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Andy Piper 7d36bc4422 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
 		2020-02-22 11:15:37 +11:00
..
include AP_GyroFFT: new FFT library for motor peak analysis using HAL DSP abstraction 2020-02-22 11:15:37 +11:00
lib AP_GyroFFT: new FFT library for motor peak analysis using HAL DSP abstraction 2020-02-22 11:15:37 +11:00
LICENSE.txt AP_GyroFFT: new FFT library for motor peak analysis using HAL DSP abstraction 2020-02-22 11:15:37 +11:00
README.md AP_GyroFFT: new FFT library for motor peak analysis using HAL DSP abstraction 2020-02-22 11:15:37 +11:00

README.md

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 is available under http://arm-software.github.io/CMSIS_5/General/html/index.html

Use Issues 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 is updated from time to time, but may be also generated using the instructions under 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) 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) Cortex-A5/A7/A9 API and basic run-time system for the Cortex-A5/A7/A9 processor core and peripherals.
Driver 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 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 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 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 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 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 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 All Cortex Firmware for a debug unit that interfaces to the CoreSight Debug Access Port.
Zone 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.

Other related GitHub repositories

Repository Description
cmsis-pack-eclipse CMSIS-Pack Management for Eclipse reference implementation Pack support
CMSIS-FreeRTOS CMSIS-RTOS adoption of FreeRTOS
CMSIS-Driver Generic MCU driver implementations and templates for Ethernet MAC/PHY and Flash.
CMSIS-Driver_Validation CMSIS-Driver Validation can be used to verify CMSIS-Driver in a user system
CMSIS-Zone CMSIS-Zone Utility along with example projects and FreeMarker templates
NXP_LPC CMSIS Driver Implementations for the NXP LPC Microcontroller Series
mdk-packs IoT cloud connectors as trail implementations for MDK (help us to make it generic)
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 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.