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16<h1>work/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************</span>
17<a name="l00002"></a>00002 <span class="comment">        Extended Kalman Filter</span>
18<a name="l00003"></a>00003 <span class="comment">        Matrix operations</span>
19<a name="l00004"></a>00004 <span class="comment"></span>
20<a name="l00005"></a>00005 <span class="comment">        Z. Peroutka</span>
21<a name="l00006"></a>00006 <span class="comment"></span>
22<a name="l00007"></a>00007 <span class="comment">Rev. 15.3.2008</span>
23<a name="l00008"></a>00008 <span class="comment"></span>
24<a name="l00009"></a>00009 <span class="comment">15.3. 2008      Kompletni kontrola vypoctu + zamena q15-&gt;int a q30-&gt;long</span>
25<a name="l00010"></a>00010 <span class="comment"></span>
26<a name="l00011"></a>00011 <span class="comment">*************************************/</span>
27<a name="l00012"></a>00012
28<a name="l00013"></a>00013 <span class="comment">/* Vsechny meze se udavaji ve tvaru (rozmer_matice - 1), abych mel ve FOR konstantni horni mez) */</span>
29<a name="l00014"></a>00014
30<a name="l00015"></a>00015 <span class="comment">/* Matrix addition in q15: m1 + m2 = result[rows, columns] */</span>
31<a name="l00016"></a>00016 <span class="keyword">extern</span> <span class="keywordtype">void</span> madd(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *m2, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columns);
32<a name="l00017"></a>00017
33<a name="l00018"></a>00018 <span class="comment">/* add diagonal matrix m2 to matrix m1 - both in format q15, minrowcol = min(rows, columns) */</span>
34<a name="l00019"></a>00019 <span class="keyword">extern</span> <span class="keywordtype">void</span> maddD(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *m2, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minrowcol, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columns);
35<a name="l00020"></a>00020
36<a name="l00021"></a>00021 <span class="comment">/* Matrix substraction in q15: m1 - m2 = result[rows, columns] */</span>
37<a name="l00022"></a>00022 <span class="keyword">extern</span> <span class="keywordtype">void</span> msub(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *m2, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columns);
38<a name="l00023"></a>00023
39<a name="l00024"></a>00024 <span class="comment">/* Matrix multiply in q15: m1[rows,columnsx]*m2[columnsx,columns] = result[rows,columns] */</span>
40<a name="l00025"></a>00025 <span class="keyword">extern</span> <span class="keywordtype">void</span> mmult(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *m2, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columnsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>
41<a name="l00026"></a>00026 columns);
42<a name="l00027"></a>00027
43<a name="l00028"></a>00028 <span class="comment">/* Matrix multiplication in q15: m1[rows,columnsx]*(m2[columnsx,columns]transpose) = result[rows,columns] */</span>
44<a name="l00029"></a>00029 <span class="keyword">extern</span> <span class="keywordtype">void</span> mmultt(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *m2, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columnsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>
45<a name="l00030"></a>00030 columns);
46<a name="l00031"></a>00031
47<a name="l00032"></a>00032 <span class="comment">/* matrix multiplication in q15: sum is in q15 */</span>
48<a name="l00033"></a>00033 <span class="keyword">extern</span> <span class="keywordtype">void</span> mmult15(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *m2, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columnsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>
49<a name="l00034"></a>00034 columns);
50<a name="l00035"></a>00035
51<a name="l00036"></a>00036 <span class="comment">/* Matrix multiplication in q15 (sum is in q15): m1[rows,columnsx]*(m2[columns,columnsx]transpose) = result[rows,columns] */</span>
52<a name="l00037"></a>00037 <span class="keyword">extern</span> <span class="keywordtype">void</span> mmultt15(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *m2, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columnsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>
53<a name="l00038"></a>00038 columns);
54<a name="l00039"></a>00039
55<a name="l00040"></a>00040 <span class="comment">/* Matrix multiplication - Q15 * Q30 format -&gt; RESULT in Q15 */</span>
