (q31_t)0xefbf3a45, (q31_t)0x7ef390ae, (q31_t)0xefa64cae, + (q31_t)0x7ef05860, (q31_t)0xef8d5fb8, (q31_t)0x7eed1b2c, (q31_t)0xef747365, (q31_t)0x7ee9d914, (q31_t)0xef5b87b5, (q31_t)0x7ee69217, (q31_t)0xef429caa, + (q31_t)0x7ee34636, (q31_t)0xef29b243, (q31_t)0x7edff570, (q31_t)0xef10c883, (q31_t)0x7edc9fc6, (q31_t)0xeef7df6a, (q31_t)0x7ed94538, (q31_t)0xeedef6f9, + (q31_t)0x7ed5e5c6, (q31_t)0xeec60f31, (q31_t)0x7ed28171, (q31_t)0xeead2813, (q31_t)0x7ecf1837, (q31_t)0xee9441a0, (q31_t)0x7ecbaa1a, (q31_t)0xee7b5bd9, + (q31_t)0x7ec8371a, (q31_t)0xee6276bf, (q31_t)0x7ec4bf36, (q31_t)0xee499253, (q31_t)0x7ec14270, (q31_t)0xee30ae96, (q31_t)0x7ebdc0c6, (q31_t)0xee17cb88, + (q31_t)0x7eba3a39, (q31_t)0xedfee92b, (q31_t)0x7eb6aeca, (q31_t)0xede60780, (q31_t)0x7eb31e78, (q31_t)0xedcd2687, (q31_t)0x7eaf8943, (q31_t)0xedb44642, + (q31_t)0x7eabef2c, (q31_t)0xed9b66b2, (q31_t)0x7ea85033, (q31_t)0xed8287d7, (q31_t)0x7ea4ac58, (q31_t)0xed69a9b3, (q31_t)0x7ea1039b, (q31_t)0xed50cc46, + (q31_t)0x7e9d55fc, (q31_t)0xed37ef91, (q31_t)0x7e99a37c, (q31_t)0xed1f1396, (q31_t)0x7e95ec1a, (q31_t)0xed063856, (q31_t)0x7e922fd6, (q31_t)0xeced5dd0, + (q31_t)0x7e8e6eb2, (q31_t)0xecd48407, (q31_t)0x7e8aa8ac, (q31_t)0xecbbaafb, (q31_t)0x7e86ddc6, (q31_t)0xeca2d2ad, (q31_t)0x7e830dff, (q31_t)0xec89fb1e, + (q31_t)0x7e7f3957, (q31_t)0xec71244f, (q31_t)0x7e7b5fce, (q31_t)0xec584e41, (q31_t)0x7e778166, (q31_t)0xec3f78f6, (q31_t)0x7e739e1d, (q31_t)0xec26a46d, + (q31_t)0x7e6fb5f4, (q31_t)0xec0dd0a8, (q31_t)0x7e6bc8eb, (q31_t)0xebf4fda8, (q31_t)0x7e67d703, (q31_t)0xebdc2b6e, (q31_t)0x7e63e03b, (q31_t)0xebc359fb, + (q31_t)0x7e5fe493, (q31_t)0xebaa894f, (q31_t)0x7e5be40c, (q31_t)0xeb91b96c, (q31_t)0x7e57dea7, (q31_t)0xeb78ea52, (q31_t)0x7e53d462, (q31_t)0xeb601c04, + (q31_t)0x7e4fc53e, (q31_t)0xeb474e81, (q31_t)0x7e4bb13c, (q31_t)0xeb2e81ca, (q31_t)0x7e47985b, (q31_t)0xeb15b5e1, (q31_t)0x7e437a9c, (q31_t)0xeafceac6, + (q31_t)0x7e3f57ff, (q31_t)0xeae4207a, (q31_t)0x7e3b3083, (q31_t)0xeacb56ff, (q31_t)0x7e37042a, (q31_t)0xeab28e56, (q31_t)0x7e32d2f4, (q31_t)0xea99c67e, + (q31_t)0x7e2e9cdf, (q31_t)0xea80ff7a, (q31_t)0x7e2a61ed, (q31_t)0xea683949, (q31_t)0x7e26221f, (q31_t)0xea4f73ee, (q31_t)0x7e21dd73, (q31_t)0xea36af69, + (q31_t)0x7e1d93ea, (q31_t)0xea1debbb, (q31_t)0x7e194584, (q31_t)0xea0528e5, (q31_t)0x7e14f242, (q31_t)0xe9ec66e8, (q31_t)0x7e109a24, (q31_t)0xe9d3a5c5, + (q31_t)0x7e0c3d29, (q31_t)0xe9bae57d, (q31_t)0x7e07db52, (q31_t)0xe9a22610, (q31_t)0x7e0374a0, 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(q31_t)0x17e958ea, (q31_t)0x8240d673, + (q31_t)0x17d0a7bc, (q31_t)0x823c26f3, (q31_t)0x17b7f5a3, (q31_t)0x82377c4c, (q31_t)0x179f429f, (q31_t)0x8232d67f, (q31_t)0x17868eb3, (q31_t)0x822e358b, + (q31_t)0x176dd9de, (q31_t)0x82299971, (q31_t)0x17552422, (q31_t)0x82250232, (q31_t)0x173c6d80, (q31_t)0x82206fcc, (q31_t)0x1723b5f9, (q31_t)0x821be240, + (q31_t)0x170afd8d, (q31_t)0x82175990, (q31_t)0x16f2443e, (q31_t)0x8212d5b9, (q31_t)0x16d98a0c, (q31_t)0x820e56be, (q31_t)0x16c0cef9, (q31_t)0x8209dc9e, + (q31_t)0x16a81305, (q31_t)0x82056758, (q31_t)0x168f5632, (q31_t)0x8200f6ef, (q31_t)0x1676987f, (q31_t)0x81fc8b60, (q31_t)0x165dd9f0, (q31_t)0x81f824ae, + (q31_t)0x16451a83, (q31_t)0x81f3c2d7, (q31_t)0x162c5a3b, (q31_t)0x81ef65dc, (q31_t)0x16139918, (q31_t)0x81eb0dbe, (q31_t)0x15fad71b, (q31_t)0x81e6ba7c, + (q31_t)0x15e21445, (q31_t)0x81e26c16, (q31_t)0x15c95097, (q31_t)0x81de228d, (q31_t)0x15b08c12, (q31_t)0x81d9dde1, (q31_t)0x1597c6b7, (q31_t)0x81d59e13, + (q31_t)0x157f0086, (q31_t)0x81d16321, (q31_t)0x15663982, (q31_t)0x81cd2d0c, (q31_t)0x154d71aa, (q31_t)0x81c8fbd6, (q31_t)0x1534a901, (q31_t)0x81c4cf7d, + (q31_t)0x151bdf86, (q31_t)0x81c0a801, (q31_t)0x1503153a, (q31_t)0x81bc8564, (q31_t)0x14ea4a1f, (q31_t)0x81b867a5, (q31_t)0x14d17e36, (q31_t)0x81b44ec4, + (q31_t)0x14b8b17f, (q31_t)0x81b03ac2, (q31_t)0x149fe3fc, (q31_t)0x81ac2b9e, (q31_t)0x148715ae, (q31_t)0x81a82159, (q31_t)0x146e4694, (q31_t)0x81a41bf4, + (q31_t)0x145576b1, (q31_t)0x81a01b6d, (q31_t)0x143ca605, (q31_t)0x819c1fc5, (q31_t)0x1423d492, (q31_t)0x819828fd, (q31_t)0x140b0258, (q31_t)0x81943715, + (q31_t)0x13f22f58, (q31_t)0x81904a0c, (q31_t)0x13d95b93, (q31_t)0x818c61e3, (q31_t)0x13c0870a, (q31_t)0x81887e9a, (q31_t)0x13a7b1bf, (q31_t)0x8184a032, + (q31_t)0x138edbb1, (q31_t)0x8180c6a9, (q31_t)0x137604e2, (q31_t)0x817cf201, (q31_t)0x135d2d53, (q31_t)0x8179223a, (q31_t)0x13445505, (q31_t)0x81755754, + (q31_t)0x132b7bf9, (q31_t)0x8171914e, (q31_t)0x1312a230, (q31_t)0x816dd02a, (q31_t)0x12f9c7aa, (q31_t)0x816a13e6, (q31_t)0x12e0ec6a, (q31_t)0x81665c84, + (q31_t)0x12c8106f, (q31_t)0x8162aa04, (q31_t)0x12af33ba, (q31_t)0x815efc65, (q31_t)0x1296564d, (q31_t)0x815b53a8, (q31_t)0x127d7829, (q31_t)0x8157afcd, + (q31_t)0x1264994e, (q31_t)0x815410d4, (q31_t)0x124bb9be, (q31_t)0x815076bd, (q31_t)0x1232d979, (q31_t)0x814ce188, (q31_t)0x1219f880, (q31_t)0x81495136, + (q31_t)0x120116d5, (q31_t)0x8145c5c7, (q31_t)0x11e83478, (q31_t)0x81423f3a, (q31_t)0x11cf516a, (q31_t)0x813ebd90, (q31_t)0x11b66dad, (q31_t)0x813b40ca, + (q31_t)0x119d8941, (q31_t)0x8137c8e6, (q31_t)0x1184a427, (q31_t)0x813455e6, (q31_t)0x116bbe60, (q31_t)0x8130e7c9, (q31_t)0x1152d7ed, (q31_t)0x812d7e8f, + (q31_t)0x1139f0cf, (q31_t)0x812a1a3a, (q31_t)0x11210907, (q31_t)0x8126bac8, (q31_t)0x11082096, (q31_t)0x8123603a, (q31_t)0x10ef377d, (q31_t)0x81200a90, + (q31_t)0x10d64dbd, (q31_t)0x811cb9ca, (q31_t)0x10bd6356, (q31_t)0x81196de9, (q31_t)0x10a4784b, (q31_t)0x811626ec, (q31_t)0x108b8c9b, (q31_t)0x8112e4d4, + (q31_t)0x1072a048, (q31_t)0x810fa7a0, (q31_t)0x1059b352, (q31_t)0x810c6f52, (q31_t)0x1040c5bb, (q31_t)0x81093be8, (q31_t)0x1027d784, (q31_t)0x81060d63, + (q31_t)0x100ee8ad, (q31_t)0x8102e3c4, (q31_t)0xff5f938, (q31_t)0x80ffbf0a, (q31_t)0xfdd0926, (q31_t)0x80fc9f35, (q31_t)0xfc41876, (q31_t)0x80f98446, + (q31_t)0xfab272b, (q31_t)0x80f66e3c, (q31_t)0xf923546, (q31_t)0x80f35d19, (q31_t)0xf7942c7, (q31_t)0x80f050db, (q31_t)0xf604faf, (q31_t)0x80ed4984, + (q31_t)0xf475bff, (q31_t)0x80ea4712, (q31_t)0xf2e67b8, (q31_t)0x80e74987, (q31_t)0xf1572dc, (q31_t)0x80e450e2, (q31_t)0xefc7d6b, (q31_t)0x80e15d24, + (q31_t)0xee38766, (q31_t)0x80de6e4c, (q31_t)0xeca90ce, (q31_t)0x80db845b, (q31_t)0xeb199a4, (q31_t)0x80d89f51, (q31_t)0xe98a1e9, (q31_t)0x80d5bf2e, + (q31_t)0xe7fa99e, (q31_t)0x80d2e3f2, (q31_t)0xe66b0c3, (q31_t)0x80d00d9d, (q31_t)0xe4db75b, (q31_t)0x80cd3c2f, (q31_t)0xe34bd66, (q31_t)0x80ca6fa9, + (q31_t)0xe1bc2e4, (q31_t)0x80c7a80a, (q31_t)0xe02c7d7, (q31_t)0x80c4e553, (q31_t)0xde9cc40, (q31_t)0x80c22784, (q31_t)0xdd0d01f, (q31_t)0x80bf6e9c, + (q31_t)0xdb7d376, (q31_t)0x80bcba9d, (q31_t)0xd9ed646, (q31_t)0x80ba0b85, (q31_t)0xd85d88f, (q31_t)0x80b76156, (q31_t)0xd6cda53, (q31_t)0x80b4bc0e, + (q31_t)0xd53db92, (q31_t)0x80b21baf, (q31_t)0xd3adc4e, (q31_t)0x80af8039, (q31_t)0xd21dc87, (q31_t)0x80ace9ab, (q31_t)0xd08dc3f, (q31_t)0x80aa5806, + (q31_t)0xcefdb76, (q31_t)0x80a7cb49, (q31_t)0xcd6da2d, (q31_t)0x80a54376, (q31_t)0xcbdd865, (q31_t)0x80a2c08b, (q31_t)0xca4d620, (q31_t)0x80a04289, + (q31_t)0xc8bd35e, (q31_t)0x809dc971, (q31_t)0xc72d020, (q31_t)0x809b5541, (q31_t)0xc59cc68, (q31_t)0x8098e5fb, (q31_t)0xc40c835, (q31_t)0x80967b9f, + (q31_t)0xc27c389, (q31_t)0x8094162c, (q31_t)0xc0ebe66, (q31_t)0x8091b5a2, (q31_t)0xbf5b8cb, (q31_t)0x808f5a02, (q31_t)0xbdcb2bb, (q31_t)0x808d034c, + (q31_t)0xbc3ac35, (q31_t)0x808ab180, (q31_t)0xbaaa53b, (q31_t)0x8088649e, (q31_t)0xb919dcf, (q31_t)0x80861ca6, (q31_t)0xb7895f0, (q31_t)0x8083d998, + (q31_t)0xb5f8d9f, (q31_t)0x80819b74, (q31_t)0xb4684df, (q31_t)0x807f623b, (q31_t)0xb2d7baf, (q31_t)0x807d2dec, (q31_t)0xb147211, (q31_t)0x807afe87, + (q31_t)0xafb6805, (q31_t)0x8078d40d, (q31_t)0xae25d8d, (q31_t)0x8076ae7e, (q31_t)0xac952aa, (q31_t)0x80748dd9, (q31_t)0xab0475c, (q31_t)0x8072721f, + (q31_t)0xa973ba5, (q31_t)0x80705b50, (q31_t)0xa7e2f85, (q31_t)0x806e496c, (q31_t)0xa6522fe, (q31_t)0x806c3c74, (q31_t)0xa4c1610, (q31_t)0x806a3466, + (q31_t)0xa3308bd, (q31_t)0x80683143, (q31_t)0xa19fb04, (q31_t)0x8066330c, (q31_t)0xa00ece8, (q31_t)0x806439c0, (q31_t)0x9e7de6a, (q31_t)0x80624560, + (q31_t)0x9cecf89, (q31_t)0x806055eb, (q31_t)0x9b5c048, (q31_t)0x805e6b62, (q31_t)0x99cb0a7, (q31_t)0x805c85c4, (q31_t)0x983a0a7, (q31_t)0x805aa512, + (q31_t)0x96a9049, (q31_t)0x8058c94c, (q31_t)0x9517f8f, (q31_t)0x8056f272, (q31_t)0x9386e78, (q31_t)0x80552084, (q31_t)0x91f5d06, (q31_t)0x80535381, + (q31_t)0x9064b3a, (q31_t)0x80518b6b, (q31_t)0x8ed3916, (q31_t)0x804fc841, (q31_t)0x8d42699, (q31_t)0x804e0a04, (q31_t)0x8bb13c5, (q31_t)0x804c50b2, + (q31_t)0x8a2009a, (q31_t)0x804a9c4d, (q31_t)0x888ed1b, (q31_t)0x8048ecd5, (q31_t)0x86fd947, (q31_t)0x80474248, (q31_t)0x856c520, (q31_t)0x80459ca9, + (q31_t)0x83db0a7, (q31_t)0x8043fbf6, (q31_t)0x8249bdd, (q31_t)0x80426030, (q31_t)0x80b86c2, (q31_t)0x8040c956, (q31_t)0x7f27157, (q31_t)0x803f376a, + (q31_t)0x7d95b9e, (q31_t)0x803daa6a, (q31_t)0x7c04598, (q31_t)0x803c2257, (q31_t)0x7a72f45, (q31_t)0x803a9f31, (q31_t)0x78e18a7, (q31_t)0x803920f8, + (q31_t)0x77501be, (q31_t)0x8037a7ac, (q31_t)0x75bea8c, (q31_t)0x8036334e, (q31_t)0x742d311, (q31_t)0x8034c3dd, (q31_t)0x729bb4e, (q31_t)0x80335959, + (q31_t)0x710a345, (q31_t)0x8031f3c2, (q31_t)0x6f78af6, (q31_t)0x80309318, (q31_t)0x6de7262, (q31_t)0x802f375d, (q31_t)0x6c5598a, (q31_t)0x802de08e, + (q31_t)0x6ac406f, (q31_t)0x802c8ead, (q31_t)0x6932713, (q31_t)0x802b41ba, (q31_t)0x67a0d76, (q31_t)0x8029f9b4, (q31_t)0x660f398, (q31_t)0x8028b69c, + (q31_t)0x647d97c, (q31_t)0x80277872, (q31_t)0x62ebf22, (q31_t)0x80263f36, (q31_t)0x615a48b, (q31_t)0x80250ae7, (q31_t)0x5fc89b8, (q31_t)0x8023db86, + (q31_t)0x5e36ea9, (q31_t)0x8022b114, (q31_t)0x5ca5361, (q31_t)0x80218b8f, (q31_t)0x5b137df, (q31_t)0x80206af8, (q31_t)0x5981c26, (q31_t)0x801f4f4f, + (q31_t)0x57f0035, (q31_t)0x801e3895, (q31_t)0x565e40d, (q31_t)0x801d26c8, (q31_t)0x54cc7b1, (q31_t)0x801c19ea, (q31_t)0x533ab20, (q31_t)0x801b11fa, + (q31_t)0x51a8e5c, (q31_t)0x801a0ef8, (q31_t)0x5017165, (q31_t)0x801910e4, (q31_t)0x4e8543e, (q31_t)0x801817bf, (q31_t)0x4cf36e5, (q31_t)0x80172388, + (q31_t)0x4b6195d, (q31_t)0x80163440, (q31_t)0x49cfba7, (q31_t)0x801549e6, (q31_t)0x483ddc3, (q31_t)0x8014647b, (q31_t)0x46abfb3, (q31_t)0x801383fe, + (q31_t)0x451a177, (q31_t)0x8012a86f, (q31_t)0x4388310, (q31_t)0x8011d1d0, (q31_t)0x41f6480, (q31_t)0x8011001f, (q31_t)0x40645c7, (q31_t)0x8010335c, + (q31_t)0x3ed26e6, (q31_t)0x800f6b88, (q31_t)0x3d407df, (q31_t)0x800ea8a3, (q31_t)0x3bae8b2, (q31_t)0x800deaad, (q31_t)0x3a1c960, (q31_t)0x800d31a5, + (q31_t)0x388a9ea, (q31_t)0x800c7d8c, (q31_t)0x36f8a51, (q31_t)0x800bce63, (q31_t)0x3566a96, (q31_t)0x800b2427, (q31_t)0x33d4abb, (q31_t)0x800a7edb, + (q31_t)0x3242abf, (q31_t)0x8009de7e, (q31_t)0x30b0aa4, (q31_t)0x80094310, (q31_t)0x2f1ea6c, (q31_t)0x8008ac90, (q31_t)0x2d8ca16, (q31_t)0x80081b00, + (q31_t)0x2bfa9a4, (q31_t)0x80078e5e, (q31_t)0x2a68917, (q31_t)0x800706ac, (q31_t)0x28d6870, (q31_t)0x800683e8, (q31_t)0x27447b0, (q31_t)0x80060614, + (q31_t)0x25b26d7, (q31_t)0x80058d2f, (q31_t)0x24205e8, (q31_t)0x80051939, (q31_t)0x228e4e2, (q31_t)0x8004aa32, (q31_t)0x20fc3c6, (q31_t)0x8004401a, + (q31_t)0x1f6a297, (q31_t)0x8003daf1, (q31_t)0x1dd8154, (q31_t)0x80037ab7, (q31_t)0x1c45ffe, (q31_t)0x80031f6d, (q31_t)0x1ab3e97, (q31_t)0x8002c912, + (q31_t)0x1921d20, (q31_t)0x800277a6, (q31_t)0x178fb99, (q31_t)0x80022b29, (q31_t)0x15fda03, (q31_t)0x8001e39b, (q31_t)0x146b860, (q31_t)0x8001a0fd, + (q31_t)0x12d96b1, (q31_t)0x8001634e, (q31_t)0x11474f6, (q31_t)0x80012a8e, (q31_t)0x0fb5330, (q31_t)0x8000f6bd, (q31_t)0xe23160, (q31_t)0x8000c7dc, + (q31_t)0x0c90f88, (q31_t)0x80009dea, (q31_t)0x0afeda8, (q31_t)0x800078e7, (q31_t)0x096cbc1, (q31_t)0x800058d4, (q31_t)0x7da9d4, (q31_t)0x80003daf, + (q31_t)0x06487e3, (q31_t)0x8000277a, (q31_t)0x04b65ee, (q31_t)0x80001635, (q31_t)0x03243f5, (q31_t)0x800009df, (q31_t)0x1921fb, (q31_t)0x80000278 +}; + const q31_t cos_factorsQ31_2048[2048] = { + (q31_t)0x7fffff62, (q31_t)0x7ffffa73, (q31_t)0x7ffff094, (q31_t)0x7fffe1c6, (q31_t)0x7fffce09, (q31_t)0x7fffb55c, + (q31_t)0x7fff97c1, (q31_t)0x7fff7536, + (q31_t)0x7fff4dbb, (q31_t)0x7fff2151, (q31_t)0x7ffeeff8, (q31_t)0x7ffeb9b0, (q31_t)0x7ffe7e79, (q31_t)0x7ffe3e52, + (q31_t)0x7ffdf93c, (q31_t)0x7ffdaf37, + (q31_t)0x7ffd6042, (q31_t)0x7ffd0c5f, (q31_t)0x7ffcb38c, (q31_t)0x7ffc55ca, (q31_t)0x7ffbf319, (q31_t)0x7ffb8b78, + (q31_t)0x7ffb1ee9, (q31_t)0x7ffaad6a, + (q31_t)0x7ffa36fc, (q31_t)0x7ff9bba0, (q31_t)0x7ff93b54, (q31_t)0x7ff8b619, (q31_t)0x7ff82bef, (q31_t)0x7ff79cd6, + (q31_t)0x7ff708ce, (q31_t)0x7ff66fd7, + (q31_t)0x7ff5d1f1, (q31_t)0x7ff52f1d, (q31_t)0x7ff48759, (q31_t)0x7ff3daa6, (q31_t)0x7ff32905, (q31_t)0x7ff27275, + (q31_t)0x7ff1b6f6, (q31_t)0x7ff0f688, + (q31_t)0x7ff0312c, (q31_t)0x7fef66e1, (q31_t)0x7fee97a7, (q31_t)0x7fedc37e, (q31_t)0x7fecea67, (q31_t)0x7fec0c62, + (q31_t)0x7feb296d, (q31_t)0x7fea418b, + (q31_t)0x7fe954ba, (q31_t)0x7fe862fa, (q31_t)0x7fe76c4c, (q31_t)0x7fe670b0, (q31_t)0x7fe57025, (q31_t)0x7fe46aac, + (q31_t)0x7fe36045, (q31_t)0x7fe250ef, + (q31_t)0x7fe13cac, (q31_t)0x7fe0237a, (q31_t)0x7fdf055a, (q31_t)0x7fdde24d, (q31_t)0x7fdcba51, (q31_t)0x7fdb8d67, + (q31_t)0x7fda5b8f, (q31_t)0x7fd924ca, + (q31_t)0x7fd7e917, (q31_t)0x7fd6a875, (q31_t)0x7fd562e7, (q31_t)0x7fd4186a, (q31_t)0x7fd2c900, (q31_t)0x7fd174a8, + (q31_t)0x7fd01b63, (q31_t)0x7fcebd31, + (q31_t)0x7fcd5a11, (q31_t)0x7fcbf203, (q31_t)0x7fca8508, (q31_t)0x7fc91320, (q31_t)0x7fc79c4b, (q31_t)0x7fc62089, + (q31_t)0x7fc49fda, (q31_t)0x7fc31a3d, + (q31_t)0x7fc18fb4, (q31_t)0x7fc0003e, (q31_t)0x7fbe6bdb, (q31_t)0x7fbcd28b, (q31_t)0x7fbb344e, (q31_t)0x7fb99125, + (q31_t)0x7fb7e90f, (q31_t)0x7fb63c0d, + (q31_t)0x7fb48a1e, (q31_t)0x7fb2d343, (q31_t)0x7fb1177b, (q31_t)0x7faf56c7, (q31_t)0x7fad9127, (q31_t)0x7fabc69b, + (q31_t)0x7fa9f723, (q31_t)0x7fa822bf, + (q31_t)0x7fa6496e, (q31_t)0x7fa46b32, (q31_t)0x7fa2880b, (q31_t)0x7fa09ff7, (q31_t)0x7f9eb2f8, (q31_t)0x7f9cc10d, + (q31_t)0x7f9aca37, (q31_t)0x7f98ce76, + (q31_t)0x7f96cdc9, (q31_t)0x7f94c831, (q31_t)0x7f92bdad, (q31_t)0x7f90ae3f, (q31_t)0x7f8e99e6, (q31_t)0x7f8c80a1, + (q31_t)0x7f8a6272, (q31_t)0x7f883f58, + (q31_t)0x7f861753, (q31_t)0x7f83ea64, (q31_t)0x7f81b88a, (q31_t)0x7f7f81c6, (q31_t)0x7f7d4617, (q31_t)0x7f7b057e, + (q31_t)0x7f78bffb, (q31_t)0x7f76758e, + (q31_t)0x7f742637, (q31_t)0x7f71d1f6, (q31_t)0x7f6f78cb, (q31_t)0x7f6d1ab6, (q31_t)0x7f6ab7b8, (q31_t)0x7f684fd0, + (q31_t)0x7f65e2ff, (q31_t)0x7f637144, + (q31_t)0x7f60faa0, (q31_t)0x7f5e7f13, (q31_t)0x7f5bfe9d, (q31_t)0x7f59793e, (q31_t)0x7f56eef5, (q31_t)0x7f545fc5, + (q31_t)0x7f51cbab, (q31_t)0x7f4f32a9, + (q31_t)0x7f4c94be, (q31_t)0x7f49f1eb, (q31_t)0x7f474a30, (q31_t)0x7f449d8c, (q31_t)0x7f41ec01, (q31_t)0x7f3f358d, + (q31_t)0x7f3c7a31, (q31_t)0x7f39b9ee, + (q31_t)0x7f36f4c3, (q31_t)0x7f342ab1, (q31_t)0x7f315bb7, (q31_t)0x7f2e87d6, (q31_t)0x7f2baf0d, (q31_t)0x7f28d15d, + (q31_t)0x7f25eec7, (q31_t)0x7f230749, + (q31_t)0x7f201ae5, (q31_t)0x7f1d299a, (q31_t)0x7f1a3368, (q31_t)0x7f173850, (q31_t)0x7f143852, (q31_t)0x7f11336d, + (q31_t)0x7f0e29a3, (q31_t)0x7f0b1af2, + (q31_t)0x7f08075c, (q31_t)0x7f04eedf, (q31_t)0x7f01d17d, (q31_t)0x7efeaf36, (q31_t)0x7efb8809, (q31_t)0x7ef85bf7, + (q31_t)0x7ef52b00, (q31_t)0x7ef1f524, + (q31_t)0x7eeeba62, (q31_t)0x7eeb7abc, (q31_t)0x7ee83632, (q31_t)0x7ee4ecc3, (q31_t)0x7ee19e6f, (q31_t)0x7ede4b38, + (q31_t)0x7edaf31c, (q31_t)0x7ed7961c, + (q31_t)0x7ed43438, (q31_t)0x7ed0cd70, (q31_t)0x7ecd61c5, (q31_t)0x7ec9f137, (q31_t)0x7ec67bc5, (q31_t)0x7ec3016f, + (q31_t)0x7ebf8237, (q31_t)0x7ebbfe1c, + (q31_t)0x7eb8751e, (q31_t)0x7eb4e73d, (q31_t)0x7eb1547a, (q31_t)0x7eadbcd4, (q31_t)0x7eaa204c, (q31_t)0x7ea67ee2, + (q31_t)0x7ea2d896, (q31_t)0x7e9f2d68, + (q31_t)0x7e9b7d58, (q31_t)0x7e97c867, (q31_t)0x7e940e94, (q31_t)0x7e904fe0, (q31_t)0x7e8c8c4b, (q31_t)0x7e88c3d5, + (q31_t)0x7e84f67e, (q31_t)0x7e812447, + (q31_t)0x7e7d4d2f, (q31_t)0x7e797136, (q31_t)0x7e75905d, (q31_t)0x7e71aaa4, (q31_t)0x7e6dc00c, (q31_t)0x7e69d093, + (q31_t)0x7e65dc3b, (q31_t)0x7e61e303, + (q31_t)0x7e5de4ec, (q31_t)0x7e59e1f5, (q31_t)0x7e55da20, (q31_t)0x7e51cd6c, (q31_t)0x7e4dbbd9, (q31_t)0x7e49a567, + (q31_t)0x7e458a17, (q31_t)0x7e4169e9, + (q31_t)0x7e3d44dd, (q31_t)0x7e391af3, (q31_t)0x7e34ec2b, (q31_t)0x7e30b885, (q31_t)0x7e2c8002, (q31_t)0x7e2842a2, + (q31_t)0x7e240064, (q31_t)0x7e1fb94a, + (q31_t)0x7e1b6d53, (q31_t)0x7e171c7f, (q31_t)0x7e12c6ce, (q31_t)0x7e0e6c42, (q31_t)0x7e0a0cd9, (q31_t)0x7e05a894, + (q31_t)0x7e013f74, (q31_t)0x7dfcd178, + (q31_t)0x7df85ea0, (q31_t)0x7df3e6ee, (q31_t)0x7def6a60, (q31_t)0x7deae8f7, (q31_t)0x7de662b3, (q31_t)0x7de1d795, + (q31_t)0x7ddd479d, (q31_t)0x7dd8b2ca, + (q31_t)0x7dd4191d, (q31_t)0x7dcf7a96, (q31_t)0x7dcad736, (q31_t)0x7dc62efc, (q31_t)0x7dc181e8, (q31_t)0x7dbccffc, + (q31_t)0x7db81936, (q31_t)0x7db35d98, + (q31_t)0x7dae9d21, (q31_t)0x7da9d7d2, (q31_t)0x7da50dab, (q31_t)0x7da03eab, (q31_t)0x7d9b6ad3, (q31_t)0x7d969224, + (q31_t)0x7d91b49e, (q31_t)0x7d8cd240, + (q31_t)0x7d87eb0a, (q31_t)0x7d82fefe, (q31_t)0x7d7e0e1c, (q31_t)0x7d791862, (q31_t)0x7d741dd2, (q31_t)0x7d6f1e6c, + (q31_t)0x7d6a1a31, (q31_t)0x7d65111f, + (q31_t)0x7d600338, (q31_t)0x7d5af07b, (q31_t)0x7d55d8e9, (q31_t)0x7d50bc82, (q31_t)0x7d4b9b46, (q31_t)0x7d467536, + (q31_t)0x7d414a51, (q31_t)0x7d3c1a98, + (q31_t)0x7d36e60b, (q31_t)0x7d31acaa, (q31_t)0x7d2c6e76, (q31_t)0x7d272b6e, (q31_t)0x7d21e393, (q31_t)0x7d1c96e5, + (q31_t)0x7d174564, (q31_t)0x7d11ef11, + (q31_t)0x7d0c93eb, (q31_t)0x7d0733f3, (q31_t)0x7d01cf29, (q31_t)0x7cfc658d, (q31_t)0x7cf6f720, (q31_t)0x7cf183e1, + (q31_t)0x7cec0bd1, (q31_t)0x7ce68ef0, + (q31_t)0x7ce10d3f, (q31_t)0x7cdb86bd, (q31_t)0x7cd5fb6a, (q31_t)0x7cd06b48, (q31_t)0x7ccad656, (q31_t)0x7cc53c94, + (q31_t)0x7cbf9e03, (q31_t)0x7cb9faa2, + (q31_t)0x7cb45272, (q31_t)0x7caea574, (q31_t)0x7ca8f3a7, (q31_t)0x7ca33d0c, (q31_t)0x7c9d81a3, (q31_t)0x7c97c16b, + (q31_t)0x7c91fc66, (q31_t)0x7c8c3294, + (q31_t)0x7c8663f4, (q31_t)0x7c809088, (q31_t)0x7c7ab84e, (q31_t)0x7c74db48, (q31_t)0x7c6ef976, (q31_t)0x7c6912d7, + (q31_t)0x7c63276d, (q31_t)0x7c5d3737, + (q31_t)0x7c574236, (q31_t)0x7c514869, (q31_t)0x7c4b49d2, (q31_t)0x7c45466f, (q31_t)0x7c3f3e42, (q31_t)0x7c39314b, + (q31_t)0x7c331f8a, (q31_t)0x7c2d08ff, + (q31_t)0x7c26edab, (q31_t)0x7c20cd8d, (q31_t)0x7c1aa8a6, (q31_t)0x7c147ef6, (q31_t)0x7c0e507e, (q31_t)0x7c081d3d, + (q31_t)0x7c01e534, (q31_t)0x7bfba863, + (q31_t)0x7bf566cb, (q31_t)0x7bef206b, (q31_t)0x7be8d544, (q31_t)0x7be28556, (q31_t)0x7bdc30a1, (q31_t)0x7bd5d726, + (q31_t)0x7bcf78e5, (q31_t)0x7bc915dd, + (q31_t)0x7bc2ae10, (q31_t)0x7bbc417e, (q31_t)0x7bb5d026, (q31_t)0x7baf5a09, (q31_t)0x7ba8df28, (q31_t)0x7ba25f82, + (q31_t)0x7b9bdb18, (q31_t)0x7b9551ea, + (q31_t)0x7b8ec3f8, (q31_t)0x7b883143, (q31_t)0x7b8199ca, (q31_t)0x7b7afd8f, (q31_t)0x7b745c91, (q31_t)0x7b6db6d0, + (q31_t)0x7b670c4d, (q31_t)0x7b605d09, + (q31_t)0x7b59a902, (q31_t)0x7b52f03a, (q31_t)0x7b4c32b1, (q31_t)0x7b457068, (q31_t)0x7b3ea95d, (q31_t)0x7b37dd92, + (q31_t)0x7b310d07, (q31_t)0x7b2a37bc, + (q31_t)0x7b235db2, (q31_t)0x7b1c7ee8, (q31_t)0x7b159b5f, (q31_t)0x7b0eb318, (q31_t)0x7b07c612, (q31_t)0x7b00d44d, + (q31_t)0x7af9ddcb, (q31_t)0x7af2e28b, + (q31_t)0x7aebe28d, (q31_t)0x7ae4ddd2, (q31_t)0x7addd45b, (q31_t)0x7ad6c626, (q31_t)0x7acfb336, (q31_t)0x7ac89b89, + (q31_t)0x7ac17f20, (q31_t)0x7aba5dfc, + (q31_t)0x7ab3381d, (q31_t)0x7aac0d82, (q31_t)0x7aa4de2d, (q31_t)0x7a9daa1d, (q31_t)0x7a967153, (q31_t)0x7a8f33d0, + (q31_t)0x7a87f192, (q31_t)0x7a80aa9c, + (q31_t)0x7a795eec, (q31_t)0x7a720e84, (q31_t)0x7a6ab963, (q31_t)0x7a635f8a, (q31_t)0x7a5c00f9, (q31_t)0x7a549db0, + (q31_t)0x7a4d35b0, (q31_t)0x7a45c8f9, + (q31_t)0x7a3e578b, (q31_t)0x7a36e166, (q31_t)0x7a2f668c, (q31_t)0x7a27e6fb, (q31_t)0x7a2062b5, (q31_t)0x7a18d9b9, + (q31_t)0x7a114c09, (q31_t)0x7a09b9a4, + (q31_t)0x7a02228a, (q31_t)0x79fa86bc, (q31_t)0x79f2e63a, (q31_t)0x79eb4105, (q31_t)0x79e3971c, (q31_t)0x79dbe880, + (q31_t)0x79d43532, (q31_t)0x79cc7d31, + (q31_t)0x79c4c07e, (q31_t)0x79bcff19, (q31_t)0x79b53903, (q31_t)0x79ad6e3c, (q31_t)0x79a59ec3, (q31_t)0x799dca9a, + (q31_t)0x7995f1c1, (q31_t)0x798e1438, + (q31_t)0x798631ff, (q31_t)0x797e4b16, (q31_t)0x79765f7f, (q31_t)0x796e6f39, (q31_t)0x79667a44, (q31_t)0x795e80a1, + (q31_t)0x79568250, (q31_t)0x794e7f52, + (q31_t)0x794677a6, (q31_t)0x793e6b4e, (q31_t)0x79365a49, (q31_t)0x792e4497, (q31_t)0x79262a3a, (q31_t)0x791e0b31, + (q31_t)0x7915e77c, (q31_t)0x790dbf1d, + (q31_t)0x79059212, (q31_t)0x78fd605d, (q31_t)0x78f529fe, (q31_t)0x78eceef6, (q31_t)0x78e4af44, (q31_t)0x78dc6ae8, + (q31_t)0x78d421e4, (q31_t)0x78cbd437, + (q31_t)0x78c381e2, (q31_t)0x78bb2ae5, (q31_t)0x78b2cf41, (q31_t)0x78aa6ef5, (q31_t)0x78a20a03, (q31_t)0x7899a06a, + (q31_t)0x7891322a, (q31_t)0x7888bf45, + (q31_t)0x788047ba, (q31_t)0x7877cb89, (q31_t)0x786f4ab4, (q31_t)0x7866c53a, (q31_t)0x785e3b1c, (q31_t)0x7855ac5a, + (q31_t)0x784d18f4, (q31_t)0x784480ea, + (q31_t)0x783be43e, (q31_t)0x783342ef, (q31_t)0x782a9cfe, (q31_t)0x7821f26b, (q31_t)0x78194336, (q31_t)0x78108f60, + (q31_t)0x7807d6e9, (q31_t)0x77ff19d1, + (q31_t)0x77f65819, (q31_t)0x77ed91c0, (q31_t)0x77e4c6c9, (q31_t)0x77dbf732, (q31_t)0x77d322fc, (q31_t)0x77ca4a27, + (q31_t)0x77c16cb4, (q31_t)0x77b88aa3, + (q31_t)0x77afa3f5, (q31_t)0x77a6b8a9, (q31_t)0x779dc8c0, (q31_t)0x7794d43b, (q31_t)0x778bdb19, (q31_t)0x7782dd5c, + (q31_t)0x7779db03, (q31_t)0x7770d40f, + (q31_t)0x7767c880, (q31_t)0x775eb857, (q31_t)0x7755a394, (q31_t)0x774c8a36, (q31_t)0x77436c40, (q31_t)0x773a49b0, + (q31_t)0x77312287, (q31_t)0x7727f6c6, + (q31_t)0x771ec66e, (q31_t)0x7715917d, (q31_t)0x770c57f5, (q31_t)0x770319d6, (q31_t)0x76f9d721, (q31_t)0x76f08fd5, + (q31_t)0x76e743f4, (q31_t)0x76ddf37c, + (q31_t)0x76d49e70, (q31_t)0x76cb44cf, (q31_t)0x76c1e699, (q31_t)0x76b883d0, (q31_t)0x76af1c72, (q31_t)0x76a5b082, + (q31_t)0x769c3ffe, (q31_t)0x7692cae8, + (q31_t)0x7689513f, (q31_t)0x767fd304, (q31_t)0x76765038, (q31_t)0x766cc8db, (q31_t)0x76633ced, (q31_t)0x7659ac6f, + (q31_t)0x76501760, (q31_t)0x76467dc2, + (q31_t)0x763cdf94, (q31_t)0x76333cd8, (q31_t)0x7629958c, (q31_t)0x761fe9b3, (q31_t)0x7616394c, (q31_t)0x760c8457, + (q31_t)0x7602cad5, (q31_t)0x75f90cc7, + (q31_t)0x75ef4a2c, (q31_t)0x75e58305, (q31_t)0x75dbb753, (q31_t)0x75d1e715, (q31_t)0x75c8124d, (q31_t)0x75be38fa, + (q31_t)0x75b45b1d, (q31_t)0x75aa78b6, + (q31_t)0x75a091c6, (q31_t)0x7596a64d, (q31_t)0x758cb64c, (q31_t)0x7582c1c2, (q31_t)0x7578c8b0, (q31_t)0x756ecb18, + (q31_t)0x7564c8f8, (q31_t)0x755ac251, + (q31_t)0x7550b725, (q31_t)0x7546a772, (q31_t)0x753c933a, (q31_t)0x75327a7d, (q31_t)0x75285d3b, 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(q31_t)0x169bb4b7, (q31_t)0x1682f774, (q31_t)0x166a3953, (q31_t)0x16517a55, (q31_t)0x1638ba7a, (q31_t)0x161ff9c4, + (q31_t)0x16073834, (q31_t)0x15ee75cb, + (q31_t)0x15d5b288, (q31_t)0x15bcee6f, (q31_t)0x15a4297f, (q31_t)0x158b63b9, (q31_t)0x15729d1f, (q31_t)0x1559d5b1, + (q31_t)0x15410d70, (q31_t)0x1528445d, + (q31_t)0x150f7a7a, (q31_t)0x14f6afc7, (q31_t)0x14dde445, (q31_t)0x14c517f4, (q31_t)0x14ac4ad7, (q31_t)0x14937cee, + (q31_t)0x147aae3a, (q31_t)0x1461debc, + (q31_t)0x14490e74, (q31_t)0x14303d65, (q31_t)0x14176b8e, (q31_t)0x13fe98f1, (q31_t)0x13e5c58e, (q31_t)0x13ccf167, + (q31_t)0x13b41c7d, (q31_t)0x139b46d0, + (q31_t)0x13827062, (q31_t)0x13699933, (q31_t)0x1350c144, (q31_t)0x1337e897, (q31_t)0x131f0f2c, (q31_t)0x13063505, + (q31_t)0x12ed5a21, (q31_t)0x12d47e83, + (q31_t)0x12bba22b, (q31_t)0x12a2c51b, (q31_t)0x1289e752, (q31_t)0x127108d2, (q31_t)0x1258299c, (q31_t)0x123f49b2, + (q31_t)0x12266913, (q31_t)0x120d87c1, + (q31_t)0x11f4a5bd, (q31_t)0x11dbc307, (q31_t)0x11c2dfa2, (q31_t)0x11a9fb8d, (q31_t)0x119116c9, (q31_t)0x11783159, + (q31_t)0x115f4b3c, (q31_t)0x11466473, + (q31_t)0x112d7d00, (q31_t)0x111494e4, (q31_t)0x10fbac1e, (q31_t)0x10e2c2b2, (q31_t)0x10c9d89e, (q31_t)0x10b0ede5, + (q31_t)0x10980287, (q31_t)0x107f1686, + (q31_t)0x106629e1, (q31_t)0x104d3c9b, (q31_t)0x10344eb4, (q31_t)0x101b602d, (q31_t)0x10027107, (q31_t)0xfe98143, + (q31_t)0xfd090e1, (q31_t)0xfb79fe4, + (q31_t)0xf9eae4c, (q31_t)0xf85bc19, (q31_t)0xf6cc94e, (q31_t)0xf53d5ea, (q31_t)0xf3ae1ee, (q31_t)0xf21ed5d, (q31_t)0xf08f836, + (q31_t)0xef0027b, + (q31_t)0xed70c2c, (q31_t)0xebe154b, (q31_t)0xea51dd8, (q31_t)0xe8c25d5, (q31_t)0xe732d42, (q31_t)0xe5a3421, (q31_t)0xe413a72, + (q31_t)0xe284036, + (q31_t)0xe0f456f, (q31_t)0xdf64a1c, (q31_t)0xddd4e40, (q31_t)0xdc451dc, (q31_t)0xdab54ef, (q31_t)0xd92577b, (q31_t)0xd795982, + (q31_t)0xd605b03, + (q31_t)0xd475c00, (q31_t)0xd2e5c7b, (q31_t)0xd155c73, (q31_t)0xcfc5bea, (q31_t)0xce35ae1, (q31_t)0xcca5959, (q31_t)0xcb15752, + (q31_t)0xc9854cf, + (q31_t)0xc7f51cf, (q31_t)0xc664e53, (q31_t)0xc4d4a5d, (q31_t)0xc3445ee, (q31_t)0xc1b4107, (q31_t)0xc023ba7, (q31_t)0xbe935d2, + (q31_t)0xbd02f87, + (q31_t)0xbb728c7, (q31_t)0xb9e2193, (q31_t)0xb8519ed, (q31_t)0xb6c11d5, (q31_t)0xb53094d, (q31_t)0xb3a0055, (q31_t)0xb20f6ee, + (q31_t)0xb07ed19, + (q31_t)0xaeee2d7, (q31_t)0xad5d829, (q31_t)0xabccd11, (q31_t)0xaa3c18e, (q31_t)0xa8ab5a2, (q31_t)0xa71a94f, (q31_t)0xa589c94, + (q31_t)0xa3f8f73, + (q31_t)0xa2681ed, (q31_t)0xa0d7403, (q31_t)0x9f465b5, (q31_t)0x9db5706, (q31_t)0x9c247f5, (q31_t)0x9a93884, (q31_t)0x99028b3, + (q31_t)0x9771884, + (q31_t)0x95e07f8, (q31_t)0x944f70f, (q31_t)0x92be5ca, (q31_t)0x912d42c, (q31_t)0x8f9c233, (q31_t)0x8e0afe2, (q31_t)0x8c79d3a, + (q31_t)0x8ae8a3a, + (q31_t)0x89576e5, (q31_t)0x87c633c, (q31_t)0x8634f3e, (q31_t)0x84a3aee, (q31_t)0x831264c, (q31_t)0x8181159, (q31_t)0x7fefc16, + (q31_t)0x7e5e685, + (q31_t)0x7ccd0a5, (q31_t)0x7b3ba78, (q31_t)0x79aa400, (q31_t)0x7818d3c, (q31_t)0x768762e, (q31_t)0x74f5ed7, (q31_t)0x7364738, + (q31_t)0x71d2f52, + (q31_t)0x7041726, (q31_t)0x6eafeb4, (q31_t)0x6d1e5fe, (q31_t)0x6b8cd05, (q31_t)0x69fb3c9, (q31_t)0x6869a4c, (q31_t)0x66d808f, + (q31_t)0x6546692, + (q31_t)0x63b4c57, (q31_t)0x62231de, (q31_t)0x6091729, (q31_t)0x5effc38, (q31_t)0x5d6e10c, (q31_t)0x5bdc5a7, (q31_t)0x5a4aa09, + (q31_t)0x58b8e34, + (q31_t)0x5727228, (q31_t)0x55955e6, (q31_t)0x540396f, (q31_t)0x5271cc4, (q31_t)0x50dffe7, (q31_t)0x4f4e2d8, (q31_t)0x4dbc597, + (q31_t)0x4c2a827, + (q31_t)0x4a98a88, (q31_t)0x4906cbb, (q31_t)0x4774ec1, (q31_t)0x45e309a, (q31_t)0x4451249, (q31_t)0x42bf3cd, (q31_t)0x412d528, + (q31_t)0x3f9b65b, + (q31_t)0x3e09767, (q31_t)0x3c7784d, (q31_t)0x3ae590d, (q31_t)0x39539a9, (q31_t)0x37c1a22, (q31_t)0x362fa78, (q31_t)0x349daac, + (q31_t)0x330bac1, + (q31_t)0x3179ab5, (q31_t)0x2fe7a8c, (q31_t)0x2e55a44, (q31_t)0x2cc39e1, (q31_t)0x2b31961, (q31_t)0x299f8c7, (q31_t)0x280d813, + (q31_t)0x267b747, + (q31_t)0x24e9662, (q31_t)0x2357567, (q31_t)0x21c5457, (q31_t)0x2033331, (q31_t)0x1ea11f7, (q31_t)0x1d0f0ab, (q31_t)0x1b7cf4d, + (q31_t)0x19eaddd, + (q31_t)0x1858c5e, (q31_t)0x16c6ad0, (q31_t)0x1534934, (q31_t)0x13a278a, (q31_t)0x12105d5, (q31_t)0x107e414, (q31_t)0xeec249, + (q31_t)0xd5a075, + (q31_t)0xbc7e99, (q31_t)0xa35cb5, (q31_t)0x8a3acb, (q31_t)0x7118dc, (q31_t)0x57f6e9, (q31_t)0x3ed4f2, (q31_t)0x25b2f8, + (q31_t)0xc90fe +}; + #endif + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || defined(ARM_TABLE_DCT4_Q31_8192) + const q31_t WeightsQ31_8192[16384] = { + (q31_t)0x7fffffff, (q31_t)0x00000000, (q31_t)0x7fffffd9, (q31_t)0xfff9b781, (q31_t)0x7fffff62, (q31_t)0xfff36f02, (q31_t)0x7ffffe9d, (q31_t)0xffed2684, + (q31_t)0x7ffffd88, (q31_t)0xffe6de05, (q31_t)0x7ffffc25, (q31_t)0xffe09586, (q31_t)0x7ffffa73, (q31_t)0xffda4d08, (q31_t)0x7ffff872, (q31_t)0xffd40489, + (q31_t)0x7ffff621, (q31_t)0xffcdbc0b, (q31_t)0x7ffff382, (q31_t)0xffc7738c, (q31_t)0x7ffff094, (q31_t)0xffc12b0e, (q31_t)0x7fffed57, (q31_t)0xffbae290, + (q31_t)0x7fffe9cb, (q31_t)0xffb49a12, (q31_t)0x7fffe5f0, (q31_t)0xffae5195, (q31_t)0x7fffe1c6, (q31_t)0xffa80917, (q31_t)0x7fffdd4d, (q31_t)0xffa1c09a, + (q31_t)0x7fffd886, (q31_t)0xff9b781d, (q31_t)0x7fffd36f, (q31_t)0xff952fa0, (q31_t)0x7fffce09, (q31_t)0xff8ee724, (q31_t)0x7fffc854, (q31_t)0xff889ea7, + (q31_t)0x7fffc251, (q31_t)0xff82562c, (q31_t)0x7fffbbfe, (q31_t)0xff7c0db0, (q31_t)0x7fffb55c, (q31_t)0xff75c535, (q31_t)0x7fffae6c, (q31_t)0xff6f7cba, + (q31_t)0x7fffa72c, (q31_t)0xff69343f, (q31_t)0x7fff9f9e, (q31_t)0xff62ebc5, (q31_t)0x7fff97c1, (q31_t)0xff5ca34b, (q31_t)0x7fff8f94, (q31_t)0xff565ad1, + (q31_t)0x7fff8719, (q31_t)0xff501258, (q31_t)0x7fff7e4f, (q31_t)0xff49c9df, (q31_t)0x7fff7536, (q31_t)0xff438167, (q31_t)0x7fff6bcd, (q31_t)0xff3d38ef, + (q31_t)0x7fff6216, (q31_t)0xff36f078, (q31_t)0x7fff5810, (q31_t)0xff30a801, (q31_t)0x7fff4dbb, (q31_t)0xff2a5f8b, (q31_t)0x7fff4317, (q31_t)0xff241715, + (q31_t)0x7fff3824, (q31_t)0xff1dcea0, (q31_t)0x7fff2ce2, (q31_t)0xff17862b, (q31_t)0x7fff2151, (q31_t)0xff113db7, (q31_t)0x7fff1572, (q31_t)0xff0af543, + (q31_t)0x7fff0943, (q31_t)0xff04acd0, (q31_t)0x7ffefcc5, (q31_t)0xfefe645e, (q31_t)0x7ffeeff8, (q31_t)0xfef81bec, (q31_t)0x7ffee2dd, (q31_t)0xfef1d37b, + (q31_t)0x7ffed572, (q31_t)0xfeeb8b0a, (q31_t)0x7ffec7b9, (q31_t)0xfee5429a, (q31_t)0x7ffeb9b0, (q31_t)0xfedefa2b, (q31_t)0x7ffeab59, (q31_t)0xfed8b1bd, + (q31_t)0x7ffe9cb2, (q31_t)0xfed2694f, (q31_t)0x7ffe8dbd, (q31_t)0xfecc20e2, (q31_t)0x7ffe7e79, (q31_t)0xfec5d876, (q31_t)0x7ffe6ee5, (q31_t)0xfebf900a, + (q31_t)0x7ffe5f03, (q31_t)0xfeb947a0, (q31_t)0x7ffe4ed2, (q31_t)0xfeb2ff36, (q31_t)0x7ffe3e52, (q31_t)0xfeacb6cc, (q31_t)0x7ffe2d83, (q31_t)0xfea66e64, + (q31_t)0x7ffe1c65, (q31_t)0xfea025fd, (q31_t)0x7ffe0af8, (q31_t)0xfe99dd96, (q31_t)0x7ffdf93c, (q31_t)0xfe939530, (q31_t)0x7ffde731, (q31_t)0xfe8d4ccb, + (q31_t)0x7ffdd4d7, (q31_t)0xfe870467, (q31_t)0x7ffdc22e, (q31_t)0xfe80bc04, (q31_t)0x7ffdaf37, (q31_t)0xfe7a73a2, (q31_t)0x7ffd9bf0, (q31_t)0xfe742b41, + (q31_t)0x7ffd885a, (q31_t)0xfe6de2e0, (q31_t)0x7ffd7476, (q31_t)0xfe679a81, (q31_t)0x7ffd6042, (q31_t)0xfe615223, (q31_t)0x7ffd4bc0, (q31_t)0xfe5b09c5, + (q31_t)0x7ffd36ee, (q31_t)0xfe54c169, (q31_t)0x7ffd21ce, (q31_t)0xfe4e790d, (q31_t)0x7ffd0c5f, (q31_t)0xfe4830b3, (q31_t)0x7ffcf6a0, (q31_t)0xfe41e85a, + (q31_t)0x7ffce093, (q31_t)0xfe3ba002, (q31_t)0x7ffcca37, (q31_t)0xfe3557ab, (q31_t)0x7ffcb38c, (q31_t)0xfe2f0f55, (q31_t)0x7ffc9c92, (q31_t)0xfe28c700, + (q31_t)0x7ffc8549, (q31_t)0xfe227eac, (q31_t)0x7ffc6db1, (q31_t)0xfe1c365a, (q31_t)0x7ffc55ca, (q31_t)0xfe15ee09, (q31_t)0x7ffc3d94, (q31_t)0xfe0fa5b8, + (q31_t)0x7ffc250f, (q31_t)0xfe095d69, (q31_t)0x7ffc0c3b, (q31_t)0xfe03151c, (q31_t)0x7ffbf319, (q31_t)0xfdfccccf, (q31_t)0x7ffbd9a7, (q31_t)0xfdf68484, + (q31_t)0x7ffbbfe6, (q31_t)0xfdf03c3a, (q31_t)0x7ffba5d7, (q31_t)0xfde9f3f1, (q31_t)0x7ffb8b78, (q31_t)0xfde3aba9, (q31_t)0x7ffb70cb, (q31_t)0xfddd6363, + (q31_t)0x7ffb55ce, (q31_t)0xfdd71b1e, (q31_t)0x7ffb3a83, (q31_t)0xfdd0d2db, (q31_t)0x7ffb1ee9, (q31_t)0xfdca8a99, (q31_t)0x7ffb0300, (q31_t)0xfdc44258, + (q31_t)0x7ffae6c7, (q31_t)0xfdbdfa18, (q31_t)0x7ffaca40, (q31_t)0xfdb7b1da, (q31_t)0x7ffaad6a, (q31_t)0xfdb1699e, (q31_t)0x7ffa9045, (q31_t)0xfdab2162, + (q31_t)0x7ffa72d1, (q31_t)0xfda4d929, (q31_t)0x7ffa550e, (q31_t)0xfd9e90f0, (q31_t)0x7ffa36fc, (q31_t)0xfd9848b9, (q31_t)0x7ffa189c, (q31_t)0xfd920084, + (q31_t)0x7ff9f9ec, (q31_t)0xfd8bb850, (q31_t)0x7ff9daed, (q31_t)0xfd85701e, (q31_t)0x7ff9bba0, (q31_t)0xfd7f27ed, (q31_t)0x7ff99c03, (q31_t)0xfd78dfbd, + (q31_t)0x7ff97c18, (q31_t)0xfd729790, (q31_t)0x7ff95bdd, (q31_t)0xfd6c4f64, (q31_t)0x7ff93b54, (q31_t)0xfd660739, (q31_t)0x7ff91a7b, (q31_t)0xfd5fbf10, + (q31_t)0x7ff8f954, (q31_t)0xfd5976e9, (q31_t)0x7ff8d7de, (q31_t)0xfd532ec3, (q31_t)0x7ff8b619, (q31_t)0xfd4ce69f, (q31_t)0x7ff89405, (q31_t)0xfd469e7c, + (q31_t)0x7ff871a2, (q31_t)0xfd40565c, (q31_t)0x7ff84ef0, (q31_t)0xfd3a0e3d, (q31_t)0x7ff82bef, (q31_t)0xfd33c61f, (q31_t)0x7ff8089f, (q31_t)0xfd2d7e04, + (q31_t)0x7ff7e500, (q31_t)0xfd2735ea, (q31_t)0x7ff7c113, (q31_t)0xfd20edd2, (q31_t)0x7ff79cd6, (q31_t)0xfd1aa5bc, (q31_t)0x7ff7784a, (q31_t)0xfd145da7, + (q31_t)0x7ff75370, (q31_t)0xfd0e1594, (q31_t)0x7ff72e46, (q31_t)0xfd07cd83, (q31_t)0x7ff708ce, (q31_t)0xfd018574, (q31_t)0x7ff6e307, (q31_t)0xfcfb3d67, + (q31_t)0x7ff6bcf0, (q31_t)0xfcf4f55c, (q31_t)0x7ff6968b, (q31_t)0xfceead52, (q31_t)0x7ff66fd7, (q31_t)0xfce8654b, (q31_t)0x7ff648d4, (q31_t)0xfce21d45, + (q31_t)0x7ff62182, (q31_t)0xfcdbd541, (q31_t)0x7ff5f9e1, (q31_t)0xfcd58d3f, (q31_t)0x7ff5d1f1, (q31_t)0xfccf453f, (q31_t)0x7ff5a9b2, (q31_t)0xfcc8fd41, + (q31_t)0x7ff58125, (q31_t)0xfcc2b545, (q31_t)0x7ff55848, (q31_t)0xfcbc6d4c, (q31_t)0x7ff52f1d, (q31_t)0xfcb62554, (q31_t)0x7ff505a2, (q31_t)0xfcafdd5e, + (q31_t)0x7ff4dbd9, (q31_t)0xfca9956a, (q31_t)0x7ff4b1c0, (q31_t)0xfca34d78, (q31_t)0x7ff48759, (q31_t)0xfc9d0588, (q31_t)0x7ff45ca3, (q31_t)0xfc96bd9b, + (q31_t)0x7ff4319d, (q31_t)0xfc9075af, (q31_t)0x7ff40649, (q31_t)0xfc8a2dc6, (q31_t)0x7ff3daa6, (q31_t)0xfc83e5de, (q31_t)0x7ff3aeb4, (q31_t)0xfc7d9df9, + (q31_t)0x7ff38274, (q31_t)0xfc775616, (q31_t)0x7ff355e4, (q31_t)0xfc710e36, (q31_t)0x7ff32905, (q31_t)0xfc6ac657, (q31_t)0x7ff2fbd7, (q31_t)0xfc647e7b, + (q31_t)0x7ff2ce5b, (q31_t)0xfc5e36a0, (q31_t)0x7ff2a08f, (q31_t)0xfc57eec9, (q31_t)0x7ff27275, (q31_t)0xfc51a6f3, (q31_t)0x7ff2440b, (q31_t)0xfc4b5f20, + (q31_t)0x7ff21553, (q31_t)0xfc45174e, (q31_t)0x7ff1e64c, (q31_t)0xfc3ecf80, (q31_t)0x7ff1b6f6, (q31_t)0xfc3887b3, (q31_t)0x7ff18751, (q31_t)0xfc323fe9, + (q31_t)0x7ff1575d, (q31_t)0xfc2bf821, (q31_t)0x7ff1271a, (q31_t)0xfc25b05c, (q31_t)0x7ff0f688, (q31_t)0xfc1f6899, (q31_t)0x7ff0c5a7, (q31_t)0xfc1920d8, + (q31_t)0x7ff09478, (q31_t)0xfc12d91a, (q31_t)0x7ff062f9, (q31_t)0xfc0c915e, (q31_t)0x7ff0312c, (q31_t)0xfc0649a5, (q31_t)0x7fefff0f, (q31_t)0xfc0001ee, + (q31_t)0x7fefcca4, (q31_t)0xfbf9ba39, (q31_t)0x7fef99ea, (q31_t)0xfbf37287, (q31_t)0x7fef66e1, (q31_t)0xfbed2ad8, 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(q31_t)0x4f4e2d8, (q31_t)0x801893b4, (q31_t)0x4ee9b8c, (q31_t)0x80185592, + (q31_t)0x4e8543e, (q31_t)0x801817bf, (q31_t)0x4e20cec, (q31_t)0x8017da3b, (q31_t)0x4dbc597, (q31_t)0x80179d06, (q31_t)0x4d57e40, (q31_t)0x80176020, + (q31_t)0x4cf36e5, (q31_t)0x80172388, (q31_t)0x4c8ef88, (q31_t)0x8016e740, (q31_t)0x4c2a827, (q31_t)0x8016ab46, (q31_t)0x4bc60c4, (q31_t)0x80166f9c, + (q31_t)0x4b6195d, (q31_t)0x80163440, (q31_t)0x4afd1f4, (q31_t)0x8015f933, (q31_t)0x4a98a88, (q31_t)0x8015be75, (q31_t)0x4a34319, (q31_t)0x80158406, + (q31_t)0x49cfba7, (q31_t)0x801549e6, (q31_t)0x496b432, (q31_t)0x80151015, (q31_t)0x4906cbb, (q31_t)0x8014d693, (q31_t)0x48a2540, (q31_t)0x80149d5f, + (q31_t)0x483ddc3, (q31_t)0x8014647b, (q31_t)0x47d9643, (q31_t)0x80142be5, (q31_t)0x4774ec1, (q31_t)0x8013f39e, (q31_t)0x471073b, (q31_t)0x8013bba7, + (q31_t)0x46abfb3, (q31_t)0x801383fe, (q31_t)0x4647828, (q31_t)0x80134ca4, (q31_t)0x45e309a, (q31_t)0x80131599, (q31_t)0x457e90a, (q31_t)0x8012dedd, + (q31_t)0x451a177, (q31_t)0x8012a86f, (q31_t)0x44b59e1, (q31_t)0x80127251, (q31_t)0x4451249, (q31_t)0x80123c82, (q31_t)0x43ecaae, (q31_t)0x80120701, + (q31_t)0x4388310, (q31_t)0x8011d1d0, (q31_t)0x4323b70, (q31_t)0x80119ced, (q31_t)0x42bf3cd, (q31_t)0x80116859, (q31_t)0x425ac28, (q31_t)0x80113414, + (q31_t)0x41f6480, (q31_t)0x8011001f, (q31_t)0x4191cd5, (q31_t)0x8010cc78, (q31_t)0x412d528, (q31_t)0x8010991f, (q31_t)0x40c8d79, (q31_t)0x80106616, + (q31_t)0x40645c7, (q31_t)0x8010335c, (q31_t)0x3fffe12, (q31_t)0x801000f1, (q31_t)0x3f9b65b, (q31_t)0x800fced4, (q31_t)0x3f36ea2, (q31_t)0x800f9d07, + (q31_t)0x3ed26e6, (q31_t)0x800f6b88, (q31_t)0x3e6df28, (q31_t)0x800f3a59, (q31_t)0x3e09767, (q31_t)0x800f0978, (q31_t)0x3da4fa4, (q31_t)0x800ed8e6, + (q31_t)0x3d407df, (q31_t)0x800ea8a3, (q31_t)0x3cdc017, (q31_t)0x800e78af, (q31_t)0x3c7784d, (q31_t)0x800e490a, (q31_t)0x3c13080, (q31_t)0x800e19b4, + (q31_t)0x3bae8b2, (q31_t)0x800deaad, (q31_t)0x3b4a0e0, (q31_t)0x800dbbf5, (q31_t)0x3ae590d, (q31_t)0x800d8d8b, (q31_t)0x3a81137, (q31_t)0x800d5f71, + (q31_t)0x3a1c960, (q31_t)0x800d31a5, (q31_t)0x39b8185, (q31_t)0x800d0429, (q31_t)0x39539a9, (q31_t)0x800cd6fb, (q31_t)0x38ef1ca, (q31_t)0x800caa1c, + (q31_t)0x388a9ea, (q31_t)0x800c7d8c, (q31_t)0x3826207, (q31_t)0x800c514c, (q31_t)0x37c1a22, (q31_t)0x800c255a, (q31_t)0x375d23a, (q31_t)0x800bf9b7, + (q31_t)0x36f8a51, (q31_t)0x800bce63, (q31_t)0x3694265, (q31_t)0x800ba35d, (q31_t)0x362fa78, (q31_t)0x800b78a7, (q31_t)0x35cb288, (q31_t)0x800b4e40, + (q31_t)0x3566a96, (q31_t)0x800b2427, (q31_t)0x35022a2, (q31_t)0x800afa5e, (q31_t)0x349daac, (q31_t)0x800ad0e3, (q31_t)0x34392b4, (q31_t)0x800aa7b8, + (q31_t)0x33d4abb, (q31_t)0x800a7edb, (q31_t)0x33702bf, (q31_t)0x800a564e, (q31_t)0x330bac1, (q31_t)0x800a2e0f, (q31_t)0x32a72c1, (q31_t)0x800a061f, + (q31_t)0x3242abf, (q31_t)0x8009de7e, (q31_t)0x31de2bb, (q31_t)0x8009b72c, (q31_t)0x3179ab5, (q31_t)0x80099029, (q31_t)0x31152ae, (q31_t)0x80096975, + (q31_t)0x30b0aa4, (q31_t)0x80094310, (q31_t)0x304c299, (q31_t)0x80091cf9, (q31_t)0x2fe7a8c, (q31_t)0x8008f732, (q31_t)0x2f8327d, (q31_t)0x8008d1ba, + (q31_t)0x2f1ea6c, (q31_t)0x8008ac90, (q31_t)0x2eba259, (q31_t)0x800887b6, (q31_t)0x2e55a44, (q31_t)0x8008632a, (q31_t)0x2df122e, (q31_t)0x80083eed, + (q31_t)0x2d8ca16, (q31_t)0x80081b00, (q31_t)0x2d281fc, (q31_t)0x8007f761, (q31_t)0x2cc39e1, (q31_t)0x8007d411, (q31_t)0x2c5f1c3, (q31_t)0x8007b110, + (q31_t)0x2bfa9a4, (q31_t)0x80078e5e, (q31_t)0x2b96184, (q31_t)0x80076bfb, (q31_t)0x2b31961, (q31_t)0x800749e7, (q31_t)0x2acd13d, (q31_t)0x80072822, + (q31_t)0x2a68917, (q31_t)0x800706ac, (q31_t)0x2a040f0, (q31_t)0x8006e585, (q31_t)0x299f8c7, (q31_t)0x8006c4ac, (q31_t)0x293b09c, (q31_t)0x8006a423, + (q31_t)0x28d6870, (q31_t)0x800683e8, (q31_t)0x2872043, (q31_t)0x800663fd, (q31_t)0x280d813, (q31_t)0x80064460, (q31_t)0x27a8fe2, (q31_t)0x80062513, + (q31_t)0x27447b0, (q31_t)0x80060614, (q31_t)0x26dff7c, (q31_t)0x8005e764, (q31_t)0x267b747, (q31_t)0x8005c904, (q31_t)0x2616f10, (q31_t)0x8005aaf2, + (q31_t)0x25b26d7, (q31_t)0x80058d2f, (q31_t)0x254de9e, (q31_t)0x80056fbb, (q31_t)0x24e9662, (q31_t)0x80055296, (q31_t)0x2484e26, (q31_t)0x800535c0, + (q31_t)0x24205e8, (q31_t)0x80051939, (q31_t)0x23bbda8, (q31_t)0x8004fd00, (q31_t)0x2357567, (q31_t)0x8004e117, (q31_t)0x22f2d25, (q31_t)0x8004c57d, + (q31_t)0x228e4e2, (q31_t)0x8004aa32, (q31_t)0x2229c9d, (q31_t)0x80048f35, (q31_t)0x21c5457, (q31_t)0x80047488, (q31_t)0x2160c0f, (q31_t)0x80045a29, + (q31_t)0x20fc3c6, (q31_t)0x8004401a, (q31_t)0x2097b7c, (q31_t)0x80042659, (q31_t)0x2033331, (q31_t)0x80040ce7, (q31_t)0x1fceae4, (q31_t)0x8003f3c5, + (q31_t)0x1f6a297, (q31_t)0x8003daf1, (q31_t)0x1f05a48, (q31_t)0x8003c26c, (q31_t)0x1ea11f7, (q31_t)0x8003aa36, (q31_t)0x1e3c9a6, (q31_t)0x8003924f, + (q31_t)0x1dd8154, (q31_t)0x80037ab7, (q31_t)0x1d73900, (q31_t)0x8003636e, (q31_t)0x1d0f0ab, (q31_t)0x80034c74, (q31_t)0x1caa855, (q31_t)0x800335c9, + (q31_t)0x1c45ffe, (q31_t)0x80031f6d, (q31_t)0x1be17a6, (q31_t)0x80030960, (q31_t)0x1b7cf4d, (q31_t)0x8002f3a1, (q31_t)0x1b186f3, (q31_t)0x8002de32, + (q31_t)0x1ab3e97, (q31_t)0x8002c912, (q31_t)0x1a4f63b, (q31_t)0x8002b440, (q31_t)0x19eaddd, (q31_t)0x80029fbe, (q31_t)0x198657f, (q31_t)0x80028b8a, + (q31_t)0x1921d20, (q31_t)0x800277a6, (q31_t)0x18bd4bf, (q31_t)0x80026410, (q31_t)0x1858c5e, (q31_t)0x800250c9, (q31_t)0x17f43fc, (q31_t)0x80023dd2, + (q31_t)0x178fb99, (q31_t)0x80022b29, (q31_t)0x172b335, (q31_t)0x800218cf, (q31_t)0x16c6ad0, (q31_t)0x800206c4, (q31_t)0x166226a, (q31_t)0x8001f508, + (q31_t)0x15fda03, (q31_t)0x8001e39b, (q31_t)0x159919c, (q31_t)0x8001d27d, (q31_t)0x1534934, (q31_t)0x8001c1ae, (q31_t)0x14d00ca, (q31_t)0x8001b12e, + (q31_t)0x146b860, (q31_t)0x8001a0fd, (q31_t)0x1406ff6, (q31_t)0x8001911b, (q31_t)0x13a278a, (q31_t)0x80018187, (q31_t)0x133df1e, (q31_t)0x80017243, + (q31_t)0x12d96b1, (q31_t)0x8001634e, (q31_t)0x1274e43, (q31_t)0x800154a7, (q31_t)0x12105d5, (q31_t)0x80014650, (q31_t)0x11abd66, (q31_t)0x80013847, + (q31_t)0x11474f6, (q31_t)0x80012a8e, (q31_t)0x10e2c85, (q31_t)0x80011d23, (q31_t)0x107e414, (q31_t)0x80011008, (q31_t)0x1019ba2, (q31_t)0x8001033b, + (q31_t)0x0fb5330, (q31_t)0x8000f6bd, (q31_t)0x0f50abd, (q31_t)0x8000ea8e, (q31_t)0x0eec249, (q31_t)0x8000deaf, (q31_t)0x0e879d5, (q31_t)0x8000d31e, + (q31_t)0x0e23160, (q31_t)0x8000c7dc, (q31_t)0x0dbe8eb, (q31_t)0x8000bce9, (q31_t)0x0d5a075, (q31_t)0x8000b245, (q31_t)0x0cf57ff, (q31_t)0x8000a7f0, + (q31_t)0x0c90f88, (q31_t)0x80009dea, (q31_t)0x0c2c711, (q31_t)0x80009433, (q31_t)0x0bc7e99, (q31_t)0x80008aca, (q31_t)0x0b63621, (q31_t)0x800081b1, + (q31_t)0x0afeda8, (q31_t)0x800078e7, (q31_t)0x0a9a52f, (q31_t)0x8000706c, (q31_t)0x0a35cb5, (q31_t)0x8000683f, (q31_t)0x09d143b, (q31_t)0x80006062, + (q31_t)0x096cbc1, (q31_t)0x800058d4, (q31_t)0x0908346, (q31_t)0x80005194, (q31_t)0x08a3acb, (q31_t)0x80004aa4, (q31_t)0x083f250, (q31_t)0x80004402, + (q31_t)0x07da9d4, (q31_t)0x80003daf, (q31_t)0x0776159, (q31_t)0x800037ac, (q31_t)0x07118dc, (q31_t)0x800031f7, (q31_t)0x06ad060, (q31_t)0x80002c91, + (q31_t)0x06487e3, (q31_t)0x8000277a, (q31_t)0x05e3f66, (q31_t)0x800022b3, (q31_t)0x057f6e9, (q31_t)0x80001e3a, (q31_t)0x051ae6b, (q31_t)0x80001a10, + (q31_t)0x04b65ee, (q31_t)0x80001635, (q31_t)0x0451d70, (q31_t)0x800012a9, (q31_t)0x03ed4f2, (q31_t)0x80000f6c, (q31_t)0x0388c74, (q31_t)0x80000c7e, + (q31_t)0x03243f5, (q31_t)0x800009df, (q31_t)0x02bfb77, (q31_t)0x8000078e, (q31_t)0x025b2f8, (q31_t)0x8000058d, (q31_t)0x01f6a7a, (q31_t)0x800003db, + (q31_t)0x01921fb, (q31_t)0x80000278, (q31_t)0x012d97c, (q31_t)0x80000163, (q31_t)0x00c90fe, (q31_t)0x8000009e, (q31_t)0x006487f, (q31_t)0x80000027 +}; + const q31_t cos_factorsQ31_8192[8192] = { + (q31_t)0x7ffffff6, (q31_t)0x7fffffa7, (q31_t)0x7fffff09, (q31_t)0x7ffffe1c, (q31_t)0x7ffffce1, (q31_t)0x7ffffb56, (q31_t)0x7ffff97c, (q31_t)0x7ffff753, + (q31_t)0x7ffff4dc, (q31_t)0x7ffff215, (q31_t)0x7fffef00, (q31_t)0x7fffeb9b, (q31_t)0x7fffe7e8, (q31_t)0x7fffe3e5, (q31_t)0x7fffdf94, (q31_t)0x7fffdaf3, + (q31_t)0x7fffd604, (q31_t)0x7fffd0c6, (q31_t)0x7fffcb39, (q31_t)0x7fffc55c, (q31_t)0x7fffbf31, (q31_t)0x7fffb8b7, (q31_t)0x7fffb1ee, (q31_t)0x7fffaad6, + (q31_t)0x7fffa36f, (q31_t)0x7fff9bb9, (q31_t)0x7fff93b4, (q31_t)0x7fff8b61, (q31_t)0x7fff82be, (q31_t)0x7fff79cc, (q31_t)0x7fff708b, (q31_t)0x7fff66fc, + (q31_t)0x7fff5d1d, (q31_t)0x7fff52ef, (q31_t)0x7fff4873, (q31_t)0x7fff3da8, (q31_t)0x7fff328d, (q31_t)0x7fff2724, (q31_t)0x7fff1b6b, (q31_t)0x7fff0f64, + (q31_t)0x7fff030e, (q31_t)0x7ffef669, (q31_t)0x7ffee975, (q31_t)0x7ffedc31, (q31_t)0x7ffece9f, (q31_t)0x7ffec0be, (q31_t)0x7ffeb28e, (q31_t)0x7ffea40f, + (q31_t)0x7ffe9542, (q31_t)0x7ffe8625, (q31_t)0x7ffe76b9, (q31_t)0x7ffe66fe, (q31_t)0x7ffe56f5, (q31_t)0x7ffe469c, (q31_t)0x7ffe35f4, (q31_t)0x7ffe24fe, + (q31_t)0x7ffe13b8, (q31_t)0x7ffe0224, (q31_t)0x7ffdf040, (q31_t)0x7ffdde0e, (q31_t)0x7ffdcb8d, (q31_t)0x7ffdb8bc, (q31_t)0x7ffda59d, (q31_t)0x7ffd922f, + (q31_t)0x7ffd7e72, (q31_t)0x7ffd6a66, (q31_t)0x7ffd560b, (q31_t)0x7ffd4161, (q31_t)0x7ffd2c68, (q31_t)0x7ffd1720, (q31_t)0x7ffd0189, (q31_t)0x7ffceba4, + (q31_t)0x7ffcd56f, (q31_t)0x7ffcbeeb, (q31_t)0x7ffca819, (q31_t)0x7ffc90f7, (q31_t)0x7ffc7987, (q31_t)0x7ffc61c7, (q31_t)0x7ffc49b9, (q31_t)0x7ffc315b, + (q31_t)0x7ffc18af, (q31_t)0x7ffbffb4, (q31_t)0x7ffbe66a, (q31_t)0x7ffbccd0, (q31_t)0x7ffbb2e8, (q31_t)0x7ffb98b1, (q31_t)0x7ffb7e2b, (q31_t)0x7ffb6356, + (q31_t)0x7ffb4833, (q31_t)0x7ffb2cc0, (q31_t)0x7ffb10fe, (q31_t)0x7ffaf4ed, (q31_t)0x7ffad88e, (q31_t)0x7ffabbdf, (q31_t)0x7ffa9ee2, (q31_t)0x7ffa8195, + (q31_t)0x7ffa63fa, (q31_t)0x7ffa460f, (q31_t)0x7ffa27d6, (q31_t)0x7ffa094e, (q31_t)0x7ff9ea76, (q31_t)0x7ff9cb50, (q31_t)0x7ff9abdb, (q31_t)0x7ff98c17, + (q31_t)0x7ff96c04, (q31_t)0x7ff94ba2, (q31_t)0x7ff92af1, (q31_t)0x7ff909f2, (q31_t)0x7ff8e8a3, (q31_t)0x7ff8c705, (q31_t)0x7ff8a519, (q31_t)0x7ff882dd, + (q31_t)0x7ff86053, (q31_t)0x7ff83d79, (q31_t)0x7ff81a51, (q31_t)0x7ff7f6da, (q31_t)0x7ff7d313, (q31_t)0x7ff7aefe, (q31_t)0x7ff78a9a, (q31_t)0x7ff765e7, + (q31_t)0x7ff740e5, (q31_t)0x7ff71b94, (q31_t)0x7ff6f5f4, (q31_t)0x7ff6d005, (q31_t)0x7ff6a9c8, (q31_t)0x7ff6833b, (q31_t)0x7ff65c5f, (q31_t)0x7ff63535, + (q31_t)0x7ff60dbb, (q31_t)0x7ff5e5f3, (q31_t)0x7ff5bddc, (q31_t)0x7ff59576, (q31_t)0x7ff56cc0, (q31_t)0x7ff543bc, (q31_t)0x7ff51a69, (q31_t)0x7ff4f0c7, + (q31_t)0x7ff4c6d6, (q31_t)0x7ff49c96, (q31_t)0x7ff47208, (q31_t)0x7ff4472a, (q31_t)0x7ff41bfd, (q31_t)0x7ff3f082, (q31_t)0x7ff3c4b7, (q31_t)0x7ff3989e, + (q31_t)0x7ff36c36, (q31_t)0x7ff33f7e, (q31_t)0x7ff31278, (q31_t)0x7ff2e523, (q31_t)0x7ff2b77f, (q31_t)0x7ff2898c, (q31_t)0x7ff25b4a, (q31_t)0x7ff22cb9, + (q31_t)0x7ff1fdd9, (q31_t)0x7ff1ceab, (q31_t)0x7ff19f2d, (q31_t)0x7ff16f61, (q31_t)0x7ff13f45, (q31_t)0x7ff10edb, (q31_t)0x7ff0de22, (q31_t)0x7ff0ad19, + (q31_t)0x7ff07bc2, (q31_t)0x7ff04a1c, (q31_t)0x7ff01827, (q31_t)0x7fefe5e4, (q31_t)0x7fefb351, (q31_t)0x7fef806f, (q31_t)0x7fef4d3e, (q31_t)0x7fef19bf, + (q31_t)0x7feee5f0, (q31_t)0x7feeb1d3, (q31_t)0x7fee7d67, (q31_t)0x7fee48ac, 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(q31_t)0x93b90a0, + (q31_t)0x9354c4f, (q31_t)0x92f07f8, (q31_t)0x928c39b, (q31_t)0x9227f39, (q31_t)0x91c3ad2, (q31_t)0x915f664, (q31_t)0x90fb1f1, (q31_t)0x9096d79, + (q31_t)0x90328fb, (q31_t)0x8fce477, (q31_t)0x8f69fee, (q31_t)0x8f05b5f, (q31_t)0x8ea16cb, (q31_t)0x8e3d231, (q31_t)0x8dd8d92, (q31_t)0x8d748ed, + (q31_t)0x8d10443, (q31_t)0x8cabf93, (q31_t)0x8c47ade, (q31_t)0x8be3624, (q31_t)0x8b7f164, (q31_t)0x8b1ac9f, (q31_t)0x8ab67d4, (q31_t)0x8a52304, + (q31_t)0x89ede2f, (q31_t)0x8989955, (q31_t)0x8925475, (q31_t)0x88c0f90, (q31_t)0x885caa5, (q31_t)0x87f85b5, (q31_t)0x87940c1, (q31_t)0x872fbc6, + (q31_t)0x86cb6c7, (q31_t)0x86671c2, (q31_t)0x8602cb9, (q31_t)0x859e7aa, (q31_t)0x853a296, (q31_t)0x84d5d7d, (q31_t)0x847185e, (q31_t)0x840d33b, + (q31_t)0x83a8e12, (q31_t)0x83448e5, (q31_t)0x82e03b2, (q31_t)0x827be7a, (q31_t)0x821793e, (q31_t)0x81b33fc, (q31_t)0x814eeb5, (q31_t)0x80ea969, + (q31_t)0x8086419, (q31_t)0x8021ec3, (q31_t)0x7fbd968, (q31_t)0x7f59409, (q31_t)0x7ef4ea4, (q31_t)0x7e9093b, (q31_t)0x7e2c3cd, (q31_t)0x7dc7e5a, + (q31_t)0x7d638e2, (q31_t)0x7cff365, (q31_t)0x7c9ade4, (q31_t)0x7c3685d, (q31_t)0x7bd22d2, (q31_t)0x7b6dd42, (q31_t)0x7b097ad, (q31_t)0x7aa5214, + (q31_t)0x7a40c76, (q31_t)0x79dc6d3, (q31_t)0x797812b, (q31_t)0x7913b7f, (q31_t)0x78af5ce, (q31_t)0x784b019, (q31_t)0x77e6a5e, (q31_t)0x77824a0, + (q31_t)0x771dedc, (q31_t)0x76b9914, (q31_t)0x7655347, (q31_t)0x75f0d76, (q31_t)0x758c7a1, (q31_t)0x75281c6, (q31_t)0x74c3be7, (q31_t)0x745f604, + (q31_t)0x73fb01c, (q31_t)0x7396a30, (q31_t)0x733243f, (q31_t)0x72cde4a, (q31_t)0x7269851, (q31_t)0x7205253, (q31_t)0x71a0c50, (q31_t)0x713c64a, + (q31_t)0x70d803f, (q31_t)0x7073a2f, (q31_t)0x700f41b, (q31_t)0x6faae03, (q31_t)0x6f467e7, (q31_t)0x6ee21c6, (q31_t)0x6e7dba1, (q31_t)0x6e19578, + (q31_t)0x6db4f4a, (q31_t)0x6d50919, (q31_t)0x6cec2e3, (q31_t)0x6c87ca9, (q31_t)0x6c2366a, (q31_t)0x6bbf028, (q31_t)0x6b5a9e1, (q31_t)0x6af6396, + (q31_t)0x6a91d47, (q31_t)0x6a2d6f4, (q31_t)0x69c909d, (q31_t)0x6964a42, (q31_t)0x69003e3, (q31_t)0x689bd80, (q31_t)0x6837718, (q31_t)0x67d30ad, + (q31_t)0x676ea3d, (q31_t)0x670a3ca, (q31_t)0x66a5d53, (q31_t)0x66416d8, (q31_t)0x65dd058, (q31_t)0x65789d5, (q31_t)0x651434e, (q31_t)0x64afcc3, + (q31_t)0x644b634, (q31_t)0x63e6fa2, (q31_t)0x638290b, (q31_t)0x631e271, (q31_t)0x62b9bd3, (q31_t)0x6255531, (q31_t)0x61f0e8b, (q31_t)0x618c7e1, + (q31_t)0x6128134, (q31_t)0x60c3a83, (q31_t)0x605f3ce, (q31_t)0x5ffad15, (q31_t)0x5f96659, (q31_t)0x5f31f99, (q31_t)0x5ecd8d6, (q31_t)0x5e6920e, + (q31_t)0x5e04b43, (q31_t)0x5da0475, (q31_t)0x5d3bda3, (q31_t)0x5cd76cd, (q31_t)0x5c72ff4, (q31_t)0x5c0e917, (q31_t)0x5baa237, (q31_t)0x5b45b53, + (q31_t)0x5ae146b, (q31_t)0x5a7cd80, (q31_t)0x5a18692, (q31_t)0x59b3fa0, (q31_t)0x594f8aa, (q31_t)0x58eb1b2, (q31_t)0x5886ab5, (q31_t)0x58223b6, + (q31_t)0x57bdcb3, (q31_t)0x57595ac, (q31_t)0x56f4ea2, (q31_t)0x5690795, (q31_t)0x562c085, (q31_t)0x55c7971, (q31_t)0x556325a, (q31_t)0x54feb3f, + (q31_t)0x549a422, (q31_t)0x5435d01, (q31_t)0x53d15dd, (q31_t)0x536ceb5, (q31_t)0x530878a, (q31_t)0x52a405d, (q31_t)0x523f92c, (q31_t)0x51db1f7, + (q31_t)0x5176ac0, (q31_t)0x5112385, (q31_t)0x50adc48, (q31_t)0x5049507, (q31_t)0x4fe4dc3, (q31_t)0x4f8067c, (q31_t)0x4f1bf32, (q31_t)0x4eb77e5, + (q31_t)0x4e53095, (q31_t)0x4dee942, (q31_t)0x4d8a1ec, (q31_t)0x4d25a93, (q31_t)0x4cc1337, (q31_t)0x4c5cbd8, (q31_t)0x4bf8476, (q31_t)0x4b93d11, + (q31_t)0x4b2f5a9, (q31_t)0x4acae3e, (q31_t)0x4a666d1, (q31_t)0x4a01f60, (q31_t)0x499d7ed, (q31_t)0x4939077, (q31_t)0x48d48fe, (q31_t)0x4870182, + (q31_t)0x480ba04, (q31_t)0x47a7282, (q31_t)0x4742afe, (q31_t)0x46de377, (q31_t)0x4679bee, (q31_t)0x4615461, (q31_t)0x45b0cd2, (q31_t)0x454c541, + (q31_t)0x44e7dac, (q31_t)0x4483615, (q31_t)0x441ee7c, (q31_t)0x43ba6df, (q31_t)0x4355f40, (q31_t)0x42f179f, (q31_t)0x428cffb, (q31_t)0x4228854, + (q31_t)0x41c40ab, (q31_t)0x415f8ff, (q31_t)0x40fb151, (q31_t)0x40969a0, (q31_t)0x40321ed, (q31_t)0x3fcda37, (q31_t)0x3f6927f, (q31_t)0x3f04ac4, + (q31_t)0x3ea0307, (q31_t)0x3e3bb48, (q31_t)0x3dd7386, (q31_t)0x3d72bc2, (q31_t)0x3d0e3fb, (q31_t)0x3ca9c32, (q31_t)0x3c45467, (q31_t)0x3be0c99, + (q31_t)0x3b7c4c9, (q31_t)0x3b17cf7, (q31_t)0x3ab3523, (q31_t)0x3a4ed4c, (q31_t)0x39ea573, (q31_t)0x3985d97, (q31_t)0x39215ba, (q31_t)0x38bcdda, + (q31_t)0x38585f8, (q31_t)0x37f3e14, (q31_t)0x378f62e, (q31_t)0x372ae46, (q31_t)0x36c665b, (q31_t)0x3661e6f, (q31_t)0x35fd680, (q31_t)0x3598e8f, + (q31_t)0x353469c, (q31_t)0x34cfea8, (q31_t)0x346b6b1, (q31_t)0x3406eb8, (q31_t)0x33a26bd, (q31_t)0x333dec0, (q31_t)0x32d96c1, (q31_t)0x3274ec0, + (q31_t)0x32106bd, (q31_t)0x31abeb9, (q31_t)0x31476b2, (q31_t)0x30e2ea9, (q31_t)0x307e69f, (q31_t)0x3019e93, (q31_t)0x2fb5684, (q31_t)0x2f50e74, + (q31_t)0x2eec663, (q31_t)0x2e87e4f, (q31_t)0x2e2363a, (q31_t)0x2dbee22, (q31_t)0x2d5a609, (q31_t)0x2cf5def, (q31_t)0x2c915d2, (q31_t)0x2c2cdb4, + (q31_t)0x2bc8594, (q31_t)0x2b63d73, (q31_t)0x2aff54f, (q31_t)0x2a9ad2a, (q31_t)0x2a36504, (q31_t)0x29d1cdc, (q31_t)0x296d4b2, (q31_t)0x2908c87, + (q31_t)0x28a445a, (q31_t)0x283fc2b, (q31_t)0x27db3fb, (q31_t)0x2776bc9, (q31_t)0x2712396, (q31_t)0x26adb62, (q31_t)0x264932b, (q31_t)0x25e4af4, + (q31_t)0x25802bb, (q31_t)0x251ba80, (q31_t)0x24b7244, (q31_t)0x2452a07, (q31_t)0x23ee1c8, (q31_t)0x2389988, (q31_t)0x2325147, (q31_t)0x22c0904, + (q31_t)0x225c0bf, (q31_t)0x21f787a, (q31_t)0x2193033, (q31_t)0x212e7eb, (q31_t)0x20c9fa1, (q31_t)0x2065757, (q31_t)0x2000f0b, (q31_t)0x1f9c6be, + (q31_t)0x1f37e6f, (q31_t)0x1ed3620, (q31_t)0x1e6edcf, (q31_t)0x1e0a57d, (q31_t)0x1da5d2a, (q31_t)0x1d414d6, (q31_t)0x1cdcc80, (q31_t)0x1c7842a, + (q31_t)0x1c13bd2, (q31_t)0x1baf37a, (q31_t)0x1b4ab20, (q31_t)0x1ae62c5, (q31_t)0x1a81a69, (q31_t)0x1a1d20c, (q31_t)0x19b89ae, (q31_t)0x1954150, + (q31_t)0x18ef8f0, (q31_t)0x188b08f, (q31_t)0x182682d, (q31_t)0x17c1fcb, (q31_t)0x175d767, (q31_t)0x16f8f03, (q31_t)0x169469d, (q31_t)0x162fe37, + (q31_t)0x15cb5d0, (q31_t)0x1566d68, (q31_t)0x15024ff, (q31_t)0x149dc96, (q31_t)0x143942b, (q31_t)0x13d4bc0, (q31_t)0x1370354, (q31_t)0x130bae7, + (q31_t)0x12a727a, (q31_t)0x1242a0c, (q31_t)0x11de19d, (q31_t)0x117992e, (q31_t)0x11150be, (q31_t)0x10b084d, (q31_t)0x104bfdb, (q31_t)0xfe7769, + (q31_t)0xf82ef6, (q31_t)0xf1e683, (q31_t)0xeb9e0f, (q31_t)0xe5559b, (q31_t)0xdf0d26, (q31_t)0xd8c4b0, (q31_t)0xd27c3a, (q31_t)0xcc33c3, + (q31_t)0xc5eb4c, (q31_t)0xbfa2d5, (q31_t)0xb95a5d, (q31_t)0xb311e4, (q31_t)0xacc96b, (q31_t)0xa680f2, (q31_t)0xa03878, (q31_t)0x99effe, + (q31_t)0x93a784, (q31_t)0x8d5f09, (q31_t)0x87168e, (q31_t)0x80ce12, (q31_t)0x7a8597, (q31_t)0x743d1a, (q31_t)0x6df49e, (q31_t)0x67ac21, + (q31_t)0x6163a5, (q31_t)0x5b1b27, (q31_t)0x54d2aa, (q31_t)0x4e8a2c, (q31_t)0x4841af, (q31_t)0x41f931, (q31_t)0x3bb0b3, (q31_t)0x356835, + (q31_t)0x2f1fb6, (q31_t)0x28d738, (q31_t)0x228eb9, (q31_t)0x1c463b, (q31_t)0x15fdbc, (q31_t)0xfb53d, (q31_t)0x96cbe, (q31_t)0x3243f +}; + #endif + +/** + @} end of DCT4_IDCT4_Table group + */ + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FFT_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FAST_ALLOW_TABLES) + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_RECIP_Q15) +/** + @brief Q15 table for reciprocal +*/ +const q15_t __ALIGNED(4) armRecipTableQ15[64] = { + 0x7F03, 0x7D13, 0x7B31, 0x795E, 0x7798, 0x75E0, + 0x7434, 0x7294, 0x70FF, 0x6F76, 0x6DF6, 0x6C82, + 0x6B16, 0x69B5, 0x685C, 0x670C, 0x65C4, 0x6484, + 0x634C, 0x621C, 0x60F3, 0x5FD0, 0x5EB5, 0x5DA0, + 0x5C91, 0x5B88, 0x5A85, 0x5988, 0x5890, 0x579E, + 0x56B0, 0x55C8, 0x54E4, 0x5405, 0x532B, 0x5255, + 0x5183, 0x50B6, 0x4FEC, 0x4F26, 0x4E64, 0x4DA6, + 0x4CEC, 0x4C34, 0x4B81, 0x4AD0, 0x4A23, 0x4978, + 0x48D1, 0x482D, 0x478C, 0x46ED, 0x4651, 0x45B8, + 0x4521, 0x448D, 0x43FC, 0x436C, 0x42DF, 0x4255, + 0x41CC, 0x4146, 0x40C2, 0x4040 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_RECIP_Q31) + +/** + @brief Q31 table for reciprocal +*/ +const q31_t armRecipTableQ31[64] = { + 0x7F03F03F, 0x7D137420, 0x7B31E739, 0x795E9F94, 0x7798FD29, 0x75E06928, + 0x7434554D, 0x72943B4B, 0x70FF9C40, 0x6F760031, 0x6DF6F593, 0x6C8210E3, + 0x6B16EC3A, 0x69B526F6, 0x685C655F, 0x670C505D, 0x65C4952D, 0x6484E519, + 0x634CF53E, 0x621C7E4F, 0x60F33C61, 0x5FD0EEB3, 0x5EB55785, 0x5DA03BEB, + 0x5C9163A1, 0x5B8898E6, 0x5A85A85A, 0x598860DF, 0x58909373, 0x579E1318, + 0x56B0B4B8, 0x55C84F0B, 0x54E4BA80, 0x5405D124, 0x532B6E8F, 0x52556FD0, + 0x5183B35A, 0x50B618F3, 0x4FEC81A2, 0x4F26CFA2, 0x4E64E64E, 0x4DA6AA1D, + 0x4CEC008B, 0x4C34D010, 0x4B810016, 0x4AD078EF, 0x4A2323C4, 0x4978EA96, + 0x48D1B827, 0x482D77FE, 0x478C1657, 0x46ED801D, 0x4651A2E5, 0x45B86CE2, + 0x4521CCE1, 0x448DB244, 0x43FC0CFA, 0x436CCD78, 0x42DFE4B4, 0x42554426, + 0x41CCDDB6, 0x4146A3C6, 0x40C28923, 0x40408102 +}; + +#endif /* !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_F32) +/** + @par + Example code for the generation of the floating-point sine table: + 
