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AP_GyroFFT: new FFT library for motor peak analysis using HAL DSP abstraction add dynamic gyro windows control inclusion based on HAL_WITH_DSP and GYROFFT_ENABLED target appropriate ARM cpus constrain window sizes to be achievable improve FFT signal accuracy through configurable window overlap and quinn's estimator calculate energy weighted center frequency add support for learning hover frequency and throttle reference calculate power spectrum rather than amplitude record noise as a per-bin power spectrum calculate true SNR per-bin and use that to determine there is a signal add user config for SNR signal level constrain frequency scanning to MAXHZ calculate and learn the peak bandwidth at the configured attenuation allow enabling/disabling dynamically through rc function MAXHZ should be below Nyquist Incorporate full range of MAXHZ to MINHZ update FFT analysis in a separate thread allocate memory in a specific region constrain window size by CPU class do not allocate any resources when not enabled Prevent self-check and analysis interfering with each other put configuration and initialization to AP_Vehicle add logging fix significant issues with threading, locking and sample buffer access use both calculated noise peaks together with the harmonic notch configuration to detemine which peak represents the fundamental harmonic that should be tracked record harmonic fit add CMSIS 5 libraries and headers allow larger FFT lengths on Linux and SITL
2019-08-15 18:12:20 -03:00
# CMSIS Version 5 - ArduPilot
This directory contains the pre-built CMSIS v5.6.0 (master branch) DSP libraries and headers for Arm Cortex chips taken from github.
The CMSIS 5 repository is very large (400Mb) so we only copy the pieces that we need for building ArduPilot.
The CMSIS 5 README follows.
# CMSIS Version 5
The branch *master* of this GitHub repository contains the CMSIS Version 5.6.0. The [documentation](http://arm-software.github.io/CMSIS_5/General/html/index.html) is available under http://arm-software.github.io/CMSIS_5/General/html/index.html
Use [Issues](https://github.com/ARM-software/CMSIS_5#issues-and-labels) to provide feedback and report problems for CMSIS Version 5.
**Note:** The branch *develop* of this GitHub repository reflects our current state of development and is constantly updated. It gives our users and partners contiguous access to the CMSIS development. It allows you to review the work and provide feedback or create pull requests for contributions.
A [pre-built documentation](http://www.keil.com/pack/doc/CMSIS_Dev/index.html) is updated from time to time, but may be also generated using the instructions under [Generate CMSIS Pack for Release](https://github.com/ARM-software/CMSIS_5#generate-cmsis-pack-for-release).
## Overview of CMSIS Components
The following is an list of all CMSIS components that are available.
| CMSIS-... | Target Processors | Description |
|:----------|:--------------------|:-------------|
|[Core(M)](http://arm-software.github.io/CMSIS_5/Core/html/index.html) | All Cortex-M, SecurCore | Standardized API for the Cortex-M processor core and peripherals. Includes intrinsic functions for Cortex-M4/M7/M33/M35P SIMD instructions.|
|[Core(A)](http://arm-software.github.io/CMSIS_5/Core_A/html/index.html)| Cortex-A5/A7/A9 | API and basic run-time system for the Cortex-A5/A7/A9 processor core and peripherals.|
