/*----------------------------------------------------------------------------
* norm_corr - Find the normalized correlation between the target vector and
* the filtered past excitation.
*----------------------------------------------------------------------------
*/
static void norm_corr(
FLOAT exc[], /* input : excitation buffer */
FLOAT xn[], /* input : target vector */
FLOAT h[], /* input : imp response of synth and weighting flt */
int l_subfr, /* input : Length of frame to compute pitch */
int t_min, /* input : minimum value of searched range */
int t_max, /* input : maximum value of search range */
FLOAT corr_norm[] /* output: normalized correlation (correlation between
target and filtered excitation divided by
the square root of energy of filtered
excitation) */
)
{
int i, j, k;
FLOAT excf[L_SUBFR]; /* filtered past excitation */
FLOAT alp, s, norm;
k = -t_min;
/* compute the filtered excitation for the first delay t_min */
convolve(&exc[k], h, excf, l_subfr);
/* loop for every possible period */
for (i = t_min; i <= t_max; i++)
{
/* Compute 1/sqrt(energie of excf[]) */
alp = (F)0.01;
for (j = 0; j < l_subfr; j++)
alp += excf[j]*excf[j];
norm = inv_sqrt(alp);
/* Compute correlation between xn[] and excf[] */
s = (F)0.0;
for (j = 0; j < l_subfr; j++) s += xn[j]*excf[j];
/* Normalize correlation = correlation * (1/sqrt(energie)) */
corr_norm[i] = s*norm;
/* modify the filtered excitation excf[] for the next iteration */
if (i != t_max)
{
k--;
for (j = l_subfr-1; j > 0; j--)
excf[j] = excf[j-1] + exc[k]*h[j];
excf[0] = exc[k];
}
}
return;
}
static void ahrs_normalize_3(real_t *v0, real_t *v1, real_t *v2)
{
real_t recip_norm = inv_sqrt(*v0 * *v0 + *v1 * *v1 + *v2 * *v2);
*v0 *= recip_norm;
*v1 *= recip_norm;
*v2 *= recip_norm;
}
// Quaternion Normalization operator. Expects its 4-element arrays in wxyz order
void quat_norm(float a[4]) {
float n = a[1]*a[1] + a[2]*a[2] + a[3]*a[3] + a[0]*a[0];
if (n == 1.0f)
return ;
n = inv_sqrt(n);
a[1]*=n;
a[2]*=n;
a[3]*=n;
a[0]*=n;
return;
}
/*----------------------------------------------------------------------------
* lag_max - Find the lag that has maximum correlation
*----------------------------------------------------------------------------
*/
static int lag_max( /* output: lag found */
FLOAT signal[], /* input : Signal to compute the open loop pitch
signal[-142:-1] should be known. */
int l_frame, /* input : Length of frame to compute pitch */
int lagmax, /* input : maximum lag */
int lagmin, /* input : minimum lag */
FLOAT *cor_max /* input : normalized correlation of selected lag */
)
{
int i, j;
FLOAT *p, *p1;
FLOAT max, t0;
int p_max;
max = FLT_MIN_G729;
for (i = lagmax; i >= lagmin; i--) {
p = signal;
p1 = &signal[-i];
t0 = (F)0.0;
for (j=0; j<l_frame; j++) {
t0 += *p++ * *p1++;
}
if (t0 >= max) {
max = t0;
p_max = i;
}
}
/* compute energy */
t0 = (F)0.01; /* to avoid division by zero */
p = &signal[-p_max];
for(i=0; i<l_frame; i++, p++) {
t0 += *p * *p;
}
t0 = inv_sqrt(t0); /* 1/sqrt(energy) */
*cor_max = max * t0; /* max/sqrt(energy) */
return(p_max);
}
/*=============================================================================
Function Name : cal_relative_target_atom_position
Description : This calculates the direction in which the target nucleus is found.
v is the projectile velocity vector, the IP vector is returned
in p components.
Inputs :
float vx,float vy, float vz
unsigned int azim_angle
Outputs : float *px, float *py, float *pz
Notes :
This routine works similar to the rotation (DIRCOS) routine. It simply
assumes a fixed scattering angle of 90 degrees and reverses the resulting
vector. Adding the result multiplied with impact_par to the current
projectile position leads to the target nucleus position.