+  tableSize = 512;
+  for (n = 0; n < (tableSize + 1); n++)
+  {
+ 	sinTable[n] = sin(2*PI*n/tableSize);
+  }
+ @par + where PI value is 3.14159265358979 + */ +const float32_t sinTable_f32[FAST_MATH_TABLE_SIZE + 1] = { + 0.00000000f, 0.01227154f, 0.02454123f, 0.03680722f, 0.04906767f, 0.06132074f, + 0.07356456f, 0.08579731f, 0.09801714f, 0.11022221f, 0.12241068f, 0.13458071f, + 0.14673047f, 0.15885814f, 0.17096189f, 0.18303989f, 0.19509032f, 0.20711138f, + 0.21910124f, 0.23105811f, 0.24298018f, 0.25486566f, 0.26671276f, 0.27851969f, + 0.29028468f, 0.30200595f, 0.31368174f, 0.32531029f, 0.33688985f, 0.34841868f, + 0.35989504f, 0.37131719f, 0.38268343f, 0.39399204f, 0.40524131f, 0.41642956f, + 0.42755509f, 0.43861624f, 0.44961133f, 0.46053871f, 0.47139674f, 0.48218377f, + 0.49289819f, 0.50353838f, 0.51410274f, 0.52458968f, 0.53499762f, 0.54532499f, + 0.55557023f, 0.56573181f, 0.57580819f, 0.58579786f, 0.59569930f, 0.60551104f, + 0.61523159f, 0.62485949f, 0.63439328f, 0.64383154f, 0.65317284f, 0.66241578f, + 0.67155895f, 0.68060100f, 0.68954054f, 0.69837625f, 0.70710678f, 0.71573083f, + 0.72424708f, 0.73265427f, 0.74095113f, 0.74913639f, 0.75720885f, 0.76516727f, + 0.77301045f, 0.78073723f, 0.78834643f, 0.79583690f, 0.80320753f, 0.81045720f, + 0.81758481f, 0.82458930f, 0.83146961f, 0.83822471f, 0.84485357f, 0.85135519f, + 0.85772861f, 0.86397286f, 0.87008699f, 0.87607009f, 0.88192126f, 0.88763962f, + 0.89322430f, 0.89867447f, 0.90398929f, 0.90916798f, 0.91420976f, 0.91911385f, + 0.92387953f, 0.92850608f, 0.93299280f, 0.93733901f, 0.94154407f, 0.94560733f, + 0.94952818f, 0.95330604f, 0.95694034f, 0.96043052f, 0.96377607f, 0.96697647f, + 0.97003125f, 0.97293995f, 0.97570213f, 0.97831737f, 0.98078528f, 0.98310549f, + 0.98527764f, 0.98730142f, 0.98917651f, 0.99090264f, 0.99247953f, 0.99390697f, + 0.99518473f, 0.99631261f, 0.99729046f, 0.99811811f, 0.99879546f, 0.99932238f, + 0.99969882f, 0.99992470f, 1.00000000f, 0.99992470f, 0.99969882f, 0.99932238f, + 0.99879546f, 0.99811811f, 0.99729046f, 0.99631261f, 0.99518473f, 0.99390697f, + 0.99247953f, 0.99090264f, 0.98917651f, 0.98730142f, 0.98527764f, 0.98310549f, + 0.98078528f, 0.97831737f, 0.97570213f, 0.97293995f, 0.97003125f, 0.96697647f, + 0.96377607f, 0.96043052f, 0.95694034f, 0.95330604f, 0.94952818f, 0.94560733f, + 0.94154407f, 0.93733901f, 0.93299280f, 0.92850608f, 0.92387953f, 0.91911385f, + 0.91420976f, 0.90916798f, 0.90398929f, 0.89867447f, 0.89322430f, 0.88763962f, + 0.88192126f, 0.87607009f, 0.87008699f, 0.86397286f, 0.85772861f, 0.85135519f, + 0.84485357f, 0.83822471f, 0.83146961f, 0.82458930f, 0.81758481f, 0.81045720f, + 0.80320753f, 0.79583690f, 0.78834643f, 0.78073723f, 0.77301045f, 0.76516727f, + 0.75720885f, 0.74913639f, 0.74095113f, 0.73265427f, 0.72424708f, 0.71573083f, + 0.70710678f, 0.69837625f, 0.68954054f, 0.68060100f, 0.67155895f, 0.66241578f, + 0.65317284f, 0.64383154f, 0.63439328f, 0.62485949f, 0.61523159f, 0.60551104f, + 0.59569930f, 0.58579786f, 0.57580819f, 0.56573181f, 0.55557023f, 0.54532499f, + 0.53499762f, 0.52458968f, 0.51410274f, 0.50353838f, 0.49289819f, 0.48218377f, + 0.47139674f, 0.46053871f, 0.44961133f, 0.43861624f, 0.42755509f, 0.41642956f, + 0.40524131f, 0.39399204f, 0.38268343f, 0.37131719f, 0.35989504f, 0.34841868f, + 0.33688985f, 0.32531029f, 0.31368174f, 0.30200595f, 0.29028468f, 0.27851969f, + 0.26671276f, 0.25486566f, 0.24298018f, 0.23105811f, 0.21910124f, 0.20711138f, + 0.19509032f, 0.18303989f, 0.17096189f, 0.15885814f, 0.14673047f, 0.13458071f, + 0.12241068f, 0.11022221f, 0.09801714f, 0.08579731f, 0.07356456f, 0.06132074f, + 0.04906767f, 0.03680722f, 0.02454123f, 0.01227154f, 0.00000000f, -0.01227154f, + -0.02454123f, -0.03680722f, -0.04906767f, -0.06132074f, -0.07356456f, + -0.08579731f, -0.09801714f, -0.11022221f, -0.12241068f, -0.13458071f, + -0.14673047f, -0.15885814f, -0.17096189f, -0.18303989f, -0.19509032f, + -0.20711138f, -0.21910124f, -0.23105811f, -0.24298018f, -0.25486566f, + -0.26671276f, -0.27851969f, -0.29028468f, -0.30200595f, -0.31368174f, + -0.32531029f, -0.33688985f, -0.34841868f, -0.35989504f, -0.37131719f, + -0.38268343f, -0.39399204f, -0.40524131f, -0.41642956f, -0.42755509f, + -0.43861624f, -0.44961133f, -0.46053871f, -0.47139674f, -0.48218377f, + -0.49289819f, -0.50353838f, -0.51410274f, -0.52458968f, -0.53499762f, + -0.54532499f, -0.55557023f, -0.56573181f, -0.57580819f, -0.58579786f, + -0.59569930f, -0.60551104f, -0.61523159f, -0.62485949f, -0.63439328f, + -0.64383154f, -0.65317284f, -0.66241578f, -0.67155895f, -0.68060100f, + -0.68954054f, -0.69837625f, -0.70710678f, -0.71573083f, -0.72424708f, + -0.73265427f, -0.74095113f, -0.74913639f, -0.75720885f, -0.76516727f, + -0.77301045f, -0.78073723f, -0.78834643f, -0.79583690f, -0.80320753f, + -0.81045720f, -0.81758481f, -0.82458930f, -0.83146961f, -0.83822471f, + -0.84485357f, -0.85135519f, -0.85772861f, -0.86397286f, -0.87008699f, + -0.87607009f, -0.88192126f, -0.88763962f, -0.89322430f, -0.89867447f, + -0.90398929f, -0.90916798f, -0.91420976f, -0.91911385f, -0.92387953f, + -0.92850608f, -0.93299280f, -0.93733901f, -0.94154407f, -0.94560733f, + -0.94952818f, -0.95330604f, -0.95694034f, -0.96043052f, -0.96377607f, + -0.96697647f, -0.97003125f, -0.97293995f, -0.97570213f, -0.97831737f, + -0.98078528f, -0.98310549f, -0.98527764f, -0.98730142f, -0.98917651f, + -0.99090264f, -0.99247953f, -0.99390697f, -0.99518473f, -0.99631261f, + -0.99729046f, -0.99811811f, -0.99879546f, -0.99932238f, -0.99969882f, + -0.99992470f, -1.00000000f, -0.99992470f, -0.99969882f, -0.99932238f, + -0.99879546f, -0.99811811f, -0.99729046f, -0.99631261f, -0.99518473f, + -0.99390697f, -0.99247953f, -0.99090264f, -0.98917651f, -0.98730142f, + -0.98527764f, -0.98310549f, -0.98078528f, -0.97831737f, -0.97570213f, + -0.97293995f, -0.97003125f, -0.96697647f, -0.96377607f, -0.96043052f, + -0.95694034f, -0.95330604f, -0.94952818f, -0.94560733f, -0.94154407f, + -0.93733901f, -0.93299280f, -0.92850608f, -0.92387953f, -0.91911385f, + -0.91420976f, -0.90916798f, -0.90398929f, -0.89867447f, -0.89322430f, + -0.88763962f, -0.88192126f, -0.87607009f, -0.87008699f, -0.86397286f, + -0.85772861f, -0.85135519f, -0.84485357f, -0.83822471f, -0.83146961f, + -0.82458930f, -0.81758481f, -0.81045720f, -0.80320753f, -0.79583690f, + -0.78834643f, -0.78073723f, -0.77301045f, -0.76516727f, -0.75720885f, + -0.74913639f, -0.74095113f, -0.73265427f, -0.72424708f, -0.71573083f, + -0.70710678f, -0.69837625f, -0.68954054f, -0.68060100f, -0.67155895f, + -0.66241578f, -0.65317284f, -0.64383154f, -0.63439328f, -0.62485949f, + -0.61523159f, -0.60551104f, -0.59569930f, -0.58579786f, -0.57580819f, + -0.56573181f, -0.55557023f, -0.54532499f, -0.53499762f, -0.52458968f, + -0.51410274f, -0.50353838f, -0.49289819f, -0.48218377f, -0.47139674f, + -0.46053871f, -0.44961133f, -0.43861624f, -0.42755509f, -0.41642956f, + -0.40524131f, -0.39399204f, -0.38268343f, -0.37131719f, -0.35989504f, + -0.34841868f, -0.33688985f, -0.32531029f, -0.31368174f, -0.30200595f, + -0.29028468f, -0.27851969f, -0.26671276f, -0.25486566f, -0.24298018f, + -0.23105811f, -0.21910124f, -0.20711138f, -0.19509032f, -0.18303989f, + -0.17096189f, -0.15885814f, -0.14673047f, -0.13458071f, -0.12241068f, + -0.11022221f, -0.09801714f, -0.08579731f, -0.07356456f, -0.06132074f, + -0.04906767f, -0.03680722f, -0.02454123f, -0.01227154f, -0.00000000f +}; +#endif /* defined(ARM_ALL_FAST_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_Q31) +/** + @par + Table values are in Q31 (1.31 fixed-point format) and generation is done in + three steps. First, generate sin values in floating point: + 
+  tableSize = 512;
+  for (n = 0; n < (tableSize + 1); n++)
+  {
+ 	sinTable[n] = sin(2*PI*n/tableSize);
+  }
+ where PI value is 3.14159265358979 + @par + Second, convert floating-point to Q31 (Fixed point): + (sinTable[i] * pow(2, 31)) + @par + Finally, round to the nearest integer value: + sinTable[i] += (sinTable[i] > 0 ? 0.5 : -0.5); + */ +const q31_t sinTable_q31[FAST_MATH_TABLE_SIZE + 1] = { + 0L, 26352928L, 52701887L, 79042909L, 105372028L, 131685278L, 157978697L, + 184248325L, 210490206L, 236700388L, 262874923L, 289009871L, 315101295L, + 341145265L, 367137861L, 393075166L, 418953276L, 444768294L, 470516330L, + 496193509L, 521795963L, 547319836L, 572761285L, 598116479L, 623381598L, + 648552838L, 673626408L, 698598533L, 723465451L, 748223418L, 772868706L, + 797397602L, 821806413L, 846091463L, 870249095L, 894275671L, 918167572L, + 941921200L, 965532978L, 988999351L, 1012316784L, 1035481766L, 1058490808L, + 1081340445L, 1104027237L, 1126547765L, 1148898640L, 1171076495L, 1193077991L, + 1214899813L, 1236538675L, 1257991320L, 1279254516L, 1300325060L, 1321199781L, + 1341875533L, 1362349204L, 1382617710L, 1402678000L, 1422527051L, 1442161874L, + 1461579514L, 1480777044L, 1499751576L, 1518500250L, 1537020244L, 1555308768L, + 1573363068L, 1591180426L, 1608758157L, 1626093616L, 1643184191L, 1660027308L, + 1676620432L, 1692961062L, 1709046739L, 1724875040L, 1740443581L, 1755750017L, + 1770792044L, 1785567396L, 1800073849L, 1814309216L, 1828271356L, 1841958164L, + 1855367581L, 1868497586L, 1881346202L, 1893911494L, 1906191570L, 1918184581L, + 1929888720L, 1941302225L, 1952423377L, 1963250501L, 1973781967L, 1984016189L, + 1993951625L, 2003586779L, 2012920201L, 2021950484L, 2030676269L, 2039096241L, + 2047209133L, 2055013723L, 2062508835L, 2069693342L, 2076566160L, 2083126254L, + 2089372638L, 2095304370L, 2100920556L, 2106220352L, 2111202959L, 2115867626L, + 2120213651L, 2124240380L, 2127947206L, 2131333572L, 2134398966L, 2137142927L, + 2139565043L, 2141664948L, 2143442326L, 2144896910L, 2146028480L, 2146836866L, + 2147321946L, 2147483647L, 2147321946L, 2146836866L, 2146028480L, 2144896910L, + 2143442326L, 2141664948L, 2139565043L, 2137142927L, 2134398966L, 2131333572L, + 2127947206L, 2124240380L, 2120213651L, 2115867626L, 2111202959L, 2106220352L, + 2100920556L, 2095304370L, 2089372638L, 2083126254L, 2076566160L, 2069693342L, + 2062508835L, 2055013723L, 2047209133L, 2039096241L, 2030676269L, 2021950484L, + 2012920201L, 2003586779L, 1993951625L, 1984016189L, 1973781967L, 1963250501L, + 1952423377L, 1941302225L, 1929888720L, 1918184581L, 1906191570L, 1893911494L, + 1881346202L, 1868497586L, 1855367581L, 1841958164L, 1828271356L, 1814309216L, + 1800073849L, 1785567396L, 1770792044L, 1755750017L, 1740443581L, 1724875040L, + 1709046739L, 1692961062L, 1676620432L, 1660027308L, 1643184191L, 1626093616L, + 1608758157L, 1591180426L, 1573363068L, 1555308768L, 1537020244L, 1518500250L, + 1499751576L, 1480777044L, 1461579514L, 1442161874L, 1422527051L, 1402678000L, + 1382617710L, 1362349204L, 1341875533L, 1321199781L, 1300325060L, 1279254516L, + 1257991320L, 1236538675L, 1214899813L, 1193077991L, 1171076495L, 1148898640L, + 1126547765L, 1104027237L, 1081340445L, 1058490808L, 1035481766L, 1012316784L, + 988999351L, 965532978L, 941921200L, 918167572L, 894275671L, 870249095L, + 846091463L, 821806413L, 797397602L, 772868706L, 748223418L, 723465451L, + 698598533L, 673626408L, 648552838L, 623381598L, 598116479L, 572761285L, + 547319836L, 521795963L, 496193509L, 470516330L, 444768294L, 418953276L, + 393075166L, 367137861L, 341145265L, 315101295L, 289009871L, 262874923L, + 236700388L, 210490206L, 184248325L, 157978697L, 131685278L, 105372028L, + 79042909L, 52701887L, 26352928L, 0L, -26352928L, -52701887L, -79042909L, + -105372028L, -131685278L, -157978697L, -184248325L, -210490206L, -236700388L, + -262874923L, -289009871L, -315101295L, -341145265L, -367137861L, -393075166L, + -418953276L, -444768294L, -470516330L, -496193509L, -521795963L, -547319836L, + -572761285L, -598116479L, -623381598L, -648552838L, -673626408L, -698598533L, + -723465451L, -748223418L, -772868706L, -797397602L, -821806413L, -846091463L, + -870249095L, -894275671L, -918167572L, -941921200L, -965532978L, -988999351L, + -1012316784L, -1035481766L, -1058490808L, -1081340445L, -1104027237L, + -1126547765L, -1148898640L, -1171076495L, -1193077991L, -1214899813L, + -1236538675L, -1257991320L, -1279254516L, -1300325060L, -1321199781L, + -1341875533L, -1362349204L, -1382617710L, -1402678000L, -1422527051L, + -1442161874L, -1461579514L, -1480777044L, -1499751576L, -1518500250L, + -1537020244L, -1555308768L, -1573363068L, -1591180426L, -1608758157L, + -1626093616L, -1643184191L, -1660027308L, -1676620432L, -1692961062L, + -1709046739L, -1724875040L, -1740443581L, -1755750017L, -1770792044L, + -1785567396L, -1800073849L, -1814309216L, -1828271356L, -1841958164L, + -1855367581L, -1868497586L, -1881346202L, -1893911494L, -1906191570L, + -1918184581L, -1929888720L, -1941302225L, -1952423377L, -1963250501L, + -1973781967L, -1984016189L, -1993951625L, -2003586779L, -2012920201L, + -2021950484L, -2030676269L, -2039096241L, -2047209133L, -2055013723L, + -2062508835L, -2069693342L, -2076566160L, -2083126254L, -2089372638L, + -2095304370L, -2100920556L, -2106220352L, -2111202959L, -2115867626L, + -2120213651L, -2124240380L, -2127947206L, -2131333572L, -2134398966L, + -2137142927L, -2139565043L, -2141664948L, -2143442326L, -2144896910L, + -2146028480L, -2146836866L, -2147321946L, (q31_t)0x80000000, -2147321946L, + -2146836866L, -2146028480L, -2144896910L, -2143442326L, -2141664948L, + -2139565043L, -2137142927L, -2134398966L, -2131333572L, -2127947206L, + -2124240380L, -2120213651L, -2115867626L, -2111202959L, -2106220352L, + -2100920556L, -2095304370L, -2089372638L, -2083126254L, -2076566160L, + -2069693342L, -2062508835L, -2055013723L, -2047209133L, -2039096241L, + -2030676269L, -2021950484L, -2012920201L, -2003586779L, -1993951625L, + -1984016189L, -1973781967L, -1963250501L, -1952423377L, -1941302225L, + -1929888720L, -1918184581L, -1906191570L, -1893911494L, -1881346202L, + -1868497586L, -1855367581L, -1841958164L, -1828271356L, -1814309216L, + -1800073849L, -1785567396L, -1770792044L, -1755750017L, -1740443581L, + -1724875040L, -1709046739L, -1692961062L, -1676620432L, -1660027308L, + -1643184191L, -1626093616L, -1608758157L, -1591180426L, -1573363068L, + -1555308768L, -1537020244L, -1518500250L, -1499751576L, -1480777044L, + -1461579514L, -1442161874L, -1422527051L, -1402678000L, -1382617710L, + -1362349204L, -1341875533L, -1321199781L, -1300325060L, -1279254516L, + -1257991320L, -1236538675L, -1214899813L, -1193077991L, -1171076495L, + -1148898640L, -1126547765L, -1104027237L, -1081340445L, -1058490808L, + -1035481766L, -1012316784L, -988999351L, -965532978L, -941921200L, + -918167572L, -894275671L, -870249095L, -846091463L, -821806413L, -797397602L, + -772868706L, -748223418L, -723465451L, -698598533L, -673626408L, -648552838L, + -623381598L, -598116479L, -572761285L, -547319836L, -521795963L, -496193509L, + -470516330L, -444768294L, -418953276L, -393075166L, -367137861L, -341145265L, + -315101295L, -289009871L, -262874923L, -236700388L, -210490206L, -184248325L, + -157978697L, -131685278L, -105372028L, -79042909L, -52701887L, -26352928L, 0 +}; + +#endif /* defined(ARM_ALL_FAST_TABLES) */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_Q15) +/** + @par + Table values are in Q15 (1.15 fixed-point format) and generation is done in + three steps. First, generate sin values in floating point: + 
+  tableSize = 512;
+  for (n = 0; n < (tableSize + 1); n++)
+  {
+ 	sinTable[n] = sin(2*PI*n/tableSize);
+  }
+ where PI value is 3.14159265358979 + @par + Second, convert floating-point to Q15 (Fixed point): + (sinTable[i] * pow(2, 15)) + @par + Finally, round to the nearest integer value: + sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5); + */ +const q15_t sinTable_q15[FAST_MATH_TABLE_SIZE + 1] = { + 0, 402, 804, 1206, 1608, 2009, 2411, 2811, 3212, 3612, 4011, 4410, 4808, + 5205, 5602, 5998, 6393, 6787, 7180, 7571, 7962, 8351, 8740, 9127, 9512, + 9896, 10279, 10660, 11039, 11417, 11793, 12167, 12540, 12910, 13279, + 13646, 14010, 14373, 14733, 15091, 15447, 15800, 16151, 16500, 16846, + 17190, 17531, 17869, 18205, 18538, 18868, 19195, 19520, 19841, 20160, + 20475, 20788, 21097, 21403, 21706, 22006, 22302, 22595, 22884, 23170, + 23453, 23732, 24008, 24279, 24548, 24812, 25073, 25330, 25583, 25833, + 26078, 26320, 26557, 26791, 27020, 27246, 27467, 27684, 27897, 28106, + 28311, 28511, 28707, 28899, 29086, 29269, 29448, 29622, 29792, 29957, + 30118, 30274, 30425, 30572, 30715, 30853, 30986, 31114, 31238, 31357, + 31471, 31581, 31686, 31786, 31881, 31972, 32058, 32138, 32214, 32286, + 32352, 32413, 32470, 32522, 32568, 32610, 32647, 32679, 32706, 32729, + 32746, 32758, 32766, 32767, 32766, 32758, 32746, 32729, 32706, 32679, + 32647, 32610, 32568, 32522, 32470, 32413, 32352, 32286, 32214, 32138, + 32058, 31972, 31881, 31786, 31686, 31581, 31471, 31357, 31238, 31114, + 30986, 30853, 30715, 30572, 30425, 30274, 30118, 29957, 29792, 29622, + 29448, 29269, 29086, 28899, 28707, 28511, 28311, 28106, 27897, 27684, + 27467, 27246, 27020, 26791, 26557, 26320, 26078, 25833, 25583, 25330, + 25073, 24812, 24548, 24279, 24008, 23732, 23453, 23170, 22884, 22595, + 22302, 22006, 21706, 21403, 21097, 20788, 20475, 20160, 19841, 19520, + 19195, 18868, 18538, 18205, 17869, 17531, 17190, 16846, 16500, 16151, + 15800, 15447, 15091, 14733, 14373, 14010, 13646, 13279, 12910, 12540, + 12167, 11793, 11417, 11039, 10660, 10279, 9896, 9512, 9127, 8740, 8351, + 7962, 7571, 7180, 6787, 6393, 5998, 5602, 5205, 4808, 4410, 4011, 3612, + 3212, 2811, 2411, 2009, 1608, 1206, 804, 402, 0, -402, -804, -1206, + -1608, -2009, -2411, -2811, -3212, -3612, -4011, -4410, -4808, -5205, + -5602, -5998, -6393, -6787, -7180, -7571, -7962, -8351, -8740, -9127, + -9512, -9896, -10279, -10660, -11039, -11417, -11793, -12167, -12540, + -12910, -13279, -13646, -14010, -14373, -14733, -15091, -15447, -15800, + -16151, -16500, -16846, -17190, -17531, -17869, -18205, -18538, -18868, + -19195, -19520, -19841, -20160, -20475, -20788, -21097, -21403, -21706, + -22006, -22302, -22595, -22884, -23170, -23453, -23732, -24008, -24279, + -24548, -24812, -25073, -25330, -25583, -25833, -26078, -26320, -26557, + -26791, -27020, -27246, -27467, -27684, -27897, -28106, -28311, -28511, + -28707, -28899, -29086, -29269, -29448, -29622, -29792, -29957, -30118, + -30274, -30425, -30572, -30715, -30853, -30986, -31114, -31238, -31357, + -31471, -31581, -31686, -31786, -31881, -31972, -32058, -32138, -32214, + -32286, -32352, -32413, -32470, -32522, -32568, -32610, -32647, -32679, + -32706, -32729, -32746, -32758, -32766, -32768, -32766, -32758, -32746, + -32729, -32706, -32679, -32647, -32610, -32568, -32522, -32470, -32413, + -32352, -32286, -32214, -32138, -32058, -31972, -31881, -31786, -31686, + -31581, -31471, -31357, -31238, -31114, -30986, -30853, -30715, -30572, + -30425, -30274, -30118, -29957, -29792, -29622, -29448, -29269, -29086, + -28899, -28707, -28511, -28311, -28106, -27897, -27684, -27467, -27246, + -27020, -26791, -26557, -26320, -26078, -25833, -25583, -25330, -25073, + -24812, -24548, -24279, -24008, -23732, -23453, -23170, -22884, -22595, + -22302, -22006, -21706, -21403, -21097, -20788, -20475, -20160, -19841, + -19520, -19195, -18868, -18538, -18205, -17869, -17531, -17190, -16846, + -16500, -16151, -15800, -15447, -15091, -14733, -14373, -14010, -13646, + -13279, -12910, -12540, -12167, -11793, -11417, -11039, -10660, -10279, + -9896, -9512, -9127, -8740, -8351, -7962, -7571, -7180, -6787, -6393, + -5998, -5602, -5205, -4808, -4410, -4011, -3612, -3212, -2811, -2411, + -2009, -1608, -1206, -804, -402, 0 +}; +#endif /* defined(ARM_ALL_FAST_TABLES) */ + +#if defined(ARM_MATH_MVEI) + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_FAST_SQRT_Q31_MVE) +const q31_t sqrtTable_Q31[256] = { + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x5ffffffe, 0x7ffffffa, 0x5e88c596, 0x7a39e2ff, + 0x5d2238d8, 0x74dfa6b1, 0x5bcb268e, 0x6fe69562, + 0x5a827998, 0x6b454dba, 0x5947373a, 0x66f39063, + 0x58187bf8, 0x62ea1669, 0x56f578e6, 0x5f226e5f, + 0x55dd714e, 0x5b96df40, 0x54cfb8b0, 0x58424fca, + 0x53cbb102, 0x552031c7, 0x52d0c92c, 0x522c7048, + 0x51de7bb2, 0x4f6360a9, 0x50f44d86, 0x4cc1b594, + 0x5011cd0a, 0x4a4473f6, 0x4f36911a, 0x47e8e962, + 0x4e62384e, 0x45aca3d0, 0x4d946838, 0x438d6a6a, + 0x4cccccca, 0x41893746, 0x4c0b17c0, 0x3f9e31fa, + 0x4b4f0022, 0x3dcaaac3, 0x4a9841ce, 0x3c0d1660, + 0x49e69d14, 0x3a640a53, 0x4939d654, 0x38ce39a6, + 0x4891b5b2, 0x374a720b, 0x47ee06ba, 0x35d7993c, + 0x474e9830, 0x3474aacc, 0x46b33bc0, 0x3320b60c, + 0x461bc5d2, 0x31dadc4f, 0x45880d4c, 0x30a24f3c, + 0x44f7eb6a, 0x2f764f6a, 0x446b3b92, 0x2e562b0b, + 0x43e1db32, 0x2d413cc9, 0x435ba98a, 0x2c36eab0, + 0x42d887a4, 0x2b36a542, 0x42585824, 0x2a3fe69b, + 0x41daff34, 0x295231b0, 0x41606266, 0x286d118d, + 0x40e868a4, 0x279018c3, 0x4072fa10, 0x26bae0c8, + 0x3ffffffe, 0x25ed0979, 0x3f8f64d2, 0x25263894, + 0x3f2113f8, 0x24661958, 0x3eb4f9d8, 0x23ac5c10, + 0x3e4b03ba, 0x22f8b5bb, 0x3de31fc4, 0x224adfba, + 0x3d7d3cee, 0x21a2977a, 0x3d194ae8, 0x20ff9e30, + 0x3cb73a24, 0x2061b89a, 0x3c56fbba, 0x1fc8aebb, + 0x3bf88166, 0x1f344ba6, 0x3b9bbd80, 0x1ea45d4b, + 0x3b40a2f0, 0x1e18b448, 0x3ae7252e, 0x1d9123b9, + 0x3a8f382c, 0x1d0d8113, 0x3a38d062, 0x1c8da3fb, + 0x39e3e2b6, 0x1c116628, 0x39906482, 0x1b98a33c, + 0x393e4b8a, 0x1b2338aa, 0x38ed8df6, 0x1ab1059a, + 0x389e2250, 0x1a41eace, 0x384fff7a, 0x19d5ca89, + 0x38031cb2, 0x196c887b, 0x37b77184, 0x190609a9, + 0x376cf5ce, 0x18a2345b, 0x3723a1ba, 0x1840f00a, + 0x36db6db6, 0x17e22550, 0x36945276, 0x1785bdd2, + 0x364e48f4, 0x172ba43e, 0x36094a64, 0x16d3c42c, + 0x35c55036, 0x167e0a1f, 0x35825414, 0x162a6372, + 0x35404fde, 0x15d8be4d, 0x34ff3dac, 0x1589099d, + 0x34bf17c4, 0x153b3508, 0x347fd89e, 0x14ef30e4, + 0x34417ade, 0x14a4ee2a, 0x3403f956, 0x145c5e76, + 0x33c74f02, 0x141573fa, 0x338b7706, 0x13d02171, + 0x33506cae, 0x138c5a28, 0x33162b6a, 0x134a11e6, + 0x32dcaed0, 0x13093cee, 0x32a3f294, 0x12c9cffa, + 0x326bf292, 0x128bc034, 0x3234aac0, 0x124f0330, + 0x31fe1736, 0x12138ee5, 0x31c83428, 0x11d959b0, + 0x3192fde6, 0x11a05a45, 0x315e70de, 0x116887b5, + 0x312a8994, 0x1131d960, 0x30f744aa, 0x10fc46fd, + 0x30c49ed6, 0x10c7c88b, 0x309294ea, 0x10945653, + 0x306123cc, 0x1061e8e6, 0x30304878, 0x10307919 +}; + #endif /* !defined(ARM_DSP_CONFIG_TABLES) defined(ARM_ALL_FAST_TABLES) */ + + #if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_FAST_SQRT_Q15_MVE) +const q15_t sqrtTable_Q15[256] = { + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, + 0x5fff, 0x7fff, 0x5e88, 0x7a39, + 0x5d22, 0x74df, 0x5bcb, 0x6fe6, + 0x5a82, 0x6b45, 0x5947, 0x66f3, + 0x5818, 0x62ea, 0x56f5, 0x5f22, + 0x55dd, 0x5b96, 0x54cf, 0x5842, + 0x53cb, 0x5520, 0x52d0, 0x522c, + 0x51de, 0x4f63, 0x50f4, 0x4cc1, + 0x5011, 0x4a44, 0x4f36, 0x47e8, + 0x4e62, 0x45ac, 0x4d94, 0x438d, + 0x4ccc, 0x4189, 0x4c0b, 0x3f9e, + 0x4b4f, 0x3dca, 0x4a98, 0x3c0d, + 0x49e6, 0x3a64, 0x4939, 0x38ce, + 0x4891, 0x374a, 0x47ee, 0x35d7, + 0x474e, 0x3474, 0x46b3, 0x3320, + 0x461b, 0x31da, 0x4588, 0x30a2, + 0x44f7, 0x2f76, 0x446b, 0x2e56, + 0x43e1, 0x2d41, 0x435b, 0x2c36, + 0x42d8, 0x2b36, 0x4258, 0x2a3f, + 0x41da, 0x2952, 0x4160, 0x286d, + 0x40e8, 0x2790, 0x4072, 0x26ba, + 0x3fff, 0x25ed, 0x3f8f, 0x2526, + 0x3f21, 0x2466, 0x3eb4, 0x23ac, + 0x3e4b, 0x22f8, 0x3de3, 0x224a, + 0x3d7d, 0x21a2, 0x3d19, 0x20ff, + 0x3cb7, 0x2061, 0x3c56, 0x1fc8, + 0x3bf8, 0x1f34, 0x3b9b, 0x1ea4, + 0x3b40, 0x1e18, 0x3ae7, 0x1d91, + 0x3a8f, 0x1d0d, 0x3a38, 0x1c8d, + 0x39e3, 0x1c11, 0x3990, 0x1b98, + 0x393e, 0x1b23, 0x38ed, 0x1ab1, + 0x389e, 0x1a41, 0x384f, 0x19d5, + 0x3803, 0x196c, 0x37b7, 0x1906, + 0x376c, 0x18a2, 0x3723, 0x1840, + 0x36db, 0x17e2, 0x3694, 0x1785, + 0x364e, 0x172b, 0x3609, 0x16d3, + 0x35c5, 0x167e, 0x3582, 0x162a, + 0x3540, 0x15d8, 0x34ff, 0x1589, + 0x34bf, 0x153b, 0x347f, 0x14ef, + 0x3441, 0x14a4, 0x3403, 0x145c, + 0x33c7, 0x1415, 0x338b, 0x13d0, + 0x3350, 0x138c, 0x3316, 0x134a, + 0x32dc, 0x1309, 0x32a3, 0x12c9, + 0x326b, 0x128b, 0x3234, 0x124f, + 0x31fe, 0x1213, 0x31c8, 0x11d9, + 0x3192, 0x11a0, 0x315e, 0x1168, + 0x312a, 0x1131, 0x30f7, 0x10fc, + 0x30c4, 0x10c7, 0x3092, 0x1094, + 0x3061, 0x1061, 0x3030, 0x1030 +}; + #endif +#endif /* defined(ARM_MATH_MVEI) */ + + +#endif /* if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FAST_TABLES) */ + +#if (defined(ARM_MATH_MVEF) || defined(ARM_MATH_HELIUM)) && !defined(ARM_MATH_AUTOVECTORIZE) +const float32_t exp_tab[8] = { + (1.f), + (0.0416598916054f), + (0.500000596046f), + (0.0014122662833f), + (1.00000011921f), + (0.00833693705499f), + (0.166665703058f), + (0.000195780929062f), +}; + +const float32_t __logf_lut_f32[8] = { + -2.295614848256274, /*p0*/ + -2.470711633419806, /*p4*/ + -5.686926051100417, /*p2*/ + -0.165253547131978, /*p6*/ + +5.175912446351073, /*p1*/ + +0.844006986174912, /*p5*/ + +4.584458825456749, /*p3*/ + +0.014127821926000 /*p7*/ +}; + +#endif /* (defined(ARM_MATH_MVEF) || defined(ARM_MATH_HELIUM)) && !defined(ARM_MATH_AUTOVECTORIZE) */ + +#if (defined(ARM_MATH_MVEI) || defined(ARM_MATH_HELIUM)) + +/* haming weight LUT for bytes */ +#define B2(n) n, n + 1, n + 1, n + 2 +#define B4(n) B2(n) , B2(n + 1), B2(n + 1), B2(n + 2) +#define B6(n) B4(n) , B4(n + 1), B4(n + 1), B4(n + 2) + +// Lookup table that store the reverse of each table +const unsigned char hwLUT[256] = { B6(0), B6(1), B6(1), B6(2) }; + +#endif /* (defined(ARM_MATH_MVEI) || defined(ARM_MATH_HELIUM)) */ diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/CommonTables/arm_const_structs.c b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/CommonTables/arm_const_structs.c new file mode 100644 index 0000000000..5d3f7aae58 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/CommonTables/arm_const_structs.c @@ -0,0 +1,663 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_const_structs.c + * Description: Constant structs that are initialized for user convenience. + * For example, some can be given as arguments to the arm_cfft_f32() or arm_rfft_f32() functions. + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 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 "arm_math.h" +#include "arm_const_structs.h" + +/* +ALLOW TABLE is true when config table is enabled and the Tramsform folder is included +for compilation. +*/ +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FFT_ALLOW_TABLES) + +/* Floating-point structs */ +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_16) && defined(ARM_TABLE_BITREVIDX_FLT64_16)) +const arm_cfft_instance_f64 arm_cfft_sR_f64_len16 = { + 16, (const float64_t *)twiddleCoefF64_16, armBitRevIndexTableF64_16, ARMBITREVINDEXTABLEF64_16_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_32) && defined(ARM_TABLE_BITREVIDX_FLT64_32)) +const arm_cfft_instance_f64 arm_cfft_sR_f64_len32 = { + 32, (const float64_t *)twiddleCoefF64_32, armBitRevIndexTableF64_32, ARMBITREVINDEXTABLEF64_32_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_64) && defined(ARM_TABLE_BITREVIDX_FLT64_64)) +const arm_cfft_instance_f64 arm_cfft_sR_f64_len64 = { + 64, (const float64_t *)twiddleCoefF64_64, armBitRevIndexTableF64_64, ARMBITREVINDEXTABLEF64_64_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_128) && defined(ARM_TABLE_BITREVIDX_FLT64_128)) +const arm_cfft_instance_f64 arm_cfft_sR_f64_len128 = { + 128, (const float64_t *)twiddleCoefF64_128, armBitRevIndexTableF64_128, ARMBITREVINDEXTABLEF64_128_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_256) && defined(ARM_TABLE_BITREVIDX_FLT64_256)) +const arm_cfft_instance_f64 arm_cfft_sR_f64_len256 = { + 256, (const float64_t *)twiddleCoefF64_256, armBitRevIndexTableF64_256, ARMBITREVINDEXTABLEF64_256_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_512) && defined(ARM_TABLE_BITREVIDX_FLT64_512)) +const arm_cfft_instance_f64 arm_cfft_sR_f64_len512 = { + 512, (const float64_t *)twiddleCoefF64_512, armBitRevIndexTableF64_512, ARMBITREVINDEXTABLEF64_512_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_1024) && defined(ARM_TABLE_BITREVIDX_FLT64_1024)) +const arm_cfft_instance_f64 arm_cfft_sR_f64_len1024 = { + 1024, (const float64_t *)twiddleCoefF64_1024, armBitRevIndexTableF64_1024, ARMBITREVINDEXTABLEF64_1024_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_2048) && defined(ARM_TABLE_BITREVIDX_FLT64_2048)) +const arm_cfft_instance_f64 arm_cfft_sR_f64_len2048 = { + 2048, (const float64_t *)twiddleCoefF64_2048, armBitRevIndexTableF64_2048, ARMBITREVINDEXTABLEF64_2048_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_4096) && defined(ARM_TABLE_BITREVIDX_FLT64_4096)) +const arm_cfft_instance_f64 arm_cfft_sR_f64_len4096 = { + 4096, (const float64_t *)twiddleCoefF64_4096, armBitRevIndexTableF64_4096, ARMBITREVINDEXTABLEF64_4096_TABLE_LENGTH +}; +#endif + +/* Floating-point structs */ +#if !defined(ARM_MATH_MVEF) || defined(ARM_MATH_AUTOVECTORIZE) + +/* + +Those structures cannot be used to initialize the MVE version of the FFT F32 instances. +So they are not compiled when MVE is defined. + +For the MVE version, the new arm_cfft_init_f32 must be used. + + +*/ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_16) && defined(ARM_TABLE_BITREVIDX_FLT_16)) +const arm_cfft_instance_f32 arm_cfft_sR_f32_len16 = { + 16, twiddleCoef_16, armBitRevIndexTable16, ARMBITREVINDEXTABLE_16_TABLE_LENGTH +}; +#endif + + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_32) && defined(ARM_TABLE_BITREVIDX_FLT_32)) +const arm_cfft_instance_f32 arm_cfft_sR_f32_len32 = { + 32, twiddleCoef_32, armBitRevIndexTable32, ARMBITREVINDEXTABLE_32_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_64) && defined(ARM_TABLE_BITREVIDX_FLT_64)) +const arm_cfft_instance_f32 arm_cfft_sR_f32_len64 = { + 64, twiddleCoef_64, armBitRevIndexTable64, ARMBITREVINDEXTABLE_64_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_128) && defined(ARM_TABLE_BITREVIDX_FLT_128)) +const arm_cfft_instance_f32 arm_cfft_sR_f32_len128 = { + 128, twiddleCoef_128, armBitRevIndexTable128, ARMBITREVINDEXTABLE_128_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_256) && defined(ARM_TABLE_BITREVIDX_FLT_256)) +const arm_cfft_instance_f32 arm_cfft_sR_f32_len256 = { + 256, twiddleCoef_256, armBitRevIndexTable256, ARMBITREVINDEXTABLE_256_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_512) && defined(ARM_TABLE_BITREVIDX_FLT_512)) +const arm_cfft_instance_f32 arm_cfft_sR_f32_len512 = { + 512, twiddleCoef_512, armBitRevIndexTable512, ARMBITREVINDEXTABLE_512_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_1024) && defined(ARM_TABLE_BITREVIDX_FLT_1024)) +const arm_cfft_instance_f32 arm_cfft_sR_f32_len1024 = { + 1024, twiddleCoef_1024, armBitRevIndexTable1024, ARMBITREVINDEXTABLE_1024_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_2048) && defined(ARM_TABLE_BITREVIDX_FLT_2048)) +const arm_cfft_instance_f32 arm_cfft_sR_f32_len2048 = { + 2048, twiddleCoef_2048, armBitRevIndexTable2048, ARMBITREVINDEXTABLE_2048_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_4096) && defined(ARM_TABLE_BITREVIDX_FLT_4096)) +const arm_cfft_instance_f32 arm_cfft_sR_f32_len4096 = { + 4096, twiddleCoef_4096, armBitRevIndexTable4096, ARMBITREVINDEXTABLE_4096_TABLE_LENGTH +}; +#endif + +#endif /* !defined(ARM_MATH_MVEF) || defined(ARM_MATH_AUTOVECTORIZE) */ + +/* Fixed-point structs */ + +#if !defined(ARM_MATH_MVEI) + +/* + +Those structures cannot be used to initialize the MVE version of the FFT Q31 instances. +So they are not compiled when MVE is defined. + +For the MVE version, the new arm_cfft_init_f32 must be used. + + +*/ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q31_16) && defined(ARM_TABLE_BITREVIDX_FXT_16)) +const arm_cfft_instance_q31 arm_cfft_sR_q31_len16 = { + 16, twiddleCoef_16_q31, armBitRevIndexTable_fixed_16, ARMBITREVINDEXTABLE_FIXED_16_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q31_32) && defined(ARM_TABLE_BITREVIDX_FXT_32)) +const arm_cfft_instance_q31 arm_cfft_sR_q31_len32 = { + 32, twiddleCoef_32_q31, armBitRevIndexTable_fixed_32, ARMBITREVINDEXTABLE_FIXED_32_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q31_64) && defined(ARM_TABLE_BITREVIDX_FXT_64)) +const arm_cfft_instance_q31 arm_cfft_sR_q31_len64 = { + 64, twiddleCoef_64_q31, armBitRevIndexTable_fixed_64, ARMBITREVINDEXTABLE_FIXED_64_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q31_128) && defined(ARM_TABLE_BITREVIDX_FXT_128)) +const arm_cfft_instance_q31 arm_cfft_sR_q31_len128 = { + 128, twiddleCoef_128_q31, armBitRevIndexTable_fixed_128, ARMBITREVINDEXTABLE_FIXED_128_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q31_256) && defined(ARM_TABLE_BITREVIDX_FXT_256)) +const arm_cfft_instance_q31 arm_cfft_sR_q31_len256 = { + 256, twiddleCoef_256_q31, armBitRevIndexTable_fixed_256, ARMBITREVINDEXTABLE_FIXED_256_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q31_512) && defined(ARM_TABLE_BITREVIDX_FXT_512)) +const arm_cfft_instance_q31 arm_cfft_sR_q31_len512 = { + 512, twiddleCoef_512_q31, armBitRevIndexTable_fixed_512, ARMBITREVINDEXTABLE_FIXED_512_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q31_1024) && defined(ARM_TABLE_BITREVIDX_FXT_1024)) +const arm_cfft_instance_q31 arm_cfft_sR_q31_len1024 = { + 1024, twiddleCoef_1024_q31, armBitRevIndexTable_fixed_1024, ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q31_2048) && defined(ARM_TABLE_BITREVIDX_FXT_2048)) +const arm_cfft_instance_q31 arm_cfft_sR_q31_len2048 = { + 2048, twiddleCoef_2048_q31, armBitRevIndexTable_fixed_2048, ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q31_4096) && defined(ARM_TABLE_BITREVIDX_FXT_4096)) +const arm_cfft_instance_q31 arm_cfft_sR_q31_len4096 = { + 4096, twiddleCoef_4096_q31, armBitRevIndexTable_fixed_4096, ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH +}; +#endif + + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_16) && defined(ARM_TABLE_BITREVIDX_FXT_16)) +const arm_cfft_instance_q15 arm_cfft_sR_q15_len16 = { + 16, twiddleCoef_16_q15, armBitRevIndexTable_fixed_16, ARMBITREVINDEXTABLE_FIXED_16_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_32) && defined(ARM_TABLE_BITREVIDX_FXT_32)) +const arm_cfft_instance_q15 arm_cfft_sR_q15_len32 = { + 32, twiddleCoef_32_q15, armBitRevIndexTable_fixed_32, ARMBITREVINDEXTABLE_FIXED_32_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_64) && defined(ARM_TABLE_BITREVIDX_FXT_64)) +const arm_cfft_instance_q15 arm_cfft_sR_q15_len64 = { + 64, twiddleCoef_64_q15, armBitRevIndexTable_fixed_64, ARMBITREVINDEXTABLE_FIXED_64_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_128) && defined(ARM_TABLE_BITREVIDX_FXT_128)) +const arm_cfft_instance_q15 arm_cfft_sR_q15_len128 = { + 128, twiddleCoef_128_q15, armBitRevIndexTable_fixed_128, ARMBITREVINDEXTABLE_FIXED_128_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_256) && defined(ARM_TABLE_BITREVIDX_FXT_256)) +const arm_cfft_instance_q15 arm_cfft_sR_q15_len256 = { + 256, twiddleCoef_256_q15, armBitRevIndexTable_fixed_256, ARMBITREVINDEXTABLE_FIXED_256_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_512) && defined(ARM_TABLE_BITREVIDX_FXT_512)) +const arm_cfft_instance_q15 arm_cfft_sR_q15_len512 = { + 512, twiddleCoef_512_q15, armBitRevIndexTable_fixed_512, ARMBITREVINDEXTABLE_FIXED_512_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_1024) && defined(ARM_TABLE_BITREVIDX_FXT_1024)) +const arm_cfft_instance_q15 arm_cfft_sR_q15_len1024 = { + 1024, twiddleCoef_1024_q15, armBitRevIndexTable_fixed_1024, ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_2048) && defined(ARM_TABLE_BITREVIDX_FXT_2048)) +const arm_cfft_instance_q15 arm_cfft_sR_q15_len2048 = { + 2048, twiddleCoef_2048_q15, armBitRevIndexTable_fixed_2048, ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_4096) && defined(ARM_TABLE_BITREVIDX_FXT_4096)) +const arm_cfft_instance_q15 arm_cfft_sR_q15_len4096 = { + 4096, twiddleCoef_4096_q15, armBitRevIndexTable_fixed_4096, ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH +}; +#endif + +#endif /* !defined(ARM_MATH_MVEI) */ + +/* Structure for real-value inputs */ +/* Double precision strucs */ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_32) && defined(ARM_TABLE_BITREVIDX_FLT64_32) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_32)) +const arm_rfft_fast_instance_f64 arm_rfft_fast_sR_f64_len32 = { + { 16, (const float64_t *)twiddleCoefF64_16, armBitRevIndexTableF64_16, ARMBITREVINDEXTABLEF64_16_TABLE_LENGTH }, + 32U, + (float64_t *)twiddleCoefF64_rfft_32 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_64) && defined(ARM_TABLE_BITREVIDX_FLT64_64) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_64)) +const arm_rfft_fast_instance_f64 arm_rfft_fast_sR_f64_len64 = { + { 32, (const float64_t *)twiddleCoefF64_32, armBitRevIndexTableF64_32, ARMBITREVINDEXTABLEF64_32_TABLE_LENGTH }, + 64U, + (float64_t *)twiddleCoefF64_rfft_64 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_128) && defined(ARM_TABLE_BITREVIDX_FLT64_128) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_128)) +const arm_rfft_fast_instance_f64 arm_rfft_fast_sR_f64_len128 = { + { 64, (const float64_t *)twiddleCoefF64_64, armBitRevIndexTableF64_64, ARMBITREVINDEXTABLEF64_64_TABLE_LENGTH }, + 128U, + (float64_t *)twiddleCoefF64_rfft_128 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_256) && defined(ARM_TABLE_BITREVIDX_FLT64_256) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_256)) +const arm_rfft_fast_instance_f64 arm_rfft_fast_sR_f64_len256 = { + { 128, (const float64_t *)twiddleCoefF64_128, armBitRevIndexTableF64_128, ARMBITREVINDEXTABLEF64_128_TABLE_LENGTH }, + 256U, + (float64_t *)twiddleCoefF64_rfft_256 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_512) && defined(ARM_TABLE_BITREVIDX_FLT64_512) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_512)) +const arm_rfft_fast_instance_f64 arm_rfft_fast_sR_f64_len512 = { + { 256, (const float64_t *)twiddleCoefF64_256, armBitRevIndexTableF64_256, ARMBITREVINDEXTABLEF64_256_TABLE_LENGTH }, + 512U, + (float64_t *)twiddleCoefF64_rfft_512 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_1024) && defined(ARM_TABLE_BITREVIDX_FLT64_1024) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_1024)) +const arm_rfft_fast_instance_f64 arm_rfft_fast_sR_f64_len1024 = { + { 512, (const float64_t *)twiddleCoefF64_512, armBitRevIndexTableF64_512, ARMBITREVINDEXTABLEF64_512_TABLE_LENGTH }, + 1024U, + (float64_t *)twiddleCoefF64_rfft_1024 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_2048) && defined(ARM_TABLE_BITREVIDX_FLT64_2048) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_2048)) +const arm_rfft_fast_instance_f64 arm_rfft_fast_sR_f64_len2048 = { + { 1024, (const float64_t *)twiddleCoefF64_1024, armBitRevIndexTableF64_1024, ARMBITREVINDEXTABLEF64_1024_TABLE_LENGTH }, + 2048U, + (float64_t *)twiddleCoefF64_rfft_2048 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F64_4096) && defined(ARM_TABLE_BITREVIDX_FLT64_4096) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F64_4096)) +const arm_rfft_fast_instance_f64 arm_rfft_fast_sR_f64_len4096 = { + { 2048, (const float64_t *)twiddleCoefF64_2048, armBitRevIndexTableF64_2048, ARMBITREVINDEXTABLEF64_2048_TABLE_LENGTH }, + 4096U, + (float64_t *)twiddleCoefF64_rfft_4096 +}; +#endif + +/* Floating-point structs */ + +#if !defined(ARM_MATH_MVEF) || defined(ARM_MATH_AUTOVECTORIZE) + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_32) && defined(ARM_TABLE_BITREVIDX_FLT_32) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_32)) +const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len32 = { + { 16, twiddleCoef_16, armBitRevIndexTable16, ARMBITREVINDEXTABLE_16_TABLE_LENGTH }, + 32U, + (float32_t *)twiddleCoef_rfft_32 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_64) && defined(ARM_TABLE_BITREVIDX_FLT_64) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_64)) +const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len64 = { + { 32, twiddleCoef_32, armBitRevIndexTable32, ARMBITREVINDEXTABLE_32_TABLE_LENGTH }, + 64U, + (float32_t *)twiddleCoef_rfft_64 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_128) && defined(ARM_TABLE_BITREVIDX_FLT_128) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_128)) +const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len128 = { + { 64, twiddleCoef_64, armBitRevIndexTable64, ARMBITREVINDEXTABLE_64_TABLE_LENGTH }, + 128U, + (float32_t *)twiddleCoef_rfft_128 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_256) && defined(ARM_TABLE_BITREVIDX_FLT_256) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_256)) +const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len256 = { + { 128, twiddleCoef_128, armBitRevIndexTable128, ARMBITREVINDEXTABLE_128_TABLE_LENGTH }, + 256U, + (float32_t *)twiddleCoef_rfft_256 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_512) && defined(ARM_TABLE_BITREVIDX_FLT_512) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_512)) +const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len512 = { + { 256, twiddleCoef_256, armBitRevIndexTable256, ARMBITREVINDEXTABLE_256_TABLE_LENGTH }, + 512U, + (float32_t *)twiddleCoef_rfft_512 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_1024) && defined(ARM_TABLE_BITREVIDX_FLT_1024) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_1024)) +const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len1024 = { + { 512, twiddleCoef_512, armBitRevIndexTable512, ARMBITREVINDEXTABLE_512_TABLE_LENGTH }, + 1024U, + (float32_t *)twiddleCoef_rfft_1024 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_2048) && defined(ARM_TABLE_BITREVIDX_FLT_2048) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_2048)) +const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len2048 = { + { 1024, twiddleCoef_1024, armBitRevIndexTable1024, ARMBITREVINDEXTABLE_1024_TABLE_LENGTH }, + 2048U, + (float32_t *)twiddleCoef_rfft_2048 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_F32_4096) && defined(ARM_TABLE_BITREVIDX_FLT_4096) && defined(ARM_TABLE_TWIDDLECOEF_RFFT_F32_4096)) +const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len4096 = { + { 2048, twiddleCoef_2048, armBitRevIndexTable2048, ARMBITREVINDEXTABLE_2048_TABLE_LENGTH }, + 4096U, + (float32_t *)twiddleCoef_rfft_4096 +}; +#endif + +#endif /* #if !defined(ARM_MATH_MVEF) || defined(ARM_MATH_AUTOVECTORIZE) */ + +/* Fixed-point structs */ +/* q31_t */ + +#if !defined(ARM_MATH_MVEI) + +/* + +Those structures cannot be used to initialize the MVE version of the FFT Q31 instances. +So they are not compiled when MVE is defined. + +For the MVE version, the new arm_cfft_init_f32 must be used. + + +*/ + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q31) && defined(ARM_TABLE_TWIDDLECOEF_Q31_16) && defined(ARM_TABLE_BITREVIDX_FXT_16)) +const arm_rfft_instance_q31 arm_rfft_sR_q31_len32 = { + 32U, + 0, + 1, + 256U, + (q31_t*)realCoefAQ31, + (q31_t*)realCoefBQ31, + &arm_cfft_sR_q31_len16 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q31) && defined(ARM_TABLE_TWIDDLECOEF_Q31_32) && defined(ARM_TABLE_BITREVIDX_FXT_32)) +const arm_rfft_instance_q31 arm_rfft_sR_q31_len64 = { + 64U, + 0, + 1, + 128U, + (q31_t*)realCoefAQ31, + (q31_t*)realCoefBQ31, + &arm_cfft_sR_q31_len32 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q31) && defined(ARM_TABLE_TWIDDLECOEF_Q31_64) && defined(ARM_TABLE_BITREVIDX_FXT_64)) +const arm_rfft_instance_q31 arm_rfft_sR_q31_len128 = { + 128U, + 0, + 1, + 64U, + (q31_t*)realCoefAQ31, + (q31_t*)realCoefBQ31, + &arm_cfft_sR_q31_len64 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q31) && defined(ARM_TABLE_TWIDDLECOEF_Q31_128) && defined(ARM_TABLE_BITREVIDX_FXT_128)) +const arm_rfft_instance_q31 arm_rfft_sR_q31_len256 = { + 256U, + 0, + 1, + 32U, + (q31_t*)realCoefAQ31, + (q31_t*)realCoefBQ31, + &arm_cfft_sR_q31_len128 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q31) && defined(ARM_TABLE_TWIDDLECOEF_Q31_256) && defined(ARM_TABLE_BITREVIDX_FXT_256)) +const arm_rfft_instance_q31 arm_rfft_sR_q31_len512 = { + 512U, + 0, + 1, + 16U, + (q31_t*)realCoefAQ31, + (q31_t*)realCoefBQ31, + &arm_cfft_sR_q31_len256 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q31) && defined(ARM_TABLE_TWIDDLECOEF_Q31_512) && defined(ARM_TABLE_BITREVIDX_FXT_512)) +const arm_rfft_instance_q31 arm_rfft_sR_q31_len1024 = { + 1024U, + 0, + 1, + 8U, + (q31_t*)realCoefAQ31, + (q31_t*)realCoefBQ31, + &arm_cfft_sR_q31_len512 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q31) && defined(ARM_TABLE_TWIDDLECOEF_Q31_1024) && defined(ARM_TABLE_BITREVIDX_FXT_1024)) +const arm_rfft_instance_q31 arm_rfft_sR_q31_len2048 = { + 2048U, + 0, + 1, + 4U, + (q31_t*)realCoefAQ31, + (q31_t*)realCoefBQ31, + &arm_cfft_sR_q31_len1024 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q31) && defined(ARM_TABLE_TWIDDLECOEF_Q31_2048) && defined(ARM_TABLE_BITREVIDX_FXT_2048)) +const arm_rfft_instance_q31 arm_rfft_sR_q31_len4096 = { + 4096U, + 0, + 1, + 2U, + (q31_t*)realCoefAQ31, + (q31_t*)realCoefBQ31, + &arm_cfft_sR_q31_len2048 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q31) && defined(ARM_TABLE_TWIDDLECOEF_Q31_4096) && defined(ARM_TABLE_BITREVIDX_FXT_4096)) +const arm_rfft_instance_q31 arm_rfft_sR_q31_len8192 = { + 8192U, + 0, + 1, + 1U, + (q31_t*)realCoefAQ31, + (q31_t*)realCoefBQ31, + &arm_cfft_sR_q31_len4096 +}; +#endif + + + +/* q15_t */ +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q15) && defined(ARM_TABLE_TWIDDLECOEF_Q15_16) && defined(ARM_TABLE_BITREVIDX_FXT_16)) +const arm_rfft_instance_q15 arm_rfft_sR_q15_len32 = { + 32U, + 0, + 1, + 256U, + (q15_t*)realCoefAQ15, + (q15_t*)realCoefBQ15, + &arm_cfft_sR_q15_len16 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q15) && defined(ARM_TABLE_TWIDDLECOEF_Q15_32) && defined(ARM_TABLE_BITREVIDX_FXT_32)) +const arm_rfft_instance_q15 arm_rfft_sR_q15_len64 = { + 64U, + 0, + 1, + 128U, + (q15_t*)realCoefAQ15, + (q15_t*)realCoefBQ15, + &arm_cfft_sR_q15_len32 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q15) && defined(ARM_TABLE_TWIDDLECOEF_Q15_64) && defined(ARM_TABLE_BITREVIDX_FXT_64)) +const arm_rfft_instance_q15 arm_rfft_sR_q15_len128 = { + 128U, + 0, + 1, + 64U, + (q15_t*)realCoefAQ15, + (q15_t*)realCoefBQ15, + &arm_cfft_sR_q15_len64 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q15) && defined(ARM_TABLE_TWIDDLECOEF_Q15_128) && defined(ARM_TABLE_BITREVIDX_FXT_128)) +const arm_rfft_instance_q15 arm_rfft_sR_q15_len256 = { + 256U, + 0, + 1, + 32U, + (q15_t*)realCoefAQ15, + (q15_t*)realCoefBQ15, + &arm_cfft_sR_q15_len128 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q15) && defined(ARM_TABLE_TWIDDLECOEF_Q15_256) && defined(ARM_TABLE_BITREVIDX_FXT_256)) +const arm_rfft_instance_q15 arm_rfft_sR_q15_len512 = { + 512U, + 0, + 1, + 16U, + (q15_t*)realCoefAQ15, + (q15_t*)realCoefBQ15, + &arm_cfft_sR_q15_len256 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q15) && defined(ARM_TABLE_TWIDDLECOEF_Q15_512) && defined(ARM_TABLE_BITREVIDX_FXT_512)) +const arm_rfft_instance_q15 arm_rfft_sR_q15_len1024 = { + 1024U, + 0, + 1, + 8U, + (q15_t*)realCoefAQ15, + (q15_t*)realCoefBQ15, + &arm_cfft_sR_q15_len512 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q15) && defined(ARM_TABLE_TWIDDLECOEF_Q15_1024) && defined(ARM_TABLE_BITREVIDX_FXT_1024)) +const arm_rfft_instance_q15 arm_rfft_sR_q15_len2048 = { + 2048U, + 0, + 1, + 4U, + (q15_t*)realCoefAQ15, + (q15_t*)realCoefBQ15, + &arm_cfft_sR_q15_len1024 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q15) && defined(ARM_TABLE_TWIDDLECOEF_Q15_2048) && defined(ARM_TABLE_BITREVIDX_FXT_2048)) +const arm_rfft_instance_q15 arm_rfft_sR_q15_len4096 = { + 4096U, + 0, + 1, + 2U, + (q15_t*)realCoefAQ15, + (q15_t*)realCoefBQ15, + &arm_cfft_sR_q15_len2048 +}; +#endif + +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_REALCOEF_Q15) && defined(ARM_TABLE_TWIDDLECOEF_Q15_4096) && defined(ARM_TABLE_BITREVIDX_FXT_4096)) +const arm_rfft_instance_q15 arm_rfft_sR_q15_len8192 = { + 8192U, + 0, + 1, + 1U, + (q15_t*)realCoefAQ15, + (q15_t*)realCoefBQ15, + &arm_cfft_sR_q15_len4096 +}; +#endif + +#endif /* !defined(ARM_MATH_MVEI) */ + + +#endif diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/SupportFunctions/arm_float_to_q15.c b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/SupportFunctions/arm_float_to_q15.c new file mode 100644 index 0000000000..76736d5bf4 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/SupportFunctions/arm_float_to_q15.c @@ -0,0 +1,308 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_float_to_q15.c + * Description: Converts the elements of the floating-point vector to Q15 vector + * + * $Date: 18. March 2019 + * $Revision: V1.6.0 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2019 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 "arm_math.h" + +/** + @ingroup groupSupport + */ + +/** + @addtogroup float_to_x + @{ + */ + +/** + @brief Converts the elements of the floating-point vector to Q15 vector. + @param[in] pSrc points to the floating-point input vector + @param[out] pDst points to the Q15 output vector + @param[in] blockSize number of samples in each vector + @return none + + @par Details + The equation used for the conversion process is: + 
+      pDst[n] = (q15_t)(pSrc[n] * 32768);   0 <= n < blockSize.