|[Driver](http://arm-software.github.io/CMSIS_5/Driver/html/index.html) | All Cortex-M, SecurCore | Generic peripheral driver interfaces for middleware. Connects microcontroller peripherals with middleware that implements for example communication stacks, file systems, or graphic user interfaces.|
|[DSP](http://arm-software.github.io/CMSIS_5/DSP/html/index.html) | All Cortex-M | DSP library collection with over 60 Functions for various data types: fixed-point (fractional q7, q15, q31) and single precision floating-point (32-bit). Implementations optimized for the SIMD instruction set are available for Cortex-M4/M7/M33/M35P.|
|[NN](http://arm-software.github.io/CMSIS_5/NN/html/index.html) | All Cortex-M | Collection of efficient neural network kernels developed to maximize the performance and minimize the memory footprint on Cortex-M processor cores.|
|[RTOS v1](http://arm-software.github.io/CMSIS_5/RTOS/html/index.html) | Cortex-M0/M0+/M3/M4/M7 | Common API for real-time operating systems along with a reference implementation based on RTX. It enables software components that can work across multiple RTOS systems.|
|[RTOS v2](http://arm-software.github.io/CMSIS_5/RTOS2/html/index.html)| All Cortex-M, Cortex-A5/A7/A9 | Extends CMSIS-RTOS v1 with Armv8-M support, dynamic object creation, provisions for multi-core systems, binary compatible interface. |
|[Pack](http://arm-software.github.io/CMSIS_5/Pack/html/index.html) | All Cortex-M, SecurCore, Cortex-A5/A7/A9 | Describes a delivery mechanism for software components, device parameters, and evaluation board support. It simplifies software re-use and product life-cycle management (PLM). |
|[SVD](http://arm-software.github.io/CMSIS_5/SVD/html/index.html) | All Cortex-M, SecurCore | Peripheral description of a device that can be used to create peripheral awareness in debuggers or CMSIS-Core header files.|
|[DAP](http://arm-software.github.io/CMSIS_5/DAP/html/index.html) | All Cortex | Firmware for a debug unit that interfaces to the CoreSight Debug Access Port. |
|[Zone](http://arm-software.github.io/CMSIS_5/Zone/html/index.html) | All Cortex | Defines methods to describe system resources and to partition these resources into multiple projects and execution areas. |
## Implemented Enhancements
- CMSIS-Core-A, RTX5: implementation for Cortex-A5/A7/A9
- Support for Armv8-M Architecture (Mainline and Baseline) as well as devices Cortex-M23 and Cortex-M33
- CMSIS-RTOS2: RTX 5 is now available for IAR, GCC, Arm Compiler 5, Arm Compiler 6
- CMSIS-RTOS2: FreeRTOS adoption (release) is available https://github.com/ARM-software/CMSIS-FreeRTOS
- CMSIS-NN: Bare metal Neural Network function library.
- CMSIS-DAP v2: with WinUSB for faster communication and separate pipe for SWO support
- Config Wizard extension: access enum’s for configuration information
## Further Planned Enhancements
- CMSIS-Zone: management of complex system
- CMSIS-Pack:
- System Description SDF Format: describe more complex debug topologies than with a Debug Description in a tool agnostic way
- Github based workflow: allows to develop software packs using github infra-structure
- Flash algorithm via debugger: Some TurstZone enable devices cannot execute RAM. Commands that allow flash programming will be added to Debug Description.
- CPDSC project file format: allows project templates that are agnostic of an IDE
- Minimize need for IDE specific settings: CMSIS-Pack supports IDE specific parameters. Analyze and minimize
For further details see also the [Slides of the Embedded World CMSIS Partner Meeting](https://github.com/ARM-software/CMSIS_5/blob/develop/CMSIS_EW2019.pdf).