Function call:
fromcorteo - float my_inv_sqrt (float val);
float sqrtdf (double val).
=============================================================================*/
void cal_relative_target_atom_position (double vx, double vy, double vz, double *px,
double *py, double *pz, unsigned int iazim_angle) {
float k, kinv;
float k2 = 1.0f - vz * vz;
/* random azimutal rotation angle components */
float cosomega = cos_azim_angle[iazim_angle];
float sinomega = sin_azim_angle[iazim_angle];
/* In the rotation routine, we would have to increase the azim-counter here, but
since we want to have the same angle for target position and deflection, we must
not change the index in this function! */
if (k2 < 0.000001) { /* extremely rare case */
*pz = 0;
*py = cosomega;
*px = sinomega;
return;
}
/* usual case */
#ifndef SAFE_SQR_ROTATION
kinv = inv_sqrt (k2); /* 1/sqrt() (approximate) */
k = k2 * kinv; /* so we get k and 1/k by a table lookup and a multiplication */
#else
/* these two lines can be replaced by the following two lines but... */
k = sqrtdf (k2); /* ... using a sqrt() here makes the program 25% slower! */
kinv = 1.0f / k;
#endif
*px = -kinv * (vx * vz * cosomega + vy * sinomega);
*py = -kinv * (vy * vz * cosomega - vx * sinomega);
*pz = k * cosomega;
#ifdef SAFE_ROTATION /* makes slower, but safer */
if (*px > 1) *px = 1;
if (*px < -1) *px = -1;
if (*py > 1) *py = 1;
if (*py < -1) *py = -1;
if (*pz > 1) *pz = 1;
if (*pz < -1) *pz = -1;
#endif
return;
}
void spatial_ahrs_update_imu(SpatialInfo *spatial_info,
float gx, float gy, float gz,
float ax, float ay, float az) {
// Just a shorthand meant to make this a bit easier to work with, and transact
// commits (eventually)
float q0 = spatial_info->orientation_q[0];
float q1 = spatial_info->orientation_q[1];
float q2 = spatial_info->orientation_q[2];
float q3 = spatial_info->orientation_q[3];
float sample_rate_in_hz = 1000.0f / spatial_info->data_rate;
float recipNorm;
float s0, s1, s2, s3;
float qDot1, qDot2, qDot3, qDot4;
float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3;
// Rate of change of quaternion from gyroscope
qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx);
qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx);
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement
recipNorm = inv_sqrt(ax * ax + ay * ay + az * az);
ax *= recipNorm;
ay *= recipNorm;
az *= recipNorm;
// Auxiliary variables to avoid repeated arithmetic
_2q0 = 2.0f * q0;
_2q1 = 2.0f * q1;
_2q2 = 2.0f * q2;
_2q3 = 2.0f * q3;
_4q0 = 4.0f * q0;
_4q1 = 4.0f * q1;
_4q2 = 4.0f * q2;
_8q1 = 8.0f * q1;
_8q2 = 8.0f * q2;
q0q0 = q0 * q0;
q1q1 = q1 * q1;
q2q2 = q2 * q2;
q3q3 = q3 * q3;
// Gradient decent algorithm corrective step
s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay;
s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay;
recipNorm = inv_sqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
s0 *= recipNorm;
s1 *= recipNorm;
s2 *= recipNorm;
s3 *= recipNorm;
// Apply feedback step
qDot1 -= SPATIAL_AHRS_BETA * s0;
qDot2 -= SPATIAL_AHRS_BETA * s1;
qDot3 -= SPATIAL_AHRS_BETA * s2;
qDot4 -= SPATIAL_AHRS_BETA * s3;
}
// Integrate rate of change of quaternion to yield quaternion
q0 += qDot1 * (1.0f / sample_rate_in_hz);
q1 += qDot2 * (1.0f / sample_rate_in_hz);
q2 += qDot3 * (1.0f / sample_rate_in_hz);
q3 += qDot4 * (1.0f / sample_rate_in_hz);
// Normalise quaternion
recipNorm = inv_sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
q0 *= recipNorm;
