mixpp: work/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h Source File

00001 /************************************
00002         Extended Kalman Filter
00003         Matrix operations
00004 
00005         Z. Peroutka
00006 
00007 Rev. 15.3.2008
00008 
00009 15.3. 2008      Kompletni kontrola vypoctu + zamena q15->int a q30->long
00010 
00011 *************************************/
00012 
00013 /* Vsechny meze se udavaji ve tvaru (rozmer_matice - 1), abych mel ve FOR konstantni horni mez) */
00014 
00015 /* Matrix addition in q15: m1 + m2 = result[rows, columns] */
00016 extern void madd(int *m1, int *m2, int *result, unsigned int rows, unsigned int columns);
00017 
00018 /* add diagonal matrix m2 to matrix m1 - both in format q15, minrowcol = min(rows, columns) */
00019 extern void maddD(int *m1, int *m2, unsigned int minrowcol, unsigned int columns);
00020 
00021 /* Matrix substraction in q15: m1 - m2 = result[rows, columns] */
00022 extern void msub(int *m1, int *m2, int *result, unsigned int rows, unsigned int columns);
00023 
00024 /* Matrix multiply in q15: m1[rows,columnsx]*m2[columnsx,columns] = result[rows,columns] */
00025 extern void mmult(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int
00026 columns);
00027 
00028 /* Matrix multiplication in q15: m1[rows,columnsx]*(m2[columnsx,columns]transpose) = result[rows,columns] */
00029 extern void mmultt(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int
00030 columns);
00031 
00032 /* matrix multiplication in q15: sum is in q15 */
00033 extern void mmult15(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int
00034 columns);
00035 
00036 /* Matrix multiplication in q15 (sum is in q15): m1[rows,columnsx]*(m2[columns,columnsx]transpose) = result[rows,columns] */
00037 extern void mmultt15(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int
00038 columns);
00039 
00040 /* Matrix multiplication - Q15 * Q30 format -> RESULT in Q15 */
00041 extern void mmult1530(int *m1, long *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int
00042 columns);
00043 
00044 /* Left matrix multiplication with DIAG ones matrix in q15: DIAG[rows,columnsx]*m2[columnsx,columns] = result[rows,columns]
00045 minrowcol=minimum(rows, columnsx) */
00046 extern void mmultDl(int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int
00047 columns, unsigned int minrowcol);
00048 
00049 /* Left matrix multiplication with DIAG matrix in q15: DIAG[rows,columnsx]*m2[columnsx,columns] = result[rows,columns]
00050 minrowcol=minimum(rows, columnsx) */
00051 extern void mmultDl15(int *DIAG, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int
00052 columns, unsigned int minrowcol);
00053 
00054 /* Right matrix multiplication with DIAG ones matrix in q15: m1[rows,columnsx]*DIAG[columnsx,columns] = result[rows,columns]
00055 minrowcol=minimum(columnsx,columns) */
00056 extern void mmultDr(int *m1, int *result, unsigned int rows, unsigned int columnsx, unsigned int
00057 columns, unsigned int minrowcol);
00058 
00059 /* Right matrix multiplication with DIAG matrix in q15: m1[rows,columnsx]*DIAG[columnsx,columns] = result[rows,columns]
00060 minrowcol=minimum(columnsx,columns) */
00061 extern void mmultDr15(int *m1, int *DIAG, int *result, unsigned int rows, unsigned int columnsx, unsigned int
00062 columns, unsigned int minrowcol);
00063 
00064 /* Matrix transposition in q15: m1.' = result[rows, columns] */
00065 extern void mtrans(int *m1, int *result, unsigned int rows, unsigned int columns);
00066 
00067 /* Matrix [2,2] inversion in q15: inv(m1) = result[rows, columns] */
00068 extern void minv2(int *matrix, long *result);
00069 
00070 extern void choice_P(int *m, int *result, unsigned int columns);
00071 extern void choice_x(int *m, int *result);
00072