## Other related GitHub repositories
| Repository | Description |
|:--------------------------- |:--------------------------------------------------------- |
| [cmsis-pack-eclipse](https://github.com/ARM-software/cmsis-pack-eclipse) | CMSIS-Pack Management for Eclipse reference implementation Pack support |
| [CMSIS-FreeRTOS](https://github.com/arm-software/CMSIS-FreeRTOS) | CMSIS-RTOS adoption of FreeRTOS |
| [CMSIS-Driver](https://github.com/arm-software/CMSIS-Driver) | Generic MCU driver implementations and templates for Ethernet MAC/PHY and Flash. |
| [CMSIS-Driver_Validation](https://github.com/ARM-software/CMSIS-Driver_Validation) | CMSIS-Driver Validation can be used to verify CMSIS-Driver in a user system |
| [CMSIS-Zone](https://github.com/ARM-software/CMSIS-Zone) | CMSIS-Zone Utility along with example projects and FreeMarker templates |
| [NXP_LPC](https://github.com/ARM-software/NXP_LPC) | CMSIS Driver Implementations for the NXP LPC Microcontroller Series |
| [mdk-packs](https://github.com/mdk-packs) | IoT cloud connectors as trail implementations for MDK (help us to make it generic)|
| [trustedfirmware.org](https://www.trustedfirmware.org/) | Arm Trusted Firmware provides a reference implementation of secure world software for Armv8-A and Armv8-M.|
## Directory Structure
| Directory | Content |
|:-------------------- |:--------------------------------------------------------- |
| CMSIS/Core | CMSIS-Core(M) related files (for release) |
| CMSIS/Core_A | CMSIS-Core(A) related files (for release) |
| CMSIS/CoreValidation | Validation for Core(M) and Core(A) (NOT part of release) |
| CMSIS/DAP | CMSIS-DAP related files and examples |
| CMSIS/Driver | CMSIS-Driver API headers and template files |
| CMSIS/DSP | CMSIS-DSP related files |
| CMSIS/NN | CMSIS-NN related files |
| CMSIS/RTOS | RTOS v1 related files (for Cortex-M) |
| CMSIS/RTOS2 | RTOS v2 related files (for Cortex-M & Armv8-M) |
| CMSIS/Pack | CMSIS-Pack examples and tutorials |
| CMSIS/DoxyGen | Source of the documentation |
| CMSIS/Utilities | Utility programs |
## Generate CMSIS Pack for Release
This GitHub development repository contains already pre-built libraries (stored in Git-LFS) of various software components (DSP, RTOS, RTOS2).
These libraries are validated for release. Git-LFS needs to be installed to retrieve the actual binary files, please see https://git-lfs.github.com/.
To build a complete CMSIS pack for installation the following additional tools are required:
- **doxygen.exe** Version: 1.8.6 (Documentation Generator)
- **mscgen.exe** Version: 0.20 (Message Sequence Chart Converter)
- **7z.exe (7-Zip)** Version: 16.02 (File Archiver)
Using these tools, you can generate on a Windows PC:
- **CMSIS Software Pack** using the batch file **gen_pack.bat** (located in ./CMSIS/Utilities). This batch file also generates the documentation.
- **CMSIS Documentation** using the batch file **genDoc.bat** (located in ./CMSIS/Doxygen).
The file ./CMSIS/DoxyGen/How2Doc.txt describes the rules for creating API documentation.
## License
Arm CMSIS is licensed under Apache-2.0.
## Contributions and Pull Requests
Contributions are accepted under Apache-2.0. Only submit contributions where you have authored all of the code.
### Issues and Labels
Please feel free to raise an [issue on GitHub](https://github.com/ARM-software/CMSIS_5/issues)
to report misbehavior (i.e. bugs) or start discussions about enhancements. This
is your best way to interact directly with the maintenance team and the community.
We encourage you to append implementation suggestions as this helps to decrease the
workload of the very limited maintenance team.
We will be monitoring and responding to issues as best we can.
Please attempt to avoid filing duplicates of open or closed items when possible.
In the spirit of openness we will be tagging issues with the following:
- **bug** – We consider this issue to be a bug that will be investigated.
- **wontfix** - We appreciate this issue but decided not to change the current behavior.
- **enhancement** – Denotes something that will be implemented soon.
- **future** - Denotes something not yet schedule for implementation.
- **out-of-scope** - We consider this issue loosely related to CMSIS. It might by implemented outside of CMSIS. Let us know about your work.
- **question** – We have further questions to this issue. Please review and provide feedback.
- **documentation** - This issue is a documentation flaw that will be improved in future.
- **review** - This issue is under review. Please be patient.
- **DONE** - We consider this issue as resolved - please review and close it. In case of no further activity this issues will be closed after a week.
- **duplicate** - This issue is already addressed elsewhere, see comment with provided references.
- **Important Information** - We provide essential informations regarding planned or resolved major enhancements.