HPMicro MCL MATH APIs

Macros
#define	HPM_MOTOR_MATH_MOD_Q_SW   (1)
	Motor library using mathematical format. More...
#define	HPM_MOTOR_MATH_MOD_Q_HW   (2)
#define	HPM_MOTOR_MATH_MOD_DSP_FP   (3)
#define	HPM_MOTOR_MATH_MOD_Q_ALL   (4)
#define	HPM_MOTOR_MATH_MOD_FP   (5)
#define	HPM_QMATH_MOD_Q15   (15)
	Q-format. More...
#define	HPM_QMATH_MOD_Q31   (31)
#define	HPM_MOTOR_MATH_MOD   HPM_MOTOR_MATH_MOD_FP
	User-defined profiles. More...
#define	HPM_QMATH_N   HPM_QMATH_MOD_Q31
#define	HPM_SOFT_Q_N   (15)
#define	HPM_MOTOR_MATH_FL_MDF(from_f32)   (from_f32)
#define	HPM_MOTOR_MATH_MDF_FL(from_mdf)   (from_mdf)
#define	HPM_MOTOR_MATH_MUL(x, y)   (x*y)
#define	HPM_MOTOR_MATH_DIV(x, y)   (x/y)
#define	HPM_MOTOR_MATH_ATAN2(x, y)   atan2(x, y)
#define	HPM_MOTOR_MATH_ATAN(x)   atan(x)
#define	HPM_MOTOR_MATH_FABS(x)   abs(x)

Typedefs
typedef float	HPM_MOTOR_MATH_TYPE

Functions
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_f32_q (float from_f32)
	Floating point to Q format conversion. More...
float	hpm_dsp_hw_q_f32 (HPM_MOTOR_MATH_TYPE from_mdf)
	Q format to floating point conversion. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_mul_q (HPM_MOTOR_MATH_TYPE x, HPM_MOTOR_MATH_TYPE y)
	Q-format multiplication. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_div_q (HPM_MOTOR_MATH_TYPE x, HPM_MOTOR_MATH_TYPE y)
	Q-format division. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_atan_q (HPM_MOTOR_MATH_TYPE x)
	Q-format atan. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_atan2_q (HPM_MOTOR_MATH_TYPE x, HPM_MOTOR_MATH_TYPE y)
	Q-format atan2. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_abs_q (HPM_MOTOR_MATH_TYPE x)
	Q-format absolute. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_mul_fp (HPM_MOTOR_MATH_TYPE x, HPM_MOTOR_MATH_TYPE y)
	Floating-point multiplication. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_div_fp (HPM_MOTOR_MATH_TYPE x, HPM_MOTOR_MATH_TYPE y)
	Floating-point division. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_atan_fp (HPM_MOTOR_MATH_TYPE x)
	Floating-point atan. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_atan2_fp (HPM_MOTOR_MATH_TYPE x, HPM_MOTOR_MATH_TYPE y)
	Floating-point atan2. More...
HPM_MOTOR_MATH_TYPE	hpm_dsp_hw_abs_fp (HPM_MOTOR_MATH_TYPE x)
	Floating-point absolute. More...
static HPM_MOTOR_MATH_TYPE	soft_conv_float_to_q31 (float x)
static float	soft_conv_q31_to_float (HPM_MOTOR_MATH_TYPE x)

Detailed Description

Macro Definition Documentation

HPM_MOTOR_MATH_ATAN

#define HPM_MOTOR_MATH_ATAN

(

x

)

atan(x)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

HPM_MOTOR_MATH_ATAN2

#define HPM_MOTOR_MATH_ATAN2	(		x,
			y
	)		atan2(x, y)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

HPM_MOTOR_MATH_DIV

#define HPM_MOTOR_MATH_DIV	(		x,
			y
	)		(x/y)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

HPM_MOTOR_MATH_FABS

#define HPM_MOTOR_MATH_FABS

(

x

)

abs(x)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

HPM_MOTOR_MATH_FL_MDF

#define HPM_MOTOR_MATH_FL_MDF

(

from_f32

)

(from_f32)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

HPM_MOTOR_MATH_MDF_FL

#define HPM_MOTOR_MATH_MDF_FL

(

from_mdf

)

(from_mdf)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

HPM_MOTOR_MATH_MOD

#define HPM_MOTOR_MATH_MOD   HPM_MOTOR_MATH_MOD_FP

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

User-defined profiles.

