Closed stenbergd closed 8 years ago
Check path STM32Cube_FW_F3_V1.1.0\Drivers\CMSIS\DSP_Lib
There seems to be many matrix operations implemented in arm_math.h
and even some PID controller.
We need to look at this eventually when we start using transformation matrices, calculate sensor covariance values for the Kalman Q/R values, mean calculations etc etc.
But we probably need to learn more about fixed point float (Q15, Q31). Maybe @khayyami can teach us? :)
It seems that we have hardware support for conversion between float
/double
and fixed-point formats in the Cortex M4 processor
It also provides conversions between fixed-point and floating-point data formats, and floating-point constant instructions
http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.ddi0439b/BEHJADED.html
I have configured the project to use the float32_t variants of the DSP instructions. Since we have an FPU, this should work well. No need for fixed-point float?
Ok, there is no point in compiling code that we're not using.
At this stage we don't have any use for fixed-point arithmetics.
It seems we have investigated this and imported the "DSP Library" into the project to handle stuff like vector and matrix operations, sin/cos functions etc.
Closing this.
Surely, there must be plenty of applications where we could use the Digital Signal Processor (DSP) built into the M4 core.