+
+ + @par Scaling and Overflow Behavior + The function uses saturating arithmetic. + Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated. + + @note + In order to apply rounding, the library should be rebuilt with the ROUNDING macro + defined in the preprocessor section of project options. + */ + +#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) +void arm_float_to_q15( + const float32_t * pSrc, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; + float32_t maxQ = (float32_t) Q15_MAX; + f32x4x2_t tmp; + q15x8_t vecDst; +#ifdef ARM_MATH_ROUNDING + float32_t in; +#endif + + + blkCnt = blockSize >> 3; + while (blkCnt > 0U) + { + /* C = A * 32768 */ + /* convert from float to q15 and then store the results in the destination buffer */ + tmp = vld2q(pSrc); + + tmp.val[0] = vmulq(tmp.val[0], maxQ); + tmp.val[1] = vmulq(tmp.val[1], maxQ); + + vecDst = vqmovnbq(vecDst, vcvtaq_s32_f32(tmp.val[0])); + vecDst = vqmovntq(vecDst, vcvtaq_s32_f32(tmp.val[1])); + vst1q(pDst, vecDst); + /* + * Decrement the blockSize loop counter + */ + blkCnt--; + pDst += 8; + pSrc += 8; + } + + blkCnt = blockSize & 7; + while (blkCnt > 0U) + { + /* C = A * 32768 */ + + /* convert from float to Q15 and store result in destination buffer */ +#ifdef ARM_MATH_ROUNDING + + in = (*pSrc++ * 32768.0f); + in += in > 0.0f ? 0.5f : -0.5f; + *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16)); + +#else + + /* C = A * 32768 */ + /* Convert from float to q15 and then store the results in the destination buffer */ + *pDst++ = (q15_t) __SSAT((q31_t) (*pSrc++ * 32768.0f), 16); + +#endif /* #ifdef ARM_MATH_ROUNDING */ + + /* Decrement loop counter */ + blkCnt--; + } +} + +#else +#if defined(ARM_MATH_NEON_EXPERIMENTAL) +void arm_float_to_q15( + const float32_t * pSrc, + q15_t * pDst, + uint32_t blockSize) +{ + const float32_t *pIn = pSrc; /* Src pointer */ + uint32_t blkCnt; /* loop counter */ + + float32x4_t inV; + #ifdef ARM_MATH_ROUNDING + float32x4_t zeroV = vdupq_n_f32(0.0f); + float32x4_t pHalf = vdupq_n_f32(0.5f / 32768.0f); + float32x4_t mHalf = vdupq_n_f32(-0.5f / 32768.0f); + float32x4_t r; + uint32x4_t cmp; + float32_t in; + #endif + + int32x4_t cvt; + int16x4_t outV; + + blkCnt = blockSize >> 2U; + + /* Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while (blkCnt > 0U) + { + +#ifdef ARM_MATH_ROUNDING + /* C = A * 32768 */ + /* Convert from float to q15 and then store the results in the destination buffer */ + inV = vld1q_f32(pIn); + cmp = vcgtq_f32(inV,zeroV); + r = vbslq_f32(cmp,pHalf,mHalf); + inV = vaddq_f32(inV, r); + + pIn += 4; + + cvt = vcvtq_n_s32_f32(inV,15); + outV = vqmovn_s32(cvt); + + vst1_s16(pDst, outV); + pDst += 4; + +#else + + /* C = A * 32768 */ + /* Convert from float to q15 and then store the results in the destination buffer */ + inV = vld1q_f32(pIn); + + cvt = vcvtq_n_s32_f32(inV,15); + outV = vqmovn_s32(cvt); + + vst1_s16(pDst, outV); + pDst += 4; + pIn += 4; + +#endif /* #ifdef ARM_MATH_ROUNDING */ + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize & 3; + + while (blkCnt > 0U) + { + +#ifdef ARM_MATH_ROUNDING + /* C = A * 32768 */ + /* Convert from float to q15 and then store the results in the destination buffer */ + in = *pIn++; + in = (in * 32768.0f); + in += in > 0.0f ? 0.5f : -0.5f; + *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16)); + +#else + + /* C = A * 32768 */ + /* Convert from float to q15 and then store the results in the destination buffer */ + *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16); + +#endif /* #ifdef ARM_MATH_ROUNDING */ + + /* Decrement the loop counter */ + blkCnt--; + } +} +#else +void arm_float_to_q15( + const float32_t * pSrc, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* Loop counter */ + const float32_t *pIn = pSrc; /* Source pointer */ + +#ifdef ARM_MATH_ROUNDING + float32_t in; +#endif /* #ifdef ARM_MATH_ROUNDING */ + +#if defined (ARM_MATH_LOOPUNROLL) + + /* Loop unrolling: Compute 4 outputs at a time */ + blkCnt = blockSize >> 2U; + + while (blkCnt > 0U) + { + /* C = A * 32768 */ + + /* convert from float to Q15 and store result in destination buffer */ +#ifdef ARM_MATH_ROUNDING + + in = (*pIn++ * 32768.0f); + in += in > 0.0f ? 0.5f : -0.5f; + *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16)); + + in = (*pIn++ * 32768.0f); + in += in > 0.0f ? 0.5f : -0.5f; + *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16)); + + in = (*pIn++ * 32768.0f); + in += in > 0.0f ? 0.5f : -0.5f; + *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16)); + + in = (*pIn++ * 32768.0f); + in += in > 0.0f ? 0.5f : -0.5f; + *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16)); + +#else + + *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16); + *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16); + *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16); + *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16); + +#endif /* #ifdef ARM_MATH_ROUNDING */ + + /* Decrement loop counter */ + blkCnt--; + } + + /* Loop unrolling: Compute remaining outputs */ + blkCnt = blockSize % 0x4U; + +#else + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #if defined (ARM_MATH_LOOPUNROLL) */ + + while (blkCnt > 0U) + { + /* C = A * 32768 */ + + /* convert from float to Q15 and store result in destination buffer */ +#ifdef ARM_MATH_ROUNDING + + in = (*pIn++ * 32768.0f); + in += in > 0.0f ? 0.5f : -0.5f; + *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16)); + +#else + + /* C = A * 32768 */ + /* Convert from float to q15 and then store the results in the destination buffer */ + *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16); + +#endif /* #ifdef ARM_MATH_ROUNDING */ + + /* Decrement loop counter */ + blkCnt--; + } + +} +#endif /* #if defined(ARM_MATH_NEON) */ +#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */ + +/** + @} end of float_to_x group + */ diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal2.c b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal2.c new file mode 100644 index 0000000000..802129d568 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal2.c @@ -0,0 +1,134 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_bitreversal2.c + * Description: Bitreversal functions + * + * $Date: 18. March 2019 + * $Revision: V1.0.0 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2019 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 "arm_math.h" +#include "arm_common_tables.h" + + +/** + @brief In-place 64 bit reversal function. + @param[in,out] pSrc points to in-place buffer of unknown 64-bit data type + @param[in] bitRevLen bit reversal table length + @param[in] pBitRevTab points to bit reversal table + @return none +*/ + +void arm_bitreversal_64( + uint64_t *pSrc, + const uint16_t bitRevLen, + const uint16_t *pBitRevTab) +{ + uint64_t a, b, i, tmp; + + for (i = 0; i < bitRevLen; ) + { + a = pBitRevTab[i ] >> 2; + b = pBitRevTab[i + 1] >> 2; + + //real + tmp = pSrc[a]; + pSrc[a] = pSrc[b]; + pSrc[b] = tmp; + + //complex + tmp = pSrc[a+1]; + pSrc[a+1] = pSrc[b+1]; + pSrc[b+1] = tmp; + + i += 2; + } +} + +/** + @brief In-place 32 bit reversal function. + @param[in,out] pSrc points to in-place buffer of unknown 32-bit data type + @param[in] bitRevLen bit reversal table length + @param[in] pBitRevTab points to bit reversal table + @return none +*/ + +void arm_bitreversal_32( + uint32_t *pSrc, + const uint16_t bitRevLen, + const uint16_t *pBitRevTab) +{ + uint32_t a, b, i, tmp; + + for (i = 0; i < bitRevLen; ) + { + a = pBitRevTab[i ] >> 2; + b = pBitRevTab[i + 1] >> 2; + + //real + tmp = pSrc[a]; + pSrc[a] = pSrc[b]; + pSrc[b] = tmp; + + //complex + tmp = pSrc[a+1]; + pSrc[a+1] = pSrc[b+1]; + pSrc[b+1] = tmp; + + i += 2; + } +} + + +/** + @brief In-place 16 bit reversal function. + @param[in,out] pSrc points to in-place buffer of unknown 16-bit data type + @param[in] bitRevLen bit reversal table length + @param[in] pBitRevTab points to bit reversal table + @return none +*/ + +void arm_bitreversal_16( + uint16_t *pSrc, + const uint16_t bitRevLen, + const uint16_t *pBitRevTab) +{ + uint16_t a, b, i, tmp; + + for (i = 0; i < bitRevLen; ) + { + a = pBitRevTab[i ] >> 2; + b = pBitRevTab[i + 1] >> 2; + + //real + tmp = pSrc[a]; + pSrc[a] = pSrc[b]; + pSrc[b] = tmp; + + //complex + tmp = pSrc[a+1]; + pSrc[a+1] = pSrc[b+1]; + pSrc[b+1] = tmp; + + i += 2; + } +} diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_cfft_q15.c b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_cfft_q15.c new file mode 100644 index 0000000000..a25fc824a3 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_cfft_q15.c @@ -0,0 +1,949 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_cfft_q15.c + * Description: Combined Radix Decimation in Q15 Frequency CFFT processing function + * + * $Date: 18. March 2019 + * $Revision: V1.6.0 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2019 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 "arm_math.h" + +#if defined(ARM_MATH_MVEI) + +#include "arm_vec_fft.h" + + +static void arm_bitreversal_16_inpl_mve( + uint16_t *pSrc, + const uint16_t bitRevLen, + const uint16_t *pBitRevTab) + +{ + uint32_t *src = (uint32_t *)pSrc; + uint32_t blkCnt; /* loop counters */ + uint32x4_t bitRevTabOff; + uint16x8_t one = vdupq_n_u16(1); + + blkCnt = (bitRevLen / 2) / 4; + while (blkCnt > 0U) { + bitRevTabOff = vldrhq_u16(pBitRevTab); + pBitRevTab += 8; + + uint32x4_t bitRevOff1 = vmullbq_int_u16(bitRevTabOff, one); + uint32x4_t bitRevOff2 = vmulltq_int_u16(bitRevTabOff, one); + + bitRevOff1 = bitRevOff1 >> 3; + bitRevOff2 = bitRevOff2 >> 3; + + uint32x4_t in1 = vldrwq_gather_shifted_offset_u32(src, bitRevOff1); + uint32x4_t in2 = vldrwq_gather_shifted_offset_u32(src, bitRevOff2); + + vstrwq_scatter_shifted_offset_u32(src, bitRevOff1, in2); + vstrwq_scatter_shifted_offset_u32(src, bitRevOff2, in1); + + /* + * Decrement the blockSize loop counter + */ + blkCnt--; + } + + + /* + * tail + * (will be merged thru tail predication) + */ + blkCnt = bitRevLen & 7; + if (blkCnt > 0U) { + mve_pred16_t p0 = vctp16q(blkCnt); + + bitRevTabOff = vldrhq_z_u16(pBitRevTab, p0); + + uint32x4_t bitRevOff1 = vmullbq_int_u16(bitRevTabOff, one); + uint32x4_t bitRevOff2 = vmulltq_int_u16(bitRevTabOff, one); + + bitRevOff1 = bitRevOff1 >> 3; + bitRevOff2 = bitRevOff2 >> 3; + + uint32x4_t in1 = vldrwq_gather_shifted_offset_z_u32(src, bitRevOff1, p0); + uint32x4_t in2 = vldrwq_gather_shifted_offset_z_u32(src, bitRevOff2, p0); + + vstrwq_scatter_shifted_offset_p_u32(src, bitRevOff1, in2, p0); + vstrwq_scatter_shifted_offset_p_u32(src, bitRevOff2, in1, p0); + } +} + +static void _arm_radix4_butterfly_q15_mve( + const arm_cfft_instance_q15 * S, + q15_t *pSrc, + uint32_t fftLen) +{ + q15x8_t vecTmp0, vecTmp1; + q15x8_t vecSum0, vecDiff0, vecSum1, vecDiff1; + q15x8_t vecA, vecB, vecC, vecD; + q15x8_t vecW; + uint32_t blkCnt; + uint32_t n1, n2; + uint32_t stage = 0; + int32_t iter = 1; + static const uint32_t strides[4] = { + (0 - 16) * sizeof(q15_t *), (4 - 16) * sizeof(q15_t *), + (8 - 16) * sizeof(q15_t *), (12 - 16) * sizeof(q15_t *) + }; + + /* + * Process first stages + * Each stage in middle stages provides two down scaling of the input + */ + n2 = fftLen; + n1 = n2; + n2 >>= 2u; + + for (int k = fftLen / 4u; k > 1; k >>= 2u) + { + for (int i = 0; i < iter; i++) + { + q15_t const *p_rearranged_twiddle_tab_stride2 = + &S->rearranged_twiddle_stride2[ + S->rearranged_twiddle_tab_stride2_arr[stage]]; + q15_t const *p_rearranged_twiddle_tab_stride3 = &S->rearranged_twiddle_stride3[ + S->rearranged_twiddle_tab_stride3_arr[stage]]; + q15_t const *p_rearranged_twiddle_tab_stride1 = + &S->rearranged_twiddle_stride1[ + S->rearranged_twiddle_tab_stride1_arr[stage]]; + q15_t const *pW1, *pW2, *pW3; + q15_t *inA = pSrc + CMPLX_DIM * i * n1; + q15_t *inB = inA + n2 * CMPLX_DIM; + q15_t *inC = inB + n2 * CMPLX_DIM; + q15_t *inD = inC + n2 * CMPLX_DIM; + + pW1 = p_rearranged_twiddle_tab_stride1; + pW2 = p_rearranged_twiddle_tab_stride2; + pW3 = p_rearranged_twiddle_tab_stride3; + + blkCnt = n2 / 4; + /* + * load 4 x q15 complex pair + */ + vecA = vldrhq_s16(inA); + vecC = vldrhq_s16(inC); + while (blkCnt > 0U) + { + vecB = vldrhq_s16(inB); + vecD = vldrhq_s16(inD); + + vecSum0 = vhaddq(vecA, vecC); + vecDiff0 = vhsubq(vecA, vecC); + + vecSum1 = vhaddq(vecB, vecD); + vecDiff1 = vhsubq(vecB, vecD); + /* + * [ 1 1 1 1 ] * [ A B C D ]' .* 1 + */ + vecTmp0 = vhaddq(vecSum0, vecSum1); + vst1q(inA, vecTmp0); + inA += 8; + /* + * [ 1 -1 1 -1 ] * [ A B C D ]' + */ + vecTmp0 = vhsubq(vecSum0, vecSum1); + /* + * [ 1 -1 1 -1 ] * [ A B C D ]'.* W2 + */ + vecW = vld1q(pW2); + pW2 += 8; + vecTmp1 = MVE_CMPLX_MULT_FX_AxB(vecW, vecTmp0); + + vst1q(inB, vecTmp1); + inB += 8; + /* + * [ 1 -i -1 +i ] * [ A B C D ]' + */ + vecTmp0 = MVE_CMPLX_SUB_FX_A_ixB(vecDiff0, vecDiff1); + /* + * [ 1 -i -1 +i ] * [ A B C D ]'.* W1 + */ + vecW = vld1q(pW1); + pW1 += 8; + vecTmp1 = MVE_CMPLX_MULT_FX_AxB(vecW, vecTmp0); + vst1q(inC, vecTmp1); + inC += 8; + + /* + * [ 1 +i -1 -i ] * [ A B C D ]' + */ + vecTmp0 = MVE_CMPLX_ADD_FX_A_ixB(vecDiff0, vecDiff1); + /* + * [ 1 +i -1 -i ] * [ A B C D ]'.* W3 + */ + vecW = vld1q(pW3); + pW3 += 8; + vecTmp1 = MVE_CMPLX_MULT_FX_AxB(vecW, vecTmp0); + vst1q(inD, vecTmp1); + inD += 8; + + vecA = vldrhq_s16(inA); + vecC = vldrhq_s16(inC); + + blkCnt--; + } + } + n1 = n2; + n2 >>= 2u; + iter = iter << 2; + stage++; + } + + /* + * start of Last stage process + */ + uint32x4_t vecScGathAddr = *(uint32x4_t *) strides; + vecScGathAddr = vecScGathAddr + (uint32_t) pSrc; + + /* + * load scheduling + */ + vecA = (q15x8_t) vldrwq_gather_base_wb_s32(&vecScGathAddr, 64); + vecC = (q15x8_t) vldrwq_gather_base_s32(vecScGathAddr, 8); + + blkCnt = (fftLen >> 4); + while (blkCnt > 0U) + { + vecSum0 = vhaddq(vecA, vecC); + vecDiff0 = vhsubq(vecA, vecC); + + vecB = (q15x8_t) vldrwq_gather_base_s32(vecScGathAddr, 4); + vecD = (q15x8_t) vldrwq_gather_base_s32(vecScGathAddr, 12); + + vecSum1 = vhaddq(vecB, vecD); + vecDiff1 = vhsubq(vecB, vecD); + /* + * pre-load for next iteration + */ + vecA = (q15x8_t) vldrwq_gather_base_wb_s32(&vecScGathAddr, 64); + vecC = (q15x8_t) vldrwq_gather_base_s32(vecScGathAddr, 8); + + vecTmp0 = vhaddq(vecSum0, vecSum1); + vstrwq_scatter_base_s32(vecScGathAddr, -64, (q15x8_t) vecTmp0); + + vecTmp0 = vhsubq(vecSum0, vecSum1); + vstrwq_scatter_base_s32(vecScGathAddr, -64 + 4, (q15x8_t) vecTmp0); + + vecTmp0 = MVE_CMPLX_SUB_FX_A_ixB(vecDiff0, vecDiff1); + vstrwq_scatter_base_s32(vecScGathAddr, -64 + 8, (q15x8_t) vecTmp0); + + vecTmp0 = MVE_CMPLX_ADD_FX_A_ixB(vecDiff0, vecDiff1); + vstrwq_scatter_base_s32(vecScGathAddr, -64 + 12, (q15x8_t) vecTmp0); + + blkCnt--; + } + +} + +static void arm_cfft_radix4by2_q15_mve(const arm_cfft_instance_q15 *S, q15_t *pSrc, uint32_t fftLen) +{ + uint32_t n2; + q15_t *pIn0; + q15_t *pIn1; + const q15_t *pCoef = S->pTwiddle; + uint32_t blkCnt; + q15x8_t vecIn0, vecIn1, vecSum, vecDiff; + q15x8_t vecCmplxTmp, vecTw; + q15_t const *pCoefVec; + + n2 = fftLen >> 1; + + pIn0 = pSrc; + pIn1 = pSrc + fftLen; + pCoefVec = pCoef; + + blkCnt = n2 / 4; + + while (blkCnt > 0U) + { + vecIn0 = *(q15x8_t *) pIn0; + vecIn1 = *(q15x8_t *) pIn1; + + vecIn0 = vecIn0 >> 1; + vecIn1 = vecIn1 >> 1; + vecSum = vhaddq(vecIn0, vecIn1); + vst1q(pIn0, vecSum); + pIn0 += 8; + + vecTw = vld1q(pCoefVec); + pCoefVec += 8; + + vecDiff = vhsubq(vecIn0, vecIn1); + vecCmplxTmp = MVE_CMPLX_MULT_FX_AxConjB(vecDiff, vecTw); + vst1q(pIn1, vecCmplxTmp); + pIn1 += 8; + + blkCnt--; + } + + _arm_radix4_butterfly_q15_mve(S, pSrc, n2); + + _arm_radix4_butterfly_q15_mve(S, pSrc + fftLen, n2); + + + pIn0 = pSrc; + blkCnt = (fftLen << 1) >> 3; + while (blkCnt > 0U) + { + vecIn0 = *(q15x8_t *) pIn0; + vecIn0 = vecIn0 << 1; + vst1q(pIn0, vecIn0); + pIn0 += 8; + blkCnt--; + } + /* + * tail + * (will be merged thru tail predication) + */ + blkCnt = (fftLen << 1) & 7; + if (blkCnt > 0U) + { + mve_pred16_t p0 = vctp16q(blkCnt); + + vecIn0 = *(q15x8_t *) pIn0; + vecIn0 = vecIn0 << 1; + vstrhq_p(pIn0, vecIn0, p0); + } +} + +static void _arm_radix4_butterfly_inverse_q15_mve(const arm_cfft_instance_q15 *S,q15_t *pSrc, uint32_t fftLen) +{ + q15x8_t vecTmp0, vecTmp1; + q15x8_t vecSum0, vecDiff0, vecSum1, vecDiff1; + q15x8_t vecA, vecB, vecC, vecD; + q15x8_t vecW; + uint32_t blkCnt; + uint32_t n1, n2; + uint32_t stage = 0; + int32_t iter = 1; + static const uint32_t strides[4] = { + (0 - 16) * sizeof(q15_t *), (4 - 16) * sizeof(q15_t *), + (8 - 16) * sizeof(q15_t *), (12 - 16) * sizeof(q15_t *) + }; + + + /* + * Process first stages + * Each stage in middle stages provides two down scaling of the input + */ + n2 = fftLen; + n1 = n2; + n2 >>= 2u; + + for (int k = fftLen / 4u; k > 1; k >>= 2u) + { + for (int i = 0; i < iter; i++) + { + q15_t const *p_rearranged_twiddle_tab_stride2 = + &S->rearranged_twiddle_stride2[ + S->rearranged_twiddle_tab_stride2_arr[stage]]; + q15_t const *p_rearranged_twiddle_tab_stride3 = &S->rearranged_twiddle_stride3[ + S->rearranged_twiddle_tab_stride3_arr[stage]]; + q15_t const *p_rearranged_twiddle_tab_stride1 = + &S->rearranged_twiddle_stride1[ + S->rearranged_twiddle_tab_stride1_arr[stage]]; + q15_t const *pW1, *pW2, *pW3; + q15_t *inA = pSrc + CMPLX_DIM * i * n1; + q15_t *inB = inA + n2 * CMPLX_DIM; + q15_t *inC = inB + n2 * CMPLX_DIM; + q15_t *inD = inC + n2 * CMPLX_DIM; + + pW1 = p_rearranged_twiddle_tab_stride1; + pW2 = p_rearranged_twiddle_tab_stride2; + pW3 = p_rearranged_twiddle_tab_stride3; + + blkCnt = n2 / 4; + /* + * load 4 x q15 complex pair + */ + vecA = vldrhq_s16(inA); + vecC = vldrhq_s16(inC); + while (blkCnt > 0U) + { + vecB = vldrhq_s16(inB); + vecD = vldrhq_s16(inD); + + vecSum0 = vhaddq(vecA, vecC); + vecDiff0 = vhsubq(vecA, vecC); + + vecSum1 = vhaddq(vecB, vecD); + vecDiff1 = vhsubq(vecB, vecD); + /* + * [ 1 1 1 1 ] * [ A B C D ]' .* 1 + */ + vecTmp0 = vhaddq(vecSum0, vecSum1); + vst1q(inA, vecTmp0); + inA += 8; + /* + * [ 1 -1 1 -1 ] * [ A B C D ]' + */ + vecTmp0 = vhsubq(vecSum0, vecSum1); + /* + * [ 1 -1 1 -1 ] * [ A B C D ]'.* W2 + */ + vecW = vld1q(pW2); + pW2 += 8; + vecTmp1 = MVE_CMPLX_MULT_FX_AxConjB(vecTmp0, vecW); + + vst1q(inB, vecTmp1); + inB += 8; + /* + * [ 1 -i -1 +i ] * [ A B C D ]' + */ + vecTmp0 = MVE_CMPLX_ADD_FX_A_ixB(vecDiff0, vecDiff1); + /* + * [ 1 -i -1 +i ] * [ A B C D ]'.* W1 + */ + vecW = vld1q(pW1); + pW1 += 8; + vecTmp1 = MVE_CMPLX_MULT_FX_AxConjB(vecTmp0, vecW); + vst1q(inC, vecTmp1); + inC += 8; + /* + * [ 1 +i -1 -i ] * [ A B C D ]' + */ + vecTmp0 = MVE_CMPLX_SUB_FX_A_ixB(vecDiff0, vecDiff1); + /* + * [ 1 +i -1 -i ] * [ A B C D ]'.* W3 + */ + vecW = vld1q(pW3); + pW3 += 8; + vecTmp1 = MVE_CMPLX_MULT_FX_AxConjB(vecTmp0, vecW); + vst1q(inD, vecTmp1); + inD += 8; + + vecA = vldrhq_s16(inA); + vecC = vldrhq_s16(inC); + + blkCnt--; + } + } + n1 = n2; + n2 >>= 2u; + iter = iter << 2; + stage++; + } + + /* + * start of Last stage process + */ + uint32x4_t vecScGathAddr = *(uint32x4_t *) strides; + vecScGathAddr = vecScGathAddr + (uint32_t) pSrc; + + /* + * load scheduling + */ + vecA = (q15x8_t) vldrwq_gather_base_wb_s32(&vecScGathAddr, 64); + vecC = (q15x8_t) vldrwq_gather_base_s32(vecScGathAddr, 8); + + blkCnt = (fftLen >> 4); + while (blkCnt > 0U) + { + vecSum0 = vhaddq(vecA, vecC); + vecDiff0 = vhsubq(vecA, vecC); + + vecB = (q15x8_t) vldrwq_gather_base_s32(vecScGathAddr, 4); + vecD = (q15x8_t) vldrwq_gather_base_s32(vecScGathAddr, 12); + + vecSum1 = vhaddq(vecB, vecD); + vecDiff1 = vhsubq(vecB, vecD); + /* + * pre-load for next iteration + */ + vecA = (q15x8_t) vldrwq_gather_base_wb_s32(&vecScGathAddr, 64); + vecC = (q15x8_t) vldrwq_gather_base_s32(vecScGathAddr, 8); + + vecTmp0 = vhaddq(vecSum0, vecSum1); + vstrwq_scatter_base_s32(vecScGathAddr, -64, (q15x8_t) vecTmp0); + + vecTmp0 = vhsubq(vecSum0, vecSum1); + vstrwq_scatter_base_s32(vecScGathAddr, -64 + 4, (q15x8_t) vecTmp0); + + vecTmp0 = MVE_CMPLX_ADD_FX_A_ixB(vecDiff0, vecDiff1); + vstrwq_scatter_base_s32(vecScGathAddr, -64 + 8, (q15x8_t) vecTmp0); + + vecTmp0 = MVE_CMPLX_SUB_FX_A_ixB(vecDiff0, vecDiff1); + vstrwq_scatter_base_s32(vecScGathAddr, -64 + 12, (q15x8_t) vecTmp0); + + blkCnt--; + } +} + +static void arm_cfft_radix4by2_inverse_q15_mve(const arm_cfft_instance_q15 *S, q15_t *pSrc, uint32_t fftLen) +{ + uint32_t n2; + q15_t *pIn0; + q15_t *pIn1; + const q15_t *pCoef = S->pTwiddle; + + uint32_t blkCnt; + q15x8_t vecIn0, vecIn1, vecSum, vecDiff; + q15x8_t vecCmplxTmp, vecTw; + q15_t const *pCoefVec; + + n2 = fftLen >> 1; + + pIn0 = pSrc; + pIn1 = pSrc + fftLen; + pCoefVec = pCoef; + + blkCnt = n2 / 4; + + while (blkCnt > 0U) + { + vecIn0 = *(q15x8_t *) pIn0; + vecIn1 = *(q15x8_t *) pIn1; + + vecIn0 = vecIn0 >> 1; + vecIn1 = vecIn1 >> 1; + vecSum = vhaddq(vecIn0, vecIn1); + vst1q(pIn0, vecSum); + pIn0 += 8; + + vecTw = vld1q(pCoefVec); + pCoefVec += 8; + + vecDiff = vhsubq(vecIn0, vecIn1); + vecCmplxTmp = vqrdmlsdhq(vuninitializedq_s16() , vecDiff, vecTw); + vecCmplxTmp = vqrdmladhxq(vecCmplxTmp, vecDiff, vecTw); + vst1q(pIn1, vecCmplxTmp); + pIn1 += 8; + + blkCnt--; + } + + + _arm_radix4_butterfly_inverse_q15_mve(S, pSrc, n2); + + _arm_radix4_butterfly_inverse_q15_mve(S, pSrc + fftLen, n2); + + pIn0 = pSrc; + blkCnt = (fftLen << 1) >> 3; + while (blkCnt > 0U) + { + vecIn0 = *(q15x8_t *) pIn0; + vecIn0 = vecIn0 << 1; + vst1q(pIn0, vecIn0); + pIn0 += 8; + blkCnt--; + } + /* + * tail + * (will be merged thru tail predication) + */ + blkCnt = (fftLen << 1) & 7; + while (blkCnt > 0U) + { + mve_pred16_t p0 = vctp16q(blkCnt); + + vecIn0 = *(q15x8_t *) pIn0; + vecIn0 = vecIn0 << 1; + vstrhq_p(pIn0, vecIn0, p0); + } +} + +/** + @ingroup groupTransforms + */ + +/** + @addtogroup ComplexFFT + @{ + */ + +/** + @brief Processing function for Q15 complex FFT. + @param[in] S points to an instance of Q15 CFFT structure + @param[in,out] p1 points to the complex data buffer of size 2*fftLen. Processing occurs in-place + @param[in] ifftFlag flag that selects transform direction + - value = 0: forward transform + - value = 1: inverse transform + @param[in] bitReverseFlag flag that enables / disables bit reversal of output + - value = 0: disables bit reversal of output + - value = 1: enables bit reversal of output + @return none + */ +void arm_cfft_q15( + const arm_cfft_instance_q15 * S, + q15_t * pSrc, + uint8_t ifftFlag, + uint8_t bitReverseFlag) +{ + uint32_t fftLen = S->fftLen; + + if (ifftFlag == 1U) { + + switch (fftLen) { + case 16: + case 64: + case 256: + case 1024: + case 4096: + _arm_radix4_butterfly_inverse_q15_mve(S, pSrc, fftLen); + break; + + case 32: + case 128: + case 512: + case 2048: + arm_cfft_radix4by2_inverse_q15_mve(S, pSrc, fftLen); + break; + } + } else { + switch (fftLen) { + case 16: + case 64: + case 256: + case 1024: + case 4096: + _arm_radix4_butterfly_q15_mve(S, pSrc, fftLen); + break; + + case 32: + case 128: + case 512: + case 2048: + arm_cfft_radix4by2_q15_mve(S, pSrc, fftLen); + break; + } + } + + + if (bitReverseFlag) + { + + arm_bitreversal_16_inpl_mve((uint16_t*)pSrc, S->bitRevLength, S->pBitRevTable); + + } +} + +#else + +extern void arm_radix4_butterfly_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pCoef, + uint32_t twidCoefModifier); + +extern void arm_radix4_butterfly_inverse_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pCoef, + uint32_t twidCoefModifier); + +extern void arm_bitreversal_16( + uint16_t * pSrc, + const uint16_t bitRevLen, + const uint16_t * pBitRevTable); + +void arm_cfft_radix4by2_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pCoef); + +void arm_cfft_radix4by2_inverse_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pCoef); + +/** + @ingroup groupTransforms + */ + +/** + @addtogroup ComplexFFT + @{ + */ + +/** + @brief Processing function for Q15 complex FFT. + @param[in] S points to an instance of Q15 CFFT structure + @param[in,out] p1 points to the complex data buffer of size 2*fftLen. Processing occurs in-place + @param[in] ifftFlag flag that selects transform direction + - value = 0: forward transform + - value = 1: inverse transform + @param[in] bitReverseFlag flag that enables / disables bit reversal of output + - value = 0: disables bit reversal of output + - value = 1: enables bit reversal of output + @return none + */ + +void arm_cfft_q15( + const arm_cfft_instance_q15 * S, + q15_t * p1, + uint8_t ifftFlag, + uint8_t bitReverseFlag) +{ + uint32_t L = S->fftLen; + + if (ifftFlag == 1U) + { + switch (L) + { + case 16: + case 64: + case 256: + case 1024: + case 4096: + arm_radix4_butterfly_inverse_q15 ( p1, L, (q15_t*)S->pTwiddle, 1 ); + break; + + case 32: + case 128: + case 512: + case 2048: + arm_cfft_radix4by2_inverse_q15 ( p1, L, S->pTwiddle ); + break; + } + } + else + { + switch (L) + { + case 16: + case 64: + case 256: + case 1024: + case 4096: + arm_radix4_butterfly_q15 ( p1, L, (q15_t*)S->pTwiddle, 1 ); + break; + + case 32: + case 128: + case 512: + case 2048: + arm_cfft_radix4by2_q15 ( p1, L, S->pTwiddle ); + break; + } + } + + if ( bitReverseFlag ) + arm_bitreversal_16 ((uint16_t*) p1, S->bitRevLength, S->pBitRevTable); +} + +/** + @} end of ComplexFFT group + */ + +void arm_cfft_radix4by2_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pCoef) +{ + uint32_t i; + uint32_t n2; + q15_t p0, p1, p2, p3; +#if defined (ARM_MATH_DSP) + q31_t T, S, R; + q31_t coeff, out1, out2; + const q15_t *pC = pCoef; + q15_t *pSi = pSrc; + q15_t *pSl = pSrc + fftLen; +#else + uint32_t l; + q15_t xt, yt, cosVal, sinVal; +#endif + + n2 = fftLen >> 1U; + +#if defined (ARM_MATH_DSP) + + for (i = n2; i > 0; i--) + { + coeff = read_q15x2_ia ((q15_t **) &pC); + + T = read_q15x2 (pSi); + T = __SHADD16(T, 0); /* this is just a SIMD arithmetic shift right by 1 */ + + S = read_q15x2 (pSl); + S = __SHADD16(S, 0); /* this is just a SIMD arithmetic shift right by 1 */ + + R = __QSUB16(T, S); + + write_q15x2_ia (&pSi, __SHADD16(T, S)); + +#ifndef ARM_MATH_BIG_ENDIAN + out1 = __SMUAD(coeff, R) >> 16U; + out2 = __SMUSDX(coeff, R); +#else + out1 = __SMUSDX(R, coeff) >> 16U; + out2 = __SMUAD(coeff, R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + write_q15x2_ia (&pSl, (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + } + +#else /* #if defined (ARM_MATH_DSP) */ + + for (i = 0; i < n2; i++) + { + cosVal = pCoef[2 * i]; + sinVal = pCoef[2 * i + 1]; + + l = i + n2; + + xt = (pSrc[2 * i] >> 1U) - (pSrc[2 * l] >> 1U); + pSrc[2 * i] = ((pSrc[2 * i] >> 1U) + (pSrc[2 * l] >> 1U)) >> 1U; + + yt = (pSrc[2 * i + 1] >> 1U) - (pSrc[2 * l + 1] >> 1U); + pSrc[2 * i + 1] = ((pSrc[2 * l + 1] >> 1U) + (pSrc[2 * i + 1] >> 1U)) >> 1U; + + pSrc[2 * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16U)) + + ((int16_t) (((q31_t) yt * sinVal) >> 16U)) ); + + pSrc[2 * l + 1] = (((int16_t) (((q31_t) yt * cosVal) >> 16U)) - + ((int16_t) (((q31_t) xt * sinVal) >> 16U)) ); + } + +#endif /* #if defined (ARM_MATH_DSP) */ + + /* first col */ + arm_radix4_butterfly_q15( pSrc, n2, (q15_t*)pCoef, 2U); + + /* second col */ + arm_radix4_butterfly_q15( pSrc + fftLen, n2, (q15_t*)pCoef, 2U); + + n2 = fftLen >> 1U; + for (i = 0; i < n2; i++) + { + p0 = pSrc[4 * i + 0]; + p1 = pSrc[4 * i + 1]; + p2 = pSrc[4 * i + 2]; + p3 = pSrc[4 * i + 3]; + + p0 <<= 1U; + p1 <<= 1U; + p2 <<= 1U; + p3 <<= 1U; + + pSrc[4 * i + 0] = p0; + pSrc[4 * i + 1] = p1; + pSrc[4 * i + 2] = p2; + pSrc[4 * i + 3] = p3; + } + +} + +void arm_cfft_radix4by2_inverse_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pCoef) +{ + uint32_t i; + uint32_t n2; + q15_t p0, p1, p2, p3; +#if defined (ARM_MATH_DSP) + q31_t T, S, R; + q31_t coeff, out1, out2; + const q15_t *pC = pCoef; + q15_t *pSi = pSrc; + q15_t *pSl = pSrc + fftLen; +#else + uint32_t l; + q15_t xt, yt, cosVal, sinVal; +#endif + + n2 = fftLen >> 1U; + +#if defined (ARM_MATH_DSP) + + for (i = n2; i > 0; i--) + { + coeff = read_q15x2_ia ((q15_t **) &pC); + + T = read_q15x2 (pSi); + T = __SHADD16(T, 0); /* this is just a SIMD arithmetic shift right by 1 */ + + S = read_q15x2 (pSl); + S = __SHADD16(S, 0); /* this is just a SIMD arithmetic shift right by 1 */ + + R = __QSUB16(T, S); + + write_q15x2_ia (&pSi, __SHADD16(T, S)); + +#ifndef ARM_MATH_BIG_ENDIAN + out1 = __SMUSD(coeff, R) >> 16U; + out2 = __SMUADX(coeff, R); +#else + out1 = __SMUADX(R, coeff) >> 16U; + out2 = __SMUSD(__QSUB(0, coeff), R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + write_q15x2_ia (&pSl, (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + } + +#else /* #if defined (ARM_MATH_DSP) */ + + for (i = 0; i < n2; i++) + { + cosVal = pCoef[2 * i]; + sinVal = pCoef[2 * i + 1]; + + l = i + n2; + + xt = (pSrc[2 * i] >> 1U) - (pSrc[2 * l] >> 1U); + pSrc[2 * i] = ((pSrc[2 * i] >> 1U) + (pSrc[2 * l] >> 1U)) >> 1U; + + yt = (pSrc[2 * i + 1] >> 1U) - (pSrc[2 * l + 1] >> 1U); + pSrc[2 * i + 1] = ((pSrc[2 * l + 1] >> 1U) + (pSrc[2 * i + 1] >> 1U)) >> 1U; + + pSrc[2 * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16U)) - + ((int16_t) (((q31_t) yt * sinVal) >> 16U)) ); + + pSrc[2 * l + 1] = (((int16_t) (((q31_t) yt * cosVal) >> 16U)) + + ((int16_t) (((q31_t) xt * sinVal) >> 16U)) ); + } + +#endif /* #if defined (ARM_MATH_DSP) */ + + /* first col */ + arm_radix4_butterfly_inverse_q15( pSrc, n2, (q15_t*)pCoef, 2U); + + /* second col */ + arm_radix4_butterfly_inverse_q15( pSrc + fftLen, n2, (q15_t*)pCoef, 2U); + + n2 = fftLen >> 1U; + for (i = 0; i < n2; i++) + { + p0 = pSrc[4 * i + 0]; + p1 = pSrc[4 * i + 1]; + p2 = pSrc[4 * i + 2]; + p3 = pSrc[4 * i + 3]; + + p0 <<= 1U; + p1 <<= 1U; + p2 <<= 1U; + p3 <<= 1U; + + pSrc[4 * i + 0] = p0; + pSrc[4 * i + 1] = p1; + pSrc[4 * i + 2] = p2; + pSrc[4 * i + 3] = p3; + } +} + +#endif /* defined(ARM_MATH_MVEI) */ diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_cfft_radix4_q15.c b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_cfft_radix4_q15.c new file mode 100644 index 0000000000..f02d19894e --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_cfft_radix4_q15.c @@ -0,0 +1,1809 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_cfft_radix4_q15.c + * Description: This file has function definition of Radix-4 FFT & IFFT function and + * In-place bit reversal using bit reversal table + * + * $Date: 18. March 2019 + * $Revision: V1.6.0 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2019 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 "arm_math.h" + + +void arm_radix4_butterfly_q15( + q15_t * pSrc16, + uint32_t fftLen, + const q15_t * pCoef16, + uint32_t twidCoefModifier); + +void arm_radix4_butterfly_inverse_q15( + q15_t * pSrc16, + uint32_t fftLen, + const q15_t * pCoef16, + uint32_t twidCoefModifier); + +void arm_bitreversal_q15( + q15_t * pSrc, + uint32_t fftLen, + uint16_t bitRevFactor, + const uint16_t * pBitRevTab); + +/** + @ingroup groupTransforms + */ + +/** + @addtogroup ComplexFFT + @{ + */ + + +/** + @brief Processing function for the Q15 CFFT/CIFFT. + @deprecated Do not use this function. It has been superseded by \ref arm_cfft_q15 and will be removed in the future. + @param[in] S points to an instance of the Q15 CFFT/CIFFT structure. + @param[in,out] pSrc points to the complex data buffer. Processing occurs in-place. + @return none + + @par Input and output formats: + Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process. + Hence the output format is different for different FFT sizes. + The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT: + @par + \image html CFFTQ15.gif "Input and Output Formats for Q15 CFFT" + \image html CIFFTQ15.gif "Input and Output Formats for Q15 CIFFT" + */ + +void arm_cfft_radix4_q15( + const arm_cfft_radix4_instance_q15 * S, + q15_t * pSrc) +{ + if (S->ifftFlag == 1U) + { + /* Complex IFFT radix-4 */ + arm_radix4_butterfly_inverse_q15(pSrc, S->fftLen, S->pTwiddle, S->twidCoefModifier); + } + else + { + /* Complex FFT radix-4 */ + arm_radix4_butterfly_q15(pSrc, S->fftLen, S->pTwiddle, S->twidCoefModifier); + } + + if (S->bitReverseFlag == 1U) + { + /* Bit Reversal */ + //arm_bitreversal_q15(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable); + } + +} + +/** + @} end of ComplexFFT group + */ + +/* + * Radix-4 FFT algorithm used is : + * + * Input real and imaginary data: + * x(n) = xa + j * ya + * x(n+N/4 ) = xb + j * yb + * x(n+N/2 ) = xc + j * yc + * x(n+3N 4) = xd + j * yd + * + * + * Output real and imaginary data: + * x(4r) = xa'+ j * ya' + * x(4r+1) = xb'+ j * yb' + * x(4r+2) = xc'+ j * yc' + * x(4r+3) = xd'+ j * yd' + * + * + * Twiddle factors for radix-4 FFT: + * Wn = co1 + j * (- si1) + * W2n = co2 + j * (- si2) + * W3n = co3 + j * (- si3) + + * The real and imaginary output values for the radix-4 butterfly are + * xa' = xa + xb + xc + xd + * ya' = ya + yb + yc + yd + * xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) + * yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) + * xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) + * yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) + * xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) + * yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) + * + */ + +/** + @brief Core function for the Q15 CFFT butterfly process. + @param[in,out] pSrc16 points to the in-place buffer of Q15 data type + @param[in] fftLen length of the FFT + @param[in] pCoef16 points to twiddle coefficient buffer + @param[in] twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table + @return none + */ + +void arm_radix4_butterfly_q15( + q15_t * pSrc16, + uint32_t fftLen, + const q15_t * pCoef16, + uint32_t twidCoefModifier) +{ + +#if defined (ARM_MATH_DSP) + + q31_t R, S, T, U; + q31_t C1, C2, C3, out1, out2; + uint32_t n1, n2, ic, i0, j, k; + + q15_t *ptr1; + q15_t *pSi0; + q15_t *pSi1; + q15_t *pSi2; + q15_t *pSi3; + + q31_t xaya, xbyb, xcyc, xdyd; + + /* Total process is divided into three stages */ + + /* process first stage, middle stages, & last stage */ + + /* Initializations for the first stage */ + n2 = fftLen; + n1 = n2; + + /* n2 = fftLen/4 */ + n2 >>= 2U; + + /* Index for twiddle coefficient */ + ic = 0U; + + /* Index for input read and output write */ + j = n2; + + pSi0 = pSrc16; + pSi1 = pSi0 + 2 * n2; + pSi2 = pSi1 + 2 * n2; + pSi3 = pSi2 + 2 * n2; + + /* Input is in 1.15(q15) format */ + + /* start of first stage process */ + do + { + /* Butterfly implementation */ + + /* Reading i0, i0+fftLen/2 inputs */ + /* Read ya (real), xa(imag) input */ + T = read_q15x2 (pSi0); + T = __SHADD16(T, 0); /* this is just a SIMD arithmetic shift right by 1 */ + T = __SHADD16(T, 0); /* it turns out doing this twice is 2 cycles, the alternative takes 3 cycles */ +/* + in = ((int16_t) (T & 0xFFFF)) >> 2; // alternative code that takes 3 cycles + T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF); +*/ + + /* Read yc (real), xc(imag) input */ + S = read_q15x2 (pSi2); + S = __SHADD16(S, 0); + S = __SHADD16(S, 0); + + /* R = packed((ya + yc), (xa + xc) ) */ + R = __QADD16(T, S); + + /* S = packed((ya - yc), (xa - xc) ) */ + S = __QSUB16(T, S); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* Read yb (real), xb(imag) input */ + T = read_q15x2 (pSi1); + T = __SHADD16(T, 0); + T = __SHADD16(T, 0); + + /* Read yd (real), xd(imag) input */ + U = read_q15x2 (pSi3); + U = __SHADD16(U, 0); + U = __SHADD16(U, 0); + + /* T = packed((yb + yd), (xb + xd) ) */ + T = __QADD16(T, U); + + /* writing the butterfly processed i0 sample */ + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + write_q15x2_ia (&pSi0, __SHADD16(R, T)); + + /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */ + R = __QSUB16(R, T); + + /* co2 & si2 are read from SIMD Coefficient pointer */ + C2 = read_q15x2 ((q15_t *) pCoef16 + (4U * ic)); + +#ifndef ARM_MATH_BIG_ENDIAN + /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */ + out1 = __SMUAD(C2, R) >> 16U; + /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out2 = __SMUSDX(C2, R); +#else + /* xc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out1 = __SMUSDX(R, C2) >> 16U; + /* yc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */ + out2 = __SMUAD(C2, R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Reading i0+fftLen/4 */ + /* T = packed(yb, xb) */ + T = read_q15x2 (pSi1); + T = __SHADD16(T, 0); + T = __SHADD16(T, 0); + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* writing output(xc', yc') in little endian format */ + write_q15x2_ia (&pSi1, (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + + /* Butterfly calculations */ + /* U = packed(yd, xd) */ + U = read_q15x2 (pSi3); + U = __SHADD16(U, 0); + U = __SHADD16(U, 0); + + /* T = packed(yb-yd, xb-xd) */ + T = __QSUB16(T, U); + +#ifndef ARM_MATH_BIG_ENDIAN + /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */ + R = __QASX(S, T); + /* S = packed((ya-yc) - (xb- xd), (xa-xc) + (yb-yd)) */ + S = __QSAX(S, T); +#else + /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */ + R = __QSAX(S, T); + /* S = packed((ya-yc) - (xb- xd), (xa-xc) + (yb-yd)) */ + S = __QASX(S, T); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* co1 & si1 are read from SIMD Coefficient pointer */ + C1 = read_q15x2 ((q15_t *) pCoef16 + (2U * ic)); + /* Butterfly process for the i0+fftLen/2 sample */ + +#ifndef ARM_MATH_BIG_ENDIAN + /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */ + out1 = __SMUAD(C1, S) >> 16U; + /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */ + out2 = __SMUSDX(C1, S); +#else + /* xb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */ + out1 = __SMUSDX(S, C1) >> 16U; + /* yb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */ + out2 = __SMUAD(C1, S); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* writing output(xb', yb') in little endian format */ + write_q15x2_ia (&pSi2, ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF)); + + /* co3 & si3 are read from SIMD Coefficient pointer */ + C3 = read_q15x2 ((q15_t *) pCoef16 + (6U * ic)); + /* Butterfly process for the i0+3fftLen/4 sample */ + +#ifndef ARM_MATH_BIG_ENDIAN + /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */ + out1 = __SMUAD(C3, R) >> 16U; + /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */ + out2 = __SMUSDX(C3, R); +#else + /* xd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */ + out1 = __SMUSDX(R, C3) >> 16U; + /* yd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */ + out2 = __SMUAD(C3, R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* writing output(xd', yd') in little endian format */ + write_q15x2_ia (&pSi3, ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + + /* Twiddle coefficients index modifier */ + ic = ic + twidCoefModifier; + + } while (--j); + /* data is in 4.11(q11) format */ + + /* end of first stage process */ + + + /* start of middle stage process */ + + /* Twiddle coefficients index modifier */ + twidCoefModifier <<= 2U; + + /* Calculation of Middle stage */ + for (k = fftLen / 4U; k > 4U; k >>= 2U) + { + /* Initializations for the middle stage */ + n1 = n2; + n2 >>= 2U; + ic = 0U; + + for (j = 0U; j <= (n2 - 1U); j++) + { + /* index calculation for the coefficients */ + C1 = read_q15x2 ((q15_t *) pCoef16 + (2U * ic)); + C2 = read_q15x2 ((q15_t *) pCoef16 + (4U * ic)); + C3 = read_q15x2 ((q15_t *) pCoef16 + (6U * ic)); + + /* Twiddle coefficients index modifier */ + ic = ic + twidCoefModifier; + + pSi0 = pSrc16 + 2 * j; + pSi1 = pSi0 + 2 * n2; + pSi2 = pSi1 + 2 * n2; + pSi3 = pSi2 + 2 * n2; + + /* Butterfly implementation */ + for (i0 = j; i0 < fftLen; i0 += n1) + { + /* Reading i0, i0+fftLen/2 inputs */ + /* Read ya (real), xa(imag) input */ + T = read_q15x2 (pSi0); + + /* Read yc (real), xc(imag) input */ + S = read_q15x2 (pSi2); + + /* R = packed( (ya + yc), (xa + xc)) */ + R = __QADD16(T, S); + + /* S = packed((ya - yc), (xa - xc)) */ + S = __QSUB16(T, S); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* Read yb (real), xb(imag) input */ + T = read_q15x2 (pSi1); + + /* Read yd (real), xd(imag) input */ + U = read_q15x2 (pSi3); + + /* T = packed( (yb + yd), (xb + xd)) */ + T = __QADD16(T, U); + + /* writing the butterfly processed i0 sample */ + + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + out1 = __SHADD16(R, T); + out1 = __SHADD16(out1, 0); + write_q15x2 (pSi0, out1); + pSi0 += 2 * n1; + + /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */ + R = __SHSUB16(R, T); + +#ifndef ARM_MATH_BIG_ENDIAN + /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */ + out1 = __SMUAD(C2, R) >> 16U; + + /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out2 = __SMUSDX(C2, R); +#else + /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out1 = __SMUSDX(R, C2) >> 16U; + + /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */ + out2 = __SMUAD(C2, R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Reading i0+3fftLen/4 */ + /* Read yb (real), xb(imag) input */ + T = read_q15x2 (pSi1); + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */ + /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + write_q15x2 (pSi1, ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + pSi1 += 2 * n1; + + /* Butterfly calculations */ + + /* Read yd (real), xd(imag) input */ + U = read_q15x2 (pSi3); + + /* T = packed(yb-yd, xb-xd) */ + T = __QSUB16(T, U); + +#ifndef ARM_MATH_BIG_ENDIAN + /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */ + R = __SHASX(S, T); + + /* S = packed((ya-yc) - (xb- xd), (xa-xc) + (yb-yd)) */ + S = __SHSAX(S, T); + + + /* Butterfly process for the i0+fftLen/2 sample */ + out1 = __SMUAD(C1, S) >> 16U; + out2 = __SMUSDX(C1, S); +#else + /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */ + R = __SHSAX(S, T); + + /* S = packed((ya-yc) - (xb- xd), (xa-xc) + (yb-yd)) */ + S = __SHASX(S, T); + + + /* Butterfly process for the i0+fftLen/2 sample */ + out1 = __SMUSDX(S, C1) >> 16U; + out2 = __SMUAD(C1, S); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */ + /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */ + write_q15x2 (pSi2, ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + pSi2 += 2 * n1; + + /* Butterfly process for the i0+3fftLen/4 sample */ + +#ifndef ARM_MATH_BIG_ENDIAN + out1 = __SMUAD(C3, R) >> 16U; + out2 = __SMUSDX(C3, R); +#else + out1 = __SMUSDX(R, C3) >> 16U; + out2 = __SMUAD(C3, R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */ + /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */ + write_q15x2 (pSi3, ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + pSi3 += 2 * n1; + } + } + /* Twiddle coefficients index modifier */ + twidCoefModifier <<= 2U; + } + /* end of middle stage process */ + + + /* data is in 10.6(q6) format for the 1024 point */ + /* data is in 8.8(q8) format for the 256 point */ + /* data is in 6.10(q10) format for the 64 point */ + /* data is in 4.12(q12) format for the 16 point */ + + /* Initializations for the last stage */ + j = fftLen >> 2; + + ptr1 = &pSrc16[0]; + + /* start of last stage process */ + + /* Butterfly implementation */ + do + { + /* Read xa (real), ya(imag) input */ + xaya = read_q15x2_ia ((q15_t **) &ptr1); + + /* Read xb (real), yb(imag) input */ + xbyb = read_q15x2_ia ((q15_t **) &ptr1); + + /* Read xc (real), yc(imag) input */ + xcyc = read_q15x2_ia ((q15_t **) &ptr1); + + /* Read xd (real), yd(imag) input */ + xdyd = read_q15x2_ia ((q15_t **) &ptr1); + + /* R = packed((ya + yc), (xa + xc)) */ + R = __QADD16(xaya, xcyc); + + /* T = packed((yb + yd), (xb + xd)) */ + T = __QADD16(xbyb, xdyd); + + /* pointer updation for writing */ + ptr1 = ptr1 - 8U; + + + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + write_q15x2_ia (&ptr1, __SHADD16(R, T)); + + /* T = packed((yb + yd), (xb + xd)) */ + T = __QADD16(xbyb, xdyd); + + /* xc' = (xa-xb+xc-xd) */ + /* yc' = (ya-yb+yc-yd) */ + write_q15x2_ia (&ptr1, __SHSUB16(R, T)); + + /* S = packed((ya - yc), (xa - xc)) */ + S = __QSUB16(xaya, xcyc); + + /* Read yd (real), xd(imag) input */ + /* T = packed( (yb - yd), (xb - xd)) */ + U = __QSUB16(xbyb, xdyd); + +#ifndef ARM_MATH_BIG_ENDIAN + /* xb' = (xa+yb-xc-yd) */ + /* yb' = (ya-xb-yc+xd) */ + write_q15x2_ia (&ptr1, __SHSAX(S, U)); + + /* xd' = (xa-yb-xc+yd) */ + /* yd' = (ya+xb-yc-xd) */ + write_q15x2_ia (&ptr1, __SHASX(S, U)); +#else + /* xb' = (xa+yb-xc-yd) */ + /* yb' = (ya-xb-yc+xd) */ + write_q15x2_ia (&ptr1, __SHASX(S, U)); + + /* xd' = (xa-yb-xc+yd) */ + /* yd' = (ya+xb-yc-xd) */ + write_q15x2_ia (&ptr1, __SHSAX(S, U)); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + } while (--j); + + /* end of last stage process */ + + /* output is in 11.5(q5) format for the 1024 point */ + /* output is in 9.7(q7) format for the 256 point */ + /* output is in 7.9(q9) format for the 64 point */ + /* output is in 5.11(q11) format for the 16 point */ + + +#else /* #if defined (ARM_MATH_DSP) */ + + q15_t R0, R1, S0, S1, T0, T1, U0, U1; + q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2; + uint32_t n1, n2, ic, i0, i1, i2, i3, j, k; + + /* Total process is divided into three stages */ + + /* process first stage, middle stages, & last stage */ + + /* Initializations for the first stage */ + n2 = fftLen; + n1 = n2; + + /* n2 = fftLen/4 */ + n2 >>= 2U; + + /* Index for twiddle coefficient */ + ic = 0U; + + /* Index for input read and output write */ + i0 = 0U; + j = n2; + + /* Input is in 1.15(q15) format */ + + /* start of first stage process */ + do + { + /* Butterfly implementation */ + + /* index calculation for the input as, */ + /* pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */ + i1 = i0 + n2; + i2 = i1 + n2; + i3 = i2 + n2; + + /* Reading i0, i0+fftLen/2 inputs */ + + /* input is down scale by 4 to avoid overflow */ + /* Read ya (real), xa(imag) input */ + T0 = pSrc16[i0 * 2U] >> 2U; + T1 = pSrc16[(i0 * 2U) + 1U] >> 2U; + + /* input is down scale by 4 to avoid overflow */ + /* Read yc (real), xc(imag) input */ + S0 = pSrc16[i2 * 2U] >> 2U; + S1 = pSrc16[(i2 * 2U) + 1U] >> 2U; + + /* R0 = (ya + yc) */ + R0 = __SSAT(T0 + S0, 16U); + /* R1 = (xa + xc) */ + R1 = __SSAT(T1 + S1, 16U); + + /* S0 = (ya - yc) */ + S0 = __SSAT(T0 - S0, 16); + /* S1 = (xa - xc) */ + S1 = __SSAT(T1 - S1, 16); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* input is down scale by 4 to avoid overflow */ + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U] >> 2U; + T1 = pSrc16[(i1 * 2U) + 1U] >> 2U; + + /* input is down scale by 4 to avoid overflow */ + /* Read yd (real), xd(imag) input */ + U0 = pSrc16[i3 * 2U] >> 2U; + U1 = pSrc16[(i3 * 2U) + 1] >> 2U; + + /* T0 = (yb + yd) */ + T0 = __SSAT(T0 + U0, 16U); + /* T1 = (xb + xd) */ + T1 = __SSAT(T1 + U1, 16U); + + /* writing the butterfly processed i0 sample */ + /* ya' = ya + yb + yc + yd */ + /* xa' = xa + xb + xc + xd */ + pSrc16[i0 * 2U] = (R0 >> 1U) + (T0 >> 1U); + pSrc16[(i0 * 2U) + 1U] = (R1 >> 1U) + (T1 >> 1U); + + /* R0 = (ya + yc) - (yb + yd) */ + /* R1 = (xa + xc) - (xb + xd) */ + R0 = __SSAT(R0 - T0, 16U); + R1 = __SSAT(R1 - T1, 16U); + + /* co2 & si2 are read from Coefficient pointer */ + Co2 = pCoef16[2U * ic * 2U]; + Si2 = pCoef16[(2U * ic * 2U) + 1]; + + /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */ + out1 = (q15_t) ((Co2 * R0 + Si2 * R1) >> 16U); + /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out2 = (q15_t) ((-Si2 * R0 + Co2 * R1) >> 16U); + + /* Reading i0+fftLen/4 */ + /* input is down scale by 4 to avoid overflow */ + /* T0 = yb, T1 = xb */ + T0 = pSrc16[i1 * 2U] >> 2; + T1 = pSrc16[(i1 * 2U) + 1] >> 2; + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* writing output(xc', yc') in little endian format */ + pSrc16[i1 * 2U] = out1; + pSrc16[(i1 * 2U) + 1] = out2; + + /* Butterfly calculations */ + /* input is down scale by 4 to avoid overflow */ + /* U0 = yd, U1 = xd */ + U0 = pSrc16[i3 * 2U] >> 2; + U1 = pSrc16[(i3 * 2U) + 1] >> 2; + /* T0 = yb-yd */ + T0 = __SSAT(T0 - U0, 16); + /* T1 = xb-xd */ + T1 = __SSAT(T1 - U1, 16); + + /* R1 = (ya-yc) + (xb- xd), R0 = (xa-xc) - (yb-yd)) */ + R0 = (q15_t) __SSAT((q31_t) (S0 - T1), 16); + R1 = (q15_t) __SSAT((q31_t) (S1 + T0), 16); + + /* S1 = (ya-yc) - (xb- xd), S0 = (xa-xc) + (yb-yd)) */ + S0 = (q15_t) __SSAT(((q31_t) S0 + T1), 16U); + S1 = (q15_t) __SSAT(((q31_t) S1 - T0), 16U); + + /* co1 & si1 are read from Coefficient pointer */ + Co1 = pCoef16[ic * 2U]; + Si1 = pCoef16[(ic * 2U) + 1]; + /* Butterfly process for the i0+fftLen/2 sample */ + /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */ + out1 = (q15_t) ((Si1 * S1 + Co1 * S0) >> 16); + /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */ + out2 = (q15_t) ((-Si1 * S0 + Co1 * S1) >> 16); + + /* writing output(xb', yb') in little endian format */ + pSrc16[i2 * 2U] = out1; + pSrc16[(i2 * 2U) + 1] = out2; + + /* Co3 & si3 are read from Coefficient pointer */ + Co3 = pCoef16[3U * (ic * 2U)]; + Si3 = pCoef16[(3U * (ic * 2U)) + 1]; + /* Butterfly process for the i0+3fftLen/4 sample */ + /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */ + out1 = (q15_t) ((Si3 * R1 + Co3 * R0) >> 16U); + /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */ + out2 = (q15_t) ((-Si3 * R0 + Co3 * R1) >> 16U); + /* writing output(xd', yd') in little endian format */ + pSrc16[i3 * 2U] = out1; + pSrc16[(i3 * 2U) + 1] = out2; + + /* Twiddle coefficients index modifier */ + ic = ic + twidCoefModifier; + + /* Updating input index */ + i0 = i0 + 1U; + + } while (--j); + /* data is in 4.11(q11) format */ + + /* end of first stage process */ + + + /* start of middle stage process */ + + /* Twiddle coefficients index modifier */ + twidCoefModifier <<= 2U; + + /* Calculation of Middle stage */ + for (k = fftLen / 4U; k > 4U; k >>= 2U) + { + /* Initializations for the middle stage */ + n1 = n2; + n2 >>= 2U; + ic = 0U; + + for (j = 0U; j <= (n2 - 1U); j++) + { + /* index calculation for the coefficients */ + Co1 = pCoef16[ic * 2U]; + Si1 = pCoef16[(ic * 2U) + 1U]; + Co2 = pCoef16[2U * (ic * 2U)]; + Si2 = pCoef16[(2U * (ic * 2U)) + 1U]; + Co3 = pCoef16[3U * (ic * 2U)]; + Si3 = pCoef16[(3U * (ic * 2U)) + 1U]; + + /* Twiddle coefficients index modifier */ + ic = ic + twidCoefModifier; + + /* Butterfly implementation */ + for (i0 = j; i0 < fftLen; i0 += n1) + { + /* index calculation for the input as, */ + /* pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */ + i1 = i0 + n2; + i2 = i1 + n2; + i3 = i2 + n2; + + /* Reading i0, i0+fftLen/2 inputs */ + /* Read ya (real), xa(imag) input */ + T0 = pSrc16[i0 * 2U]; + T1 = pSrc16[(i0 * 2U) + 1U]; + + /* Read yc (real), xc(imag) input */ + S0 = pSrc16[i2 * 2U]; + S1 = pSrc16[(i2 * 2U) + 1U]; + + /* R0 = (ya + yc), R1 = (xa + xc) */ + R0 = __SSAT(T0 + S0, 16); + R1 = __SSAT(T1 + S1, 16); + + /* S0 = (ya - yc), S1 =(xa - xc) */ + S0 = __SSAT(T0 - S0, 16); + S1 = __SSAT(T1 - S1, 16); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U]; + T1 = pSrc16[(i1 * 2U) + 1U]; + + /* Read yd (real), xd(imag) input */ + U0 = pSrc16[i3 * 2U]; + U1 = pSrc16[(i3 * 2U) + 1U]; + + + /* T0 = (yb + yd), T1 = (xb + xd) */ + T0 = __SSAT(T0 + U0, 16); + T1 = __SSAT(T1 + U1, 16); + + /* writing the butterfly processed i0 sample */ + + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + out1 = ((R0 >> 1U) + (T0 >> 1U)) >> 1U; + out2 = ((R1 >> 1U) + (T1 >> 1U)) >> 1U; + + pSrc16[i0 * 2U] = out1; + pSrc16[(2U * i0) + 1U] = out2; + + /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */ + R0 = (R0 >> 1U) - (T0 >> 1U); + R1 = (R1 >> 1U) - (T1 >> 1U); + + /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */ + out1 = (q15_t) ((Co2 * R0 + Si2 * R1) >> 16U); + + /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out2 = (q15_t) ((-Si2 * R0 + Co2 * R1) >> 16U); + + /* Reading i0+3fftLen/4 */ + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U]; + T1 = pSrc16[(i1 * 2U) + 1U]; + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */ + /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + pSrc16[i1 * 2U] = out1; + pSrc16[(i1 * 2U) + 1U] = out2; + + /* Butterfly calculations */ + + /* Read yd (real), xd(imag) input */ + U0 = pSrc16[i3 * 2U]; + U1 = pSrc16[(i3 * 2U) + 1U]; + + /* T0 = yb-yd, T1 = xb-xd */ + T0 = __SSAT(T0 - U0, 16); + T1 = __SSAT(T1 - U1, 16); + + /* R0 = (ya-yc) + (xb- xd), R1 = (xa-xc) - (yb-yd)) */ + R0 = (S0 >> 1U) - (T1 >> 1U); + R1 = (S1 >> 1U) + (T0 >> 1U); + + /* S0 = (ya-yc) - (xb- xd), S1 = (xa-xc) + (yb-yd)) */ + S0 = (S0 >> 1U) + (T1 >> 1U); + S1 = (S1 >> 1U) - (T0 >> 1U); + + /* Butterfly process for the i0+fftLen/2 sample */ + out1 = (q15_t) ((Co1 * S0 + Si1 * S1) >> 16U); + + out2 = (q15_t) ((-Si1 * S0 + Co1 * S1) >> 16U); + + /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */ + /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */ + pSrc16[i2 * 2U] = out1; + pSrc16[(i2 * 2U) + 1U] = out2; + + /* Butterfly process for the i0+3fftLen/4 sample */ + out1 = (q15_t) ((Si3 * R1 + Co3 * R0) >> 16U); + + out2 = (q15_t) ((-Si3 * R0 + Co3 * R1) >> 16U); + /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */ + /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */ + pSrc16[i3 * 2U] = out1; + pSrc16[(i3 * 2U) + 1U] = out2; + } + } + /* Twiddle coefficients index modifier */ + twidCoefModifier <<= 2U; + } + /* end of middle stage process */ + + + /* data is in 10.6(q6) format for the 1024 point */ + /* data is in 8.8(q8) format for the 256 point */ + /* data is in 6.10(q10) format for the 64 point */ + /* data is in 4.12(q12) format for the 16 point */ + + /* Initializations for the last stage */ + n1 = n2; + n2 >>= 2U; + + /* start of last stage process */ + + /* Butterfly implementation */ + for (i0 = 0U; i0 <= (fftLen - n1); i0 += n1) + { + /* index calculation for the input as, */ + /* pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */ + i1 = i0 + n2; + i2 = i1 + n2; + i3 = i2 + n2; + + /* Reading i0, i0+fftLen/2 inputs */ + /* Read ya (real), xa(imag) input */ + T0 = pSrc16[i0 * 2U]; + T1 = pSrc16[(i0 * 2U) + 1U]; + + /* Read yc (real), xc(imag) input */ + S0 = pSrc16[i2 * 2U]; + S1 = pSrc16[(i2 * 2U) + 1U]; + + /* R0 = (ya + yc), R1 = (xa + xc) */ + R0 = __SSAT(T0 + S0, 16U); + R1 = __SSAT(T1 + S1, 16U); + + /* S0 = (ya - yc), S1 = (xa - xc) */ + S0 = __SSAT(T0 - S0, 16U); + S1 = __SSAT(T1 - S1, 16U); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U]; + T1 = pSrc16[(i1 * 2U) + 1U]; + /* Read yd (real), xd(imag) input */ + U0 = pSrc16[i3 * 2U]; + U1 = pSrc16[(i3 * 2U) + 1U]; + + /* T0 = (yb + yd), T1 = (xb + xd)) */ + T0 = __SSAT(T0 + U0, 16U); + T1 = __SSAT(T1 + U1, 16U); + + /* writing the butterfly processed i0 sample */ + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + pSrc16[i0 * 2U] = (R0 >> 1U) + (T0 >> 1U); + pSrc16[(i0 * 2U) + 1U] = (R1 >> 1U) + (T1 >> 1U); + + /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */ + R0 = (R0 >> 1U) - (T0 >> 1U); + R1 = (R1 >> 1U) - (T1 >> 1U); + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U]; + T1 = pSrc16[(i1 * 2U) + 1U]; + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* xc' = (xa-xb+xc-xd) */ + /* yc' = (ya-yb+yc-yd) */ + pSrc16[i1 * 2U] = R0; + pSrc16[(i1 * 2U) + 1U] = R1; + + /* Read yd (real), xd(imag) input */ + U0 = pSrc16[i3 * 2U]; + U1 = pSrc16[(i3 * 2U) + 1U]; + /* T0 = (yb - yd), T1 = (xb - xd) */ + T0 = __SSAT(T0 - U0, 16U); + T1 = __SSAT(T1 - U1, 16U); + + /* writing the butterfly processed i0 + fftLen/2 sample */ + /* xb' = (xa+yb-xc-yd) */ + /* yb' = (ya-xb-yc+xd) */ + pSrc16[i2 * 2U] = (S0 >> 1U) + (T1 >> 1U); + pSrc16[(i2 * 2U) + 1U] = (S1 >> 1U) - (T0 >> 1U); + + /* writing the butterfly processed i0 + 3fftLen/4 sample */ + /* xd' = (xa-yb-xc+yd) */ + /* yd' = (ya+xb-yc-xd) */ + pSrc16[i3 * 2U] = (S0 >> 1U) - (T1 >> 1U); + pSrc16[(i3 * 2U) + 1U] = (S1 >> 1U) + (T0 >> 1U); + + } + + /* end of last stage process */ + + /* output is in 11.5(q5) format for the 1024 point */ + /* output is in 9.7(q7) format for the 256 point */ + /* output is in 7.9(q9) format for the 64 point */ + /* output is in 5.11(q11) format for the 16 point */ + +#endif /* #if defined (ARM_MATH_DSP) */ + +} + + +/** + @brief Core function for the Q15 CIFFT butterfly process. + @param[in,out] pSrc16 points to the in-place buffer of Q15 data type + @param[in] fftLen length of the FFT + @param[in] pCoef16 points to twiddle coefficient buffer + @param[in] twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. + @return none + */ + +/* + * Radix-4 IFFT algorithm used is : + * + * CIFFT uses same twiddle coefficients as CFFT function + * x[k] = x[n] + (j)k * x[n + fftLen/4] + (-1)k * x[n+fftLen/2] + (-j)k * x[n+3*fftLen/4] + * + * + * IFFT is implemented with following changes in equations from FFT + * + * Input real and imaginary data: + * x(n) = xa + j * ya + * x(n+N/4 ) = xb + j * yb + * x(n+N/2 ) = xc + j * yc + * x(n+3N 4) = xd + j * yd + * + * + * Output real and imaginary data: + * x(4r) = xa'+ j * ya' + * x(4r+1) = xb'+ j * yb' + * x(4r+2) = xc'+ j * yc' + * x(4r+3) = xd'+ j * yd' + * + * + * Twiddle factors for radix-4 IFFT: + * Wn = co1 + j * (si1) + * W2n = co2 + j * (si2) + * W3n = co3 + j * (si3) + + * The real and imaginary output values for the radix-4 butterfly are + * xa' = xa + xb + xc + xd + * ya' = ya + yb + yc + yd + * xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) + * yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) + * xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) + * yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) + * xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3) + * yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3) + * + */ + +void arm_radix4_butterfly_inverse_q15( + q15_t * pSrc16, + uint32_t fftLen, + const q15_t * pCoef16, + uint32_t twidCoefModifier) +{ + +#if defined (ARM_MATH_DSP) + + q31_t R, S, T, U; + q31_t C1, C2, C3, out1, out2; + uint32_t n1, n2, ic, i0, j, k; + + q15_t *ptr1; + q15_t *pSi0; + q15_t *pSi1; + q15_t *pSi2; + q15_t *pSi3; + + q31_t xaya, xbyb, xcyc, xdyd; + + /* Total process is divided into three stages */ + + /* process first stage, middle stages, & last stage */ + + /* Initializations for the first stage */ + n2 = fftLen; + n1 = n2; + + /* n2 = fftLen/4 */ + n2 >>= 2U; + + /* Index for twiddle coefficient */ + ic = 0U; + + /* Index for input read and output write */ + j = n2; + + pSi0 = pSrc16; + pSi1 = pSi0 + 2 * n2; + pSi2 = pSi1 + 2 * n2; + pSi3 = pSi2 + 2 * n2; + + /* Input is in 1.15(q15) format */ + + /* start of first stage process */ + do + { + /* Butterfly implementation */ + + /* Reading i0, i0+fftLen/2 inputs */ + /* Read ya (real), xa(imag) input */ + T = read_q15x2 (pSi0); + T = __SHADD16(T, 0); + T = __SHADD16(T, 0); + + /* Read yc (real), xc(imag) input */ + S = read_q15x2 (pSi2); + S = __SHADD16(S, 0); + S = __SHADD16(S, 0); + + /* R = packed((ya + yc), (xa + xc) ) */ + R = __QADD16(T, S); + + /* S = packed((ya - yc), (xa - xc) ) */ + S = __QSUB16(T, S); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* Read yb (real), xb(imag) input */ + T = read_q15x2 (pSi1); + T = __SHADD16(T, 0); + T = __SHADD16(T, 0); + + /* Read yd (real), xd(imag) input */ + U = read_q15x2 (pSi3); + U = __SHADD16(U, 0); + U = __SHADD16(U, 0); + + /* T = packed((yb + yd), (xb + xd) ) */ + T = __QADD16(T, U); + + /* writing the butterfly processed i0 sample */ + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + write_q15x2_ia (&pSi0, __SHADD16(R, T)); + + /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */ + R = __QSUB16(R, T); + + /* co2 & si2 are read from SIMD Coefficient pointer */ + C2 = read_q15x2 ((q15_t *) pCoef16 + (4U * ic)); + +#ifndef ARM_MATH_BIG_ENDIAN + /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */ + out1 = __SMUSD(C2, R) >> 16U; + /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out2 = __SMUADX(C2, R); +#else + /* xc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out1 = __SMUADX(C2, R) >> 16U; + /* yc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */ + out2 = __SMUSD(__QSUB16(0, C2), R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Reading i0+fftLen/4 */ + /* T = packed(yb, xb) */ + T = read_q15x2 (pSi1); + T = __SHADD16(T, 0); + T = __SHADD16(T, 0); + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* writing output(xc', yc') in little endian format */ + write_q15x2_ia (&pSi1, (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + + /* Butterfly calculations */ + /* U = packed(yd, xd) */ + U = read_q15x2 (pSi3); + U = __SHADD16(U, 0); + U = __SHADD16(U, 0); + + /* T = packed(yb-yd, xb-xd) */ + T = __QSUB16(T, U); + +#ifndef ARM_MATH_BIG_ENDIAN + /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */ + R = __QSAX(S, T); + /* S = packed((ya-yc) + (xb- xd), (xa-xc) - (yb-yd)) */ + S = __QASX(S, T); +#else + /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */ + R = __QASX(S, T); + /* S = packed((ya-yc) - (xb- xd), (xa-xc) + (yb-yd)) */ + S = __QSAX(S, T); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* co1 & si1 are read from SIMD Coefficient pointer */ + C1 = read_q15x2 ((q15_t *) pCoef16 + (2U * ic)); + /* Butterfly process for the i0+fftLen/2 sample */ + +#ifndef ARM_MATH_BIG_ENDIAN + /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */ + out1 = __SMUSD(C1, S) >> 16U; + /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */ + out2 = __SMUADX(C1, S); +#else + /* xb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */ + out1 = __SMUADX(C1, S) >> 16U; + /* yb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */ + out2 = __SMUSD(__QSUB16(0, C1), S); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* writing output(xb', yb') in little endian format */ + write_q15x2_ia (&pSi2, ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF)); + + /* co3 & si3 are read from SIMD Coefficient pointer */ + C3 = read_q15x2 ((q15_t *) pCoef16 + (6U * ic)); + /* Butterfly process for the i0+3fftLen/4 sample */ + +#ifndef ARM_MATH_BIG_ENDIAN + /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */ + out1 = __SMUSD(C3, R) >> 16U; + /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */ + out2 = __SMUADX(C3, R); +#else + /* xd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */ + out1 = __SMUADX(C3, R) >> 16U; + /* yd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */ + out2 = __SMUSD(__QSUB16(0, C3), R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* writing output(xd', yd') in little endian format */ + write_q15x2_ia (&pSi3, ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + + /* Twiddle coefficients index modifier */ + ic = ic + twidCoefModifier; + + } while (--j); + /* data is in 4.11(q11) format */ + + /* end of first stage process */ + + + /* start of middle stage process */ + + /* Twiddle coefficients index modifier */ + twidCoefModifier <<= 2U; + + /* Calculation of Middle stage */ + for (k = fftLen / 4U; k > 4U; k >>= 2U) + { + /* Initializations for the middle stage */ + n1 = n2; + n2 >>= 2U; + ic = 0U; + + for (j = 0U; j <= (n2 - 1U); j++) + { + /* index calculation for the coefficients */ + C1 = read_q15x2 ((q15_t *) pCoef16 + (2U * ic)); + C2 = read_q15x2 ((q15_t *) pCoef16 + (4U * ic)); + C3 = read_q15x2 ((q15_t *) pCoef16 + (6U * ic)); + + /* Twiddle coefficients index modifier */ + ic = ic + twidCoefModifier; + + pSi0 = pSrc16 + 2 * j; + pSi1 = pSi0 + 2 * n2; + pSi2 = pSi1 + 2 * n2; + pSi3 = pSi2 + 2 * n2; + + /* Butterfly implementation */ + for (i0 = j; i0 < fftLen; i0 += n1) + { + /* Reading i0, i0+fftLen/2 inputs */ + /* Read ya (real), xa(imag) input */ + T = read_q15x2 (pSi0); + + /* Read yc (real), xc(imag) input */ + S = read_q15x2 (pSi2); + + /* R = packed( (ya + yc), (xa + xc)) */ + R = __QADD16(T, S); + + /* S = packed((ya - yc), (xa - xc)) */ + S = __QSUB16(T, S); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* Read yb (real), xb(imag) input */ + T = read_q15x2 (pSi1); + + /* Read yd (real), xd(imag) input */ + U = read_q15x2 (pSi3); + + /* T = packed( (yb + yd), (xb + xd)) */ + T = __QADD16(T, U); + + /* writing the butterfly processed i0 sample */ + + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + out1 = __SHADD16(R, T); + out1 = __SHADD16(out1, 0); + write_q15x2 (pSi0, out1); + pSi0 += 2 * n1; + + /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */ + R = __SHSUB16(R, T); + +#ifndef ARM_MATH_BIG_ENDIAN + /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */ + out1 = __SMUSD(C2, R) >> 16U; + + /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out2 = __SMUADX(C2, R); +#else + /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + out1 = __SMUADX(R, C2) >> 16U; + + /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */ + out2 = __SMUSD(__QSUB16(0, C2), R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Reading i0+3fftLen/4 */ + /* Read yb (real), xb(imag) input */ + T = read_q15x2 (pSi1); + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */ + /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */ + write_q15x2 (pSi1, ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + pSi1 += 2 * n1; + + /* Butterfly calculations */ + + /* Read yd (real), xd(imag) input */ + U = read_q15x2 (pSi3); + + /* T = packed(yb-yd, xb-xd) */ + T = __QSUB16(T, U); + +#ifndef ARM_MATH_BIG_ENDIAN + /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */ + R = __SHSAX(S, T); + + /* S = packed((ya-yc) - (xb- xd), (xa-xc) + (yb-yd)) */ + S = __SHASX(S, T); + + /* Butterfly process for the i0+fftLen/2 sample */ + out1 = __SMUSD(C1, S) >> 16U; + out2 = __SMUADX(C1, S); +#else + /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */ + R = __SHASX(S, T); + + /* S = packed((ya-yc) - (xb- xd), (xa-xc) + (yb-yd)) */ + S = __SHSAX(S, T); + + /* Butterfly process for the i0+fftLen/2 sample */ + out1 = __SMUADX(S, C1) >> 16U; + out2 = __SMUSD(__QSUB16(0, C1), S); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */ + /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */ + write_q15x2 (pSi2, ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + pSi2 += 2 * n1; + + /* Butterfly process for the i0+3fftLen/4 sample */ + +#ifndef ARM_MATH_BIG_ENDIAN + out1 = __SMUSD(C3, R) >> 16U; + out2 = __SMUADX(C3, R); +#else + out1 = __SMUADX(C3, R) >> 16U; + out2 = __SMUSD(__QSUB16(0, C3), R); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */ + /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */ + write_q15x2 (pSi3, ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF)); + pSi3 += 2 * n1; + } + } + /* Twiddle coefficients index modifier */ + twidCoefModifier <<= 2U; + } + /* end of middle stage process */ + + /* data is in 10.6(q6) format for the 1024 point */ + /* data is in 8.8(q8) format for the 256 point */ + /* data is in 6.10(q10) format for the 64 point */ + /* data is in 4.12(q12) format for the 16 point */ + + /* Initializations for the last stage */ + j = fftLen >> 2; + + ptr1 = &pSrc16[0]; + + /* start of last stage process */ + + /* Butterfly implementation */ + do + { + /* Read xa (real), ya(imag) input */ + xaya = read_q15x2_ia ((q15_t **) &ptr1); + + /* Read xb (real), yb(imag) input */ + xbyb = read_q15x2_ia ((q15_t **) &ptr1); + + /* Read xc (real), yc(imag) input */ + xcyc = read_q15x2_ia ((q15_t **) &ptr1); + + /* Read xd (real), yd(imag) input */ + xdyd = read_q15x2_ia ((q15_t **) &ptr1); + + /* R = packed((ya + yc), (xa + xc)) */ + R = __QADD16(xaya, xcyc); + + /* T = packed((yb + yd), (xb + xd)) */ + T = __QADD16(xbyb, xdyd); + + /* pointer updation for writing */ + ptr1 = ptr1 - 8U; + + + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + write_q15x2_ia (&ptr1, __SHADD16(R, T)); + + /* T = packed((yb + yd), (xb + xd)) */ + T = __QADD16(xbyb, xdyd); + + /* xc' = (xa-xb+xc-xd) */ + /* yc' = (ya-yb+yc-yd) */ + write_q15x2_ia (&ptr1, __SHSUB16(R, T)); + + /* S = packed((ya - yc), (xa - xc)) */ + S = __QSUB16(xaya, xcyc); + + /* Read yd (real), xd(imag) input */ + /* T = packed( (yb - yd), (xb - xd)) */ + U = __QSUB16(xbyb, xdyd); + +#ifndef ARM_MATH_BIG_ENDIAN + /* xb' = (xa+yb-xc-yd) */ + /* yb' = (ya-xb-yc+xd) */ + write_q15x2_ia (&ptr1, __SHASX(S, U)); + + /* xd' = (xa-yb-xc+yd) */ + /* yd' = (ya+xb-yc-xd) */ + write_q15x2_ia (&ptr1, __SHSAX(S, U)); +#else + /* xb' = (xa+yb-xc-yd) */ + /* yb' = (ya-xb-yc+xd) */ + write_q15x2_ia (&ptr1, __SHSAX(S, U)); + + /* xd' = (xa-yb-xc+yd) */ + /* yd' = (ya+xb-yc-xd) */ + write_q15x2_ia (&ptr1, __SHASX(S, U)); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + } while (--j); + + /* end of last stage process */ + + /* output is in 11.5(q5) format for the 1024 point */ + /* output is in 9.7(q7) format for the 256 point */ + /* output is in 7.9(q9) format for the 64 point */ + /* output is in 5.11(q11) format for the 16 point */ + + +#else /* arm_radix4_butterfly_inverse_q15 */ + + q15_t R0, R1, S0, S1, T0, T1, U0, U1; + q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2; + uint32_t n1, n2, ic, i0, i1, i2, i3, j, k; + + /* Total process is divided into three stages */ + + /* process first stage, middle stages, & last stage */ + + /* Initializations for the first stage */ + n2 = fftLen; + n1 = n2; + + /* n2 = fftLen/4 */ + n2 >>= 2U; + + /* Index for twiddle coefficient */ + ic = 0U; + + /* Index for input read and output write */ + i0 = 0U; + + j = n2; + + /* Input is in 1.15(q15) format */ + + /* Start of first stage process */ + do + { + /* Butterfly implementation */ + + /* index calculation for the input as, */ + /* pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */ + i1 = i0 + n2; + i2 = i1 + n2; + i3 = i2 + n2; + + /* Reading i0, i0+fftLen/2 inputs */ + /* input is down scale by 4 to avoid overflow */ + /* Read ya (real), xa(imag) input */ + T0 = pSrc16[i0 * 2U] >> 2U; + T1 = pSrc16[(i0 * 2U) + 1U] >> 2U; + /* input is down scale by 4 to avoid overflow */ + /* Read yc (real), xc(imag) input */ + S0 = pSrc16[i2 * 2U] >> 2U; + S1 = pSrc16[(i2 * 2U) + 1U] >> 2U; + + /* R0 = (ya + yc), R1 = (xa + xc) */ + R0 = __SSAT(T0 + S0, 16U); + R1 = __SSAT(T1 + S1, 16U); + /* S0 = (ya - yc), S1 = (xa - xc) */ + S0 = __SSAT(T0 - S0, 16U); + S1 = __SSAT(T1 - S1, 16U); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* input is down scale by 4 to avoid overflow */ + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U] >> 2U; + T1 = pSrc16[(i1 * 2U) + 1U] >> 2U; + /* Read yd (real), xd(imag) input */ + /* input is down scale by 4 to avoid overflow */ + U0 = pSrc16[i3 * 2U] >> 2U; + U1 = pSrc16[(i3 * 2U) + 1U] >> 2U; + + /* T0 = (yb + yd), T1 = (xb + xd) */ + T0 = __SSAT(T0 + U0, 16U); + T1 = __SSAT(T1 + U1, 16U); + + /* writing the butterfly processed i0 sample */ + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + pSrc16[i0 * 2U] = (R0 >> 1U) + (T0 >> 1U); + pSrc16[(i0 * 2U) + 1U] = (R1 >> 1U) + (T1 >> 1U); + + /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc)- (xb + xd) */ + R0 = __SSAT(R0 - T0, 16U); + R1 = __SSAT(R1 - T1, 16U); + /* co2 & si2 are read from Coefficient pointer */ + Co2 = pCoef16[2U * ic * 2U]; + Si2 = pCoef16[(2U * ic * 2U) + 1U]; + /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */ + out1 = (q15_t) ((Co2 * R0 - Si2 * R1) >> 16U); + /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */ + out2 = (q15_t) ((Si2 * R0 + Co2 * R1) >> 16U); + + /* Reading i0+fftLen/4 */ + /* input is down scale by 4 to avoid overflow */ + /* T0 = yb, T1 = xb */ + T0 = pSrc16[i1 * 2U] >> 2U; + T1 = pSrc16[(i1 * 2U) + 1U] >> 2U; + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* writing output(xc', yc') in little endian format */ + pSrc16[i1 * 2U] = out1; + pSrc16[(i1 * 2U) + 1U] = out2; + + /* Butterfly calculations */ + /* input is down scale by 4 to avoid overflow */ + /* U0 = yd, U1 = xd) */ + U0 = pSrc16[i3 * 2U] >> 2U; + U1 = pSrc16[(i3 * 2U) + 1U] >> 2U; + + /* T0 = yb-yd, T1 = xb-xd) */ + T0 = __SSAT(T0 - U0, 16U); + T1 = __SSAT(T1 - U1, 16U); + /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */ + R0 = (q15_t) __SSAT((q31_t) (S0 + T1), 16); + R1 = (q15_t) __SSAT((q31_t) (S1 - T0), 16); + /* S = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */ + S0 = (q15_t) __SSAT((q31_t) (S0 - T1), 16); + S1 = (q15_t) __SSAT((q31_t) (S1 + T0), 16); + + /* co1 & si1 are read from Coefficient pointer */ + Co1 = pCoef16[ic * 2U]; + Si1 = pCoef16[(ic * 2U) + 1U]; + /* Butterfly process for the i0+fftLen/2 sample */ + /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */ + out1 = (q15_t) ((Co1 * S0 - Si1 * S1) >> 16U); + /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */ + out2 = (q15_t) ((Si1 * S0 + Co1 * S1) >> 16U); + /* writing output(xb', yb') in little endian format */ + pSrc16[i2 * 2U] = out1; + pSrc16[(i2 * 2U) + 1U] = out2; + + /* Co3 & si3 are read from Coefficient pointer */ + Co3 = pCoef16[3U * ic * 2U]; + Si3 = pCoef16[(3U * ic * 2U) + 1U]; + /* Butterfly process for the i0+3fftLen/4 sample */ + /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */ + out1 = (q15_t) ((Co3 * R0 - Si3 * R1) >> 16U); + /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */ + out2 = (q15_t) ((Si3 * R0 + Co3 * R1) >> 16U); + /* writing output(xd', yd') in little endian format */ + pSrc16[i3 * 2U] = out1; + pSrc16[(i3 * 2U) + 1U] = out2; + + /* Twiddle coefficients index modifier */ + ic = ic + twidCoefModifier; + + /* Updating input index */ + i0 = i0 + 1U; + + } while (--j); + + /* End of first stage process */ + + /* data is in 4.11(q11) format */ + + + /* Start of Middle stage process */ + + /* Twiddle coefficients index modifier */ + twidCoefModifier <<= 2U; + + /* Calculation of Middle stage */ + for (k = fftLen / 4U; k > 4U; k >>= 2U) + { + /* Initializations for the middle stage */ + n1 = n2; + n2 >>= 2U; + ic = 0U; + + for (j = 0U; j <= (n2 - 1U); j++) + { + /* index calculation for the coefficients */ + Co1 = pCoef16[ic * 2U]; + Si1 = pCoef16[(ic * 2U) + 1U]; + Co2 = pCoef16[2U * ic * 2U]; + Si2 = pCoef16[2U * ic * 2U + 1U]; + Co3 = pCoef16[3U * ic * 2U]; + Si3 = pCoef16[(3U * ic * 2U) + 1U]; + + /* Twiddle coefficients index modifier */ + ic = ic + twidCoefModifier; + + /* Butterfly implementation */ + for (i0 = j; i0 < fftLen; i0 += n1) + { + /* index calculation for the input as, */ + /* pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */ + i1 = i0 + n2; + i2 = i1 + n2; + i3 = i2 + n2; + + /* Reading i0, i0+fftLen/2 inputs */ + /* Read ya (real), xa(imag) input */ + T0 = pSrc16[i0 * 2U]; + T1 = pSrc16[(i0 * 2U) + 1U]; + + /* Read yc (real), xc(imag) input */ + S0 = pSrc16[i2 * 2U]; + S1 = pSrc16[(i2 * 2U) + 1U]; + + + /* R0 = (ya + yc), R1 = (xa + xc) */ + R0 = __SSAT(T0 + S0, 16U); + R1 = __SSAT(T1 + S1, 16U); + /* S0 = (ya - yc), S1 = (xa - xc) */ + S0 = __SSAT(T0 - S0, 16U); + S1 = __SSAT(T1 - S1, 16U); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U]; + T1 = pSrc16[(i1 * 2U) + 1U]; + + /* Read yd (real), xd(imag) input */ + U0 = pSrc16[i3 * 2U]; + U1 = pSrc16[(i3 * 2U) + 1U]; + + /* T0 = (yb + yd), T1 = (xb + xd) */ + T0 = __SSAT(T0 + U0, 16U); + T1 = __SSAT(T1 + U1, 16U); + + /* writing the butterfly processed i0 sample */ + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + pSrc16[i0 * 2U] = ((R0 >> 1U) + (T0 >> 1U)) >> 1U; + pSrc16[(i0 * 2U) + 1U] = ((R1 >> 1U) + (T1 >> 1U)) >> 1U; + + /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */ + R0 = (R0 >> 1U) - (T0 >> 1U); + R1 = (R1 >> 1U) - (T1 >> 1U); + + /* (ya-yb+yc-yd)* (si2) - (xa-xb+xc-xd)* co2 */ + out1 = (q15_t) ((Co2 * R0 - Si2 * R1) >> 16); + /* (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */ + out2 = (q15_t) ((Si2 * R0 + Co2 * R1) >> 16); + + /* Reading i0+3fftLen/4 */ + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U]; + T1 = pSrc16[(i1 * 2U) + 1U]; + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */ + /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */ + pSrc16[i1 * 2U] = out1; + pSrc16[(i1 * 2U) + 1U] = out2; + + /* Butterfly calculations */ + /* Read yd (real), xd(imag) input */ + U0 = pSrc16[i3 * 2U]; + U1 = pSrc16[(i3 * 2U) + 1U]; + + /* T0 = yb-yd, T1 = xb-xd) */ + T0 = __SSAT(T0 - U0, 16U); + T1 = __SSAT(T1 - U1, 16U); + + /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */ + R0 = (S0 >> 1U) + (T1 >> 1U); + R1 = (S1 >> 1U) - (T0 >> 1U); + + /* S1 = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */ + S0 = (S0 >> 1U) - (T1 >> 1U); + S1 = (S1 >> 1U) + (T0 >> 1U); + + /* Butterfly process for the i0+fftLen/2 sample */ + out1 = (q15_t) ((Co1 * S0 - Si1 * S1) >> 16U); + out2 = (q15_t) ((Si1 * S0 + Co1 * S1) >> 16U); + /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */ + /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */ + pSrc16[i2 * 2U] = out1; + pSrc16[(i2 * 2U) + 1U] = out2; + + /* Butterfly process for the i0+3fftLen/4 sample */ + out1 = (q15_t) ((Co3 * R0 - Si3 * R1) >> 16U); + + out2 = (q15_t) ((Si3 * R0 + Co3 * R1) >> 16U); + /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */ + /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */ + pSrc16[i3 * 2U] = out1; + pSrc16[(i3 * 2U) + 1U] = out2; + + + } + } + /* Twiddle coefficients index modifier */ + twidCoefModifier <<= 2U; + } + /* End of Middle stages process */ + + + /* data is in 10.6(q6) format for the 1024 point */ + /* data is in 8.8(q8) format for the 256 point */ + /* data is in 6.10(q10) format for the 64 point */ + /* data is in 4.12(q12) format for the 16 point */ + + /* start of last stage process */ + + + /* Initializations for the last stage */ + n1 = n2; + n2 >>= 2U; + + /* Butterfly implementation */ + for (i0 = 0U; i0 <= (fftLen - n1); i0 += n1) + { + /* index calculation for the input as, */ + /* pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */ + i1 = i0 + n2; + i2 = i1 + n2; + i3 = i2 + n2; + + /* Reading i0, i0+fftLen/2 inputs */ + /* Read ya (real), xa(imag) input */ + T0 = pSrc16[i0 * 2U]; + T1 = pSrc16[(i0 * 2U) + 1U]; + /* Read yc (real), xc(imag) input */ + S0 = pSrc16[i2 * 2U]; + S1 = pSrc16[(i2 * 2U) + 1U]; + + /* R0 = (ya + yc), R1 = (xa + xc) */ + R0 = __SSAT(T0 + S0, 16U); + R1 = __SSAT(T1 + S1, 16U); + /* S0 = (ya - yc), S1 = (xa - xc) */ + S0 = __SSAT(T0 - S0, 16U); + S1 = __SSAT(T1 - S1, 16U); + + /* Reading i0+fftLen/4 , i0+3fftLen/4 inputs */ + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U]; + T1 = pSrc16[(i1 * 2U) + 1U]; + /* Read yd (real), xd(imag) input */ + U0 = pSrc16[i3 * 2U]; + U1 = pSrc16[(i3 * 2U) + 1U]; + + /* T0 = (yb + yd), T1 = (xb + xd) */ + T0 = __SSAT(T0 + U0, 16U); + T1 = __SSAT(T1 + U1, 16U); + + /* writing the butterfly processed i0 sample */ + /* xa' = xa + xb + xc + xd */ + /* ya' = ya + yb + yc + yd */ + pSrc16[i0 * 2U] = (R0 >> 1U) + (T0 >> 1U); + pSrc16[(i0 * 2U) + 1U] = (R1 >> 1U) + (T1 >> 1U); + + /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */ + R0 = (R0 >> 1U) - (T0 >> 1U); + R1 = (R1 >> 1U) - (T1 >> 1U); + + /* Read yb (real), xb(imag) input */ + T0 = pSrc16[i1 * 2U]; + T1 = pSrc16[(i1 * 2U) + 1U]; + + /* writing the butterfly processed i0 + fftLen/4 sample */ + /* xc' = (xa-xb+xc-xd) */ + /* yc' = (ya-yb+yc-yd) */ + pSrc16[i1 * 2U] = R0; + pSrc16[(i1 * 2U) + 1U] = R1; + + /* Read yd (real), xd(imag) input */ + U0 = pSrc16[i3 * 2U]; + U1 = pSrc16[(i3 * 2U) + 1U]; + /* T0 = (yb - yd), T1 = (xb - xd) */ + T0 = __SSAT(T0 - U0, 16U); + T1 = __SSAT(T1 - U1, 16U); + + /* writing the butterfly processed i0 + fftLen/2 sample */ + /* xb' = (xa-yb-xc+yd) */ + /* yb' = (ya+xb-yc-xd) */ + pSrc16[i2 * 2U] = (S0 >> 1U) - (T1 >> 1U); + pSrc16[(i2 * 2U) + 1U] = (S1 >> 1U) + (T0 >> 1U); + + + /* writing the butterfly processed i0 + 3fftLen/4 sample */ + /* xd' = (xa+yb-xc-yd) */ + /* yd' = (ya-xb-yc+xd) */ + pSrc16[i3 * 2U] = (S0 >> 1U) + (T1 >> 1U); + pSrc16[(i3 * 2U) + 1U] = (S1 >> 1U) - (T0 >> 1U); + } + /* end of last stage process */ + + /* output is in 11.5(q5) format for the 1024 point */ + /* output is in 9.7(q7) format for the 256 point */ + /* output is in 7.9(q9) format for the 64 point */ + /* output is in 5.11(q11) format for the 16 point */ + +#endif /* #if defined (ARM_MATH_DSP) */ + +} diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_rfft_init_q15.c b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_rfft_init_q15.c new file mode 100644 index 0000000000..11e175cf68 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_rfft_init_q15.c @@ -0,0 +1,239 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_rfft_init_q15.c + * Description: RFFT & RIFFT Q15 initialisation function + * + * $Date: 18. March 2019 + * $Revision: V1.6.0 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2019 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 "arm_math.h" +#include "arm_common_tables.h" +#include "arm_const_structs.h" + +/** + @addtogroup RealFFT + @{ + */ + +/** + @brief Initialization function for the Q15 RFFT/RIFFT. + @param[in,out] S points to an instance of the Q15 RFFT/RIFFT structure + @param[in] fftLenReal length of the FFT + @param[in] ifftFlagR flag that selects transform direction + - value = 0: forward transform + - value = 1: inverse transform + @param[in] bitReverseFlag flag that enables / disables bit reversal of output + - value = 0: disables bit reversal of output + - value = 1: enables bit reversal of output + @return execution status + - \ref ARM_MATH_SUCCESS : Operation successful + - \ref ARM_MATH_ARGUMENT_ERROR : fftLenReal is not a supported length + + @par Details + The parameter fftLenReal specifies length of RFFT/RIFFT Process. + Supported FFT Lengths are 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192. + @par + The parameter ifftFlagR controls whether a forward or inverse transform is computed. + Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated. + @par + The parameter bitReverseFlag controls whether output is in normal order or bit reversed order. + Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order. + @par + This function also initializes Twiddle factor table. + */ + +arm_status arm_rfft_init_q15( + arm_rfft_instance_q15 * S, + uint32_t fftLenReal, + uint32_t ifftFlagR, + uint32_t bitReverseFlag) +{ + /* Initialise the default arm status */ + arm_status status = ARM_MATH_SUCCESS; + + /* Initialize the Real FFT length */ + S->fftLenReal = (uint16_t) fftLenReal; + + /* Initialize the Twiddle coefficientA pointer */ + S->pTwiddleAReal = (q15_t *) realCoefAQ15; + + /* Initialize the Twiddle coefficientB pointer */ + S->pTwiddleBReal = (q15_t *) realCoefBQ15; + + /* Initialize the Flag for selection of RFFT or RIFFT */ + S->ifftFlagR = (uint8_t) ifftFlagR; + + /* Initialize the Flag for calculation Bit reversal or not */ + S->bitReverseFlagR = (uint8_t) bitReverseFlag; + + /* Initialization of coef modifier depending on the FFT length */ + switch (S->fftLenReal) + { +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_4096) && defined(ARM_TABLE_BITREVIDX_FXT_4096)) + case 8192U: + S->twidCoefRModifier = 1U; + + #if defined(ARM_MATH_MVEI) + status=arm_cfft_init_q15(&(S->cfftInst),4096); + if (status != ARM_MATH_SUCCESS) + { + return(status); + } + #else + S->pCfft = &arm_cfft_sR_q15_len4096; + #endif + break; +#endif +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_2048) && defined(ARM_TABLE_BITREVIDX_FXT_2048)) + case 4096U: + S->twidCoefRModifier = 2U; + + #if defined(ARM_MATH_MVEI) + status=arm_cfft_init_q15(&(S->cfftInst),2048); + if (status != ARM_MATH_SUCCESS) + { + return(status); + } + #else + S->pCfft = &arm_cfft_sR_q15_len2048; + #endif + break; +#endif +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_1024) && defined(ARM_TABLE_BITREVIDX_FXT_1024)) + case 2048U: + S->twidCoefRModifier = 4U; + + #if defined(ARM_MATH_MVEI) + status=arm_cfft_init_q15(&(S->cfftInst),1024); + if (status != ARM_MATH_SUCCESS) + { + return(status); + } + #else + S->pCfft = &arm_cfft_sR_q15_len1024; + #endif + break; +#endif +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_512) && defined(ARM_TABLE_BITREVIDX_FXT_512)) + case 1024U: + S->twidCoefRModifier = 8U; + + #if defined(ARM_MATH_MVEI) + status=arm_cfft_init_q15(&(S->cfftInst),512); + if (status != ARM_MATH_SUCCESS) + { + return(status); + } + #else + S->pCfft = &arm_cfft_sR_q15_len512; + #endif + break; +#endif +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_256) && defined(ARM_TABLE_BITREVIDX_FXT_256)) + case 512U: + S->twidCoefRModifier = 16U; + + #if defined(ARM_MATH_MVEI) + status=arm_cfft_init_q15(&(S->cfftInst),256); + if (status != ARM_MATH_SUCCESS) + { + return(status); + } + #else + S->pCfft = &arm_cfft_sR_q15_len256; + #endif + break; +#endif +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_128) && defined(ARM_TABLE_BITREVIDX_FXT_128)) + case 256U: + S->twidCoefRModifier = 32U; + + #if defined(ARM_MATH_MVEI) + status=arm_cfft_init_q15(&(S->cfftInst),128); + if (status != ARM_MATH_SUCCESS) + { + return(status); + } + #else + S->pCfft = &arm_cfft_sR_q15_len128; + #endif + break; +#endif +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_64) && defined(ARM_TABLE_BITREVIDX_FXT_64)) + case 128U: + S->twidCoefRModifier = 64U; + + #if defined(ARM_MATH_MVEI) + status=arm_cfft_init_q15(&(S->cfftInst),64); + if (status != ARM_MATH_SUCCESS) + { + return(status); + } + #else + S->pCfft = &arm_cfft_sR_q15_len64; + #endif + break; +#endif +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_32) && defined(ARM_TABLE_BITREVIDX_FXT_32)) + case 64U: + S->twidCoefRModifier = 128U; + + #if defined(ARM_MATH_MVEI) + status=arm_cfft_init_q15(&(S->cfftInst),32); + if (status != ARM_MATH_SUCCESS) + { + return(status); + } + #else + S->pCfft = &arm_cfft_sR_q15_len32; + #endif + break; +#endif +#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FFT_TABLES) || (defined(ARM_TABLE_TWIDDLECOEF_Q15_16) && defined(ARM_TABLE_BITREVIDX_FXT_16)) + case 32U: + S->twidCoefRModifier = 256U; + + #if defined(ARM_MATH_MVEI) + status=arm_cfft_init_q15(&(S->cfftInst),16); + if (status != ARM_MATH_SUCCESS) + { + return(status); + } + #else + S->pCfft = &arm_cfft_sR_q15_len16; + #endif + break; +#endif + default: + /* Reporting argument error if rfftSize is not valid value */ + status = ARM_MATH_ARGUMENT_ERROR; + break; + } + + /* return the status of RFFT Init function */ + return (status); +} + +/** + @} end of RealFFT group + */ diff --git a/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_rfft_q15.c b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_rfft_q15.c new file mode 100644 index 0000000000..8f19e8de65 --- /dev/null +++ b/src/modules/gyro_fft/CMSIS_5/CMSIS/DSP/Source/TransformFunctions/arm_rfft_q15.c @@ -0,0 +1,592 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_rfft_q15.c + * Description: RFFT & RIFFT Q15 process function + * + * $Date: 18. March 2019 + * $Revision: V1.6.0 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2019 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 "arm_math.h" + +/* ---------------------------------------------------------------------- + * Internal functions prototypes + * -------------------------------------------------------------------- */ + +void arm_split_rfft_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pATable, + const q15_t * pBTable, + q15_t * pDst, + uint32_t modifier); + +void arm_split_rifft_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pATable, + const q15_t * pBTable, + q15_t * pDst, + uint32_t modifier); + +/** + @addtogroup RealFFT + @{ + */ + +/** + @brief Processing function for the Q15 RFFT/RIFFT. + @param[in] S points to an instance of the Q15 RFFT/RIFFT structure + @param[in] pSrc points to input buffer (Source buffer is modified by this function.) + @param[out] pDst points to output buffer + @return none + + @par Input an output formats + Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process. + Hence the output format is different for different RFFT sizes. + The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT: + @par + \image html RFFTQ15.gif "Input and Output Formats for Q15 RFFT" + @par + \image html RIFFTQ15.gif "Input and Output Formats for Q15 RIFFT" + @par + If the input buffer is of length N, the output buffer must have length 2*N. + The input buffer is modified by this function. + */ + +void arm_rfft_q15( + const arm_rfft_instance_q15 * S, + q15_t * pSrc, + q15_t * pDst) +{ +#if defined(ARM_MATH_MVEI) + const arm_cfft_instance_q15 *S_CFFT = &(S->cfftInst); +#else + const arm_cfft_instance_q15 *S_CFFT = S->pCfft; +#endif + uint32_t L2 = S->fftLenReal >> 1U; + uint32_t i; + + /* Calculation of RIFFT of input */ + if (S->ifftFlagR == 1U) + { + /* Real IFFT core process */ + arm_split_rifft_q15 (pSrc, L2, S->pTwiddleAReal, S->pTwiddleBReal, pDst, S->twidCoefRModifier); + + /* Complex IFFT process */ + arm_cfft_q15 (S_CFFT, pDst, S->ifftFlagR, S->bitReverseFlagR); + + for(i = 0; i < S->fftLenReal; i++) + { + pDst[i] = pDst[i] << 1U; + } + } + else + { + /* Calculation of RFFT of input */ + + /* Complex FFT process */ + arm_cfft_q15 (S_CFFT, pSrc, S->ifftFlagR, S->bitReverseFlagR); + + /* Real FFT core process */ + arm_split_rfft_q15 (pSrc, L2, S->pTwiddleAReal, S->pTwiddleBReal, pDst, S->twidCoefRModifier); + } + +} + +/** + @} end of RealFFT group + */ + +/** + @brief Core Real FFT process + @param[in] pSrc points to input buffer + @param[in] fftLen length of FFT + @param[in] pATable points to twiddle Coef A buffer + @param[in] pBTable points to twiddle Coef B buffer + @param[out] pDst points to output buffer + @param[in] modifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table + @return none + + @par + The function implements a Real FFT + */ + +#if defined(ARM_MATH_MVEI) +void arm_split_rfft_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pATable, + const q15_t * pBTable, + q15_t * pDst, + uint32_t modifier) +{ + q15_t const *pCoefA, *pCoefB; /* Temporary pointers for twiddle factors */ + q15_t *pDst1 = &pDst[2], *pDst2 = &pDst[(4U * fftLen) - 1U - 14]; /* temp pointers for output buffer */ + q15_t const *pSrc1 = &pSrc[2], *pSrc2 = &pSrc[(2U * fftLen) - 1U - 14]; /* temp pointers for input buffer */ + q15_t const *pVecSrc1; + q15_t *pVecDst1; + q15x8x2_t vecIn, vecSum; + uint32_t blkCnt; + uint16x8_t vecStridesFwd, vecStridesBkwd; + q15x8_t vecInBkwd, vecCoefFwd0, vecCoefFwd1; + + /* + * Init coefficient pointers + */ + pCoefA = &pATable[modifier * 2U]; + pCoefB = &pBTable[modifier * 2U]; + /* + * scatter / gather offsets + * for ascending & descending addressing + */ + vecStridesFwd = vidupq_u16((uint32_t)0, 2); // 0, 2, 4, 6, 8, 10, 12, 14 + vecStridesBkwd = vddupq_u16(14, 2); // 14, 12, 10, 8, 6, 4, 2, 0 + vecStridesFwd = vecStridesFwd * (uint16_t) modifier; + + pVecSrc1 = (q15_t const *) pSrc1; + pVecDst1 = pDst1; + + blkCnt = fftLen >> 3; + while (blkCnt > 0U) + { + vecCoefFwd0 = vldrhq_gather_shifted_offset(pCoefA, vecStridesFwd); + vecCoefFwd1 = vldrhq_gather_shifted_offset(&pCoefA[1], vecStridesFwd); + vecIn = vld2q(pVecSrc1); + pVecSrc1 += 16; + /* + * outR = *pSrc1 * CoefA1; + */ + vecSum.val[0] = vrmulhq(vecIn.val[0], vecCoefFwd0); + /* + * outI = *pSrc1++ * CoefA2; + */ + vecSum.val[1] = vrmulhq(vecIn.val[0], vecCoefFwd1); + + vecInBkwd = vldrhq_gather_shifted_offset(pSrc2, vecStridesBkwd); + /* + * outR -= (*pSrc1 + *pSrc2) * CoefA2; + */ + vecInBkwd = vqaddq(vecIn.val[1], vecInBkwd); + vecSum.val[0] = vqsubq(vecSum.val[0], vrmulhq(vecInBkwd, vecCoefFwd1)); + + vecInBkwd = vldrhq_gather_shifted_offset(pSrc2, vecStridesBkwd); + /* + * outI += *pSrc1++ * CoefA1; + */ + vecSum.val[1] = vqaddq(vecSum.val[1], vrmulhq(vecIn.val[1], vecCoefFwd0)); + + vecCoefFwd0 = vldrhq_gather_shifted_offset(pCoefB, vecStridesFwd); + /* + * outI -= *pSrc2-- * CoefB1; + */ + vecSum.val[1] = vqsubq(vecSum.val[1], vrmulhq(vecInBkwd, vecCoefFwd0)); + + vecInBkwd = vldrhq_gather_shifted_offset(&pSrc2[-1], vecStridesBkwd); + /* + * outI -= *pSrc2 * CoefA2; + */ + vecSum.val[1] = vqsubq(vecSum.val[1], vrmulhq(vecInBkwd, vecCoefFwd1)); + /* + * outR += *pSrc2-- * CoefB1; + */ + vecSum.val[0] = vqaddq(vecSum.val[0], vrmulhq(vecInBkwd, vecCoefFwd0)); + + vst2q(pVecDst1, vecSum); + pVecDst1 += 16; + /* + * write complex conjugate output + */ + vecSum.val[1] = -vecSum.val[1]; + vstrhq_scatter_shifted_offset(pDst2, vecStridesBkwd, vecSum.val[1]); + vstrhq_scatter_shifted_offset(&pDst2[-1], vecStridesBkwd, vecSum.val[0]); + /* + * update fwd and backwd offsets + */ + vecStridesFwd = vecStridesFwd + (uint16_t)(modifier * 16U); + /* cannot use negative 16-bit offsets (would lead to positive 32-65K jump*/ + //vecStridesBkwd = vecStridesBkwd - (uint16_t)16; + pSrc2 = pSrc2 - 16; + pDst2 = pDst2 - 16; + + blkCnt--; + } + + pDst[2U * fftLen] = (pSrc[0] - pSrc[1]) >> 1; + pDst[(2U * fftLen) + 1U] = 0; + + pDst[0] = (pSrc[0] + pSrc[1]) >> 1; + pDst[1] = 0; +} +#else +void arm_split_rfft_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pATable, + const q15_t * pBTable, + q15_t * pDst, + uint32_t modifier) +{ + uint32_t i; /* Loop Counter */ + q31_t outR, outI; /* Temporary variables for output */ + const q15_t *pCoefA, *pCoefB; /* Temporary pointers for twiddle factors */ + q15_t *pSrc1, *pSrc2; +#if defined (ARM_MATH_DSP) + q15_t *pD1, *pD2; +#endif + + /* Init coefficient pointers */ + pCoefA = &pATable[modifier * 2]; + pCoefB = &pBTable[modifier * 2]; + + pSrc1 = &pSrc[2]; + pSrc2 = &pSrc[(2U * fftLen) - 2U]; + +#if defined (ARM_MATH_DSP) + + i = 1U; + pD1 = pDst + 2; + pD2 = pDst + (4U * fftLen) - 2; + + for (i = fftLen - 1; i > 0; i--) + { + /* + outR = ( pSrc[2 * i] * pATable[2 * i] + - pSrc[2 * i + 1] * pATable[2 * i + 1] + + pSrc[2 * n - 2 * i] * pBTable[2 * i] + + pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]); + + outI = ( pIn[2 * i + 1] * pATable[2 * i] + + pIn[2 * i] * pATable[2 * i + 1] + + pIn[2 * n - 2 * i] * pBTable[2 * i + 1] + - pIn[2 * n - 2 * i + 1] * pBTable[2 * i]) + */ + + +#ifndef ARM_MATH_BIG_ENDIAN + /* pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1] */ + outR = __SMUSD(read_q15x2 (pSrc1), read_q15x2((q15_t *) pCoefA)); +#else + /* -(pSrc[2 * i + 1] * pATable[2 * i + 1] - pSrc[2 * i] * pATable[2 * i]) */ + outR = -(__SMUSD(read_q15x2 (pSrc1), read_q15x2((q15_t *) pCoefA))); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* pSrc[2 * n - 2 * i] * pBTable[2 * i] + pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */ + outR = __SMLAD(read_q15x2 (pSrc2), read_q15x2((q15_t *) pCoefB), outR) >> 16U; + + /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] - pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */ +#ifndef ARM_MATH_BIG_ENDIAN + outI = __SMUSDX(read_q15x2_da (&pSrc2), read_q15x2((q15_t *) pCoefB)); +#else + outI = __SMUSDX(read_q15x2 ((q15_t *) pCoefB), read_q15x2_da (&pSrc2)); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] */ + outI = __SMLADX(read_q15x2_ia (&pSrc1), read_q15x2 ((q15_t *) pCoefA), outI); + + /* write output */ + *pD1++ = (q15_t) outR; + *pD1++ = outI >> 16U; + + /* write complex conjugate output */ + pD2[0] = (q15_t) outR; + pD2[1] = -(outI >> 16U); + pD2 -= 2; + + /* update coefficient pointer */ + pCoefB = pCoefB + (2U * modifier); + pCoefA = pCoefA + (2U * modifier); + } + + pDst[2U * fftLen] = (pSrc[0] - pSrc[1]) >> 1U; + pDst[2U * fftLen + 1U] = 0; + + pDst[0] = (pSrc[0] + pSrc[1]) >> 1U; + pDst[1] = 0; + +#else + + i = 1U; + + while (i < fftLen) + { + /* + outR = ( pSrc[2 * i] * pATable[2 * i] + - pSrc[2 * i + 1] * pATable[2 * i + 1] + + pSrc[2 * n - 2 * i] * pBTable[2 * i] + + pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]); + */ + + outR = *pSrc1 * *pCoefA; + outR = outR - (*(pSrc1 + 1) * *(pCoefA + 1)); + outR = outR + (*pSrc2 * *pCoefB); + outR = (outR + (*(pSrc2 + 1) * *(pCoefB + 1))) >> 16; + + /* + outI = ( pIn[2 * i + 1] * pATable[2 * i] + + pIn[2 * i] * pATable[2 * i + 1] + + pIn[2 * n - 2 * i] * pBTable[2 * i + 1] + - pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); + */ + + outI = *pSrc2 * *(pCoefB + 1); + outI = outI - (*(pSrc2 + 1) * *pCoefB); + outI = outI + (*(pSrc1 + 1) * *pCoefA); + outI = outI + (*pSrc1 * *(pCoefA + 1)); + + /* update input pointers */ + pSrc1 += 2U; + pSrc2 -= 2U; + + /* write output */ + pDst[2U * i] = (q15_t) outR; + pDst[2U * i + 1U] = outI >> 16U; + + /* write complex conjugate output */ + pDst[(4U * fftLen) - (2U * i)] = (q15_t) outR; + pDst[((4U * fftLen) - (2U * i)) + 1U] = -(outI >> 16U); + + /* update coefficient pointer */ + pCoefB = pCoefB + (2U * modifier); + pCoefA = pCoefA + (2U * modifier); + + i++; + } + + pDst[2U * fftLen] = (pSrc[0] - pSrc[1]) >> 1; + pDst[2U * fftLen + 1U] = 0; + + pDst[0] = (pSrc[0] + pSrc[1]) >> 1; + pDst[1] = 0; + +#endif /* #if defined (ARM_MATH_DSP) */ +} +#endif /* defined(ARM_MATH_MVEI) */ + +/** + @brief Core Real IFFT process + @param[in] pSrc points to input buffer + @param[in] fftLen length of FFT + @param[in] pATable points to twiddle Coef A buffer + @param[in] pBTable points to twiddle Coef B buffer + @param[out] pDst points to output buffer + @param[in] modifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table + @return none + + @par + The function implements a Real IFFT + */ + +#if defined(ARM_MATH_MVEI) + +void arm_split_rifft_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pATable, + const q15_t * pBTable, + q15_t * pDst, + uint32_t modifier) +{ + q15_t const *pCoefA, *pCoefB; /* Temporary pointers for twiddle factors */ + q15_t const *pSrc1 = &pSrc[0], *pSrc2 = &pSrc[(2U * fftLen) + 1U - 14U]; + q15_t *pDst1 = &pDst[0]; + q15_t const *pVecSrc1; + q15_t *pVecDst1; + q15x8x2_t vecIn, vecSum; + uint32_t blkCnt; + uint16x8_t vecStridesFwd, vecStridesBkwd; + q15x8_t vecInBkwd, vecCoefFwd0, vecCoefFwd1; + + /* + * Init coefficient pointers + */ + pCoefA = &pATable[0]; + pCoefB = &pBTable[0]; + /* + * scatter / gather offsets + * for ascending & descending addressing + */ + vecStridesFwd = vidupq_u16((uint32_t)0, 2); // 0, 2, 4, 6, 8, 10, 12, 14 + vecStridesBkwd = vddupq_u16(14, 2); // 14, 12, 10, 8, 6, 4, 2, 0 + vecStridesFwd = vecStridesFwd * (uint16_t) modifier; + + + pVecSrc1 = (q15_t const *) pSrc1; + pVecDst1 = pDst1; + + blkCnt = fftLen >> 3; + while (blkCnt > 0U) + { + vecCoefFwd0 = vldrhq_gather_shifted_offset(pCoefA, vecStridesFwd); + vecCoefFwd1 = vldrhq_gather_shifted_offset(&pCoefA[1], vecStridesFwd); + vecIn = vld2q(pVecSrc1); + pVecSrc1 += 16; + /* + * outR = *pSrc1 * CoefA1; + */ + vecSum.val[0] = vmulhq(vecIn.val[0], vecCoefFwd0); + /* + * outI = -(*pSrc1++) * CoefA2; + */ + vecIn.val[0] = vnegq(vecIn.val[0]); + vecSum.val[1] = vmulhq(vecIn.val[0], vecCoefFwd1); + + vecInBkwd = vldrhq_gather_shifted_offset(pSrc2, vecStridesBkwd); + /* + * outR += (*pSrc1 + *pSrc2) * CoefA2; + */ + vecInBkwd = vqaddq(vecIn.val[1], vecInBkwd); + vecSum.val[0] = vqaddq(vecSum.val[0], vmulhq(vecInBkwd, vecCoefFwd1)); + + vecInBkwd = vldrhq_gather_shifted_offset(pSrc2, vecStridesBkwd); + /* + * outI += *pSrc1++ * CoefA1; + */ + vecSum.val[1] = vqaddq(vecSum.val[1], vmulhq(vecIn.val[1], vecCoefFwd0)); + + vecCoefFwd0 = vldrhq_gather_shifted_offset(pCoefB, vecStridesFwd); + /* + * outI -= *pSrc2-- * CoefB1; + */ + vecSum.val[1] = vqsubq(vecSum.val[1], vmulhq(vecInBkwd, vecCoefFwd0)); + + vecInBkwd = vldrhq_gather_shifted_offset(&pSrc2[-1], vecStridesBkwd); + /* + * outI += *pSrc2 * CoefA2; + */ + vecSum.val[1] = vqaddq(vecSum.val[1], vmulhq(vecInBkwd, vecCoefFwd1)); + /* + * outR += *pSrc2-- * CoefB1; + */ + vecSum.val[0] = vqaddq(vecSum.val[0], vmulhq(vecInBkwd, vecCoefFwd0)); + + vst2q(pVecDst1, vecSum); + pVecDst1 += 16; + /* + * update fwd and backwd offsets + */ + vecStridesFwd = vecStridesFwd + (uint16_t)(modifier * 16U); + + /* cannot use negative 16-bit offsets (would lead to positive 32-65K jump*/ + //vecStridesBkwd = vecStridesBkwd - (uint16_t)16; + pSrc2 = pSrc2 - 16; + blkCnt--; + } +} +#else +void arm_split_rifft_q15( + q15_t * pSrc, + uint32_t fftLen, + const q15_t * pATable, + const q15_t * pBTable, + q15_t * pDst, + uint32_t modifier) +{ + uint32_t i; /* Loop Counter */ + q31_t outR, outI; /* Temporary variables for output */ + const q15_t *pCoefA, *pCoefB; /* Temporary pointers for twiddle factors */ + q15_t *pSrc1, *pSrc2; + q15_t *pDst1 = &pDst[0]; + + pCoefA = &pATable[0]; + pCoefB = &pBTable[0]; + + pSrc1 = &pSrc[0]; + pSrc2 = &pSrc[2 * fftLen]; + + i = fftLen; + while (i > 0U) + { + /* + outR = ( pIn[2 * i] * pATable[2 * i] + + pIn[2 * i + 1] * pATable[2 * i + 1] + + pIn[2 * n - 2 * i] * pBTable[2 * i] + - pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]); + + outI = ( pIn[2 * i + 1] * pATable[2 * i] + - pIn[2 * i] * pATable[2 * i + 1] + - pIn[2 * n - 2 * i] * pBTable[2 * i + 1] + - pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); + */ + +#if defined (ARM_MATH_DSP) + +#ifndef ARM_MATH_BIG_ENDIAN + /* pIn[2 * n - 2 * i] * pBTable[2 * i] - pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */ + outR = __SMUSD(read_q15x2(pSrc2), read_q15x2((q15_t *) pCoefB)); +#else + /* -(-pIn[2 * n - 2 * i] * pBTable[2 * i] + pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1])) */ + outR = -(__SMUSD(read_q15x2(pSrc2), read_q15x2((q15_t *) pCoefB))); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] + pIn[2 * n - 2 * i] * pBTable[2 * i] */ + outR = __SMLAD(read_q15x2(pSrc1), read_q15x2 ((q15_t *) pCoefA), outR) >> 16U; + + /* -pIn[2 * n - 2 * i] * pBTable[2 * i + 1] + pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */ + outI = __SMUADX(read_q15x2_da (&pSrc2), read_q15x2((q15_t *) pCoefB)); + + /* pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] */ +#ifndef ARM_MATH_BIG_ENDIAN + outI = __SMLSDX(read_q15x2 ((q15_t *) pCoefA), read_q15x2_ia (&pSrc1), -outI); +#else + outI = __SMLSDX(read_q15x2_ia (&pSrc1), read_q15x2 ((q15_t *) pCoefA), -outI); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* write output */ +#ifndef ARM_MATH_BIG_ENDIAN + write_q15x2_ia (&pDst1, __PKHBT(outR, (outI >> 16U), 16)); +#else + write_q15x2_ia (&pDst1, __PKHBT((outI >> 16U), outR, 16)); +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + +#else /* #if defined (ARM_MATH_DSP) */ + + outR = *pSrc2 * *pCoefB; + outR = outR - (*(pSrc2 + 1) * *(pCoefB + 1)); + outR = outR + (*pSrc1 * *pCoefA); + outR = (outR + (*(pSrc1 + 1) * *(pCoefA + 1))) >> 16; + + outI = *(pSrc1 + 1) * *pCoefA; + outI = outI - (*pSrc1 * *(pCoefA + 1)); + outI = outI - (*pSrc2 * *(pCoefB + 1)); + outI = outI - (*(pSrc2 + 1) * *(pCoefB)); + + /* update input pointers */ + pSrc1 += 2U; + pSrc2 -= 2U; + + /* write output */ + *pDst1++ = (q15_t) outR; + *pDst1++ = (q15_t) (outI >> 16); + +#endif /* #if defined (ARM_MATH_DSP) */ + + /* update coefficient pointer */ + pCoefB = pCoefB + (2 * modifier); + pCoefA = pCoefA + (2 * modifier); + + i--; + } + +} +#endif /* defined(ARM_MATH_MVEI) */ diff --git a/src/drivers/snapdragon_pwm_out/CMakeLists.txt b/src/modules/gyro_fft/CMakeLists.txt similarity index 56% rename from src/drivers/snapdragon_pwm_out/CMakeLists.txt rename to src/modules/gyro_fft/CMakeLists.txt index 6aed921c7a..032109e883 100644 --- a/src/drivers/snapdragon_pwm_out/CMakeLists.txt +++ b/src/modules/gyro_fft/CMakeLists.txt @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2015-2016 PX4 Development Team. All rights reserved. +# Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -30,13 +30,46 @@ # POSSIBILITY OF SUCH DAMAGE. # ############################################################################ + +set(CMSIS_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/CMSIS_5) +set(CMSIS_DSP ${CMSIS_ROOT}/CMSIS/DSP) + +if(${PX4_PLATFORM} MATCHES "NuttX") + add_compile_options(-DARM_MATH_DSP) +endif() + +add_compile_options($<$:-Wno-nested-externs>) + px4_add_module( - MODULE drivers__snapdragon_pwm_out - MAIN snapdragon_pwm_out + MODULE modules__gyro_fft + MAIN gyro_fft + STACK_MAIN + 4096 COMPILE_FLAGS + ${MAX_CUSTOM_OPT_LEVEL} + -DARM_ALL_FFT_TABLES + -DARM_MATH_LOOPUNROLL + INCLUDES + ${CMSIS_ROOT}/CMSIS/Core/Include + ${CMSIS_DSP}/Include SRCS - snapdragon_pwm_out.cpp + GyroFFT.cpp + GyroFFT.hpp + + ${CMSIS_ROOT}/CMSIS/Core/Include/cmsis_compiler.h + ${CMSIS_ROOT}/CMSIS/Core/Include/cmsis_gcc.h + ${CMSIS_DSP}/Include/arm_common_tables.h + ${CMSIS_DSP}/Include/arm_const_structs.h + ${CMSIS_DSP}/Include/arm_math.h + ${CMSIS_DSP}/Source/BasicMathFunctions/arm_mult_q15.c + ${CMSIS_DSP}/Source/CommonTables/arm_common_tables.c + ${CMSIS_DSP}/Source/CommonTables/arm_const_structs.c + ${CMSIS_DSP}/Source/SupportFunctions/arm_float_to_q15.c + ${CMSIS_DSP}/Source/TransformFunctions/arm_bitreversal2.c + ${CMSIS_DSP}/Source/TransformFunctions/arm_cfft_q15.c + ${CMSIS_DSP}/Source/TransformFunctions/arm_cfft_radix4_q15.c + ${CMSIS_DSP}/Source/TransformFunctions/arm_rfft_init_q15.c + ${CMSIS_DSP}/Source/TransformFunctions/arm_rfft_q15.c DEPENDS - mixer - output_limit - ) + px4_work_queue +) diff --git a/src/modules/gyro_fft/GyroFFT.cpp b/src/modules/gyro_fft/GyroFFT.cpp new file mode 100644 index 0000000000..0f5c68c0f9 --- /dev/null +++ b/src/modules/gyro_fft/GyroFFT.cpp @@ -0,0 +1,534 @@ +/**************************************************************************** + * + * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "GyroFFT.hpp" + +#include +#include +#include + +using namespace matrix; + +GyroFFT::GyroFFT() : + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default) +{ +} + +GyroFFT::~GyroFFT() +{ + perf_free(_cycle_perf); + perf_free(_cycle_interval_perf); + perf_free(_fft_perf); + perf_free(_gyro_generation_gap_perf); + perf_free(_gyro_fifo_generation_gap_perf); + + delete[] _gyro_data_buffer_x; + delete[] _gyro_data_buffer_y; + delete[] _gyro_data_buffer_z; + delete[] _hanning_window; + delete[] _fft_input_buffer; + delete[] _fft_outupt_buffer; +} + +bool GyroFFT::init() +{ + bool buffers_allocated = false; + + // arm_rfft_init_q15(&_rfft_q15, _imu_gyro_fft_len, 0, 1) manually inlined to save flash + _rfft_q15.pTwiddleAReal = (q15_t *) realCoefAQ15; + _rfft_q15.pTwiddleBReal = (q15_t *) realCoefBQ15; + _rfft_q15.ifftFlagR = 0; + _rfft_q15.bitReverseFlagR = 1; + + switch (_param_imu_gyro_fft_len.get()) { + // case 128: + // buffers_allocated = AllocateBuffers<128>(); + // _rfft_q15.fftLenReal = 128; + // _rfft_q15.twidCoefRModifier = 64U; + // _rfft_q15.pCfft = &arm_cfft_sR_q15_len64; + // break; + + case 256: + buffers_allocated = AllocateBuffers<256>(); + _rfft_q15.fftLenReal = 256; + _rfft_q15.twidCoefRModifier = 32U; + _rfft_q15.pCfft = &arm_cfft_sR_q15_len128; + break; + + // case 512: + // buffers_allocated = AllocateBuffers<512>(); + // _rfft_q15.fftLenReal = 512; + // _rfft_q15.twidCoefRModifier = 16U; + // _rfft_q15.pCfft = &arm_cfft_sR_q15_len256; + // break; + + case 1024: + buffers_allocated = AllocateBuffers<1024>(); + _rfft_q15.fftLenReal = 1024; + _rfft_q15.twidCoefRModifier = 8U; + _rfft_q15.pCfft = &arm_cfft_sR_q15_len512; + break; + + // case 2048: + // buffers_allocated = AllocateBuffers<2048>(); + // _rfft_q15.fftLenReal = 2048; + // _rfft_q15.twidCoefRModifier = 4U; + // _rfft_q15.pCfft = &arm_cfft_sR_q15_len1024; + // break; + + case 4096: + buffers_allocated = AllocateBuffers<4096>(); + _rfft_q15.fftLenReal = 4096; + _rfft_q15.twidCoefRModifier = 2U; + _rfft_q15.pCfft = &arm_cfft_sR_q15_len2048; + break; + + // case 8192: + // buffers_allocated = AllocateBuffers<8192>(); + // _rfft_q15.fftLenReal = 8192; + // _rfft_q15.twidCoefRModifier = 1U; + // _rfft_q15.pCfft = &arm_cfft_sR_q15_len4096; + // break; + + default: + // otherwise default to 256 + PX4_ERR("Invalid IMU_GYRO_FFT_LEN=%.3f, resetting", (double)_param_imu_gyro_fft_len.get()); + AllocateBuffers<256>(); + _param_imu_gyro_fft_len.set(256); + _param_imu_gyro_fft_len.commit(); + break; + } + + if (buffers_allocated) { + _imu_gyro_fft_len = _param_imu_gyro_fft_len.get(); + + // init Hanning window + for (int n = 0; n < _imu_gyro_fft_len; n++) { + const float hanning_value = 0.5f * (1.f - cosf(2.f * M_PI_F * n / (_imu_gyro_fft_len - 1))); + arm_float_to_q15(&hanning_value, &_hanning_window[n], 1); + } + + if (!SensorSelectionUpdate(true)) { + ScheduleDelayed(500_ms); + } + + return true; + } + + PX4_ERR("failed to allocate buffers"); + delete[] _gyro_data_buffer_x; + delete[] _gyro_data_buffer_y; + delete[] _gyro_data_buffer_z; + delete[] _hanning_window; + delete[] _fft_input_buffer; + delete[] _fft_outupt_buffer; + + return false; +} + +bool GyroFFT::SensorSelectionUpdate(bool force) +{ + if (_sensor_selection_sub.updated() || (_selected_sensor_device_id == 0) || force) { + sensor_selection_s sensor_selection{}; + _sensor_selection_sub.copy(&sensor_selection); + + if ((sensor_selection.gyro_device_id != 0) && (_selected_sensor_device_id != sensor_selection.gyro_device_id)) { + // prefer sensor_gyro_fifo if available + for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) { + uORB::SubscriptionData sensor_gyro_fifo_sub{ORB_ID(sensor_gyro_fifo), i}; + + if (sensor_gyro_fifo_sub.get().device_id == sensor_selection.gyro_device_id) { + if (_sensor_gyro_fifo_sub.ChangeInstance(i) && _sensor_gyro_fifo_sub.registerCallback()) { + _sensor_gyro_sub.unregisterCallback(); + _sensor_gyro_fifo_sub.set_required_updates(sensor_gyro_fifo_s::ORB_QUEUE_LENGTH - 1); + _selected_sensor_device_id = sensor_selection.gyro_device_id; + _gyro_fifo = true; + return true; + } + } + } + + // otherwise use sensor_gyro + for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) { + uORB::SubscriptionData sensor_gyro_sub{ORB_ID(sensor_gyro), i}; + + if (sensor_gyro_sub.get().device_id == sensor_selection.gyro_device_id) { + if (_sensor_gyro_sub.ChangeInstance(i) && _sensor_gyro_sub.registerCallback()) { + _sensor_gyro_fifo_sub.unregisterCallback(); + _sensor_gyro_sub.set_required_updates(sensor_gyro_s::ORB_QUEUE_LENGTH - 1); + _selected_sensor_device_id = sensor_selection.gyro_device_id; + _gyro_fifo = false; + return true; + } + } + } + + PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.gyro_device_id); + } + } + + return false; +} + +void GyroFFT::VehicleIMUStatusUpdate(bool force) +{ + if (_vehicle_imu_status_sub.updated() || force) { + vehicle_imu_status_s vehicle_imu_status; + + if (_vehicle_imu_status_sub.copy(&vehicle_imu_status)) { + // find corresponding vehicle_imu_status instance if the device_id doesn't match + if (vehicle_imu_status.gyro_device_id != _selected_sensor_device_id) { + + for (uint8_t imu_status = 0; imu_status < MAX_SENSOR_COUNT; imu_status++) { + uORB::Subscription imu_status_sub{ORB_ID(vehicle_imu_status), imu_status}; + + if (imu_status_sub.copy(&vehicle_imu_status)) { + if (vehicle_imu_status.gyro_device_id == _selected_sensor_device_id) { + _vehicle_imu_status_sub.ChangeInstance(imu_status); + break; + } + } + } + } + + // update gyro sample rate + if ((vehicle_imu_status.gyro_device_id == _selected_sensor_device_id) && (vehicle_imu_status.gyro_rate_hz > 0)) { + if (_gyro_fifo) { + _gyro_sample_rate_hz = vehicle_imu_status.gyro_raw_rate_hz; + + } else { + _gyro_sample_rate_hz = vehicle_imu_status.gyro_rate_hz; + } + + return; + } + } + } +} + +// helper function used for frequency estimation +static float tau(float x) +{ + float p1 = logf(3.f * powf(x, 2.f) + 6 * x + 1); + float part1 = x + 1 - sqrtf(2.f / 3.f); + float part2 = x + 1 + sqrtf(2.f / 3.f); + float p2 = logf(part1 / part2); + return (1.f / 4.f * p1 - sqrtf(6) / 24 * p2); +} + +float GyroFFT::EstimatePeakFrequency(q15_t fft[], uint8_t peak_index) +{ + // find peak location using Quinn's Second Estimator (2020-06-14: http://dspguru.com/dsp/howtos/how-to-interpolate-fft-peak/) + int16_t real[3] { fft[peak_index - 2], fft[peak_index], fft[peak_index + 2] }; + int16_t imag[3] { fft[peak_index - 2 + 1], fft[peak_index + 1], fft[peak_index + 2 + 1] }; + + const int k = 1; + + float divider = (real[k] * real[k] + imag[k] * imag[k]); + + // ap = (X[k + 1].r * X[k].r + X[k+1].i * X[k].i) / (X[k].r * X[k].r + X[k].i * X[k].i) + float ap = (real[k + 1] * real[k] + imag[k + 1] * imag[k]) / divider; + + // am = (X[k – 1].r * X[k].r + X[k – 1].i * X[k].i) / (X[k].r * X[k].r + X[k].i * X[k].i) + float am = (real[k - 1] * real[k] + imag[k - 1] * imag[k]) / divider; + + float dp = -ap / (1.f - ap); + float dm = am / (1.f - am); + float d = (dp + dm) / 2 + tau(dp * dp) - tau(dm * dm); + + float adjusted_bin = peak_index + d; + float peak_freq_adjusted = (_gyro_sample_rate_hz * adjusted_bin / (_imu_gyro_fft_len * 2.f)); + + return peak_freq_adjusted; +} + +void GyroFFT::Run() +{ + if (should_exit()) { + _sensor_gyro_sub.unregisterCallback(); + _sensor_gyro_fifo_sub.unregisterCallback(); + exit_and_cleanup(); + return; + } + + // backup schedule + ScheduleDelayed(500_ms); + + perf_begin(_cycle_perf); + perf_count(_cycle_interval_perf); + + // Check if parameters have changed + if (_parameter_update_sub.updated()) { + // clear update + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + updateParams(); + } + + const bool selection_updated = SensorSelectionUpdate(); + VehicleIMUStatusUpdate(selection_updated); + + if (_gyro_fifo) { + // run on sensor gyro fifo updates + sensor_gyro_fifo_s sensor_gyro_fifo; + + while (_sensor_gyro_fifo_sub.update(&sensor_gyro_fifo)) { + if (_sensor_gyro_fifo_sub.get_last_generation() != _gyro_last_generation + 1) { + // force reset if we've missed a sample + _fft_buffer_index[0] = 0; + _fft_buffer_index[1] = 0; + _fft_buffer_index[2] = 0; + + perf_count(_gyro_fifo_generation_gap_perf); + } + + _gyro_last_generation = _sensor_gyro_fifo_sub.get_last_generation(); + + if (fabsf(sensor_gyro_fifo.scale - _fifo_last_scale) > FLT_EPSILON) { + // force reset if scale has changed + _fft_buffer_index[0] = 0; + _fft_buffer_index[1] = 0; + _fft_buffer_index[2] = 0; + + _fifo_last_scale = sensor_gyro_fifo.scale; + } + + int16_t *input[] {sensor_gyro_fifo.x, sensor_gyro_fifo.y, sensor_gyro_fifo.z}; + Update(sensor_gyro_fifo.timestamp_sample, input, sensor_gyro_fifo.samples); + } + + } else { + // run on sensor gyro fifo updates + sensor_gyro_s sensor_gyro; + + while (_sensor_gyro_sub.update(&sensor_gyro)) { + if (_sensor_gyro_sub.get_last_generation() != _gyro_last_generation + 1) { + // force reset if we've missed a sample + _fft_buffer_index[0] = 0; + _fft_buffer_index[1] = 0; + _fft_buffer_index[2] = 0; + + perf_count(_gyro_generation_gap_perf); + } + + _gyro_last_generation = _sensor_gyro_sub.get_last_generation(); + + const float gyro_scale = math::radians(1000.f); // arbitrary scaling float32 rad/s -> raw int16 + int16_t gyro_x[1] {(int16_t)roundf(sensor_gyro.x * gyro_scale)}; + int16_t gyro_y[1] {(int16_t)roundf(sensor_gyro.y * gyro_scale)}; + int16_t gyro_z[1] {(int16_t)roundf(sensor_gyro.z * gyro_scale)}; + + int16_t *input[] {gyro_x, gyro_y, gyro_z}; + Update(sensor_gyro.timestamp_sample, input, 1); + } + } + + perf_end(_cycle_perf); +} + +void GyroFFT::Update(const hrt_abstime ×tamp_sample, int16_t *input[], uint8_t N) +{ + bool publish = false; + bool fft_updated = false; + const float resolution_hz = _gyro_sample_rate_hz / _imu_gyro_fft_len; + q15_t *gyro_data_buffer[] {_gyro_data_buffer_x, _gyro_data_buffer_y, _gyro_data_buffer_z}; + + for (int axis = 0; axis < 3; axis++) { + int &buffer_index = _fft_buffer_index[axis]; + + for (int n = 0; n < N; n++) { + if (buffer_index < _imu_gyro_fft_len) { + // convert int16_t -> q15_t (scaling isn't relevant) + gyro_data_buffer[axis][buffer_index] = input[axis][n] / 2; + buffer_index++; + } + + // if we have enough samples begin processing, but only one FFT per cycle + if ((buffer_index >= _imu_gyro_fft_len) && !fft_updated) { + arm_mult_q15(gyro_data_buffer[axis], _hanning_window, _fft_input_buffer, _imu_gyro_fft_len); + + perf_begin(_fft_perf); + arm_rfft_q15(&_rfft_q15, _fft_input_buffer, _fft_outupt_buffer); + perf_end(_fft_perf); + fft_updated = true; + + static constexpr uint16_t MIN_SNR = 10; // TODO: + + bool peaks_detected = false; + uint32_t peaks_magnitude[MAX_NUM_PEAKS] {}; + uint8_t peak_index[MAX_NUM_PEAKS] {}; + + // start at 2 to skip DC + // output is ordered [real[0], imag[0], real[1], imag[1], real[2], imag[2] ... real[(N/2)-1], imag[(N/2)-1] + for (uint16_t bucket_index = 2; bucket_index < (_imu_gyro_fft_len / 2); bucket_index = bucket_index + 2) { + const float freq_hz = (bucket_index / 2) * resolution_hz; + + if (freq_hz > _param_imu_gyro_fft_max.get()) { + break; + } + + if (freq_hz >= _param_imu_gyro_fft_min.get()) { + const int16_t real = _fft_outupt_buffer[bucket_index]; + const int16_t complex = _fft_outupt_buffer[bucket_index + 1]; + + const uint32_t fft_magnitude_squared = real * real + complex * complex; + + if (fft_magnitude_squared > MIN_SNR) { + for (int i = 0; i < MAX_NUM_PEAKS; i++) { + if (fft_magnitude_squared > peaks_magnitude[i]) { + peaks_magnitude[i] = fft_magnitude_squared; + peak_index[i] = bucket_index; + peaks_detected = true; + break; + } + } + } + } + } + + if (peaks_detected) { + float *peak_frequencies[] {_sensor_gyro_fft.peak_frequencies_x, _sensor_gyro_fft.peak_frequencies_y, _sensor_gyro_fft.peak_frequencies_z}; + uint32_t *peak_magnitude[] {_sensor_gyro_fft.peak_magnitude_x, _sensor_gyro_fft.peak_magnitude_y, _sensor_gyro_fft.peak_magnitude_z}; + + int num_peaks_found = 0; + + for (int i = 0; i < MAX_NUM_PEAKS; i++) { + if ((peak_index[i] > 0) && (peak_index[i] < _imu_gyro_fft_len) && (peaks_magnitude[i] > 0)) { + const float freq = EstimatePeakFrequency(_fft_outupt_buffer, peak_index[i]); + + if (freq >= _param_imu_gyro_fft_min.get() && freq <= _param_imu_gyro_fft_max.get()) { + + if (fabsf(peak_frequencies[axis][num_peaks_found] - freq) > 0.1f) { + publish = true; + _sensor_gyro_fft.timestamp_sample = timestamp_sample; + } + + peak_frequencies[axis][num_peaks_found] = freq; + peak_magnitude[axis][num_peaks_found] = peaks_magnitude[i]; + + num_peaks_found++; + } + } + } + + // mark remaining slots empty + for (int i = num_peaks_found; i < MAX_NUM_PEAKS; i++) { + peak_frequencies[axis][i] = NAN; + peak_magnitude[axis][i] = 0; + } + } + + // reset + // shift buffer (3/4 overlap) + const int overlap_start = _imu_gyro_fft_len / 4; + memmove(&gyro_data_buffer[axis][0], &gyro_data_buffer[axis][overlap_start], sizeof(q15_t) * overlap_start * 3); + buffer_index = overlap_start * 3; + } + } + } + + if (publish) { + _sensor_gyro_fft.device_id = _selected_sensor_device_id; + _sensor_gyro_fft.sensor_sample_rate_hz = _gyro_sample_rate_hz; + _sensor_gyro_fft.resolution_hz = resolution_hz; + _sensor_gyro_fft.timestamp = hrt_absolute_time(); + _sensor_gyro_fft_pub.publish(_sensor_gyro_fft); + + publish = false; + } +} + +int GyroFFT::task_spawn(int argc, char *argv[]) +{ + GyroFFT *instance = new GyroFFT(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int GyroFFT::print_status() +{ + PX4_INFO("gyro sample rate: %.3f Hz", (double)_gyro_sample_rate_hz); + perf_print_counter(_cycle_perf); + perf_print_counter(_cycle_interval_perf); + perf_print_counter(_fft_perf); + perf_print_counter(_gyro_generation_gap_perf); + perf_print_counter(_gyro_fifo_generation_gap_perf); + return 0; +} + +int GyroFFT::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int GyroFFT::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("gyro_fft", "system"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int gyro_fft_main(int argc, char *argv[]) +{ + return GyroFFT::main(argc, argv); +} diff --git a/src/examples/gyro_fft/GyroFFT.hpp b/src/modules/gyro_fft/GyroFFT.hpp similarity index 73% rename from src/examples/gyro_fft/GyroFFT.hpp rename to src/modules/gyro_fft/GyroFFT.hpp index 9f19400e2c..84ab05c207 100644 --- a/src/examples/gyro_fft/GyroFFT.hpp +++ b/src/modules/gyro_fft/GyroFFT.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,7 +33,6 @@ #pragma once -#include #include #include #include @@ -46,6 +45,7 @@ #include #include #include +#include #include #include #include @@ -77,14 +77,32 @@ public: bool init(); private: - static constexpr uint16_t FFT_LENGTH = 2048; - - float EstimatePeakFrequency(q15_t fft[FFT_LENGTH * 2], uint8_t peak_index); + float EstimatePeakFrequency(q15_t fft[], uint8_t peak_index); void Run() override; bool SensorSelectionUpdate(bool force = false); - void VehicleIMUStatusUpdate(); + void Update(const hrt_abstime ×tamp_sample, int16_t *input[], uint8_t N); + void VehicleIMUStatusUpdate(bool force = false); - static constexpr int MAX_SENSOR_COUNT = 3; + template + bool AllocateBuffers() + { + _gyro_data_buffer_x = new q15_t[N]; + _gyro_data_buffer_y = new q15_t[N]; + _gyro_data_buffer_z = new q15_t[N]; + _hanning_window = new q15_t[N]; + _fft_input_buffer = new q15_t[N]; + _fft_outupt_buffer = new q15_t[N * 2]; + + return (_gyro_data_buffer_x && _gyro_data_buffer_y && _gyro_data_buffer_z + && _hanning_window + && _fft_input_buffer + && _fft_outupt_buffer); + } + + static constexpr int MAX_SENSOR_COUNT = 4; + + static constexpr int MAX_NUM_PEAKS = sizeof(sensor_gyro_fft_s::peak_frequencies_x) / sizeof( + sensor_gyro_fft_s::peak_frequencies_x[0]); uORB::Publication _sensor_gyro_fft_pub{ORB_ID(sensor_gyro_fft)}; @@ -93,33 +111,42 @@ private: uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)}; uORB::Subscription _vehicle_imu_status_sub{ORB_ID(vehicle_imu_status)}; + uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub{this, ORB_ID(sensor_gyro)}; uORB::SubscriptionCallbackWorkItem _sensor_gyro_fifo_sub{this, ORB_ID(sensor_gyro_fifo)}; perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; perf_counter_t _cycle_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")}; perf_counter_t _fft_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": FFT")}; + perf_counter_t _gyro_generation_gap_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro data gap")}; perf_counter_t _gyro_fifo_generation_gap_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro FIFO data gap")}; uint32_t _selected_sensor_device_id{0}; + bool _gyro_fifo{false}; + arm_rfft_instance_q15 _rfft_q15; - q15_t _gyro_data_buffer[3][FFT_LENGTH] {}; - q15_t _hanning_window[FFT_LENGTH] {}; - q15_t _fft_input_buffer[FFT_LENGTH] {}; - q15_t _fft_outupt_buffer[FFT_LENGTH * 2] {}; + q15_t *_gyro_data_buffer_x{nullptr}; + q15_t *_gyro_data_buffer_y{nullptr}; + q15_t *_gyro_data_buffer_z{nullptr}; + q15_t *_hanning_window{nullptr}; + q15_t *_fft_input_buffer{nullptr}; + q15_t *_fft_outupt_buffer{nullptr}; float _gyro_sample_rate_hz{8000}; // 8 kHz default + float _fifo_last_scale{0}; + int _fft_buffer_index[3] {}; unsigned _gyro_last_generation{0}; - math::MedianFilter _median_filter[3] {}; - sensor_gyro_fft_s _sensor_gyro_fft{}; + int32_t _imu_gyro_fft_len{256}; + DEFINE_PARAMETERS( + (ParamInt) _param_imu_gyro_fft_len, (ParamFloat) _param_imu_gyro_fft_min, (ParamFloat) _param_imu_gyro_fft_max ) diff --git a/src/examples/gyro_fft/parameters.c b/src/modules/gyro_fft/parameters.c similarity index 88% rename from src/examples/gyro_fft/parameters.c rename to src/modules/gyro_fft/parameters.c index 4c1158ae66..9062b9d81b 100644 --- a/src/examples/gyro_fft/parameters.c +++ b/src/modules/gyro_fft/parameters.c @@ -49,7 +49,7 @@ PARAM_DEFINE_INT32(IMU_GYRO_FFT_EN, 0); * @reboot_required true * @group Sensors */ -PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MIN, 50.0f); +PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MIN, 32.f); /** * IMU gyro FFT maximum frequency. @@ -60,4 +60,16 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MIN, 50.0f); * @reboot_required true * @group Sensors */ -PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MAX, 200.0f); +PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MAX, 192.f); + +/** +* IMU gyro FFT length. +* +* @value 256 256 +* @value 1024 1024 +* @value 4096 4096 +* @unit Hz +* @reboot_required true +* @group Sensors +*/ +PARAM_DEFINE_INT32(IMU_GYRO_FFT_LEN, 1024); diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp index a050ac5f4d..d170cfb2b3 100644 --- a/src/modules/land_detector/MulticopterLandDetector.cpp +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -161,7 +161,6 @@ bool MulticopterLandDetector::_get_ground_contact_state() const hrt_abstime time_now_us = hrt_absolute_time(); const bool lpos_available = ((time_now_us - _vehicle_local_position.timestamp) < 1_s); - const bool hover_thrust_estimate_valid = ((time_now_us - _hover_thrust_estimate_last_valid) < 1_s); // land speed threshold, 90% of MPC_LAND_SPEED const float land_speed_threshold = 0.9f * math::max(_params.landSpeed, 0.1f); @@ -200,8 +199,15 @@ bool MulticopterLandDetector::_get_ground_contact_state() _below_gnd_effect_hgt = false; } + const bool hover_thrust_estimate_valid = ((time_now_us - _hover_thrust_estimate_last_valid) < 1_s); + + if (!_in_descend || hover_thrust_estimate_valid) { + // continue using valid hover thrust if it became invalid during descent + _hover_thrust_estimate_valid = hover_thrust_estimate_valid; + } + // low thrust: 30% of throttle range between min and hover, relaxed to 60% if hover thrust estimate available - const float thr_pct_hover = hover_thrust_estimate_valid ? 0.6f : 0.3f; + const float thr_pct_hover = _hover_thrust_estimate_valid ? 0.6f : 0.3f; const float sys_low_throttle = _params.minThrottle + (_params.hoverThrottle - _params.minThrottle) * thr_pct_hover; bool ground_contact = (_actuator_controls_throttle <= sys_low_throttle); diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h index 5715b2f807..32d8bdd5c2 100644 --- a/src/modules/land_detector/MulticopterLandDetector.h +++ b/src/modules/land_detector/MulticopterLandDetector.h @@ -117,6 +117,7 @@ private: uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)}; hrt_abstime _hover_thrust_estimate_last_valid{0}; + bool _hover_thrust_estimate_valid{false}; bool _flag_control_climb_rate_enabled{false}; bool _hover_thrust_initialized{false}; diff --git a/src/modules/land_detector/land_detector_params_fw.c b/src/modules/land_detector/land_detector_params_fw.c index f099c841a1..b33c67080c 100644 --- a/src/modules/land_detector/land_detector_params_fw.c +++ b/src/modules/land_detector/land_detector_params_fw.c @@ -34,7 +34,7 @@ /** * Fixedwing max horizontal velocity * - * Maximum horizontal velocity allowed in the landed state (m/s) + * Maximum horizontal velocity allowed in the landed state * * @unit m/s * @min 0.5 @@ -48,7 +48,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f); /** * Fixedwing max climb rate * - * Maximum vertical velocity allowed in the landed state (m/s up and down) + * Maximum vertical velocity allowed in the landed state * * @unit m/s * @min 0.1 @@ -62,7 +62,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 3.0f); /** * Fixedwing max horizontal acceleration * - * Maximum horizontal (x,y body axes) acceleration allowed in the landed state (m/s^2) + * Maximum horizontal (x,y body axes) acceleration allowed in the landed state * * @unit m/s^2 * @min 2 @@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(LNDFW_XYACC_MAX, 8.0f); /** * Airspeed max * - * Maximum airspeed allowed in the landed state (m/s) + * Maximum airspeed allowed in the landed state * * @unit m/s * @min 4 diff --git a/src/modules/land_detector/land_detector_params_mc.c b/src/modules/land_detector/land_detector_params_mc.c index e25c85b37c..465de6e580 100644 --- a/src/modules/land_detector/land_detector_params_mc.c +++ b/src/modules/land_detector/land_detector_params_mc.c @@ -34,7 +34,7 @@ /** * Multicopter max climb rate * - * Maximum vertical velocity allowed in the landed state (m/s up and down) + * Maximum vertical velocity allowed in the landed state * * @unit m/s * @decimal 1 @@ -46,7 +46,7 @@ PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.50f); /** * Multicopter max horizontal velocity * - * Maximum horizontal velocity allowed in the landed state (m/s) + * Maximum horizontal velocity allowed in the landed state * * @unit m/s * @decimal 1 diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp index 0c783dba60..7ee630e29c 100644 --- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp +++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp @@ -106,7 +106,6 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() : // local to global coversion related variables _is_global_cov_init(false), - _global_ref_timestamp(0.0), _ref_lat(0.0), _ref_lon(0.0), _ref_alt(0.0) @@ -168,6 +167,23 @@ void BlockLocalPositionEstimator::Run() return; } + if (_vehicle_command_sub.updated()) { + vehicle_command_s vehicle_command; + + if (_vehicle_command_sub.update(&vehicle_command)) { + if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN) { + const double latitude = vehicle_command.param5; + const double longitude = vehicle_command.param6; + const float altitude = vehicle_command.param7; + + map_projection_init_timestamped(&_global_local_proj_ref, latitude, longitude, vehicle_command.timestamp); + _global_local_alt0 = altitude; + + PX4_INFO("New NED origin (LLA): %3.10f, %3.10f, %4.3f\n", latitude, longitude, static_cast(altitude)); + } + } + } + sensor_combined_s imu; if (!_sensors_sub.update(&imu)) { diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp index 0302e5ec65..597d0e8e22 100644 --- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp +++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp @@ -12,6 +12,7 @@ // uORB Subscriptions #include #include +#include #include #include #include @@ -264,7 +265,7 @@ private: uORB::SubscriptionCallbackWorkItem _sensors_sub{this, ORB_ID(sensor_combined)}; uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; - + uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; uORB::SubscriptionData _sub_armed{ORB_ID(actuator_armed)}; uORB::SubscriptionData _sub_land{ORB_ID(vehicle_land_detected)}; uORB::SubscriptionData _sub_att{ORB_ID(vehicle_attitude)}; @@ -295,6 +296,9 @@ private: // map projection struct map_projection_reference_s _map_ref; + map_projection_reference_s _global_local_proj_ref{}; + float _global_local_alt0{NAN}; + // target mode paramters from landing_target_estimator module enum TargetMode { Target_Moving = 0, @@ -379,7 +383,6 @@ private: // local to global coversion related variables bool _is_global_cov_init; - uint64_t _global_ref_timestamp; double _ref_lat; double _ref_lon; float _ref_alt; @@ -398,8 +401,6 @@ private: DEFINE_PARAMETERS( - (ParamInt) _param_sys_autostart, /**< example parameter */ - // general parameters (ParamInt) _param_lpe_fusion, (ParamFloat) _param_lpe_vxy_pub, diff --git a/src/modules/local_position_estimator/params.c b/src/modules/local_position_estimator/params.c index 9c0c83009c..a24a499c29 100644 --- a/src/modules/local_position_estimator/params.c +++ b/src/modules/local_position_estimator/params.c @@ -175,6 +175,7 @@ PARAM_DEFINE_FLOAT(LPE_GPS_Z, 3.0f); /** * GPS xy velocity standard deviation. + * * EPV used if greater than this value. * * @group Local Position Estimator @@ -316,6 +317,7 @@ PARAM_DEFINE_FLOAT(LPE_PN_T, 0.001f); /** * Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) + * * Used to calculate increased terrain random walk nosie due to movement. * * @group Local Position Estimator @@ -339,7 +341,8 @@ PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.001f); /** * Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow) - * by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable + * + * By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable * * @group Local Position Estimator * @min 0 diff --git a/src/modules/local_position_estimator/sensors/mocap.cpp b/src/modules/local_position_estimator/sensors/mocap.cpp index 192350fd45..c62098aa6f 100644 --- a/src/modules/local_position_estimator/sensors/mocap.cpp +++ b/src/modules/local_position_estimator/sensors/mocap.cpp @@ -37,9 +37,11 @@ void BlockLocalPositionEstimator::mocapInit() _sensorFault &= ~SENSOR_MOCAP; // get reference for global position - globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt); - _global_ref_timestamp = _timeStamp; - _is_global_cov_init = globallocalconverter_initialized(); + _ref_lat = math::degrees(_global_local_proj_ref.lat_rad); + _ref_lon = math::degrees(_global_local_proj_ref.lon_rad); + _ref_alt = _global_local_alt0; + + _is_global_cov_init = map_projection_initialized(&_global_local_proj_ref); if (!_map_ref.init_done && _is_global_cov_init && !_visionUpdated) { // initialize global origin using the mocap estimator reference (only if the vision estimation is not being fused as well) @@ -53,7 +55,7 @@ void BlockLocalPositionEstimator::mocapInit() if (!_altOriginInitialized) { _altOriginInitialized = true; _altOriginGlobal = true; - _altOrigin = globallocalconverter_initialized() ? _ref_alt : 0.0f; + _altOrigin = map_projection_initialized(&_global_local_proj_ref) ? _ref_alt : 0.0f; } } } diff --git a/src/modules/local_position_estimator/sensors/vision.cpp b/src/modules/local_position_estimator/sensors/vision.cpp index 35b8a261ad..9c0dfffef9 100644 --- a/src/modules/local_position_estimator/sensors/vision.cpp +++ b/src/modules/local_position_estimator/sensors/vision.cpp @@ -42,9 +42,11 @@ void BlockLocalPositionEstimator::visionInit() _sensorFault &= ~SENSOR_VISION; // get reference for global position - globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt); - _global_ref_timestamp = _timeStamp; - _is_global_cov_init = globallocalconverter_initialized(); + _ref_lat = math::degrees(_global_local_proj_ref.lat_rad); + _ref_lon = math::degrees(_global_local_proj_ref.lon_rad); + _ref_alt = _global_local_alt0; + + _is_global_cov_init = map_projection_initialized(&_global_local_proj_ref); if (!_map_ref.init_done && _is_global_cov_init) { // initialize global origin using the visual estimator reference @@ -58,7 +60,7 @@ void BlockLocalPositionEstimator::visionInit() if (!_altOriginInitialized) { _altOriginInitialized = true; _altOriginGlobal = true; - _altOrigin = globallocalconverter_initialized() ? _ref_alt : 0.0f; + _altOrigin = map_projection_initialized(&_global_local_proj_ref) ? _ref_alt : 0.0f; } } } diff --git a/src/modules/logger/log_writer_file.cpp b/src/modules/logger/log_writer_file.cpp index d6f52182a3..40e6ff45cd 100644 --- a/src/modules/logger/log_writer_file.cpp +++ b/src/modules/logger/log_writer_file.cpp @@ -457,7 +457,7 @@ bool LogWriterFile::LogFileBuffer::start_log(const char *filename) } if (_buffer == nullptr) { - _buffer = new uint8_t[_buffer_size]; + _buffer = (uint8_t *) px4_cache_aligned_alloc(_buffer_size); if (_buffer == nullptr) { PX4_ERR("Can't create log buffer"); diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 29fe3e37ac..fe152bb553 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -84,7 +84,7 @@ void LoggedTopics::add_default_topics() add_topic("safety"); add_topic("sensor_combined"); add_topic("sensor_correction"); - add_topic("sensor_gyro_fft"); + add_topic("sensor_gyro_fft", 50); add_topic("sensor_preflight_mag", 500); add_topic("sensor_selection"); add_topic("sensors_status_imu", 200); @@ -140,12 +140,13 @@ void LoggedTopics::add_default_topics() add_topic("estimator_selector_status"); add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES); + add_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES); - add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES); + add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES); diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp index ca86b2c2e1..fc5c4eb6e3 100644 --- a/src/modules/logger/logger.cpp +++ b/src/modules/logger/logger.cpp @@ -1254,6 +1254,7 @@ void Logger::start_log_file(LogType type) if (type == LogType::Full) { write_parameters(type); + write_parameter_defaults(type); write_perf_data(true); write_console_output(); } @@ -1305,6 +1306,7 @@ void Logger::start_log_mavlink() write_version(LogType::Full); write_formats(LogType::Full); write_parameters(LogType::Full); + write_parameter_defaults(LogType::Full); write_perf_data(true); write_console_output(); write_all_add_logged_msg(LogType::Full); @@ -1738,6 +1740,8 @@ void Logger::write_header(LogType type) // write the Flags message: this MUST be written right after the ulog header ulog_message_flag_bits_s flag_bits{}; + flag_bits.compat_flags[0] = ULOG_COMPAT_FLAG0_DEFAULT_PARAMETERS_MASK; + flag_bits.msg_size = sizeof(flag_bits) - ULOG_MSG_HEADER_LEN; flag_bits.msg_type = static_cast(ULogMessageType::FLAG_BITS); @@ -1777,6 +1781,13 @@ void Logger::write_version(LogType type) write_info(type, "sys_os_ver", os_version); } + const char *oem_version = px4_firmware_oem_version_string(); + + if (oem_version && oem_version[0]) { + write_info(type, "ver_oem", oem_version); + } + + write_info(type, "sys_os_ver_release", px4_os_version()); write_info(type, "sys_toolchain", px4_toolchain_name()); write_info(type, "sys_toolchain_ver", px4_toolchain_version()); @@ -1822,6 +1833,100 @@ void Logger::write_version(LogType type) } } +void Logger::write_parameter_defaults(LogType type) +{ + _writer.lock(); + ulog_message_parameter_default_header_s msg = {}; + uint8_t *buffer = reinterpret_cast(&msg); + + msg.msg_type = static_cast(ULogMessageType::PARAMETER_DEFAULT); + int param_idx = 0; + param_t param = 0; + + do { + // skip over all parameters which are not used + do { + param = param_for_index(param_idx); + ++param_idx; + } while (param != PARAM_INVALID && !param_used(param)); + + // save parameters which are valid AND used AND not volatile + if (param != PARAM_INVALID) { + + if (param_is_volatile(param)) { + continue; + } + + // get parameter type and size + const char *type_str; + param_type_t ptype = param_type(param); + size_t value_size = 0; + + uint8_t default_value[math::max(sizeof(float), sizeof(int32_t))]; + uint8_t system_default_value[sizeof(default_value)]; + uint8_t value[sizeof(default_value)]; + + switch (ptype) { + case PARAM_TYPE_INT32: + type_str = "int32_t"; + value_size = sizeof(int32_t); + param_get(param, (int32_t *)&value); + break; + + case PARAM_TYPE_FLOAT: + type_str = "float"; + value_size = sizeof(float); + param_get(param, (float *)&value); + break; + + default: + continue; + } + + // format parameter key (type and name) + msg.key_len = snprintf(msg.key, sizeof(msg.key), "%s %s", type_str, param_name(param)); + size_t msg_size = sizeof(msg) - sizeof(msg.key) + msg.key_len; + + if (param_get_default_value(param, &default_value) != 0) { + continue; + } + + if (param_get_system_default_value(param, &system_default_value) != 0) { + continue; + } + + msg_size += value_size; + msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN; + + // write the system/airframe default if different from the current value + if (memcmp(&system_default_value, &default_value, value_size) == 0) { + // if the system and airframe defaults are equal, we can combine them + if (memcmp(&value, &default_value, value_size) != 0) { + memcpy(&buffer[msg_size - value_size], default_value, value_size); + msg.default_types = ulog_parameter_default_type_t::current_setup | ulog_parameter_default_type_t::system; + write_message(type, buffer, msg_size); + } + + } else { + if (memcmp(&value, &default_value, value_size) != 0) { + memcpy(&buffer[msg_size - value_size], default_value, value_size); + msg.default_types = ulog_parameter_default_type_t::current_setup; + write_message(type, buffer, msg_size); + } + + if (memcmp(&value, &system_default_value, value_size) != 0) { + memcpy(&buffer[msg_size - value_size], system_default_value, value_size); + msg.default_types = ulog_parameter_default_type_t::system; + write_message(type, buffer, msg_size); + } + } + } + } while ((param != PARAM_INVALID) && (param_idx < (int) param_count())); + + _writer.unlock(); + _writer.notify(); +} + void Logger::write_parameters(LogType type) { _writer.lock(); @@ -1833,7 +1938,7 @@ void Logger::write_parameters(LogType type) param_t param = 0; do { - // skip over all parameters which are not invalid and not used + // skip over all parameters which are not used do { param = param_for_index(param_idx); ++param_idx; @@ -1902,7 +2007,7 @@ void Logger::write_changed_parameters(LogType type) param_t param = 0; do { - // skip over all parameters which are not invalid and not used + // skip over all parameters which are not used do { param = param_for_index(param_idx); ++param_idx; diff --git a/src/modules/logger/logger.h b/src/modules/logger/logger.h index 01129dfbba..f73497b513 100644 --- a/src/modules/logger/logger.h +++ b/src/modules/logger/logger.h @@ -258,6 +258,7 @@ private: void write_info_template(LogType type, const char *name, T value, const char *type_str); void write_parameters(LogType type); + void write_parameter_defaults(LogType type); void write_changed_parameters(LogType type); diff --git a/src/modules/logger/messages.h b/src/modules/logger/messages.h index 4b877893b3..c6512db00b 100644 --- a/src/modules/logger/messages.h +++ b/src/modules/logger/messages.h @@ -33,12 +33,15 @@ #pragma once +#include + enum class ULogMessageType : uint8_t { FORMAT = 'F', DATA = 'D', INFO = 'I', INFO_MULTIPLE = 'M', PARAMETER = 'P', + PARAMETER_DEFAULT = 'Q', ADD_LOGGED_MSG = 'A', REMOVE_LOGGED_MSG = 'R', SYNC = 'S', @@ -152,9 +155,30 @@ struct ulog_message_parameter_header_s { char key[255]; }; +enum class ulog_parameter_default_type_t : uint8_t { + system = (1 << 0), + current_setup = (1 << 1) //airframe default +}; + +inline ulog_parameter_default_type_t operator|(ulog_parameter_default_type_t a, ulog_parameter_default_type_t b) +{ + return static_cast(static_cast(a) | static_cast(b)); +} + +struct ulog_message_parameter_default_header_s { + uint16_t msg_size; + uint8_t msg_type = static_cast(ULogMessageType::PARAMETER_DEFAULT); + + ulog_parameter_default_type_t default_types; + uint8_t key_len; + char key[255]; +}; + #define ULOG_INCOMPAT_FLAG0_DATA_APPENDED_MASK (1<<0) +#define ULOG_COMPAT_FLAG0_DEFAULT_PARAMETERS_MASK (1<<0) + struct ulog_message_flag_bits_s { uint16_t msg_size; uint8_t msg_type = static_cast(ULogMessageType::FLAG_BITS); diff --git a/src/modules/mavlink/mavlink_command_sender.cpp b/src/modules/mavlink/mavlink_command_sender.cpp index 85578b1335..c18675ed93 100644 --- a/src/modules/mavlink/mavlink_command_sender.cpp +++ b/src/modules/mavlink/mavlink_command_sender.cpp @@ -65,8 +65,13 @@ MavlinkCommandSender::~MavlinkCommandSender() px4_sem_destroy(&_lock); } -int MavlinkCommandSender::handle_vehicle_command(const struct vehicle_command_s &command, mavlink_channel_t channel) +int MavlinkCommandSender::handle_vehicle_command(const vehicle_command_s &command, mavlink_channel_t channel) { + // commands > uint16 are PX4 internal only + if (command.command >= vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) { + return 0; + } + lock(); CMD_DEBUG("new command: %d (channel: %d)", command.command, channel); diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 049bb7a249..917078a824 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1522,6 +1522,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f); configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f); configure_stream_local("GPS2_RAW", 1.0f); + configure_stream_local("GPS_GLOBAL_ORIGIN", 0.1f); configure_stream_local("GPS_RAW_INT", 1.0f); configure_stream_local("GPS_STATUS", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); @@ -1571,7 +1572,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("ATTITUDE_QUATERNION", 50.0f); configure_stream_local("ATTITUDE_TARGET", 10.0f); configure_stream_local("BATTERY_STATUS", 0.5f); - configure_stream_local("CAMERA_CAPTURE", 2.0f); configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate); configure_stream_local("COLLISION", unlimited_rate); configure_stream_local("ESTIMATOR_STATUS", 1.0f); @@ -1581,6 +1581,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f); configure_stream_local("GLOBAL_POSITION_INT", 50.0f); configure_stream_local("GPS2_RAW", unlimited_rate); + configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f); configure_stream_local("GPS_RAW_INT", unlimited_rate); configure_stream_local("GPS_STATUS", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); @@ -1642,6 +1643,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("EXTENDED_SYS_STATE", 1.0f); configure_stream_local("GLOBAL_POSITION_INT", 5.0f); configure_stream_local("GPS2_RAW", 1.0f); + configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f); configure_stream_local("GPS_RAW_INT", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f); @@ -1719,6 +1721,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("EXTENDED_SYS_STATE", 2.0f); configure_stream_local("GLOBAL_POSITION_INT", 10.0f); configure_stream_local("GPS2_RAW", unlimited_rate); + configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f); configure_stream_local("GPS_RAW_INT", unlimited_rate); configure_stream_local("GPS_STATUS", 1.0f); configure_stream_local("HIGHRES_IMU", 50.0f); @@ -1775,6 +1778,54 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) break; + case MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH: + // Note: streams requiring low latency come first + configure_stream_local("TIMESYNC", 10.0f); + configure_stream_local("CAMERA_TRIGGER", unlimited_rate); + configure_stream_local("LOCAL_POSITION_NED", 30.0f); + configure_stream_local("ATTITUDE", 20.0f); + configure_stream_local("ALTITUDE", 10.0f); + configure_stream_local("DISTANCE_SENSOR", 10.0f); + configure_stream_local("MOUNT_ORIENTATION", 10.0f); + configure_stream_local("OBSTACLE_DISTANCE", 10.0f); + configure_stream_local("ODOMETRY", 30.0f); + configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f); + configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f); + configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f); + + configure_stream_local("ADSB_VEHICLE", unlimited_rate); + configure_stream_local("ATTITUDE_TARGET", 2.0f); + configure_stream_local("BATTERY_STATUS", 0.5f); + configure_stream_local("COLLISION", unlimited_rate); + configure_stream_local("ESTIMATOR_STATUS", 1.0f); + configure_stream_local("EXTENDED_SYS_STATE", 1.0f); + configure_stream_local("GLOBAL_POSITION_INT", 10.0f); + configure_stream_local("GPS2_RAW", unlimited_rate); + configure_stream_local("GPS_RAW_INT", unlimited_rate); + configure_stream_local("HOME_POSITION", 0.5f); + configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f); + configure_stream_local("OPTICAL_FLOW_RAD", 1.0f); + configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f); + configure_stream_local("PING", 0.1f); + configure_stream_local("POSITION_TARGET_GLOBAL_INT", 1.5f); + configure_stream_local("POSITION_TARGET_LOCAL_NED", 1.5f); + configure_stream_local("RC_CHANNELS", 5.0f); + configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f); + configure_stream_local("SYS_STATUS", 5.0f); + configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f); + configure_stream_local("UTM_GLOBAL_POSITION", 1.0f); + configure_stream_local("VFR_HUD", 4.0f); + configure_stream_local("VIBRATION", 0.5f); + configure_stream_local("WIND_COV", 1.0f); + +#if !defined(CONSTRAINED_FLASH) + configure_stream_local("DEBUG", 1.0f); + configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f); + configure_stream_local("DEBUG_VECT", 1.0f); + configure_stream_local("NAMED_VALUE_FLOAT", 1.0f); +#endif // !CONSTRAINED_FLASH + break; + default: ret = -1; break; @@ -1809,11 +1860,10 @@ Mavlink::task_main(int argc, char *argv[]) int myoptind = 1; const char *myoptarg = nullptr; #if defined(CONFIG_NET) || defined(__PX4_POSIX) - char *eptr; int temp_int_arg; #endif - while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:fswxzZ", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:fswxzZp", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 'b': if (px4_get_parameter_value(myoptarg, _baudrate) != 0) { @@ -1859,29 +1909,25 @@ Mavlink::task_main(int argc, char *argv[]) #if defined(MAVLINK_UDP) case 'u': - temp_int_arg = strtoul(myoptarg, &eptr, 10); - - if (*eptr == '\0') { - _network_port = temp_int_arg; - set_protocol(Protocol::UDP); + if (px4_get_parameter_value(myoptarg, temp_int_arg) != 0) { + PX4_ERR("invalid data udp_port"); + err_flag = true; } else { - PX4_ERR("invalid data udp_port '%s'", myoptarg); - err_flag = true; + _network_port = temp_int_arg; + set_protocol(Protocol::UDP); } break; case 'o': - temp_int_arg = strtoul(myoptarg, &eptr, 10); - - if (*eptr == '\0') { - _remote_port = temp_int_arg; - set_protocol(Protocol::UDP); + if (px4_get_parameter_value(myoptarg, temp_int_arg) != 0) { + PX4_ERR("invalid remote udp_port"); + err_flag = true; } else { - PX4_ERR("invalid remote udp_port '%s'", myoptarg); - err_flag = true; + _remote_port = temp_int_arg; + set_protocol(Protocol::UDP); } break; @@ -1899,6 +1945,10 @@ Mavlink::task_main(int argc, char *argv[]) break; + case 'p': + _mav_broadcast = BROADCAST_MODE_ON; + break; + #if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE) // multicast @@ -1907,6 +1957,7 @@ Mavlink::task_main(int argc, char *argv[]) if (inet_aton(myoptarg, &_src_addr.sin_addr)) { _src_addr_initialized = true; + _mav_broadcast = BROADCAST_MODE_MULTICAST; } else { PX4_ERR("invalid partner ip '%s'", myoptarg); @@ -1923,6 +1974,7 @@ Mavlink::task_main(int argc, char *argv[]) #endif #else + case 'p': case 'u': case 'o': case 't': @@ -1984,6 +2036,9 @@ Mavlink::task_main(int argc, char *argv[]) } else if (strcmp(myoptarg, "gimbal") == 0) { _mode = MAVLINK_MODE_GIMBAL; + } else if (strcmp(myoptarg, "onboard_low_bandwidth") == 0) { + _mode = MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH; + } else { PX4_ERR("invalid mode"); err_flag = true; @@ -2206,7 +2261,7 @@ Mavlink::task_main(int argc, char *argv[]) #if defined(CONFIG_NET) - if (_param_mav_broadcast.get() != BROADCAST_MODE_MULTICAST) { + if (!multicast_enabled()) { _src_addr_initialized = false; } @@ -2242,45 +2297,48 @@ Mavlink::task_main(int argc, char *argv[]) // vehicle_command - while (_vehicle_command_sub.updated()) { - const unsigned last_generation = _vehicle_command_sub.get_last_generation(); - vehicle_command_s vehicle_cmd; + if (_mode == MAVLINK_MODE_IRIDIUM) { + while (_vehicle_command_sub.updated()) { + const unsigned last_generation = _vehicle_command_sub.get_last_generation(); + vehicle_command_s vehicle_cmd; - if (_vehicle_command_sub.update(&vehicle_cmd)) { - if (_vehicle_command_sub.get_last_generation() != last_generation + 1) { - PX4_ERR("vehicle_command lost, generation %d -> %d", last_generation, _vehicle_command_sub.get_last_generation()); - } - - if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) && - (_mode == MAVLINK_MODE_IRIDIUM)) { - if (vehicle_cmd.param1 > 0.5f) { - if (!_transmitting_enabled) { - mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command", - _device_name); - } - - _transmitting_enabled = true; - _transmitting_enabled_commanded = true; - - } else { - if (_transmitting_enabled) { - mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command", - _device_name); - } - - _transmitting_enabled = false; - _transmitting_enabled_commanded = false; + if (_vehicle_command_sub.update(&vehicle_cmd)) { + if (_vehicle_command_sub.get_last_generation() != last_generation + 1) { + PX4_ERR("vehicle_command lost, generation %d -> %d", last_generation, _vehicle_command_sub.get_last_generation()); } - // send positive command ack - vehicle_command_ack_s command_ack{}; - command_ack.command = vehicle_cmd.command; - command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED; - command_ack.from_external = !vehicle_cmd.from_external; - command_ack.target_system = vehicle_cmd.source_system; - command_ack.target_component = vehicle_cmd.source_component; - command_ack.timestamp = vehicle_cmd.timestamp; - _vehicle_command_ack_pub.publish(command_ack); + if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) && + _mode == MAVLINK_MODE_IRIDIUM) { + + if (vehicle_cmd.param1 > 0.5f) { + if (!_transmitting_enabled) { + mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command", + _device_name); + } + + _transmitting_enabled = true; + _transmitting_enabled_commanded = true; + + } else { + if (_transmitting_enabled) { + mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command", + _device_name); + } + + _transmitting_enabled = false; + _transmitting_enabled_commanded = false; + } + + // send positive command ack + vehicle_command_ack_s command_ack{}; + command_ack.command = vehicle_cmd.command; + command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED; + command_ack.from_external = !vehicle_cmd.from_external; + command_ack.target_system = vehicle_cmd.source_system; + command_ack.target_component = vehicle_cmd.source_component; + command_ack.timestamp = vehicle_cmd.timestamp; + _vehicle_command_ack_pub.publish(command_ack); + } } } } @@ -2290,26 +2348,35 @@ Mavlink::task_main(int argc, char *argv[]) if (_vehicle_command_ack_sub.updated()) { static constexpr size_t COMMAND_ACK_TOTAL_LEN = MAVLINK_MSG_ID_COMMAND_ACK_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - vehicle_command_ack_s command_ack; - while ((get_free_tx_buf() >= COMMAND_ACK_TOTAL_LEN) && _vehicle_command_ack_sub.update(&command_ack)) { - if (!command_ack.from_external) { - mavlink_command_ack_t msg; - msg.result = command_ack.result; - msg.command = command_ack.command; - msg.progress = command_ack.result_param1; - msg.result_param2 = command_ack.result_param2; - msg.target_system = command_ack.target_system; - msg.target_component = command_ack.target_component; + while ((get_free_tx_buf() >= COMMAND_ACK_TOTAL_LEN) && _vehicle_command_ack_sub.updated()) { + vehicle_command_ack_s command_ack; + const unsigned last_generation = _vehicle_command_ack_sub.get_last_generation(); - // TODO: always transmit the acknowledge once it is only sent over the instance the command is received - //bool _transmitting_enabled_temp = _transmitting_enabled; - //_transmitting_enabled = true; - mavlink_msg_command_ack_send_struct(get_channel(), &msg); - //_transmitting_enabled = _transmitting_enabled_temp; + if (_vehicle_command_ack_sub.update(&command_ack)) { + if (_vehicle_command_ack_sub.get_last_generation() != last_generation + 1) { + PX4_ERR("vehicle_command_ack lost, generation %d -> %d", last_generation, + _vehicle_command_ack_sub.get_last_generation()); + } - if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) { - cmd_logging_start_acknowledgement = true; + if (!command_ack.from_external && command_ack.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) { + mavlink_command_ack_t msg{}; + msg.result = command_ack.result; + msg.command = command_ack.command; + msg.progress = command_ack.result_param1; + msg.result_param2 = command_ack.result_param2; + msg.target_system = command_ack.target_system; + msg.target_component = command_ack.target_component; + + // TODO: always transmit the acknowledge once it is only sent over the instance the command is received + //bool _transmitting_enabled_temp = _transmitting_enabled; + //_transmitting_enabled = true; + mavlink_msg_command_ack_send_struct(get_channel(), &msg); + //_transmitting_enabled = _transmitting_enabled_temp; + + if (command_ack.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) { + cmd_logging_start_acknowledgement = true; + } } } } @@ -2674,7 +2741,7 @@ Mavlink::start(int argc, char *argv[]) px4_task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2496 + MAVLINK_NET_ADDED_STACK, + 2896 + MAVLINK_NET_ADDED_STACK, (px4_main_t)&Mavlink::start_helper, (char *const *)argv); @@ -2767,6 +2834,12 @@ Mavlink::display_status() case Protocol::UDP: printf("UDP (%i, remote port: %i)\n", _network_port, _remote_port); + printf("\tBroadcast enabled: %s\n", + broadcast_enabled() ? "YES" : "NO"); +#if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE) + printf("\tMulticast enabled: %s\n", + multicast_enabled() ? "YES" : "NO"); +#endif #ifdef __PX4_POSIX if (get_client_source_initialized()) { @@ -2833,7 +2906,6 @@ Mavlink::stream_command(int argc, char *argv[]) float rate = -1.0f; const char *stream_name = nullptr; #ifdef MAVLINK_UDP - char *eptr; int temp_int_arg; unsigned short network_port = 0; #endif // MAVLINK_UDP @@ -2879,13 +2951,12 @@ Mavlink::stream_command(int argc, char *argv[]) } else if (0 == strcmp(argv[i], "-u") && i < argc - 1) { provided_network_port = true; - temp_int_arg = strtoul(argv[i + 1], &eptr, 10); - if (*eptr == '\0') { - network_port = temp_int_arg; + if (px4_get_parameter_value(argv[i + 1], temp_int_arg) != 0) { + err_flag = true; } else { - err_flag = true; + network_port = temp_int_arg; } i++; @@ -2963,7 +3034,7 @@ Mavlink::set_boot_complete() if (inst && (inst->get_mode() != MAVLINK_MODE_ONBOARD) && !inst->broadcast_enabled() && inst->get_protocol() == Protocol::UDP) { - PX4_INFO("MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)"); + PX4_INFO("MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)"); } } @@ -3010,16 +3081,17 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50 PRINT_MODULE_USAGE_PARAM_INT('b', 57600, 9600, 3000000, "Baudrate (can also be p:)", true); PRINT_MODULE_USAGE_PARAM_INT('r', 0, 10, 10000000, "Maximum sending data rate in B/s (if 0, use baudrate / 20)", true); #if defined(CONFIG_NET) || defined(__PX4_POSIX) + PRINT_MODULE_USAGE_PARAM_FLAG('p', "Enable Broadcast", true); PRINT_MODULE_USAGE_PARAM_INT('u', 14556, 0, 65536, "Select UDP Network Port (local)", true); PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true); PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr, - "Partner IP (broadcasting can be enabled via MAV_BROADCAST param)", true); + "Partner IP (broadcasting can be enabled via MAV_{i}_BROADCAST param)", true); #endif PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal", "Mode: sets default streams and rates", true); PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "", "wifi/ethernet interface name", true); #if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE) - PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, "Multicast address in the range [239.0.0.0,239.255.255.255]", "Multicast address (multicasting can be enabled via MAV_BROADCAST param)", true); + PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, "Multicast address in the range [239.0.0.0,239.255.255.255]", "Multicast address (multicasting can be enabled via MAV_{i}_BROADCAST param)", true); #endif PRINT_MODULE_USAGE_PARAM_FLAG('f', "Enable message forwarding to other Mavlink instances", true); PRINT_MODULE_USAGE_PARAM_FLAG('w', "Wait to send, until first message received", true); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 4992cd8759..c588619da7 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -192,6 +192,7 @@ public: MAVLINK_MODE_EXTVISION, MAVLINK_MODE_EXTVISIONMIN, MAVLINK_MODE_GIMBAL, + MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH, MAVLINK_MODE_COUNT }; @@ -243,6 +244,9 @@ public: case MAVLINK_MODE_GIMBAL: return "Gimbal"; + case MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH: + return "OnboardLowBandwidth"; + default: return "Unknown"; } @@ -265,7 +269,9 @@ public: #if defined(MAVLINK_UDP) static Mavlink *get_instance_for_network_port(unsigned long port); - bool broadcast_enabled() { return _param_mav_broadcast.get() == BROADCAST_MODE_ON; } + bool broadcast_enabled() { return _mav_broadcast == BROADCAST_MODE_ON; } + + bool multicast_enabled() { return _mav_broadcast == BROADCAST_MODE_MULTICAST; } #endif // MAVLINK_UDP /** @@ -610,6 +616,8 @@ private: hrt_abstime _bytes_timestamp{0}; #if defined(MAVLINK_UDP) + BROADCAST_MODE _mav_broadcast {BROADCAST_MODE_OFF}; + sockaddr_in _myaddr {}; sockaddr_in _src_addr {}; sockaddr_in _bcast_addr {}; @@ -659,9 +667,6 @@ private: (ParamInt) _param_mav_type, (ParamBool) _param_mav_usehilgps, (ParamBool) _param_mav_fwdextsp, -#if defined(MAVLINK_UDP) - (ParamInt) _param_mav_broadcast, -#endif // MAVLINK_UDP (ParamBool) _param_mav_hash_chk_en, (ParamBool) _param_mav_hb_forw_en, (ParamBool) _param_mav_odom_lp, diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 904979ee30..a89bbf8f6e 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -44,7 +44,6 @@ #include "mavlink_command_sender.h" #include "mavlink_simple_analyzer.h" -#include #include #include #include @@ -55,70 +54,37 @@ #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include #include -#include -#include - -using matrix::Vector3f; -using matrix::wrap_2pi; +#include "streams/ACTUATOR_CONTROL_TARGET.hpp" #include "streams/ACTUATOR_OUTPUT_STATUS.hpp" #include "streams/ALTITUDE.hpp" #include "streams/ATTITUDE.hpp" #include "streams/ATTITUDE_QUATERNION.hpp" #include "streams/ATTITUDE_TARGET.hpp" #include "streams/AUTOPILOT_VERSION.hpp" +#include "streams/BATTERY_STATUS.hpp" +#include "streams/CAMERA_IMAGE_CAPTURED.hpp" +#include "streams/CAMERA_TRIGGER.hpp" #include "streams/COLLISION.hpp" +#include "streams/COMMAND_LONG.hpp" #include "streams/COMPONENT_INFORMATION.hpp" #include "streams/DISTANCE_SENSOR.hpp" #include "streams/ESC_INFO.hpp" #include "streams/ESC_STATUS.hpp" +#include "streams/ESTIMATOR_STATUS.hpp" #include "streams/EXTENDED_SYS_STATE.hpp" #include "streams/FLIGHT_INFORMATION.hpp" +#include "streams/GLOBAL_POSITION_INT.hpp" #include "streams/GPS_GLOBAL_ORIGIN.hpp" +#include "streams/GPS_RAW_INT.hpp" #include "streams/GPS_STATUS.hpp" -#include "streams/HIGH_LATENCY2.hpp" +#include "streams/HEARTBEAT.hpp" +#include "streams/HIGHRES_IMU.hpp" #include "streams/HIL_ACTUATOR_CONTROLS.hpp" #include "streams/HIL_STATE_QUATERNION.hpp" +#include "streams/HOME_POSITION.hpp" +#include "streams/LOCAL_POSITION_NED.hpp" #include "streams/MANUAL_CONTROL.hpp" #include "streams/MOUNT_ORIENTATION.hpp" #include "streams/NAV_CONTROLLER_OUTPUT.hpp" @@ -132,17 +98,38 @@ using matrix::wrap_2pi; #include "streams/RAW_RPM.hpp" #include "streams/RC_CHANNELS.hpp" #include "streams/SCALED_IMU.hpp" +#include "streams/SCALED_PRESSURE.hpp" +#include "streams/SERVO_OUTPUT_RAW.hpp" #include "streams/STATUSTEXT.hpp" #include "streams/STORAGE_INFORMATION.hpp" +#include "streams/SYS_STATUS.hpp" +#include "streams/SYSTEM_TIME.hpp" +#include "streams/TIMESYNC.hpp" #include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp" +#include "streams/VFR_HUD.hpp" +#include "streams/VIBRATION.hpp" #include "streams/WIND_COV.hpp" #if !defined(CONSTRAINED_FLASH) +# include "streams/ADSB_VEHICLE.hpp" +# include "streams/ATT_POS_MOCAP.hpp" +# include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp" # include "streams/DEBUG.hpp" # include "streams/DEBUG_FLOAT_ARRAY.hpp" # include "streams/DEBUG_VECT.hpp" -# include "streams/NAMED_VALUE_FLOAT.hpp" +# include "streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp" +# include "streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp" +# include "streams/GIMBAL_MANAGER_INFORMATION.hpp" +# include "streams/GIMBAL_MANAGER_STATUS.hpp" +# include "streams/GPS2_RAW.hpp" +# include "streams/HIGH_LATENCY2.hpp" # include "streams/LINK_NODE_STATUS.hpp" +# include "streams/NAMED_VALUE_FLOAT.hpp" +# include "streams/ODOMETRY.hpp" +# include "streams/SCALED_PRESSURE2.hpp" +# include "streams/SCALED_PRESSURE3.hpp" +# include "streams/SMART_BATTERY_INFO.hpp" +# include "streams/UTM_GLOBAL_POSITION.hpp" #endif // !CONSTRAINED_FLASH // ensure PX4 rotation enum and MAV_SENSOR_ROTATION align @@ -229,3202 +216,136 @@ static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == static_cast(ROTATION_PITCH_315), "Pitch: 315"); static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == static_cast(ROTATION_ROLL_90_PITCH_315), "Roll: 90, Pitch: 315"); - static_assert(41 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync"); -static uint16_t cm_uint16_from_m_float(float m) + +union px4_custom_mode get_px4_custom_mode(uint8_t nav_state) { - if (m < 0.0f) { - return 0; + union px4_custom_mode custom_mode; + custom_mode.data = 0; - } else if (m > 655.35f) { - return 65535; - } - - return (uint16_t)(m * 100.0f); -} - -void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, uint8_t *mavlink_base_mode, - union px4_custom_mode *custom_mode) -{ - custom_mode->data = 0; - *mavlink_base_mode = 0; - - /* HIL */ - if (status->hil_state == vehicle_status_s::HIL_STATE_ON) { - *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; - } - - /* arming state */ - if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; - } - - /* main state */ - *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; - - const uint8_t auto_mode_flags = MAV_MODE_FLAG_AUTO_ENABLED - | MAV_MODE_FLAG_STABILIZE_ENABLED - | MAV_MODE_FLAG_GUIDED_ENABLED; - - switch (status->nav_state) { + switch (nav_state) { case vehicle_status_s::NAVIGATION_STATE_MANUAL: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - | (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; - break; - - case vehicle_status_s::NAVIGATION_STATE_ACRO: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; - break; - - case vehicle_status_s::NAVIGATION_STATE_RATTITUDE: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_RATTITUDE; - break; - - case vehicle_status_s::NAVIGATION_STATE_STAB: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; case vehicle_status_s::NAVIGATION_STATE_ALTCTL: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; break; case vehicle_status_s::NAVIGATION_STATE_POSCTL: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - | MAV_MODE_FLAG_STABILIZE_ENABLED - | MAV_MODE_FLAG_GUIDED_ENABLED; // TODO: is POSCTL GUIDED? - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; - break; - - case vehicle_status_s::NAVIGATION_STATE_ORBIT: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - | MAV_MODE_FLAG_STABILIZE_ENABLED - | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT; - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET; - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; break; - case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL: - case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + break; + + case vehicle_status_s::NAVIGATION_STATE_ACRO: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; + break; - /* fallthrough */ case vehicle_status_s::NAVIGATION_STATE_DESCEND: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; break; case vehicle_status_s::NAVIGATION_STATE_TERMINATION: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD; break; - case vehicle_status_s::NAVIGATION_STATE_MAX: - /* this is an unused case, ignore */ + case vehicle_status_s::NAVIGATION_STATE_STAB: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED; break; + case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF; + break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET; + break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND; + break; + + case vehicle_status_s::NAVIGATION_STATE_ORBIT: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT; + break; } + + return custom_mode; } -static void get_mavlink_mode_state(const struct vehicle_status_s *const status, uint8_t *mavlink_state, - uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode) -{ - *mavlink_state = 0; - *mavlink_base_mode = 0; - *mavlink_custom_mode = 0; - - union px4_custom_mode custom_mode; - get_mavlink_navigation_mode(status, mavlink_base_mode, &custom_mode); - *mavlink_custom_mode = custom_mode.data; - - /* set system state */ - if (status->arming_state == vehicle_status_s::ARMING_STATE_INIT - || status->arming_state == vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE - || status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { // TODO review - *mavlink_state = MAV_STATE_UNINIT; - - } else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - *mavlink_state = MAV_STATE_ACTIVE; - - } else if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) { - *mavlink_state = MAV_STATE_STANDBY; - - } else if (status->arming_state == vehicle_status_s::ARMING_STATE_SHUTDOWN) { - *mavlink_state = MAV_STATE_POWEROFF; - - } else { - *mavlink_state = MAV_STATE_CRITICAL; - } -} - - -class MavlinkStreamHeartbeat : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamHeartbeat::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "HEARTBEAT"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_HEARTBEAT; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamHeartbeat(mavlink); - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_HEARTBEAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - - bool const_rate() override - { - return true; - } - -private: - uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; - - /* do not allow top copying this class */ - MavlinkStreamHeartbeat(MavlinkStreamHeartbeat &) = delete; - MavlinkStreamHeartbeat &operator = (const MavlinkStreamHeartbeat &) = delete; - -protected: - explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_mavlink->get_free_tx_buf() >= get_size()) { - // always send the heartbeat, independent of the update status of the topics - vehicle_status_s status{}; - _status_sub.copy(&status); - - uint8_t base_mode = 0; - uint32_t custom_mode = 0; - uint8_t system_status = 0; - get_mavlink_mode_state(&status, &system_status, &base_mode, &custom_mode); - - mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4, - base_mode, custom_mode, system_status); - - return true; - } - - return false; - } -}; - -class MavlinkStreamCommandLong : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamCommandLong::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "COMMAND_LONG"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_COMMAND_LONG; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamCommandLong(mavlink); - } - - unsigned get_size() override - { - return 0; // commands stream is not regular and not predictable - } - -private: - uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; - - /* do not allow top copying this class */ - MavlinkStreamCommandLong(MavlinkStreamCommandLong &) = delete; - MavlinkStreamCommandLong &operator = (const MavlinkStreamCommandLong &) = delete; - -protected: - explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - bool sent = false; - - while ((_mavlink->get_free_tx_buf() >= get_size()) && _vehicle_command_sub.updated()) { - - const unsigned last_generation = _vehicle_command_sub.get_last_generation(); - vehicle_command_s cmd; - - if (_vehicle_command_sub.update(&cmd)) { - if (_vehicle_command_sub.get_last_generation() != last_generation + 1) { - PX4_ERR("COMMAND_LONG vehicle_command lost, generation %d -> %d", last_generation, - _vehicle_command_sub.get_last_generation()); - } - - if (!cmd.from_external) { - PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); - - MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel()); - sent = true; - - } else { - PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); - } - } - } - - MavlinkCommandSender::instance().check_timeout(_mavlink->get_channel()); - - return sent; - } -}; - -class MavlinkStreamSysStatus : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamSysStatus::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "SYS_STATUS"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SYS_STATUS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamSysStatus(mavlink); - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_SYS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - -private: - uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; - uORB::Subscription _cpuload_sub{ORB_ID(cpuload)}; - uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; - - /* do not allow top copying this class */ - MavlinkStreamSysStatus(MavlinkStreamSysStatus &) = delete; - MavlinkStreamSysStatus &operator = (const MavlinkStreamSysStatus &) = delete; - -protected: - explicit MavlinkStreamSysStatus(Mavlink *mavlink) : MavlinkStream(mavlink) - { - } - - bool send() override - { - if (_status_sub.updated() || _cpuload_sub.updated() || _battery_status_subs.updated()) { - vehicle_status_s status{}; - _status_sub.copy(&status); - - cpuload_s cpuload{}; - _cpuload_sub.copy(&cpuload); - - battery_status_s battery_status[battery_status_s::MAX_INSTANCES] {}; - - for (int i = 0; i < _battery_status_subs.size(); i++) { - _battery_status_subs[i].copy(&battery_status[i]); - } - - int lowest_battery_index = 0; - - // No battery is connected, select the first group - // Low battery judgment is performed only when the current battery is connected - // When the last cached battery is not connected or the current battery level is lower than the cached battery level, - // the current battery status is replaced with the cached value - for (int i = 0; i < _battery_status_subs.size(); i++) { - if (battery_status[i].connected && ((!battery_status[lowest_battery_index].connected) - || (battery_status[i].remaining < battery_status[lowest_battery_index].remaining))) { - lowest_battery_index = i; - } - } - - mavlink_sys_status_t msg{}; - - msg.onboard_control_sensors_present = status.onboard_control_sensors_present; - msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled; - msg.onboard_control_sensors_health = status.onboard_control_sensors_health; - - msg.load = cpuload.load * 1000.0f; - - // TODO: Determine what data should be put here when there are multiple batteries. - // Right now, it uses the lowest battery. This is a safety decision, because if a client is only checking - // one battery using this message, it should be the lowest. - // In the future, this should somehow determine the "main" battery, or use the "type" field of BATTERY_STATUS - // to determine which battery is more important at a given time. - const battery_status_s &lowest_battery = battery_status[lowest_battery_index]; - - if (lowest_battery.connected) { - msg.voltage_battery = lowest_battery.voltage_filtered_v * 1000.0f; - msg.current_battery = lowest_battery.current_filtered_a * 100.0f; - msg.battery_remaining = ceilf(lowest_battery.remaining * 100.0f); - - } else { - msg.voltage_battery = UINT16_MAX; - msg.current_battery = -1; - msg.battery_remaining = -1; - } - - mavlink_msg_sys_status_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamBatteryStatus : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamBatteryStatus::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "BATTERY_STATUS"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_BATTERY_STATUS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamBatteryStatus(mavlink); - } - - unsigned get_size() override - { - static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - return size_per_battery * _battery_status_subs.advertised_count(); - } - -private: - uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; - - /* do not allow top copying this class */ - MavlinkStreamBatteryStatus(MavlinkStreamSysStatus &) = delete; - MavlinkStreamBatteryStatus &operator = (const MavlinkStreamSysStatus &) = delete; - -protected: - explicit MavlinkStreamBatteryStatus(Mavlink *mavlink) : MavlinkStream(mavlink) - { - } - - bool send() override - { - bool updated = false; - - for (auto &battery_sub : _battery_status_subs) { - battery_status_s battery_status; - - if (battery_sub.update(&battery_status)) { - /* battery status message with higher resolution */ - mavlink_battery_status_t bat_msg{}; - // TODO: Determine how to better map between battery ID within the firmware and in MAVLink - bat_msg.id = battery_status.id - 1; - bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL; - bat_msg.type = MAV_BATTERY_TYPE_LIPO; - bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1; - bat_msg.energy_consumed = -1; - bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1; - bat_msg.battery_remaining = (battery_status.connected) ? ceilf(battery_status.remaining * 100.0f) : -1; - bat_msg.time_remaining = (battery_status.connected) ? battery_status.run_time_to_empty * 60 : 0; - - switch (battery_status.warning) { - case (battery_status_s::BATTERY_WARNING_NONE): - bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_OK; - break; - - case (battery_status_s::BATTERY_WARNING_LOW): - bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_LOW; - break; - - case (battery_status_s::BATTERY_WARNING_CRITICAL): - bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_CRITICAL; - break; - - case (battery_status_s::BATTERY_WARNING_EMERGENCY): - bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_EMERGENCY; - break; - - case (battery_status_s::BATTERY_WARNING_FAILED): - bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_FAILED; - break; - - default: - bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_UNDEFINED; - break; - } - - // check if temperature valid - if (battery_status.connected && PX4_ISFINITE(battery_status.temperature)) { - bat_msg.temperature = battery_status.temperature * 100.0f; - - } else { - bat_msg.temperature = INT16_MAX; - } - - static constexpr int mavlink_cells_max = (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); - static constexpr int uorb_cells_max = - (sizeof(battery_status.voltage_cell_v) / sizeof(battery_status.voltage_cell_v[0])); - - for (int cell = 0; cell < mavlink_cells_max; cell++) { - if (battery_status.connected && (cell < battery_status.cell_count) && (cell < uorb_cells_max)) { - bat_msg.voltages[cell] = battery_status.voltage_cell_v[cell] * 1000.0f; - - } else { - bat_msg.voltages[cell] = UINT16_MAX; - } - } - - mavlink_msg_battery_status_send_struct(_mavlink->get_channel(), &bat_msg); - - updated = true; - } - } - - return updated; - } -}; - - -class MavlinkStreamSmartBatteryInfo : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamSmartBatteryInfo::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "SMART_BATTERY_INFO"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SMART_BATTERY_INFO; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamSmartBatteryInfo(mavlink); - } - - unsigned get_size() override - { - static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - return size_per_battery * _battery_status_subs.advertised_count(); - } - -private: - uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; - - /* do not allow top copying this class */ - MavlinkStreamSmartBatteryInfo(MavlinkStreamSysStatus &) = delete; - MavlinkStreamSmartBatteryInfo &operator = (const MavlinkStreamSysStatus &) = delete; - -protected: - explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) - { - } - - bool send() override - { - bool updated = false; - - for (auto &battery_sub : _battery_status_subs) { - battery_status_s battery_status; - - if (battery_sub.update(&battery_status)) { - if (battery_status.serial_number == 0) { - //This is not smart battery - continue; - } - - mavlink_smart_battery_info_t msg = {}; - - msg.id = battery_status.id - 1; - msg.capacity_full_specification = battery_status.capacity; - msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f); - msg.cycle_count = battery_status.cycle_count; - - if (battery_status.manufacture_date) { - uint16_t day = battery_status.manufacture_date % 32; - uint16_t month = (battery_status.manufacture_date >> 5) % 16; - uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100; - - //Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars) - snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number); - - } else { - snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number); - } - - //msg.device_name = ?? - msg.weight = -1; - msg.discharge_minimum_voltage = -1; - msg.charging_minimum_voltage = -1; - msg.resting_minimum_voltage = -1; - - - mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg); - - updated = true; - } - - } - - return updated; - } -}; - -class MavlinkStreamHighresIMU : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamHighresIMU::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "HIGHRES_IMU"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_HIGHRES_IMU; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamHighresIMU(mavlink); - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_HIGHRES_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - -private: - uORB::SubscriptionMultiArray _vehicle_imu_subs{ORB_ID::vehicle_imu}; - uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)}; - uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; - uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)}; - uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)}; - uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)}; - uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; - - /* do not allow top copying this class */ - MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &) = delete; - MavlinkStreamHighresIMU &operator = (const MavlinkStreamHighresIMU &) = delete; - -protected: - explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - bool updated = false; - - sensor_selection_s sensor_selection{}; - _sensor_selection_sub.copy(&sensor_selection); - - vehicle_imu_s imu; - - for (auto &imu_sub : _vehicle_imu_subs) { - if (imu_sub.update(&imu)) { - if (imu.accel_device_id == sensor_selection.accel_device_id) { - updated = true; - break; - } - } - } - - if (updated) { - uint16_t fields_updated = 0; - - fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); // accel - fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); // gyro - - vehicle_magnetometer_s magnetometer{}; - - if (_magnetometer_sub.update(&magnetometer)) { - // mark third group dimensions as changed - fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); - - } else { - _magnetometer_sub.copy(&magnetometer); - } - - // find corresponding estimated sensor bias - if (_estimator_selector_status_sub.updated()) { - estimator_selector_status_s estimator_selector_status; - - if (_estimator_selector_status_sub.copy(&estimator_selector_status)) { - _estimator_sensor_bias_sub.ChangeInstance(estimator_selector_status.primary_instance); - } - } - - Vector3f accel_bias{0.f, 0.f, 0.f}; - Vector3f gyro_bias{0.f, 0.f, 0.f}; - Vector3f mag_bias{0.f, 0.f, 0.f}; - - { - estimator_sensor_bias_s bias; - - if (_estimator_sensor_bias_sub.copy(&bias)) { - if ((bias.accel_device_id != 0) && (bias.accel_device_id == imu.accel_device_id)) { - accel_bias = Vector3f{bias.accel_bias}; - } - - if ((bias.gyro_device_id != 0) && (bias.gyro_device_id == imu.gyro_device_id)) { - gyro_bias = Vector3f{bias.gyro_bias}; - } - - if ((bias.mag_device_id != 0) && (bias.mag_device_id == magnetometer.device_id)) { - mag_bias = Vector3f{bias.mag_bias}; - - } else { - // find primary mag - uORB::SubscriptionMultiArray mag_subs{ORB_ID::vehicle_magnetometer}; - - for (int i = 0; i < mag_subs.size(); i++) { - if (mag_subs[i].advertised() && mag_subs[i].copy(&magnetometer)) { - if (magnetometer.device_id == bias.mag_device_id) { - _magnetometer_sub.ChangeInstance(i); - break; - } - } - - } - } - } - } - - const Vector3f mag = Vector3f{magnetometer.magnetometer_ga} - mag_bias; - - vehicle_air_data_s air_data{}; - - if (_air_data_sub.update(&air_data)) { - /* mark fourth group (baro fields) dimensions as changed */ - fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); - - } else { - _air_data_sub.copy(&air_data); - } - - differential_pressure_s differential_pressure{}; - - if (_differential_pressure_sub.update(&differential_pressure)) { - /* mark fourth group (dpres field) dimensions as changed */ - fields_updated |= (1 << 10); - - } else { - _differential_pressure_sub.copy(&differential_pressure); - } - - const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; - const Vector3f accel = (Vector3f{imu.delta_velocity} * accel_dt_inv) - accel_bias; - - const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt; - const Vector3f gyro = (Vector3f{imu.delta_angle} * gyro_dt_inv) - gyro_bias; - - mavlink_highres_imu_t msg{}; - - msg.time_usec = imu.timestamp_sample; - msg.xacc = accel(0); - msg.yacc = accel(1); - msg.zacc = accel(2); - msg.xgyro = gyro(0); - msg.ygyro = gyro(1); - msg.zgyro = gyro(2); - msg.xmag = mag(0); - msg.ymag = mag(1); - msg.zmag = mag(2); - msg.abs_pressure = air_data.baro_pressure_pa; - msg.diff_pressure = differential_pressure.differential_pressure_raw_pa; - msg.pressure_alt = air_data.baro_alt_meter; - msg.temperature = air_data.baro_temp_celcius; - msg.fields_updated = fields_updated; - - mavlink_msg_highres_imu_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -template -class MavlinkStreamScaledPressureBase : public MavlinkStream -{ -public: - const char *get_name() const override - { - return Derived::get_name_static(); - } - - uint16_t get_id() override - { - return Derived::get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new Derived(mavlink); - } - -private: - uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)}; - uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), N}; - - /* do not allow top copying this class */ - MavlinkStreamScaledPressureBase(MavlinkStreamScaledPressureBase &) = delete; - MavlinkStreamScaledPressureBase &operator = (const MavlinkStreamScaledPressureBase &) = delete; - -protected: - explicit MavlinkStreamScaledPressureBase(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) { - sensor_baro_s sensor_baro{}; - differential_pressure_s differential_pressure{}; - _sensor_baro_sub.copy(&sensor_baro); - _differential_pressure_sub.copy(&differential_pressure); - - typename Derived::mav_msg_type msg{}; - msg.time_boot_ms = sensor_baro.timestamp / 1000; - msg.press_abs = sensor_baro.pressure; - msg.press_diff = differential_pressure.differential_pressure_raw_pa; - msg.temperature = sensor_baro.temperature; - - Derived::send(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -template class MavlinkStreamScaledPressure {}; - -template <> -class MavlinkStreamScaledPressure<0> : public MavlinkStreamScaledPressureBase<0, MavlinkStreamScaledPressure<0> > -{ -public: - typedef MavlinkStreamScaledPressureBase<0, MavlinkStreamScaledPressure<0> > Base; - typedef mavlink_scaled_pressure_t mav_msg_type; - - explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {} - - static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<0>::mav_msg_type *msg) - { - mavlink_msg_scaled_pressure_send_struct(channel, msg); - } - - static const char *get_name_static() - { - return "SCALED_PRESSURE"; - } - - static uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SCALED_PRESSURE; - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_SCALED_PRESSURE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } -}; - -template <> -class MavlinkStreamScaledPressure<1> : public MavlinkStreamScaledPressureBase<1, MavlinkStreamScaledPressure<1> > -{ -public: - typedef MavlinkStreamScaledPressureBase<1, MavlinkStreamScaledPressure<1> > Base; - typedef mavlink_scaled_pressure2_t mav_msg_type; - - explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {} - - static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<1>::mav_msg_type *msg) - { - mavlink_msg_scaled_pressure2_send_struct(channel, msg); - } - - static const char *get_name_static() - { - return "SCALED_PRESSURE2"; - } - - static uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SCALED_PRESSURE2; - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_SCALED_PRESSURE2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } -}; - -template <> -class MavlinkStreamScaledPressure<2> : public MavlinkStreamScaledPressureBase<2, MavlinkStreamScaledPressure<2> > -{ -public: - typedef MavlinkStreamScaledPressureBase<2, MavlinkStreamScaledPressure<2> > Base; - typedef mavlink_scaled_pressure3_t mav_msg_type; - - explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {} - - static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<2>::mav_msg_type *msg) - { - mavlink_msg_scaled_pressure3_send_struct(channel, msg); - } - - static const char *get_name_static() - { - return "SCALED_PRESSURE3"; - } - - static uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SCALED_PRESSURE3; - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_SCALED_PRESSURE3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } -}; - -class MavlinkStreamVFRHUD : public MavlinkStream -{ -public: - - const char *get_name() const override - { - return MavlinkStreamVFRHUD::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "VFR_HUD"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_VFR_HUD; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamVFRHUD(mavlink); - } - - unsigned get_size() override - { - if (_lpos_sub.advertised() || _airspeed_validated_sub.advertised()) { - return MAVLINK_MSG_ID_VFR_HUD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - - return 0; - } - -private: - uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; - uORB::Subscription _armed_sub{ORB_ID(actuator_armed)}; - uORB::Subscription _act0_sub{ORB_ID(actuator_controls_0)}; - uORB::Subscription _act1_sub{ORB_ID(actuator_controls_1)}; - uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; - uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; - - /* do not allow top copying this class */ - MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &) = delete; - MavlinkStreamVFRHUD &operator = (const MavlinkStreamVFRHUD &) = delete; - -protected: - explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_lpos_sub.updated() || _airspeed_validated_sub.updated()) { - - vehicle_local_position_s lpos{}; - _lpos_sub.copy(&lpos); - - actuator_armed_s armed{}; - _armed_sub.copy(&armed); - - airspeed_validated_s airspeed_validated{}; - _airspeed_validated_sub.copy(&airspeed_validated); - - mavlink_vfr_hud_t msg{}; - msg.airspeed = airspeed_validated.calibrated_airspeed_m_s; - msg.groundspeed = sqrtf(lpos.vx * lpos.vx + lpos.vy * lpos.vy); - msg.heading = math::degrees(wrap_2pi(lpos.heading)); - - if (armed.armed) { - actuator_controls_s act0{}; - actuator_controls_s act1{}; - _act0_sub.copy(&act0); - _act1_sub.copy(&act1); - - // VFR_HUD throttle should only be used for operator feedback. - // VTOLs switch between actuator_controls_0 and actuator_controls_1. During transition there isn't a - // a single throttle value, but this should still be a useful heuristic for operator awareness. - // - // Use ACTUATOR_CONTROL_TARGET if accurate states are needed. - msg.throttle = 100 * math::max( - act0.control[actuator_controls_s::INDEX_THROTTLE], - act1.control[actuator_controls_s::INDEX_THROTTLE]); - - } else { - msg.throttle = 0.0f; - } - - if (lpos.z_valid && lpos.z_global) { - /* use local position estimate */ - msg.alt = -lpos.z + lpos.ref_alt; - - } else { - vehicle_air_data_s air_data{}; - _air_data_sub.copy(&air_data); - - /* fall back to baro altitude */ - if (air_data.timestamp > 0) { - msg.alt = air_data.baro_alt_meter; - } - } - - if (lpos.v_z_valid) { - msg.climb = -lpos.vz; - } - - mavlink_msg_vfr_hud_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamGPSRawInt : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamGPSRawInt::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "GPS_RAW_INT"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_GPS_RAW_INT; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamGPSRawInt(mavlink); - } - - unsigned get_size() override - { - return _gps_sub.advertised() ? MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _gps_sub{ORB_ID(sensor_gps), 0}; - - /* do not allow top copying this class */ - MavlinkStreamGPSRawInt(MavlinkStreamGPSRawInt &) = delete; - MavlinkStreamGPSRawInt &operator = (const MavlinkStreamGPSRawInt &) = delete; - -protected: - explicit MavlinkStreamGPSRawInt(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - sensor_gps_s gps; - - if (_gps_sub.update(&gps)) { - mavlink_gps_raw_int_t msg{}; - - msg.time_usec = gps.timestamp; - msg.fix_type = gps.fix_type; - msg.lat = gps.lat; - msg.lon = gps.lon; - msg.alt = gps.alt; - msg.alt_ellipsoid = gps.alt_ellipsoid; - msg.eph = gps.hdop * 100; - msg.epv = gps.vdop * 100; - msg.h_acc = gps.eph * 1e3f; - msg.v_acc = gps.epv * 1e3f; - msg.vel_acc = gps.s_variance_m_s * 1e3f; - msg.hdg_acc = gps.c_variance_rad * 1e5f / M_DEG_TO_RAD_F; - msg.vel = cm_uint16_from_m_float(gps.vel_m_s); - msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f; - msg.satellites_visible = gps.satellites_used; - - mavlink_msg_gps_raw_int_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamGPS2Raw : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamGPS2Raw::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "GPS2_RAW"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_GPS2_RAW; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamGPS2Raw(mavlink); - } - - unsigned get_size() override - { - return _gps2_sub.advertised() ? (MAVLINK_MSG_ID_GPS2_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _gps2_sub{ORB_ID(sensor_gps), 1}; - - /* do not allow top copying this class */ - MavlinkStreamGPS2Raw(MavlinkStreamGPS2Raw &) = delete; - MavlinkStreamGPS2Raw &operator = (const MavlinkStreamGPS2Raw &) = delete; - -protected: - explicit MavlinkStreamGPS2Raw(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - sensor_gps_s gps; - - if (_gps2_sub.update(&gps)) { - mavlink_gps2_raw_t msg = {}; - - msg.time_usec = gps.timestamp; - msg.fix_type = gps.fix_type; - msg.lat = gps.lat; - msg.lon = gps.lon; - msg.alt = gps.alt; - msg.eph = gps.eph * 1e3f; - msg.epv = gps.epv * 1e3f; - msg.vel = cm_uint16_from_m_float(gps.vel_m_s); - msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f; - msg.satellites_visible = gps.satellites_used; - //msg.dgps_numch = // Number of DGPS satellites - //msg.dgps_age = // Age of DGPS info - - mavlink_msg_gps2_raw_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -#if !defined(CONSTRAINED_FLASH) -class MavlinkStreamAutopilotStateForGimbalDevice : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamAutopilotStateForGimbalDevice::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "AUTOPILOT_STATE_FOR_GIMBAL_DEVICE"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamAutopilotStateForGimbalDevice(mavlink); - } - - unsigned get_size() override - { - return _att_sub.advertised() ? MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; - uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; - uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; - uORB::Subscription _est_sub{ORB_ID(estimator_status)}; - uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)}; - - /* do not allow top copying this class */ - MavlinkStreamAutopilotStateForGimbalDevice(MavlinkStreamAutopilotStateForGimbalDevice &) = delete; - MavlinkStreamAutopilotStateForGimbalDevice &operator = (const MavlinkStreamAutopilotStateForGimbalDevice &) = delete; - -protected: - explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_att_sub.advertised()) { - - mavlink_autopilot_state_for_gimbal_device_t msg{}; - - { - vehicle_attitude_s att{}; - _att_sub.copy(&att); - msg.time_boot_us = att.timestamp; - msg.q[0] = att.q[0]; - msg.q[1] = att.q[1]; - msg.q[2] = att.q[2]; - msg.q[3] = att.q[3]; - msg.q_estimated_delay_us = 0; // I don't know. - } - - { - vehicle_local_position_s lpos{}; - _lpos_sub.copy(&lpos); - msg.vx = lpos.vx; - msg.vy = lpos.vy; - msg.vz = lpos.vz; - msg.v_estimated_delay_us = 0; // I don't know. - } - - { - vehicle_attitude_setpoint_s att_sp{}; - _att_sp_sub.copy(&att_sp); - msg.feed_forward_angular_velocity_z = att_sp.yaw_sp_move_rate; - } - - { - estimator_status_s est{}; - _est_sub.copy(&est); - msg.estimator_status = est.solution_status_flags; - } - - { - vehicle_land_detected_s land_detected{}; - _landed_sub.copy(&land_detected); - - // Ignore take-off and landing states for now. - msg.landed_state = land_detected.landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR; - } - - mavlink_msg_autopilot_state_for_gimbal_device_send_struct(_mavlink->get_channel(), &msg); - - return true; - - } - - return false; - } -}; -#endif - -class MavlinkStreamSystemTime : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamSystemTime::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "SYSTEM_TIME"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SYSTEM_TIME; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamSystemTime(mavlink); - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_SYSTEM_TIME_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - -private: - /* do not allow top copying this class */ - MavlinkStreamSystemTime(MavlinkStreamSystemTime &) = delete; - MavlinkStreamSystemTime &operator = (const MavlinkStreamSystemTime &) = delete; - -protected: - explicit MavlinkStreamSystemTime(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - timespec tv; - px4_clock_gettime(CLOCK_REALTIME, &tv); - - mavlink_system_time_t msg{}; - msg.time_boot_ms = hrt_absolute_time() / 1000; - msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; - - // If the time is before 2001-01-01, it's probably the default 2000 - // and we don't need to bother sending it because it's definitely wrong. - if (msg.time_unix_usec > 978307200000000) { - mavlink_msg_system_time_send_struct(_mavlink->get_channel(), &msg); - return true; - } - - return false; - } -}; - -class MavlinkStreamTimesync : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamTimesync::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "TIMESYNC"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_TIMESYNC; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamTimesync(mavlink); - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_TIMESYNC_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - -private: - /* do not allow top copying this class */ - MavlinkStreamTimesync(MavlinkStreamTimesync &) = delete; - MavlinkStreamTimesync &operator = (const MavlinkStreamTimesync &) = delete; - -protected: - explicit MavlinkStreamTimesync(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - mavlink_timesync_t msg{}; - - msg.tc1 = 0; - msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds - - mavlink_msg_timesync_send_struct(_mavlink->get_channel(), &msg); - - return true; - } -}; - -class MavlinkStreamADSBVehicle : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamADSBVehicle::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ADSB_VEHICLE"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ADSB_VEHICLE; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamADSBVehicle(mavlink); - } - - bool const_rate() override - { - return true; - } - - unsigned get_size() override - { - return _pos_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _pos_sub{ORB_ID(transponder_report)}; - - /* do not allow top copying this class */ - MavlinkStreamADSBVehicle(MavlinkStreamADSBVehicle &) = delete; - MavlinkStreamADSBVehicle &operator = (const MavlinkStreamADSBVehicle &) = delete; - -protected: - explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - transponder_report_s pos; - bool sent = false; - - while ((_mavlink->get_free_tx_buf() >= get_size()) && _pos_sub.update(&pos)) { - - if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) { - continue; - } - - mavlink_adsb_vehicle_t msg{}; - msg.ICAO_address = pos.icao_address; - msg.lat = pos.lat * 1e7; - msg.lon = pos.lon * 1e7; - msg.altitude_type = pos.altitude_type; - msg.altitude = pos.altitude * 1e3f; - msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f; - msg.hor_velocity = pos.hor_velocity * 100.0f; - msg.ver_velocity = pos.ver_velocity * 100.0f; - memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign)); - msg.emitter_type = pos.emitter_type; - msg.tslc = pos.tslc; - msg.squawk = pos.squawk; - - msg.flags = 0; - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; } - - if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; } - - mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg); - sent = true; - } - - return sent; - } -}; - -class MavlinkStreamUTMGlobalPosition : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamUTMGlobalPosition::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "UTM_GLOBAL_POSITION"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_UTM_GLOBAL_POSITION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamUTMGlobalPosition(mavlink); - } - - bool const_rate() override - { - return true; - } - - unsigned get_size() override - { - return _global_pos_sub.advertised() ? MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; - uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; - uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)}; - uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; - uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)}; - - /* do not allow top copying this class */ - MavlinkStreamUTMGlobalPosition(MavlinkStreamUTMGlobalPosition &) = delete; - MavlinkStreamUTMGlobalPosition &operator = (const MavlinkStreamUTMGlobalPosition &) = delete; - -protected: - explicit MavlinkStreamUTMGlobalPosition(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_global_position_s global_pos; - - if (_global_pos_sub.update(&global_pos)) { - mavlink_utm_global_position_t msg{}; - - // Compute Unix epoch and set time field - timespec tv; - px4_clock_gettime(CLOCK_REALTIME, &tv); - uint64_t unix_epoch = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; - - // If the time is before 2001-01-01, it's probably the default 2000 - if (unix_epoch > 978307200000000) { - msg.time = unix_epoch; - msg.flags |= UTM_DATA_AVAIL_FLAGS_TIME_VALID; - } - -#ifndef BOARD_HAS_NO_UUID - px4_guid_t px4_guid; - board_get_px4_guid(px4_guid); - static_assert(sizeof(px4_guid_t) == sizeof(msg.uas_id), "GUID byte length mismatch"); - memcpy(&msg.uas_id, &px4_guid, sizeof(msg.uas_id)); - msg.flags |= UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE; -#else - // TODO Fill ID with something reasonable - memset(&msg.uas_id[0], 0, sizeof(msg.uas_id)); -#endif /* BOARD_HAS_NO_UUID */ - - // Handle global position - msg.lat = global_pos.lat * 1e7; - msg.lon = global_pos.lon * 1e7; - msg.alt = global_pos.alt_ellipsoid * 1000.0f; - - msg.h_acc = global_pos.eph * 1000.0f; - msg.v_acc = global_pos.epv * 1000.0f; - - msg.flags |= UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE; - msg.flags |= UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE; - - // Handle local position - vehicle_local_position_s local_pos; - - if (_local_pos_sub.copy(&local_pos)) { - float evh = 0.0f; - float evv = 0.0f; - - if (local_pos.v_xy_valid) { - msg.vx = local_pos.vx * 100.0f; - msg.vy = local_pos.vy * 100.0f; - evh = local_pos.evh; - msg.flags |= UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE; - } - - if (local_pos.v_z_valid) { - msg.vz = local_pos.vz * 100.0f; - evv = local_pos.evv; - msg.flags |= UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLE; - } - - msg.vel_acc = sqrtf(evh * evh + evv * evv) * 100.0f; - - if (local_pos.dist_bottom_valid) { - msg.relative_alt = local_pos.dist_bottom * 1000.0f; - msg.flags |= UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLE; - } - } - - vehicle_status_s vehicle_status{}; - _vehicle_status_sub.copy(&vehicle_status); - - bool vehicle_in_auto_mode = vehicle_status.timestamp > 0 - && (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL); - - // Handle next waypoint if it is valid - position_setpoint_triplet_s position_setpoint_triplet; - - if (vehicle_in_auto_mode && _position_setpoint_triplet_sub.copy(&position_setpoint_triplet)) { - if (position_setpoint_triplet.current.valid) { - msg.next_lat = position_setpoint_triplet.current.lat * 1e7; - msg.next_lon = position_setpoint_triplet.current.lon * 1e7; - // HACK We assume that the offset between AMSL and WGS84 is constant between the current - // vehicle position and the the target waypoint. - msg.next_alt = (position_setpoint_triplet.current.alt + (global_pos.alt_ellipsoid - global_pos.alt)) * 1000.0f; - msg.flags |= UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLE; - } - } - - // Handle flight state - vehicle_land_detected_s land_detected{}; - _land_detected_sub.copy(&land_detected); - - if (vehicle_status.timestamp > 0 && land_detected.timestamp > 0 - && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - if (land_detected.landed) { - msg.flight_state |= UTM_FLIGHT_STATE_GROUND; - - } else { - msg.flight_state |= UTM_FLIGHT_STATE_AIRBORNE; - } - - } else { - msg.flight_state |= UTM_FLIGHT_STATE_UNKNOWN; - } - - msg.update_rate = 0; // Data driven mode - - mavlink_msg_utm_global_position_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -#if !defined(CONSTRAINED_FLASH) -class MavlinkStreamGimbalDeviceAttitudeStatus : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamGimbalDeviceAttitudeStatus::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "GIMBAL_DEVICE_ATTITUDE_STATUS"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamGimbalDeviceAttitudeStatus(mavlink); - } - - unsigned get_size() override - { - return _gimbal_device_attitude_status_sub.advertised() ? MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN + - MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _gimbal_device_attitude_status_sub{ORB_ID(gimbal_device_attitude_status)}; - - /* do not allow top copying this class */ - MavlinkStreamGimbalDeviceAttitudeStatus(MavlinkStreamGimbalDeviceAttitudeStatus &) = delete; - MavlinkStreamGimbalDeviceAttitudeStatus &operator = (const MavlinkStreamGimbalDeviceAttitudeStatus &) = delete; - -protected: - explicit MavlinkStreamGimbalDeviceAttitudeStatus(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - gimbal_device_attitude_status_s gimbal_device_attitude_status{}; - - if (_gimbal_device_attitude_status_sub.update(&gimbal_device_attitude_status)) { - mavlink_gimbal_device_attitude_status_t msg{}; - - msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000; - msg.q[0] = gimbal_device_attitude_status.q[0]; - msg.q[1] = gimbal_device_attitude_status.q[1]; - msg.q[2] = gimbal_device_attitude_status.q[2]; - msg.q[3] = gimbal_device_attitude_status.q[3]; - msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x; - msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y; - msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z; - msg.failure_flags = gimbal_device_attitude_status.failure_flags; - msg.flags = gimbal_device_attitude_status.device_flags; - - mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamGimbalManagerInformation : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamGimbalManagerInformation::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "GIMBAL_MANAGER_INFORMATION"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamGimbalManagerInformation(mavlink); - } - - unsigned get_size() override - { - return _gimbal_manager_information_sub.advertised() ? (MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION_LEN + - MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _gimbal_manager_information_sub{ORB_ID(gimbal_manager_information)}; - - /* do not allow top copying this class */ - MavlinkStreamGimbalManagerInformation(MavlinkStreamGimbalManagerInformation &) = delete; - MavlinkStreamGimbalManagerInformation &operator = (const MavlinkStreamGimbalManagerInformation &) = delete; - -protected: - explicit MavlinkStreamGimbalManagerInformation(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - gimbal_manager_information_s gimbal_manager_information; - - if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_manager_information)) { - // send out gimbal_manager_info with info from gimbal_manager_information - mavlink_gimbal_manager_information_t msg{}; - msg.time_boot_ms = gimbal_manager_information.timestamp / 1000; - msg.gimbal_device_id = 0; - msg.cap_flags = gimbal_manager_information.cap_flags; - - msg.roll_min = gimbal_manager_information.roll_min; - msg.roll_max = gimbal_manager_information.roll_max; - msg.pitch_min = gimbal_manager_information.pitch_min; - msg.pitch_max = gimbal_manager_information.pitch_max; - msg.yaw_min = gimbal_manager_information.yaw_min; - msg.yaw_max = gimbal_manager_information.yaw_max; - - mavlink_msg_gimbal_manager_information_send_struct(_mavlink->get_channel(), &msg); - - return true; - - } - - return false; - } -}; - -class MavlinkStreamGimbalManagerStatus : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamGimbalManagerStatus::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "GIMBAL_MANAGER_STATUS"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamGimbalManagerStatus(mavlink); - } - - unsigned get_size() override - { - return _gimbal_manager_status_sub.advertised() ? (MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS_LEN + - MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _gimbal_manager_status_sub{ORB_ID(gimbal_manager_status)}; - - /* do not allow top copying this class */ - MavlinkStreamGimbalManagerStatus(MavlinkStreamGimbalManagerStatus &) = delete; - MavlinkStreamGimbalManagerStatus &operator = (const MavlinkStreamGimbalManagerStatus &) = delete; - -protected: - explicit MavlinkStreamGimbalManagerStatus(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - gimbal_manager_status_s gimbal_manager_status; - - if (_gimbal_manager_status_sub.advertised() && _gimbal_manager_status_sub.copy(&gimbal_manager_status)) { - mavlink_gimbal_manager_status_t msg{}; - msg.time_boot_ms = gimbal_manager_status.timestamp / 1000; - msg.gimbal_device_id = gimbal_manager_status.gimbal_device_id; - msg.primary_control_sysid = gimbal_manager_status.primary_control_sysid; - msg.primary_control_compid = gimbal_manager_status.primary_control_compid; - msg.secondary_control_sysid = gimbal_manager_status.secondary_control_sysid; - msg.secondary_control_compid = gimbal_manager_status.secondary_control_compid; - msg.flags = gimbal_manager_status.flags; - - mavlink_msg_gimbal_manager_status_send_struct(_mavlink->get_channel(), &msg); - - return true; - - } - - return false; - } -}; - - - -class MavlinkStreamGimbalDeviceSetAttitude : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamGimbalDeviceSetAttitude::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "GIMBAL_DEVICE_SET_ATTITUDE"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamGimbalDeviceSetAttitude(mavlink); - } - - unsigned get_size() override - { - return _gimbal_device_set_attitude_sub.advertised() ? (MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN + - MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _gimbal_device_set_attitude_sub{ORB_ID(gimbal_device_set_attitude)}; - - /* do not allow top copying this class */ - MavlinkStreamGimbalDeviceSetAttitude(MavlinkStreamGimbalDeviceSetAttitude &) = delete; - MavlinkStreamGimbalDeviceSetAttitude &operator = (const MavlinkStreamGimbalDeviceSetAttitude &) = delete; - -protected: - explicit MavlinkStreamGimbalDeviceSetAttitude(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - gimbal_device_set_attitude_s gimbal_device_set_attitude; - - if (_gimbal_device_set_attitude_sub.advertised() && _gimbal_device_set_attitude_sub.copy(&gimbal_device_set_attitude)) { - mavlink_gimbal_device_set_attitude_t msg{}; - msg.flags = gimbal_device_set_attitude.flags; - msg.target_system = gimbal_device_set_attitude.target_system; - msg.target_component = gimbal_device_set_attitude.target_component; - - msg.q[0] = gimbal_device_set_attitude.q[0]; - msg.q[1] = gimbal_device_set_attitude.q[1]; - msg.q[2] = gimbal_device_set_attitude.q[2]; - msg.q[3] = gimbal_device_set_attitude.q[3]; - - msg.angular_velocity_x = gimbal_device_set_attitude.angular_velocity_x; - msg.angular_velocity_y = gimbal_device_set_attitude.angular_velocity_y; - msg.angular_velocity_z = gimbal_device_set_attitude.angular_velocity_z; - - mavlink_msg_gimbal_device_set_attitude_send_struct(_mavlink->get_channel(), &msg); - - return true; - - } - - return false; - } -}; -#endif - -class MavlinkStreamCameraTrigger : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamCameraTrigger::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "CAMERA_TRIGGER"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_CAMERA_TRIGGER; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamCameraTrigger(mavlink); - } - - bool const_rate() override - { - return true; - } - - unsigned get_size() override - { - if (_trigger_sub.advertised()) { - return MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES - + MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; // TODO: MAV_CMD_DO_DIGICAM_CONTROL - } - - return 0; - } - -private: - uORB::Subscription _trigger_sub{ORB_ID(camera_trigger)}; - - /* do not allow top copying this class */ - MavlinkStreamCameraTrigger(MavlinkStreamCameraTrigger &) = delete; - MavlinkStreamCameraTrigger &operator = (const MavlinkStreamCameraTrigger &) = delete; - -protected: - explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - camera_trigger_s trigger; - - if ((_mavlink->get_free_tx_buf() >= get_size()) && _trigger_sub.update(&trigger)) { - mavlink_camera_trigger_t msg{}; - - msg.time_usec = trigger.timestamp; - msg.seq = trigger.seq; - - /* ensure that only active trigger events are sent */ - if (trigger.timestamp > 0) { - - mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg); - - vehicle_command_s vcmd{}; - vcmd.timestamp = hrt_absolute_time(); - vcmd.param1 = 0.0f; // all cameras - vcmd.param2 = 0.0f; // duration 0 because only taking one picture - vcmd.param3 = 1.0f; // only take one - vcmd.param4 = NAN; - vcmd.param5 = (double)NAN; - vcmd.param6 = (double)NAN; - vcmd.param7 = NAN; - vcmd.command = MAV_CMD_IMAGE_START_CAPTURE; - vcmd.target_system = mavlink_system.sysid; - vcmd.target_component = MAV_COMP_ID_CAMERA; - - MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel()); - - // TODO: move this camera_trigger and publish as a vehicle_command - /* send MAV_CMD_DO_DIGICAM_CONTROL*/ - mavlink_command_long_t digicam_ctrl_cmd{}; - - digicam_ctrl_cmd.target_system = 0; // 0 for broadcast - digicam_ctrl_cmd.target_component = MAV_COMP_ID_CAMERA; - digicam_ctrl_cmd.command = MAV_CMD_DO_DIGICAM_CONTROL; - digicam_ctrl_cmd.confirmation = 0; - digicam_ctrl_cmd.param1 = NAN; - digicam_ctrl_cmd.param2 = NAN; - digicam_ctrl_cmd.param3 = NAN; - digicam_ctrl_cmd.param4 = NAN; - digicam_ctrl_cmd.param5 = 1; // take 1 picture - digicam_ctrl_cmd.param6 = NAN; - digicam_ctrl_cmd.param7 = NAN; - - mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &digicam_ctrl_cmd); - - return true; - } - } - - return false; - } -}; - -class MavlinkStreamCameraImageCaptured : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamCameraImageCaptured::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "CAMERA_IMAGE_CAPTURED"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - bool const_rate() override - { - return true; - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamCameraImageCaptured(mavlink); - } - - unsigned get_size() override - { - return _capture_sub.advertised() ? MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _capture_sub{ORB_ID(camera_capture)}; - - /* do not allow top copying this class */ - MavlinkStreamCameraImageCaptured(MavlinkStreamCameraImageCaptured &) = delete; - MavlinkStreamCameraImageCaptured &operator = (const MavlinkStreamCameraImageCaptured &) = delete; - -protected: - explicit MavlinkStreamCameraImageCaptured(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - camera_capture_s capture; - - if ((_mavlink->get_free_tx_buf() >= get_size()) && _capture_sub.update(&capture)) { - mavlink_camera_image_captured_t msg{}; - - msg.time_boot_ms = capture.timestamp / 1000; - msg.time_utc = capture.timestamp_utc; - msg.camera_id = 1; // FIXME : get this from uORB - msg.lat = capture.lat * 1e7; - msg.lon = capture.lon * 1e7; - msg.alt = capture.alt * 1e3f; - msg.relative_alt = capture.ground_distance * 1e3f; - msg.q[0] = capture.q[0]; - msg.q[1] = capture.q[1]; - msg.q[2] = capture.q[2]; - msg.q[3] = capture.q[3]; - msg.image_index = capture.seq; - msg.capture_result = capture.result; - msg.file_url[0] = '\0'; - - mavlink_msg_camera_image_captured_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamGlobalPositionInt : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamGlobalPositionInt::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "GLOBAL_POSITION_INT"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_GLOBAL_POSITION_INT; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamGlobalPositionInt(mavlink); - } - - unsigned get_size() override - { - return _gpos_sub.advertised() ? MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)}; - uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; - uORB::Subscription _home_sub{ORB_ID(home_position)}; - uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; - - /* do not allow top copying this class */ - MavlinkStreamGlobalPositionInt(MavlinkStreamGlobalPositionInt &) = delete; - MavlinkStreamGlobalPositionInt &operator = (const MavlinkStreamGlobalPositionInt &) = delete; - -protected: - explicit MavlinkStreamGlobalPositionInt(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_global_position_s gpos; - vehicle_local_position_s lpos; - - if (_gpos_sub.update(&gpos) && _lpos_sub.update(&lpos)) { - - mavlink_global_position_int_t msg{}; - - if (lpos.z_valid && lpos.z_global) { - msg.alt = (-lpos.z + lpos.ref_alt) * 1000.0f; - - } else { - // fall back to baro altitude - vehicle_air_data_s air_data{}; - _air_data_sub.copy(&air_data); - - if (air_data.timestamp > 0) { - msg.alt = air_data.baro_alt_meter * 1000.0f; - } - } - - home_position_s home{}; - _home_sub.copy(&home); - - if ((home.timestamp > 0) && home.valid_alt) { - if (lpos.z_valid) { - msg.relative_alt = -(lpos.z - home.z) * 1000.0f; - - } else { - msg.relative_alt = msg.alt - (home.alt * 1000.0f); - } - - } else { - if (lpos.z_valid) { - msg.relative_alt = -lpos.z * 1000.0f; - } - } - - msg.time_boot_ms = gpos.timestamp / 1000; - msg.lat = gpos.lat * 1e7; - msg.lon = gpos.lon * 1e7; - - msg.vx = lpos.vx * 100.0f; - msg.vy = lpos.vy * 100.0f; - msg.vz = lpos.vz * 100.0f; - - msg.hdg = math::degrees(wrap_2pi(lpos.heading)) * 100.0f; - - mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamOdometry : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamOdometry::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ODOMETRY"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ODOMETRY; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamOdometry(mavlink); - } - - unsigned get_size() override - { - if (_mavlink->odometry_loopback_enabled()) { - return _vodom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - - } else { - return _odom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - } - -private: - uORB::Subscription _odom_sub{ORB_ID(vehicle_odometry)}; - uORB::Subscription _vodom_sub{ORB_ID(vehicle_visual_odometry)}; - - /* do not allow top copying this class */ - MavlinkStreamOdometry(MavlinkStreamOdometry &) = delete; - MavlinkStreamOdometry &operator = (const MavlinkStreamOdometry &) = delete; - -protected: - explicit MavlinkStreamOdometry(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_odometry_s odom; - // check if it is to send visual odometry loopback or not - bool odom_updated = false; - - mavlink_odometry_t msg{}; - - if (_mavlink->odometry_loopback_enabled()) { - odom_updated = _vodom_sub.update(&odom); - - // set the frame_id according to the local frame of the data - if (odom.local_frame == vehicle_odometry_s::LOCAL_FRAME_NED) { - msg.frame_id = MAV_FRAME_LOCAL_NED; - - } else { - msg.frame_id = MAV_FRAME_LOCAL_FRD; - } - - // source: external vision system - msg.estimator_type = MAV_ESTIMATOR_TYPE_VISION; - - } else { - odom_updated = _odom_sub.update(&odom); - - msg.frame_id = MAV_FRAME_LOCAL_NED; - - // source: PX4 estimator - msg.estimator_type = MAV_ESTIMATOR_TYPE_AUTOPILOT; - } - - if (odom_updated) { - msg.time_usec = odom.timestamp_sample; - msg.child_frame_id = MAV_FRAME_BODY_FRD; - - // Current position - msg.x = odom.x; - msg.y = odom.y; - msg.z = odom.z; - - // Current orientation - msg.q[0] = odom.q[0]; - msg.q[1] = odom.q[1]; - msg.q[2] = odom.q[2]; - msg.q[3] = odom.q[3]; - - switch (odom.velocity_frame) { - case vehicle_odometry_s::BODY_FRAME_FRD: - msg.vx = odom.vx; - msg.vy = odom.vy; - msg.vz = odom.vz; - break; - - case vehicle_odometry_s::LOCAL_FRAME_FRD: - case vehicle_odometry_s::LOCAL_FRAME_NED: - // Body frame to local frame - const matrix::Dcmf R_body_to_local(matrix::Quatf(odom.q)); - - // Rotate linear velocity from local to body frame - const matrix::Vector3f linvel_body(R_body_to_local.transpose() * - matrix::Vector3f(odom.vx, odom.vy, odom.vz)); - - msg.vx = linvel_body(0); - msg.vy = linvel_body(1); - msg.vz = linvel_body(2); - break; - } - - // Current body rates - msg.rollspeed = odom.rollspeed; - msg.pitchspeed = odom.pitchspeed; - msg.yawspeed = odom.yawspeed; - - // get the covariance matrix size - - // pose_covariance - static constexpr size_t POS_URT_SIZE = sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0]); - static_assert(POS_URT_SIZE == (sizeof(msg.pose_covariance) / sizeof(msg.pose_covariance[0])), - "Odometry Pose Covariance matrix URT array size mismatch"); - - // velocity_covariance - static constexpr size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]); - static_assert(VEL_URT_SIZE == (sizeof(msg.velocity_covariance) / sizeof(msg.velocity_covariance[0])), - "Odometry Velocity Covariance matrix URT array size mismatch"); - - // copy pose covariances - for (size_t i = 0; i < POS_URT_SIZE; i++) { - msg.pose_covariance[i] = odom.pose_covariance[i]; - } - - // copy velocity covariances - //TODO: Apply rotation matrix to transform from body-fixed NED to earth-fixed NED frame - for (size_t i = 0; i < VEL_URT_SIZE; i++) { - msg.velocity_covariance[i] = odom.velocity_covariance[i]; - } - - mavlink_msg_odometry_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - - } -}; - -class MavlinkStreamLocalPositionNED : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamLocalPositionNED::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "LOCAL_POSITION_NED"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_LOCAL_POSITION_NED; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamLocalPositionNED(mavlink); - } - - unsigned get_size() override - { - return _lpos_sub.advertised() ? MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; - - /* do not allow top copying this class */ - MavlinkStreamLocalPositionNED(MavlinkStreamLocalPositionNED &) = delete; - MavlinkStreamLocalPositionNED &operator = (const MavlinkStreamLocalPositionNED &) = delete; - -protected: - explicit MavlinkStreamLocalPositionNED(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_local_position_s lpos; - - if (_lpos_sub.update(&lpos)) { - mavlink_local_position_ned_t msg{}; - - msg.time_boot_ms = lpos.timestamp / 1000; - msg.x = lpos.x; - msg.y = lpos.y; - msg.z = lpos.z; - msg.vx = lpos.vx; - msg.vy = lpos.vy; - msg.vz = lpos.vz; - - mavlink_msg_local_position_ned_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamEstimatorStatus : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamEstimatorStatus::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ESTIMATOR_STATUS"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ESTIMATOR_STATUS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamEstimatorStatus(mavlink); - } - - unsigned get_size() override - { - return _estimator_status_sub.advertised() ? MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; - uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; - - /* do not allow top copying this class */ - MavlinkStreamEstimatorStatus(MavlinkStreamEstimatorStatus &) = delete; - MavlinkStreamEstimatorStatus &operator = (const MavlinkStreamEstimatorStatus &) = delete; - -protected: - explicit MavlinkStreamEstimatorStatus(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - // use primary estimator_status - if (_estimator_selector_status_sub.updated()) { - estimator_selector_status_s estimator_selector_status; - - if (_estimator_selector_status_sub.copy(&estimator_selector_status)) { - if (estimator_selector_status.primary_instance != _estimator_status_sub.get_instance()) { - _estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance); - } - } - } - - estimator_status_s est; - - if (_estimator_status_sub.update(&est)) { - mavlink_estimator_status_t est_msg{}; - est_msg.time_usec = est.timestamp; - est_msg.vel_ratio = est.vel_test_ratio; - est_msg.pos_horiz_ratio = est.pos_test_ratio; - est_msg.pos_vert_ratio = est.hgt_test_ratio; - est_msg.mag_ratio = est.mag_test_ratio; - est_msg.hagl_ratio = est.hagl_test_ratio; - est_msg.tas_ratio = est.tas_test_ratio; - est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy; - est_msg.pos_vert_accuracy = est.pos_vert_accuracy; - est_msg.flags = est.solution_status_flags; - mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamVibration : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamVibration::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "VIBRATION"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_VIBRATION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamVibration(mavlink); - } - - unsigned get_size() override - { - const unsigned size = MAVLINK_MSG_ID_VIBRATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - - if (_sensor_selection_sub.advertised()) { - return size; - } - - if (_vehicle_imu_status_subs.advertised()) { - return size; - } - - return 0; - } - -private: - uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)}; - uORB::SubscriptionMultiArray _vehicle_imu_status_subs{ORB_ID::vehicle_imu_status}; - - /* do not allow top copying this class */ - MavlinkStreamVibration(MavlinkStreamVibration &) = delete; - MavlinkStreamVibration &operator = (const MavlinkStreamVibration &) = delete; - -protected: - explicit MavlinkStreamVibration(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_sensor_selection_sub.updated() || _vehicle_imu_status_subs.updated()) { - - mavlink_vibration_t msg{}; - msg.time_usec = hrt_absolute_time(); - - // VIBRATION usage not to mavlink spec, this is our current usage. - // vibration_x : Primary gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle) - // vibration_y : Primary gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle) - // vibration_z : Primary accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity) - - sensor_selection_s sensor_selection{}; - _sensor_selection_sub.copy(&sensor_selection); - - // primary accel high frequency vibration metric - if (sensor_selection.accel_device_id != 0) { - for (auto &x : _vehicle_imu_status_subs) { - vehicle_imu_status_s status; - - if (x.copy(&status)) { - if (status.accel_device_id == sensor_selection.accel_device_id) { - msg.vibration_x = status.gyro_coning_vibration; - msg.vibration_y = status.gyro_vibration_metric; - msg.vibration_z = status.accel_vibration_metric; - break; - } - } - } - } - - // accel 0, 1, 2 cumulative clipping - for (int i = 0; i < math::min(static_cast(3), _vehicle_imu_status_subs.size()); i++) { - vehicle_imu_status_s status; - - if (_vehicle_imu_status_subs[i].copy(&status)) { - - const uint32_t clipping = status.accel_clipping[0] + status.accel_clipping[1] + status.accel_clipping[2]; - - switch (i) { - case 0: - msg.clipping_0 = clipping; - break; - - case 1: - msg.clipping_1 = clipping; - break; - - case 2: - msg.clipping_2 = clipping; - break; - } - } - } - - mavlink_msg_vibration_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamAttPosMocap : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamAttPosMocap::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ATT_POS_MOCAP"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ATT_POS_MOCAP; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamAttPosMocap(mavlink); - } - - unsigned get_size() override - { - return _mocap_sub.advertised() ? MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _mocap_sub{ORB_ID(vehicle_mocap_odometry)}; - - /* do not allow top copying this class */ - MavlinkStreamAttPosMocap(MavlinkStreamAttPosMocap &) = delete; - MavlinkStreamAttPosMocap &operator = (const MavlinkStreamAttPosMocap &) = delete; - -protected: - explicit MavlinkStreamAttPosMocap(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_odometry_s mocap; - - if (_mocap_sub.update(&mocap)) { - mavlink_att_pos_mocap_t msg{}; - - msg.time_usec = mocap.timestamp_sample; - msg.q[0] = mocap.q[0]; - msg.q[1] = mocap.q[1]; - msg.q[2] = mocap.q[2]; - msg.q[3] = mocap.q[3]; - msg.x = mocap.x; - msg.y = mocap.y; - msg.z = mocap.z; - - mavlink_msg_att_pos_mocap_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - - -class MavlinkStreamHomePosition : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamHomePosition::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "HOME_POSITION"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_HOME_POSITION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamHomePosition(mavlink); - } - - unsigned get_size() override - { - return _home_sub.advertised() ? (MAVLINK_MSG_ID_HOME_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _home_sub{ORB_ID(home_position)}; - - /* do not allow top copying this class */ - MavlinkStreamHomePosition(MavlinkStreamHomePosition &) = delete; - MavlinkStreamHomePosition &operator = (const MavlinkStreamHomePosition &) = delete; - -protected: - explicit MavlinkStreamHomePosition(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - /* we're sending the GPS home periodically to ensure the - * the GCS does pick it up at one point */ - home_position_s home; - - if (_home_sub.advertised() && _home_sub.copy(&home)) { - if (home.valid_hpos) { - mavlink_home_position_t msg{}; - - msg.latitude = home.lat * 1e7; - msg.longitude = home.lon * 1e7; - msg.altitude = home.alt * 1e3f; - - msg.x = home.x; - msg.y = home.y; - msg.z = home.z; - - matrix::Quatf q(matrix::Eulerf(0.0f, 0.0f, home.yaw)); - msg.q[0] = q(0); - msg.q[1] = q(1); - msg.q[2] = q(2); - msg.q[3] = q(3); - - msg.approach_x = 0.0f; - msg.approach_y = 0.0f; - msg.approach_z = 0.0f; - - msg.time_usec = home.timestamp; - - mavlink_msg_home_position_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - } - - return false; - } -}; - - -template -class MavlinkStreamServoOutputRaw : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamServoOutputRaw::get_name_static(); - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static constexpr const char *get_name_static() - { - switch (N) { - case 0: - return "SERVO_OUTPUT_RAW_0"; - - case 1: - return "SERVO_OUTPUT_RAW_1"; - } - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamServoOutputRaw(mavlink); - } - - unsigned get_size() override - { - return _act_sub.advertised() ? MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _act_sub{ORB_ID(actuator_outputs), N}; - - /* do not allow top copying this class */ - MavlinkStreamServoOutputRaw(MavlinkStreamServoOutputRaw &) = delete; - MavlinkStreamServoOutputRaw &operator = (const MavlinkStreamServoOutputRaw &) = delete; - -protected: - explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - actuator_outputs_s act; - - if (_act_sub.update(&act)) { - mavlink_servo_output_raw_t msg{}; - - static_assert(sizeof(act.output) / sizeof(act.output[0]) >= 16, "mavlink message requires at least 16 outputs"); - - msg.time_usec = act.timestamp; - msg.port = N; - msg.servo1_raw = act.output[0]; - msg.servo2_raw = act.output[1]; - msg.servo3_raw = act.output[2]; - msg.servo4_raw = act.output[3]; - msg.servo5_raw = act.output[4]; - msg.servo6_raw = act.output[5]; - msg.servo7_raw = act.output[6]; - msg.servo8_raw = act.output[7]; - msg.servo9_raw = act.output[8]; - msg.servo10_raw = act.output[9]; - msg.servo11_raw = act.output[10]; - msg.servo12_raw = act.output[11]; - msg.servo13_raw = act.output[12]; - msg.servo14_raw = act.output[13]; - msg.servo15_raw = act.output[14]; - msg.servo16_raw = act.output[15]; - - mavlink_msg_servo_output_raw_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -template -class MavlinkStreamActuatorControlTarget : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamActuatorControlTarget::get_name_static(); - } - - static constexpr const char *get_name_static() - { - switch (N) { - case 0: - return "ACTUATOR_CONTROL_TARGET0"; - - case 1: - return "ACTUATOR_CONTROL_TARGET1"; - - case 2: - return "ACTUATOR_CONTROL_TARGET2"; - - case 3: - return "ACTUATOR_CONTROL_TARGET3"; - } - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamActuatorControlTarget(mavlink); - } - - unsigned get_size() override - { - return (_act_ctrl_sub - && _act_ctrl_sub->advertised()) ? (MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription *_act_ctrl_sub{nullptr}; - - /* do not allow top copying this class */ - MavlinkStreamActuatorControlTarget(MavlinkStreamActuatorControlTarget &) = delete; - MavlinkStreamActuatorControlTarget &operator = (const MavlinkStreamActuatorControlTarget &) = delete; - -protected: - explicit MavlinkStreamActuatorControlTarget(Mavlink *mavlink) : MavlinkStream(mavlink) - { - // XXX this can be removed once the multiplatform system remaps topics - switch (N) { - case 0: - _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_0)}; - break; - - case 1: - _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_1)}; - break; - - case 2: - _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_2)}; - break; - - case 3: - _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_3)}; - break; - } - } - - ~MavlinkStreamActuatorControlTarget() override - { - delete _act_ctrl_sub; - } - - bool send() override - { - actuator_controls_s act_ctrl; - - if (_act_ctrl_sub && _act_ctrl_sub->update(&act_ctrl)) { - mavlink_actuator_control_target_t msg{}; - - msg.time_usec = act_ctrl.timestamp; - msg.group_mlx = N; - - for (unsigned i = 0; i < sizeof(msg.controls) / sizeof(msg.controls[0]); i++) { - msg.controls[i] = act_ctrl.control[i]; - } - - mavlink_msg_actuator_control_target_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - -class MavlinkStreamCameraCapture : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamCameraCapture::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "CAMERA_CAPTURE"; - } - - static constexpr uint16_t get_id_static() - { - return 0; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamCameraCapture(mavlink); - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - -private: - uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; - - /* do not allow top copying this class */ - MavlinkStreamCameraCapture(MavlinkStreamCameraCapture &) = delete; - MavlinkStreamCameraCapture &operator = (const MavlinkStreamCameraCapture &) = delete; - -protected: - explicit MavlinkStreamCameraCapture(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_status_s status; - - if (_status_sub.update(&status)) { - mavlink_command_long_t msg{}; - - msg.target_system = 0; - msg.target_component = MAV_COMP_ID_ALL; - msg.command = MAV_CMD_DO_CONTROL_VIDEO; - msg.confirmation = 0; - msg.param1 = 0; - msg.param2 = 0; - msg.param3 = 0; - /* set camera capture ON/OFF depending on arming state */ - msg.param4 = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 1 : 0; - msg.param5 = 0; - msg.param6 = 0; - msg.param7 = 0; - - mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &msg); - } - - return true; - } -}; - static const StreamListItem streams_list[] = { +#if defined(HEARTBEAT_HPP) create_stream_list_item(), +#endif // HEARTBEAT_HPP #if defined(STATUSTEXT_HPP) create_stream_list_item(), #endif // STATUSTEXT_HPP +#if defined(COMMAND_LONG_HPP) create_stream_list_item(), +#endif // COMMAND_LONG_HPP +#if defined(SYSTEM_TIME_HPP) create_stream_list_item(), +#endif // SYSTEM_TIME_HPP create_stream_list_item(), +#if defined(SMART_BATTERY_INFO_HPP) create_stream_list_item(), +#endif // SMART_BATTERY_INFO_HPP +#if defined(HIGHRES_IMU_HPP) create_stream_list_item(), +#endif // HIGHRES_IMU_HPP #if defined(SCALED_IMU_HPP) create_stream_list_item >(), create_stream_list_item >(), create_stream_list_item >(), #endif // SCALED_IMU_HPP - create_stream_list_item >(), - // create_stream_list_item >(), - // create_stream_list_item >(), +#if defined(SCALED_PRESSURE) + create_stream_list_item(), +#endif // SCALED_PRESSURE +#if defined(SCALED_PRESSURE2) + create_stream_list_item(), +#endif // SCALED_PRESSURE2 +#if defined(SCALED_PRESSURE3) + create_stream_list_item(), +#endif // SCALED_PRESSURE3 #if defined(ACTUATOR_OUTPUT_STATUS_HPP) create_stream_list_item(), #endif // ACTUATOR_OUTPUT_STATUS_HPP @@ -3434,30 +355,64 @@ static const StreamListItem streams_list[] = { #if defined(ATTITUDE_QUATERNION_HPP) create_stream_list_item(), #endif // ATTITUDE_QUATERNION_HPP +#if defined(VFR_HUD_HPP) create_stream_list_item(), +#endif // VFR_HUD_HPP #if defined(GPS_GLOBAL_ORIGIN_HPP) create_stream_list_item(), #endif // GPS_GLOBAL_ORIGIN_HPP +#if defined(GPS_RAW_INT_HPP) create_stream_list_item(), +#endif // GPS_RAW_INT_HPP +#if defined(GPS2_RAW_HPP) create_stream_list_item(), +#endif // GPS2_RAW_HPP +#if defined(SYSTEM_TIME_HPP) create_stream_list_item(), +#endif // SYSTEM_TIME_HPP +#if defined(TIMESYNC_HPP) create_stream_list_item(), +#endif // TIMESYNC_HPP +#if defined(GLOBAL_POSITION_INT_HPP) create_stream_list_item(), +#endif // GLOBAL_POSITION_INT_HPP +#if defined(LOCAL_POSITION_NED_HPP) create_stream_list_item(), +#endif // LOCAL_POSITION_NED_HPP +#if defined(ODOMETRY_HPP) create_stream_list_item(), +#endif // ODOMETRY_HPP +#if defined(ESTIMATOR_STATUS_HPP) create_stream_list_item(), +#endif // ESTIMATOR_STATUS_HPP +#if defined(VIBRATION_HPP) create_stream_list_item(), +#endif // VIBRATION_HPP +#if defined(ATT_POS_MOCAP_HPP) create_stream_list_item(), -#if !defined(CONSTRAINED_FLASH) - create_stream_list_item(), - create_stream_list_item(), - create_stream_list_item(), +#endif // ATT_POS_MOCAP_HPP +#if defined(AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP) create_stream_list_item(), +#endif // AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP +#if defined(GIMBAL_DEVICE_ATTITUDE_STATUS_HPP) + create_stream_list_item(), +#endif // GIMBAL_DEVICE_ATTITUDE_STATUS_HPP +#if defined(GIMBAL_MANAGER_INFORMATION_HPP) + create_stream_list_item(), +#endif // GIMBAL_MANAGER_INFORMATION_HPP +#if defined(GIMBAL_MANAGER_STATUS_HPP) + create_stream_list_item(), +#endif // GIMBAL_MANAGER_STATUS_HPP +#if defined(GIMBAL_DEVICE_SET_ATTITUDE_HPP) create_stream_list_item(), -#endif +#endif // GIMBAL_DEVICE_SET_ATTITUDE_HPP +#if defined(HOME_POSITION_HPP) create_stream_list_item(), +#endif // HOME_POSITION_HPP +#if defined(SERVO_OUTPUT_RAW_HPP) create_stream_list_item >(), create_stream_list_item >(), +#endif // SERVO_OUTPUT_RAW_HPP #if defined(HIL_ACTUATOR_CONTROLS_HPP) create_stream_list_item(), #endif // HIL_ACTUATOR_CONTROLS_HPP @@ -3482,8 +437,10 @@ static const StreamListItem streams_list[] = { #if defined(OPTICAL_FLOW_RAD_HPP) create_stream_list_item(), #endif // OPTICAL_FLOW_RAD_HPP +#if defined(ACTUATOR_CONTROL_TARGET_HPP) create_stream_list_item >(), create_stream_list_item >(), +#endif // ACTUATOR_CONTROL_TARGET_HPP #if defined(NAMED_VALUE_FLOAT_HPP) create_stream_list_item(), #endif // NAMED_VALUE_FLOAT_HPP @@ -3499,9 +456,12 @@ static const StreamListItem streams_list[] = { #if defined(NAV_CONTROLLER_OUTPUT_HPP) create_stream_list_item(), #endif // NAV_CONTROLLER_OUTPUT_HPP - create_stream_list_item(), +#if defined(CAMERA_TRIGGER_HPP) create_stream_list_item(), +#endif // CAMERA_TRIGGER_HPP +#if defined(CAMERA_IMAGE_CAPTURED_HPP) create_stream_list_item(), +#endif // CAMERA_IMAGE_CAPTURED_HPP #if defined(DISTANCE_SENSOR_HPP) create_stream_list_item(), #endif // DISTANCE_SENSOR_HPP @@ -3511,8 +471,12 @@ static const StreamListItem streams_list[] = { #if defined(ALTITUDE_HPP) create_stream_list_item(), #endif // ALTITUDE_HPP +#if defined(ADSB_VEHICLE_HPP) create_stream_list_item(), +#endif // ADSB_VEHICLE_HPP +#if defined(UTM_GLOBAL_POSITION_HPP) create_stream_list_item(), +#endif // UTM_GLOBAL_POSITION_HPP #if defined(COLLISION_HPP) create_stream_list_item(), #endif // COLLISION_HPP diff --git a/src/modules/mavlink/mavlink_messages.h b/src/modules/mavlink/mavlink_messages.h index eed7b675d6..21cef651f5 100644 --- a/src/modules/mavlink/mavlink_messages.h +++ b/src/modules/mavlink/mavlink_messages.h @@ -43,6 +43,8 @@ #include "mavlink_stream.h" +#include + class StreamListItem { @@ -72,7 +74,6 @@ MavlinkStream *create_mavlink_stream(const char *stream_name, Mavlink *mavlink); MavlinkStream *create_mavlink_stream(const uint16_t msg_id, Mavlink *mavlink); -void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, uint8_t *mavlink_base_mode, - union px4_custom_mode *custom_mode); +union px4_custom_mode get_px4_custom_mode(uint8_t nav_state); #endif /* MAVLINK_MESSAGES_H_ */ diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp index 4c1366eeff..eb0a31e41e 100644 --- a/src/modules/mavlink/mavlink_parameters.cpp +++ b/src/modules/mavlink/mavlink_parameters.cpp @@ -309,7 +309,6 @@ MavlinkParametersManager::send() param_find("SENS_BOARD_Y_OFF"); param_find("SENS_BOARD_Z_OFF"); param_find("SENS_DPRES_OFF"); - param_find("SYS_PARAM_VER"); param_find("TRIG_MODE"); param_find("UAVCAN_ENABLE"); diff --git a/src/modules/mavlink/mavlink_params.c b/src/modules/mavlink/mavlink_params.c index 25dce24603..fb88876134 100644 --- a/src/modules/mavlink/mavlink_params.c +++ b/src/modules/mavlink/mavlink_params.c @@ -130,19 +130,6 @@ PARAM_DEFINE_INT32(MAV_USEHILGPS, 0); */ PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1); -/** - * Broadcast heartbeats on local network - * - * This allows a ground control station to automatically find the drone - * on the local network. - * - * @value 0 Never broadcast - * @value 1 Always broadcast - * @value 2 Only multicast - * @group MAVLink - */ -PARAM_DEFINE_INT32(MAV_BROADCAST, 0); - /** * Parameter hash check. * diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 6c8b00ed1f..29a2919687 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -41,7 +41,6 @@ */ #include -#include #include #include #include @@ -74,6 +73,43 @@ using matrix::wrap_2pi; +const uint8_t MavlinkReceiver::supported_component_map[COMP_ID_MAX] = { + [COMP_ID_ALL] = MAV_COMP_ID_ALL, + [COMP_ID_AUTOPILOT1] = MAV_COMP_ID_AUTOPILOT1, + + [COMP_ID_TELEMETRY_RADIO] = MAV_COMP_ID_TELEMETRY_RADIO, + + [COMP_ID_CAMERA] = MAV_COMP_ID_CAMERA, + [COMP_ID_CAMERA2] = MAV_COMP_ID_CAMERA2, + + [COMP_ID_GIMBAL] = MAV_COMP_ID_GIMBAL, + [COMP_ID_LOG] = MAV_COMP_ID_LOG, + [COMP_ID_ADSB] = MAV_COMP_ID_ADSB, + [COMP_ID_OSD] = MAV_COMP_ID_OSD, + [COMP_ID_PERIPHERAL] = MAV_COMP_ID_PERIPHERAL, + + [COMP_ID_FLARM] = MAV_COMP_ID_FLARM, + + [COMP_ID_GIMBAL2] = MAV_COMP_ID_GIMBAL2, + + [COMP_ID_MISSIONPLANNER] = MAV_COMP_ID_MISSIONPLANNER, + [COMP_ID_ONBOARD_COMPUTER] = MAV_COMP_ID_ONBOARD_COMPUTER, + + [COMP_ID_PATHPLANNER] = MAV_COMP_ID_PATHPLANNER, + [COMP_ID_OBSTACLE_AVOIDANCE] = MAV_COMP_ID_OBSTACLE_AVOIDANCE, + [COMP_ID_VISUAL_INERTIAL_ODOMETRY] = MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY, + [COMP_ID_PAIRING_MANAGER] = MAV_COMP_ID_PAIRING_MANAGER, + + [COMP_ID_IMU] = MAV_COMP_ID_IMU, + + [COMP_ID_GPS] = MAV_COMP_ID_GPS, + [COMP_ID_GPS2] = MAV_COMP_ID_GPS2, + + [COMP_ID_UDP_BRIDGE] = MAV_COMP_ID_UDP_BRIDGE, + [COMP_ID_UART_BRIDGE] = MAV_COMP_ID_UART_BRIDGE, + [COMP_ID_TUNNEL_NODE] = MAV_COMP_ID_TUNNEL_NODE, +}; + MavlinkReceiver::~MavlinkReceiver() { delete _tune_publisher; @@ -501,8 +537,39 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const send_ack = true; } - } else { + } else if (cmd_mavlink.command == MAV_CMD_DO_SET_ACTUATOR) { + // since we're only paying attention to 3 AUX outputs, the + // index should be 0, otherwise ignore the message + if (((int) vehicle_command.param7) == 0) { + actuator_controls_s actuator_controls{}; + // update with existing values to avoid changing unspecified controls + _actuator_controls_3_sub.update(&actuator_controls); + actuator_controls.timestamp = hrt_absolute_time(); + + bool updated = false; + + if (PX4_ISFINITE(vehicle_command.param1)) { + actuator_controls.control[5] = vehicle_command.param1; + updated = true; + } + + if (PX4_ISFINITE(vehicle_command.param2)) { + actuator_controls.control[6] = vehicle_command.param2; + updated = true; + } + + if (PX4_ISFINITE(vehicle_command.param3)) { + actuator_controls.control[7] = vehicle_command.param3; + updated = true; + } + + if (updated) { + _actuator_controls_pubs[3].publish(actuator_controls); + } + } + + } else { send_ack = false; if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { @@ -529,15 +596,6 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const } else if (cmd_mavlink.command == MAV_CMD_LOGGING_STOP) { _mavlink->request_stop_ulog_streaming(); - - } else if (cmd_mavlink.command == MAV_CMD_DO_CHANGE_SPEED) { - vehicle_control_mode_s control_mode{}; - _control_mode_sub.copy(&control_mode); - - if (control_mode.flag_control_offboard_enabled) { - // Not differentiating between airspeed and groundspeed yet - set_offb_cruising_speed(cmd_mavlink.param2); - } } if (!send_ack) { @@ -823,187 +881,122 @@ MavlinkReceiver::handle_message_att_pos_mocap(mavlink_message_t *msg) void MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg) { - mavlink_set_position_target_local_ned_t set_position_target_local_ned; - mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned); - - const bool values_finite = - PX4_ISFINITE(set_position_target_local_ned.x) && - PX4_ISFINITE(set_position_target_local_ned.y) && - PX4_ISFINITE(set_position_target_local_ned.z) && - PX4_ISFINITE(set_position_target_local_ned.vx) && - PX4_ISFINITE(set_position_target_local_ned.vy) && - PX4_ISFINITE(set_position_target_local_ned.vz) && - PX4_ISFINITE(set_position_target_local_ned.afx) && - PX4_ISFINITE(set_position_target_local_ned.afy) && - PX4_ISFINITE(set_position_target_local_ned.afz) && - PX4_ISFINITE(set_position_target_local_ned.yaw); + mavlink_set_position_target_local_ned_t target_local_ned; + mavlink_msg_set_position_target_local_ned_decode(msg, &target_local_ned); /* Only accept messages which are intended for this system */ - if ((mavlink_system.sysid == set_position_target_local_ned.target_system || - set_position_target_local_ned.target_system == 0) && - (mavlink_system.compid == set_position_target_local_ned.target_component || - set_position_target_local_ned.target_component == 0) && - values_finite) { + if (_mavlink->get_forward_externalsp() && + (mavlink_system.sysid == target_local_ned.target_system || target_local_ned.target_system == 0) && + (mavlink_system.compid == target_local_ned.target_component || target_local_ned.target_component == 0)) { - offboard_control_mode_s offboard_control_mode{}; + vehicle_local_position_setpoint_s setpoint{}; - /* convert mavlink type (local, NED) to uORB offboard control struct */ - offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & - (POSITION_TARGET_TYPEMASK_X_IGNORE - | POSITION_TARGET_TYPEMASK_Y_IGNORE - | POSITION_TARGET_TYPEMASK_Z_IGNORE)); - offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_local_ned.type_mask & - POSITION_TARGET_TYPEMASK_Z_IGNORE); - offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & - (POSITION_TARGET_TYPEMASK_VX_IGNORE - | POSITION_TARGET_TYPEMASK_VY_IGNORE - | POSITION_TARGET_TYPEMASK_VZ_IGNORE)); - offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & - (POSITION_TARGET_TYPEMASK_AX_IGNORE - | POSITION_TARGET_TYPEMASK_AY_IGNORE - | POSITION_TARGET_TYPEMASK_AZ_IGNORE)); - /* yaw ignore flag mapps to ignore_attitude */ - offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & - POSITION_TARGET_TYPEMASK_YAW_IGNORE); - offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_local_ned.type_mask & - POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE); - offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_local_ned.type_mask & - POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE); - offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_local_ned.type_mask & - POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE); + const uint16_t type_mask = target_local_ned.type_mask; - /* yaw ignore flag mapps to ignore_attitude */ - bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET); + if (target_local_ned.coordinate_frame == MAV_FRAME_LOCAL_NED) { + setpoint.x = (type_mask & POSITION_TARGET_TYPEMASK_X_IGNORE) ? NAN : target_local_ned.x; + setpoint.y = (type_mask & POSITION_TARGET_TYPEMASK_Y_IGNORE) ? NAN : target_local_ned.y; + setpoint.z = (type_mask & POSITION_TARGET_TYPEMASK_Z_IGNORE) ? NAN : target_local_ned.z; - bool is_takeoff_sp = (bool)(set_position_target_local_ned.type_mask & 0x1000); - bool is_land_sp = (bool)(set_position_target_local_ned.type_mask & 0x2000); - bool is_loiter_sp = (bool)(set_position_target_local_ned.type_mask & 0x3000); - bool is_idle_sp = (bool)(set_position_target_local_ned.type_mask & 0x4000); - bool is_gliding_sp = (bool)(set_position_target_local_ned.type_mask & - (POSITION_TARGET_TYPEMASK_Z_IGNORE - | POSITION_TARGET_TYPEMASK_VZ_IGNORE - | POSITION_TARGET_TYPEMASK_AZ_IGNORE)); + setpoint.vx = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? NAN : target_local_ned.vx; + setpoint.vy = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? NAN : target_local_ned.vy; + setpoint.vz = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? NAN : target_local_ned.vz; - offboard_control_mode.timestamp = hrt_absolute_time(); - _offboard_control_mode_pub.publish(offboard_control_mode); + setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? NAN : target_local_ned.afx; + setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? NAN : target_local_ned.afy; + setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? NAN : target_local_ned.afz; - /* If we are in offboard control mode and offboard control loop through is enabled - * also publish the setpoint topic which is read by the controller */ - if (_mavlink->get_forward_externalsp()) { + } else if (target_local_ned.coordinate_frame == MAV_FRAME_BODY_NED) { - vehicle_control_mode_s control_mode{}; - _control_mode_sub.copy(&control_mode); + vehicle_attitude_s vehicle_attitude{}; + _vehicle_attitude_sub.copy(&vehicle_attitude); + const matrix::Dcmf R{matrix::Quatf{vehicle_attitude.q}}; - if (control_mode.flag_control_offboard_enabled) { - if (is_force_sp && offboard_control_mode.ignore_position && - offboard_control_mode.ignore_velocity) { + const bool ignore_velocity = type_mask & (POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | + POSITION_TARGET_TYPEMASK_VZ_IGNORE); - PX4_WARN("force setpoint not supported"); + if (!ignore_velocity) { + const matrix::Vector3f velocity_body_sp{ + (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? 0.f : target_local_ned.vx, + (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? 0.f : target_local_ned.vy, + (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? 0.f : target_local_ned.vz + }; - } else { - /* It's not a pure force setpoint: publish to setpoint triplet topic */ - position_setpoint_triplet_s pos_sp_triplet{}; + const matrix::Vector3f velocity_setpoint{R * velocity_body_sp}; + setpoint.vx = velocity_setpoint(0); + setpoint.vy = velocity_setpoint(1); + setpoint.vz = velocity_setpoint(2); - pos_sp_triplet.timestamp = hrt_absolute_time(); - pos_sp_triplet.previous.valid = false; - pos_sp_triplet.next.valid = false; - pos_sp_triplet.current.valid = true; - - /* Order of statements matters. Takeoff can override loiter. - * See https://github.com/mavlink/mavlink/pull/670 for a broader conversation. */ - if (is_loiter_sp) { - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; - - } else if (is_takeoff_sp) { - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF; - - } else if (is_land_sp) { - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LAND; - - } else if (is_idle_sp) { - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE; - - } else if (is_gliding_sp) { - pos_sp_triplet.current.cruising_throttle = 0.0f; - - } else { - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; - } - - /* set the local pos values */ - if (!offboard_control_mode.ignore_position) { - - pos_sp_triplet.current.position_valid = true; - pos_sp_triplet.current.x = set_position_target_local_ned.x; - pos_sp_triplet.current.y = set_position_target_local_ned.y; - pos_sp_triplet.current.z = set_position_target_local_ned.z; - pos_sp_triplet.current.cruising_speed = get_offb_cruising_speed(); - - } else { - pos_sp_triplet.current.position_valid = false; - } - - /* set the local vel values */ - if (!offboard_control_mode.ignore_velocity) { - - pos_sp_triplet.current.velocity_valid = true; - pos_sp_triplet.current.vx = set_position_target_local_ned.vx; - pos_sp_triplet.current.vy = set_position_target_local_ned.vy; - pos_sp_triplet.current.vz = set_position_target_local_ned.vz; - - pos_sp_triplet.current.velocity_frame = set_position_target_local_ned.coordinate_frame; - - } else { - pos_sp_triplet.current.velocity_valid = false; - } - - if (!offboard_control_mode.ignore_alt_hold) { - pos_sp_triplet.current.alt_valid = true; - pos_sp_triplet.current.z = set_position_target_local_ned.z; - - } else { - pos_sp_triplet.current.alt_valid = false; - } - - /* set the local acceleration values if the setpoint type is 'local pos' and none - * of the accelerations fields is set to 'ignore' */ - if (!offboard_control_mode.ignore_acceleration_force) { - - pos_sp_triplet.current.acceleration_valid = true; - pos_sp_triplet.current.a_x = set_position_target_local_ned.afx; - pos_sp_triplet.current.a_y = set_position_target_local_ned.afy; - pos_sp_triplet.current.a_z = set_position_target_local_ned.afz; - pos_sp_triplet.current.acceleration_is_force = is_force_sp; - - } else { - pos_sp_triplet.current.acceleration_valid = false; - } - - /* set the yaw sp value */ - if (!offboard_control_mode.ignore_attitude) { - pos_sp_triplet.current.yaw_valid = true; - pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw; - - } else { - pos_sp_triplet.current.yaw_valid = false; - } - - /* set the yawrate sp value */ - if (!(offboard_control_mode.ignore_bodyrate_x || - offboard_control_mode.ignore_bodyrate_y || - offboard_control_mode.ignore_bodyrate_z)) { - - pos_sp_triplet.current.yawspeed_valid = true; - pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate; - - } else { - pos_sp_triplet.current.yawspeed_valid = false; - } - - //XXX handle global pos setpoints (different MAV frames) - _pos_sp_triplet_pub.publish(pos_sp_triplet); - } + } else { + setpoint.vx = NAN; + setpoint.vy = NAN; + setpoint.vz = NAN; } + + const bool ignore_acceleration = type_mask & (POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | + POSITION_TARGET_TYPEMASK_AZ_IGNORE); + + if (!ignore_acceleration) { + const matrix::Vector3f acceleration_body_sp{ + (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? 0.f : target_local_ned.afx, + (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? 0.f : target_local_ned.afy, + (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? 0.f : target_local_ned.afz + }; + + const matrix::Vector3f acceleration_setpoint{R * acceleration_body_sp}; + acceleration_setpoint.copyTo(setpoint.acceleration); + + } else { + setpoint.acceleration[0] = NAN; + setpoint.acceleration[1] = NAN; + setpoint.acceleration[2] = NAN; + } + + setpoint.x = NAN; + setpoint.y = NAN; + setpoint.z = NAN; + + } else { + mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED coordinate frame %d unsupported", + target_local_ned.coordinate_frame); + return; + } + + setpoint.thrust[0] = NAN; + setpoint.thrust[1] = NAN; + setpoint.thrust[2] = NAN; + + setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? NAN : target_local_ned.yaw; + setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? NAN : target_local_ned.yaw_rate; + + + offboard_control_mode_s ocm{}; + ocm.position = PX4_ISFINITE(setpoint.x) || PX4_ISFINITE(setpoint.y) || PX4_ISFINITE(setpoint.z); + ocm.velocity = PX4_ISFINITE(setpoint.vx) || PX4_ISFINITE(setpoint.vy) || PX4_ISFINITE(setpoint.vz); + ocm.acceleration = PX4_ISFINITE(setpoint.acceleration[0]) || PX4_ISFINITE(setpoint.acceleration[1]) + || PX4_ISFINITE(setpoint.acceleration[2]); + + if (ocm.acceleration && (type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET)) { + mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED force not supported"); + return; + } + + if (ocm.position || ocm.velocity || ocm.acceleration) { + // publish offboard_control_mode + ocm.timestamp = hrt_absolute_time(); + _offboard_control_mode_pub.publish(ocm); + + vehicle_status_s vehicle_status{}; + _vehicle_status_sub.copy(&vehicle_status); + + if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) { + // only publish setpoint once in OFFBOARD + setpoint.timestamp = hrt_absolute_time(); + _trajectory_setpoint_pub.publish(setpoint); + } + + } else { + mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED invalid"); } } } @@ -1011,186 +1004,119 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t void MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t *msg) { - mavlink_set_position_target_global_int_t set_position_target_global_int; - mavlink_msg_set_position_target_global_int_decode(msg, &set_position_target_global_int); - - const bool values_finite = - PX4_ISFINITE(set_position_target_global_int.alt) && - PX4_ISFINITE(set_position_target_global_int.vx) && - PX4_ISFINITE(set_position_target_global_int.vy) && - PX4_ISFINITE(set_position_target_global_int.vz) && - PX4_ISFINITE(set_position_target_global_int.afx) && - PX4_ISFINITE(set_position_target_global_int.afy) && - PX4_ISFINITE(set_position_target_global_int.afz) && - PX4_ISFINITE(set_position_target_global_int.yaw); + mavlink_set_position_target_global_int_t target_global_int; + mavlink_msg_set_position_target_global_int_decode(msg, &target_global_int); /* Only accept messages which are intended for this system */ - if ((mavlink_system.sysid == set_position_target_global_int.target_system || - set_position_target_global_int.target_system == 0) && - (mavlink_system.compid == set_position_target_global_int.target_component || - set_position_target_global_int.target_component == 0) && - values_finite) { + if (_mavlink->get_forward_externalsp() && + (mavlink_system.sysid == target_global_int.target_system || target_global_int.target_system == 0) && + (mavlink_system.compid == target_global_int.target_component || target_global_int.target_component == 0)) { - offboard_control_mode_s offboard_control_mode{}; + vehicle_local_position_setpoint_s setpoint{}; - /* convert mavlink type (local, NED) to uORB offboard control struct */ - offboard_control_mode.ignore_position = (bool)(set_position_target_global_int.type_mask & - (POSITION_TARGET_TYPEMASK_X_IGNORE - | POSITION_TARGET_TYPEMASK_Y_IGNORE - | POSITION_TARGET_TYPEMASK_Z_IGNORE)); - offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_global_int.type_mask & - POSITION_TARGET_TYPEMASK_Z_IGNORE); - offboard_control_mode.ignore_velocity = (bool)(set_position_target_global_int.type_mask & - (POSITION_TARGET_TYPEMASK_VX_IGNORE - | POSITION_TARGET_TYPEMASK_VY_IGNORE - | POSITION_TARGET_TYPEMASK_VZ_IGNORE)); - offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_global_int.type_mask & - (POSITION_TARGET_TYPEMASK_AX_IGNORE - | POSITION_TARGET_TYPEMASK_AY_IGNORE - | POSITION_TARGET_TYPEMASK_AZ_IGNORE)); - /* yaw ignore flag mapps to ignore_attitude */ - offboard_control_mode.ignore_attitude = (bool)(set_position_target_global_int.type_mask & - POSITION_TARGET_TYPEMASK_YAW_IGNORE); - offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_global_int.type_mask & - POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE); - offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_global_int.type_mask & - POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE); - offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_global_int.type_mask & - POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE); + const uint16_t type_mask = target_global_int.type_mask; - bool is_force_sp = (bool)(set_position_target_global_int.type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET); + // position + if (!(type_mask & (POSITION_TARGET_TYPEMASK_X_IGNORE | POSITION_TARGET_TYPEMASK_Y_IGNORE | + POSITION_TARGET_TYPEMASK_Z_IGNORE))) { - offboard_control_mode.timestamp = hrt_absolute_time(); - _offboard_control_mode_pub.publish(offboard_control_mode); + vehicle_local_position_s local_pos{}; + _vehicle_local_position_sub.copy(&local_pos); - /* If we are in offboard control mode and offboard control loop through is enabled - * also publish the setpoint topic which is read by the controller */ - if (_mavlink->get_forward_externalsp()) { + if (!local_pos.xy_global || !local_pos.z_global) { + return; + } - vehicle_control_mode_s control_mode{}; - _control_mode_sub.copy(&control_mode); + map_projection_reference_s global_local_proj_ref{}; + map_projection_init_timestamped(&global_local_proj_ref, local_pos.ref_lat, local_pos.ref_lon, local_pos.ref_timestamp); - if (control_mode.flag_control_offboard_enabled) { - if (is_force_sp && offboard_control_mode.ignore_position && - offboard_control_mode.ignore_velocity) { + // global -> local + const double lat = target_global_int.lat_int / 1e7; + const double lon = target_global_int.lon_int / 1e7; + map_projection_project(&global_local_proj_ref, lat, lon, &setpoint.x, &setpoint.y); - PX4_WARN("force setpoint not supported"); + if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_INT) { + setpoint.z = local_pos.ref_alt - target_global_int.alt; + + } else if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) { + home_position_s home_position{}; + _home_position_sub.copy(&home_position); + + if (home_position.valid_alt) { + const float alt = home_position.alt - target_global_int.alt; + setpoint.z = alt - local_pos.ref_alt; } else { - /* It's not a pure force setpoint: publish to setpoint triplet topic */ - position_setpoint_triplet_s pos_sp_triplet{}; - - pos_sp_triplet.timestamp = hrt_absolute_time(); - pos_sp_triplet.previous.valid = false; - pos_sp_triplet.next.valid = false; - pos_sp_triplet.current.valid = true; - - /* Order of statements matters. Takeoff can override loiter. - * See https://github.com/mavlink/mavlink/pull/670 for a broader conversation. */ - if (set_position_target_global_int.type_mask & 0x3000) { //Loiter setpoint - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; - - } else if (set_position_target_global_int.type_mask & 0x1000) { //Takeoff setpoint - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF; - - } else if (set_position_target_global_int.type_mask & 0x2000) { //Land setpoint - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LAND; - - } else if (set_position_target_global_int.type_mask & 0x4000) { //Idle setpoint - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE; - - } else { - pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; - } - - /* set the local pos values */ - vehicle_local_position_s local_pos{}; - - if (!offboard_control_mode.ignore_position && _vehicle_local_position_sub.copy(&local_pos)) { - if (!globallocalconverter_initialized()) { - globallocalconverter_init(local_pos.ref_lat, local_pos.ref_lon, - local_pos.ref_alt, local_pos.ref_timestamp); - pos_sp_triplet.current.position_valid = false; - - } else { - float target_altitude; - - if (set_position_target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) { - target_altitude = set_position_target_global_int.alt + local_pos.ref_alt; - - } else { - target_altitude = set_position_target_global_int.alt; //MAV_FRAME_GLOBAL_INT - } - - globallocalconverter_tolocal(set_position_target_global_int.lat_int / 1e7, - set_position_target_global_int.lon_int / 1e7, target_altitude, - &pos_sp_triplet.current.x, &pos_sp_triplet.current.y, &pos_sp_triplet.current.z); - pos_sp_triplet.current.cruising_speed = get_offb_cruising_speed(); - pos_sp_triplet.current.position_valid = true; - } - - } else { - pos_sp_triplet.current.position_valid = false; - } - - /* set the local velocity values */ - if (!offboard_control_mode.ignore_velocity) { - - pos_sp_triplet.current.velocity_valid = true; - pos_sp_triplet.current.vx = set_position_target_global_int.vx; - pos_sp_triplet.current.vy = set_position_target_global_int.vy; - pos_sp_triplet.current.vz = set_position_target_global_int.vz; - - pos_sp_triplet.current.velocity_frame = set_position_target_global_int.coordinate_frame; - - } else { - pos_sp_triplet.current.velocity_valid = false; - } - - if (!offboard_control_mode.ignore_alt_hold) { - pos_sp_triplet.current.alt_valid = true; - - } else { - pos_sp_triplet.current.alt_valid = false; - } - - /* set the local acceleration values if the setpoint type is 'local pos' and none - * of the accelerations fields is set to 'ignore' */ - if (!offboard_control_mode.ignore_acceleration_force) { - - pos_sp_triplet.current.acceleration_valid = true; - pos_sp_triplet.current.a_x = set_position_target_global_int.afx; - pos_sp_triplet.current.a_y = set_position_target_global_int.afy; - pos_sp_triplet.current.a_z = set_position_target_global_int.afz; - pos_sp_triplet.current.acceleration_is_force = is_force_sp; - - } else { - pos_sp_triplet.current.acceleration_valid = false; - } - - /* set the yaw setpoint */ - if (!offboard_control_mode.ignore_attitude) { - pos_sp_triplet.current.yaw_valid = true; - pos_sp_triplet.current.yaw = set_position_target_global_int.yaw; - - } else { - pos_sp_triplet.current.yaw_valid = false; - } - - /* set the yawrate sp value */ - if (!