Initial commit: TC264 smart car project with IPS200 menu system

- IPS200 display menu with real-time status and parameter settings - Camera image processing and line tracking - IMU attitude solution and PID control - WiFi SPI oscilloscope data transmission
2026-05-10 21:38:49 +08:00
commit 843447835d
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+/**
+ * \file Ifx_Cf32.c
+ * \brief Floating point signal, vector, and matrix library
+ *
+ *
+ * \version disabled
+ * \copyright Copyright (c) 2013 Infineon Technologies AG. All rights reserved.
+ *
+ *
+ *                                 IMPORTANT NOTICE
+ *
+ *
+ * Use of this file is subject to the terms of use agreed between (i) you or 
+ * the company in which ordinary course of business you are acting and (ii) 
+ * Infineon Technologies AG or its licensees. If and as long as no such 
+ * terms of use are agreed, use of this file is subject to following:
+
+
+ * Boost Software License - Version 1.0 - August 17th, 2003
+
+ * Permission is hereby granted, free of charge, to any person or 
+ * organization obtaining a copy of the software and accompanying 
+ * documentation covered by this license (the "Software") to use, reproduce,
+ * display, distribute, execute, and transmit the Software, and to prepare
+ * derivative works of the Software, and to permit third-parties to whom the 
+ * Software is furnished to do so, all subject to the following:
+
+ * The copyright notices in the Software and this entire statement, including
+ * the above license grant, this restriction and the following disclaimer, must
+ * be included in all copies of the Software, in whole or in part, and all
+ * derivative works of the Software, unless such copies or derivative works are
+ * solely in the form of machine-executable object code generated by a source
+ * language processor.
+
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+ * SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE 
+ * FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+
+ */
+
+#include "Ifx_Cf32.h"
+#include <float.h>
+#include <stdio.h>
+
+void CplxVecRst_f32(cfloat32 *X, short nX)
+{
+    for ( ; nX > 0; nX--)
+    {
+        X->real = X->imag = 0.0;
+        X++;
+    }
+}
+
+
+void CplxVecCpy_f32S(cfloat32 *X, short *S, short nS, short incrS)
+{
+    for ( ; nS > 0; nS--)
+    {
+        (*X).imag = 0.0;
+        (*X).real = *(S);
+        X++; S   += incrS;
+    }
+}
+
+
+void CplxVecCpy_f32(cfloat32 *X, cfloat32 *S, short nS)
+{
+    for ( ; nS > 0; nS--)
+    {
+        *X = *S;
+        X++; S++;
+    }
+}
+
+
+float32 *CplxVecPwr_f32(cfloat32 *X, short nX)
+{
+    unsigned short i;
+    float32       *r = (float32 *)X;
+
+    for (i = 0; i < nX; i++)
+    {
+        *r = IFX_Cf32_dot(X);
+        r++; X++;
+    }
+
+    return &r[-nX];
+}
+
+
+float32 *CplxVecMag_f32(cfloat32 *X, short nX)
+{
+    unsigned short i;
+    float32       *r = (float32 *)X;
+
+    for (i = 0; i < nX; i++)
+    {
+        *r = IFX_Cf32_mag(X);
+        r++; X++;
+    }
+
+    return &r[-nX];
+}
+
+
+void CplxVecMul_f32(cfloat32 *X, const cfloat32 *mul, short nX)
+{
+    for ( ; nX > 0; nX--)
+    {
+        *X = IFX_Cf32_mul(X, mul);
+        X++;
+    }
+}
+
+
+void VecPwrdB_f32(float32 *X, short nX)
+{
+    unsigned short i;
+
+    for (i = 0; i < nX; i++)
+    {
+        *X = (float32)20.0 * log10f(*X);
+        X++;
+    }
+}
+
+
+void VecPwrdB_SF(sint16 *R, float32 *X, short nX)
+{
+    unsigned short i;
+
+    for (i = 0; i < nX; i++)
+    {
+        *R = (sint16)(20.0 * log10f(*X));
+        R++; X++;
+    }
+}
+
+
+float32 VecMaxIdx_f32(float32 *X, short nX, sint16 *minIdx, sint16 *maxIdx)
+{
+    float32        maxPeak = FLT_MIN;
+    unsigned short m;
+
+    for (m = 0; m < nX; m++)
+    {
+        if (*X > maxPeak)
+        {
+            maxPeak = *X;
+            *minIdx = m;
+        }
+
+        if (*X >= maxPeak)
+        {
+            *maxIdx = m;
