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
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/**
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* \file Ifx_FftF32.c
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* \brief Floating-point Fast Fourier Transform
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*
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*
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* \version disabled
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* \copyright Copyright (c) 2013 Infineon Technologies AG. All rights reserved.
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*
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*
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* IMPORTANT NOTICE
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*
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*
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* Use of this file is subject to the terms of use agreed between (i) you or
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* the company in which ordinary course of business you are acting and (ii)
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* Infineon Technologies AG or its licensees. If and as long as no such
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* terms of use are agreed, use of this file is subject to following:
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* Boost Software License - Version 1.0 - August 17th, 2003
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* Permission is hereby granted, free of charge, to any person or
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* organization obtaining a copy of the software and accompanying
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* documentation covered by this license (the "Software") to use, reproduce,
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* display, distribute, execute, and transmit the Software, and to prepare
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* derivative works of the Software, and to permit third-parties to whom the
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* Software is furnished to do so, all subject to the following:
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* The copyright notices in the Software and this entire statement, including
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* the above license grant, this restriction and the following disclaimer, must
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* be included in all copies of the Software, in whole or in part, and all
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* derivative works of the Software, unless such copies or derivative works are
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* solely in the form of machine-executable object code generated by a source
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* language processor.
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
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* SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
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* FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
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* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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*/
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#include "Ifx_FftF32.h"
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#include <math.h>
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//#include "Compiler.h"
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cfloat32 *Ifx_FftF32_generateTwiddleFactor(cfloat32 *TF, short nX)
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{
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int i;
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double Theta;
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// prepare twiddle coefficients
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for (i = 0; i < nX / 2; i++)
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{
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Theta = 2 * IFX_PI * i / nX;
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TF[i].real = (float32)(cosf(Theta));
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TF[i].imag = (float32)(-sinf(Theta));
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}
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return TF;
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}
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/******************************************************************************/
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unsigned short Ifx_FftF32_reverseBits(unsigned short n, unsigned bits)
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{
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/* This code is from:
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* http://graphics.stanford.edu/~seander/bithacks.html
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* */
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unsigned long v = n; // 32-bit word to reverse bit order
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// swap odd and even bits
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v = ((v >> 1) & 0x55555555UL) | ((v & 0x55555555UL) << 1);
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// swap consecutive pairs
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v = ((v >> 2) & 0x33333333UL) | ((v & 0x33333333UL) << 2);
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// swap nibbles ...
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v = ((v >> 4) & 0x0F0F0F0FUL) | ((v & 0x0F0F0F0FUL) << 4);
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// swap bytes
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v = ((v >> 8) & 0x00FF00FFUL) | ((v & 0x00FF00FFUL) << 8);
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// swap 2-byte long pairs
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v = (v >> 16) | (v << 16);
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v = v >> (32 - bits);
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return (unsigned short)v;
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}
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/******************************************************************************/
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void Ifx_FftF32_radix2DecimationInTime(cfloat32 *R, unsigned long p)
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{
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/* http://www.engineeringproductivitytools.com/stuff/T0001/PT04.HTM#Head317
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* */
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/*Perform in place Ifx_FftF32_radix2DecimationInTime of 2^p points (=size of f)
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* N.B. The input array f is in bit reversed order! So all the
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* 'even' input samples are in the 'top' half, all the 'odd'
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* input samples are in the 'bottom' halR..etc (recursively).
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*/
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/*Ifx_FftF32_radix2DecimationInTime*/
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unsigned long Bp, Np, Npx, P, b, k, BaseT, BaseB;
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cfloat32 top, bot;
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/*initialise pass parameters*/
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Bp = 1 << (p - 1); /*No. of blocks*/
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Np = 2; /*No. of points in each block*/
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/*perform p passes*/
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for (P = 0; P < p; P++)
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{
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/*pass loop*/
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Npx = Np >> 1; /*No. of butterflies*/
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BaseT = 0; /*Reset even base index*/
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for (b = 0; b < Bp; b++)
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{
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/*block loop*/
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BaseB = BaseT + Npx; /*calc odd base index*/
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for (k = 0; k < Npx; k++)
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{
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//printf("P = %d; b = %d; Np = %d; k = %d\n", P, b, Np, k);
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/*butterfly loop*/
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top = Ifx_FftF32_lookUpTwiddleFactor(Np, k);
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bot = IFX_Cf32_mul(&R[BaseB + k], &top); /*twiddle the odd n results*/
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top = R[BaseT + k];
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R[BaseT + k] = IFX_Cf32_add(&top, &bot); /*top subset*/
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R[BaseB + k] = IFX_Cf32_sub(&top, &bot); /*bottom subset*/
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} /*butterfly loop*/
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BaseT = BaseT + Np; /*start of next block*/
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} /*block loop*/
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/*calc parameters for next pass*/
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Bp = Bp >> 1; /*half as many blocks*/
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Np = Np << 1; /*twice as many points in each block*/
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} /*pass loop*/
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} /*Ifx_FftF32_radix2DecimationInTime*/
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cfloat32 *Ifx_FftF32_radix2(cfloat32 *R, const cfloat32 *X, unsigned short nX)
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{
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unsigned int logN = 31 - __clz(nX);
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unsigned short n, k;
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/* Arrange in bit-reversed index */
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for (n = 0; n < nX; n++)
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{
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//k = Ifx_FftF32_reverseBits(n, logN);
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k = Ifx_FftF32_lookUpReversedBits(n, logN);
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R[k] = X[n];
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}
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Ifx_FftF32_radix2DecimationInTime(R, logN);
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return R;
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}
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cfloat32 *Ifx_FftF32_radix2I(cfloat32 *R, const cfloat32 *X, unsigned short nX)
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{
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unsigned int logN = 31 - __clz(nX);
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unsigned short n, k = 0;
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/* Arrange in bit-reversed index, and conjugate the input */
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for (n = 0; n < nX; n++)
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{
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//k = Ifx_FftF32_reverseBits(n, logN);
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k = Ifx_FftF32_lookUpReversedBits(n, logN);
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R[k].real = X[n].real;
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R[k].imag = -X[n].imag;
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}
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Ifx_FftF32_radix2DecimationInTime(R, logN);
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/* Conjugate the output */
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for (n = 0; n < nX; n++)
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{
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R[n].imag = -R[n].imag;
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}
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return R;
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}
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