HPM_MOTOR_MATH_MOD_DSP_FP

#define HPM_MOTOR_MATH_MOD_DSP_FP   (3)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

dsp hardware floating point unit

HPM_MOTOR_MATH_MOD_FP

#define HPM_MOTOR_MATH_MOD_FP   (5)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

hardware floating point unit

HPM_MOTOR_MATH_MOD_Q_ALL

#define HPM_MOTOR_MATH_MOD_Q_ALL   (4)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Qmath soft ware and hardware

HPM_MOTOR_MATH_MOD_Q_HW

#define HPM_MOTOR_MATH_MOD_Q_HW   (2)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Qmath hardware

HPM_MOTOR_MATH_MOD_Q_SW

#define HPM_MOTOR_MATH_MOD_Q_SW   (1)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Motor library using mathematical format.

Qmath software

HPM_MOTOR_MATH_MUL

#define HPM_MOTOR_MATH_MUL	(		x,
			y
	)		(x*y)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

HPM_QMATH_MOD_Q15

#define HPM_QMATH_MOD_Q15   (15)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Q-format.

HPM_QMATH_MOD_Q31

#define HPM_QMATH_MOD_Q31   (31)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

HPM_QMATH_N

#define HPM_QMATH_N   HPM_QMATH_MOD_Q31

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

HPM_SOFT_Q_N

#define HPM_SOFT_Q_N   (15)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Typedef Documentation

HPM_MOTOR_MATH_TYPE

typedef float HPM_MOTOR_MATH_TYPE

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Function Documentation

hpm_dsp_hw_abs_fp()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_abs_fp

(

HPM_MOTOR_MATH_TYPE

x

)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Floating-point absolute.

Parameters

[in]

x

data

Returns

|x|

hpm_dsp_hw_abs_q()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_abs_q

(

HPM_MOTOR_MATH_TYPE

x

)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Q-format absolute.

Parameters

[in]

x

data

Returns

|data|

hpm_dsp_hw_atan2_fp()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_atan2_fp	(	HPM_MOTOR_MATH_TYPE	x,
		HPM_MOTOR_MATH_TYPE	y
	)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Floating-point atan2.

Parameters

[in]	x	data
[in]	y	data

Returns

atan2(x,y)

hpm_dsp_hw_atan2_q()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_atan2_q	(	HPM_MOTOR_MATH_TYPE	x,
		HPM_MOTOR_MATH_TYPE	y
	)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Q-format atan2.

Parameters

[in]	x	data
[in]	y	data

Returns

atan(x, y)

hpm_dsp_hw_atan_fp()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_atan_fp

(

HPM_MOTOR_MATH_TYPE

x

)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Floating-point atan.

Parameters

[in]

x

data

Returns

atan(x)

hpm_dsp_hw_atan_q()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_atan_q

(

HPM_MOTOR_MATH_TYPE

x

)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Q-format atan.

Parameters

[in]

x

data

Returns

atan(x)

hpm_dsp_hw_div_fp()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_div_fp	(	HPM_MOTOR_MATH_TYPE	x,
		HPM_MOTOR_MATH_TYPE	y
	)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Floating-point division.

Parameters

[in]	x	data
[in]	y	data

Returns

x/y

hpm_dsp_hw_div_q()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_div_q	(	HPM_MOTOR_MATH_TYPE	x,
		HPM_MOTOR_MATH_TYPE	y
	)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Q-format division.

Parameters

[in]	x	data
[in]	y	data

Returns

x/y

hpm_dsp_hw_f32_q()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_f32_q

(

float

from_f32

)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Floating point to Q format conversion.

Parameters

[in]

from_f32

Floating point

Returns

HPM_MOTOR_MATH_TYPE

hpm_dsp_hw_mul_fp()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_mul_fp	(	HPM_MOTOR_MATH_TYPE	x,
		HPM_MOTOR_MATH_TYPE	y
	)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Floating-point multiplication.

Parameters

[in]	x	data
[in]	y	data

Returns

x*y

hpm_dsp_hw_mul_q()

HPM_MOTOR_MATH_TYPE hpm_dsp_hw_mul_q	(	HPM_MOTOR_MATH_TYPE	x,
		HPM_MOTOR_MATH_TYPE	y
	)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Q-format multiplication.

Parameters

[in]	x	data
[in]	y	data

Returns

x*y

hpm_dsp_hw_q_f32()

float hpm_dsp_hw_q_f32

(

HPM_MOTOR_MATH_TYPE

from_mdf

)

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

Q format to floating point conversion.

Parameters

[in]

from_mdf

Q format

Returns

float

soft_conv_float_to_q31()

static HPM_MOTOR_MATH_TYPE soft_conv_float_to_q31 ( float  x )

inlinestatic

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>

soft_conv_q31_to_float()

static float soft_conv_q31_to_float ( HPM_MOTOR_MATH_TYPE  x )

inlinestatic

#include <middleware/hpm_mcl/inc/hpm_motor_math.h>