(offboard_control_mode.ignore_bodyrate_x || - offboard_control_mode.ignore_bodyrate_y || - offboard_control_mode.ignore_bodyrate_z)) { - - pos_sp_triplet.current.yawspeed_valid = true; - pos_sp_triplet.current.yawspeed = set_position_target_global_int.yaw_rate; - - } else { - pos_sp_triplet.current.yawspeed_valid = false; - } - - _pos_sp_triplet_pub.publish(pos_sp_triplet); + // home altitude required + return; } + + } else if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) { + vehicle_global_position_s vehicle_global_position{}; + _vehicle_global_position_sub.copy(&vehicle_global_position); + + if (vehicle_global_position.terrain_alt_valid) { + const float alt = target_global_int.alt + vehicle_global_position.terrain_alt; + setpoint.z = local_pos.ref_alt - alt; + + } else { + // valid terrain alt required + return; + } + + } else { + mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame %d", + target_global_int.coordinate_frame); + return; + } + + } else { + setpoint.x = NAN; + setpoint.y = NAN; + setpoint.z = NAN; + } + + // velocity + setpoint.vx = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? NAN : target_global_int.vx; + setpoint.vy = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? NAN : target_global_int.vy; + setpoint.vz = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? NAN : target_global_int.vz; + + // acceleration + setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? NAN : target_global_int.afx; + setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? NAN : target_global_int.afy; + setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? NAN : target_global_int.afz; + + setpoint.thrust[0] = NAN; + setpoint.thrust[1] = NAN; + setpoint.thrust[2] = NAN; + + setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? NAN : target_global_int.yaw; + setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? NAN : target_global_int.yaw_rate; + + + offboard_control_mode_s ocm{}; + ocm.position = PX4_ISFINITE(setpoint.x) || PX4_ISFINITE(setpoint.y) || PX4_ISFINITE(setpoint.z); + ocm.velocity = PX4_ISFINITE(setpoint.vx) || PX4_ISFINITE(setpoint.vy) || PX4_ISFINITE(setpoint.vz); + ocm.acceleration = PX4_ISFINITE(setpoint.acceleration[0]) || PX4_ISFINITE(setpoint.acceleration[1]) + || PX4_ISFINITE(setpoint.acceleration[2]); + + if (ocm.acceleration && (type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET)) { + mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED force not supported"); + return; + } + + if (ocm.position || ocm.velocity || ocm.acceleration) { + // publish offboard_control_mode + ocm.timestamp = hrt_absolute_time(); + _offboard_control_mode_pub.publish(ocm); + + vehicle_status_s vehicle_status{}; + _vehicle_status_sub.copy(&vehicle_status); + + if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) { + // only publish setpoint once in OFFBOARD + setpoint.timestamp = hrt_absolute_time(); + _trajectory_setpoint_pub.publish(setpoint); } } } @@ -1199,64 +1125,43 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t void MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg) { - mavlink_set_actuator_control_target_t set_actuator_control_target; - mavlink_msg_set_actuator_control_target_decode(msg, &set_actuator_control_target); - - bool values_finite = - PX4_ISFINITE(set_actuator_control_target.controls[0]) && - PX4_ISFINITE(set_actuator_control_target.controls[1]) && - PX4_ISFINITE(set_actuator_control_target.controls[2]) && - PX4_ISFINITE(set_actuator_control_target.controls[3]) && - PX4_ISFINITE(set_actuator_control_target.controls[4]) && - PX4_ISFINITE(set_actuator_control_target.controls[5]) && - PX4_ISFINITE(set_actuator_control_target.controls[6]) && - PX4_ISFINITE(set_actuator_control_target.controls[7]); - - if ((mavlink_system.sysid == set_actuator_control_target.target_system || - set_actuator_control_target.target_system == 0) && - (mavlink_system.compid == set_actuator_control_target.target_component || - set_actuator_control_target.target_component == 0) && - values_finite) { - + // TODO #if defined(ENABLE_LOCKSTEP_SCHEDULER) - PX4_ERR("SET_ACTUATOR_CONTROL_TARGET not supported with lockstep enabled"); - PX4_ERR("Please disable lockstep for actuator offboard control:"); - PX4_ERR("https://dev.px4.io/master/en/simulation/#disable-lockstep-simulation"); - return; + PX4_ERR("SET_ACTUATOR_CONTROL_TARGET not supported with lockstep enabled"); + PX4_ERR("Please disable lockstep for actuator offboard control:"); + PX4_ERR("https://dev.px4.io/master/en/simulation/#disable-lockstep-simulation"); + return; #endif + + mavlink_set_actuator_control_target_t actuator_target; + mavlink_msg_set_actuator_control_target_decode(msg, &actuator_target); + + if (_mavlink->get_forward_externalsp() && + (mavlink_system.sysid == actuator_target.target_system || actuator_target.target_system == 0) && + (mavlink_system.compid == actuator_target.target_component || actuator_target.target_component == 0) + ) { /* Ignore all setpoints except when controlling the gimbal(group_mlx==2) as we are setting raw actuators here */ - bool ignore_setpoints = bool(set_actuator_control_target.group_mlx != 2); + //bool ignore_setpoints = bool(actuator_target.group_mlx != 2); offboard_control_mode_s offboard_control_mode{}; - - offboard_control_mode.ignore_thrust = ignore_setpoints; - offboard_control_mode.ignore_attitude = ignore_setpoints; - offboard_control_mode.ignore_bodyrate_x = ignore_setpoints; - offboard_control_mode.ignore_bodyrate_y = ignore_setpoints; - offboard_control_mode.ignore_bodyrate_z = ignore_setpoints; - offboard_control_mode.ignore_position = ignore_setpoints; - offboard_control_mode.ignore_velocity = ignore_setpoints; - offboard_control_mode.ignore_acceleration_force = ignore_setpoints; - offboard_control_mode.timestamp = hrt_absolute_time(); - _offboard_control_mode_pub.publish(offboard_control_mode); - /* If we are in offboard control mode, publish the actuator controls */ - vehicle_control_mode_s control_mode{}; - _control_mode_sub.copy(&control_mode); + vehicle_status_s vehicle_status{}; + _vehicle_status_sub.copy(&vehicle_status); - if (control_mode.flag_control_offboard_enabled) { + // Publish actuator controls only once in OFFBOARD + if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) { actuator_controls_s actuator_controls{}; actuator_controls.timestamp = hrt_absolute_time(); /* Set duty cycles for the servos in the actuator_controls message */ for (size_t i = 0; i < 8; i++) { - actuator_controls.control[i] = set_actuator_control_target.controls[i]; + actuator_controls.control[i] = actuator_target.controls[i]; } - switch (set_actuator_control_target.group_mlx) { + switch (actuator_target.group_mlx) { case 0: _actuator_controls_pubs[0].publish(actuator_controls); break; @@ -1278,20 +1183,28 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m } } } - } void MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg) { - mavlink_set_gps_global_origin_t origin; - mavlink_msg_set_gps_global_origin_decode(msg, &origin); + mavlink_set_gps_global_origin_t gps_global_origin; + mavlink_msg_set_gps_global_origin_decode(msg, &gps_global_origin); - if (!globallocalconverter_initialized() && (origin.target_system == _mavlink->get_system_id())) { - /* Set reference point conversion of local coordiantes <--> global coordinates */ - globallocalconverter_init((double)origin.latitude * 1.0e-7, (double)origin.longitude * 1.0e-7, - (float)origin.altitude * 1.0e-3f, hrt_absolute_time()); - _global_ref_timestamp = hrt_absolute_time(); + if (gps_global_origin.target_system == _mavlink->get_system_id()) { + vehicle_command_s vcmd{}; + vcmd.param5 = (double)gps_global_origin.latitude * 1.e-7; + vcmd.param6 = (double)gps_global_origin.longitude * 1.e-7; + vcmd.param7 = (float)gps_global_origin.altitude * 1.e-3f; + vcmd.command = vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN; + vcmd.target_system = _mavlink->get_system_id(); + vcmd.target_component = MAV_COMP_ID_ALL; + vcmd.source_system = msg->sysid; + vcmd.source_component = msg->compid; + vcmd.confirmation = false; + vcmd.from_external = true; + vcmd.timestamp = hrt_absolute_time(); + _cmd_pub.publish(vcmd); } handle_request_message_command(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN); @@ -1492,144 +1405,89 @@ void MavlinkReceiver::fill_thrust(float *thrust_body_array, uint8_t vehicle_type void MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) { - mavlink_set_attitude_target_t set_attitude_target; - mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target); - - bool values_finite = - PX4_ISFINITE(set_attitude_target.q[0]) && - PX4_ISFINITE(set_attitude_target.q[1]) && - PX4_ISFINITE(set_attitude_target.q[2]) && - PX4_ISFINITE(set_attitude_target.q[3]) && - PX4_ISFINITE(set_attitude_target.thrust) && - PX4_ISFINITE(set_attitude_target.body_roll_rate) && - PX4_ISFINITE(set_attitude_target.body_pitch_rate) && - PX4_ISFINITE(set_attitude_target.body_yaw_rate); + mavlink_set_attitude_target_t attitude_target; + mavlink_msg_set_attitude_target_decode(msg, &attitude_target); /* Only accept messages which are intended for this system */ - if ((mavlink_system.sysid == set_attitude_target.target_system || - set_attitude_target.target_system == 0) && - (mavlink_system.compid == set_attitude_target.target_component || - set_attitude_target.target_component == 0) && - values_finite) { + if (_mavlink->get_forward_externalsp() && + (mavlink_system.sysid == attitude_target.target_system || attitude_target.target_system == 0) && + (mavlink_system.compid == attitude_target.target_component || attitude_target.target_component == 0)) { - offboard_control_mode_s offboard_control_mode{}; + const uint8_t type_mask = attitude_target.type_mask; - /* set correct ignore flags for thrust field: copy from mavlink message */ - offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE); + const bool attitude = !(type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE); + const bool body_rates = !(type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE) + && !(type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE); + const bool thrust_body = (type_mask & ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SET); - /* - * The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust - * using different messages. Eg.: First send set_attitude_target containing the attitude and ignore - * bits set for everything else and then send set_attitude_target containing the thrust and ignore bits - * set for everything else. - */ + vehicle_status_s vehicle_status{}; + _vehicle_status_sub.copy(&vehicle_status); - /* - * if attitude or body rate have been used (not ignored) previously and this message only sends - * throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and - * body rates to keep the controllers running - */ - bool ignore_bodyrate_msg_x = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE); - bool ignore_bodyrate_msg_y = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE); - bool ignore_bodyrate_msg_z = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE); - bool ignore_attitude_msg = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE); + if (attitude) { + vehicle_attitude_setpoint_s attitude_setpoint{}; - if ((ignore_bodyrate_msg_x || ignore_bodyrate_msg_y || - ignore_bodyrate_msg_z) && - ignore_attitude_msg && !offboard_control_mode.ignore_thrust) { + const matrix::Quatf q{attitude_target.q}; + q.copyTo(attitude_setpoint.q_d); - /* Message want's us to ignore everything except thrust: only ignore if previously ignored */ - offboard_control_mode.ignore_bodyrate_x = ignore_bodyrate_msg_x && offboard_control_mode.ignore_bodyrate_x; - offboard_control_mode.ignore_bodyrate_y = ignore_bodyrate_msg_y && offboard_control_mode.ignore_bodyrate_y; - offboard_control_mode.ignore_bodyrate_z = ignore_bodyrate_msg_z && offboard_control_mode.ignore_bodyrate_z; - offboard_control_mode.ignore_attitude = ignore_attitude_msg && offboard_control_mode.ignore_attitude; + matrix::Eulerf euler{q}; + attitude_setpoint.roll_body = euler.phi(); + attitude_setpoint.pitch_body = euler.theta(); + attitude_setpoint.yaw_body = euler.psi(); - } else { - offboard_control_mode.ignore_bodyrate_x = ignore_bodyrate_msg_x; - offboard_control_mode.ignore_bodyrate_y = ignore_bodyrate_msg_y; - offboard_control_mode.ignore_bodyrate_z = ignore_bodyrate_msg_z; - offboard_control_mode.ignore_attitude = ignore_attitude_msg; - } + // TODO: review use case + attitude_setpoint.yaw_sp_move_rate = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ? + NAN : attitude_target.body_yaw_rate; - offboard_control_mode.ignore_position = true; - offboard_control_mode.ignore_velocity = true; - offboard_control_mode.ignore_acceleration_force = true; + if (!thrust_body && !(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) { + fill_thrust(attitude_setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust); - offboard_control_mode.timestamp = hrt_absolute_time(); + } else if (thrust_body) { + attitude_setpoint.thrust_body[0] = attitude_target.thrust_body[0]; + attitude_setpoint.thrust_body[1] = attitude_target.thrust_body[1]; + attitude_setpoint.thrust_body[2] = attitude_target.thrust_body[2]; + } - _offboard_control_mode_pub.publish(offboard_control_mode); + // publish offboard_control_mode + offboard_control_mode_s ocm{}; + ocm.attitude = true; + ocm.timestamp = hrt_absolute_time(); + _offboard_control_mode_pub.publish(ocm); - /* If we are in offboard control mode and offboard control loop through is enabled - * also publish the setpoint topic which is read by the controller */ - if (_mavlink->get_forward_externalsp()) { + // Publish attitude setpoint only once in OFFBOARD + if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) { + attitude_setpoint.timestamp = hrt_absolute_time(); - vehicle_control_mode_s control_mode{}; - _control_mode_sub.copy(&control_mode); + if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) { + _mc_virtual_att_sp_pub.publish(attitude_setpoint); - if (control_mode.flag_control_offboard_enabled) { - vehicle_status_s vehicle_status{}; - _vehicle_status_sub.copy(&vehicle_status); + } else if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) { + _fw_virtual_att_sp_pub.publish(attitude_setpoint); - /* Publish attitude setpoint if attitude and thrust ignore bits are not set */ - if (!(offboard_control_mode.ignore_attitude)) { - vehicle_attitude_setpoint_s att_sp = {}; - att_sp.timestamp = hrt_absolute_time(); - - if (!ignore_attitude_msg) { // only copy att sp if message contained new data - matrix::Quatf q(set_attitude_target.q); - q.copyTo(att_sp.q_d); - - matrix::Eulerf euler{q}; - att_sp.roll_body = euler.phi(); - att_sp.pitch_body = euler.theta(); - att_sp.yaw_body = euler.psi(); - att_sp.yaw_sp_move_rate = 0.0f; - } - - if (!offboard_control_mode.ignore_thrust) { // don't overwrite thrust if it's invalid - fill_thrust(att_sp.thrust_body, vehicle_status.vehicle_type, set_attitude_target.thrust); - } - - // Publish attitude setpoint - if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) { - _mc_virtual_att_sp_pub.publish(att_sp); - - } else if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) { - _fw_virtual_att_sp_pub.publish(att_sp); - - } else { - _att_sp_pub.publish(att_sp); - } + } else { + _att_sp_pub.publish(attitude_setpoint); } + } - /* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */ - if (!offboard_control_mode.ignore_bodyrate_x || - !offboard_control_mode.ignore_bodyrate_y || - !offboard_control_mode.ignore_bodyrate_z) { + } else if (body_rates) { + vehicle_rates_setpoint_s setpoint{}; + setpoint.roll = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE) ? NAN : attitude_target.body_roll_rate; + setpoint.pitch = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE) ? NAN : attitude_target.body_pitch_rate; + setpoint.yaw = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ? NAN : attitude_target.body_yaw_rate; - vehicle_rates_setpoint_s rates_sp{}; + if (!(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) { + fill_thrust(setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust); + } - rates_sp.timestamp = hrt_absolute_time(); + // publish offboard_control_mode + offboard_control_mode_s ocm{}; + ocm.body_rate = true; + ocm.timestamp = hrt_absolute_time(); + _offboard_control_mode_pub.publish(ocm); - // only copy att rates sp if message contained new data - if (!ignore_bodyrate_msg_x) { - rates_sp.roll = set_attitude_target.body_roll_rate; - } - - if (!ignore_bodyrate_msg_y) { - rates_sp.pitch = set_attitude_target.body_pitch_rate; - } - - if (!ignore_bodyrate_msg_z) { - rates_sp.yaw = set_attitude_target.body_yaw_rate; - } - - if (!offboard_control_mode.ignore_thrust) { // don't overwrite thrust if it's invalid - fill_thrust(rates_sp.thrust_body, vehicle_status.vehicle_type, set_attitude_target.thrust); - } - - _rates_sp_pub.publish(rates_sp); - } + // Publish rate setpoint only once in OFFBOARD + if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD) { + setpoint.timestamp = hrt_absolute_time(); + _rates_sp_pub.publish(setpoint); } } } @@ -2521,76 +2379,82 @@ MavlinkReceiver::handle_message_utm_global_position(mavlink_message_t *msg) mavlink_utm_global_position_t utm_pos; mavlink_msg_utm_global_position_decode(msg, &utm_pos); - px4_guid_t px4_guid; + bool is_self_published = false; + + #ifndef BOARD_HAS_NO_UUID + px4_guid_t px4_guid; board_get_px4_guid(px4_guid); + is_self_published = sizeof(px4_guid) == sizeof(utm_pos.uas_id) + && memcmp(px4_guid, utm_pos.uas_id, sizeof(px4_guid_t)) == 0; #else - // TODO Fill ID with something reasonable - memset(&px4_guid[0], 0, sizeof(px4_guid)); + + is_self_published = msg->sysid == _mavlink->get_system_id(); #endif /* BOARD_HAS_NO_UUID */ //Ignore selfpublished UTM messages - if (sizeof(px4_guid) == sizeof(utm_pos.uas_id) && memcmp(px4_guid, utm_pos.uas_id, sizeof(px4_guid_t)) != 0) { - - // Convert cm/s to m/s - float vx = utm_pos.vx / 100.0f; - float vy = utm_pos.vy / 100.0f; - float vz = utm_pos.vz / 100.0f; - - transponder_report_s t{}; - t.timestamp = hrt_absolute_time(); - mav_array_memcpy(t.uas_id, utm_pos.uas_id, sizeof(px4_guid_t)); - t.lat = utm_pos.lat * 1e-7; - t.lon = utm_pos.lon * 1e-7; - t.altitude = utm_pos.alt / 1000.0f; - t.altitude_type = ADSB_ALTITUDE_TYPE_GEOMETRIC; - // UTM_GLOBAL_POSIION uses NED (north, east, down) coordinates for velocity, in cm / s. - t.heading = atan2f(vy, vx); - t.hor_velocity = sqrtf(vy * vy + vx * vx); - t.ver_velocity = -vz; - // TODO: Callsign - // For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null - // terminator could cause problems. - memset(&t.callsign[0], 0, sizeof(t.callsign)); - t.emitter_type = ADSB_EMITTER_TYPE_UAV; // TODO: Is this correct?x2? - - // The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of - // an 8-bit int, or if this is the first communication. - // Here, I assume that if this is the first communication, tslc = 0. - // If tslc > 255, then tslc = 255. - unsigned long time_passed = (t.timestamp - _last_utm_global_pos_com) / 1000000; - - if (_last_utm_global_pos_com == 0) { - time_passed = 0; - - } else if (time_passed > UINT8_MAX) { - time_passed = UINT8_MAX; - } - - t.tslc = (uint8_t) time_passed; - - t.flags = 0; - - if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE) { - t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; - } - - if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE) { - t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; - } - - if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE) { - t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; - t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; - } - - // Note: t.flags has deliberately NOT set VALID_CALLSIGN or VALID_SQUAWK, because UTM_GLOBAL_POSITION does not - // provide these. - _transponder_report_pub.publish(t); - - _last_utm_global_pos_com = t.timestamp; + if (is_self_published) { + return; } + + // Convert cm/s to m/s + float vx = utm_pos.vx / 100.0f; + float vy = utm_pos.vy / 100.0f; + float vz = utm_pos.vz / 100.0f; + + transponder_report_s t{}; + t.timestamp = hrt_absolute_time(); + mav_array_memcpy(t.uas_id, utm_pos.uas_id, PX4_GUID_BYTE_LENGTH); + t.lat = utm_pos.lat * 1e-7; + t.lon = utm_pos.lon * 1e-7; + t.altitude = utm_pos.alt / 1000.0f; + t.altitude_type = ADSB_ALTITUDE_TYPE_GEOMETRIC; + // UTM_GLOBAL_POSIION uses NED (north, east, down) coordinates for velocity, in cm / s. + t.heading = atan2f(vy, vx); + t.hor_velocity = sqrtf(vy * vy + vx * vx); + t.ver_velocity = -vz; + // TODO: Callsign + // For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null + // terminator could cause problems. + memset(&t.callsign[0], 0, sizeof(t.callsign)); + t.emitter_type = ADSB_EMITTER_TYPE_UAV; // TODO: Is this correct?x2? + + // The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of + // an 8-bit int, or if this is the first communication. + // Here, I assume that if this is the first communication, tslc = 0. + // If tslc > 255, then tslc = 255. + unsigned long time_passed = (t.timestamp - _last_utm_global_pos_com) / 1000000; + + if (_last_utm_global_pos_com == 0) { + time_passed = 0; + + } else if (time_passed > UINT8_MAX) { + time_passed = UINT8_MAX; + } + + t.tslc = (uint8_t) time_passed; + + t.flags = 0; + + if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE) { + t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; + } + + if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE) { + t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; + } + + if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE) { + t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; + t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; + } + + // Note: t.flags has deliberately NOT set VALID_CALLSIGN or VALID_SQUAWK, because UTM_GLOBAL_POSITION does not + // provide these. + _transponder_report_pub.publish(t); + + _last_utm_global_pos_com = t.timestamp; } void @@ -2677,34 +2541,32 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) /* local position */ { - double lat = hil_state.lat * 1e-7; - double lon = hil_state.lon * 1e-7; + const double lat = hil_state.lat * 1e-7; + const double lon = hil_state.lon * 1e-7; - if (!_hil_local_proj_inited) { - _hil_local_proj_inited = true; - _hil_local_alt0 = hil_state.alt / 1000.0f; + map_projection_reference_s global_local_proj_ref; + map_projection_init(&global_local_proj_ref, lat, lon); - map_projection_init(&_hil_local_proj_ref, lat, lon); - } + float global_local_alt0 = hil_state.alt / 1000.f; float x = 0.0f; float y = 0.0f; - map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y); + map_projection_project(&global_local_proj_ref, lat, lon, &x, &y); vehicle_local_position_s hil_local_pos{}; hil_local_pos.timestamp = timestamp; - hil_local_pos.ref_timestamp = _hil_local_proj_ref.timestamp; - hil_local_pos.ref_lat = math::radians(_hil_local_proj_ref.lat_rad); - hil_local_pos.ref_lon = math::radians(_hil_local_proj_ref.lon_rad); - hil_local_pos.ref_alt = _hil_local_alt0; + hil_local_pos.ref_timestamp = global_local_proj_ref.timestamp; + hil_local_pos.ref_lat = math::degrees(global_local_proj_ref.lat_rad); + hil_local_pos.ref_lon = math::degrees(global_local_proj_ref.lon_rad); + hil_local_pos.ref_alt = global_local_alt0; hil_local_pos.xy_valid = true; hil_local_pos.z_valid = true; hil_local_pos.v_xy_valid = true; hil_local_pos.v_z_valid = true; hil_local_pos.x = x; hil_local_pos.y = y; - hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f; + hil_local_pos.z = global_local_alt0 - hil_state.alt / 1000.0f; hil_local_pos.vx = hil_state.vx / 100.0f; hil_local_pos.vy = hil_state.vy / 100.0f; hil_local_pos.vz = hil_state.vz / 100.0f; @@ -3239,8 +3101,9 @@ MavlinkReceiver::Run() } } - if (!px4_comp_id_found) { + if (!px4_comp_id_found && !_reported_unsupported_comp_id) { PX4_WARN("unsupported component id, msgid: %d, sysid: %d compid: %d", msg.msgid, msg.sysid, msg.compid); + _reported_unsupported_comp_id = true; } if (px4_comp_id_found && px4_sysid_index_found) { @@ -3372,34 +3235,3 @@ MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent) pthread_attr_destroy(&receiveloop_attr); } - -float -MavlinkReceiver::get_offb_cruising_speed() -{ - vehicle_status_s vehicle_status{}; - _vehicle_status_sub.copy(&vehicle_status); - - if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && _offb_cruising_speed_mc > 0.0f) { - return _offb_cruising_speed_mc; - - } else if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && _offb_cruising_speed_fw > 0.0f) { - return _offb_cruising_speed_fw; - - } else { - return -1.0f; - } -} - -void -MavlinkReceiver::set_offb_cruising_speed(float speed) -{ - vehicle_status_s vehicle_status{}; - _vehicle_status_sub.copy(&vehicle_status); - - if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - _offb_cruising_speed_mc = speed; - - } else { - _offb_cruising_speed_fw = speed; - } -} diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 8922860d28..c9178330cc 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -52,6 +52,7 @@ #include #include #include +#include #include #include #include @@ -93,7 +94,6 @@ #include #include #include -#include #include #include #include @@ -128,13 +128,6 @@ public: static void *start_helper(void *context); - /** - * Get the cruising speed in offboard control - * - * @return the desired cruising speed for the current flight mode - */ - float get_offb_cruising_speed(); - /** * Set the cruising speed in offboard control * @@ -258,6 +251,8 @@ private: mavlink_status_t _status{}; ///< receiver status, used for mavlink_parse_char() + orb_advert_t _mavlink_log_pub{nullptr}; + // subset of MAV_COMPONENTs we support enum SUPPORTED_COMPONENTS : uint8_t { COMP_ID_ALL, @@ -299,42 +294,9 @@ private: }; // map of supported component IDs to MAV_COMP value - const uint8_t supported_component_map[COMP_ID_MAX] { - [COMP_ID_ALL] = MAV_COMP_ID_ALL, - [COMP_ID_AUTOPILOT1] = MAV_COMP_ID_AUTOPILOT1, + static const uint8_t supported_component_map[COMP_ID_MAX]; - [COMP_ID_TELEMETRY_RADIO] = MAV_COMP_ID_TELEMETRY_RADIO, - - [COMP_ID_CAMERA] = MAV_COMP_ID_CAMERA, - [COMP_ID_CAMERA2] = MAV_COMP_ID_CAMERA2, - - [COMP_ID_GIMBAL] = MAV_COMP_ID_GIMBAL, - [COMP_ID_LOG] = MAV_COMP_ID_LOG, - [COMP_ID_ADSB] = MAV_COMP_ID_ADSB, - [COMP_ID_OSD] = MAV_COMP_ID_OSD, - [COMP_ID_PERIPHERAL] = MAV_COMP_ID_PERIPHERAL, - - [COMP_ID_FLARM] = MAV_COMP_ID_FLARM, - - [COMP_ID_GIMBAL2] = MAV_COMP_ID_GIMBAL2, - - [COMP_ID_MISSIONPLANNER] = MAV_COMP_ID_MISSIONPLANNER, - [COMP_ID_ONBOARD_COMPUTER] = MAV_COMP_ID_ONBOARD_COMPUTER, - - [COMP_ID_PATHPLANNER] = MAV_COMP_ID_PATHPLANNER, - [COMP_ID_OBSTACLE_AVOIDANCE] = MAV_COMP_ID_OBSTACLE_AVOIDANCE, - [COMP_ID_VISUAL_INERTIAL_ODOMETRY] = MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY, - [COMP_ID_PAIRING_MANAGER] = MAV_COMP_ID_PAIRING_MANAGER, - - [COMP_ID_IMU] = MAV_COMP_ID_IMU, - - [COMP_ID_GPS] = MAV_COMP_ID_GPS, - [COMP_ID_GPS2] = MAV_COMP_ID_GPS2, - - [COMP_ID_UDP_BRIDGE] = MAV_COMP_ID_UDP_BRIDGE, - [COMP_ID_UART_BRIDGE] = MAV_COMP_ID_UART_BRIDGE, - [COMP_ID_TUNNEL_NODE] = MAV_COMP_ID_TUNNEL_NODE, - }; + bool _reported_unsupported_comp_id{false}; static constexpr int MAX_REMOTE_SYSTEM_IDS{8}; uint8_t _system_id_map[MAX_REMOTE_SYSTEM_IDS] {}; @@ -369,7 +331,6 @@ private: uORB::Publication _onboard_computer_status_pub{ORB_ID(onboard_computer_status)}; uORB::Publication _generator_status_pub{ORB_ID(generator_status)}; uORB::Publication _flow_pub{ORB_ID(optical_flow)}; - uORB::Publication _pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)}; uORB::Publication _gps_pub{ORB_ID(sensor_gps)}; uORB::Publication _attitude_pub{ORB_ID(vehicle_attitude)}; uORB::Publication _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)}; @@ -378,6 +339,7 @@ private: uORB::Publication _global_pos_pub{ORB_ID(vehicle_global_position)}; uORB::Publication _land_detector_pub{ORB_ID(vehicle_land_detected)}; uORB::Publication _local_pos_pub{ORB_ID(vehicle_local_position)}; + uORB::Publication _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)}; uORB::Publication _mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)}; uORB::Publication _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)}; uORB::Publication _rates_sp_pub{ORB_ID(vehicle_rates_setpoint)}; @@ -400,17 +362,19 @@ private: uORB::PublicationMulti _radio_status_pub{ORB_ID(radio_status)}; // ORB publications (queue length > 1) - uORB::Publication _gps_inject_data_pub{ORB_ID(gps_inject_data)}; - uORB::Publication _transponder_report_pub{ORB_ID(transponder_report)}; - uORB::Publication _cmd_ack_pub{ORB_ID(vehicle_command_ack)}; - uORB::Publication _cmd_pub{ORB_ID(vehicle_command)}; + uORB::Publication _gps_inject_data_pub{ORB_ID(gps_inject_data)}; + uORB::Publication _transponder_report_pub{ORB_ID(transponder_report)}; + uORB::Publication _cmd_pub{ORB_ID(vehicle_command)}; + uORB::Publication _cmd_ack_pub{ORB_ID(vehicle_command_ack)}; // ORB subscriptions uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)}; - uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; + uORB::Subscription _home_position_sub{ORB_ID(home_position)}; uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)}; uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)}; uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; @@ -431,17 +395,8 @@ private: uint8_t _mom_switch_pos[MOM_SWITCH_COUNT] {}; uint16_t _mom_switch_state{0}; - uint64_t _global_ref_timestamp{0}; - - map_projection_reference_s _hil_local_proj_ref{}; - float _hil_local_alt0{0.0f}; - bool _hil_local_proj_inited{false}; - hrt_abstime _last_utm_global_pos_com{0}; - float _offb_cruising_speed_mc{-1.0f}; - float _offb_cruising_speed_fw{-1.0f}; - // Allocated if needed. TunePublisher *_tune_publisher{nullptr}; diff --git a/src/modules/mavlink/mavlink_shell.cpp b/src/modules/mavlink/mavlink_shell.cpp index afad6a0779..6203e0f28e 100644 --- a/src/modules/mavlink/mavlink_shell.cpp +++ b/src/modules/mavlink/mavlink_shell.cpp @@ -84,8 +84,6 @@ int MavlinkShell::start() * keeps (duplicates) the first 3 fd's when creating a new task, all others are not inherited. * This means we need to temporarily change the first 3 fd's of the current task (or at least * the first 2 if stdout=stderr). - * And we hope :-) that during the temporary phase, no other thread from the same task writes to - * stdout (as it would end up in the pipe). */ if (pipe(p1) != 0) { @@ -105,6 +103,16 @@ int MavlinkShell::start() _shell_fds[0] = p2[0]; _shell_fds[1] = p1[1]; + /* + * Ensure that during the temporary phase no other thread from the same task writes to + * stdout (as it would end up in the pipe). + */ +#ifdef __PX4_NUTTX + sched_lock(); +#endif /* __PX4_NUTTX */ + fflush(stdout); + fflush(stderr); + int fd_backups[2]; //we don't touch stderr, we will redirect it to stdout in the startup of the shell task for (int i = 0; i < 2; ++i) { @@ -140,6 +148,10 @@ int MavlinkShell::start() close(fd_backups[i]); } +#ifdef __PX4_NUTTX + sched_unlock(); +#endif /* __PX4_NUTTX */ + //close unused pipe fd's close(_shell_fds[0]); close(_shell_fds[1]); diff --git a/src/modules/mavlink/module.yaml b/src/modules/mavlink/module.yaml index 2924f8c21e..86433499ae 100644 --- a/src/modules/mavlink/module.yaml +++ b/src/modules/mavlink/module.yaml @@ -3,7 +3,19 @@ __max_num_config_instances: &max_num_config_instances 3 module_name: MAVLink serial_config: - command: | - set MAV_ARGS "-b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE" + if [ $SERIAL_DEV != ethernet ]; then + set MAV_ARGS "-d ${SERIAL_DEV} -b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE" + else + set MAV_ARGS "-u p:MAV_${i}_UDP_PRT -o p:MAV_${i}_REMOTE_PRT -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE" + if param compare MAV_${i}_BROADCAST 1 + then + set MAV_ARGS "${MAV_ARGS} -p" + fi + if param compare MAV_${i}_BROADCAST 2 + then + set MAV_ARGS "${MAV_ARGS} -c" + fi + fi if param compare MAV_${i}_FORWARD 1 then set MAV_ARGS "${MAV_ARGS} -f" @@ -12,7 +24,7 @@ serial_config: then set MAV_ARGS "${MAV_ARGS} -s" fi - mavlink start -d ${SERIAL_DEV} ${MAV_ARGS} -x + mavlink start ${MAV_ARGS} -x port_config_param: name: MAV_${i}_CONFIG group: MAVLink @@ -22,6 +34,7 @@ serial_config: # 2: Board-specific / no fixed function or port default: [TEL1, "", ""] num_instances: *max_num_config_instances + ethernet: parameters: - group: MAVLink @@ -46,6 +59,7 @@ parameters: 8: External Vision #9: External Vision Minimal # hidden 10: Gimbal + 11: Onboard Low Bandwidth reboot_required: true num_instances: *max_num_config_instances default: [0, 2, 0] @@ -97,3 +111,45 @@ parameters: reboot_required: true num_instances: *max_num_config_instances default: [true, true, true] + + MAV_${i}_UDP_PRT: + description: + short: MAVLink Network Port for instance ${i} + long: | + If ethernet enabled and selected as configuration for MAVLink instance ${i}, + selected udp port will be set and used in MAVLink instance ${i}. + + type: int32 + reboot_required: true + num_instances: *max_num_config_instances + default: [14556, 0, 0] + ethernet: + + MAV_${i}_REMOTE_PRT: + description: + short: MAVLink Remote Port for instance ${i} + long: | + If ethernet enabled and selected as configuration for MAVLink instance ${i}, + selected remote port will be set and used in MAVLink instance ${i}. + + type: int32 + reboot_required: true + num_instances: *max_num_config_instances + default: [14550, 0, 0] + ethernet: + + MAV_${i}_BROADCAST: + description: + short: Broadcast heartbeats on local network for MAVLink instance ${i} + long: | + This allows a ground control station to automatically find the drone + on the local network. + + type: enum + values: + 0: Never broadcast + 1: Always broadcast + 2: Only multicast + num_instances: *max_num_config_instances + default: [1, 0, 0] + ethernet: diff --git a/src/modules/mavlink/streams/ACTUATOR_CONTROL_TARGET.hpp b/src/modules/mavlink/streams/ACTUATOR_CONTROL_TARGET.hpp new file mode 100644 index 0000000000..64f6eb9438 --- /dev/null +++ b/src/modules/mavlink/streams/ACTUATOR_CONTROL_TARGET.hpp @@ -0,0 +1,126 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef ACTUATOR_CONTROL_TARGET_HPP +#define ACTUATOR_CONTROL_TARGET_HPP + +#include + +template +class MavlinkStreamActuatorControlTarget : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamActuatorControlTarget(mavlink); } + + static constexpr const char *get_name_static() + { + switch (N) { + case 0: + return "ACTUATOR_CONTROL_TARGET0"; + + case 1: + return "ACTUATOR_CONTROL_TARGET1"; + + case 2: + return "ACTUATOR_CONTROL_TARGET2"; + + case 3: + return "ACTUATOR_CONTROL_TARGET3"; + } + } + + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return (_act_ctrl_sub + && _act_ctrl_sub->advertised()) ? (MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + } + +private: + explicit MavlinkStreamActuatorControlTarget(Mavlink *mavlink) : MavlinkStream(mavlink) + { + // XXX this can be removed once the multiplatform system remaps topics + switch (N) { + case 0: + _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_0)}; + break; + + case 1: + _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_1)}; + break; + + case 2: + _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_2)}; + break; + + case 3: + _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_3)}; + break; + } + } + + ~MavlinkStreamActuatorControlTarget() override + { + delete _act_ctrl_sub; + } + + uORB::Subscription *_act_ctrl_sub{nullptr}; + + bool send() override + { + actuator_controls_s act_ctrl; + + if (_act_ctrl_sub && _act_ctrl_sub->update(&act_ctrl)) { + mavlink_actuator_control_target_t msg{}; + + msg.time_usec = act_ctrl.timestamp; + msg.group_mlx = N; + + for (unsigned i = 0; i < sizeof(msg.controls) / sizeof(msg.controls[0]); i++) { + msg.controls[i] = act_ctrl.control[i]; + } + + mavlink_msg_actuator_control_target_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // ACTUATOR_CONTROL_TARGET_HPP diff --git a/src/modules/mavlink/streams/ACTUATOR_OUTPUT_STATUS.hpp b/src/modules/mavlink/streams/ACTUATOR_OUTPUT_STATUS.hpp index 588b5f052e..5c5cfbdefd 100644 --- a/src/modules/mavlink/streams/ACTUATOR_OUTPUT_STATUS.hpp +++ b/src/modules/mavlink/streams/ACTUATOR_OUTPUT_STATUS.hpp @@ -34,50 +34,29 @@ #ifndef ACTUATOR_OUTPUT_STATUS_HPP #define ACTUATOR_OUTPUT_STATUS_HPP +#include + class MavlinkStreamActuatorOutputStatus : public MavlinkStream { public: - const char *get_name() const override - { - return MavlinkStreamActuatorOutputStatus::get_name_static(); - } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamActuatorOutputStatus(mavlink); } - static constexpr const char *get_name_static() - { - return "ACTUATOR_OUTPUT_STATUS"; - } + static constexpr const char *get_name_static() { return "ACTUATOR_OUTPUT_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS; } - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamActuatorOutputStatus(mavlink); - } + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } unsigned get_size() override { - return (_act_output_sub.advertised()) ? (MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + return _act_output_sub.advertised() ? (MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: + explicit MavlinkStreamActuatorOutputStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + uORB::Subscription _act_output_sub{ORB_ID(actuator_outputs)}; - /* do not allow top copying this class */ - MavlinkStreamActuatorOutputStatus(MavlinkStreamActuatorOutputStatus &) = delete; - MavlinkStreamActuatorOutputStatus &operator = (const MavlinkStreamActuatorOutputStatus &) = delete; - -protected: - explicit MavlinkStreamActuatorOutputStatus(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - bool send() override { actuator_outputs_s act; diff --git a/src/modules/mavlink/streams/ADSB_VEHICLE.hpp b/src/modules/mavlink/streams/ADSB_VEHICLE.hpp new file mode 100644 index 0000000000..56f2a94e42 --- /dev/null +++ b/src/modules/mavlink/streams/ADSB_VEHICLE.hpp @@ -0,0 +1,110 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef ADSB_VEHICLE_HPP +#define ADSB_VEHICLE_HPP + +#include + +class MavlinkStreamADSBVehicle : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamADSBVehicle(mavlink); } + + static constexpr const char *get_name_static() { return "ADSB_VEHICLE"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ADSB_VEHICLE; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + bool const_rate() override { return true; } + + unsigned get_size() override + { + return _transponder_report_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _transponder_report_sub{ORB_ID(transponder_report)}; + + bool send() override + { + bool sent = false; + + transponder_report_s pos; + + while ((_mavlink->get_free_tx_buf() >= get_size()) && _transponder_report_sub.update(&pos)) { + + if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) { + continue; + } + + mavlink_adsb_vehicle_t msg{}; + msg.ICAO_address = pos.icao_address; + msg.lat = pos.lat * 1e7; + msg.lon = pos.lon * 1e7; + msg.altitude_type = pos.altitude_type; + msg.altitude = pos.altitude * 1e3f; + msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f; + msg.hor_velocity = pos.hor_velocity * 100.0f; + msg.ver_velocity = pos.ver_velocity * 100.0f; + memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign)); + msg.emitter_type = pos.emitter_type; + msg.tslc = pos.tslc; + msg.squawk = pos.squawk; + + msg.flags = 0; + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; } + + if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; } + + mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg); + sent = true; + } + + return sent; + } +}; + +#endif // ADSB_VEHICLE_HPP diff --git a/src/modules/mavlink/streams/ALTITUDE.hpp b/src/modules/mavlink/streams/ALTITUDE.hpp index 45eb67c9f9..f3c437d0d9 100644 --- a/src/modules/mavlink/streams/ALTITUDE.hpp +++ b/src/modules/mavlink/streams/ALTITUDE.hpp @@ -34,6 +34,8 @@ #ifndef ALTITUDE_HPP #define ALTITUDE_HPP +#include +#include #include #include @@ -56,9 +58,9 @@ public: private: explicit MavlinkStreamAltitude(Mavlink *mavlink) : MavlinkStream(mavlink) {} - uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; - uORB::Subscription _home_sub{ORB_ID(home_position)}; uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; + uORB::Subscription _home_sub{ORB_ID(home_position)}; + uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; bool send() override { diff --git a/src/modules/mavlink/streams/ATTITUDE.hpp b/src/modules/mavlink/streams/ATTITUDE.hpp index e36d4b4e6f..94c1f4a422 100644 --- a/src/modules/mavlink/streams/ATTITUDE.hpp +++ b/src/modules/mavlink/streams/ATTITUDE.hpp @@ -40,30 +40,13 @@ class MavlinkStreamAttitude : public MavlinkStream { public: - const char *get_name() const override - { - return MavlinkStreamAttitude::get_name_static(); - } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitude(mavlink); } - static constexpr const char *get_name_static() - { - return "ATTITUDE"; - } + static constexpr const char *get_name_static() { return "ATTITUDE"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE; } - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ATTITUDE; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamAttitude(mavlink); - } + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } unsigned get_size() override { @@ -71,18 +54,11 @@ public: } private: + explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink) {} + uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; - /* do not allow top copying this class */ - MavlinkStreamAttitude(MavlinkStreamAttitude &) = delete; - MavlinkStreamAttitude &operator = (const MavlinkStreamAttitude &) = delete; - - -protected: - explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - bool send() override { vehicle_attitude_s att; diff --git a/src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp b/src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp index f05387c1bc..64189419ad 100644 --- a/src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp +++ b/src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp @@ -41,30 +41,13 @@ class MavlinkStreamAttitudeQuaternion : public MavlinkStream { public: - const char *get_name() const override - { - return MavlinkStreamAttitudeQuaternion::get_name_static(); - } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitudeQuaternion(mavlink); } - static constexpr const char *get_name_static() - { - return "ATTITUDE_QUATERNION"; - } + static constexpr const char *get_name_static() { return "ATTITUDE_QUATERNION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE_QUATERNION; } - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ATTITUDE_QUATERNION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamAttitudeQuaternion(mavlink); - } + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } unsigned get_size() override { @@ -72,18 +55,12 @@ public: } private: + explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) {} + uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; - /* do not allow top copying this class */ - MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &) = delete; - MavlinkStreamAttitudeQuaternion &operator = (const MavlinkStreamAttitudeQuaternion &) = delete; - -protected: - explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - bool send() override { vehicle_attitude_s att; diff --git a/src/modules/mavlink/streams/ATTITUDE_TARGET.hpp b/src/modules/mavlink/streams/ATTITUDE_TARGET.hpp index 5b7886d5ab..55c262862b 100644 --- a/src/modules/mavlink/streams/ATTITUDE_TARGET.hpp +++ b/src/modules/mavlink/streams/ATTITUDE_TARGET.hpp @@ -40,30 +40,13 @@ class MavlinkStreamAttitudeTarget : public MavlinkStream { public: - const char *get_name() const override - { - return MavlinkStreamAttitudeTarget::get_name_static(); - } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitudeTarget(mavlink); } - static constexpr const char *get_name_static() - { - return "ATTITUDE_TARGET"; - } + static constexpr const char *get_name_static() { return "ATTITUDE_TARGET"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE_TARGET; } - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ATTITUDE_TARGET; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamAttitudeTarget(mavlink); - } + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } unsigned get_size() override { @@ -71,23 +54,16 @@ public: } private: + explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink) {} + uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; uORB::Subscription _att_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; - /* do not allow top copying this class */ - MavlinkStreamAttitudeTarget(MavlinkStreamAttitudeTarget &) = delete; - MavlinkStreamAttitudeTarget &operator = (const MavlinkStreamAttitudeTarget &) = delete; - -protected: - explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - bool send() override { vehicle_attitude_setpoint_s att_sp; if (_att_sp_sub.update(&att_sp)) { - mavlink_attitude_target_t msg{}; msg.time_boot_ms = att_sp.timestamp / 1000; @@ -100,7 +76,7 @@ protected: msg.body_pitch_rate = att_rates_sp.pitch; msg.body_yaw_rate = att_rates_sp.yaw; - msg.thrust = Vector3f(att_sp.thrust_body).norm(); + msg.thrust = matrix::Vector3f(att_sp.thrust_body).norm(); mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg); diff --git a/src/modules/mavlink/streams/ATT_POS_MOCAP.hpp b/src/modules/mavlink/streams/ATT_POS_MOCAP.hpp new file mode 100644 index 0000000000..07ea7a9129 --- /dev/null +++ b/src/modules/mavlink/streams/ATT_POS_MOCAP.hpp @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef ATT_POS_MOCAP_HPP +#define ATT_POS_MOCAP_HPP + +#include + +class MavlinkStreamAttPosMocap : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttPosMocap(mavlink); } + + static constexpr const char *get_name_static() { return "ATT_POS_MOCAP"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATT_POS_MOCAP; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _mocap_sub.advertised() ? MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamAttPosMocap(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _mocap_sub{ORB_ID(vehicle_mocap_odometry)}; + + bool send() override + { + vehicle_odometry_s mocap; + + if (_mocap_sub.update(&mocap)) { + mavlink_att_pos_mocap_t msg{}; + + msg.time_usec = mocap.timestamp_sample; + msg.q[0] = mocap.q[0]; + msg.q[1] = mocap.q[1]; + msg.q[2] = mocap.q[2]; + msg.q[3] = mocap.q[3]; + msg.x = mocap.x; + msg.y = mocap.y; + msg.z = mocap.z; + // msg.covariance = + + mavlink_msg_att_pos_mocap_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // ATT_POS_MOCAP_HPP diff --git a/src/modules/mavlink/streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp b/src/modules/mavlink/streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp new file mode 100644 index 0000000000..5e4dea2a03 --- /dev/null +++ b/src/modules/mavlink/streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp @@ -0,0 +1,143 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP +#define AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP + +#include +#include +#include +#include +#include +#include + +class MavlinkStreamAutopilotStateForGimbalDevice : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAutopilotStateForGimbalDevice(mavlink); } + + static constexpr const char *get_name_static() { return "AUTOPILOT_STATE_FOR_GIMBAL_DEVICE"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_att_sub.advertised()) { + return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; + uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; + uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; + uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; + uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)}; + + bool send() override + { + vehicle_attitude_s att; + + if (_att_sub.update(&att)) { + mavlink_autopilot_state_for_gimbal_device_t msg{}; + + //msg.target_system = 0; // TODO + //msg.target_component = 0; // TODO + + msg.time_boot_us = att.timestamp; + msg.q[0] = att.q[0]; + msg.q[1] = att.q[1]; + msg.q[2] = att.q[2]; + msg.q[3] = att.q[3]; + msg.q_estimated_delay_us = 0; // I don't know. + + { + vehicle_local_position_s lpos; + + if (_lpos_sub.copy(&lpos)) { + msg.vx = lpos.vx; + msg.vy = lpos.vy; + msg.vz = lpos.vz; + msg.v_estimated_delay_us = 0; // I don't know. + } + } + + { + vehicle_attitude_setpoint_s att_sp; + + if (_att_sp_sub.copy(&att_sp)) { + msg.feed_forward_angular_velocity_z = att_sp.yaw_sp_move_rate; + } + } + + { + estimator_selector_status_s estimator_selector_status; + + if (_estimator_selector_status_sub.update(&estimator_selector_status)) { + _estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance); + + } + + estimator_status_s est; + + if (_estimator_status_sub.copy(&est)) { + msg.estimator_status = est.solution_status_flags; + } + } + + { + vehicle_land_detected_s land_detected; + + if (_landed_sub.copy(&land_detected)) { + // Ignore take-off and landing states for now. + msg.landed_state = land_detected.landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR; + } + } + + mavlink_msg_autopilot_state_for_gimbal_device_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP diff --git a/src/modules/mavlink/streams/BATTERY_STATUS.hpp b/src/modules/mavlink/streams/BATTERY_STATUS.hpp new file mode 100644 index 0000000000..6af59d79b5 --- /dev/null +++ b/src/modules/mavlink/streams/BATTERY_STATUS.hpp @@ -0,0 +1,137 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef BATTERY_STATUS_HPP +#define BATTERY_STATUS_HPP + +#include + +class MavlinkStreamBatteryStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryStatus(mavlink); } + + static constexpr const char *get_name_static() { return "BATTERY_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_STATUS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + return size_per_battery * _battery_status_subs.advertised_count(); + } + +private: + explicit MavlinkStreamBatteryStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; + + bool send() override + { + bool updated = false; + + for (auto &battery_sub : _battery_status_subs) { + battery_status_s battery_status; + + if (battery_sub.update(&battery_status)) { + /* battery status message with higher resolution */ + mavlink_battery_status_t bat_msg{}; + // TODO: Determine how to better map between battery ID within the firmware and in MAVLink + bat_msg.id = battery_status.id - 1; + bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL; + bat_msg.type = MAV_BATTERY_TYPE_LIPO; + bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1; + bat_msg.energy_consumed = -1; + bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1; + bat_msg.battery_remaining = (battery_status.connected) ? ceilf(battery_status.remaining * 100.f) : -1; + bat_msg.time_remaining = (battery_status.connected) ? battery_status.run_time_to_empty * 60 : 0; + + switch (battery_status.warning) { + case (battery_status_s::BATTERY_WARNING_NONE): + bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_OK; + break; + + case (battery_status_s::BATTERY_WARNING_LOW): + bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_LOW; + break; + + case (battery_status_s::BATTERY_WARNING_CRITICAL): + bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_CRITICAL; + break; + + case (battery_status_s::BATTERY_WARNING_EMERGENCY): + bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_EMERGENCY; + break; + + case (battery_status_s::BATTERY_WARNING_FAILED): + bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_FAILED; + break; + + default: + bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_UNDEFINED; + break; + } + + // check if temperature valid + if (battery_status.connected && PX4_ISFINITE(battery_status.temperature)) { + bat_msg.temperature = battery_status.temperature * 100.f; + + } else { + bat_msg.temperature = INT16_MAX; + } + + static constexpr int mavlink_cells_max = (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); + static constexpr int uorb_cells_max = + (sizeof(battery_status.voltage_cell_v) / sizeof(battery_status.voltage_cell_v[0])); + + for (int cell = 0; cell < mavlink_cells_max; cell++) { + if (battery_status.connected && (cell < battery_status.cell_count) && (cell < uorb_cells_max)) { + bat_msg.voltages[cell] = battery_status.voltage_cell_v[cell] * 1000.f; + + } else { + bat_msg.voltages[cell] = UINT16_MAX; + } + } + + mavlink_msg_battery_status_send_struct(_mavlink->get_channel(), &bat_msg); + updated = true; + } + } + + return updated; + } +}; + +#endif // BATTERY_STATUS_HPP diff --git a/src/modules/mavlink/streams/CAMERA_IMAGE_CAPTURED.hpp b/src/modules/mavlink/streams/CAMERA_IMAGE_CAPTURED.hpp new file mode 100644 index 0000000000..fede0f3c27 --- /dev/null +++ b/src/modules/mavlink/streams/CAMERA_IMAGE_CAPTURED.hpp @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef CAMERA_IMAGE_CAPTURED_HPP +#define CAMERA_IMAGE_CAPTURED_HPP + +#include + +class MavlinkStreamCameraImageCaptured : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraImageCaptured(mavlink); } + + static constexpr const char *get_name_static() { return "CAMERA_IMAGE_CAPTURED"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + bool const_rate() override { return true; } + + unsigned get_size() override + { + return _capture_sub.advertised() ? MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamCameraImageCaptured(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _capture_sub{ORB_ID(camera_capture)}; + + bool send() override + { + camera_capture_s capture; + + if ((_mavlink->get_free_tx_buf() >= get_size()) && _capture_sub.update(&capture)) { + mavlink_camera_image_captured_t msg{}; + + msg.time_boot_ms = capture.timestamp / 1000; + msg.time_utc = capture.timestamp_utc; + msg.camera_id = 1; // FIXME : get this from uORB + msg.lat = capture.lat * 1e7; + msg.lon = capture.lon * 1e7; + msg.alt = capture.alt * 1e3f; + msg.relative_alt = capture.ground_distance * 1e3f; + msg.q[0] = capture.q[0]; + msg.q[1] = capture.q[1]; + msg.q[2] = capture.q[2]; + msg.q[3] = capture.q[3]; + msg.image_index = capture.seq; + msg.capture_result = capture.result; + msg.file_url[0] = '\0'; + + mavlink_msg_camera_image_captured_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // CAMERA_IMAGE_CAPTURED_HPP diff --git a/src/modules/mavlink/streams/CAMERA_TRIGGER.hpp b/src/modules/mavlink/streams/CAMERA_TRIGGER.hpp new file mode 100644 index 0000000000..64d199e304 --- /dev/null +++ b/src/modules/mavlink/streams/CAMERA_TRIGGER.hpp @@ -0,0 +1,122 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef CAMERA_TRIGGER_HPP +#define CAMERA_TRIGGER_HPP + +#include + +class MavlinkStreamCameraTrigger : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraTrigger(mavlink); } + + static constexpr const char *get_name_static() { return "CAMERA_TRIGGER"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CAMERA_TRIGGER; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + bool const_rate() override { return true; } + + unsigned get_size() override + { + if (_camera_trigger_sub.advertised()) { + return MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + + MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; // TODO: MAV_CMD_DO_DIGICAM_CONTROL + } + + return 0; + } + +private: + explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _camera_trigger_sub{ORB_ID(camera_trigger)}; + + bool send() override + { + camera_trigger_s camera_trigger; + + if ((_mavlink->get_free_tx_buf() >= get_size()) && _camera_trigger_sub.update(&camera_trigger)) { + /* ensure that only active trigger events are sent */ + if (camera_trigger.timestamp > 0) { + mavlink_camera_trigger_t msg{}; + msg.time_usec = camera_trigger.timestamp; + msg.seq = camera_trigger.seq; + mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg); + + + vehicle_command_s vcmd{}; + vcmd.timestamp = hrt_absolute_time(); + vcmd.param1 = 0.0f; // all cameras + vcmd.param2 = 0.0f; // duration 0 because only taking one picture + vcmd.param3 = 1.0f; // only take one + vcmd.param4 = NAN; + vcmd.param5 = (double)NAN; + vcmd.param6 = (double)NAN; + vcmd.param7 = NAN; + vcmd.command = MAV_CMD_IMAGE_START_CAPTURE; + vcmd.target_system = mavlink_system.sysid; + vcmd.target_component = MAV_COMP_ID_CAMERA; + + MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel()); + + + // TODO: move this camera_trigger and publish as a vehicle_command + /* send MAV_CMD_DO_DIGICAM_CONTROL*/ + mavlink_command_long_t command_long_msg{}; + + command_long_msg.target_system = 0; // 0 for broadcast + command_long_msg.target_component = MAV_COMP_ID_CAMERA; + command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL; + command_long_msg.confirmation = 0; + command_long_msg.param1 = NAN; + command_long_msg.param2 = NAN; + command_long_msg.param3 = NAN; + command_long_msg.param4 = NAN; + command_long_msg.param5 = 1; // take 1 picture + command_long_msg.param6 = NAN; + command_long_msg.param7 = NAN; + + mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg); + + return true; + } + } + + return false; + } +}; + +#endif // CAMERA_TRIGGER_HPP diff --git a/src/modules/mavlink/streams/COLLISION.hpp b/src/modules/mavlink/streams/COLLISION.hpp index 455ac683fa..a3469c62d9 100644 --- a/src/modules/mavlink/streams/COLLISION.hpp +++ b/src/modules/mavlink/streams/COLLISION.hpp @@ -39,30 +39,13 @@ class MavlinkStreamCollision : public MavlinkStream { public: - const char *get_name() const override - { - return MavlinkStreamCollision::get_name_static(); - } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCollision(mavlink); } - static constexpr const char *get_name_static() - { - return "COLLISION"; - } + static constexpr const char *get_name_static() { return "COLLISION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COLLISION; } - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_COLLISION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamCollision(mavlink); - } + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } unsigned get_size() override { @@ -70,16 +53,10 @@ public: } private: + explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink) {} + uORB::Subscription _collision_sub{ORB_ID(collision_report)}; - /* do not allow top copying this class */ - MavlinkStreamCollision(MavlinkStreamCollision &) = delete; - MavlinkStreamCollision &operator = (const MavlinkStreamCollision &) = delete; - -protected: - explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - bool send() override { collision_report_s report; diff --git a/src/modules/mavlink/streams/COMMAND_LONG.hpp b/src/modules/mavlink/streams/COMMAND_LONG.hpp new file mode 100644 index 0000000000..bd36968110 --- /dev/null +++ b/src/modules/mavlink/streams/COMMAND_LONG.hpp @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef COMMAND_LONG_HPP +#define COMMAND_LONG_HPP + +#include + +class MavlinkStreamCommandLong : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCommandLong(mavlink); } + + static constexpr const char *get_name_static() { return "COMMAND_LONG"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COMMAND_LONG; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return 0; // commands stream is not regular and not predictable + } + +private: + explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; + + bool send() override + { + bool sent = false; + + static constexpr size_t COMMAND_LONG_SIZE = MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + + while ((_mavlink->get_free_tx_buf() >= COMMAND_LONG_SIZE) && _vehicle_command_sub.updated()) { + + const unsigned last_generation = _vehicle_command_sub.get_last_generation(); + vehicle_command_s cmd; + + if (_vehicle_command_sub.update(&cmd)) { + if (_vehicle_command_sub.get_last_generation() != last_generation + 1) { + PX4_ERR("COMMAND_LONG vehicle_command lost, generation %d -> %d", last_generation, + _vehicle_command_sub.get_last_generation()); + } + + if (!cmd.from_external && cmd.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) { + PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); + + MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel()); + sent = true; + + } else { + PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); + } + } + } + + MavlinkCommandSender::instance().check_timeout(_mavlink->get_channel()); + + return sent; + } +}; + +#endif // COMMAND_LONG_HPP diff --git a/src/modules/mavlink/streams/COMPONENT_INFORMATION.hpp b/src/modules/mavlink/streams/COMPONENT_INFORMATION.hpp index 808e86820d..d4bc184d08 100644 --- a/src/modules/mavlink/streams/COMPONENT_INFORMATION.hpp +++ b/src/modules/mavlink/streams/COMPONENT_INFORMATION.hpp @@ -36,7 +36,7 @@ #include "../mavlink_stream.h" -#include +#include #include @@ -61,34 +61,17 @@ public: bool request_message(float param2, float param3, float param4, float param5, float param6, float param7) override { - int type = (int)roundf(param2); mavlink_component_information_t component_info{}; - bool handled = false; - PX4_DEBUG("COMPONENT_INFORMATION request type %i", type); + PX4_DEBUG("COMPONENT_INFORMATION request"); - switch (type) { - case COMP_METADATA_TYPE_VERSION: - component_info.metadata_uid = component_information::component_version_hash; - handled = get_component_information("component_version.json.xz", component_info); - break; + strncpy(component_info.general_metadata_uri, "mftp://etc/extras/component_general.json.xz", + sizeof(component_info.general_metadata_uri) - 1); + component_info.general_metadata_file_crc = component_information::component_general_crc; - case COMP_METADATA_TYPE_PARAMETER: - component_info.metadata_uid = component_information::params_hash; - handled = get_component_information("params.json.xz", component_info); - break; + component_info.time_boot_ms = hrt_absolute_time() / 1000; + mavlink_msg_component_information_send_struct(_mavlink->get_channel(), &component_info); - case COMP_METADATA_TYPE_COMMANDS: - // TODO - break; - } - - if (handled) { - component_info.metadata_type = type; - component_info.time_boot_ms = hrt_absolute_time() / 1000; - mavlink_msg_component_information_send_struct(_mavlink->get_channel(), &component_info); - } - - return handled; + return true; } private: explicit MavlinkStreamComponentInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {} @@ -97,40 +80,6 @@ private: { return false; } - - bool get_component_information(const char *file, mavlink_component_information_t &component_info) - { - char full_path[64]; - snprintf(full_path, sizeof(full_path), "%s/etc/extras/%s", PX4_ROOTFSDIR, file); - full_path[sizeof(full_path) - 1] = '\0'; - - if (file_exist(full_path)) { - if (snprintf(component_info.metadata_uri, sizeof(component_info.metadata_uri), "mftp://etc/extras/%s", file) - >= (int)sizeof(component_info.metadata_uri)) { - PX4_ERR("path too long (%s)", file); - return false; - } - - } else { - // TODO: - // - check for tagged version, use per-version files - // - generate & use board-specific file - if (snprintf(component_info.metadata_uri, sizeof(component_info.metadata_uri), - "https://px4-travis.s3.amazonaws.com/Firmware/master/%s", file) - >= (int)sizeof(component_info.metadata_uri)) { - PX4_ERR("url too long (%s)", file); - return false; - } - } - - return true; - } - - bool file_exist(const char *filename) - { - struct stat buffer; - return stat(filename, &buffer) == 0; - } }; #endif // COMPONENT_INFORMATION_HPP diff --git a/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp b/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp new file mode 100644 index 0000000000..3764940c31 --- /dev/null +++ b/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp @@ -0,0 +1,98 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef ESTIMATOR_STATUS_HPP +#define ESTIMATOR_STATUS_HPP + +#include +#include + +class MavlinkStreamEstimatorStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamEstimatorStatus(mavlink); } + + static constexpr const char *get_name_static() { return "ESTIMATOR_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ESTIMATOR_STATUS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _estimator_status_sub.advertised() ? MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamEstimatorStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; + uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; + + bool send() override + { + // use primary estimator_status + if (_estimator_selector_status_sub.updated()) { + estimator_selector_status_s estimator_selector_status; + + if (_estimator_selector_status_sub.copy(&estimator_selector_status)) { + if (estimator_selector_status.primary_instance != _estimator_status_sub.get_instance()) { + _estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance); + } + } + } + + estimator_status_s est; + + if (_estimator_status_sub.update(&est)) { + mavlink_estimator_status_t est_msg{}; + est_msg.time_usec = est.timestamp; + est_msg.vel_ratio = est.vel_test_ratio; + est_msg.pos_horiz_ratio = est.pos_test_ratio; + est_msg.pos_vert_ratio = est.hgt_test_ratio; + est_msg.mag_ratio = est.mag_test_ratio; + est_msg.hagl_ratio = est.hagl_test_ratio; + est_msg.tas_ratio = est.tas_test_ratio; + est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy; + est_msg.pos_vert_accuracy = est.pos_vert_accuracy; + est_msg.flags = est.solution_status_flags; + mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg); + + return true; + } + + return false; + } +}; + +#endif // ESTIMATOR_STATUS_HPP diff --git a/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp b/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp new file mode 100644 index 0000000000..0d9fe42129 --- /dev/null +++ b/src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp @@ -0,0 +1,98 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef GIMBAL_DEVICE_ATTITUDE_STATUS_HPP +#define GIMBAL_DEVICE_ATTITUDE_STATUS_HPP + +#include + +class MavlinkStreamGimbalDeviceAttitudeStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalDeviceAttitudeStatus(mavlink); } + + static constexpr const char *get_name_static() { return "GIMBAL_DEVICE_ATTITUDE_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_gimbal_device_attitude_status_sub.advertised()) { + return MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamGimbalDeviceAttitudeStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _gimbal_device_attitude_status_sub{ORB_ID(gimbal_device_attitude_status)}; + + bool send() override + { + gimbal_device_attitude_status_s gimbal_device_attitude_status{}; + + if (_gimbal_device_attitude_status_sub.update(&gimbal_device_attitude_status)) { + mavlink_gimbal_device_attitude_status_t msg{}; + + msg.target_system = gimbal_device_attitude_status.target_system; + msg.target_component = gimbal_device_attitude_status.target_component; + + msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000; + + msg.flags = gimbal_device_attitude_status.device_flags; + + msg.q[0] = gimbal_device_attitude_status.q[0]; + msg.q[1] = gimbal_device_attitude_status.q[1]; + msg.q[2] = gimbal_device_attitude_status.q[2]; + msg.q[3] = gimbal_device_attitude_status.q[3]; + + msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x; + msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y; + msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z; + + msg.failure_flags = gimbal_device_attitude_status.failure_flags; + + mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GIMBAL_DEVICE_ATTITUDE_STATUS diff --git a/src/modules/mavlink/streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp b/src/modules/mavlink/streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp new file mode 100644 index 0000000000..413e7361e6 --- /dev/null +++ b/src/modules/mavlink/streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef GIMBAL_DEVICE_SET_ATTITUDE_HPP +#define GIMBAL_DEVICE_SET_ATTITUDE_HPP + +#include + +class MavlinkStreamGimbalDeviceSetAttitude : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalDeviceSetAttitude(mavlink); } + + static constexpr const char *get_name_static() { return "GIMBAL_DEVICE_SET_ATTITUDE"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_gimbal_device_set_attitude_sub.advertised()) { + return (MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES); + } + + return 0; + } + +private: + explicit MavlinkStreamGimbalDeviceSetAttitude(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _gimbal_device_set_attitude_sub{ORB_ID(gimbal_device_set_attitude)}; + + bool send() override + { + gimbal_device_set_attitude_s gimbal_device_set_attitude; + + if (_gimbal_device_set_attitude_sub.advertised() && _gimbal_device_set_attitude_sub.copy(&gimbal_device_set_attitude)) { + mavlink_gimbal_device_set_attitude_t msg{}; + + msg.target_system = gimbal_device_set_attitude.target_system; + msg.target_component = gimbal_device_set_attitude.target_component; + + msg.flags = gimbal_device_set_attitude.flags; + + msg.q[0] = gimbal_device_set_attitude.q[0]; + msg.q[1] = gimbal_device_set_attitude.q[1]; + msg.q[2] = gimbal_device_set_attitude.q[2]; + msg.q[3] = gimbal_device_set_attitude.q[3]; + + msg.angular_velocity_x = gimbal_device_set_attitude.angular_velocity_x; + msg.angular_velocity_y = gimbal_device_set_attitude.angular_velocity_y; + msg.angular_velocity_z = gimbal_device_set_attitude.angular_velocity_z; + + mavlink_msg_gimbal_device_set_attitude_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GIMBAL_DEVICE_SET_ATTITUDE_HPP diff --git a/src/modules/mavlink/streams/GIMBAL_MANAGER_INFORMATION.hpp b/src/modules/mavlink/streams/GIMBAL_MANAGER_INFORMATION.hpp new file mode 100644 index 0000000000..0a849841d5 --- /dev/null +++ b/src/modules/mavlink/streams/GIMBAL_MANAGER_INFORMATION.hpp @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef GIMBAL_MANAGER_INFORMATION_HPP +#define GIMBAL_MANAGER_INFORMATION_HPP + +#include + +class MavlinkStreamGimbalManagerInformation : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalManagerInformation(mavlink); } + + static constexpr const char *get_name_static() { return "GIMBAL_MANAGER_INFORMATION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_gimbal_manager_information_sub.advertised()) { + return MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamGimbalManagerInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _gimbal_manager_information_sub{ORB_ID(gimbal_manager_information)}; + + bool send() override + { + gimbal_manager_information_s gimbal_manager_information; + + if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_manager_information)) { + // send out gimbal_manager_info with info from gimbal_manager_information + mavlink_gimbal_manager_information_t msg{}; + + msg.time_boot_ms = gimbal_manager_information.timestamp / 1000; + msg.cap_flags = gimbal_manager_information.cap_flags; + msg.gimbal_device_id = 0; + msg.roll_min = gimbal_manager_information.roll_min; + msg.roll_max = gimbal_manager_information.roll_max; + msg.pitch_min = gimbal_manager_information.pitch_min; + msg.pitch_max = gimbal_manager_information.pitch_max; + msg.yaw_min = gimbal_manager_information.yaw_min; + msg.yaw_max = gimbal_manager_information.yaw_max; + + mavlink_msg_gimbal_manager_information_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GIMBAL_MANAGER_INFORMATION_HPP diff --git a/src/modules/mavlink/streams/GIMBAL_MANAGER_STATUS.hpp b/src/modules/mavlink/streams/GIMBAL_MANAGER_STATUS.hpp new file mode 100644 index 0000000000..ecab79410c --- /dev/null +++ b/src/modules/mavlink/streams/GIMBAL_MANAGER_STATUS.hpp @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef GIMBAL_MANAGER_STATUS_HPP +#define GIMBAL_MANAGER_STATUS_HPP + +#include + +class MavlinkStreamGimbalManagerStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalManagerStatus(mavlink); } + + static constexpr const char *get_name_static() { return "GIMBAL_MANAGER_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_gimbal_manager_status_sub.advertised()) { + return MAVLINK_MSG_ID_GIMBAL_MANAGER_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamGimbalManagerStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _gimbal_manager_status_sub{ORB_ID(gimbal_manager_status)}; + + bool send() override + { + gimbal_manager_status_s gimbal_manager_status; + + if (_gimbal_manager_status_sub.advertised() && _gimbal_manager_status_sub.copy(&gimbal_manager_status)) { + mavlink_gimbal_manager_status_t msg{}; + + msg.time_boot_ms = gimbal_manager_status.timestamp / 1000; + msg.flags = gimbal_manager_status.flags; + msg.gimbal_device_id = gimbal_manager_status.gimbal_device_id; + msg.primary_control_sysid = gimbal_manager_status.primary_control_sysid; + msg.primary_control_compid = gimbal_manager_status.primary_control_compid; + msg.secondary_control_sysid = gimbal_manager_status.secondary_control_sysid; + msg.secondary_control_compid = gimbal_manager_status.secondary_control_compid; + + mavlink_msg_gimbal_manager_status_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GIMBAL_MANAGER_STATUS_HPP diff --git a/src/modules/mavlink/streams/GLOBAL_POSITION_INT.hpp b/src/modules/mavlink/streams/GLOBAL_POSITION_INT.hpp new file mode 100644 index 0000000000..6d2997fe71 --- /dev/null +++ b/src/modules/mavlink/streams/GLOBAL_POSITION_INT.hpp @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef GLOBAL_POSITION_INT_HPP +#define GLOBAL_POSITION_INT_HPP + +#include +#include +#include +#include + +class MavlinkStreamGlobalPositionInt : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGlobalPositionInt(mavlink); } + + static constexpr const char *get_name_static() { return "GLOBAL_POSITION_INT"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GLOBAL_POSITION_INT; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _gpos_sub.advertised() ? MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamGlobalPositionInt(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)}; + uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _home_sub{ORB_ID(home_position)}; + uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; + + bool send() override + { + vehicle_global_position_s gpos; + vehicle_local_position_s lpos; + + if (_gpos_sub.update(&gpos) && _lpos_sub.update(&lpos)) { + + mavlink_global_position_int_t msg{}; + + if (lpos.z_valid && lpos.z_global) { + msg.alt = (-lpos.z + lpos.ref_alt) * 1000.0f; + + } else { + // fall back to baro altitude + vehicle_air_data_s air_data{}; + _air_data_sub.copy(&air_data); + + if (air_data.timestamp > 0) { + msg.alt = air_data.baro_alt_meter * 1000.0f; + } + } + + home_position_s home{}; + _home_sub.copy(&home); + + if ((home.timestamp > 0) && home.valid_alt) { + if (lpos.z_valid) { + msg.relative_alt = -(lpos.z - home.z) * 1000.0f; + + } else { + msg.relative_alt = msg.alt - (home.alt * 1000.0f); + } + + } else { + if (lpos.z_valid) { + msg.relative_alt = -lpos.z * 1000.0f; + } + } + + msg.time_boot_ms = gpos.timestamp / 1000; + msg.lat = gpos.lat * 1e7; + msg.lon = gpos.lon * 1e7; + + msg.vx = lpos.vx * 100.0f; + msg.vy = lpos.vy * 100.0f; + msg.vz = lpos.vz * 100.0f; + + msg.hdg = math::degrees(matrix::wrap_2pi(lpos.heading)) * 100.0f; + + mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GLOBAL_POSITION_INT_HPP diff --git a/src/modules/mavlink/streams/GPS2_RAW.hpp b/src/modules/mavlink/streams/GPS2_RAW.hpp new file mode 100644 index 0000000000..754740780a --- /dev/null +++ b/src/modules/mavlink/streams/GPS2_RAW.hpp @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef GPS2_RAW_HPP +#define GPS2_RAW_HPP + +#include + +class MavlinkStreamGPS2Raw : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPS2Raw(mavlink); } + + static constexpr const char *get_name_static() { return "GPS2_RAW"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS2_RAW; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _sensor_gps_sub.advertised() ? (MAVLINK_MSG_ID_GPS2_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + } + +private: + explicit MavlinkStreamGPS2Raw(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _sensor_gps_sub{ORB_ID(sensor_gps), 1}; + + bool send() override + { + sensor_gps_s gps; + + if (_sensor_gps_sub.update(&gps)) { + mavlink_gps2_raw_t msg{}; + + msg.time_usec = gps.timestamp; + msg.fix_type = gps.fix_type; + msg.lat = gps.lat; + msg.lon = gps.lon; + msg.alt = gps.alt; + msg.eph = gps.hdop * 100; // GPS HDOP horizontal dilution of position (unitless) + msg.epv = gps.vdop * 100; // GPS VDOP vertical dilution of position (unitless) + + if (PX4_ISFINITE(gps.vel_m_s) && (fabsf(gps.vel_m_s) >= 0.f)) { + msg.vel = gps.vel_m_s * 100.f; // cm/s + + } else { + msg.vel = UINT16_MAX; // If unknown, set to: UINT16_MAX + } + + msg.cog = math::degrees(matrix::wrap_2pi(gps.cog_rad)) * 1e2f; + msg.satellites_visible = gps.satellites_used; + + //msg.dgps_numch = // Number of DGPS satellites + //msg.dgps_age = // Age of DGPS info + + if (PX4_ISFINITE(gps.heading)) { + if (fabsf(gps.heading) < FLT_EPSILON) { + msg.yaw = 36000; // Use 36000 for north. + + } else { + msg.yaw = math::degrees(gps.heading) * 100.f; // centidegrees + } + } + + mavlink_msg_gps2_raw_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GPS2_RAW_HPP diff --git a/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp b/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp index c498973c57..22802b9082 100644 --- a/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp +++ b/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -39,61 +39,79 @@ class MavlinkStreamGpsGlobalOrigin : public MavlinkStream { public: - const char *get_name() const override - { - return MavlinkStreamGpsGlobalOrigin::get_name_static(); - } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGpsGlobalOrigin(mavlink); } - static constexpr const char *get_name_static() - { - return "GPS_GLOBAL_ORIGIN"; - } + static constexpr const char *get_name_static() { return "GPS_GLOBAL_ORIGIN"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN; } - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamGpsGlobalOrigin(mavlink); - } + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } unsigned get_size() override { - return _vehicle_local_position_sub.advertised() ? - (MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + if (_vehicle_local_position_sub.advertised()) { + return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + + bool request_message(float param2, float param3, float param4, float param5, float param6, float param7) override + { + if (_valid) { + _force_next_send = true; + return true; + } + + return false; } private: + explicit MavlinkStreamGpsGlobalOrigin(Mavlink *mavlink) : MavlinkStream(mavlink) {} + uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)}; - /* do not allow top copying this class */ - MavlinkStreamGpsGlobalOrigin(MavlinkStreamGpsGlobalOrigin &) = delete; - MavlinkStreamGpsGlobalOrigin &operator = (const MavlinkStreamGpsGlobalOrigin &) = delete; + uint64_t _ref_timestamp{0}; + double _ref_lat{static_cast(NAN)}; + double _ref_lon{static_cast(NAN)}; + float _ref_alt{NAN}; -protected: - explicit MavlinkStreamGpsGlobalOrigin(Mavlink *mavlink) : MavlinkStream(mavlink) - {} + bool _valid{false}; + bool _force_next_send{true}; bool send() override { vehicle_local_position_s vehicle_local_position; - if (_vehicle_local_position_sub.copy(&vehicle_local_position) - && vehicle_local_position.xy_global && vehicle_local_position.z_global) { - mavlink_gps_global_origin_t msg{}; - msg.latitude = static_cast(vehicle_local_position.ref_lat * 1e7); // double degree -> int32 degreeE7 - msg.longitude = static_cast(vehicle_local_position.ref_lon * 1e7); // double degree -> int32 degreeE7 - msg.altitude = static_cast(vehicle_local_position.ref_alt * 1e3f); // float m -> int32 mm - msg.time_usec = vehicle_local_position.timestamp; // int64 time since system boot - mavlink_msg_gps_global_origin_send_struct(_mavlink->get_channel(), &msg); - return true; + if (_vehicle_local_position_sub.update(&vehicle_local_position)) { + if (vehicle_local_position.xy_global && vehicle_local_position.z_global) { + + static constexpr double LLA_MIN_DIFF = 0.0000001; // ~11.132 mm at the equator + + if (_force_next_send + || (_ref_timestamp != vehicle_local_position.ref_timestamp) + || (fabs(_ref_lat - vehicle_local_position.ref_lat) > LLA_MIN_DIFF) + || (fabs(_ref_lon - vehicle_local_position.ref_lon) > LLA_MIN_DIFF) + || (fabsf(_ref_alt - vehicle_local_position.ref_alt) > 0.001f)) { + + mavlink_gps_global_origin_t msg{}; + msg.latitude = round(vehicle_local_position.ref_lat * 1e7); // double degree -> int32 degreeE7 + msg.longitude = round(vehicle_local_position.ref_lon * 1e7); // double degree -> int32 degreeE7 + msg.altitude = roundf(vehicle_local_position.ref_alt * 1e3f); // float m -> int32 mm + msg.time_usec = vehicle_local_position.ref_timestamp; // int64 time since system boot + mavlink_msg_gps_global_origin_send_struct(_mavlink->get_channel(), &msg); + + _ref_timestamp = vehicle_local_position.ref_timestamp; + _ref_lat = vehicle_local_position.ref_lat; + _ref_lon = vehicle_local_position.ref_lon; + _ref_alt = vehicle_local_position.ref_alt; + + _force_next_send = false; + _valid = true; + + return true; + } + } } return false; diff --git a/src/modules/mavlink/streams/GPS_RAW_INT.hpp b/src/modules/mavlink/streams/GPS_RAW_INT.hpp new file mode 100644 index 0000000000..80c17eccf8 --- /dev/null +++ b/src/modules/mavlink/streams/GPS_RAW_INT.hpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef GPS_RAW_INT_HPP +#define GPS_RAW_INT_HPP + +#include + +class MavlinkStreamGPSRawInt : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPSRawInt(mavlink); } + + static constexpr const char *get_name_static() { return "GPS_RAW_INT"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_RAW_INT; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _sensor_gps_sub.advertised() ? (MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + } + +private: + explicit MavlinkStreamGPSRawInt(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _sensor_gps_sub{ORB_ID(sensor_gps), 0}; + + bool send() override + { + sensor_gps_s gps; + + if (_sensor_gps_sub.update(&gps)) { + mavlink_gps_raw_int_t msg{}; + + msg.time_usec = gps.timestamp; + msg.fix_type = gps.fix_type; + msg.lat = gps.lat; + msg.lon = gps.lon; + msg.alt = gps.alt; + msg.eph = gps.hdop * 100; // GPS HDOP horizontal dilution of position (unitless) + msg.epv = gps.vdop * 100; // GPS VDOP vertical dilution of position (unitless) + + if (PX4_ISFINITE(gps.vel_m_s) && (fabsf(gps.vel_m_s) >= 0.f)) { + msg.vel = gps.vel_m_s * 100.f; // cm/s + + } else { + msg.vel = UINT16_MAX; // If unknown, set to: UINT16_MAX + } + + msg.cog = math::degrees(matrix::wrap_2pi(gps.cog_rad)) * 1e2f; + msg.satellites_visible = gps.satellites_used; + msg.alt_ellipsoid = gps.alt_ellipsoid; + msg.h_acc = gps.eph * 1e3f; // position uncertainty in mm + msg.v_acc = gps.epv * 1e3f; // altitude uncertainty in mm + msg.vel_acc = gps.s_variance_m_s * 1e3f; // speed uncertainty in mm + msg.hdg_acc = math::degrees(gps.c_variance_rad) * 1e5f; // Heading / track uncertainty in degE5 + + if (PX4_ISFINITE(gps.heading)) { + if (fabsf(gps.heading) < FLT_EPSILON) { + msg.yaw = 36000; // Use 36000 for north. + + } else { + msg.yaw = math::degrees(gps.heading) * 100.f; // centidegrees + } + } + + mavlink_msg_gps_raw_int_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GPS_RAW_INT_HPP diff --git a/src/modules/mavlink/streams/GPS_STATUS.hpp b/src/modules/mavlink/streams/GPS_STATUS.hpp index f6700f066d..82d36f2eae 100644 --- a/src/modules/mavlink/streams/GPS_STATUS.hpp +++ b/src/modules/mavlink/streams/GPS_STATUS.hpp @@ -39,35 +39,27 @@ class MavlinkStreamGPSStatus : public MavlinkStream { public: - const char *get_name() const override { return MavlinkStreamGPSStatus::get_name_static(); } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPSStatus(mavlink); } static constexpr const char *get_name_static() { return "GPS_STATUS"; } - static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_STATUS; } + const char *get_name() const override { return MavlinkStreamGPSStatus::get_name_static(); } uint16_t get_id() override { return get_id_static(); } - static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPSStatus(mavlink); } - unsigned get_size() override { - return _satellite_info_sub.advertised() ? MAVLINK_MSG_ID_GPS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + return _satellite_info_sub.advertised() ? (MAVLINK_MSG_ID_GPS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: + explicit MavlinkStreamGPSStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + uORB::Subscription _satellite_info_sub{ORB_ID(satellite_info)}; - // Disallow copy and move construction. - MavlinkStreamGPSStatus(MavlinkStreamGPSStatus &) = delete; - MavlinkStreamGPSStatus &operator = (const MavlinkStreamGPSStatus &) = delete; - -protected: - explicit MavlinkStreamGPSStatus(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - bool send() override { - satellite_info_s sat {}; + satellite_info_s sat; if (_satellite_info_sub.update(&sat)) { mavlink_gps_status_t msg{}; diff --git a/src/modules/mavlink/streams/HEARTBEAT.hpp b/src/modules/mavlink/streams/HEARTBEAT.hpp new file mode 100644 index 0000000000..bc2b81dd0f --- /dev/null +++ b/src/modules/mavlink/streams/HEARTBEAT.hpp @@ -0,0 +1,150 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef HEARTBEAT_HPP +#define HEARTBEAT_HPP + +#include +#include +#include + +class MavlinkStreamHeartbeat : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHeartbeat(mavlink); } + + static constexpr const char *get_name_static() { return "HEARTBEAT"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HEARTBEAT; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + bool const_rate() override { return true; } + + unsigned get_size() override + { + return MAVLINK_MSG_ID_HEARTBEAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)}; + + bool send() override + { + if (_mavlink->get_free_tx_buf() >= get_size()) { + // always send the heartbeat, independent of the update status of the topics + vehicle_status_s vehicle_status{}; + _vehicle_status_sub.copy(&vehicle_status); + + vehicle_status_flags_s vehicle_status_flags{}; + _vehicle_status_flags_sub.copy(&vehicle_status_flags); + + vehicle_control_mode_s vehicle_control_mode{}; + _vehicle_status_sub.copy(&vehicle_control_mode); + + + // uint8_t base_mode (MAV_MODE_FLAG) - System mode bitmap. + uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; + + if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + } + + if (vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON) { + base_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + if (vehicle_control_mode.flag_control_manual_enabled) { + base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + } + + if (vehicle_control_mode.flag_control_attitude_enabled) { + base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + } + + if (vehicle_control_mode.flag_control_auto_enabled) { + base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + } + + + // uint32_t custom_mode - A bitfield for use for autopilot-specific flags + union px4_custom_mode custom_mode {get_px4_custom_mode(vehicle_status.nav_state)}; + + + // uint8_t system_status (MAV_STATE) - System status flag. + uint8_t system_status = MAV_STATE_UNINIT; + + switch (vehicle_status.arming_state) { + case vehicle_status_s::ARMING_STATE_ARMED: + system_status = vehicle_status.failsafe ? MAV_STATE_CRITICAL : MAV_STATE_ACTIVE; + break; + + case vehicle_status_s::ARMING_STATE_STANDBY: + system_status = MAV_STATE_STANDBY; + break; + + case vehicle_status_s::ARMING_STATE_SHUTDOWN: + system_status = MAV_STATE_POWEROFF; + break; + } + + // system_status overrides + if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) { + system_status = MAV_STATE_FLIGHT_TERMINATION; + + } else if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL) { + system_status = MAV_STATE_EMERGENCY; + + } else if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL) { + system_status = MAV_STATE_EMERGENCY; + + } else if (vehicle_status_flags.condition_calibration_enabled) { + system_status = MAV_STATE_CALIBRATING; + } + + + mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4, + base_mode, custom_mode.data, system_status); + + return true; + } + + return false; + } +}; + +#endif // HEARTBEAT_HPP diff --git a/src/modules/mavlink/streams/HIGHRES_IMU.hpp b/src/modules/mavlink/streams/HIGHRES_IMU.hpp new file mode 100644 index 0000000000..5bba947225 --- /dev/null +++ b/src/modules/mavlink/streams/HIGHRES_IMU.hpp @@ -0,0 +1,207 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef HIGHRES_IMU_HPP +#define HIGHRES_IMU_HPP + +#include +#include +#include +#include +#include +#include +#include + +using matrix::Vector3f; + +class MavlinkStreamHighresIMU : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHighresIMU(mavlink); } + + static constexpr const char *get_name_static() { return "HIGHRES_IMU"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIGHRES_IMU; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return MAVLINK_MSG_ID_HIGHRES_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::SubscriptionMultiArray _vehicle_imu_subs{ORB_ID::vehicle_imu}; + uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)}; + uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; + uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)}; + uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)}; + uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)}; + uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; + + bool send() override + { + bool updated = false; + + sensor_selection_s sensor_selection{}; + _sensor_selection_sub.copy(&sensor_selection); + + vehicle_imu_s imu; + + for (auto &imu_sub : _vehicle_imu_subs) { + if (imu_sub.update(&imu)) { + if (imu.accel_device_id == sensor_selection.accel_device_id) { + updated = true; + break; + } + } + } + + if (updated) { + uint16_t fields_updated = 0; + + fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); // accel + fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); // gyro + + vehicle_magnetometer_s magnetometer{}; + + if (_magnetometer_sub.update(&magnetometer)) { + // mark third group dimensions as changed + fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); + + } else { + _magnetometer_sub.copy(&magnetometer); + } + + // find corresponding estimated sensor bias + if (_estimator_selector_status_sub.updated()) { + estimator_selector_status_s estimator_selector_status; + + if (_estimator_selector_status_sub.copy(&estimator_selector_status)) { + _estimator_sensor_bias_sub.ChangeInstance(estimator_selector_status.primary_instance); + } + } + + Vector3f accel_bias{0.f, 0.f, 0.f}; + Vector3f gyro_bias{0.f, 0.f, 0.f}; + Vector3f mag_bias{0.f, 0.f, 0.f}; + + { + estimator_sensor_bias_s bias; + + if (_estimator_sensor_bias_sub.copy(&bias)) { + if ((bias.accel_device_id != 0) && (bias.accel_device_id == imu.accel_device_id)) { + accel_bias = Vector3f{bias.accel_bias}; + } + + if ((bias.gyro_device_id != 0) && (bias.gyro_device_id == imu.gyro_device_id)) { + gyro_bias = Vector3f{bias.gyro_bias}; + } + + if ((bias.mag_device_id != 0) && (bias.mag_device_id == magnetometer.device_id)) { + mag_bias = Vector3f{bias.mag_bias}; + + } else { + // find primary mag + uORB::SubscriptionMultiArray mag_subs{ORB_ID::vehicle_magnetometer}; + + for (int i = 0; i < mag_subs.size(); i++) { + if (mag_subs[i].advertised() && mag_subs[i].copy(&magnetometer)) { + if (magnetometer.device_id == bias.mag_device_id) { + _magnetometer_sub.ChangeInstance(i); + break; + } + } + + } + } + } + } + + const Vector3f mag = Vector3f{magnetometer.magnetometer_ga} - mag_bias; + + vehicle_air_data_s air_data{}; + + if (_air_data_sub.update(&air_data)) { + /* mark fourth group (baro fields) dimensions as changed */ + fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); + + } else { + _air_data_sub.copy(&air_data); + } + + differential_pressure_s differential_pressure{}; + + if (_differential_pressure_sub.update(&differential_pressure)) { + /* mark fourth group (dpres field) dimensions as changed */ + fields_updated |= (1 << 10); + + } else { + _differential_pressure_sub.copy(&differential_pressure); + } + + const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; + const Vector3f accel = (Vector3f{imu.delta_velocity} * accel_dt_inv) - accel_bias; + + const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt; + const Vector3f gyro = (Vector3f{imu.delta_angle} * gyro_dt_inv) - gyro_bias; + + mavlink_highres_imu_t msg{}; + + msg.time_usec = imu.timestamp_sample; + msg.xacc = accel(0); + msg.yacc = accel(1); + msg.zacc = accel(2); + msg.xgyro = gyro(0); + msg.ygyro = gyro(1); + msg.zgyro = gyro(2); + msg.xmag = mag(0); + msg.ymag = mag(1); + msg.zmag = mag(2); + msg.abs_pressure = air_data.baro_pressure_pa; + msg.diff_pressure = differential_pressure.differential_pressure_raw_pa; + msg.pressure_alt = air_data.baro_alt_meter; + msg.temperature = air_data.baro_temp_celcius; + msg.fields_updated = fields_updated; + + mavlink_msg_highres_imu_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; +#endif // HIGHRES_IMU_HPP diff --git a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp index 90e83cddb4..695391015a 100644 --- a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp +++ b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp @@ -34,7 +34,6 @@ #ifndef HIGH_LATENCY2_HPP #define HIGH_LATENCY2_HPP -#include #include #include #include @@ -447,9 +446,7 @@ private: } // flight mode - union px4_custom_mode custom_mode; - uint8_t mavlink_base_mode; - get_mavlink_navigation_mode(&status, &mavlink_base_mode, &custom_mode); + union px4_custom_mode custom_mode {get_px4_custom_mode(status.nav_state)}; msg->custom_mode = custom_mode.custom_mode_hl; return true; diff --git a/src/modules/mavlink/streams/HOME_POSITION.hpp b/src/modules/mavlink/streams/HOME_POSITION.hpp new file mode 100644 index 0000000000..bb67d14d2d --- /dev/null +++ b/src/modules/mavlink/streams/HOME_POSITION.hpp @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef HOME_POSITION_HPP +#define HOME_POSITION_HPP + +#include + +class MavlinkStreamHomePosition : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHomePosition(mavlink); } + + static constexpr const char *get_name_static() { return "HOME_POSITION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HOME_POSITION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _home_sub.advertised() ? (MAVLINK_MSG_ID_HOME_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + } + +private: + explicit MavlinkStreamHomePosition(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _home_sub{ORB_ID(home_position)}; + + bool send() override + { + // we're sending the GPS home periodically to ensure the + // the GCS does pick it up at one point + home_position_s home; + + if (_home_sub.advertised() && _home_sub.copy(&home)) { + if (home.valid_hpos) { + mavlink_home_position_t msg{}; + + msg.latitude = home.lat * 1e7; + msg.longitude = home.lon * 1e7; + msg.altitude = home.alt * 1e3f; + + msg.x = home.x; + msg.y = home.y; + msg.z = home.z; + + matrix::Quatf q(matrix::Eulerf(0.f, 0.f, home.yaw)); + q.copyTo(msg.q); + + msg.approach_x = 0.f; + msg.approach_y = 0.f; + msg.approach_z = 0.f; + + msg.time_usec = home.timestamp; + + mavlink_msg_home_position_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + } + + return false; + } +}; + +#endif // HOME_POSITION_HPP diff --git a/src/modules/mavlink/streams/LOCAL_POSITION_NED.hpp b/src/modules/mavlink/streams/LOCAL_POSITION_NED.hpp new file mode 100644 index 0000000000..8977999457 --- /dev/null +++ b/src/modules/mavlink/streams/LOCAL_POSITION_NED.hpp @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef LOCAL_POSITION_NED_HPP +#define LOCAL_POSITION_NED_HPP + +#include + +class MavlinkStreamLocalPositionNED : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamLocalPositionNED(mavlink); } + + static constexpr const char *get_name_static() { return "LOCAL_POSITION_NED"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_LOCAL_POSITION_NED; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _lpos_sub.advertised() ? MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamLocalPositionNED(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; + + bool send() override + { + vehicle_local_position_s lpos; + + if (_lpos_sub.update(&lpos)) { + if (lpos.xy_valid && lpos.v_xy_valid) { + mavlink_local_position_ned_t msg{}; + + msg.time_boot_ms = lpos.timestamp / 1000; + msg.x = lpos.x; + msg.y = lpos.y; + msg.z = lpos.z; + msg.vx = lpos.vx; + msg.vy = lpos.vy; + msg.vz = lpos.vz; + + mavlink_msg_local_position_ned_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + } + + return false; + } +}; + +#endif // LOCAL_POSITION_NED_HPP diff --git a/src/modules/mavlink/streams/ODOMETRY.hpp b/src/modules/mavlink/streams/ODOMETRY.hpp new file mode 100644 index 0000000000..c905dab0c3 --- /dev/null +++ b/src/modules/mavlink/streams/ODOMETRY.hpp @@ -0,0 +1,171 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef ODOMETRY_HPP +#define ODOMETRY_HPP + +#include + +class MavlinkStreamOdometry : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOdometry(mavlink); } + + static constexpr const char *get_name_static() { return "ODOMETRY"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ODOMETRY; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_mavlink->odometry_loopback_enabled()) { + return _vodom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + + } else { + return _odom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + } + +private: + explicit MavlinkStreamOdometry(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _odom_sub{ORB_ID(vehicle_odometry)}; + uORB::Subscription _vodom_sub{ORB_ID(vehicle_visual_odometry)}; + + bool send() override + { + vehicle_odometry_s odom; + // check if it is to send visual odometry loopback or not + bool odom_updated = false; + + mavlink_odometry_t msg{}; + + if (_mavlink->odometry_loopback_enabled()) { + odom_updated = _vodom_sub.update(&odom); + + // set the frame_id according to the local frame of the data + if (odom.local_frame == vehicle_odometry_s::LOCAL_FRAME_NED) { + msg.frame_id = MAV_FRAME_LOCAL_NED; + + } else { + msg.frame_id = MAV_FRAME_LOCAL_FRD; + } + + // source: external vision system + msg.estimator_type = MAV_ESTIMATOR_TYPE_VISION; + + } else { + odom_updated = _odom_sub.update(&odom); + + msg.frame_id = MAV_FRAME_LOCAL_NED; + + // source: PX4 estimator + msg.estimator_type = MAV_ESTIMATOR_TYPE_AUTOPILOT; + } + + if (odom_updated) { + msg.time_usec = odom.timestamp_sample; + msg.child_frame_id = MAV_FRAME_BODY_FRD; + + // Current position + msg.x = odom.x; + msg.y = odom.y; + msg.z = odom.z; + + // Current orientation + msg.q[0] = odom.q[0]; + msg.q[1] = odom.q[1]; + msg.q[2] = odom.q[2]; + msg.q[3] = odom.q[3]; + + switch (odom.velocity_frame) { + case vehicle_odometry_s::BODY_FRAME_FRD: + msg.vx = odom.vx; + msg.vy = odom.vy; + msg.vz = odom.vz; + break; + + case vehicle_odometry_s::LOCAL_FRAME_FRD: + case vehicle_odometry_s::LOCAL_FRAME_NED: + // Body frame to local frame + const matrix::Dcmf R_body_to_local(matrix::Quatf(odom.q)); + + // Rotate linear velocity from local to body frame + const matrix::Vector3f linvel_body(R_body_to_local.transpose() * + matrix::Vector3f(odom.vx, odom.vy, odom.vz)); + + msg.vx = linvel_body(0); + msg.vy = linvel_body(1); + msg.vz = linvel_body(2); + break; + } + + // Current body rates + msg.rollspeed = odom.rollspeed; + msg.pitchspeed = odom.pitchspeed; + msg.yawspeed = odom.yawspeed; + + // get the covariance matrix size + + // pose_covariance + static constexpr size_t POS_URT_SIZE = sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0]); + static_assert(POS_URT_SIZE == (sizeof(msg.pose_covariance) / sizeof(msg.pose_covariance[0])), + "Odometry Pose Covariance matrix URT array size mismatch"); + + // velocity_covariance + static constexpr size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]); + static_assert(VEL_URT_SIZE == (sizeof(msg.velocity_covariance) / sizeof(msg.velocity_covariance[0])), + "Odometry Velocity Covariance matrix URT array size mismatch"); + + // copy pose covariances + for (size_t i = 0; i < POS_URT_SIZE; i++) { + msg.pose_covariance[i] = odom.pose_covariance[i]; + } + + // copy velocity covariances + //TODO: Apply rotation matrix to transform from body-fixed NED to earth-fixed NED frame + for (size_t i = 0; i < VEL_URT_SIZE; i++) { + msg.velocity_covariance[i] = odom.velocity_covariance[i]; + } + + mavlink_msg_odometry_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // ODOMETRY_HPP diff --git a/src/modules/mavlink/streams/OPTICAL_FLOW_RAD.hpp b/src/modules/mavlink/streams/OPTICAL_FLOW_RAD.hpp index eb0184947d..ebbe35ea1f 100644 --- a/src/modules/mavlink/streams/OPTICAL_FLOW_RAD.hpp +++ b/src/modules/mavlink/streams/OPTICAL_FLOW_RAD.hpp @@ -39,52 +39,29 @@ class MavlinkStreamOpticalFlowRad : public MavlinkStream { public: - const char *get_name() const override - { - return MavlinkStreamOpticalFlowRad::get_name_static(); - } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOpticalFlowRad(mavlink); } - static constexpr const char *get_name_static() - { - return "OPTICAL_FLOW_RAD"; - } + static constexpr const char *get_name_static() { return "OPTICAL_FLOW_RAD"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD; } - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamOpticalFlowRad(mavlink); - } + const char *get_name() const override { return MavlinkStreamOpticalFlowRad::get_name_static(); } + uint16_t get_id() override { return get_id_static(); } unsigned get_size() override { - return _flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + return _optical_flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: - uORB::Subscription _flow_sub{ORB_ID(optical_flow)}; + explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink) {} - /* do not allow top copying this class */ - MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &) = delete; - MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &) = delete; - -protected: - explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink) - {} + uORB::Subscription _optical_flow_sub{ORB_ID(optical_flow)}; bool send() override { optical_flow_s flow; - if (_flow_sub.update(&flow)) { + if (_optical_flow_sub.update(&flow)) { mavlink_optical_flow_rad_t msg{}; msg.time_usec = flow.timestamp; diff --git a/src/modules/mavlink/streams/SCALED_PRESSURE.hpp b/src/modules/mavlink/streams/SCALED_PRESSURE.hpp new file mode 100644 index 0000000000..3e7263f3aa --- /dev/null +++ b/src/modules/mavlink/streams/SCALED_PRESSURE.hpp @@ -0,0 +1,99 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef SCALED_PRESSURE_HPP +#define SCALED_PRESSURE_HPP + +#include +#include + +class MavlinkStreamScaledPressure : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledPressure(mavlink); } + + static constexpr const char *get_name_static() { return "SCALED_PRESSURE"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_sensor_baro_sub.advertised() || _differential_pressure_sub.advertised()) { + return MAVLINK_MSG_ID_SCALED_PRESSURE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure), 0}; + uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), 0}; + + bool send() override + { + if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) { + mavlink_scaled_pressure_t msg{}; + + sensor_baro_s sensor_baro; + + if (_sensor_baro_sub.copy(&sensor_baro)) { + msg.time_boot_ms = sensor_baro.timestamp / 1000; + msg.press_abs = sensor_baro.pressure; // millibar to hPa + msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees + } + + differential_pressure_s differential_pressure; + + if (_differential_pressure_sub.copy(&differential_pressure)) { + if (msg.time_boot_ms == 0) { + msg.time_boot_ms = differential_pressure.timestamp / 1000; + } + + msg.press_diff = differential_pressure.differential_pressure_raw_pa * 100.f; // Pa to hPa + msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees + } + + mavlink_msg_scaled_pressure_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // SCALED_PRESSURE_HPP diff --git a/src/modules/mavlink/streams/SCALED_PRESSURE2.hpp b/src/modules/mavlink/streams/SCALED_PRESSURE2.hpp new file mode 100644 index 0000000000..e49a17e992 --- /dev/null +++ b/src/modules/mavlink/streams/SCALED_PRESSURE2.hpp @@ -0,0 +1,99 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef SCALED_PRESSURE2_HPP +#define SCALED_PRESSURE2_HPP + +#include +#include + +class MavlinkStreamScaledPressure2 : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledPressure2(mavlink); } + + static constexpr const char *get_name_static() { return "SCALED_PRESSURE2"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE2; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_sensor_baro_sub.advertised() || _differential_pressure_sub.advertised()) { + return MAVLINK_MSG_ID_SCALED_PRESSURE2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamScaledPressure2(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure), 1}; + uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), 1}; + + bool send() override + { + if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) { + mavlink_scaled_pressure2_t msg{}; + + sensor_baro_s sensor_baro; + + if (_sensor_baro_sub.copy(&sensor_baro)) { + msg.time_boot_ms = sensor_baro.timestamp / 1000; + msg.press_abs = sensor_baro.pressure; // millibar to hPa + msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees + } + + differential_pressure_s differential_pressure; + + if (_differential_pressure_sub.copy(&differential_pressure)) { + if (msg.time_boot_ms == 0) { + msg.time_boot_ms = differential_pressure.timestamp / 1000; + } + + msg.press_diff = differential_pressure.differential_pressure_raw_pa * 100.f; // Pa to hPa + msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees + } + + mavlink_msg_scaled_pressure2_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // SCALED_PRESSURE2_HPP diff --git a/src/modules/mavlink/streams/SCALED_PRESSURE3.hpp b/src/modules/mavlink/streams/SCALED_PRESSURE3.hpp new file mode 100644 index 0000000000..f3fe6603f0 --- /dev/null +++ b/src/modules/mavlink/streams/SCALED_PRESSURE3.hpp @@ -0,0 +1,99 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef SCALED_PRESSURE3_HPP +#define SCALED_PRESSURE3_HPP + +#include +#include + +class MavlinkStreamScaledPressure3 : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledPressure3(mavlink); } + + static constexpr const char *get_name_static() { return "SCALED_PRESSURE3"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE3; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_sensor_baro_sub.advertised() || _differential_pressure_sub.advertised()) { + return MAVLINK_MSG_ID_SCALED_PRESSURE3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamScaledPressure3(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure), 2}; + uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), 2}; + + bool send() override + { + if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) { + mavlink_scaled_pressure3_t msg{}; + + sensor_baro_s sensor_baro; + + if (_sensor_baro_sub.copy(&sensor_baro)) { + msg.time_boot_ms = sensor_baro.timestamp / 1000; + msg.press_abs = sensor_baro.pressure; // millibar to hPa + msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees + } + + differential_pressure_s differential_pressure; + + if (_differential_pressure_sub.copy(&differential_pressure)) { + if (msg.time_boot_ms == 0) { + msg.time_boot_ms = differential_pressure.timestamp / 1000; + } + + msg.press_diff = differential_pressure.differential_pressure_raw_pa * 100.f; // Pa to hPa + msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees + } + + mavlink_msg_scaled_pressure3_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // SCALED_PRESSURE3_HPP diff --git a/src/modules/mavlink/streams/SERVO_OUTPUT_RAW.hpp b/src/modules/mavlink/streams/SERVO_OUTPUT_RAW.hpp new file mode 100644 index 0000000000..89b8918acc --- /dev/null +++ b/src/modules/mavlink/streams/SERVO_OUTPUT_RAW.hpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef SERVO_OUTPUT_RAW_HPP +#define SERVO_OUTPUT_RAW_HPP + +#include + +template +class MavlinkStreamServoOutputRaw : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamServoOutputRaw(mavlink); } + + static constexpr const char *get_name_static() + { + switch (N) { + case 0: + return "SERVO_OUTPUT_RAW_0"; + + case 1: + return "SERVO_OUTPUT_RAW_1"; + } + } + + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _act_sub.advertised() ? MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _act_sub{ORB_ID(actuator_outputs), N}; + + bool send() override + { + actuator_outputs_s act; + + if (_act_sub.update(&act)) { + mavlink_servo_output_raw_t msg{}; + + static_assert(sizeof(act.output) / sizeof(act.output[0]) >= 16, "mavlink message requires at least 16 outputs"); + + msg.time_usec = act.timestamp; + msg.port = N; + msg.servo1_raw = act.output[0]; + msg.servo2_raw = act.output[1]; + msg.servo3_raw = act.output[2]; + msg.servo4_raw = act.output[3]; + msg.servo5_raw = act.output[4]; + msg.servo6_raw = act.output[5]; + msg.servo7_raw = act.output[6]; + msg.servo8_raw = act.output[7]; + msg.servo9_raw = act.output[8]; + msg.servo10_raw = act.output[9]; + msg.servo11_raw = act.output[10]; + msg.servo12_raw = act.output[11]; + msg.servo13_raw = act.output[12]; + msg.servo14_raw = act.output[13]; + msg.servo15_raw = act.output[14]; + msg.servo16_raw = act.output[15]; + + mavlink_msg_servo_output_raw_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // SERVO_OUTPUT_RAW_HPP diff --git a/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp b/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp new file mode 100644 index 0000000000..3476db3a02 --- /dev/null +++ b/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef SMART_BATTERY_INFO_HPP +#define SMART_BATTERY_INFO_HPP + +#include + +class MavlinkStreamSmartBatteryInfo : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSmartBatteryInfo(mavlink); } + + static constexpr const char *get_name_static() { return "SMART_BATTERY_INFO"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SMART_BATTERY_INFO; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + return size_per_battery * _battery_status_subs.advertised_count(); + } + +private: + explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; + + bool send() override + { + bool updated = false; + + for (auto &battery_sub : _battery_status_subs) { + battery_status_s battery_status; + + if (battery_sub.update(&battery_status)) { + if (battery_status.serial_number == 0) { + // This is not smart battery + continue; + } + + mavlink_smart_battery_info_t msg{}; + + msg.id = battery_status.id - 1; + msg.capacity_full_specification = battery_status.capacity; + msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f); + msg.cycle_count = battery_status.cycle_count; + + if (battery_status.manufacture_date) { + uint16_t day = battery_status.manufacture_date % 32; + uint16_t month = (battery_status.manufacture_date >> 5) % 16; + uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100; + + //Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars) + snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number); + + } else { + snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number); + } + + //msg.device_name = ?? + msg.weight = -1; + msg.discharge_minimum_voltage = -1; + msg.charging_minimum_voltage = -1; + msg.resting_minimum_voltage = -1; + + mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg); + updated = true; + } + } + + return updated; + } +}; + +#endif // SMART_BATTERY_INFO_HPP diff --git a/src/modules/mavlink/streams/SYSTEM_TIME.hpp b/src/modules/mavlink/streams/SYSTEM_TIME.hpp new file mode 100644 index 0000000000..167feecabc --- /dev/null +++ b/src/modules/mavlink/streams/SYSTEM_TIME.hpp @@ -0,0 +1,76 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef SYSTEM_TIME_HPP +#define SYSTEM_TIME_HPP + +class MavlinkStreamSystemTime : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSystemTime(mavlink); } + + static constexpr const char *get_name_static() { return "SYSTEM_TIME"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SYSTEM_TIME; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return MAVLINK_MSG_ID_SYSTEM_TIME_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + explicit MavlinkStreamSystemTime(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + bool send() override + { + timespec tv; + px4_clock_gettime(CLOCK_REALTIME, &tv); + + mavlink_system_time_t msg{}; + msg.time_boot_ms = hrt_absolute_time() / 1000; + msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; + + // If the time is before 2001-01-01, it's probably the default 2000 + // and we don't need to bother sending it because it's definitely wrong. + if (msg.time_unix_usec > 978307200000000) { + mavlink_msg_system_time_send_struct(_mavlink->get_channel(), &msg); + return true; + } + + return false; + } +}; + +#endif // SYSTEM_TIME_HPP diff --git a/src/modules/mavlink/streams/SYS_STATUS.hpp b/src/modules/mavlink/streams/SYS_STATUS.hpp new file mode 100644 index 0000000000..4fe5d8e046 --- /dev/null +++ b/src/modules/mavlink/streams/SYS_STATUS.hpp @@ -0,0 +1,126 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef SYS_STATUS_HPP +#define SYS_STATUS_HPP + +#include +#include +#include + +class MavlinkStreamSysStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSysStatus(mavlink); } + + static constexpr const char *get_name_static() { return "SYS_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SYS_STATUS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return MAVLINK_MSG_ID_SYS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + explicit MavlinkStreamSysStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _cpuload_sub{ORB_ID(cpuload)}; + uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; + + bool send() override + { + if (_status_sub.updated() || _cpuload_sub.updated() || _battery_status_subs.updated()) { + vehicle_status_s status{}; + _status_sub.copy(&status); + + cpuload_s cpuload{}; + _cpuload_sub.copy(&cpuload); + + battery_status_s battery_status[battery_status_s::MAX_INSTANCES] {}; + + for (int i = 0; i < _battery_status_subs.size(); i++) { + _battery_status_subs[i].copy(&battery_status[i]); + } + + int lowest_battery_index = 0; + + // No battery is connected, select the first group + // Low battery judgment is performed only when the current battery is connected + // When the last cached battery is not connected or the current battery level is lower than the cached battery level, + // the current battery status is replaced with the cached value + for (int i = 0; i < _battery_status_subs.size(); i++) { + if (battery_status[i].connected && ((!battery_status[lowest_battery_index].connected) + || (battery_status[i].remaining < battery_status[lowest_battery_index].remaining))) { + lowest_battery_index = i; + } + } + + mavlink_sys_status_t msg{}; + + msg.onboard_control_sensors_present = status.onboard_control_sensors_present; + msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled; + msg.onboard_control_sensors_health = status.onboard_control_sensors_health; + + msg.load = cpuload.load * 1000.0f; + + // TODO: Determine what data should be put here when there are multiple batteries. + // Right now, it uses the lowest battery. This is a safety decision, because if a client is only checking + // one battery using this message, it should be the lowest. + // In the future, this should somehow determine the "main" battery, or use the "type" field of BATTERY_STATUS + // to determine which battery is more important at a given time. + const battery_status_s &lowest_battery = battery_status[lowest_battery_index]; + + if (lowest_battery.connected) { + msg.voltage_battery = lowest_battery.voltage_filtered_v * 1000.0f; + msg.current_battery = lowest_battery.current_filtered_a * 100.0f; + msg.battery_remaining = ceilf(lowest_battery.remaining * 100.0f); + + } else { + msg.voltage_battery = UINT16_MAX; + msg.current_battery = -1; + msg.battery_remaining = -1; + } + + mavlink_msg_sys_status_send_struct(_mavlink->get_channel(), &msg); + return true; + } + + return false; + } +}; + +#endif // SYS_STATUS_HPP diff --git a/src/modules/mavlink/streams/TIMESYNC.hpp b/src/modules/mavlink/streams/TIMESYNC.hpp new file mode 100644 index 0000000000..0c52a8b434 --- /dev/null +++ b/src/modules/mavlink/streams/TIMESYNC.hpp @@ -0,0 +1,71 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef TIMESYNC_HPP +#define TIMESYNC_HPP + +#include + +class MavlinkStreamTimesync : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamTimesync(mavlink); } + + static constexpr const char *get_name_static() { return "TIMESYNC"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_TIMESYNC; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return MAVLINK_MSG_ID_TIMESYNC_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + explicit MavlinkStreamTimesync(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + bool send() override + { + mavlink_timesync_t msg{}; + + msg.tc1 = 0; + msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds + + mavlink_msg_timesync_send_struct(_mavlink->get_channel(), &msg); + + return true; + } +}; + +#endif // TIMESYNC_HPP diff --git a/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp b/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp new file mode 100644 index 0000000000..f441bd6f69 --- /dev/null +++ b/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp @@ -0,0 +1,194 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef UTM_GLOBAL_POSITION_HPP +#define UTM_GLOBAL_POSITION_HPP + +#include +#include +#include +#include +#include + +class MavlinkStreamUTMGlobalPosition : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamUTMGlobalPosition(mavlink); } + + static constexpr const char *get_name_static() { return "UTM_GLOBAL_POSITION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_UTM_GLOBAL_POSITION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + bool const_rate() override { return true; } + + unsigned get_size() override + { + return _global_pos_sub.advertised() ? MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamUTMGlobalPosition(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; + uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)}; + + bool send() override + { + vehicle_global_position_s global_pos; + + if (_global_pos_sub.update(&global_pos)) { + mavlink_utm_global_position_t msg{}; + + // Compute Unix epoch and set time field + timespec tv; + px4_clock_gettime(CLOCK_REALTIME, &tv); + uint64_t unix_epoch = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; + + // If the time is before 2001-01-01, it's probably the default 2000 + if (unix_epoch > 978307200000000) { + msg.time = unix_epoch; + msg.flags |= UTM_DATA_AVAIL_FLAGS_TIME_VALID; + } + +#ifndef BOARD_HAS_NO_UUID + px4_guid_t px4_guid; + board_get_px4_guid(px4_guid); + static_assert(sizeof(px4_guid_t) == sizeof(msg.uas_id), "GUID byte length mismatch"); + memcpy(&msg.uas_id, &px4_guid, sizeof(msg.uas_id)); + msg.flags |= UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE; +#else + // TODO Fill ID with something reasonable + memset(&msg.uas_id[0], 0, sizeof(msg.uas_id)); +#endif /* BOARD_HAS_NO_UUID */ + + // Handle global position + msg.lat = global_pos.lat * 1e7; + msg.lon = global_pos.lon * 1e7; + msg.alt = global_pos.alt_ellipsoid * 1000.f; + + msg.h_acc = global_pos.eph * 1000.f; + msg.v_acc = global_pos.epv * 1000.f; + + msg.flags |= UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE; + msg.flags |= UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE; + + // Handle local position + vehicle_local_position_s local_pos; + + if (_local_pos_sub.copy(&local_pos)) { + float evh = 0.f; + float evv = 0.f; + + if (local_pos.v_xy_valid) { + msg.vx = local_pos.vx * 100.f; + msg.vy = local_pos.vy * 100.f; + evh = local_pos.evh; + msg.flags |= UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE; + } + + if (local_pos.v_z_valid) { + msg.vz = local_pos.vz * 100.f; + evv = local_pos.evv; + msg.flags |= UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLE; + } + + msg.vel_acc = sqrtf(evh * evh + evv * evv) * 100.f; + + if (local_pos.dist_bottom_valid) { + msg.relative_alt = local_pos.dist_bottom * 1000.f; + msg.flags |= UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLE; + } + } + + vehicle_status_s vehicle_status{}; + _vehicle_status_sub.copy(&vehicle_status); + + bool vehicle_in_auto_mode = (vehicle_status.timestamp > 0) + && (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL); + + // Handle next waypoint if it is valid + position_setpoint_triplet_s position_setpoint_triplet; + + if (vehicle_in_auto_mode && _position_setpoint_triplet_sub.copy(&position_setpoint_triplet)) { + if (position_setpoint_triplet.current.valid) { + msg.next_lat = position_setpoint_triplet.current.lat * 1e7; + msg.next_lon = position_setpoint_triplet.current.lon * 1e7; + // HACK We assume that the offset between AMSL and WGS84 is constant between the current + // vehicle position and the the target waypoint. + msg.next_alt = (position_setpoint_triplet.current.alt + (global_pos.alt_ellipsoid - global_pos.alt)) * 1000.f; + msg.flags |= UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLE; + } + } + + // Handle flight state + vehicle_land_detected_s land_detected{}; + _land_detected_sub.copy(&land_detected); + + if (vehicle_status.timestamp > 0 && land_detected.timestamp > 0 + && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + + if (land_detected.landed) { + msg.flight_state |= UTM_FLIGHT_STATE_GROUND; + + } else { + msg.flight_state |= UTM_FLIGHT_STATE_AIRBORNE; + } + + } else { + msg.flight_state |= UTM_FLIGHT_STATE_UNKNOWN; + } + + msg.update_rate = 0; // Data driven mode + + mavlink_msg_utm_global_position_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // UTM_GLOBAL_POSITION_HPP diff --git a/src/modules/mavlink/streams/VFR_HUD.hpp b/src/modules/mavlink/streams/VFR_HUD.hpp new file mode 100644 index 0000000000..b5a038ab5d --- /dev/null +++ b/src/modules/mavlink/streams/VFR_HUD.hpp @@ -0,0 +1,137 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef VFR_HUD_HPP +#define VFR_HUD_HPP + +#include +#include +#include +#include +#include + +class MavlinkStreamVFRHUD : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamVFRHUD(mavlink); } + + static constexpr const char *get_name_static() { return "VFR_HUD"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_VFR_HUD; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_lpos_sub.advertised() || _airspeed_validated_sub.advertised()) { + return MAVLINK_MSG_ID_VFR_HUD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _armed_sub{ORB_ID(actuator_armed)}; + uORB::Subscription _act0_sub{ORB_ID(actuator_controls_0)}; + uORB::Subscription _act1_sub{ORB_ID(actuator_controls_1)}; + uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; + uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; + + bool send() override + { + if (_lpos_sub.updated() || _airspeed_validated_sub.updated()) { + + vehicle_local_position_s lpos{}; + _lpos_sub.copy(&lpos); + + actuator_armed_s armed{}; + _armed_sub.copy(&armed); + + airspeed_validated_s airspeed_validated{}; + _airspeed_validated_sub.copy(&airspeed_validated); + + mavlink_vfr_hud_t msg{}; + msg.airspeed = airspeed_validated.calibrated_airspeed_m_s; + msg.groundspeed = sqrtf(lpos.vx * lpos.vx + lpos.vy * lpos.vy); + msg.heading = math::degrees(matrix::wrap_2pi(lpos.heading)); + + if (armed.armed) { + actuator_controls_s act0{}; + actuator_controls_s act1{}; + _act0_sub.copy(&act0); + _act1_sub.copy(&act1); + + // VFR_HUD throttle should only be used for operator feedback. + // VTOLs switch between actuator_controls_0 and actuator_controls_1. During transition there isn't a + // a single throttle value, but this should still be a useful heuristic for operator awareness. + // + // Use ACTUATOR_CONTROL_TARGET if accurate states are needed. + msg.throttle = 100 * math::max( + act0.control[actuator_controls_s::INDEX_THROTTLE], + act1.control[actuator_controls_s::INDEX_THROTTLE]); + + } else { + msg.throttle = 0.0f; + } + + if (lpos.z_valid && lpos.z_global) { + /* use local position estimate */ + msg.alt = -lpos.z + lpos.ref_alt; + + } else { + vehicle_air_data_s air_data{}; + _air_data_sub.copy(&air_data); + + /* fall back to baro altitude */ + if (air_data.timestamp > 0) { + msg.alt = air_data.baro_alt_meter; + } + } + + if (lpos.v_z_valid) { + msg.climb = -lpos.vz; + } + + mavlink_msg_vfr_hud_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // VFR_HUD_HPP diff --git a/src/modules/mavlink/streams/VIBRATION.hpp b/src/modules/mavlink/streams/VIBRATION.hpp new file mode 100644 index 0000000000..0ab42f8232 --- /dev/null +++ b/src/modules/mavlink/streams/VIBRATION.hpp @@ -0,0 +1,129 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef VIBRATION_HPP +#define VIBRATION_HPP + +#include +#include + +class MavlinkStreamVibration : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamVibration(mavlink); } + + static constexpr const char *get_name_static() { return "VIBRATION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_VIBRATION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_sensor_selection_sub.advertised() && _vehicle_imu_status_subs.advertised()) { + return MAVLINK_MSG_ID_VIBRATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamVibration(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)}; + uORB::SubscriptionMultiArray _vehicle_imu_status_subs{ORB_ID::vehicle_imu_status}; + + bool send() override + { + if (_vehicle_imu_status_subs.updated()) { + mavlink_vibration_t msg{}; + msg.time_usec = hrt_absolute_time(); + + // VIBRATION usage not to mavlink spec, this is our current usage. + // vibration_x : Primary gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle) + // vibration_y : Primary gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle) + // vibration_z : Primary accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity) + + sensor_selection_s sensor_selection{}; + _sensor_selection_sub.copy(&sensor_selection); + + // primary accel high frequency vibration metric + if (sensor_selection.accel_device_id != 0) { + for (auto &x : _vehicle_imu_status_subs) { + vehicle_imu_status_s status; + + if (x.copy(&status)) { + if (status.accel_device_id == sensor_selection.accel_device_id) { + msg.vibration_x = status.gyro_coning_vibration; + msg.vibration_y = status.gyro_vibration_metric; + msg.vibration_z = status.accel_vibration_metric; + break; + } + } + } + } + + // accel 0, 1, 2 cumulative clipping + for (int i = 0; i < math::min(static_cast(3), _vehicle_imu_status_subs.size()); i++) { + vehicle_imu_status_s status; + + if (_vehicle_imu_status_subs[i].copy(&status)) { + + const uint32_t clipping = status.accel_clipping[0] + status.accel_clipping[1] + status.accel_clipping[2]; + + switch (i) { + case 0: + msg.clipping_0 = clipping; + break; + + case 1: + msg.clipping_1 = clipping; + break; + + case 2: + msg.clipping_2 = clipping; + break; + } + } + } + + mavlink_msg_vibration_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // VIBRATION_HPP diff --git a/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp b/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp index de0ba91b05..859b86316f 100644 --- a/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp +++ b/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp @@ -97,7 +97,9 @@ matrix::Vector3f AttitudeControl::update(const Quatf &q) const // and multiply it by the yaw setpoint rate (yawspeed_setpoint). // This yields a vector representing the commanded rotatation around the world z-axis expressed in the body frame // such that it can be added to the rates setpoint. - rate_setpoint += q.inversed().dcm_z() * _yawspeed_setpoint; + if (is_finite(_yawspeed_setpoint)) { + rate_setpoint += q.inversed().dcm_z() * _yawspeed_setpoint; + } // limit rates for (int i = 0; i < 3; i++) { diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp index 41b4e3a95e..c8cc197aaa 100644 --- a/src/modules/mc_att_control/mc_att_control.hpp +++ b/src/modules/mc_att_control/mc_att_control.hpp @@ -103,7 +103,6 @@ private: uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)}; - uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint subscription */ uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */ uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */ uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */ @@ -149,8 +148,6 @@ private: (ParamFloat) _param_mpc_man_y_max, /**< scaling factor from stick to yaw rate */ - (ParamFloat) _param_mc_ratt_th, - /* Stabilized mode params */ (ParamFloat) _param_mpc_man_tilt_max, /**< maximum tilt allowed for manual flight */ (ParamFloat) _param_mpc_manthr_min, /**< minimum throttle for stabilized */ diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 684d3c4c64..3acf95dfc8 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -287,15 +287,6 @@ MulticopterAttitudeControl::Run() } } - /* Check if we are in rattitude mode and the pilot is above the threshold on pitch - * or roll (yaw can rotate 360 in normal att control). If both are true don't - * even bother running the attitude controllers */ - if (_v_control_mode.flag_control_rattitude_enabled) { - _v_control_mode.flag_control_attitude_enabled = - fabsf(_manual_control_setpoint.y) <= _param_mc_ratt_th.get() && - fabsf(_manual_control_setpoint.x) <= _param_mc_ratt_th.get(); - } - bool attitude_setpoint_generated = false; const bool is_hovering = (_vehicle_type_rotary_wing && !_vtol_in_transition_mode); @@ -325,16 +316,6 @@ MulticopterAttitudeControl::Run() Vector3f rates_sp = _attitude_control.update(q); - if (_v_control_mode.flag_control_yawrate_override_enabled) { - /* Yaw rate override enabled, overwrite the yaw setpoint */ - vehicle_rates_setpoint_s v_rates_sp{}; - - if (_v_rates_sp_sub.copy(&v_rates_sp)) { - const float yawrate_sp = v_rates_sp.yaw; - rates_sp(2) = yawrate_sp; - } - } - // publish rate setpoint vehicle_rates_setpoint_s v_rates_sp{}; v_rates_sp.roll = rates_sp(0); @@ -348,9 +329,7 @@ MulticopterAttitudeControl::Run() // reset yaw setpoint during transitions, tailsitter.cpp generates // attitude setpoint for the transition - _reset_yaw_sp = (!attitude_setpoint_generated && !_v_control_mode.flag_control_rattitude_enabled) || - _landed || (_vtol && _vtol_in_transition_mode); - + _reset_yaw_sp = !attitude_setpoint_generated || _landed || (_vtol && _vtol_in_transition_mode); } perf_end(_loop_perf); diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 6ac8fd1479..f45e856942 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -44,7 +44,6 @@ * * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. * - * @unit Hz * @min 0.0 * @max 12 * @decimal 2 @@ -58,7 +57,6 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f); * * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. * - * @unit Hz * @min 0.0 * @max 12 * @decimal 2 @@ -72,7 +70,6 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f); * * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. * - * @unit Hz * @min 0.0 * @max 5 * @decimal 2 @@ -91,7 +88,6 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f); * * For yaw control tuning use MC_YAW_P. This ratio has no inpact on the yaw gain. * - * @unit Hz * @min 0.0 * @max 1.0 * @decimal 2 @@ -150,22 +146,9 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f); */ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f); -/** - * Threshold for Rattitude mode - * - * Manual input needed in order to override attitude control rate setpoints - * and instead pass manual stick inputs as rate setpoints - * - * @min 0.0 - * @max 1.0 - * @decimal 2 - * @increment 0.01 - * @group Multicopter Attitude Control - */ -PARAM_DEFINE_FLOAT(MC_RATT_TH, 0.8f); - /** * Manual tilt input filter time constant + * * Setting this parameter to 0 disables the filter * * @unit s diff --git a/src/modules/mc_pos_control/CMakeLists.txt b/src/modules/mc_pos_control/CMakeLists.txt index fb321a26c4..1b26f7998d 100644 --- a/src/modules/mc_pos_control/CMakeLists.txt +++ b/src/modules/mc_pos_control/CMakeLists.txt @@ -32,6 +32,7 @@ ############################################################################ add_subdirectory(PositionControl) +add_subdirectory(Takeoff) px4_add_module( MODULE modules__mc_pos_control @@ -42,7 +43,9 @@ px4_add_module( MulticopterPositionControl.hpp DEPENDS PositionControl + Takeoff controllib git_ecl ecl_geo + SlewRate ) diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp index d2c4f6b47e..ceeba50453 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp @@ -36,24 +36,23 @@ #include #include #include +#include "PositionControl/ControlMath.hpp" using namespace matrix; MulticopterPositionControl::MulticopterPositionControl(bool vtol) : SuperBlock(nullptr, "MPC"), ModuleParams(nullptr), - WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), _vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)), _vel_x_deriv(this, "VELD"), _vel_y_deriv(this, "VELD"), - _vel_z_deriv(this, "VELD"), - _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")) + _vel_z_deriv(this, "VELD") { - // fetch initial parameter values parameters_update(true); - - // set failsafe hysteresis _failsafe_land_hysteresis.set_hysteresis_time_from(false, LOITER_TIME_BEFORE_DESCEND); + _tilt_limit_slew_rate.setSlewRate(.2f); + reset_setpoint_to_nan(_setpoint); } MulticopterPositionControl::~MulticopterPositionControl() @@ -68,10 +67,8 @@ bool MulticopterPositionControl::init() return false; } - // limit to every other vehicle_local_position update (50 Hz) - _local_pos_sub.set_interval_us(20_ms); - _time_stamp_last_loop = hrt_absolute_time(); + ScheduleNow(); return true; } @@ -88,6 +85,57 @@ int MulticopterPositionControl::parameters_update(bool force) ModuleParams::updateParams(); SuperBlock::updateParams(); + int num_changed = 0; + + if (_param_sys_vehicle_resp.get() >= 0.f) { + // make it less sensitive at the lower end + float responsiveness = _param_sys_vehicle_resp.get() * _param_sys_vehicle_resp.get(); + + num_changed += _param_mpc_acc_hor.commit_no_notification(math::lerp(1.f, 15.f, responsiveness)); + num_changed += _param_mpc_acc_hor_max.commit_no_notification(math::lerp(2.f, 15.f, responsiveness)); + num_changed += _param_mpc_man_y_max.commit_no_notification(math::lerp(80.f, 450.f, responsiveness)); + + if (responsiveness > 0.6f) { + num_changed += _param_mpc_man_y_tau.commit_no_notification(0.f); + + } else { + num_changed += _param_mpc_man_y_tau.commit_no_notification(math::lerp(0.5f, 0.f, responsiveness / 0.6f)); + } + + if (responsiveness < 0.5f) { + num_changed += _param_mpc_tiltmax_air.commit_no_notification(45.f); + + } else { + num_changed += _param_mpc_tiltmax_air.commit_no_notification(math::min(MAX_SAFE_TILT_DEG, math::lerp(45.f, 70.f, + (responsiveness - 0.5f) * 2.f))); + } + + num_changed += _param_mpc_acc_down_max.commit_no_notification(math::lerp(0.8f, 15.f, responsiveness)); + num_changed += _param_mpc_acc_up_max.commit_no_notification(math::lerp(1.f, 15.f, responsiveness)); + num_changed += _param_mpc_jerk_max.commit_no_notification(math::lerp(2.f, 50.f, responsiveness)); + num_changed += _param_mpc_jerk_auto.commit_no_notification(math::lerp(1.f, 25.f, responsiveness)); + } + + if (_param_mpc_xy_vel_all.get() >= 0.f) { + float xy_vel = _param_mpc_xy_vel_all.get(); + num_changed += _param_mpc_vel_manual.commit_no_notification(xy_vel); + num_changed += _param_mpc_xy_cruise.commit_no_notification(xy_vel); + num_changed += _param_mpc_xy_vel_max.commit_no_notification(xy_vel); + num_changed += _param_mpc_land_vel_xy.commit_no_notification(xy_vel * 0.75f); + } + + if (_param_mpc_z_vel_all.get() >= 0.f) { + float z_vel = _param_mpc_z_vel_all.get(); + num_changed += _param_mpc_z_vel_max_up.commit_no_notification(z_vel); + num_changed += _param_mpc_z_vel_max_dn.commit_no_notification(z_vel * 0.75f); + num_changed += _param_mpc_tko_speed.commit_no_notification(z_vel * 0.6f); + num_changed += _param_mpc_land_speed.commit_no_notification(z_vel * 0.5f); + } + + if (num_changed > 0) { + param_notify_changes(); + } + if (_param_mpc_tiltmax_air.get() > MAX_SAFE_TILT_DEG) { _param_mpc_tiltmax_air.set(MAX_SAFE_TILT_DEG); _param_mpc_tiltmax_air.commit(); @@ -105,9 +153,6 @@ int MulticopterPositionControl::parameters_update(bool force) Vector3f(_param_mpc_xy_vel_p_acc.get(), _param_mpc_xy_vel_p_acc.get(), _param_mpc_z_vel_p_acc.get()), Vector3f(_param_mpc_xy_vel_i_acc.get(), _param_mpc_xy_vel_i_acc.get(), _param_mpc_z_vel_i_acc.get()), Vector3f(_param_mpc_xy_vel_d_acc.get(), _param_mpc_xy_vel_d_acc.get(), _param_mpc_z_vel_d_acc.get())); - _control.setVelocityLimits(_param_mpc_xy_vel_max.get(), _param_mpc_z_vel_max_up.get(), _param_mpc_z_vel_max_dn.get()); - _control.setThrustLimits(_param_mpc_thr_min.get(), _param_mpc_thr_max.get()); - _control.setTiltLimit(M_DEG_TO_RAD_F * _param_mpc_tiltmax_air.get()); // convert to radians! // Check that the design parameters are inside the absolute maximum constraints if (_param_mpc_xy_cruise.get() > _param_mpc_xy_vel_max.get()) { @@ -138,79 +183,68 @@ int MulticopterPositionControl::parameters_update(bool force) // initialize vectors from params and enforce constraints _param_mpc_tko_speed.set(math::min(_param_mpc_tko_speed.get(), _param_mpc_z_vel_max_up.get())); _param_mpc_land_speed.set(math::min(_param_mpc_land_speed.get(), _param_mpc_z_vel_max_dn.get())); + + _takeoff.setSpoolupTime(_param_mpc_spoolup_time.get()); + _takeoff.setTakeoffRampTime(_param_mpc_tko_ramp_t.get()); + _takeoff.generateInitialRampValue(_param_mpc_z_vel_p_acc.get()); } return OK; } -void MulticopterPositionControl::poll_subscriptions() +PositionControlStates MulticopterPositionControl::set_vehicle_states(const vehicle_local_position_s &local_pos) { - _control_mode_sub.update(&_control_mode); + PositionControlStates states; - if (_param_mpc_use_hte.get()) { - hover_thrust_estimate_s hte; - - if (_hover_thrust_estimate_sub.update(&hte)) { - if (hte.valid) { - _control.updateHoverThrust(hte.hover_thrust); - } - } - } -} - -void MulticopterPositionControl::set_vehicle_states(const float &vel_sp_z) -{ // only set position states if valid and finite - if (PX4_ISFINITE(_local_pos.x) && PX4_ISFINITE(_local_pos.y) && _local_pos.xy_valid) { - _states.position(0) = _local_pos.x; - _states.position(1) = _local_pos.y; + if (PX4_ISFINITE(local_pos.x) && PX4_ISFINITE(local_pos.y) && local_pos.xy_valid) { + states.position(0) = local_pos.x; + states.position(1) = local_pos.y; } else { - _states.position(0) = _states.position(1) = NAN; + states.position(0) = NAN; + states.position(1) = NAN; } - if (PX4_ISFINITE(_local_pos.z) && _local_pos.z_valid) { - _states.position(2) = _local_pos.z; + if (PX4_ISFINITE(local_pos.z) && local_pos.z_valid) { + states.position(2) = local_pos.z; } else { - _states.position(2) = NAN; + states.position(2) = NAN; } - if (PX4_ISFINITE(_local_pos.vx) && PX4_ISFINITE(_local_pos.vy) && _local_pos.v_xy_valid) { - _states.velocity(0) = _local_pos.vx; - _states.velocity(1) = _local_pos.vy; - _states.acceleration(0) = _vel_x_deriv.update(_states.velocity(0)); - _states.acceleration(1) = _vel_y_deriv.update(_states.velocity(1)); + if (PX4_ISFINITE(local_pos.vx) && PX4_ISFINITE(local_pos.vy) && local_pos.v_xy_valid) { + states.velocity(0) = local_pos.vx; + states.velocity(1) = local_pos.vy; + states.acceleration(0) = _vel_x_deriv.update(local_pos.vx); + states.acceleration(1) = _vel_y_deriv.update(local_pos.vy); } else { - _states.velocity(0) = _states.velocity(1) = NAN; - _states.acceleration(0) = _states.acceleration(1) = NAN; + states.velocity(0) = NAN; + states.velocity(1) = NAN; + states.acceleration(0) = NAN; + states.acceleration(1) = NAN; + // reset derivatives to prevent acceleration spikes when regaining velocity _vel_x_deriv.reset(); _vel_y_deriv.reset(); } - if (PX4_ISFINITE(_local_pos.vz) && _local_pos.v_z_valid) { - _states.velocity(2) = _local_pos.vz; - - if (PX4_ISFINITE(vel_sp_z) && fabsf(vel_sp_z) > FLT_EPSILON && PX4_ISFINITE(_local_pos.z_deriv)) { - // A change in velocity is demanded. Set velocity to the derivative of position - // because it has less bias but blend it in across the landing speed range - float weighting = fminf(fabsf(vel_sp_z) / _param_mpc_land_speed.get(), 1.0f); - _states.velocity(2) = _local_pos.z_deriv * weighting + _local_pos.vz * (1.0f - weighting); - } - - _states.acceleration(2) = _vel_z_deriv.update(_states.velocity(2)); + if (PX4_ISFINITE(local_pos.vz) && local_pos.v_z_valid) { + states.velocity(2) = local_pos.vz; + states.acceleration(2) = _vel_z_deriv.update(states.velocity(2)); } else { - _states.velocity(2) = _states.acceleration(2) = NAN; + states.velocity(2) = NAN; + states.acceleration(2) = NAN; + // reset derivative to prevent acceleration spikes when regaining velocity _vel_z_deriv.reset(); } - if (PX4_ISFINITE(_local_pos.heading)) { - _states.yaw = _local_pos.heading; - } + states.yaw = local_pos.heading; + + return states; } void MulticopterPositionControl::Run() @@ -221,14 +255,16 @@ void MulticopterPositionControl::Run() return; } + // reschedule backup + ScheduleDelayed(100_ms); + + parameters_update(false); + perf_begin(_cycle_perf); + vehicle_local_position_s local_pos; - if (_local_pos_sub.update(&_local_pos)) { - - poll_subscriptions(); - parameters_update(false); - - const hrt_abstime time_stamp_now = _local_pos.timestamp; + if (_local_pos_sub.update(&local_pos)) { + const hrt_abstime time_stamp_now = local_pos.timestamp; const float dt = math::constrain(((time_stamp_now - _time_stamp_last_loop) * 1e-6f), 0.002f, 0.04f); _time_stamp_last_loop = time_stamp_now; @@ -238,26 +274,147 @@ void MulticopterPositionControl::Run() const bool was_in_failsafe = _in_failsafe; _in_failsafe = false; - vehicle_local_position_setpoint_s setpoint; + _control_mode_sub.update(&_control_mode); + _vehicle_land_detected_sub.update(&_vehicle_land_detected); - // check if any task is active - if (_trajectory_setpoint_sub.update(&setpoint)) { - _control.setInputSetpoint(setpoint); + if (_param_mpc_use_hte.get()) { + hover_thrust_estimate_s hte; - // check if all local states are valid and map accordingly - set_vehicle_states(setpoint.vz); - _control.setState(_states); - - vehicle_constraints_s constraints; - - if (_vehicle_constraints_sub.update(&constraints)) { - _control.setConstraints(constraints); - _control.setThrustLimits(constraints.minimum_thrust, _param_mpc_thr_max.get()); - - if (constraints.reset_integral) { - _control.resetIntegral(); + if (_hover_thrust_estimate_sub.update(&hte)) { + if (hte.valid) { + _control.updateHoverThrust(hte.hover_thrust); } } + } + + PositionControlStates states{set_vehicle_states(local_pos)}; + + if (_control_mode.flag_control_acceleration_enabled || _control_mode.flag_control_climb_rate_enabled) { + + _trajectory_setpoint_sub.update(&_setpoint); + + // adjust existing (or older) setpoint with any EKF reset deltas + if (_setpoint.timestamp < local_pos.timestamp) { + if (local_pos.vxy_reset_counter != _vxy_reset_counter) { + _setpoint.vx += local_pos.delta_vxy[0]; + _setpoint.vy += local_pos.delta_vxy[1]; + } + + if (local_pos.vz_reset_counter != _vz_reset_counter) { + _setpoint.vz += local_pos.delta_vz; + } + + if (local_pos.xy_reset_counter != _xy_reset_counter) { + _setpoint.x += local_pos.delta_xy[0]; + _setpoint.y += local_pos.delta_xy[1]; + } + + if (local_pos.z_reset_counter != _z_reset_counter) { + _setpoint.z += local_pos.delta_z; + } + + if (local_pos.heading_reset_counter != _heading_reset_counter) { + _setpoint.yaw += local_pos.delta_heading; + } + } + + // update vehicle constraints and handle smooth takeoff + _vehicle_constraints_sub.update(&_vehicle_constraints); + + // fix to prevent the takeoff ramp to ramp to a too high value or get stuck because of NAN + // TODO: this should get obsolete once the takeoff limiting moves into the flight tasks + if (!PX4_ISFINITE(_vehicle_constraints.speed_up) || (_vehicle_constraints.speed_up > _param_mpc_z_vel_max_up.get())) { + _vehicle_constraints.speed_up = _param_mpc_z_vel_max_up.get(); + } + + if (_control_mode.flag_control_offboard_enabled) { + + bool want_takeoff = _control_mode.flag_armed && _vehicle_land_detected.landed + && hrt_elapsed_time(&_setpoint.timestamp) < 1_s; + + if (want_takeoff && PX4_ISFINITE(_setpoint.z) + && (_setpoint.z < states.position(2))) { + + _vehicle_constraints.want_takeoff = true; + + } else if (want_takeoff && PX4_ISFINITE(_setpoint.vz) + && (_setpoint.vz < 0.f)) { + + _vehicle_constraints.want_takeoff = true; + + } else if (want_takeoff && PX4_ISFINITE(_setpoint.acceleration[2]) + && (_setpoint.acceleration[2] < 0.f)) { + + _vehicle_constraints.want_takeoff = true; + + } else { + _vehicle_constraints.want_takeoff = false; + } + + // override with defaults + _vehicle_constraints.speed_xy = _param_mpc_xy_vel_max.get(); + _vehicle_constraints.speed_up = _param_mpc_z_vel_max_up.get(); + _vehicle_constraints.speed_down = _param_mpc_z_vel_max_dn.get(); + } + + // handle smooth takeoff + _takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, _vehicle_constraints.want_takeoff, + _vehicle_constraints.speed_up, false, time_stamp_now); + + const bool not_taken_off = (_takeoff.getTakeoffState() < TakeoffState::rampup); + const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight); + const bool flying_but_ground_contact = (flying && _vehicle_land_detected.ground_contact); + + // make sure takeoff ramp is not amended by acceleration feed-forward + if (!flying) { + _setpoint.acceleration[2] = NAN; + } + + if (not_taken_off || flying_but_ground_contact) { + // we are not flying yet and need to avoid any corrections + reset_setpoint_to_nan(_setpoint); + Vector3f(0.f, 0.f, 100.f).copyTo(_setpoint.acceleration); // High downwards acceleration to make sure there's no thrust + + // prevent any integrator windup + _control.resetIntegral(); + } + + // limit tilt during takeoff ramupup + const float tilt_limit_deg = (_takeoff.getTakeoffState() < TakeoffState::flight) + ? _param_mpc_tiltmax_lnd.get() : _param_mpc_tiltmax_air.get(); + _control.setTiltLimit(_tilt_limit_slew_rate.update(math::radians(tilt_limit_deg), dt)); + + const float speed_up = _takeoff.updateRamp(dt, + PX4_ISFINITE(_vehicle_constraints.speed_up) ? _vehicle_constraints.speed_up : _param_mpc_z_vel_max_up.get()); + const float speed_down = PX4_ISFINITE(_vehicle_constraints.speed_down) ? _vehicle_constraints.speed_down : + _param_mpc_z_vel_max_dn.get(); + const float speed_horizontal = PX4_ISFINITE(_vehicle_constraints.speed_xy) ? _vehicle_constraints.speed_xy : + _param_mpc_xy_vel_max.get(); + + // Allow ramping from zero thrust on takeoff + const float minimum_thrust = flying ? _param_mpc_thr_min.get() : 0.f; + + _control.setThrustLimits(minimum_thrust, _param_mpc_thr_max.get()); + + _control.setVelocityLimits( + math::constrain(speed_horizontal, 0.f, _param_mpc_xy_vel_max.get()), + math::min(speed_up, _param_mpc_z_vel_max_up.get()), // takeoff ramp starts with negative velocity limit + math::constrain(speed_down, 0.f, _param_mpc_z_vel_max_dn.get())); + + _control.setInputSetpoint(_setpoint); + + // update states + if (PX4_ISFINITE(_setpoint.vz) && (fabsf(_setpoint.vz) > FLT_EPSILON) + && PX4_ISFINITE(local_pos.z_deriv) && local_pos.z_valid && local_pos.v_z_valid) { + // A change in velocity is demanded. Set velocity to the derivative of position + // because it has less bias but blend it in across the landing speed range + // < MPC_LAND_SPEED: ramp up using altitude derivative without a step + // >= MPC_LAND_SPEED: use altitude derivative + float weighting = fminf(fabsf(_setpoint.vz) / _param_mpc_land_speed.get(), 1.f); + states.velocity(2) = local_pos.z_deriv * weighting + local_pos.vz * (1.f - weighting); + } + + _control.setState(states); // Run position control if (_control.update(dt)) { @@ -270,13 +427,15 @@ void MulticopterPositionControl::Run() _last_warn = time_stamp_now; } - failsafe(time_stamp_now, setpoint, _states, !was_in_failsafe); + vehicle_local_position_setpoint_s failsafe_setpoint{}; - _control.setInputSetpoint(setpoint); + failsafe(time_stamp_now, failsafe_setpoint, states, !was_in_failsafe); - constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}}; - _control.setConstraints(constraints); + // reset constraints + _vehicle_constraints = {0, NAN, NAN, NAN, false, {}}; + _control.setInputSetpoint(failsafe_setpoint); + _control.setVelocityLimits(_param_mpc_xy_vel_max.get(), _param_mpc_z_vel_max_up.get(), _param_mpc_z_vel_max_dn.get()); _control.update(dt); } @@ -284,26 +443,39 @@ void MulticopterPositionControl::Run() // on top of the input/feed-forward setpoints these containt the PID corrections // This message is used by other modules (such as Landdetector) to determine vehicle intention. vehicle_local_position_setpoint_s local_pos_sp{}; - local_pos_sp.timestamp = time_stamp_now; _control.getLocalPositionSetpoint(local_pos_sp); + local_pos_sp.timestamp = hrt_absolute_time(); _local_pos_sp_pub.publish(local_pos_sp); // Publish attitude setpoint output - // It's important to publish also when disarmed otheriwse the attitude setpoint stays uninitialized. - // Not publishing when not running a flight task - // in stabilized mode attitude setpoints get ignored - // in offboard with attitude setpoints they come from MAVLink directly vehicle_attitude_setpoint_s attitude_setpoint{}; - attitude_setpoint.timestamp = time_stamp_now; _control.getAttitudeSetpoint(attitude_setpoint); + attitude_setpoint.timestamp = hrt_absolute_time(); _vehicle_attitude_setpoint_pub.publish(attitude_setpoint); } else { - // reset the numerical derivatives to not generate d term spikes when coming from non-position controlled operation - _vel_x_deriv.reset(); - _vel_y_deriv.reset(); - _vel_z_deriv.reset(); + // an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes + _takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, false, 10.f, true, time_stamp_now); } + + // Publish takeoff status + const uint8_t takeoff_state = static_cast(_takeoff.getTakeoffState()); + + if (takeoff_state != _old_takeoff_state) { + takeoff_status_s takeoff_status{}; + takeoff_status.takeoff_state = takeoff_state; + takeoff_status.timestamp = hrt_absolute_time(); + _takeoff_status_pub.publish(takeoff_status); + + _old_takeoff_state = takeoff_state; + } + + // save latest reset counters + _vxy_reset_counter = local_pos.vxy_reset_counter; + _vz_reset_counter = local_pos.vz_reset_counter; + _xy_reset_counter = local_pos.xy_reset_counter; + _z_reset_counter = local_pos.z_reset_counter; + _heading_reset_counter = local_pos.heading_reset_counter; } perf_end(_cycle_perf); @@ -323,7 +495,7 @@ void MulticopterPositionControl::failsafe(const hrt_abstime &now, vehicle_local_ if (_failsafe_land_hysteresis.get_state()) { reset_setpoint_to_nan(setpoint); - if (PX4_ISFINITE(_states.velocity(0)) && PX4_ISFINITE(_states.velocity(1))) { + if (PX4_ISFINITE(states.velocity(0)) && PX4_ISFINITE(states.velocity(1))) { // don't move along xy setpoint.vx = setpoint.vy = 0.f; @@ -341,7 +513,7 @@ void MulticopterPositionControl::failsafe(const hrt_abstime &now, vehicle_local_ } } - if (PX4_ISFINITE(_states.velocity(2))) { + if (PX4_ISFINITE(states.velocity(2))) { // don't move along z if we can stop in all dimensions if (!PX4_ISFINITE(setpoint.vz)) { setpoint.vz = 0.f; diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.hpp b/src/modules/mc_pos_control/MulticopterPositionControl.hpp index 4a3ebba521..eff575bcb1 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.hpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.hpp @@ -37,11 +37,14 @@ #pragma once -#include +#include "PositionControl/PositionControl.hpp" +#include "Takeoff/Takeoff.hpp" + #include #include #include #include +#include #include #include #include @@ -50,23 +53,22 @@ #include #include #include - +#include #include #include -#include #include #include #include +#include #include +#include #include #include -#include "PositionControl/PositionControl.hpp" - using namespace time_literals; class MulticopterPositionControl : public ModuleBase, public control::SuperBlock, - public ModuleParams, public px4::WorkItem + public ModuleParams, public px4::ScheduledWorkItem { public: MulticopterPositionControl(bool vtol = false); @@ -86,26 +88,46 @@ public: private: void Run() override; - uORB::Publication _vehicle_attitude_setpoint_pub; + Takeoff _takeoff; /**< state machine and ramp to bring the vehicle off the ground without jumps */ + orb_advert_t _mavlink_log_pub{nullptr}; - uORB::Publication _local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)}; /**< vehicle local position setpoint publication */ + uORB::Publication _takeoff_status_pub{ORB_ID(takeoff_status)}; + uORB::Publication _vehicle_attitude_setpoint_pub; + uORB::Publication _local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)}; /**< vehicle local position setpoint publication */ uORB::SubscriptionCallbackWorkItem _local_pos_sub{this, ORB_ID(vehicle_local_position)}; /**< vehicle local position */ uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; - uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */ + uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)}; uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)}; + uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; uORB::Subscription _vehicle_constraints_sub{ORB_ID(vehicle_constraints)}; hrt_abstime _time_stamp_last_loop{0}; /**< time stamp of last loop iteration */ int _task_failure_count{0}; /**< counter for task failures */ - vehicle_control_mode_s _control_mode{}; /**< vehicle control mode */ - vehicle_local_position_s _local_pos{}; /**< vehicle local position */ + vehicle_control_mode_s _control_mode{}; + vehicle_local_position_setpoint_s _setpoint{}; + vehicle_constraints_s _vehicle_constraints{ + .timestamp = 0, + .speed_xy = NAN, + .speed_up = NAN, + .speed_down = NAN, + .want_takeoff = false, + }; + + vehicle_land_detected_s _vehicle_land_detected { + .timestamp = 0, + .alt_max = -1.0f, + .freefall = false, + .ground_contact = true, + .maybe_landed = true, + .landed = true, + }; DEFINE_PARAMETERS( // Position Control @@ -125,6 +147,8 @@ private: (ParamBool) _param_mpc_use_hte, // Takeoff / Land + (ParamFloat) _param_mpc_spoolup_time, /**< time to let motors spool up after arming */ + (ParamFloat) _param_mpc_tko_ramp_t, /**< time constant for smooth takeoff ramp */ (ParamFloat) _param_mpc_tko_speed, (ParamFloat) _param_mpc_land_speed, @@ -135,7 +159,21 @@ private: (ParamInt) _param_mpc_alt_mode, (ParamFloat) _param_mpc_tiltmax_lnd, /**< maximum tilt for landing and smooth takeoff */ (ParamFloat) _param_mpc_thr_min, - (ParamFloat) _param_mpc_thr_max + (ParamFloat) _param_mpc_thr_max, + + (ParamFloat) _param_sys_vehicle_resp, + (ParamFloat) _param_mpc_acc_hor, + (ParamFloat) _param_mpc_acc_down_max, + (ParamFloat) _param_mpc_acc_up_max, + (ParamFloat) _param_mpc_acc_hor_max, + (ParamFloat) _param_mpc_jerk_auto, + (ParamFloat) _param_mpc_jerk_max, + (ParamFloat) _param_mpc_man_y_max, + (ParamFloat) _param_mpc_man_y_tau, + + (ParamFloat) _param_mpc_xy_vel_all, + (ParamFloat) _param_mpc_z_vel_all, + (ParamFloat) _param_mpc_land_vel_xy ); control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */ @@ -143,11 +181,10 @@ private: control::BlockDerivative _vel_z_deriv; /**< velocity derivative in z */ PositionControl _control; /**< class for core PID position control */ - PositionControlStates _states{}; /**< structure containing vehicle state information for position control */ - hrt_abstime _last_warn = 0; /**< timer when the last warn message was sent out */ + hrt_abstime _last_warn{0}; /**< timer when the last warn message was sent out */ - bool _in_failsafe = false; /**< true if failsafe was entered within current cycle */ + bool _in_failsafe{false}; /**< true if failsafe was entered within current cycle */ bool _hover_thrust_initialized{false}; @@ -161,8 +198,17 @@ private: static constexpr float MAX_SAFE_TILT_DEG = 89.f; // Numerical issues above this value due to tanf systemlib::Hysteresis _failsafe_land_hysteresis{false}; /**< becomes true if task did not update correctly for LOITER_TIME_BEFORE_DESCEND */ + SlewRate _tilt_limit_slew_rate; - perf_counter_t _cycle_perf; + uint8_t _old_takeoff_state{}; + + uint8_t _vxy_reset_counter{0}; + uint8_t _vz_reset_counter{0}; + uint8_t _xy_reset_counter{0}; + uint8_t _z_reset_counter{0}; + uint8_t _heading_reset_counter{0}; + + perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")}; /** * Update our local parameter cache. @@ -171,16 +217,10 @@ private: */ int parameters_update(bool force); - /** - * Check for changes in subscribed topics. - */ - void poll_subscriptions(); - /** * Check for validity of positon/velocity states. - * @param vel_sp_z velocity setpoint in z-direction */ - void set_vehicle_states(const float &vel_sp_z); + PositionControlStates set_vehicle_states(const vehicle_local_position_s &local_pos); /** * Adjust the setpoint during landing. diff --git a/src/modules/mc_pos_control/PositionControl/CMakeLists.txt b/src/modules/mc_pos_control/PositionControl/CMakeLists.txt index 2ccb43d6ff..8136317376 100644 --- a/src/modules/mc_pos_control/PositionControl/CMakeLists.txt +++ b/src/modules/mc_pos_control/PositionControl/CMakeLists.txt @@ -32,13 +32,12 @@ ############################################################################ px4_add_library(PositionControl - PositionControl.cpp ControlMath.cpp + ControlMath.hpp + PositionControl.cpp + PositionControl.hpp ) -target_include_directories(PositionControl - PUBLIC - ${CMAKE_CURRENT_SOURCE_DIR} -) +target_include_directories(PositionControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) px4_add_unit_gtest(SRC ControlMathTest.cpp LINKLIBS PositionControl) px4_add_unit_gtest(SRC PositionControlTest.cpp LINKLIBS PositionControl) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index 8cdafc2847..caca1c85a4 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -88,27 +88,6 @@ void PositionControl::setInputSetpoint(const vehicle_local_position_setpoint_s & _yawspeed_sp = setpoint.yawspeed; } -void PositionControl::setConstraints(const vehicle_constraints_s &constraints) -{ - _constraints = constraints; - - // For safety check if adjustable constraints are below global constraints. If they are not stricter than global - // constraints, then just use global constraints for the limits. - if (!PX4_ISFINITE(constraints.tilt) || (constraints.tilt > _lim_tilt)) { - _constraints.tilt = _lim_tilt; - } - - if (!PX4_ISFINITE(constraints.speed_up) || (constraints.speed_up > _lim_vel_up)) { - _constraints.speed_up = _lim_vel_up; - } - - if (!PX4_ISFINITE(constraints.speed_down) || (constraints.speed_down > _lim_vel_down)) { - _constraints.speed_down = _lim_vel_down; - } - - // ignore _constraints.speed_xy TODO: remove it completely as soon as no task uses it anymore to avoid confusion -} - bool PositionControl::update(const float dt) { // x and y input setpoints always have to come in pairs @@ -138,7 +117,7 @@ void PositionControl::_positionControl() // the desired position setpoint over the feed-forward term. _vel_sp.xy() = ControlMath::constrainXY(vel_sp_position.xy(), (_vel_sp - vel_sp_position).xy(), _lim_vel_horizontal); // Constrain velocity in z-direction. - _vel_sp(2) = math::constrain(_vel_sp(2), -_constraints.speed_up, _constraints.speed_down); + _vel_sp(2) = math::constrain(_vel_sp(2), -_lim_vel_up, _lim_vel_down); } void PositionControl::_velocityControl(const float dt) @@ -198,7 +177,7 @@ void PositionControl::_accelerationControl() { // Assume standard acceleration due to gravity in vertical direction for attitude generation Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), CONSTANTS_ONE_G).normalized(); - ControlMath::limitTilt(body_z, Vector3f(0, 0, 1), _constraints.tilt); + ControlMath::limitTilt(body_z, Vector3f(0, 0, 1), _lim_tilt); // Scale thrust assuming hover thrust produces standard gravity float collective_thrust = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust; // Project thrust to planned body attitude diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp index 4986c93a86..c486499e54 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp @@ -39,9 +39,9 @@ #pragma once +#include #include #include -#include #include struct PositionControlStates { @@ -115,9 +115,9 @@ public: /** * Set the normalized hover thrust - * @param thrust [0,1] with which the vehicle hovers not acelerating down or up with level orientation + * @param thrust [0.1, 0.9] with which the vehicle hovers not acelerating down or up with level orientation */ - void setHoverThrust(const float hover_thrust) { _hover_thrust = hover_thrust; } + void setHoverThrust(const float hover_thrust) { _hover_thrust = math::constrain(hover_thrust, 0.1f, 0.9f); } /** * Update the hover thrust without immediately affecting the output @@ -139,13 +139,6 @@ public: */ void setInputSetpoint(const vehicle_local_position_setpoint_s &setpoint); - /** - * Pass constraints that are stricter than the global limits - * Note: NAN value means no constraint, take maximum limit of controller. - * @param constraints a PositionControl structure with supported constraints - */ - void setConstraints(const vehicle_constraints_s &constraints); - /** * Apply P-position and PID-velocity controller that updates the member * thrust, yaw- and yawspeed-setpoints. @@ -200,7 +193,7 @@ private: float _lim_thr_max{}; ///< Maximum collective thrust allowed as output [-1,0] e.g. -0.1 float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have - float _hover_thrust{}; ///< Thrust [0,1] with which the vehicle hovers not accelerating down or up with level orientation + float _hover_thrust{}; ///< Thrust [0.1, 0.9] with which the vehicle hovers not accelerating down or up with level orientation // States matrix::Vector3f _pos; /**< current position */ @@ -209,8 +202,6 @@ private: matrix::Vector3f _vel_int; /**< integral term of the velocity controller */ float _yaw{}; /**< current heading */ - vehicle_constraints_s _constraints{}; /**< variable constraints */ - // Setpoints matrix::Vector3f _pos_sp; /**< desired position */ matrix::Vector3f _vel_sp; /**< desired velocity */ diff --git a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp index 1facfc9234..f2bb5cf8e1 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp @@ -82,11 +82,6 @@ public: _position_control.setTiltLimit(1.f); _position_control.setHoverThrust(.5f); - _contraints.tilt = 1.f; - _contraints.speed_xy = NAN; - _contraints.speed_up = NAN; - _contraints.speed_down = NAN; - resetInputSetpoint(); } @@ -106,7 +101,6 @@ public: bool runController() { - _position_control.setConstraints(_contraints); _position_control.setInputSetpoint(_input_setpoint); const bool ret = _position_control.update(.1f); _position_control.getLocalPositionSetpoint(_output_setpoint); @@ -115,7 +109,6 @@ public: } PositionControl _position_control; - vehicle_constraints_s _contraints{}; vehicle_local_position_setpoint_s _input_setpoint{}; vehicle_local_position_setpoint_s _output_setpoint{}; vehicle_attitude_setpoint_s _attitude{}; @@ -168,12 +161,14 @@ TEST_F(PositionControlBasicTest, TiltLimit) EXPECT_GT(angle, 0.f); EXPECT_LE(angle, 1.f); - _contraints.tilt = .5f; + _position_control.setTiltLimit(0.5f); EXPECT_TRUE(runController()); body_z = Quatf(_attitude.q_d).dcm_z(); angle = acosf(body_z.dot(Vector3f(0.f, 0.f, 1.f))); EXPECT_GT(angle, 0.f); EXPECT_LE(angle, .50001f); + + _position_control.setTiltLimit(1.f); // restore original } TEST_F(PositionControlBasicTest, VelocityLimit) diff --git a/src/modules/flight_mode_manager/Takeoff/CMakeLists.txt b/src/modules/mc_pos_control/Takeoff/CMakeLists.txt similarity index 99% rename from src/modules/flight_mode_manager/Takeoff/CMakeLists.txt rename to src/modules/mc_pos_control/Takeoff/CMakeLists.txt index 67f02ddd16..a4c129aed6 100644 --- a/src/modules/flight_mode_manager/Takeoff/CMakeLists.txt +++ b/src/modules/mc_pos_control/Takeoff/CMakeLists.txt @@ -33,6 +33,7 @@ px4_add_library(Takeoff Takeoff.cpp + Takeoff.hpp ) target_include_directories(Takeoff PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_link_libraries(Takeoff PUBLIC hysteresis) diff --git a/src/modules/flight_mode_manager/Takeoff/Takeoff.cpp b/src/modules/mc_pos_control/Takeoff/Takeoff.cpp similarity index 88% rename from src/modules/flight_mode_manager/Takeoff/Takeoff.cpp rename to src/modules/mc_pos_control/Takeoff/Takeoff.cpp index 4fb98948e8..3717106e17 100644 --- a/src/modules/flight_mode_manager/Takeoff/Takeoff.cpp +++ b/src/modules/mc_pos_control/Takeoff/Takeoff.cpp @@ -72,7 +72,7 @@ void Takeoff::updateTakeoffState(const bool armed, const bool landed, const bool case TakeoffState::ready_for_takeoff: if (want_takeoff) { _takeoff_state = TakeoffState::rampup; - _takeoff_ramp_vz = _takeoff_ramp_vz_init; + _takeoff_ramp_progress = 0.f; } else { break; @@ -80,7 +80,7 @@ void Takeoff::updateTakeoffState(const bool armed, const bool landed, const bool // FALLTHROUGH case TakeoffState::rampup: - if (_takeoff_ramp_vz >= takeoff_desired_vz) { + if (_takeoff_ramp_progress >= 1.f) { _takeoff_state = TakeoffState::flight; } else { @@ -111,22 +111,24 @@ void Takeoff::updateTakeoffState(const bool armed, const bool landed, const bool float Takeoff::updateRamp(const float dt, const float takeoff_desired_vz) { + float upwards_velocity_limit = takeoff_desired_vz; + if (_takeoff_state < TakeoffState::rampup) { - return _takeoff_ramp_vz_init; + upwards_velocity_limit = _takeoff_ramp_vz_init; } if (_takeoff_state == TakeoffState::rampup) { if (_takeoff_ramp_time > dt) { - _takeoff_ramp_vz += (takeoff_desired_vz - _takeoff_ramp_vz_init) * dt / _takeoff_ramp_time; + _takeoff_ramp_progress += dt / _takeoff_ramp_time; } else { - _takeoff_ramp_vz = takeoff_desired_vz; + _takeoff_ramp_progress = 1.f; } - if (_takeoff_ramp_vz < takeoff_desired_vz) { - return _takeoff_ramp_vz; + if (_takeoff_ramp_progress < 1.f) { + upwards_velocity_limit = _takeoff_ramp_vz_init + _takeoff_ramp_progress * (takeoff_desired_vz - _takeoff_ramp_vz_init); } } - return takeoff_desired_vz; + return upwards_velocity_limit; } diff --git a/src/modules/flight_mode_manager/Takeoff/Takeoff.hpp b/src/modules/mc_pos_control/Takeoff/Takeoff.hpp similarity index 92% rename from src/modules/flight_mode_manager/Takeoff/Takeoff.hpp rename to src/modules/mc_pos_control/Takeoff/Takeoff.hpp index d396d19859..ab2a39ffc9 100644 --- a/src/modules/flight_mode_manager/Takeoff/Takeoff.hpp +++ b/src/modules/mc_pos_control/Takeoff/Takeoff.hpp @@ -94,9 +94,9 @@ public: private: TakeoffState _takeoff_state = TakeoffState::disarmed; - systemlib::Hysteresis _spoolup_time_hysteresis{false}; /**< becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed */ + systemlib::Hysteresis _spoolup_time_hysteresis{false}; ///< becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed - float _takeoff_ramp_time = 0.f; - float _takeoff_ramp_vz_init = 0.f; - float _takeoff_ramp_vz = 0.f; + float _takeoff_ramp_time{0.f}; + float _takeoff_ramp_vz_init{0.f}; ///< verticval velocity resulting in zero thrust + float _takeoff_ramp_progress{0.f}; ///< asecnding from 0 to 1 }; diff --git a/src/modules/flight_mode_manager/Takeoff/TakeoffTest.cpp b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp similarity index 100% rename from src/modules/flight_mode_manager/Takeoff/TakeoffTest.cpp rename to src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 332490345a..aaff96e00b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -151,7 +151,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); * defined as correction acceleration in m/s^2 per m/s velocity error * * @min 2.0 - * @max 8.0 + * @max 15.0 * @decimal 2 * @group Multicopter Position Control */ @@ -165,7 +165,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f); * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. * * @min 0.2 - * @max 2.0 + * @max 3.0 * @decimal 3 * @group Multicopter Position Control */ @@ -224,7 +224,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f); * defined as correction acceleration in m/s^2 per m/s velocity error * * @min 1.2 - * @max 3.0 + * @max 5.0 * @decimal 2 * @group Multicopter Position Control */ @@ -258,9 +258,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D_ACC, 0.2f); /** * Maximum horizontal velocity in mission * - * Normal horizontal velocity in AUTO modes (includes - * also RTL / hold / etc.) and endpoint for - * position stabilized mode (POSCTRL). + * Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto. * * @unit m/s * @min 3.0 @@ -301,6 +299,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f); /** * Maximum horizontal velocity setpoint for manual controlled mode + * * If velocity setpoint larger than MPC_XY_VEL_MAX is set, then * the setpoint will be capped to MPC_XY_VEL_MAX * @@ -366,6 +365,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f); /** * Maximum horizontal position mode velocity when close to ground/home altitude + * * Set the value higher than the otherwise expected maximum to disable any slowdown. * * @unit m/s @@ -425,6 +425,7 @@ PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f); /** * Manual yaw rate input filter time constant + * * Setting this parameter to 0 disables the filter * * @unit s @@ -510,20 +511,6 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f); PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f); -/** - * Slow horizontal manual deceleration for manual mode - * - * Note: This is only used when MPC_POS_MODE is set to 1. - * - * @unit m/s^2 - * @min 0.5 - * @max 10.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_DEC_HOR_SLOW, 5.0f); - /** * Maximum vertical acceleration in velocity controlled modes upward * @@ -568,29 +555,6 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f); */ PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f); -/** - * Velocity-based jerk limit - * - * If this is not zero, a velocity-based maximum jerk limit is used: the applied - * jerk limit linearly increases with the vehicle's velocity between - * MPC_JERK_MIN (zero velocity) and MPC_JERK_MAX (maximum velocity). - * - * This means that the vehicle's motions are smooth for low velocities, but - * still allows fast direction changes or breaking at higher velocities. - * - * Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX). - * - * Note: This is only used when MPC_POS_MODE is set to 1. - * - * @unit m/s^3 - * @min 0 - * @max 30.0 - * @increment 1 - * @decimal 2 - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 8.0f); - /** * Jerk limit in auto mode * @@ -745,13 +709,11 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f); * The supported sub-modes are: * 0 Simple position control where sticks map directly to velocity setpoints * without smoothing. Useful for velocity control tuning. - * 1 Smooth position control with maximum acceleration and jerk limits based on slew-rates. * 3 Smooth position control with maximum acceleration and jerk limits based on * jerk optimized trajectory generator (different algorithm than 1). * 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag * * @value 0 Simple position control - * @value 1 Smooth position control * @value 3 Smooth position control (Jerk optimized) * @value 4 Acceleration based input * @group Multicopter Position Control @@ -789,3 +751,51 @@ PARAM_DEFINE_FLOAT(MPC_SPOOLUP_TIME, 1.0f); * @group Mission */ PARAM_DEFINE_INT32(MPC_YAW_MODE, 0); + +/** + * Responsiveness + * + * Changes the overall responsiveness of the vehicle. + * The higher the value, the faster the vehicle will react. + * + * If set to a value greater than zero, other parameters are automatically set (such as + * the acceleration or jerk limits). + * If set to a negative value, the existing individual parameters are used. + * + * @min -1 + * @max 1 + * @decimal 2 + * @increment 0.05 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(SYS_VEHICLE_RESP, -0.4f); + +/** + * Overall Horizonal Velocity Limit + * + * If set to a value greater than zero, other parameters are automatically set (such as + * MPC_XY_VEL_MAX or MPC_VEL_MANUAL). + * If set to a negative value, the existing individual parameters are used. + * + * @min -20 + * @max 20 + * @decimal 1 + * @increment 1 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.0f); + +/** + * Overall Vertical Velocity Limit + * + * If set to a value greater than zero, other parameters are automatically set (such as + * MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). + * If set to a negative value, the existing individual parameters are used. + * + * @min -3 + * @max 8 + * @decimal 1 + * @increment 0.5 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.0f); diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp index 44ea046597..aa3c46b551 100644 --- a/src/modules/mc_rate_control/MulticopterRateControl.cpp +++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp @@ -159,40 +159,19 @@ MulticopterRateControl::Run() } } - const bool manual_control_updated = _manual_control_setpoint_sub.update(&_manual_control_setpoint); - - // generate the rate setpoint from sticks? - bool manual_rate_sp = false; - - if (_v_control_mode.flag_control_manual_enabled && - !_v_control_mode.flag_control_altitude_enabled && - !_v_control_mode.flag_control_velocity_enabled && - !_v_control_mode.flag_control_position_enabled) { - - if (!_v_control_mode.flag_control_attitude_enabled) { - manual_rate_sp = true; - } - - // Check if we are in rattitude mode and the pilot is within the center threshold on pitch and roll - // if true then use published rate setpoint, otherwise generate from manual_control_setpoint (like acro) - if (_v_control_mode.flag_control_rattitude_enabled) { - manual_rate_sp = - (fabsf(_manual_control_setpoint.y) > _param_mc_ratt_th.get()) || - (fabsf(_manual_control_setpoint.x) > _param_mc_ratt_th.get()); - } - } - - if (manual_rate_sp) { - if (manual_control_updated) { + if (_v_control_mode.flag_control_manual_enabled && !_v_control_mode.flag_control_attitude_enabled) { + // generate the rate setpoint from sticks + manual_control_setpoint_s manual_control_setpoint; + if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) { // manual rates control - ACRO mode const Vector3f man_rate_sp{ - math::superexpo(_manual_control_setpoint.y, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()), - math::superexpo(-_manual_control_setpoint.x, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()), - math::superexpo(_manual_control_setpoint.