+        }
+
+        X++;
+    }
+
+    return maxPeak;
+}
+
+
+float32 VecMinIdx_f32(float32 *X, short nX, sint16 *minIdx, sint16 *maxIdx)
+{
+    float32 minPeak = FLT_MAX;
+    short   m;
+
+    for (m = 0; m < nX; m++)
+    {
+        if (*X < minPeak)
+        {
+            minPeak = *X;
+            *minIdx = m;
+        }
+
+        if (*X <= minPeak)
+        {
+            *maxIdx = m;
+        }
+
+        X++;
+    }
+
+    return minPeak;
+}
+
+
+void VecOfs_f32(float32 *X, float32 offset, short nX)
+{
+    unsigned short i;
+
+    for (i = 0; i < nX; i++)
+    {
+        *X -= offset;
+        X++;
+    }
+}
+
+
+void VecGain_f32(float32 *X, float32 gain, short nX)
+{
+    unsigned short i;
+
+    for (i = 0; i < nX; i++)
+    {
+        *X = *X * gain;
+        X++;
+    }
+}
+
+
+float32 VecSum_f32(float32 *X, short nX)
+{
+    float32        sumX = 0;
+    unsigned short i;
+
+    for (i = 0; i < nX; i++)
+    {
+        sumX += *X;
+        X++;
+    }
+
+    return sumX;
+}
+
+
+float32 VecAvg_f32(float32 *X, short nX)
+{
+    return VecSum_f32(X, nX) / nX;
+}
+
+
+float32 VecMax_f32(float32 *X, short nX)
+{
+    unsigned short i;
+    float32        r = FLT_MIN;
+
+    for (i = 0; i < nX; i++)
+    {
+        r = __maxf(r, *X);
+        X++;
+    }
+
+    return r;
+}
+
+
+float32 VecMin_f32(float32 *X, short nX)
+{
+    unsigned short i;
+    float32        r = FLT_MAX;
+
+    for (i = 0; i < nX; i++)
+    {
+        r = __minf(r, *X);
+        X++;
+    }
+
+    return r;
+}
+
+
+void VecHalfSwap_f32(float32 *X, short nX)
+{
+    unsigned short i;
+    unsigned short half = nX / 2;
+    float32       *F    = &X[half];
+
+    for (i = 0; i < half; i++)
+    {
+        float32 tmp = *F;
+        *F = *X;
+        *X = tmp;
+        F++; X++;
+    }
+}
+
+
+/* NOTE:
+ * (nX <= nW) && ((nW % nX) == 0) && ((nX % 2) == 0)
+ * (symW != 0) when the window is symmetrical */
+void VecWin_f32(float32 *X, const float32 *W, short nX, short nW, short incrX, short symW)
+{
+    short step = nW / nX;
+    short i;
+
+    if (symW != 0)
+    {   /* symmetrical window, using half of the length */
+        for (i = 0; i < nX / 2; i++)
+        {
+            *X = *X * *W;
+            X  = &X[incrX];
+            W  = &W[step];
+        }
+
+        W = &W[-step];
+
+        for ( ; i < nX; i++)
+        {
+            *X = *X * *W;
+            X  = &X[incrX];
+            W  = &W[-step];
+        }
+    }
+}
+
+
+#ifdef __WIN32__
+
+#define ENDL "\r\n"
+
+void DataF_printf(FILE *fp, pchar fileName, float32 *data, long nX, int enclosed)
+{
+    long i;
+
+    if (fileName != NULL)
+    {
+        fp = fopen(fileName, "w+");
+    }
+
+    if (fp != NULL)
+    {
+        if (enclosed)
+        {
+            for (i = 0; i < nX; i++)
+            {
+                fprintf(fp, "_DATAF(%10.20f),"ENDL, *data);
+                data = &data[1];
+            }
+        }
+        else
+        {
+            for (i = 0; i < nX; i++)
+            {
+                fprintf(fp, "%10.20f,"ENDL, *data);
+                data = &data[1];
+            }
+        }
+    }
+
+    if (fileName != NULL)
+    {
+        fclose(fp);
+    }
+}
+
+
+void Cplx_f32_printf(FILE *fp, pchar fileName, cfloat32 *data, long nX, int encloseData)
+{
+    long i;
+
+    if (fileName != NULL)
+    {
+        fp = fopen(fileName, "w+");
+    }
+
+    if (fp != NULL)
+    {
+        if (encloseData)
+        {
+            for (i = 0; i < nX; i++)
+            {
+                fprintf(fp, "{_DATAF(%10.20f), _DATAF(%10.20f)},"ENDL, data->real, data->imag);
+                data = &data[1];
+            }
+        }
+        else
+        {
+            for (i = 0; i < nX; i++)
+            {
+                fprintf(fp, "%10.20f, %10.20f"ENDL, data->real, data->imag);
+                data = &data[1];
+            }
+        }
+    }
+
+    if (fileName != NULL)
+    {
+        fclose(fp);
+    }
+}
+
+
+#endif