int main() /* テスト (ごく一部) */
{
double x, y;
complex z;
printf("x, y ? "); scanf("%lf%lf", &x, &y);
z = c_conv(x, y);
printf("z = %s\n", c_string(z));
z = c_exp(z);
printf("exp(z) = %s\n", c_string(z));
z = c_log(z);
printf("log(exp(z)) = %s\n", c_string(z));
return EXIT_SUCCESS;
}
int main()
{
//initialize testing array
float testVector[] = {0.1f,0.2f,0.3f,0.4f,0.5f};
/*COMMENTED OUT LENGTH PARAM AS IT IS INCLUDED IN HEADER FILE*/
//get the size of the array
//int length = sizeof(testVector)/sizeof(float);
//initiate empty output array of size length
float outputArrayC[length];
//initialize the struct at p=r=q 0.1 and x=k=0
kalman_state currentState = {0.1f, 0.1f, 0.0f , 0.1f, 0.0f};
//call function Kalmanfilter_C
Kalmanfilter_C(measurements, outputArrayC, ¤tState, length);
//initiate empty output array of size length
float outputArrayASM[length];
//reinitialize the struct at p=r=q 0.1 and x=k=0
currentState.p = DEF_p;
currentState.r = DEF_r;
currentState.k = DEF_k;
currentState.q = DEF_q;
currentState.x = DEF_x;
//call subroutine Kalmanfilter_asm
Kalmanfilter_asm(measurements, outputArrayASM, ¤tState, length );
//Check for correctness with a error tolerance of 0.000001
float errorTolerance = 0.000001f;
float errorPercentage = 0.01;
//is_valid(outputArrayC, outputArrayASM, length, errorTolerance, "c vs asm");
//is_valid_relative(outputArrayC, outputArrayASM, length, errorTolerance, errorPercentage,"c vs asm");
int p;
//print KalmanFilter output
for ( p = 0; p < length; p++ )
{
printf("OutputASM: %f & OutputC %f\n", outputArrayASM[p], outputArrayC[p]);
}
float differenceC[length];
float differenceCMSIS[length];
//Difference
arm_sub_f32 (measurements, outputArrayC, differenceCMSIS, length);
c_sub(measurements, outputArrayC, differenceC, length);
//is_valid(differenceC, differenceCMSIS, length, errorTolerance, "Difference");
//is_valid_relative(differenceC, differenceCMSIS, length, errorTolerance, errorPercentage,"Difference");
//Print difference vector
for ( p = 0; p < length; p++ )
{
printf("DifferenceC: %f & DifferenceCMSIS %f \n", differenceC[p], differenceCMSIS[p]);
}
//Mean
float meanCMSIS;
float meanC;
arm_mean_f32 (differenceCMSIS, length , &meanCMSIS);
c_mean(differenceC,length, &meanC);
//is_valid(&meanC, &meanCMSIS, 1, errorTolerance, "mean");
//is_valid_relative(&meanC, &meanCMSIS, 1, errorTolerance, errorPercentage, "mean");
//Print mean values
printf("MeanC: %f & MeanCMSIS %f \n", meanC, meanCMSIS);
//STD
float stdC;
float stdCMSIS;
arm_std_f32 (differenceCMSIS, length, &stdCMSIS);
c_std(differenceC, length, &stdC);
//is_valid(&stdC, &stdCMSIS, 1, errorTolerance, "STD");
//is_valid_relative(&stdC, &stdCMSIS, 1, errorTolerance, errorPercentage,"STD");
//Print std values
printf("StandardDevC: %f & StandardDevCMSIS %f \n", stdC, stdCMSIS);
//correlation
float corC[2*length-1];
float corCMSIS[2*length-1];
arm_correlate_f32 (measurements, length, outputArrayC, length, corCMSIS);
c_correlate(measurements, outputArrayC, corC, length);
//is_valid(corC, corCMSIS, 2*length-1, errorTolerance, "correlation");
//is_valid_relative(corC, corCMSIS, 2*length-1, errorTolerance, errorPercentage, "correlation");
//convolution
float convC[2*length-1];
float convCMSIS[2*length-1];
arm_conv_f32 (measurements, length, outputArrayC, length, convCMSIS);
c_conv(measurements, outputArrayC, convC, length);
//is_valid(convC, convCMSIS, 2*length-1, errorTolerance, "convolution");
//is_valid_relative(convC, convCMSIS, 2*length-1, errorTolerance, errorPercentage, "convolution");
//Print correlation and convolution values
for ( p = 0; p < (2*length-1); p++ )
{
printf("ConvC: %f & ConvCMSIS: %f \n", convC[p], convCMSIS[p]);
}
for ( p = 0; p < (2*length-1); p++ )
{
printf("CorrelateC: %f & CorrelatCMSIS: %f \n", corC[p], corCMSIS[p]);
}
return 0;
}
