Changeset 1178 for applications/pmsm

Timestamp:

09/02/10 14:40:58 (14 years ago)

Author:

smidl

Message:

alpha division in fixed bierman

Files:

• applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.cpp (modified) (2 diffs)

applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.cpp

@@ -152 +152 @@
                 for (j=0;j<dimx;j++){
                         beta   = alpha; 
+                        lambda = -((long)a[j]<<15)/beta; 
                         alpha  += ((long)(a[j])*b[j]>>15); 
-                        lambda = -(a[j])*gamma>>15; 
-                        gamma  = (1<<15)/alpha; // in q15 now
-                        int mpl=((long)beta*gamma); // no-shift, max_gamma=2^15
-                        D[j] = (long)mpl*D[j]>>15; //gamma is long
+                        D[j] = (((long)beta<<15)/alpha)*D[j]>>15; //gamma is long
                         if (D[j]==0) D[j]=1;
                         
@@ -166 +164 @@
                         }
                 }
-                int dzs = (gamma*(difz[iy]))>>15;  // apply scaling to innovations 
+                int dzs = (((long)difz[iy])<<15)/alpha;  // apply scaling to innovations 
                                                                         // no shift due to gamma
                 for (i=0; i<dimx; i++){