q1 *= recipNorm;
q2 *= recipNorm;
q3 *= recipNorm;
spatial_info->orientation_q[0] = q0;
spatial_info->orientation_q[1] = q1;
spatial_info->orientation_q[2] = q2;
spatial_info->orientation_q[3] = q3;
}
void spatial_ahrs_update(SpatialInfo *spatial_info,
float gx, float gy, float gz,
float ax, float ay, float az,
float mx, float my, float mz) {
// Just a shorthand meant to make this a bit easier to work with, and transact
// commits (eventually)
float q0 = spatial_info->orientation_q[0];
float q1 = spatial_info->orientation_q[1];
float q2 = spatial_info->orientation_q[2];
float q3 = spatial_info->orientation_q[3];
float sample_rate_in_hz = 1000.0f / spatial_info->data_rate;
float recipNorm;
float s0, s1, s2, s3;
float qDot1, qDot2, qDot3, qDot4;
float hx, hy;
float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;
// Rate of change of quaternion from gyroscope
qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx);
qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx);
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement
recipNorm = inv_sqrt(ax * ax + ay * ay + az * az);
ax *= recipNorm;
ay *= recipNorm;
az *= recipNorm;
// Normalise magnetometer measurement
recipNorm = inv_sqrt(mx * mx + my * my + mz * mz);
mx *= recipNorm;
my *= recipNorm;
mz *= recipNorm;
// Auxiliary variables to avoid repeated arithmetic
_2q0mx = 2.0f * q0 * mx;
_2q0my = 2.0f * q0 * my;
_2q0mz = 2.0f * q0 * mz;
_2q1mx = 2.0f * q1 * mx;
_2q0 = 2.0f * q0;
_2q1 = 2.0f * q1;
_2q2 = 2.0f * q2;
_2q3 = 2.0f * q3;
_2q0q2 = 2.0f * q0 * q2;
_2q2q3 = 2.0f * q2 * q3;
q0q0 = q0 * q0;
q0q1 = q0 * q1;
q0q2 = q0 * q2;
q0q3 = q0 * q3;
q1q1 = q1 * q1;
q1q2 = q1 * q2;
q1q3 = q1 * q3;
q2q2 = q2 * q2;
q2q3 = q2 * q3;
q3q3 = q3 * q3;
// Reference direction of Earth's magnetic field
hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
_2bx = sqrt(hx * hx + hy * hy);
_2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
_4bx = 2.0f * _2bx;
_4bz = 2.0f * _2bz;
// Gradient decent algorithm corrective step
s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q3 + _2bz * q1) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q2 + _2bz * q0) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q3 - _4bz * q1) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + (-_4bx * q2 - _2bz * q0) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q1 + _2bz * q3) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q0 - _4bz * q2) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + (-_4bx * q3 + _2bz * q1) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q0 + _2bz * q2) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
recipNorm = inv_sqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
s0 *= recipNorm;
s1 *= recipNorm;
s2 *= recipNorm;
s3 *= recipNorm;
// Apply feedback step
qDot1 -= SPATIAL_AHRS_BETA * s0;
qDot2 -= SPATIAL_AHRS_BETA * s1;
qDot3 -= SPATIAL_AHRS_BETA * s2;
qDot4 -= SPATIAL_AHRS_BETA * s3;
}
// Integrate rate of change of quaternion to yield quaternion
q0 += qDot1 * (1.0f / sample_rate_in_hz);
q1 += qDot2 * (1.0f / sample_rate_in_hz);
q2 += qDot3 * (1.0f / sample_rate_in_hz);
q3 += qDot4 * (1.0f / sample_rate_in_hz);
// Normalise quaternion
recipNorm = inv_sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
q0 *= recipNorm;
q1 *= recipNorm;
q2 *= recipNorm;
q3 *= recipNorm;
spatial_info->orientation_q[0] = q0;
spatial_info->orientation_q[1] = q1;
spatial_info->orientation_q[2] = q2;
spatial_info->orientation_q[3] = q3;
}