56<a name="l00041"></a>00041 <span class="keyword">extern</span> <span class="keywordtype">void</span> mmult1530(<span class="keywordtype">int</span> *m1, <span class="keywordtype">long</span> *m2, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columnsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>
57<a name="l00042"></a>00042 columns);
58<a name="l00043"></a>00043
59<a name="l00044"></a>00044 <span class="comment">/* Left matrix multiplication with DIAG ones matrix in q15: DIAG[rows,columnsx]*m2[columnsx,columns] = result[rows,columns]</span>
60<a name="l00045"></a>00045 <span class="comment">minrowcol=minimum(rows, columnsx) */</span>
61<a name="l00046"></a>00046 <span class="keyword">extern</span> <span class="keywordtype">void</span> mmultDl(<span class="keywordtype">int</span> *m2, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columnsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>
62<a name="l00047"></a>00047 columns, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minrowcol);
63<a name="l00048"></a>00048
64<a name="l00049"></a>00049 <span class="comment">/* Left matrix multiplication with DIAG matrix in q15: DIAG[rows,columnsx]*m2[columnsx,columns] = result[rows,columns]</span>
65<a name="l00050"></a>00050 <span class="comment">minrowcol=minimum(rows, columnsx) */</span>
66<a name="l00051"></a>00051 <span class="keyword">extern</span> <span class="keywordtype">void</span> mmultDl15(<span class="keywordtype">int</span> *DIAG, <span class="keywordtype">int</span> *m2, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columnsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>
67<a name="l00052"></a>00052 columns, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minrowcol);
68<a name="l00053"></a>00053
69<a name="l00054"></a>00054 <span class="comment">/* Right matrix multiplication with DIAG ones matrix in q15: m1[rows,columnsx]*DIAG[columnsx,columns] = result[rows,columns]</span>
70<a name="l00055"></a>00055 <span class="comment">minrowcol=minimum(columnsx,columns) */</span>
71<a name="l00056"></a>00056 <span class="keyword">extern</span> <span class="keywordtype">void</span> mmultDr(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columnsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>
72<a name="l00057"></a>00057 columns, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minrowcol);
73<a name="l00058"></a>00058
74<a name="l00059"></a>00059 <span class="comment">/* Right matrix multiplication with DIAG matrix in q15: m1[rows,columnsx]*DIAG[columnsx,columns] = result[rows,columns]</span>
75<a name="l00060"></a>00060 <span class="comment">minrowcol=minimum(columnsx,columns) */</span>
76<a name="l00061"></a>00061 <span class="keyword">extern</span> <span class="keywordtype">void</span> mmultDr15(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *DIAG, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columnsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>
77<a name="l00062"></a>00062 columns, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minrowcol);
78<a name="l00063"></a>00063
79<a name="l00064"></a>00064 <span class="comment">/* Matrix transposition in q15: m1.' = result[rows, columns] */</span>
80<a name="l00065"></a>00065 <span class="keyword">extern</span> <span class="keywordtype">void</span> mtrans(<span class="keywordtype">int</span> *m1, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rows, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columns);
81<a name="l00066"></a>00066
82<a name="l00067"></a>00067 <span class="comment">/* Matrix [2,2] inversion in q15: inv(m1) = result[rows, columns] */</span>
83<a name="l00068"></a>00068 <span class="keyword">extern</span> <span class="keywordtype">void</span> minv2(<span class="keywordtype">int</span> *matrix, <span class="keywordtype">long</span> *result);
84<a name="l00069"></a>00069
85<a name="l00070"></a>00070 <span class="keyword">extern</span> <span class="keywordtype">void</span> choice_P(<span class="keywordtype">int</span> *m, <span class="keywordtype">int</span> *result, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> columns);
86<a name="l00071"></a>00071 <span class="keyword">extern</span> <span class="keywordtype">void</span> choice_x(<span class="keywordtype">int</span> *m, <span class="keywordtype">int</span> *result);
87<a name="l00072"></a>00072
88</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Apr 18 11:15:15 2008 for mixpp by&nbsp;
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