/* ---------------------------------------------------------------------- * Project: CMSIS DSP Python Wrapper * Title: cmsismodule.h * Description: C code for the CMSIS-DSP Python wrapper * * $Date: 27 April 2021 * $Revision: V1.0 * * Target Processor: Cortex-M cores * -------------------------------------------------------------------- */ /* * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved. * * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the License); you may * not use this file except in compliance with the License. * You may obtain a copy of the License at * * www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an AS IS BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #define MODNAME "cmsisdsp_controller" #define MODINITNAME cmsisdsp_controller #include "cmsisdsp_module.h" NUMPYVECTORFROMBUFFER(f32,float32_t,NPY_FLOAT); typedef struct { PyObject_HEAD arm_pid_instance_q15 *instance; } dsp_arm_pid_instance_q15Object; static void arm_pid_instance_q15_dealloc(dsp_arm_pid_instance_q15Object* self) { //printf("Dealloc called\n"); if (self->instance) { PyMem_Free(self->instance); } Py_TYPE(self)->tp_free((PyObject*)self); } static PyObject * arm_pid_instance_q15_new(PyTypeObject *type, PyObject *args, PyObject *kwds) { dsp_arm_pid_instance_q15Object *self; //printf("New called\n"); self = (dsp_arm_pid_instance_q15Object *)type->tp_alloc(type, 0); //printf("alloc called\n"); if (self != NULL) { self->instance = PyMem_Malloc(sizeof(arm_pid_instance_q15)); } return (PyObject *)self; } static int arm_pid_instance_q15_init(dsp_arm_pid_instance_q15Object *self, PyObject *args, PyObject *kwds) { char *kwlist[] = { "A0","A1","A2","state","Kp","Ki","Kd",NULL }; if (PyArg_ParseTupleAndKeywords(args, kwds, "|hhhhhhh", kwlist,&self->instance->A0 ,&self->instance->A1 ,&self->instance->A2 ,&self->instance->state ,&self->instance->Kp ,&self->instance->Ki ,&self->instance->Kd )) { } return 0; } GETFIELD(arm_pid_instance_q15,A0,"h"); GETFIELD(arm_pid_instance_q15,A1,"h"); GETFIELD(arm_pid_instance_q15,A2,"h"); GETFIELD(arm_pid_instance_q15,state,"h"); GETFIELD(arm_pid_instance_q15,Kp,"h"); GETFIELD(arm_pid_instance_q15,Ki,"h"); GETFIELD(arm_pid_instance_q15,Kd,"h"); static PyMethodDef arm_pid_instance_q15_methods[] = { {"A0", (PyCFunction) Method_arm_pid_instance_q15_A0,METH_NOARGS,"A0"}, {"A1", (PyCFunction) Method_arm_pid_instance_q15_A1,METH_NOARGS,"A1"}, {"A2", (PyCFunction) Method_arm_pid_instance_q15_A2,METH_NOARGS,"A2"}, {"state", (PyCFunction) Method_arm_pid_instance_q15_state,METH_NOARGS,"state"}, {"Kp", (PyCFunction) Method_arm_pid_instance_q15_Kp,METH_NOARGS,"Kp"}, {"Ki", (PyCFunction) Method_arm_pid_instance_q15_Ki,METH_NOARGS,"Ki"}, {"Kd", (PyCFunction) Method_arm_pid_instance_q15_Kd,METH_NOARGS,"Kd"}, {NULL} /* Sentinel */ }; DSPType(arm_pid_instance_q15,arm_pid_instance_q15_new,arm_pid_instance_q15_dealloc,arm_pid_instance_q15_init,arm_pid_instance_q15_methods); typedef struct { PyObject_HEAD arm_pid_instance_q31 *instance; } dsp_arm_pid_instance_q31Object; static void