1 /* ----------------------------------------------------------------------
2 * Project: CMSIS DSP Library
3 * Title: arm_quaternion_product_f32.c
4 * Description: Floating-point quaternion product
5 *
6 * $Date: 23 April 2021
7 * $Revision: V1.9.0
8 *
9 * Target Processor: Cortex-M and Cortex-A cores
10 * -------------------------------------------------------------------- */
11 /*
12 * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
13 *
14 * SPDX-License-Identifier: Apache-2.0
15 *
16 * Licensed under the Apache License, Version 2.0 (the License); you may
17 * not use this file except in compliance with the License.
18 * You may obtain a copy of the License at
19 *
20 * www.apache.org/licenses/LICENSE-2.0
21 *
22 * Unless required by applicable law or agreed to in writing, software
23 * distributed under the License is distributed on an AS IS BASIS, WITHOUT
24 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
25 * See the License for the specific language governing permissions and
26 * limitations under the License.
27 */
28
29 #include "dsp/quaternion_math_functions.h"
30 #include <math.h>
31
32 /**
33 @ingroup groupQuaternionMath
34 */
35
36 /**
37 @defgroup QuatProd Quaternion Product
38
39 Compute the product of quaternions.
40 */
41
42 /**
43 @ingroup QuatProd
44 */
45
46 /**
47 @defgroup QuatProdVect Elementwise Quaternion Product
48
49 Compute the elementwise product of quaternions.
50 */
51
52 /**
53 @addtogroup QuatProdVect
54 @{
55 */
56
57 /**
58 @brief Floating-point elementwise product two quaternions.
59 @param[in] qa first array of quaternions
60 @param[in] qb second array of quaternions
61 @param[out] qr elementwise product of quaternions
62 @param[in] nbQuaternions number of quaternions in the array
63 */
64
65 #if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
66
67 #include "arm_helium_utils.h"
68
arm_quaternion_product_f32(const float32_t * qa,const float32_t * qb,float32_t * qr,uint32_t nbQuaternions)69 ARM_DSP_ATTRIBUTE void arm_quaternion_product_f32(const float32_t *qa,
70 const float32_t *qb,
71 float32_t *qr,
72 uint32_t nbQuaternions)
73 {
74 static uint32_t patternA[4] = { 0, 1, 0, 1 };
75 static uint32_t patternB[4] = { 3, 2, 3, 2 };
76 static uint32_t patternC[4] = { 3, 2, 1, 0 };
77 static float32_t signA[4] = { -1, -1, 1, 1 };
78
79 uint32x4_t vecA = vld1q_u32(patternA);
80 uint32x4_t vecB = vld1q_u32(patternB);
81 uint32x4_t vecC = vld1q_u32(patternC);
82 f32x4_t vecSignA = vld1q_f32(signA);
83
84 while (nbQuaternions > 0U)
85 {
86 f32x4_t vecTmpA, vecTmpB, vecAcc;
87
88 vecTmpA = vldrwq_gather_shifted_offset_f32(qa, vecA);
89 vecTmpB = vld1q(qb);
90 /*
91 * vcmul(r, [a1, a2, a1, a2], [b1, b2, b3, b4], 0)
92 */
93 vecAcc = vcmulq(vecTmpA, vecTmpB);
94 /*
95 * vcmla(r, [a1, a2, a1, a2], [b1, b2, b3, b4], 90)
96 */
97 vecAcc = vcmlaq_rot90(vecAcc, vecTmpA, vecTmpB);
98
99 vecTmpA = vldrwq_gather_shifted_offset_f32(qa, vecB);
100 vecTmpB = vldrwq_gather_shifted_offset_f32(qb, vecC);
101 /*
102 * build [-b4, -b3, b2, b1]
103 */
104 vecTmpB = vecTmpB * vecSignA;
105 /*
106 * vcmla(r, [a4, a3, a4, a3], [-b4, -b3, b2, b1], 270)
107 */
108 vecAcc = vcmlaq_rot270(vecAcc, vecTmpA, vecTmpB);
109 /*
110 * vcmla(r, [a4, a3, a4, a3], [-b4, -b3, b2, b1], 0)
111 */
112 vecAcc = vcmlaq(vecAcc, vecTmpA, vecTmpB);
113 /*
114 * store accumulator
115 */
116 vst1q_f32(qr, vecAcc);
117
118 /* move to next quaternion */
119 qa += 4;
120 qb += 4;
121 qr += 4;
122
123 nbQuaternions--;
124 }
125 }
126
127 #else
128
arm_quaternion_product_f32(const float32_t * qa,const float32_t * qb,float32_t * qr,uint32_t nbQuaternions)129 ARM_DSP_ATTRIBUTE void arm_quaternion_product_f32(const float32_t *qa,
130 const float32_t *qb,
131 float32_t *qr,
132 uint32_t nbQuaternions)
133 {
134 uint32_t i;
135 for(i=0; i < nbQuaternions; i++)
136 {
137 arm_quaternion_product_single_f32(qa, qb, qr);
138
139 qa += 4;
140 qb += 4;
141 qr += 4;
142 }
143 }
144 #endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
145
146 /**
147 @} end of QuatProdVect group
148 */
149