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())}; + math::superexpo(manual_control_setpoint.y, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()), + math::superexpo(-manual_control_setpoint.x, _param_mc_acro_expo.get(), _param_mc_acro_supexpo.get()), + math::superexpo(manual_control_setpoint.r, _param_mc_acro_expo_y.get(), _param_mc_acro_supexpoy.get())}; _rates_sp = man_rate_sp.emult(_acro_rate_max); - _thrust_sp = math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f); + _thrust_sp = math::constrain(manual_control_setpoint.z, 0.0f, 1.0f); // publish rate setpoint vehicle_rates_setpoint_s v_rates_sp{}; @@ -212,9 +191,9 @@ MulticopterRateControl::Run() vehicle_rates_setpoint_s v_rates_sp; if (_v_rates_sp_sub.update(&v_rates_sp)) { - _rates_sp(0) = v_rates_sp.roll; - _rates_sp(1) = v_rates_sp.pitch; - _rates_sp(2) = v_rates_sp.yaw; + _rates_sp(0) = PX4_ISFINITE(v_rates_sp.roll) ? v_rates_sp.roll : rates(0); + _rates_sp(1) = PX4_ISFINITE(v_rates_sp.pitch) ? v_rates_sp.pitch : rates(1); + _rates_sp(2) = PX4_ISFINITE(v_rates_sp.yaw) ? v_rates_sp.yaw : rates(2); _thrust_sp = -v_rates_sp.thrust_body[2]; } } diff --git a/src/modules/mc_rate_control/MulticopterRateControl.hpp b/src/modules/mc_rate_control/MulticopterRateControl.hpp index 6816848013..531b1e435b 100644 --- a/src/modules/mc_rate_control/MulticopterRateControl.hpp +++ b/src/modules/mc_rate_control/MulticopterRateControl.hpp @@ -105,10 +105,8 @@ private: uORB::Publication _actuators_0_pub; uORB::PublicationMulti _controller_status_pub{ORB_ID(rate_ctrl_status)}; /**< controller status publication */ - uORB::Publication _landing_gear_pub{ORB_ID(landing_gear)}; uORB::Publication _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)}; /**< rate setpoint publication */ - manual_control_setpoint_s _manual_control_setpoint{}; vehicle_control_mode_s _v_control_mode{}; vehicle_status_s _vehicle_status{}; @@ -160,8 +158,6 @@ private: (ParamFloat) _param_mc_acro_supexpo, /**< superexpo stick curve shape (roll & pitch) */ (ParamFloat) _param_mc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */ - (ParamFloat) _param_mc_ratt_th, - (ParamBool) _param_mc_bat_scale_en, (ParamInt) _param_cbrk_rate_ctrl diff --git a/src/modules/mc_rate_control/mc_rate_control_params.c b/src/modules/mc_rate_control/mc_rate_control_params.c index df6f98e1cd..4bc092db60 100644 --- a/src/modules/mc_rate_control/mc_rate_control_params.c +++ b/src/modules/mc_rate_control/mc_rate_control_params.c @@ -283,6 +283,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_K, 1.0f); /** * Max acro roll rate + * * default: 2 turns per second * * @unit deg/s @@ -296,6 +297,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 720.0f); /** * Max acro pitch rate + * * default: 2 turns per second * * @unit deg/s @@ -309,6 +311,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 720.0f); /** * Max acro yaw rate + * * default 1.5 turns per second * * @unit deg/s diff --git a/src/modules/navigator/follow_target.cpp b/src/modules/navigator/follow_target.cpp index bbedf7be20..338d6ab20d 100644 --- a/src/modules/navigator/follow_target.cpp +++ b/src/modules/navigator/follow_target.cpp @@ -327,7 +327,6 @@ void FollowTarget::update_position_sp(bool use_velocity, bool use_position, floa mission_apply_limitation(_mission_item); mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET; - pos_sp_triplet->current.position_valid = use_position; pos_sp_triplet->current.velocity_valid = use_velocity; pos_sp_triplet->current.vx = _current_vel(0); pos_sp_triplet->current.vy = _current_vel(1); diff --git a/src/modules/navigator/follow_target_params.c b/src/modules/navigator/follow_target_params.c index facfc9732e..4dc50bf6e5 100644 --- a/src/modules/navigator/follow_target_params.c +++ b/src/modules/navigator/follow_target_params.c @@ -78,6 +78,7 @@ PARAM_DEFINE_INT32(NAV_FT_FS, 1); /** * Dynamic filtering algorithm responsiveness to target movement + * * lower numbers increase the responsiveness to changing long lat * but also ignore less noise * diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 3fce626d15..4e9f99e388 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -1838,10 +1838,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit { return ((p1->valid == p2->valid) && (p1->type == p2->type) && - (fabsf(p1->x - p2->x) < FLT_EPSILON) && - (fabsf(p1->y - p2->y) < FLT_EPSILON) && - (fabsf(p1->z - p2->z) < FLT_EPSILON) && - (p1->position_valid == p2->position_valid) && (fabsf(p1->vx - p2->vx) < FLT_EPSILON) && (fabsf(p1->vy - p2->vy) < FLT_EPSILON) && (fabsf(p1->vz - p2->vz) < FLT_EPSILON) && @@ -1857,11 +1853,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit (p1->yawspeed_valid == p2->yawspeed_valid) && (fabsf(p1->loiter_radius - p2->loiter_radius) < FLT_EPSILON) && (p1->loiter_direction == p2->loiter_direction) && - (fabsf(p1->a_x - p2->a_x) < FLT_EPSILON) && - (fabsf(p1->a_y - p2->a_y) < FLT_EPSILON) && - (fabsf(p1->a_z - p2->a_z) < FLT_EPSILON) && - (p1->acceleration_valid == p2->acceleration_valid) && - (p1->acceleration_is_force == p2->acceleration_is_force) && (fabsf(p1->acceptance_radius - p2->acceptance_radius) < FLT_EPSILON) && (fabsf(p1->cruising_speed - p2->cruising_speed) < FLT_EPSILON) && ((fabsf(p1->cruising_throttle - p2->cruising_throttle) < FLT_EPSILON) || (!PX4_ISFINITE(p1->cruising_throttle) diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 886831e8fa..335e1ec0f3 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -662,7 +662,7 @@ MissionFeasibilityChecker::checkDistanceToFirstWaypoint(const mission_s &mission } else { /* item is too far from home */ mavlink_log_critical(_navigator->get_mavlink_log_pub(), - "First waypoint too far away: %d meters, %d max.", + "First waypoint too far away: %dm, %d max", (int)dist_to_1wp, (int)max_distance); _navigator->get_mission_result()->warning = true; diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 12a40909a0..55f001c0a1 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -329,8 +329,9 @@ private: (ParamFloat) _param_mis_yaw_err ) - int _local_pos_sub{-1}; /**< local position subscription */ - int _vehicle_status_sub{-1}; /**< local position subscription */ + int _local_pos_sub{-1}; + int _mission_sub{-1}; + int _vehicle_status_sub{-1}; uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 06c6cf45a1..469792dbd4 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -101,6 +101,7 @@ Navigator::Navigator() : _handle_reverse_delay = param_find("VT_B_REV_DEL"); _local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + _mission_sub = orb_subscribe(ORB_ID(mission)); _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); reset_triplets(); @@ -110,6 +111,7 @@ Navigator::~Navigator() { perf_free(_loop_perf); orb_unsubscribe(_local_pos_sub); + orb_unsubscribe(_mission_sub); orb_unsubscribe(_vehicle_status_sub); } @@ -144,13 +146,15 @@ Navigator::run() params_update(); /* wakeup source(s) */ - px4_pollfd_struct_t fds[2] {}; + px4_pollfd_struct_t fds[3] {}; /* Setup of loop */ fds[0].fd = _local_pos_sub; fds[0].events = POLLIN; fds[1].fd = _vehicle_status_sub; fds[1].events = POLLIN; + fds[2].fd = _mission_sub; + fds[2].events = POLLIN; /* rate-limit position subscription to 20 Hz / 50 ms */ orb_set_interval(_local_pos_sub, 50); @@ -168,18 +172,19 @@ Navigator::run() PX4_ERR("poll error %d, %d", pret, errno); px4_usleep(10000); continue; - - } else { - if (fds[0].revents & POLLIN) { - /* success, local pos is available */ - orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos); - } } perf_begin(_loop_perf); + orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos); orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vstatus); + if (fds[2].revents & POLLIN) { + // copy mission to clear any update + mission_s mission; + orb_copy(ORB_ID(mission), _mission_sub, &mission); + } + /* gps updated */ if (_gps_pos_sub.updated()) { _gps_pos_sub.copy(&_gps_pos); diff --git a/src/modules/rc_update/params.c b/src/modules/rc_update/params.c index ee550a65a8..ed14dea538 100644 --- a/src/modules/rc_update/params.c +++ b/src/modules/rc_update/params.c @@ -1391,34 +1391,6 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0); */ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); -/** - * Rattitude switch channel - * - * @min 0 - * @max 18 - * @group Radio Switches - * @value 0 Unassigned - * @value 1 Channel 1 - * @value 2 Channel 2 - * @value 3 Channel 3 - * @value 4 Channel 4 - * @value 5 Channel 5 - * @value 6 Channel 6 - * @value 7 Channel 7 - * @value 8 Channel 8 - * @value 9 Channel 9 - * @value 10 Channel 10 - * @value 11 Channel 11 - * @value 12 Channel 12 - * @value 13 Channel 13 - * @value 14 Channel 14 - * @value 15 Channel 15 - * @value 16 Channel 16 - * @value 17 Channel 17 - * @value 18 Channel 18 - */ -PARAM_DEFINE_INT32(RC_MAP_RATT_SW, 0); - /** * Position Control switch channel * @@ -2044,22 +2016,6 @@ PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f); */ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f); -/** - * Threshold for selecting rattitude mode - * - * 0-1 indicate where in the full channel range the threshold sits - * 0 : min - * 1 : max - * sign indicates polarity of comparison - * positive : true when channel>th - * negative : true when channel 0.1f) { + major_movement[i] = true; + } + } + + for (int i = 0; i < 3; i++) { + // if someone else (DO_SET_ACTUATOR) updated the actuator control + // and we haven't had a major movement, switch back to automatic control + if ((fabsf(_last_manual_control_setpoint[i] - actuator_group_3.control[5 + i]) + > 0.0001f) && (!major_movement[i])) { + _aux_already_active[i] = false; + } + + if (_aux_already_active[i] || major_movement[i]) { + _aux_already_active[i] = true; + _last_manual_control_setpoint[i] = new_aux_values[i]; + + actuator_group_3.control[5 + i] = new_aux_values[i]; + } + } actuator_group_3.timestamp = hrt_absolute_time(); _actuator_group_3_pub.publish(actuator_group_3); diff --git a/src/modules/rc_update/rc_update.h b/src/modules/rc_update/rc_update.h index 3ee7f290ed..93324cbdb8 100644 --- a/src/modules/rc_update/rc_update.h +++ b/src/modules/rc_update/rc_update.h @@ -161,6 +161,7 @@ private: uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)}; + uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)}; uORB::Publication _rc_channels_pub{ORB_ID(rc_channels)}; uORB::PublicationMulti _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)}; @@ -179,6 +180,8 @@ private: hrt_abstime _last_timestamp_signal{0}; uint16_t _rc_values_previous[RC_MAX_CHAN_COUNT] {}; + float _last_manual_control_setpoint[3] {}; + bool _aux_already_active[3] = {false, false, false}; uint8_t _channel_count_previous{0}; uint8_t _input_source_previous{input_rc_s::RC_INPUT_SOURCE_UNKNOWN}; @@ -203,7 +206,6 @@ private: (ParamInt) _param_rc_map_flaps, (ParamInt) _param_rc_map_return_sw, - (ParamInt) _param_rc_map_ratt_sw, (ParamInt) _param_rc_map_posctl_sw, (ParamInt) _param_rc_map_loiter_sw, (ParamInt) _param_rc_map_acro_sw, @@ -226,7 +228,6 @@ private: (ParamFloat) _param_rc_assist_th, (ParamFloat) _param_rc_auto_th, - (ParamFloat) _param_rc_ratt_th, (ParamFloat) _param_rc_posctl_th, (ParamFloat) _param_rc_loiter_th, (ParamFloat) _param_rc_acro_th, diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp index a5cdda49ff..7d5fc91160 100644 --- a/src/modules/rover_pos_control/RoverPositionControl.cpp +++ b/src/modules/rover_pos_control/RoverPositionControl.cpp @@ -319,18 +319,15 @@ RoverPositionControl::control_position(const matrix::Vector2d ¤t_position, } void -RoverPositionControl::control_velocity(const matrix::Vector3f ¤t_velocity, - const position_setpoint_triplet_s &pos_sp_triplet) +RoverPositionControl::control_velocity(const matrix::Vector3f ¤t_velocity) { - + const Vector3f desired_velocity{_trajectory_setpoint.vx, _trajectory_setpoint.vy, _trajectory_setpoint.vz}; float dt = 0.01; // Using non zero value to a avoid division by zero const float mission_throttle = _param_throttle_cruise.get(); - const matrix::Vector3f desired_velocity{pos_sp_triplet.current.vx, pos_sp_triplet.current.vy, pos_sp_triplet.current.vz}; const float desired_speed = desired_velocity.norm(); if (desired_speed > 0.01f) { - const Dcmf R_to_body(Quatf(_vehicle_att.q).inversed()); const Vector3f vel = R_to_body * Vector3f(current_velocity(0), current_velocity(1), current_velocity(2)); @@ -344,13 +341,12 @@ RoverPositionControl::control_velocity(const matrix::Vector3f ¤t_velocity, Vector3f desired_body_velocity; - if (pos_sp_triplet.current.velocity_frame == position_setpoint_s::VELOCITY_FRAME_BODY_NED) { + if (_velocity_frame == VelocityFrame::NED) { desired_body_velocity = desired_velocity; } else { // If the frame of the velocity setpoint is unknown, assume it is in local frame desired_body_velocity = R_to_body * desired_velocity; - } const float desired_theta = atan2f(desired_body_velocity(1), desired_body_velocity(0)); @@ -363,7 +359,6 @@ RoverPositionControl::control_velocity(const matrix::Vector3f ¤t_velocity, _act_controls.control[actuator_controls_s::INDEX_THROTTLE] = 0.0f; _act_controls.control[actuator_controls_s::INDEX_YAW] = 0.0f; - } } @@ -410,17 +405,26 @@ RoverPositionControl::Run() position_setpoint_triplet_poll(); - //Convert Local setpoints to global setpoints + // Convert Local setpoints to global setpoints if (_control_mode.flag_control_offboard_enabled) { - if (!globallocalconverter_initialized()) { - globallocalconverter_init(_local_pos.ref_lat, _local_pos.ref_lon, - _local_pos.ref_alt, _local_pos.ref_timestamp); + if (!map_projection_initialized(&_global_local_proj_ref) + || (_global_local_proj_ref.timestamp != _local_pos.ref_timestamp)) { - } else { - globallocalconverter_toglobal(_pos_sp_triplet.current.x, _pos_sp_triplet.current.y, _pos_sp_triplet.current.z, - &_pos_sp_triplet.current.lat, &_pos_sp_triplet.current.lon, &_pos_sp_triplet.current.alt); + map_projection_init_timestamped(&_global_local_proj_ref, _local_pos.ref_lat, _local_pos.ref_lon, + _local_pos.ref_timestamp); + _global_local_alt0 = _local_pos.ref_alt; } + + _trajectory_setpoint_sub.update(&_trajectory_setpoint); + + // local -> global + map_projection_reproject(&_global_local_proj_ref, + _trajectory_setpoint.x, _trajectory_setpoint.y, + &_pos_sp_triplet.current.lat, &_pos_sp_triplet.current.lon); + + _pos_sp_triplet.current.alt = _global_local_alt0 - _trajectory_setpoint.z; + _pos_sp_triplet.current.valid = true; } // update the reset counters in any case @@ -438,7 +442,7 @@ RoverPositionControl::Run() float turn_distance = _param_l1_distance.get(); //_gnd_control.switch_distance(100.0f); // publish status - position_controller_status_s pos_ctrl_status = {}; + position_controller_status_s pos_ctrl_status{}; pos_ctrl_status.nav_roll = 0.0f; pos_ctrl_status.nav_pitch = 0.0f; @@ -456,14 +460,11 @@ RoverPositionControl::Run() pos_ctrl_status.timestamp = hrt_absolute_time(); _pos_ctrl_status_pub.publish(pos_ctrl_status); - - } } else if (!_control_mode.flag_control_manual_enabled && _control_mode.flag_control_velocity_enabled) { - - control_velocity(current_velocity, _pos_sp_triplet); - + _trajectory_setpoint_sub.update(&_trajectory_setpoint); + control_velocity(current_velocity); } } diff --git a/src/modules/rover_pos_control/RoverPositionControl.hpp b/src/modules/rover_pos_control/RoverPositionControl.hpp index e80c53f99d..1104939987 100644 --- a/src/modules/rover_pos_control/RoverPositionControl.hpp +++ b/src/modules/rover_pos_control/RoverPositionControl.hpp @@ -70,6 +70,7 @@ #include #include #include +#include #include using matrix::Dcmf; @@ -112,6 +113,7 @@ private: uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */ uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; + uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)}; manual_control_setpoint_s _manual_control_setpoint{}; /**< r/c channel data */ position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of mission items */ @@ -121,6 +123,7 @@ private: vehicle_local_position_s _local_pos{}; /**< global vehicle position */ actuator_controls_s _act_controls{}; /**< direct control of actuators */ vehicle_attitude_s _vehicle_att{}; + vehicle_local_position_setpoint_s _trajectory_setpoint{}; uORB::SubscriptionData _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)}; @@ -129,6 +132,9 @@ private: hrt_abstime _control_position_last_called{0}; /** imu_status{ORB_ID(vehicle_imu_status), i}; - const float sample_rate_hz = imu_status.get().gyro_rate_hz; - - if ((imu_status.get().gyro_device_id != 0) && (imu_status.get().gyro_device_id == _calibration.device_id()) - && PX4_ISFINITE(sample_rate_hz) && (sample_rate_hz > 0)) { - // check if sample rate error is greater than 1% - if ((fabsf(sample_rate_hz - _filter_sample_rate) / _filter_sample_rate) > 0.01f) { - PX4_DEBUG("sample rate changed: %.3f Hz -> %.3f Hz", (double)_filter_sample_rate, (double)sample_rate_hz); - _filter_sample_rate = sample_rate_hz; - sample_rate_changed = true; - break; - } + if (imu_status.get().gyro_device_id == _selected_sensor_device_id) { + sample_rate_hz = imu_status.get().gyro_raw_rate_hz; + publish_rate_hz = imu_status.get().gyro_rate_hz; + break; } } - // update software low pass filters - if (sample_rate_changed || (fabsf(_lp_filter_velocity.get_cutoff_freq() - _param_imu_gyro_cutoff.get()) > 0.1f)) { - _lp_filter_velocity.set_cutoff_frequency(_filter_sample_rate, _param_imu_gyro_cutoff.get()); - _lp_filter_velocity.reset(_angular_velocity_prev); + // calculate sensor update rate + if (PX4_ISFINITE(sample_rate_hz) && PX4_ISFINITE(publish_rate_hz)) { + // check if sample rate error is greater than 1% + if ((fabsf(sample_rate_hz - _filter_sample_rate_hz) / sample_rate_hz) > 0.01f) { + PX4_DEBUG("resetting filters, sample rate: %.3f Hz -> %.3f Hz", (double)_filter_sample_rate_hz, (double)sample_rate_hz); + _reset_filters = true; + _filter_sample_rate_hz = sample_rate_hz; + + if (_param_imu_gyro_ratemax.get() > 0.f) { + // determine number of sensor samples that will get closest to the desired rate + const float configured_interval_us = 1e6f / _param_imu_gyro_ratemax.get(); + const float publish_interval_us = 1e6f / publish_rate_hz; + + const uint8_t samples = roundf(configured_interval_us / publish_interval_us); + + if (_fifo_available) { + _sensor_fifo_sub.set_required_updates(math::constrain(samples, (uint8_t)1, sensor_gyro_fifo_s::ORB_QUEUE_LENGTH)); + + } else { + _sensor_sub.set_required_updates(math::constrain(samples, (uint8_t)1, sensor_gyro_s::ORB_QUEUE_LENGTH)); + } + + // publish interval (constrained 100 Hz - 8 kHz) + _publish_interval_min_us = math::constrain((int)roundf(configured_interval_us - (publish_interval_us / 2.f)), 125, + 10000); + + } else { + _sensor_sub.set_required_updates(1); + _sensor_fifo_sub.set_required_updates(1); + _publish_interval_min_us = 0; + } + } + + if (_filter_sample_rate_hz > 0.f) { + return true; + } } - if (sample_rate_changed - || (fabsf(_notch_filter_velocity.getNotchFreq() - _param_imu_gyro_nf_freq.get()) > 0.1f) - || (fabsf(_notch_filter_velocity.getBandwidth() - _param_imu_gyro_nf_bw.get()) > 0.1f) - ) { - _notch_filter_velocity.setParameters(_filter_sample_rate, _param_imu_gyro_nf_freq.get(), _param_imu_gyro_nf_bw.get()); - _notch_filter_velocity.reset(_angular_velocity_prev); + return false; +} + +void VehicleAngularVelocity::ResetFilters() +{ + const Vector3f angular_velocity{GetResetAngularVelocity()}; + const Vector3f angular_acceleration{GetResetAngularAcceleration()}; + + for (int axis = 0; axis < 3; axis++) { + // angular velocity low pass + _lp_filter_velocity[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_gyro_cutoff.get()); + _lp_filter_velocity[axis].reset(angular_velocity(axis)); + + // angular velocity notch + _notch_filter_velocity[axis].setParameters(_filter_sample_rate_hz, _param_imu_gyro_nf_freq.get(), + _param_imu_gyro_nf_bw.get()); + _notch_filter_velocity[axis].reset(angular_velocity(axis)); + + // angular acceleration low pass + _lp_filter_acceleration[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_dgyro_cutoff.get()); + _lp_filter_acceleration[axis].reset(angular_acceleration(axis)); } - if (sample_rate_changed || (fabsf(_lp_filter_acceleration.get_cutoff_freq() - _param_imu_dgyro_cutoff.get()) > 0.1f)) { - _lp_filter_acceleration.set_cutoff_frequency(_filter_sample_rate, _param_imu_dgyro_cutoff.get()); - _lp_filter_acceleration.reset(_angular_acceleration_prev); - } + // dynamic notch filters, first disable, then force update (if available) + DisableDynamicNotchEscRpm(); + DisableDynamicNotchFFT(); + + UpdateDynamicNotchEscRpm(true); + UpdateDynamicNotchFFT(true); + + _angular_velocity_prev = angular_velocity; + + _reset_filters = false; + perf_count(_filter_reset_perf); } void VehicleAngularVelocity::SensorBiasUpdate(bool force) @@ -137,40 +193,69 @@ void VehicleAngularVelocity::SensorBiasUpdate(bool force) if (_estimator_sensor_bias_sub.updated() || force) { estimator_sensor_bias_s bias; - if (_estimator_sensor_bias_sub.copy(&bias)) { - if (bias.gyro_device_id == _calibration.device_id()) { - _bias = Vector3f{bias.gyro_bias}; + if (_estimator_sensor_bias_sub.copy(&bias) && (bias.gyro_device_id == _selected_sensor_device_id)) { + _bias = Vector3f{bias.gyro_bias}; - } else { - _bias.zero(); - } + } else { + _bias.zero(); } } } bool VehicleAngularVelocity::SensorSelectionUpdate(bool force) { - if (_sensor_selection_sub.updated() || (_calibration.device_id() == 0) || force) { + if (_sensor_selection_sub.updated() || (_selected_sensor_device_id == 0) || force) { sensor_selection_s sensor_selection{}; _sensor_selection_sub.copy(&sensor_selection); - if ((sensor_selection.gyro_device_id != 0) && (_calibration.device_id() != sensor_selection.gyro_device_id)) { + if (_selected_sensor_device_id != sensor_selection.gyro_device_id) { + + // see if the selected sensor publishes sensor_gyro_fifo + for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) { + uORB::SubscriptionData sensor_gyro_fifo_sub{ORB_ID(sensor_gyro_fifo), i}; + + if ((sensor_gyro_fifo_sub.get().device_id != 0) + && (sensor_gyro_fifo_sub.get().device_id == sensor_selection.gyro_device_id)) { + if (_sensor_fifo_sub.ChangeInstance(i) && _sensor_fifo_sub.registerCallback()) { + // make sure non-FIFO sub is unregistered + _sensor_sub.unregisterCallback(); + + // record selected sensor + _selected_sensor_device_id = sensor_selection.gyro_device_id; + _calibration.set_device_id(sensor_gyro_fifo_sub.get().device_id); + + _reset_filters = true; + _bias.zero(); + _fifo_available = true; + _last_scale = 0.f; + + perf_count(_selection_changed_perf); + + return true; + } + } + } + for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) { uORB::SubscriptionData sensor_gyro_sub{ORB_ID(sensor_gyro), i}; - const uint32_t device_id = sensor_gyro_sub.get().device_id; - - if ((device_id != 0) && (device_id == sensor_selection.gyro_device_id)) { - + if ((sensor_gyro_sub.get().device_id != 0) + && (sensor_gyro_sub.get().device_id == sensor_selection.gyro_device_id)) { if (_sensor_sub.ChangeInstance(i) && _sensor_sub.registerCallback()) { - PX4_DEBUG("selected sensor changed %d -> %d", _calibration.device_id(), device_id); + // make sure FIFO sub is unregistered + _sensor_fifo_sub.unregisterCallback(); + + // record selected sensor + _calibration.set_device_id(sensor_gyro_sub.get().device_id); + _selected_sensor_device_id = sensor_selection.gyro_device_id; // clear bias and corrections + _reset_filters = true; _bias.zero(); + _fifo_available = false; + _last_scale = 1.f; - _calibration.set_device_id(device_id); - - CheckAndUpdateFilters(); + perf_count(_selection_changed_perf); return true; } @@ -178,7 +263,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force) } PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.gyro_device_id); - _calibration.set_device_id(0); + _selected_sensor_device_id = 0; } } @@ -197,91 +282,455 @@ void VehicleAngularVelocity::ParametersUpdate(bool force) _calibration.ParametersUpdate(); - CheckAndUpdateFilters(); + // gyro low pass cutoff frequency changed + for (auto &lp : _lp_filter_velocity) { + if (fabsf(lp.get_cutoff_freq() - _param_imu_gyro_cutoff.get()) > 0.01f) { + _reset_filters = true; + break; + } + } + + // gyro notch filter frequency or bandwidth changed + for (auto &nf : _notch_filter_velocity) { + if ((fabsf(nf.getNotchFreq() - _param_imu_gyro_nf_freq.get()) > 0.01f) + || (fabsf(nf.getBandwidth() - _param_imu_gyro_nf_bw.get()) > 0.01f)) { + + _reset_filters = true; + break; + } + } + + // gyro derivative low pass cutoff changed + for (auto &lp : _lp_filter_acceleration) { + if (fabsf(lp.get_cutoff_freq() - _param_imu_dgyro_cutoff.get()) > 0.01f) { + _reset_filters = true; + break; + } + } + +#if !defined(CONSTRAINED_FLASH) + + if (_param_imu_gyro_dyn_nf.get() & DynamicNotch::EscRpm) { + if (_dynamic_notch_filter_esc_rpm_update_perf == nullptr) { + _dynamic_notch_filter_esc_rpm_update_perf = perf_alloc(PC_COUNT, + MODULE_NAME": gyro dynamic notch filter ESC RPM update"); + } + + if (_dynamic_notch_filter_esc_rpm_perf == nullptr) { + _dynamic_notch_filter_esc_rpm_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": gyro dynamic notch ESC RPM filter"); + } + + } else { + DisableDynamicNotchEscRpm(); + } + + if (_param_imu_gyro_dyn_nf.get() & DynamicNotch::FFT) { + if (_dynamic_notch_filter_fft_update_perf == nullptr) { + _dynamic_notch_filter_fft_update_perf = perf_alloc(PC_COUNT, MODULE_NAME": gyro dynamic notch filter FFT update"); + } + + if (_dynamic_notch_filter_fft_perf == nullptr) { + _dynamic_notch_filter_fft_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": gyro dynamic notch FFT filter"); + } + + } else { + DisableDynamicNotchFFT(); + } + +#endif // !CONSTRAINED_FLASH } } +Vector3f VehicleAngularVelocity::GetResetAngularVelocity() const +{ + if ((_last_publish != 0) && (_last_scale > 0.f) + && PX4_ISFINITE(_angular_velocity(0)) + && PX4_ISFINITE(_angular_velocity(1)) + && PX4_ISFINITE(_angular_velocity(2))) { + // angular velocity filtering is performed on raw unscaled data + // start with last valid vehicle body frame angular velocity and compute equivalent raw data (for current sensor selection) + return _calibration.Uncorrect(_angular_velocity + _bias) / _last_scale; + } + + return Vector3f{0.f, 0.f, 0.f}; +} + +Vector3f VehicleAngularVelocity::GetResetAngularAcceleration() const +{ + if ((_last_publish != 0) && (_last_scale > 0.f) + && PX4_ISFINITE(_angular_acceleration(0)) + && PX4_ISFINITE(_angular_acceleration(1)) + && PX4_ISFINITE(_angular_acceleration(2))) { + // angular acceleration filtering is performed on raw unscaled data + // start with last valid vehicle body frame angular acceleration and compute equivalent raw data (for current sensor selection) + return _calibration.rotation().I() * _angular_acceleration / _last_scale; + } + + return Vector3f{0.f, 0.f, 0.f}; +} + +void VehicleAngularVelocity::DisableDynamicNotchEscRpm() +{ +#if !defined(CONSTRAINED_FLASH) + + // device id mismatch, disable all + for (auto &dnf : _dynamic_notch_filter_esc_rpm) { + for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) { + for (int axis = 0; axis < 3; axis++) { + dnf[harmonic][axis].setParameters(0, 0, 0); + } + } + } + + _dynamic_notch_esc_rpm_available = false; +#endif // !CONSTRAINED_FLASH +} + +void VehicleAngularVelocity::DisableDynamicNotchFFT() +{ +#if !defined(CONSTRAINED_FLASH) + + // device id mismatch, disable all + for (auto &dnf : _dynamic_notch_filter_fft) { + for (int axis = 0; axis < 3; axis++) { + dnf[axis].setParameters(0, 0, 0); + } + } + + _dynamic_notch_fft_available = false; +#endif // !CONSTRAINED_FLASH +} + +void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(bool force) +{ +#if !defined(CONSTRAINED_FLASH) + const bool enabled = _param_imu_gyro_dyn_nf.get() & DynamicNotch::EscRpm; + + if (enabled && (_esc_status_sub.updated() || force)) { + _dynamic_notch_esc_rpm_available = false; + + esc_status_s esc_status; + + if (_esc_status_sub.copy(&esc_status)) { + for (size_t i = 0; i < MAX_NUM_ESC_RPM; i++) { + static constexpr int32_t MIN_ESC_RPM = 20 * 60; // 20 Hz safe minimum limit TODO: configurable + + if ((esc_status.esc[i].timestamp != 0) && ((_timestamp_sample_last - esc_status.esc[i].timestamp) < 1_s) + && (esc_status.esc[i].esc_rpm > MIN_ESC_RPM)) { + + const float esc_hz = static_cast(esc_status.esc[i].esc_rpm) / 60.f; + + for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) { + const float frequency_hz = esc_hz * (harmonic + 1); + + auto &dnf0 = _dynamic_notch_filter_esc_rpm[i][harmonic][0]; + const float change_percent = fabsf(dnf0.getNotchFreq() - frequency_hz) / frequency_hz; + + if (change_percent > 0.001f) { + // peak frequency changed by at least 0.1% + for (int axis = 0; axis < 3; axis++) { + auto &dnf = _dynamic_notch_filter_esc_rpm[i][harmonic][axis]; + dnf.setParameters(_filter_sample_rate_hz, frequency_hz, 1.f); // TODO: configurable bandwidth + } + + // only reset if there's sufficient change (> 1%) + if (change_percent > 0.01f) { + const Vector3f reset_angular_velocity{GetResetAngularVelocity()}; + + for (int axis = 0; axis < 3; axis++) { + auto &dnf = _dynamic_notch_filter_esc_rpm[i][harmonic][axis]; + dnf.reset(reset_angular_velocity(axis)); + } + } + + perf_count(_dynamic_notch_filter_esc_rpm_update_perf); + } + } + + _dynamic_notch_esc_rpm_available = true; + + } else { + // disable all notch filters for this ESC + for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) { + for (int axis = 0; axis < 3; axis++) { + _dynamic_notch_filter_esc_rpm[i][harmonic][axis].setParameters(0, 0, 0); + } + } + } + } + } + } + +#endif // !CONSTRAINED_FLASH +} + +void VehicleAngularVelocity::UpdateDynamicNotchFFT(bool force) +{ +#if !defined(CONSTRAINED_FLASH) + const bool enabled = _param_imu_gyro_dyn_nf.get() & DynamicNotch::FFT; + + if (enabled && (_sensor_gyro_fft_sub.updated() || force)) { + _dynamic_notch_fft_available = false; + + sensor_gyro_fft_s sensor_gyro_fft; + + if (_sensor_gyro_fft_sub.copy(&sensor_gyro_fft) && (sensor_gyro_fft.device_id == _selected_sensor_device_id) + && (fabsf(sensor_gyro_fft.sensor_sample_rate_hz - _filter_sample_rate_hz) < 10.f)) { + + float *peak_frequencies[] {sensor_gyro_fft.peak_frequencies_x, sensor_gyro_fft.peak_frequencies_y, sensor_gyro_fft.peak_frequencies_z}; + + for (int axis = 0; axis < 3; axis++) { + for (int i = 0; i < MAX_NUM_FFT_PEAKS; i++) { + auto &dnf = _dynamic_notch_filter_fft[i][axis]; + const float &peak_freq = peak_frequencies[axis][i]; + + if (PX4_ISFINITE(peak_freq) && (peak_freq > 1.f)) { + const float peak_diff_abs = fabsf(dnf.getNotchFreq() - peak_freq); + const float change_percent = peak_diff_abs / peak_freq; + + if (change_percent > 0.001f) { + // peak frequency changed by at least 0.1% + dnf.setParameters(_filter_sample_rate_hz, peak_freq, sensor_gyro_fft.resolution_hz); + + // only reset if there's sufficient change + if (peak_diff_abs > sensor_gyro_fft.resolution_hz) { + dnf.reset(GetResetAngularVelocity()(axis)); + } + + perf_count(_dynamic_notch_filter_fft_update_perf); + } + + _dynamic_notch_fft_available = true; + + } else { + // disable this notch filter + dnf.setParameters(0, 0, 0); + } + } + } + + } else { + DisableDynamicNotchFFT(); + } + } + +#endif // !CONSTRAINED_FLASH +} + +float VehicleAngularVelocity::FilterAngularVelocity(int axis, float data[], int N) +{ +#if !defined(CONSTRAINED_FLASH) + + // Apply dynamic notch filter from ESC RPM + if (_dynamic_notch_esc_rpm_available) { + perf_begin(_dynamic_notch_filter_esc_rpm_perf); + + for (auto &dnf : _dynamic_notch_filter_esc_rpm) { + for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) { + if (dnf[harmonic][axis].getNotchFreq() > 0.f) { + dnf[harmonic][axis].applyDF1(data, N); + + } else { + break; + } + } + } + + perf_end(_dynamic_notch_filter_esc_rpm_perf); + } + + // Apply dynamic notch filter from FFT + if (_dynamic_notch_fft_available) { + perf_begin(_dynamic_notch_filter_fft_perf); + + for (auto &dnf : _dynamic_notch_filter_fft) { + if (dnf[axis].getNotchFreq() > 0.f) { + dnf[axis].applyDF1(data, N); + } + } + + perf_end(_dynamic_notch_filter_fft_perf); + } + +#endif // !CONSTRAINED_FLASH + + // Apply general notch filter (IMU_GYRO_NF_FREQ) + if (_notch_filter_velocity[axis].getNotchFreq() > 0.f) { + _notch_filter_velocity[axis].apply(data, N); + } + + // Apply general low-pass filter (IMU_GYRO_CUTOFF) + _lp_filter_velocity[axis].apply(data, N); + + // return last filtered sample + return data[N - 1]; +} + +float VehicleAngularVelocity::FilterAngularAcceleration(int axis, float data[], int N, float dt_s) +{ + if (N > 0) { + // angular acceleration: Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF) + float delta_velocity_filtered; + + for (int n = 0; n < N; n++) { + const float delta_velocity = (data[n] - _angular_velocity_prev(axis)); + delta_velocity_filtered = _lp_filter_acceleration[axis].apply(delta_velocity); + _angular_velocity_prev(axis) = data[n]; + } + + return delta_velocity_filtered / dt_s; + } + + return 0.f; +} + void VehicleAngularVelocity::Run() { // backup schedule ScheduleDelayed(10_ms); // update corrections first to set _selected_sensor - bool selection_updated = SensorSelectionUpdate(); + const bool selection_updated = SensorSelectionUpdate(); _calibration.SensorCorrectionsUpdate(selection_updated); SensorBiasUpdate(selection_updated); ParametersUpdate(); - // process all outstanding messages - sensor_gyro_s sensor_data; + if (_fifo_available) { + // process all outstanding fifo messages + sensor_gyro_fifo_s sensor_fifo_data; - while (_sensor_sub.update(&sensor_data)) { + while (_sensor_fifo_sub.update(&sensor_fifo_data)) { + const float dt_s = sensor_fifo_data.dt * 1e-6f; + _timestamp_sample_last = sensor_fifo_data.timestamp_sample; - // Guard against too small (< 0.2ms) and too large (> 20ms) dt's. - const float dt = math::constrain(((sensor_data.timestamp_sample - _timestamp_sample_prev) / 1e6f), 0.0002f, 0.02f); - _timestamp_sample_prev = sensor_data.timestamp_sample; + if (_reset_filters || (fabsf(sensor_fifo_data.scale - _last_scale) > FLT_EPSILON)) { + if (UpdateSampleRate()) { + // in FIFO mode the unscaled raw data is filtered + _last_scale = sensor_fifo_data.scale; - // get the sensor data and correct for thermal errors (apply offsets and scale) - const Vector3f val{sensor_data.x, sensor_data.y, sensor_data.z}; + ResetFilters(); + } - // correct for in-run bias errors - const Vector3f angular_velocity_raw = _calibration.Correct(val) - _bias; - - // Gyro filtering: - // - Apply general notch filter (IMU_GYRO_NF_FREQ) - // - Apply general low-pass filter (IMU_GYRO_CUTOFF) - // - Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF) - - const Vector3f angular_velocity_notched{_notch_filter_velocity.apply(angular_velocity_raw)}; - - const Vector3f angular_velocity{_lp_filter_velocity.apply(angular_velocity_notched)}; - - const Vector3f angular_acceleration_raw = (angular_velocity - _angular_velocity_prev) / dt; - _angular_velocity_prev = angular_velocity; - _angular_acceleration_prev = angular_acceleration_raw; - const Vector3f angular_acceleration{_lp_filter_acceleration.apply(angular_acceleration_raw)}; - - - // publish once all new samples are processed - if (!_sensor_sub.updated()) { - bool publish = true; - - if (_param_imu_gyro_rate_max.get() > 0) { - const uint64_t interval = 1e6f / _param_imu_gyro_rate_max.get(); - - if (hrt_elapsed_time(&_last_publish) < interval) { - publish = false; + if (_reset_filters) { + continue; // not safe to run until filters configured } } - if (publish) { - // Publish vehicle_angular_acceleration - vehicle_angular_acceleration_s v_angular_acceleration; - v_angular_acceleration.timestamp_sample = sensor_data.timestamp_sample; - angular_acceleration.copyTo(v_angular_acceleration.xyz); - v_angular_acceleration.timestamp = hrt_absolute_time(); - _vehicle_angular_acceleration_pub.publish(v_angular_acceleration); + const int N = sensor_fifo_data.samples; + static constexpr int FIFO_SIZE_MAX = sizeof(sensor_fifo_data.x) / sizeof(sensor_fifo_data.x[0]); - // Publish vehicle_angular_velocity - vehicle_angular_velocity_s v_angular_velocity; - v_angular_velocity.timestamp_sample = sensor_data.timestamp_sample; - angular_velocity.copyTo(v_angular_velocity.xyz); - v_angular_velocity.timestamp = hrt_absolute_time(); - _vehicle_angular_velocity_pub.publish(v_angular_velocity); + if ((N > 0) && (N <= FIFO_SIZE_MAX)) { + UpdateDynamicNotchEscRpm(); + UpdateDynamicNotchFFT(); - _last_publish = v_angular_velocity.timestamp_sample; - return; + Vector3f angular_velocity_unscaled; + Vector3f angular_acceleration_unscaled; + + int16_t *raw_data_array[] {sensor_fifo_data.x, sensor_fifo_data.y, sensor_fifo_data.z}; + + for (int axis = 0; axis < 3; axis++) { + // copy raw int16 sensor samples to float array for filtering + float data[FIFO_SIZE_MAX]; + + for (int n = 0; n < N; n++) { + data[n] = raw_data_array[axis][n]; + } + + // save last filtered sample + angular_velocity_unscaled(axis) = FilterAngularVelocity(axis, data, N); + angular_acceleration_unscaled(axis) = FilterAngularAcceleration(axis, data, N, dt_s); + } + + // Publish + if (!_sensor_fifo_sub.updated()) { + CalibrateAndPublish(sensor_fifo_data.timestamp_sample, angular_velocity_unscaled, angular_acceleration_unscaled, + sensor_fifo_data.scale); + } + } + } + + } else { + // process all outstanding messages + sensor_gyro_s sensor_data; + + while (_sensor_sub.update(&sensor_data)) { + const float dt_s = math::constrain(((sensor_data.timestamp_sample - _timestamp_sample_last) / 1e6f), 0.0002f, 0.02f); + _timestamp_sample_last = sensor_data.timestamp_sample; + + if (_reset_filters) { + if (UpdateSampleRate()) { + // non-FIFO sensor data is already scaled + _last_scale = 1.f; + ResetFilters(); + } + + if (_reset_filters) { + continue; // not safe to run until filters configured + } + } + + UpdateDynamicNotchEscRpm(); + UpdateDynamicNotchFFT(); + + Vector3f angular_velocity_unscaled; + Vector3f angular_acceleration_unscaled; + + float raw_data_array[] {sensor_data.x, sensor_data.y, sensor_data.z}; + + for (int axis = 0; axis < 3; axis++) { + // copy sensor sample to float array for filtering + float data[1] {raw_data_array[axis]}; + + // save last filtered sample + angular_velocity_unscaled(axis) = FilterAngularVelocity(axis, data, 1); + angular_acceleration_unscaled(axis) = FilterAngularAcceleration(axis, data, 1, dt_s); + } + + // Publish + if (!_sensor_sub.updated()) { + CalibrateAndPublish(sensor_data.timestamp_sample, angular_velocity_unscaled, angular_acceleration_unscaled); } } } } +void VehicleAngularVelocity::CalibrateAndPublish(const hrt_abstime ×tamp_sample, + const Vector3f &angular_velocity_unscaled, const Vector3f &angular_acceleration_unscaled, float scale) +{ + // Angular velocity: rotate sensor frame to board, scale raw data to SI, apply calibration, and remove in-run estimated bias + _angular_velocity = _calibration.Correct(angular_velocity_unscaled * scale) - _bias; + + // Angular acceleration: rotate sensor frame to board, scale raw data to SI, apply any additional configured rotation + _angular_acceleration = _calibration.rotation() * angular_acceleration_unscaled * scale; + + if (timestamp_sample >= _last_publish + _publish_interval_min_us) { + + // Publish vehicle_angular_acceleration + vehicle_angular_acceleration_s v_angular_acceleration; + v_angular_acceleration.timestamp_sample = timestamp_sample; + _angular_acceleration.copyTo(v_angular_acceleration.xyz); + v_angular_acceleration.timestamp = hrt_absolute_time(); + _vehicle_angular_acceleration_pub.publish(v_angular_acceleration); + + // Publish vehicle_angular_velocity + vehicle_angular_velocity_s v_angular_velocity; + v_angular_velocity.timestamp_sample = timestamp_sample; + _angular_velocity.copyTo(v_angular_velocity.xyz); + v_angular_velocity.timestamp = hrt_absolute_time(); + _vehicle_angular_velocity_pub.publish(v_angular_velocity); + + // shift last publish time forward, but don't let it get further behind than the interval + _last_publish = math::constrain(_last_publish + _publish_interval_min_us, + timestamp_sample - _publish_interval_min_us, timestamp_sample); + } +} + void VehicleAngularVelocity::PrintStatus() { - PX4_INFO("selected sensor: %d, rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]", - _calibration.device_id(), (double)_filter_sample_rate, - (double)_bias(0), (double)_bias(1), (double)_bias(2)); + PX4_INFO("selected sensor: %d, rate: %.1f Hz %s", + _selected_sensor_device_id, (double)_filter_sample_rate_hz, _fifo_available ? "FIFO" : ""); + PX4_INFO("estimated bias: [%.4f %.4f %.4f]", (double)_bias(0), (double)_bias(1), (double)_bias(2)); _calibration.PrintStatus(); } diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp index 82180faafb..9d71d5b9b3 100644 --- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp +++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2019 PX4 Development Team. All rights reserved. + * Copyright (c) 2019-2021 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,8 +36,9 @@ #include #include #include -#include -#include +#include +#include +#include #include #include #include @@ -45,10 +46,13 @@ #include #include #include +#include #include #include #include #include +#include +#include #include #include #include @@ -64,57 +68,119 @@ public: VehicleAngularVelocity(); ~VehicleAngularVelocity() override; + void PrintStatus(); bool Start(); void Stop(); - void PrintStatus(); - private: void Run() override; - void CheckAndUpdateFilters(); + void CalibrateAndPublish(const hrt_abstime ×tamp_sample, const matrix::Vector3f &angular_velocity, + const matrix::Vector3f &angular_acceleration, float scale = 1.f); + + float FilterAngularVelocity(int axis, float data[], int N); + float FilterAngularAcceleration(int axis, float data[], int N, float dt_s); + + void DisableDynamicNotchEscRpm(); + void DisableDynamicNotchFFT(); void ParametersUpdate(bool force = false); + + void ResetFilters(); void SensorBiasUpdate(bool force = false); bool SensorSelectionUpdate(bool force = false); + void UpdateDynamicNotchEscRpm(bool force = false); + void UpdateDynamicNotchFFT(bool force = false); + bool UpdateSampleRate(); + + // scaled appropriately for current FIFO mode + matrix::Vector3f GetResetAngularVelocity() const; + matrix::Vector3f GetResetAngularAcceleration() const; static constexpr int MAX_SENSOR_COUNT = 4; uORB::Publication _vehicle_angular_acceleration_pub{ORB_ID(vehicle_angular_acceleration)}; - uORB::Publication _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)}; + uORB::Publication _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)}; uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)}; +#if !defined(CONSTRAINED_FLASH) + uORB::Subscription _esc_status_sub {ORB_ID(esc_status)}; + uORB::Subscription _sensor_gyro_fft_sub {ORB_ID(sensor_gyro_fft)}; +#endif // !CONSTRAINED_FLASH uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_gyro)}; + uORB::SubscriptionCallbackWorkItem _sensor_fifo_sub{this, ORB_ID(sensor_gyro_fifo)}; calibration::Gyroscope _calibration{}; matrix::Vector3f _bias{}; - matrix::Vector3f _angular_acceleration_prev{}; - matrix::Vector3f _angular_velocity_prev{}; - hrt_abstime _timestamp_sample_prev{0}; + matrix::Vector3f _angular_velocity{}; + matrix::Vector3f _angular_acceleration{}; + matrix::Vector3f _angular_velocity_prev{}; + hrt_abstime _timestamp_sample_last{0}; + + hrt_abstime _publish_interval_min_us{0}; hrt_abstime _last_publish{0}; + + float _filter_sample_rate_hz{0.f}; + static constexpr const float kInitialRateHz{1000.f}; /**< sensor update rate used for initialization */ - float _filter_sample_rate{kInitialRateHz}; // angular velocity filters - math::LowPassFilter2pVector3f _lp_filter_velocity{kInitialRateHz, 30.f}; - math::NotchFilter _notch_filter_velocity{}; + math::LowPassFilter2pArray _lp_filter_velocity[3] {{kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}}; + math::NotchFilterArray _notch_filter_velocity[3] {}; + +#if !defined(CONSTRAINED_FLASH) + + enum DynamicNotch { + EscRpm = 1, + FFT = 2, + }; + + static constexpr int MAX_NUM_ESC_RPM = sizeof(esc_status_s::esc) / sizeof(esc_status_s::esc[0]); + static constexpr int MAX_NUM_ESC_RPM_HARMONICS = 3; + + static constexpr int MAX_NUM_FFT_PEAKS = sizeof(sensor_gyro_fft_s::peak_frequencies_x) / sizeof( + sensor_gyro_fft_s::peak_frequencies_x[0]); + + math::NotchFilterArray _dynamic_notch_filter_esc_rpm[MAX_NUM_ESC_RPM][MAX_NUM_ESC_RPM_HARMONICS][3] {}; + math::NotchFilterArray _dynamic_notch_filter_fft[MAX_NUM_FFT_PEAKS][3] {}; + + perf_counter_t _dynamic_notch_filter_esc_rpm_update_perf{nullptr}; + perf_counter_t _dynamic_notch_filter_fft_update_perf{nullptr}; + perf_counter_t _dynamic_notch_filter_esc_rpm_perf{nullptr}; + perf_counter_t _dynamic_notch_filter_fft_perf{nullptr}; + + bool _dynamic_notch_esc_rpm_available{false}; + bool _dynamic_notch_fft_available{false}; +#endif // !CONSTRAINED_FLASH // angular acceleration filter - math::LowPassFilter2pVector3f _lp_filter_acceleration{kInitialRateHz, 30.f}; + math::LowPassFilter2p _lp_filter_acceleration[3] {{kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}}; + + uint32_t _selected_sensor_device_id{0}; + + float _last_scale{0.f}; + + bool _reset_filters{true}; + bool _fifo_available{false}; + + perf_counter_t _filter_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro filter reset")}; + perf_counter_t _selection_changed_perf{perf_alloc(PC_COUNT, MODULE_NAME": gyro selection changed")}; DEFINE_PARAMETERS( +#if !defined(CONSTRAINED_FLASH) + (ParamInt) _param_imu_gyro_dyn_nf, +#endif // !CONSTRAINED_FLASH (ParamFloat) _param_imu_gyro_cutoff, (ParamFloat) _param_imu_gyro_nf_freq, (ParamFloat) _param_imu_gyro_nf_bw, - (ParamInt) _param_imu_gyro_rate_max, - + (ParamInt) _param_imu_gyro_ratemax, (ParamFloat) _param_imu_dgyro_cutoff ) }; diff --git a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c index ea6f422f72..202e89defa 100644 --- a/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c +++ b/src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c @@ -90,17 +90,18 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f); * * @min 0 * @max 2000 -* @value 0 0 (no limit) -* @value 50 50 Hz +* @value 0 0 (driver minimum) +* @value 100 100 Hz * @value 250 250 Hz * @value 400 400 Hz +* @value 800 800 Hz * @value 1000 1000 Hz * @value 2000 2000 Hz * @unit Hz * @reboot_required true * @group Sensors */ -PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0); +PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 400); /** * Cutoff frequency for angular acceleration (D-Term filter) @@ -120,4 +121,17 @@ PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0); * @reboot_required true * @group Sensors */ -PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 30.0f); +PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 20.0f); + +/** +* IMU gyro dynamic notch filtering +* +* Enable bank of dynamically updating notch filters. +* Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN). +* @group Sensors +* @min 0 +* @max 3 +* @bit 0 ESC RPM +* @bit 1 FFT +*/ +PARAM_DEFINE_INT32(IMU_GYRO_DYN_NF, 0); diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp index 034c4d551d..fb231eb2c4 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp @@ -34,6 +34,7 @@ #include "VehicleIMU.hpp" #include +#include #include @@ -141,50 +142,54 @@ void VehicleIMU::ParametersUpdate(bool force) } } -bool VehicleIMU::UpdateIntervalAverage(IntervalAverage &intavg, const hrt_abstime ×tamp_sample) +bool VehicleIMU::UpdateIntervalAverage(IntervalAverage &intavg, const hrt_abstime ×tamp_sample, uint8_t samples) { bool updated = false; // conservative maximum time between samples to reject large gaps and reset averaging - float max_interval_us = 10000; // 100 Hz - float min_interval_us = 100; // 10,000 Hz + uint32_t max_interval_us = 10000; // 100 Hz + uint32_t min_interval_us = 100; // 10,000 Hz - if (intavg.update_interval > 0) { + if (intavg.update_interval > 0.f) { // if available use previously calculated interval as bounds - max_interval_us = 1.5f * intavg.update_interval; - min_interval_us = 0.5f * intavg.update_interval; + max_interval_us = roundf(1.5f * intavg.update_interval); + min_interval_us = roundf(0.5f * intavg.update_interval); } - const float interval_us = (timestamp_sample - intavg.timestamp_sample_last); + const uint32_t interval_us = (timestamp_sample - intavg.timestamp_sample_last); if ((intavg.timestamp_sample_last > 0) && (interval_us < max_interval_us) && (interval_us > min_interval_us)) { intavg.interval_sum += interval_us; + intavg.interval_samples += samples; intavg.interval_count++; // periodically calculate sensor update rate if (intavg.interval_count > 10000 || ((intavg.update_interval <= FLT_EPSILON) && intavg.interval_count > 100)) { - const float sample_interval_avg = intavg.interval_sum / intavg.interval_count; + const float sample_interval_avg = (float)intavg.interval_sum / (float)intavg.interval_count; if (PX4_ISFINITE(sample_interval_avg) && (sample_interval_avg > 0.f)) { // update if interval has changed by more than 0.5% if ((fabsf(intavg.update_interval - sample_interval_avg) / intavg.update_interval) > 0.005f) { intavg.update_interval = sample_interval_avg; + intavg.update_interval_raw = (float)intavg.interval_sum / (float)intavg.interval_samples; updated = true; } } // reset sample interval accumulator intavg.interval_sum = 0.f; - intavg.interval_count = 0.f; + intavg.interval_samples = 0; + intavg.interval_count = 0; } } else { // reset intavg.interval_sum = 0.f; - intavg.interval_count = 0.f; + intavg.interval_samples = 0; + intavg.interval_count = 0; } intavg.timestamp_sample_last = timestamp_sample; @@ -222,10 +227,11 @@ void VehicleIMU::Run() } else { // collect sample interval average for filters - if (!_intervals_configured && UpdateIntervalAverage(_gyro_interval, gyro.timestamp_sample)) { + if (!_intervals_configured && UpdateIntervalAverage(_gyro_interval, gyro.timestamp_sample, gyro.samples)) { update_integrator_config = true; publish_status = true; _status.gyro_rate_hz = 1e6f / _gyro_interval.update_interval; + _status.gyro_raw_rate_hz = 1e6f / _gyro_interval.update_interval_raw; } } @@ -268,10 +274,11 @@ void VehicleIMU::Run() } else { // collect sample interval average for filters - if (!_intervals_configured && UpdateIntervalAverage(_accel_interval, accel.timestamp_sample)) { + if (!_intervals_configured && UpdateIntervalAverage(_accel_interval, accel.timestamp_sample, accel.samples)) { update_integrator_config = true; publish_status = true; _status.accel_rate_hz = 1e6f / _accel_interval.update_interval; + _status.accel_raw_rate_hz = 1e6f / _accel_interval.update_interval_raw; } } @@ -320,6 +327,17 @@ void VehicleIMU::Run() } publish_status = true; + + // start notifying the user periodically if there's significant continuous clipping + const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2]; + + if ((hrt_elapsed_time(&_last_clipping_notify_time) > 3_s) + && (clipping_total > _last_clipping_notify_total_count + 10)) { + + mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, land immediately!", _instance); + _last_clipping_notify_time = accel.timestamp_sample; + _last_clipping_notify_total_count = clipping_total; + } } // break once caught up to gyro diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.hpp b/src/modules/sensors/vehicle_imu/VehicleIMU.hpp index 15d091c3e7..323e1cad82 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.hpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.hpp @@ -77,12 +77,14 @@ private: struct IntervalAverage { hrt_abstime timestamp_sample_last{0}; - float interval_sum{0.f}; - float interval_count{0.f}; + uint32_t interval_sum{0}; + uint32_t interval_samples{0}; + uint32_t interval_count{0}; float update_interval{0.f}; + float update_interval_raw{0.f}; }; - bool UpdateIntervalAverage(IntervalAverage &intavg, const hrt_abstime ×tamp_sample); + bool UpdateIntervalAverage(IntervalAverage &intavg, const hrt_abstime ×tamp_sample, uint8_t samples = 1); void UpdateIntegratorConfiguration(); void UpdateGyroVibrationMetrics(const matrix::Vector3f &delta_angle); void UpdateAccelVibrationMetrics(const matrix::Vector3f &delta_velocity); @@ -127,6 +129,10 @@ private: uint8_t _delta_velocity_clipping{0}; + hrt_abstime _last_clipping_notify_time{0}; + uint64_t _last_clipping_notify_total_count{0}; + orb_advert_t _mavlink_log_pub{nullptr}; + bool _intervals_configured{false}; const uint8_t _instance; diff --git a/src/modules/sensors/vehicle_imu/imu_parameters.c b/src/modules/sensors/vehicle_imu/imu_parameters.c index 6675b1d3da..3077e1476b 100644 --- a/src/modules/sensors/vehicle_imu/imu_parameters.c +++ b/src/modules/sensors/vehicle_imu/imu_parameters.c @@ -41,6 +41,7 @@ * @max 1000 * @value 100 100 Hz * @value 200 200 Hz +* @value 250 250 Hz * @value 400 400 Hz * @unit Hz * @reboot_required true diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index f1563f02e7..1a2731515e 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -186,15 +186,7 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw) int accel_best_index = -1; int gyro_best_index = -1; - if (_param_sens_imu_mode.get()) { - _accel.voter.get_best(hrt_absolute_time(), &accel_best_index); - _gyro.voter.get_best(hrt_absolute_time(), &gyro_best_index); - - checkFailover(_accel, "Accel"); - checkFailover(_gyro, "Gyro"); - - } else { - + if (!_param_sens_imu_mode.get() && ((_selection.timestamp != 0) || (_sensor_selection_sub.updated()))) { // use sensor_selection to find best if (_sensor_selection_sub.update(&_selection)) { // reset inconsistency checks against primary @@ -216,6 +208,14 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw) gyro_best_index = i; } } + + } else { + // use sensor voter to find best if SENS_IMU_MODE is enabled or ORB_ID(sensor_selection) has never published + _accel.voter.get_best(hrt_absolute_time(), &accel_best_index); + _gyro.voter.get_best(hrt_absolute_time(), &gyro_best_index); + + checkFailover(_accel, "Accel"); + checkFailover(_gyro, "Gyro"); } // write data for the best sensor to output variables @@ -255,6 +255,23 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw) } } } + + // publish sensor selection if changed + if (_param_sens_imu_mode.get() || (_selection.timestamp == 0)) { + if (_selection_changed) { + // don't publish until selected IDs are valid + if (_selection.accel_device_id > 0 && _selection.gyro_device_id > 0) { + _selection.timestamp = hrt_absolute_time(); + _sensor_selection_pub.publish(_selection); + _selection_changed = false; + } + + for (int sensor_index = 0; sensor_index < MAX_SENSOR_COUNT; sensor_index++) { + _accel_diff[sensor_index].zero(); + _gyro_diff[sensor_index].zero(); + } + } + } } bool VotedSensorsUpdate::checkFailover(SensorData &sensor, const char *sensor_name) @@ -350,23 +367,6 @@ void VotedSensorsUpdate::sensorsPoll(sensor_combined_s &raw) { imuPoll(raw); - // publish sensor selection if changed - if (_param_sens_imu_mode.get()) { - if (_selection_changed) { - // don't publish until selected IDs are valid - if (_selection.accel_device_id > 0 && _selection.gyro_device_id > 0) { - _selection.timestamp = hrt_absolute_time(); - _sensor_selection_pub.publish(_selection); - _selection_changed = false; - } - - for (int sensor_index = 0; sensor_index < MAX_SENSOR_COUNT; sensor_index++) { - _accel_diff[sensor_index].zero(); - _gyro_diff[sensor_index].zero(); - } - } - } - calcAccelInconsistency(); calcGyroInconsistency(); diff --git a/src/modules/sih/sih.cpp b/src/modules/sih/sih.cpp index 5686182dca..d43da83b4b 100644 --- a/src/modules/sih/sih.cpp +++ b/src/modules/sih/sih.cpp @@ -66,7 +66,8 @@ Sih::Sih() : const hrt_abstime task_start = hrt_absolute_time(); _last_run = task_start; _gps_time = task_start; - _serial_time = task_start; + _gt_time = task_start; + _dist_snsr_time = task_start; } Sih::~Sih() @@ -141,16 +142,22 @@ void Sih::Run() _px4_baro.update(_now, _baro_p_mBar); } - // gps published at 20Hz if (_now - _gps_time >= 50_ms) { _gps_time = _now; send_gps(); } - // send uart message every 40 ms - if (_now - _serial_time >= 40_ms) { - _serial_time = _now; + // distance sensor published at 50 Hz + if (_now - _dist_snsr_time >= 20_ms + && fabs(_distance_snsr_override) < 10000) { + _dist_snsr_time = _now; + send_dist_snsr(); + } + + // send groundtruth message every 40 ms + if (_now - _gt_time >= 40_ms) { + _gt_time = _now; publish_sih(); // publish _sih message for debug purpose } @@ -191,6 +198,12 @@ void Sih::parameters_updated() _mag_offset_x = _sih_mag_offset_x.get(); _mag_offset_y = _sih_mag_offset_y.get(); _mag_offset_z = _sih_mag_offset_z.get(); + + _distance_snsr_min = _sih_distance_snsr_min.get(); + _distance_snsr_max = _sih_distance_snsr_max.get(); + _distance_snsr_override = _sih_distance_snsr_override.get(); + + _T_TAU = _sih_thrust_tau.get(); } // initialization of the variables for the simulator @@ -242,7 +255,8 @@ void Sih::read_motors() if (_actuator_out_sub.update(&actuators_out)) { for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals - _u[i] = constrain((actuators_out.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN), 0.0f, 1.0f); + float u_sp = constrain((actuators_out.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN), 0.0f, 1.0f); + _u[i] = _u[i] + _dt / _T_TAU * (u_sp - _u[i]); // first order transfer function with time constant tau } } } @@ -321,9 +335,9 @@ void Sih::reconstruct_sensors_signals() _gps_lon_noiseless = _LON0 + degrees((double)_p_I(1) / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0; _gps_alt_noiseless = _H0 - _p_I(2); - _gps_lat = _gps_lat_noiseless + (double)(generate_wgn() * 7.2e-6f); // latitude in degrees - _gps_lon = _gps_lon_noiseless + (double)(generate_wgn() * 1.75e-5f); // longitude in degrees - _gps_alt = _gps_alt_noiseless + generate_wgn() * 1.78f; + _gps_lat = _gps_lat_noiseless + degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH); + _gps_lon = _gps_lon_noiseless + degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0; + _gps_alt = _gps_alt_noiseless + generate_wgn() * 0.5f; _gps_vel = _v_I + noiseGauss3f(0.06f, 0.077f, 0.158f); } @@ -353,6 +367,32 @@ void Sih::send_gps() _sensor_gps_pub.publish(_sensor_gps); } +void Sih::send_dist_snsr() +{ + _distance_snsr.timestamp = _now; + _distance_snsr.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; + _distance_snsr.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING; + _distance_snsr.min_distance = _distance_snsr_min; + _distance_snsr.max_distance = _distance_snsr_max; + _distance_snsr.signal_quality = -1; + _distance_snsr.device_id = 0; + + if (_distance_snsr_override >= 0.f) { + _distance_snsr.current_distance = _distance_snsr_override; + + } else { + _distance_snsr.current_distance = -_p_I(2) / _C_IB(2, 2); + + if (_distance_snsr.current_distance > _distance_snsr_max) { + // this is based on lightware lw20 behaviour + _distance_snsr.current_distance = UINT16_MAX / 100.f; + + } + } + + _distance_snsr_pub.publish(_distance_snsr); +} + void Sih::publish_sih() { // publish angular velocity groundtruth @@ -372,6 +412,7 @@ void Sih::publish_sih() _att_gt_pub.publish(_att_gt); + // publish position groundtruth _gpos_gt.timestamp = hrt_absolute_time(); _gpos_gt.lat = _gps_lat_noiseless; _gpos_gt.lon = _gps_lon_noiseless; diff --git a/src/modules/sih/sih.hpp b/src/modules/sih/sih.hpp index 4f877669a3..2b6e4779fd 100644 --- a/src/modules/sih/sih.hpp +++ b/src/modules/sih/sih.hpp @@ -56,6 +56,7 @@ #include // to publish groundtruth #include // to publish groundtruth #include // to publish groundtruth +#include using namespace time_literals; @@ -96,6 +97,10 @@ private: sensor_gps_s _sensor_gps{}; uORB::Publication _sensor_gps_pub{ORB_ID(sensor_gps)}; + // to publish the distance sensor + distance_sensor_s _distance_snsr{}; + uORB::Publication _distance_snsr_pub{ORB_ID(distance_sensor)}; + // angular velocity groundtruth vehicle_angular_velocity_s _vehicle_angular_velocity_gt{}; uORB::Publication _vehicle_angular_velocity_gt_pub{ORB_ID(vehicle_angular_velocity_groundtruth)}; @@ -125,6 +130,7 @@ private: void equations_of_motion(); void reconstruct_sensors_signals(); void send_gps(); + void send_dist_snsr(); void publish_sih(); perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; @@ -134,7 +140,8 @@ private: hrt_abstime _baro_time{0}; hrt_abstime _gps_time{0}; hrt_abstime _mag_time{0}; - hrt_abstime _serial_time{0}; + hrt_abstime _gt_time{0}; + hrt_abstime _dist_snsr_time{0}; hrt_abstime _now{0}; float _dt{0}; // sampling time [s] bool _grounded{true};// whether the vehicle is on the ground @@ -168,7 +175,7 @@ private: float _baro_temp_c; // reconstructed (simulated) barometer temperature in celcius // parameters - float _MASS, _T_MAX, _Q_MAX, _L_ROLL, _L_PITCH, _KDV, _KDW, _H0; + float _MASS, _T_MAX, _Q_MAX, _L_ROLL, _L_PITCH, _KDV, _KDW, _H0, _T_TAU; double _LAT0, _LON0, _COS_LAT0; matrix::Vector3f _W_I; // weight of the vehicle in inertial frame [N] matrix::Matrix3f _I; // vehicle inertia matrix @@ -177,6 +184,7 @@ private: int _gps_used; float _baro_offset_m, _mag_offset_x, _mag_offset_y, _mag_offset_z; + float _distance_snsr_min, _distance_snsr_max, _distance_snsr_override; // parameters defined in sih_params.c DEFINE_PARAMETERS( @@ -205,6 +213,10 @@ private: (ParamFloat) _sih_baro_offset, (ParamFloat) _sih_mag_offset_x, (ParamFloat) _sih_mag_offset_y, - (ParamFloat) _sih_mag_offset_z + (ParamFloat) _sih_mag_offset_z, + (ParamFloat) _sih_distance_snsr_min, + (ParamFloat) _sih_distance_snsr_max, + (ParamFloat) _sih_distance_snsr_override, + (ParamFloat) _sih_thrust_tau ) }; diff --git a/src/modules/sih/sih_params.c b/src/modules/sih/sih_params.c index a0aefd5637..92542715dc 100644 --- a/src/modules/sih/sih_params.c +++ b/src/modules/sih/sih_params.c @@ -391,3 +391,47 @@ PARAM_DEFINE_FLOAT(SIH_MAG_OFFSET_Y, 0.0f); * @group Simulation In Hardware */ PARAM_DEFINE_FLOAT(SIH_MAG_OFFSET_Z, 0.0f); + +/** + * distance sensor minimun range + * + * @unit m + * @min 0.0 + * @max 10.0 + * @decimal 4 + * @increment 0.01 + * @group Simulation In Hardware + */ +PARAM_DEFINE_FLOAT(SIH_DISTSNSR_MIN, 0.0f); + +/** + * distance sensor maximun range + * + * @unit m + * @min 0.0 + * @max 1000.0 + * @decimal 4 + * @increment 0.01 + * @group Simulation In Hardware + */ +PARAM_DEFINE_FLOAT(SIH_DISTSNSR_MAX, 100.0f); + +/** + * if >= 0 the distance sensor measures will be overrided by this value + * + * Absolute value superior to 10000 will disable distance sensor + * + * @unit m + * @group Simulation In Hardware + */ +PARAM_DEFINE_FLOAT(SIH_DISTSNSR_OVR, -1.0f); + +/** + * thruster time constant tau + * + * the time taken for the thruster to step from 0 to 100% should be about 4 times tau + * + * @unit s + * @group Simulation In Hardware + */ +PARAM_DEFINE_FLOAT(SIH_T_TAU, 0.05f); diff --git a/src/modules/simulator/battery_simulator/battery_simulator_params.c b/src/modules/simulator/battery_simulator/battery_simulator_params.c index a77fe0e9a4..d634714cf3 100644 --- a/src/modules/simulator/battery_simulator/battery_simulator_params.c +++ b/src/modules/simulator/battery_simulator/battery_simulator_params.c @@ -44,8 +44,9 @@ PARAM_DEFINE_FLOAT(SIM_BAT_DRAIN, 60); /** - * Simulator Battery minimal percentage. Can be used to alter - * the battery level during SITL- or HITL-simulation on the fly. + * Simulator Battery minimal percentage. + * + * Can be used to alter the battery level during SITL- or HITL-simulation on the fly. * Particularly useful for testing different low-battery behaviour. * * @min 0 diff --git a/src/modules/simulator/simulator.cpp b/src/modules/simulator/simulator.cpp index 38843afa42..cd9bb940cd 100644 --- a/src/modules/simulator/simulator.cpp +++ b/src/modules/simulator/simulator.cpp @@ -69,6 +69,7 @@ int Simulator::start(int argc, char *argv[]) _instance = new Simulator(); if (_instance) { + if (argc == 5 && strcmp(argv[3], "-u") == 0) { _instance->set_ip(InternetProtocol::UDP); _instance->set_port(atoi(argv[4])); @@ -80,11 +81,21 @@ int Simulator::start(int argc, char *argv[]) } if (argc == 6 && strcmp(argv[3], "-t") == 0) { + PX4_INFO("Simulator using TCP on remote host %s port %s", argv[4], argv[5]); + PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]); _instance->set_ip(InternetProtocol::TCP); _instance->set_tcp_remote_ipaddr(argv[4]); _instance->set_port(atoi(argv[5])); } + if (argc == 6 && strcmp(argv[3], "-h") == 0) { + PX4_INFO("Simulator using TCP on remote host %s port %s", argv[4], argv[5]); + PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]); + _instance->set_ip(InternetProtocol::TCP); + _instance->set_hostname(argv[4]); + _instance->set_port(atoi(argv[5])); + } + _instance->run(); return 0; @@ -102,6 +113,7 @@ static void usage() PX4_INFO("Connect using UDP: simulator start -u udp_port"); PX4_INFO("Connect using TCP: simulator start -c tcp_port"); PX4_INFO("Connect to a remote server using TCP: simulator start -t ip_addr tcp_port"); + PX4_INFO("Connect to a remote server via hostname using TCP: simulator start -h hostname tcp_port"); } __BEGIN_DECLS diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h index f128fd1e27..7de8eb6a1d 100644 --- a/src/modules/simulator/simulator.h +++ b/src/modules/simulator/simulator.h @@ -123,6 +123,7 @@ public: void set_ip(InternetProtocol ip) { _ip = ip; } void set_port(unsigned port) { _port = port; } + void set_hostname(std::string hostname) { _hostname = hostname; } void set_tcp_remote_ipaddr(char *tcp_remote_ipaddr) { _tcp_remote_ipaddr = tcp_remote_ipaddr; } #if defined(ENABLE_LOCKSTEP_SCHEDULER) @@ -198,7 +199,7 @@ private: uORB::Publication _command_ack_pub{ORB_ID(vehicle_command_ack)}; uORB::PublicationMulti *_dist_pubs[ORB_MULTI_MAX_INSTANCES] {}; - uint8_t _dist_sensor_ids[ORB_MULTI_MAX_INSTANCES] {}; + uint32_t _dist_sensor_ids[ORB_MULTI_MAX_INSTANCES] {}; uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; @@ -206,6 +207,8 @@ private: InternetProtocol _ip{InternetProtocol::UDP}; + std::string _hostname{""}; + char *_tcp_remote_ipaddr{nullptr}; double _realtime_factor{1.0}; ///< How fast the simulation runs in comparison to real system time @@ -261,23 +264,19 @@ private: uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; // hil map_ref data - struct map_projection_reference_s _hil_local_proj_ref {}; - - bool _hil_local_proj_inited{false}; - - double _hil_ref_lat{0}; - double _hil_ref_lon{0}; - float _hil_ref_alt{0.0f}; - uint64_t _hil_ref_timestamp{0}; + map_projection_reference_s _global_local_proj_ref{}; + float _global_local_alt0{NAN}; vehicle_status_s _vehicle_status{}; bool _accel_blocked[ACCEL_COUNT_MAX] {}; bool _accel_stuck[ACCEL_COUNT_MAX] {}; + sensor_accel_fifo_s _last_accel_fifo{}; matrix::Vector3f _last_accel[GYRO_COUNT_MAX] {}; bool _gyro_blocked[GYRO_COUNT_MAX] {}; bool _gyro_stuck[GYRO_COUNT_MAX] {}; + sensor_gyro_fifo_s _last_gyro_fifo{}; matrix::Vector3f _last_gyro[GYRO_COUNT_MAX] {}; bool _baro_blocked{false}; diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index a1cce7617b..ebb51e9e64 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -45,7 +45,9 @@ #include #include +#include #include +#include #include #include #include @@ -207,13 +209,39 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor // accel if ((sensors.fields_updated & SensorSource::ACCEL) == SensorSource::ACCEL) { for (int i = 0; i < ACCEL_COUNT_MAX; i++) { - if (_accel_stuck[i]) { - _px4_accel[i].update(time, _last_accel[i](0), _last_accel[i](1), _last_accel[i](2)); + if (i == 0) { + // accel 0 is simulated FIFO + static constexpr float ACCEL_FIFO_SCALE = CONSTANTS_ONE_G / 2048.f; + static constexpr float ACCEL_FIFO_RANGE = 16.f * CONSTANTS_ONE_G; - } else if (!_accel_blocked[i]) { - _px4_accel[i].set_temperature(_sensors_temperature); - _px4_accel[i].update(time, sensors.xacc, sensors.yacc, sensors.zacc); - _last_accel[i] = matrix::Vector3f{sensors.xacc, sensors.yacc, sensors.zacc}; + _px4_accel[i].set_scale(ACCEL_FIFO_SCALE); + _px4_accel[i].set_range(ACCEL_FIFO_RANGE); + + if (_accel_stuck[i]) { + _px4_accel[i].updateFIFO(_last_accel_fifo); + + } else if (!_accel_blocked[i]) { + _px4_accel[i].set_temperature(_sensors_temperature); + + _last_accel_fifo.samples = 1; + _last_accel_fifo.dt = time - _last_accel_fifo.timestamp_sample; + _last_accel_fifo.timestamp_sample = time; + _last_accel_fifo.x[0] = sensors.xacc / ACCEL_FIFO_SCALE; + _last_accel_fifo.y[0] = sensors.yacc / ACCEL_FIFO_SCALE; + _last_accel_fifo.z[0] = sensors.zacc / ACCEL_FIFO_SCALE; + + _px4_accel[i].updateFIFO(_last_accel_fifo); + } + + } else { + if (_accel_stuck[i]) { + _px4_accel[i].update(time, _last_accel[i](0), _last_accel[i](1), _last_accel[i](2)); + + } else if (!_accel_blocked[i]) { + _px4_accel[i].set_temperature(_sensors_temperature); + _px4_accel[i].update(time, sensors.xacc, sensors.yacc, sensors.zacc); + _last_accel[i] = matrix::Vector3f{sensors.xacc, sensors.yacc, sensors.zacc}; + } } } } @@ -221,13 +249,39 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor // gyro if ((sensors.fields_updated & SensorSource::GYRO) == SensorSource::GYRO) { for (int i = 0; i < GYRO_COUNT_MAX; i++) { - if (_gyro_stuck[i]) { - _px4_gyro[i].update(time, _last_gyro[i](0), _last_gyro[i](1), _last_gyro[i](2)); + if (i == 0) { + // gyro 0 is simulated FIFO + static constexpr float GYRO_FIFO_SCALE = math::radians(2000.f / 32768.f); + static constexpr float GYRO_FIFO_RANGE = math::radians(2000.f); - } else if (!_gyro_blocked[i]) { - _px4_gyro[i].set_temperature(_sensors_temperature); - _px4_gyro[i].update(time, sensors.xgyro, sensors.ygyro, sensors.zgyro); - _last_gyro[i] = matrix::Vector3f{sensors.xgyro, sensors.ygyro, sensors.zgyro}; + _px4_gyro[i].set_scale(GYRO_FIFO_SCALE); + _px4_gyro[i].set_range(GYRO_FIFO_RANGE); + + if (_gyro_stuck[i]) { + _px4_gyro[i].updateFIFO(_last_gyro_fifo); + + } else if (!_gyro_blocked[i]) { + _px4_gyro[i].set_temperature(_sensors_temperature); + + _last_gyro_fifo.samples = 1; + _last_gyro_fifo.dt = time - _last_gyro_fifo.timestamp_sample; + _last_gyro_fifo.timestamp_sample = time; + _last_gyro_fifo.x[0] = sensors.xgyro / GYRO_FIFO_SCALE; + _last_gyro_fifo.y[0] = sensors.ygyro / GYRO_FIFO_SCALE; + _last_gyro_fifo.z[0] = sensors.zgyro / GYRO_FIFO_SCALE; + + _px4_gyro[i].updateFIFO(_last_gyro_fifo); + } + + } else { + if (_gyro_stuck[i]) { + _px4_gyro[i].update(time, _last_gyro[i](0), _last_gyro[i](1), _last_gyro[i](2)); + + } else if (!_gyro_blocked[i]) { + _px4_gyro[i].set_temperature(_sensors_temperature); + _px4_gyro[i].update(time, sensors.xgyro, sensors.ygyro, sensors.zgyro); + _last_gyro[i] = matrix::Vector3f{sensors.xgyro, sensors.ygyro, sensors.zgyro}; + } } } } @@ -452,25 +506,21 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg } /* local position */ - struct vehicle_local_position_s hil_lpos = {}; + vehicle_local_position_s hil_lpos{}; { hil_lpos.timestamp = timestamp; double lat = hil_state.lat * 1e-7; double lon = hil_state.lon * 1e-7; - if (!_hil_local_proj_inited) { - _hil_local_proj_inited = true; - map_projection_init(&_hil_local_proj_ref, lat, lon); - _hil_ref_timestamp = timestamp; - _hil_ref_lat = lat; - _hil_ref_lon = lon; - _hil_ref_alt = hil_state.alt / 1000.0f; + if (!map_projection_initialized(&_global_local_proj_ref)) { + map_projection_init(&_global_local_proj_ref, lat, lon); + _global_local_alt0 = hil_state.alt / 1000.f; } float x; float y; - map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y); + map_projection_project(&_global_local_proj_ref, lat, lon, &x, &y); hil_lpos.timestamp = timestamp; hil_lpos.xy_valid = true; hil_lpos.z_valid = true; @@ -478,7 +528,7 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg hil_lpos.v_z_valid = true; hil_lpos.x = x; hil_lpos.y = y; - hil_lpos.z = _hil_ref_alt - hil_state.alt / 1000.0f; + hil_lpos.z = _global_local_alt0 - hil_state.alt / 1000.0f; hil_lpos.vx = hil_state.vx / 100.0f; hil_lpos.vy = hil_state.vy / 100.0f; hil_lpos.vz = hil_state.vz / 100.0f; @@ -486,10 +536,10 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg hil_lpos.heading = euler.psi(); hil_lpos.xy_global = true; hil_lpos.z_global = true; - hil_lpos.ref_lat = _hil_ref_lat; - hil_lpos.ref_lon = _hil_ref_lon; - hil_lpos.ref_alt = _hil_ref_alt; - hil_lpos.ref_timestamp = _hil_ref_timestamp; + hil_lpos.ref_timestamp = _global_local_proj_ref.timestamp; + hil_lpos.ref_lat = math::degrees(_global_local_proj_ref.lat_rad); + hil_lpos.ref_lon = math::degrees(_global_local_proj_ref.lon_rad); + hil_lpos.ref_alt = _global_local_alt0; hil_lpos.vxy_max = std::numeric_limits::infinity(); hil_lpos.vz_max = std::numeric_limits::infinity(); hil_lpos.hagl_min = std::numeric_limits::infinity(); @@ -683,8 +733,19 @@ void Simulator::run() if (_tcp_remote_ipaddr != nullptr) { _myaddr.sin_addr.s_addr = inet_addr(_tcp_remote_ipaddr); + + } else if (!_hostname.empty()) { + /* resolve hostname */ + struct hostent *host; + host = gethostbyname(_hostname.c_str()); + memcpy(&_myaddr.sin_addr, host->h_addr_list[0], host->h_length); + + char ip[30]; + strcpy(ip, (char *)inet_ntoa((struct in_addr)_myaddr.sin_addr)); + PX4_INFO("Resolved host '%s' to address: %s", _hostname.c_str(), ip); } + if (_ip == InternetProtocol::UDP) { if ((_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) { diff --git a/src/modules/uuv_pos_control/uuv_pos_control.cpp b/src/modules/uuv_pos_control/uuv_pos_control.cpp index afa18d8e9f..37f277d7a3 100644 --- a/src/modules/uuv_pos_control/uuv_pos_control.cpp +++ b/src/modules/uuv_pos_control/uuv_pos_control.cpp @@ -178,21 +178,16 @@ void UUVPOSControl::Run() && _vcontrol_mode.flag_control_attitude_enabled && _vcontrol_mode.flag_control_rates_enabled) { - _vehicle_attitude_sub.update(&_vehicle_attitude);//get current vehicle attitude - _pos_sp_triplet_sub.update(&_pos_setpoint); + _trajectory_setpoint_sub.update(&_trajectory_setpoint); - float roll_des, pitch_des, yaw_des, x_pos_des, y_pos_des, z_pos_des; - - - roll_des = 0; - pitch_des = 0; - yaw_des = _pos_setpoint.current.yaw; - - x_pos_des = _pos_setpoint.current.x; - y_pos_des = _pos_setpoint.current.y; - z_pos_des = _pos_setpoint.current.z; + float roll_des = 0; + float pitch_des = 0; + float yaw_des = _trajectory_setpoint.yaw; + float x_pos_des = _trajectory_setpoint.x; + float y_pos_des = _trajectory_setpoint.y; + float z_pos_des = _trajectory_setpoint.z; //stabilization controller(keep pos and hold depth + angle) vs position controller(global + yaw) if (_param_stabilization.get() == 0) { @@ -203,9 +198,6 @@ void UUVPOSControl::Run() stabilization_controller_6dof(x_pos_des, y_pos_des, z_pos_des, roll_des, pitch_des, yaw_des, _vehicle_attitude, vlocal_pos); } - - - } } diff --git a/src/modules/uuv_pos_control/uuv_pos_control.hpp b/src/modules/uuv_pos_control/uuv_pos_control.hpp index b3e89c8129..e78acc03d2 100644 --- a/src/modules/uuv_pos_control/uuv_pos_control.hpp +++ b/src/modules/uuv_pos_control/uuv_pos_control.hpp @@ -62,9 +62,9 @@ #include #include #include -#include #include #include +#include #include #include #include @@ -105,16 +105,15 @@ private: uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; /**< current vehicle attitude */ uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */ + uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)}; uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle status subscription */ - uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; /**< position setpoint */ uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)}; - //actuator_controls_s _actuators {}; /**< actuator control inputs */ manual_control_setpoint_s _manual_control_setpoint {}; /**< r/c channel data */ vehicle_attitude_s _vehicle_attitude {}; /**< vehicle attitude */ - position_setpoint_triplet_s _pos_setpoint {}; /**< vehicle position setpoint */ + vehicle_local_position_setpoint_s _trajectory_setpoint{}; /**< vehicle position setpoint */ vehicle_control_mode_s _vcontrol_mode {}; /**< vehicle control mode */ perf_counter_t _loop_perf; /**< loop performance counter */ diff --git a/src/modules/vmount/vmount_params.c b/src/modules/vmount/vmount_params.c index 565b729db2..18dfa26b0a 100644 --- a/src/modules/vmount/vmount_params.c +++ b/src/modules/vmount/vmount_params.c @@ -94,6 +94,7 @@ PARAM_DEFINE_INT32(MNT_MAV_COMPID, 154); /** * Mixer value for selecting normal mode +* * if required by the gimbal (only in AUX output mode) * * @min -1.0 @@ -105,6 +106,7 @@ PARAM_DEFINE_FLOAT(MNT_OB_NORM_MODE, -1.0f); /** * Mixer value for selecting a locking mode +* * if required for the gimbal (only in AUX output mode) * * @min -1.0 @@ -163,9 +165,11 @@ PARAM_DEFINE_INT32(MNT_MAN_PITCH, 0); PARAM_DEFINE_INT32(MNT_MAN_YAW, 0); /** -* Stabilize the mount (set to true for servo gimbal, false for passthrough). -* (This is required for a gimbal which is not capable of stabilizing itself -* and relies on the IMU's attitude estimation.) +* Stabilize the mount +* +* Set to true for servo gimbal, false for passthrough. +* This is required for a gimbal which is not capable of stabilizing itself +* and relies on the IMU's attitude estimation. * * @value 0 Disable * @value 1 Stabilize all axis @@ -238,6 +242,7 @@ PARAM_DEFINE_FLOAT(MNT_OFF_YAW, 0.0f); /** * Angular pitch rate for manual input in degrees/second. + * * Full stick input [-1..1] translats to [-pitch rate..pitch rate]. * * @min 1.0 @@ -248,6 +253,7 @@ PARAM_DEFINE_FLOAT(MNT_RATE_PITCH, 30.0f); /** * Angular yaw rate for manual input in degrees/second. + * * Full stick input [-1..1] translats to [-yaw rate..yaw rate]. * * @min 1.0 diff --git a/src/modules/vtol_att_control/standard_params.c b/src/modules/vtol_att_control/standard_params.c index 37ac140eae..633efa59d1 100644 --- a/src/modules/vtol_att_control/standard_params.c +++ b/src/modules/vtol_att_control/standard_params.c @@ -42,6 +42,7 @@ /** * Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down). + * * This technique can be used to avoid the plane having to pitch down in order to move forward. * This prevents large, negative lift values being created when facing strong winds. * Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). @@ -62,7 +63,8 @@ PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0); /** * Maximum allowed angle the vehicle is allowed to pitch down to generate forward force - * when fixed-wing forward actuation is active (seeVT_FW_TRHUST_EN). + * + * When fixed-wing forward actuation is active (see VT_FW_TRHUST_EN). * If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead. * * @min 0.0 @@ -98,6 +100,7 @@ PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f); /** * Output on airbrakes channel during back transition + * * Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel * Airbrakes need to be enables for your selected model/mixer * @@ -112,6 +115,7 @@ PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f); /** * Delay in seconds before applying back transition throttle + * * Set this to a value greater than 0 to give the motor time to spin down. * * unit s @@ -124,6 +128,8 @@ PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f); PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f); /** + * Pusher throttle ramp up window + * * Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition * to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR. * diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index ba4b373182..2a7cda3f57 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -225,8 +225,11 @@ void Tailsitter::update_transition_state() _q_trans_sp.normalize(); // tilt angle (zero if vehicle nose points up (hover)) - const float tilt = acosf(_q_trans_sp(0) * _q_trans_sp(0) - _q_trans_sp(1) * _q_trans_sp(1) - _q_trans_sp(2) * - _q_trans_sp(2) + _q_trans_sp(3) * _q_trans_sp(3)); + float cos_tilt = _q_trans_sp(0) * _q_trans_sp(0) - _q_trans_sp(1) * _q_trans_sp(1) - _q_trans_sp(2) * + _q_trans_sp(2) + _q_trans_sp(3) * _q_trans_sp(3); + cos_tilt = cos_tilt > 1.0f ? 1.0f : cos_tilt; + cos_tilt = cos_tilt < -1.0f ? -1.0f : cos_tilt; + const float tilt = acosf(cos_tilt); if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) { diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index dd4d8cb6e2..0cf205742f 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -424,7 +424,7 @@ VtolAttitudeControl::Run() _fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp); - if (mc_att_sp_updated || fw_att_sp_updated) { + if (!_vtol_type->was_in_trans_mode() || mc_att_sp_updated || fw_att_sp_updated) { _vtol_type->update_transition_state(); _v_att_sp_pub.publish(_v_att_sp); } diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 03ab1e6024..f88b2a0cda 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -116,7 +116,9 @@ PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f); /** * Target throttle value for the transition to fixed wing flight. + * * standard vtol: pusher + * * tailsitter, tiltrotor: main throttle * * @min 0.0 @@ -129,7 +131,9 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_THR, 1.0f); /** * Target throttle value for the transition to hover flight. + * * standard vtol: pusher + * * tailsitter, tiltrotor: main throttle * * Note for standard vtol: diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h index 68c5a89cb6..0230efc5c1 100644 --- a/src/modules/vtol_att_control/vtol_type.h +++ b/src/modules/vtol_att_control/vtol_type.h @@ -190,6 +190,8 @@ public: mode get_mode() {return _vtol_mode;} + bool was_in_trans_mode() {return _flag_was_in_trans_mode;} + virtual void parameters_update() = 0; protected: diff --git a/src/systemcmds/bl_update/CMakeLists.txt b/src/systemcmds/bl_update/CMakeLists.txt index 5a02a677c5..cd774646ec 100644 --- a/src/systemcmds/bl_update/CMakeLists.txt +++ b/src/systemcmds/bl_update/CMakeLists.txt @@ -64,10 +64,10 @@ if(config_build_bootloader) ExternalProject_Get_Property(bootloader_firmware BINARY_DIR) - set(bootloader_exe "${BINARY_DIR}/${bootloader_config}.elf") - set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/${bootloader_config}.bin" CACHE FILEPATH "bootloader binary path") + set(board_bootloader_firmware "${BINARY_DIR}/${bootloader_config}.elf" CACHE FILEPATH "bootloader original binary path") + set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/bootloader.bin" CACHE FILEPATH "bootloader binary path") - file(RELATIVE_PATH bootloader_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${bootloader_exe}) + file(RELATIVE_PATH bootloader_exe_relative ${CMAKE_CURRENT_BINARY_DIR} ${board_bootloader_firmware}) file(RELATIVE_PATH bootloader_bin_relative ${CMAKE_CURRENT_BINARY_DIR} ${bootloader_bin}) add_custom_command(OUTPUT ${bootloader_bin} @@ -77,4 +77,25 @@ if(config_build_bootloader) COMMENT "Copying ${bootloader_config} to ROMFS extras" ) add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin}) + +elseif(EXISTS "${PX4_BOARD_DIR}/bootloader/") + + if(EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin) + set(board_bootloader_firmware ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin CACHE FILEPATH "bootloader original binary path") + set(bootloader_bin "${PX4_BINARY_DIR}/romfs_extras/bootloader.bin" CACHE FILEPATH "bootloader binary path") + + add_custom_command(OUTPUT ${bootloader_bin} + COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras + COMMAND ${CMAKE_COMMAND} -E copy_if_different ${board_bootloader_firmware} ${PX4_BINARY_DIR}/romfs_extras/bootloader.bin + DEPENDS ${board_bootloader_firmware} + COMMENT "Copying ${board_bootloader_firmware} to ROMFS extras" + ) + add_custom_target(copy_bootloader_bin DEPENDS ${bootloader_bin}) + + else() + file(GLOB bootloader_bin_files ${PX4_BOARD_DIR}/bootloader/*.bin) + foreach(bin_file ${bootloader_bin_files}) + message(FATAL_ERROR "incorrect bootloader filename ${bin_file} should be ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin") + endforeach() + endif() endif() diff --git a/src/systemcmds/netman/netman.cpp b/src/systemcmds/netman/netman.cpp index 4d9e4a3d34..7cf03c1bd0 100644 --- a/src/systemcmds/netman/netman.cpp +++ b/src/systemcmds/netman/netman.cpp @@ -314,7 +314,7 @@ int update(const char *path, const char *netdev) rv = config.read(netdev); - if (rv == ENOENT) { + if (rv == -ENOENT) { goto write_reboot; } @@ -419,7 +419,7 @@ static void usage(const char *reason) )DESCR_STR"); PRINT_MODULE_USAGE_NAME("netman", "system"); PRINT_MODULE_USAGE_COMMAND_DESCR("show", "Display the current persistent network settings to the console."); - PRINT_MODULE_USAGE_COMMAND_DESCR("update","Check SD card for network.cfg and update network persistent network settings."); + PRINT_MODULE_USAGE_COMMAND_DESCR("update","Check SD card for net.cfg and update network persistent network settings."); PRINT_MODULE_USAGE_COMMAND_DESCR("save", "Save the current network parameters to the SD card."); PRINT_MODULE_USAGE_PARAM_STRING('i',"eth0", nullptr, "Set the interface name", true); } diff --git a/src/systemcmds/param/param.cpp b/src/systemcmds/param/param.cpp index 6baef0ab26..1bacd6706b 100644 --- a/src/systemcmds/param/param.cpp +++ b/src/systemcmds/param/param.cpp @@ -289,7 +289,7 @@ param_main(int argc, char *argv[]) return do_set(argv[2], argv[3], false); } else { - PX4_ERR("not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'"); + PX4_ERR("not enough arguments.\nTry 'param set %s 3 [fail]'", (argc > 2) ? argv[2] : "PARAM_NAME"); return 1; } } @@ -299,7 +299,7 @@ param_main(int argc, char *argv[]) return do_set_custom_default(argv[2], argv[3]); } else { - PX4_ERR("not enough arguments.\nTry 'param set-default PARAM_NAME 3'"); + PX4_ERR("not enough arguments.\nTry 'param set-default %s 3'", (argc > 2) ? argv[2] : "PARAM_NAME"); return 1; } } @@ -312,7 +312,7 @@ param_main(int argc, char *argv[]) return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR::EQUAL, COMPARE_ERROR_LEVEL::DO_ERROR); } else { - PX4_ERR("not enough arguments.\nTry 'param compare PARAM_NAME 3'"); + PX4_ERR("not enough arguments.\nTry 'param compare %s 3'", (argc > 2) ? argv[2] : "PARAM_NAME"); return 1; } } @@ -325,7 +325,7 @@ param_main(int argc, char *argv[]) return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR::GREATER, COMPARE_ERROR_LEVEL::DO_ERROR); } else { - PX4_ERR("not enough arguments.\nTry 'param greater PARAM_NAME 3'"); + PX4_ERR("not enough arguments.\nTry 'param greater %s 3'", (argc > 2) ? argv[2] : "PARAM_NAME"); return 1; } } @@ -384,7 +384,7 @@ param_main(int argc, char *argv[]) return do_find(argv[2]); } else { - PX4_ERR("not enough arguments.\nTry 'param find PARAM_NAME'"); + PX4_ERR("not enough arguments.\nTry 'param find %s'", (argc > 2) ? argv[2] : "PARAM_NAME"); return 1; } } @@ -843,7 +843,7 @@ do_set_custom_default(const char *name, const char *val) int32_t newval = strtol(val, &end, 10); if ((i != newval) && (param_set_default_value(param, &newval) == PX4_OK)) { - PARAM_PRINT(" parameter default: %s %d -> %d\n", param_name(param), i, newval); + PX4_DEBUG(" parameter default: %s %d -> %d", param_name(param), i, newval); } } } @@ -859,7 +859,7 @@ do_set_custom_default(const char *name, const char *val) float newval = strtod(val, &end); if ((fabsf(f - newval) > FLT_EPSILON) && (param_set_default_value(param, &newval) == PX4_OK)) { - PARAM_PRINT(" parameter default: %s %4.2f -> %4.2f\n", param_name(param), (double)f, (double)newval); + PX4_DEBUG(" parameter default: %s %4.2f -> %4.2f", param_name(param), (double)f, (double)newval); } } } diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp index 6ea75290ff..27dcebaad0 100644 --- a/src/systemcmds/pwm/pwm.cpp +++ b/src/systemcmds/pwm/pwm.cpp @@ -85,14 +85,14 @@ This command is used to configure PWM outputs for servo and ESC control. The default device `/dev/pwm_output0` are the Main channels, AUX channels are on `/dev/pwm_output1` (`-d` parameter). It is used in the startup script to make sure the PWM parameters (`PWM_*`) are applied (or the ones provided -by the airframe config if specified). `pwm info` shows the current settings (the trim value is an offset +by the airframe config if specified). `pwm status` shows the current settings (the trim value is an offset and configured with `PWM_MAIN_TRIMx` and `PWM_AUX_TRIMx`). The disarmed value should be set such that the motors don't spin (it's also used for the kill switch), at the minimum value they should spin. Channels are assigned to a group. Due to hardware limitations, the update rate can only be set per group. Use -`pwm info` to display the groups. If the `-c` argument is used, all channels of any included group must be included. +`pwm status` to display the groups. If the `-c` argument is used, all channels of any included group must be included. The parameters `-p` and `-r` can be set to a parameter instead of specifying an integer: use -p p:PWM_MIN for example. @@ -113,7 +113,7 @@ $ pwm test -c 13 -p 1200 PRINT_MODULE_USAGE_COMMAND_DESCR("arm", "Arm output"); PRINT_MODULE_USAGE_COMMAND_DESCR("disarm", "Disarm output"); - PRINT_MODULE_USAGE_COMMAND_DESCR("info", "Print current configuration of all channels"); + PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print current configuration of all channels"); PRINT_MODULE_USAGE_COMMAND_DESCR("forcefail", "Force Failsafe mode. " "PWM outputs are set to failsafe values."); PRINT_MODULE_USAGE_ARG("on|off", "Turn on or off", false); @@ -144,7 +144,7 @@ $ pwm test -c 13 -p 1200 PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, nullptr, "select channels in the form: 1234 (1 digit per channel, 1=first)", true); PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 4096, "Select channels via bitmask (eg. 0xF, 3)", true); - PRINT_MODULE_USAGE_PARAM_INT('g', -1, 0, 10, "Select channels by group (eg. 0, 1, 2. use 'pwm info' to show groups)", + PRINT_MODULE_USAGE_PARAM_INT('g', -1, 0, 10, "Select channels by group (eg. 0, 1, 2. use 'pwm status' to show groups)", true); PRINT_MODULE_USAGE_PARAM_FLAG('a', "Select all channels", true); @@ -843,7 +843,7 @@ err_out_no_test: goto err_out; - } else if (!strcmp(command, "info")) { + } else if (!strcmp(command, "status") || !strcmp(command, "info")) { printf("device: %s\n", dev); diff --git a/src/systemcmds/sd_bench/sd_bench.c b/src/systemcmds/sd_bench/sd_bench.c index 93556847e0..6c0577e4b0 100644 --- a/src/systemcmds/sd_bench/sd_bench.c +++ b/src/systemcmds/sd_bench/sd_bench.c @@ -79,8 +79,10 @@ usage() PRINT_MODULE_USAGE_PARAM_INT('r', 5, 1, 1000, "Number of runs", true); PRINT_MODULE_USAGE_PARAM_INT('d', 2000, 1, 100000, "Duration of a run in ms", true); PRINT_MODULE_USAGE_PARAM_FLAG('s', "Call fsync after each block (default=at end of each run)", true); + PRINT_MODULE_USAGE_PARAM_FLAG('u', "Test performance with unaligned data)", true); } + int sd_bench_main(int argc, char *argv[]) { @@ -91,8 +93,10 @@ sd_bench_main(int argc, char *argv[]) synchronized = false; num_runs = 5; run_duration = 2000; + bool aligned = true; + uint8_t *block = NULL; - while ((ch = px4_getopt(argc, argv, "b:r:d:s", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "b:r:d:su", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 'b': block_size = strtol(myoptarg, NULL, 0); @@ -110,6 +114,10 @@ sd_bench_main(int argc, char *argv[]) synchronized = true; break; + case 'u': + aligned = false; + break; + default: usage(); return -1; @@ -130,7 +138,12 @@ sd_bench_main(int argc, char *argv[]) } //create some data block - uint8_t *block = (uint8_t *)malloc(block_size); + if (aligned) { + block = (uint8_t *)px4_cache_aligned_alloc(block_size); + + } else { + block = (uint8_t *)malloc(block_size); + } if (!block) { PX4_ERR("Failed to allocate memory block"); diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index de056a8e19..a03bb41b64 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -75,8 +75,6 @@ const struct { {"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST}, {"uart_break", test_uart_break, OPT_NOJIGTEST | OPT_NOALLTEST}, {"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST}, -#else - {"rc", rc_tests_main, 0}, #endif /* __PX4_NUTTX */ {"adc", test_adc, OPT_NOJIGTEST}, @@ -119,15 +117,6 @@ const struct { {"versioning", test_versioning, 0}, {"cli", test_cli, 0}, - /* external tests */ - {"commander", commander_tests_main, 0}, - {"controllib", controllib_test_main, 0}, - {"mavlink", mavlink_tests_main, 0}, -#ifdef __PX4_NUTTX - {"lightware_laser", lightware_laser_test_main, 0}, -#endif - {"uorb", uorb_tests_main, 0}, - {NULL, NULL, 0} }; diff --git a/src/systemcmds/tests/tests_main.h b/src/systemcmds/tests/tests_main.h index 6c682f4f3c..1d0413a31d 100644 --- a/src/systemcmds/tests/tests_main.h +++ b/src/systemcmds/tests/tests_main.h @@ -89,14 +89,6 @@ extern int test_uart_send(int argc, char *argv[]); extern int test_versioning(int argc, char *argv[]); extern int test_cli(int argc, char *argv[]); -/* external */ -extern int commander_tests_main(int argc, char *argv[]); -extern int mavlink_tests_main(int argc, char *argv[]); -extern int controllib_test_main(int argc, char *argv[]); -extern int uorb_tests_main(int argc, char *argv[]); -extern int rc_tests_main(int argc, char *argv[]); -extern int lightware_laser_test_main(int argc, char *argv[]); - __END_DECLS #endif /* __APPS_PX4_TESTS_H */ diff --git a/validation/module_schema.yaml b/validation/module_schema.yaml index 6982daf66c..591af3853c 100644 --- a/validation/module_schema.yaml +++ b/validation/module_schema.yaml @@ -75,6 +75,10 @@ serial_config: # Default: 1 type: integer min: 1 + ethernet: + # Optional command ethernet. + # If omitted, ethernet condiguration value will be omitted. + nullable: True parameters: @@ -107,6 +111,8 @@ parameters: # Short description (one line) type: string required: true + maxlength: 70 + regex: '[^\n]+' long: # Long description (can be multiple lines) type: string @@ -206,5 +212,9 @@ parameters: # [0, N-1] # Default: 0 type: integer + ethernet: + # Optional command ethernet. + # If specified, parameter will be generated only if board supports Ethernet. + nullable: True