arm_pid_instance_q31_dealloc(dsp_arm_pid_instance_q31Object* self) { //printf("Dealloc called\n"); if (self->instance) { PyMem_Free(self->instance); } Py_TYPE(self)->tp_free((PyObject*)self); } static PyObject * arm_pid_instance_q31_new(PyTypeObject *type, PyObject *args, PyObject *kwds) { dsp_arm_pid_instance_q31Object *self; //printf("New called\n"); self = (dsp_arm_pid_instance_q31Object *)type->tp_alloc(type, 0); //printf("alloc called\n"); if (self != NULL) { self->instance = PyMem_Malloc(sizeof(arm_pid_instance_q31)); } return (PyObject *)self; } static int arm_pid_instance_q31_init(dsp_arm_pid_instance_q31Object *self, PyObject *args, PyObject *kwds) { char *kwlist[] = { "A0","A1","A2","state","Kp","Ki","Kd",NULL }; if (PyArg_ParseTupleAndKeywords(args, kwds, "|iiiiiii", kwlist,&self->instance->A0 ,&self->instance->A1 ,&self->instance->A2 ,&self->instance->state ,&self->instance->Kp ,&self->instance->Ki ,&self->instance->Kd )) { } return 0; } GETFIELD(arm_pid_instance_q31,A0,"i"); GETFIELD(arm_pid_instance_q31,A1,"i"); GETFIELD(arm_pid_instance_q31,A2,"i"); GETFIELD(arm_pid_instance_q31,state,"i"); GETFIELD(arm_pid_instance_q31,Kp,"i"); GETFIELD(arm_pid_instance_q31,Ki,"i"); GETFIELD(arm_pid_instance_q31,Kd,"i"); static PyMethodDef arm_pid_instance_q31_methods[] = { {"A0", (PyCFunction) Method_arm_pid_instance_q31_A0,METH_NOARGS,"A0"}, {"A1", (PyCFunction) Method_arm_pid_instance_q31_A1,METH_NOARGS,"A1"}, {"A2", (PyCFunction) Method_arm_pid_instance_q31_A2,METH_NOARGS,"A2"}, {"state", (PyCFunction) Method_arm_pid_instance_q31_state,METH_NOARGS,"state"}, {"Kp", (PyCFunction) Method_arm_pid_instance_q31_Kp,METH_NOARGS,"Kp"}, {"Ki", (PyCFunction) Method_arm_pid_instance_q31_Ki,METH_NOARGS,"Ki"}, {"Kd", (PyCFunction) Method_arm_pid_instance_q31_Kd,METH_NOARGS,"Kd"}, {NULL} /* Sentinel */ }; DSPType(arm_pid_instance_q31,arm_pid_instance_q31_new,arm_pid_instance_q31_dealloc,arm_pid_instance_q31_init,arm_pid_instance_q31_methods); typedef struct { PyObject_HEAD arm_pid_instance_f32 *instance; } dsp_arm_pid_instance_f32Object; static void arm_pid_instance_f32_dealloc(dsp_arm_pid_instance_f32Object* self) { //printf("Dealloc called\n"); if (self->instance) { PyMem_Free(self->instance); } Py_TYPE(self)->tp_free((PyObject*)self); } static PyObject * arm_pid_instance_f32_new(PyTypeObject *type, PyObject *args, PyObject *kwds) { dsp_arm_pid_instance_f32Object *self; //printf("New called\n"); self = (dsp_arm_pid_instance_f32Object *)type->tp_alloc(type, 0); //printf("alloc called\n"); if (self != NULL) { self->instance = PyMem_Malloc(sizeof(arm_pid_instance_f32)); } return (PyObject *)self; } static int arm_pid_instance_f32_init(dsp_arm_pid_instance_f32Object *self, PyObject *args, PyObject *kwds) { char *kwlist[] = { "A0","A1","A2","state","Kp","Ki","Kd",NULL }; if (PyArg_ParseTupleAndKeywords(args, kwds, "|fffffff", kwlist,&self->instance->A0 ,&self->instance->A1 ,&self->instance->A2 ,&self->instance->state ,&self->instance->Kp ,&self->instance->Ki ,&self->instance->Kd )) { } return 0; } GETFIELD(arm_pid_instance_f32,A0,"f"); GETFIELD(arm_pid_instance_f32,A1,"f"); GETFIELD(arm_pid_instance_f32,A2,"f"); GETFIELD(arm_pid_instance_f32,state,"f"); GETFIELD(arm_pid_instance_f32,Kp,"f"); GETFIELD(arm_pid_instance_f32,Ki,"f"); GETFIELD(arm_pid_instance_f32,Kd,"f"); static PyMethodDef arm_pid_instance_f32_methods[] = { {"A0", (PyCFunction) Method_arm_pid_instance_f32_A0,METH_NOARGS,"A0"}, {"A1", (PyCFunction) Method_arm_pid_instance_f32_A1,METH_NOARGS,"A1"}, {"A2", (PyCFunction) Method_arm_pid_instance_f32_A2,METH_NOARGS,"A2"}, {"state", (PyCFunction) Method_arm_pid_instance_f32_state,METH_NOARGS,"state"}, {"Kp", (PyCFunction) Method_arm_pid_instance_f32_Kp,METH_NOARGS,"Kp"}, {"Ki", (PyCFunction) Method_arm_pid_instance_f32_Ki,METH_NOARGS,"Ki"}, {"Kd", (PyCFunction) Method_arm_pid_instance_f32_Kd,METH_NOARGS,"Kd"}, {NULL} /* Sentinel */ }; DSPType(arm_pid_instance_f32,arm_pid_instance_f32_new,arm_pid_instance_f32_dealloc,arm_pid_instance_f32_init,arm_pid_instance_f32_methods); void typeRegistration(PyObject *module) { ADDTYPE(arm_pid_instance_q15); ADDTYPE(arm_pid_instance_q31); ADDTYPE(arm_pid_instance_f32); } static PyObject * cmsis_arm_pid_init_f32(PyObject *obj, PyObject *args) { PyObject *S=NULL; // input int32_t resetStateFlag; // input if (PyArg_ParseTuple(args,"Oi",&S,&resetStateFlag)) { dsp_arm_pid_instance_f32Object *selfS = (dsp_arm_pid_instance_f32Object *)S; arm_pid_init_f32(selfS->instance,resetStateFlag); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_pid_reset_f32(PyObject *obj, PyObject *args) { PyObject *S=NULL; // input if (PyArg_ParseTuple(args,"O",&S)) { dsp_arm_pid_instance_f32Object *selfS = (dsp_arm_pid_instance_f32Object *)S; arm_pid_reset_f32(selfS->instance); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_pid_init_q31(PyObject *obj, PyObject *args) { PyObject *S=NULL; // input int32_t resetStateFlag; // input if (PyArg_ParseTuple(args,"Oi",&S,&resetStateFlag)) { dsp_arm_pid_instance_q31Object *selfS = (dsp_arm_pid_instance_q31Object *)S; arm_pid_init_q31(selfS->instance,resetStateFlag); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_pid_reset_q31(PyObject *obj, PyObject *args) { PyObject *S=NULL; // input if (PyArg_ParseTuple(args,"O",&S)) { dsp_arm_pid_instance_q31Object *selfS = (dsp_arm_pid_instance_q31Object *)S; arm_pid_reset_q31(selfS->instance); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_pid_init_q15(PyObject *obj, PyObject *args) { PyObject *S=NULL; // input int32_t resetStateFlag; // input if (PyArg_ParseTuple(args,"Oi",&S,&resetStateFlag)) { dsp_arm_pid_instance_q15Object *selfS = (dsp_arm_pid_instance_q15Object *)S; arm_pid_init_q15(selfS->instance,resetStateFlag); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_pid_reset_q15(PyObject *obj, PyObject *args) { PyObject *S=NULL; // input if (PyArg_ParseTuple(args,"O",&S)) { dsp_arm_pid_instance_q15Object *selfS = (dsp_arm_pid_instance_q15Object *)S; arm_pid_reset_q15(selfS->instance); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_sin_cos_f32(PyObject *obj, PyObject *args) { float32_t theta; // input float32_t pS; float32_t pC; if (PyArg_ParseTuple(args,"f",&theta)) { arm_sin_cos_f32(theta,&pS,&pC); PyObject* retS=Py_BuildValue("f",pS); PyObject* retC=Py_BuildValue("f",pC); PyObject *pythonResult = Py_BuildValue("OO",retS,retC); Py_DECREF(retS); Py_DECREF(retC); return(pythonResult); } return(NULL); } static PyObject * cmsis_arm_sin_cos_q31(PyObject *obj, PyObject *args) { q31_t theta; // input q31_t pS; q31_t pC; if (PyArg_ParseTuple(args,"i",&theta)) { arm_sin_cos_q31(theta,&pS,&pC); PyObject* retS=Py_BuildValue("i",pS); PyObject* retC=Py_BuildValue("i",pC); PyObject *pythonResult = Py_BuildValue("OO",retS,retC); Py_DECREF(retS); Py_DECREF(retC); return(pythonResult); } return(NULL); } static PyObject * cmsis_arm_pid_f32(PyObject *obj, PyObject *args) { PyObject *S=NULL; // input float32_t in; // input if (PyArg_ParseTuple(args,"Of",&S,&in)) { dsp_arm_pid_instance_f32Object *selfS = (dsp_arm_pid_instance_f32Object *)S; float32_t returnValue = arm_pid_f32(selfS->instance,in); PyObject* theReturnOBJ=Py_BuildValue("f",returnValue); PyObject *pythonResult = Py_BuildValue("O",theReturnOBJ); Py_DECREF(theReturnOBJ); return(pythonResult); } return(NULL); } static PyObject * cmsis_arm_pid_q31(PyObject *obj, PyObject *args) { PyObject *S=NULL; // input q31_t in; // input if (PyArg_ParseTuple(args,"Oi",&S,&in)) { dsp_arm_pid_instance_q31Object *selfS = (dsp_arm_pid_instance_q31Object *)S; q31_t returnValue = arm_pid_q31(selfS->instance,in); PyObject* theReturnOBJ=Py_BuildValue("i",returnValue); PyObject *pythonResult = Py_BuildValue("O",theReturnOBJ); Py_DECREF(theReturnOBJ); return(pythonResult); } return(NULL); } static PyObject * cmsis_arm_pid_q15(PyObject *obj, PyObject *args) { PyObject *S=NULL; // input q15_t in; // input if (PyArg_ParseTuple(args,"Oh",&S,&in)) { dsp_arm_pid_instance_q15Object *selfS = (dsp_arm_pid_instance_q15Object *)S; q15_t returnValue = arm_pid_q15(selfS->instance,in); PyObject* theReturnOBJ=Py_BuildValue("h",returnValue); PyObject *pythonResult = Py_BuildValue("O",theReturnOBJ); Py_DECREF(theReturnOBJ); return(pythonResult); } return(NULL); } static PyObject * cmsis_arm_clarke_f32(PyObject *obj, PyObject *args) { float32_t Ia; // input float32_t Ib; // input PyObject *pIalpha=NULL; // input float32_t *pIalpha_converted=NULL; // input PyObject *pIbeta=NULL; // input float32_t *pIbeta_converted=NULL; // input if (PyArg_ParseTuple(args,"ffOO",&Ia,&Ib,&pIalpha,&pIbeta)) { GETARGUMENT(pIalpha,NPY_DOUBLE,double,float32_t); GETARGUMENT(pIbeta,NPY_DOUBLE,double,float32_t); arm_clarke_f32(Ia,Ib,pIalpha_converted,pIbeta_converted); FREEARGUMENT(pIalpha_converted); FREEARGUMENT(pIbeta_converted); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_clarke_q31(PyObject *obj, PyObject *args) { q31_t Ia; // input q31_t Ib; // input PyObject *pIalpha=NULL; // input q31_t *pIalpha_converted=NULL; // input PyObject *pIbeta=NULL; // input q31_t *pIbeta_converted=NULL; // input if (PyArg_ParseTuple(args,"iiOO",&Ia,&Ib,&pIalpha,&pIbeta)) { GETARGUMENT(pIalpha,NPY_INT32,int32_t,int32_t); GETARGUMENT(pIbeta,NPY_INT32,int32_t,int32_t); arm_clarke_q31(Ia,Ib,pIalpha_converted,pIbeta_converted); FREEARGUMENT(pIalpha_converted); FREEARGUMENT(pIbeta_converted); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_inv_clarke_f32(PyObject *obj, PyObject *args) { float32_t Ialpha; // input float32_t Ibeta; // input PyObject *pIa=NULL; // input float32_t *pIa_converted=NULL; // input PyObject *pIb=NULL; // input float32_t *pIb_converted=NULL; // input if (PyArg_ParseTuple(args,"ffOO",&Ialpha,&Ibeta,&pIa,&pIb)) { GETARGUMENT(pIa,NPY_DOUBLE,double,float32_t); GETARGUMENT(pIb,NPY_DOUBLE,double,float32_t); arm_inv_clarke_f32(Ialpha,Ibeta,pIa_converted,pIb_converted); FREEARGUMENT(pIa_converted); FREEARGUMENT(pIb_converted); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_inv_clarke_q31(PyObject *obj, PyObject *args) { q31_t Ialpha; // input q31_t Ibeta; // input PyObject *pIa=NULL; // input q31_t *pIa_converted=NULL; // input PyObject *pIb=NULL; // input q31_t *pIb_converted=NULL; // input if (PyArg_ParseTuple(args,"iiOO",&Ialpha,&Ibeta,&pIa,&pIb)) { GETARGUMENT(pIa,NPY_INT32,int32_t,int32_t); GETARGUMENT(pIb,NPY_INT32,int32_t,int32_t); arm_inv_clarke_q31(Ialpha,Ibeta,pIa_converted,pIb_converted); FREEARGUMENT(pIa_converted); FREEARGUMENT(pIb_converted); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_park_f32(PyObject *obj, PyObject *args) { float32_t Ialpha; // input float32_t Ibeta; // input PyObject *pId=NULL; // input float32_t *pId_converted=NULL; // input PyObject *pIq=NULL; // input float32_t *pIq_converted=NULL; // input float32_t sinVal; // input float32_t cosVal; // input if (PyArg_ParseTuple(args,"ffOOff",&Ialpha,&Ibeta,&pId,&pIq,&sinVal,&cosVal)) { GETARGUMENT(pId,NPY_DOUBLE,double,float32_t); GETARGUMENT(pIq,NPY_DOUBLE,double,float32_t); arm_park_f32(Ialpha,Ibeta,pId_converted,pIq_converted,sinVal,cosVal); FREEARGUMENT(pId_converted); FREEARGUMENT(pIq_converted); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_park_q31(PyObject *obj, PyObject *args) { q31_t Ialpha; // input q31_t Ibeta; // input PyObject *pId=NULL; // input q31_t *pId_converted=NULL; // input PyObject *pIq=NULL; // input q31_t *pIq_converted=NULL; // input q31_t sinVal; // input q31_t cosVal; // input if (PyArg_ParseTuple(args,"iiOOii",&Ialpha,&Ibeta,&pId,&pIq,&sinVal,&cosVal)) { GETARGUMENT(pId,NPY_INT32,int32_t,int32_t); GETARGUMENT(pIq,NPY_INT32,int32_t,int32_t); arm_park_q31(Ialpha,Ibeta,pId_converted,pIq_converted,sinVal,cosVal); FREEARGUMENT(pId_converted); FREEARGUMENT(pIq_converted); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_inv_park_f32(PyObject *obj, PyObject *args) { float32_t Id; // input float32_t Iq; // input PyObject *pIalpha=NULL; // input float32_t *pIalpha_converted=NULL; // input PyObject *pIbeta=NULL; // input float32_t *pIbeta_converted=NULL; // input float32_t sinVal; // input float32_t cosVal; // input if (PyArg_ParseTuple(args,"ffOOff",&Id,&Iq,&pIalpha,&pIbeta,&sinVal,&cosVal)) { GETARGUMENT(pIalpha,NPY_DOUBLE,double,float32_t); GETARGUMENT(pIbeta,NPY_DOUBLE,double,float32_t); arm_inv_park_f32(Id,Iq,pIalpha_converted,pIbeta_converted,sinVal,cosVal); FREEARGUMENT(pIalpha_converted); FREEARGUMENT(pIbeta_converted); Py_RETURN_NONE; } return(NULL); } static PyObject * cmsis_arm_inv_park_q31(PyObject *obj, PyObject *args) { q31_t Id; // input q31_t Iq; // input PyObject *pIalpha=NULL; // input q31_t *pIalpha_converted=NULL; // input PyObject *pIbeta=NULL; // input q31_t *pIbeta_converted=NULL; // input q31_t sinVal; // input q31_t cosVal; // input if (PyArg_ParseTuple(args,"iiOOii",&Id,&Iq,&pIalpha,&pIbeta,&sinVal,&cosVal)) { GETARGUMENT(pIalpha,NPY_INT32,int32_t,int32_t); GETARGUMENT(pIbeta,NPY_INT32,int32_t,int32_t); arm_inv_park_q31(Id,Iq,pIalpha_converted,pIbeta_converted,sinVal,cosVal); FREEARGUMENT(pIalpha_converted); FREEARGUMENT(pIbeta_converted); Py_RETURN_NONE; } return(NULL); } static PyMethodDef CMSISDSPMethods[] = { {"arm_pid_init_f32", cmsis_arm_pid_init_f32, METH_VARARGS,""}, {"arm_pid_reset_f32", cmsis_arm_pid_reset_f32, METH_VARARGS,""}, {"arm_pid_init_q31", cmsis_arm_pid_init_q31, METH_VARARGS,""}, {"arm_pid_reset_q31", cmsis_arm_pid_reset_q31, METH_VARARGS,""}, {"arm_pid_init_q15", cmsis_arm_pid_init_q15, METH_VARARGS,""}, {"arm_pid_reset_q15", cmsis_arm_pid_reset_q15, METH_VARARGS,""}, {"arm_sin_cos_f32", cmsis_arm_sin_cos_f32, METH_VARARGS,""}, {"arm_sin_cos_q31", cmsis_arm_sin_cos_q31, METH_VARARGS,""}, {"arm_pid_f32", cmsis_arm_pid_f32, METH_VARARGS,""}, {"arm_pid_q31", cmsis_arm_pid_q31, METH_VARARGS,""}, {"arm_pid_q15", cmsis_arm_pid_q15, METH_VARARGS,""}, {"arm_clarke_f32", cmsis_arm_clarke_f32, METH_VARARGS,""}, {"arm_clarke_q31", cmsis_arm_clarke_q31, METH_VARARGS,""}, {"arm_inv_clarke_f32", cmsis_arm_inv_clarke_f32, METH_VARARGS,""}, {"arm_inv_clarke_q31", cmsis_arm_inv_clarke_q31, METH_VARARGS,""}, {"arm_park_f32", cmsis_arm_park_f32, METH_VARARGS,""}, {"arm_park_q31", cmsis_arm_park_q31, METH_VARARGS,""}, {"arm_inv_park_f32", cmsis_arm_inv_park_f32, METH_VARARGS,""}, {"arm_inv_park_q31", cmsis_arm_inv_park_q31, METH_VARARGS,""}, {"error_out", (PyCFunction)error_out, METH_NOARGS, NULL}, {NULL, NULL, 0, NULL} /* Sentinel */ }; #ifdef IS_PY3K static int cmsisdsp_traverse(PyObject *m, visitproc visit, void *arg) { Py_VISIT(GETSTATE(m)->error); return 0; } static int cmsisdsp_clear(PyObject *m) { Py_CLEAR(GETSTATE(m)->error); return 0; } static struct PyModuleDef moduledef = { PyModuleDef_HEAD_INIT, MODNAME, NULL, sizeof(struct module_state), CMSISDSPMethods, NULL, cmsisdsp_traverse, cmsisdsp_clear, NULL }; #define INITERROR return NULL PyMODINIT_FUNC CAT(PyInit_,MODINITNAME)(void) #else #define INITERROR return void CAT(init,MODINITNAME)(void) #endif { import_array(); #ifdef IS_PY3K PyObject *module = PyModule_Create(&moduledef); #else PyObject *module = Py_InitModule(MODNAME, CMSISDSPMethods); #endif if (module == NULL) INITERROR; struct module_state *st = GETSTATE(module); st->error = PyErr_NewException(MODNAME".Error", NULL, NULL); if (st->error == NULL) { Py_DECREF(module); INITERROR; } typeRegistration(module); #ifdef IS_PY3K return module; #endif }