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#include <fsw_processing.h>
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <leon.h>
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// TOTAL = 32 coefficients * 4 = 128 octets * 3 * 12 = 4608 octets
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// SX 12 coefficients
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float k14_sx_re = 1;
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float k14_sx_im = 1;
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float k15_sx_re = 1;
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float k15_sx_im = 1;
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float k24_sx_re = 1;
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float k24_sx_im = 1;
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float k25_sx_re = 1;
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float k25_sx_im = 1;
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float k34_sx_re = 1;
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float k34_sx_im = 1;
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float k35_sx_re = 1;
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float k35_sx_im = 1;
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// NY 8 coefficients
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float k24_ny_re = 1;
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float k24_ny_im = 1;
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float k25_ny_re = 1;
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float k25_ny_im = 1;
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float k34_ny_re = 1;
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float k34_ny_im = 1;
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float k35_ny_re = 1;
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float k35_ny_im = 1;
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// NZ 8 coefficients
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float k24_nz_re = 1;
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float k24_nz_im = 1;
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float k25_nz_re = 1;
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float k25_nz_im = 1;
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float k34_nz_re = 1;
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float k34_nz_im = 1;
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float k35_nz_re = 1;
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float k35_nz_im = 1;
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// PE 4 coefficients
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float k44_pe = 1;
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float k55_pe = 1;
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float k45_pe_re = 1;
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float k45_pe_im = 1;
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float alpha_M = M_PI/4;
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extern volatile int spec_mat_f0_a[ ];
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extern volatile int spec_mat_f0_b[ ];
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extern volatile int spec_mat_f0_c[ ];
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extern volatile int spec_mat_f0_d[ ];
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extern volatile int spec_mat_f0_e[ ];
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extern volatile int spec_mat_f0_f[ ];
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extern volatile int spec_mat_f0_g[ ];
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extern volatile int spec_mat_f0_h[ ];
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extern float averaged_spec_mat_f0[ ];
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extern float compressed_spec_mat_f0[ ];
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extern unsigned char LFR_BP1_F0[ ];
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extern BP1_t data_BP1[ ];
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extern rtems_id Task_id[ ]; /* array of task ids */
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spectral_matrices_regs_t *spectral_matrices_regs;
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// Interrupt Service Routine for spectral matrices processing
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rtems_isr spectral_matrices_isr( rtems_vector_number vector )
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{
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if (rtems_event_send( Task_id[TASKID_SMIQ], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
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printf("In spectral_matrices_isr *** Error sending event to AVF0\n");
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}
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rtems_task smiq_task(rtems_task_argument argument) // process the Spectral Matrices IRQ
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{
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rtems_event_set event_out;
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gptimer_regs_t *gptimer_regs;
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gptimer_regs = (gptimer_regs_t *) REGS_ADDR_GPTIMER;
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unsigned char nb_interrupt_f0 = 0;
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PRINTF("In SMIQ *** \n")
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while(1){
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rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
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nb_interrupt_f0 = nb_interrupt_f0 + 1;
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if (nb_interrupt_f0 == (NB_SM_TO_RECEIVE_BEFORE_AVF0-1) ){
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if (rtems_event_send( Task_id[6], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
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printf("In smiq_task *** Error sending event to AVF0\n");
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nb_interrupt_f0 = 0;
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}
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gptimer_regs->timer[1].ctrl = gptimer_regs->timer[1].ctrl | 0x00000010;
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}
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}
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rtems_task spw_bppr_task(rtems_task_argument argument)
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{
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rtems_status_code status;
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rtems_event_set event_out;
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static int nb_average_f0 = 0;
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//static int nb_average_f1 = 0;
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//static int nb_average_f2 = 0;
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while(1)
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spectral_matrices_regs = (struct spectral_matrices_regs_str *) REGS_ADDR_SPECTRAL_MATRICES;
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spectral_matrices_regs->address0 = (volatile int) spec_mat_f0_a;
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spectral_matrices_regs->address1 = (volatile int) spec_mat_f0_b;
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printf("In BPPR ***\n");
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while(1){ // wait for an event to begin with the processing
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status = rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out);
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if (status == RTEMS_SUCCESSFUL){
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if ((spectral_matrices_regs->ctrl & 0x00000001)==1){
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matrix_average(spec_mat_f0_a, averaged_spec_mat_f0);
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spectral_matrices_regs->ctrl = spectral_matrices_regs->ctrl & 0xfffffffe;
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//printf("f0_a\n");
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nb_average_f0++;
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}
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if (((spectral_matrices_regs->ctrl>>1) & 0x00000001)==1){
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matrix_average(spec_mat_f0_b, compressed_spec_mat_f0);
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spectral_matrices_regs->ctrl = spectral_matrices_regs->ctrl & 0xfffffffd;
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//printf("f0_b\n");
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nb_average_f0++;
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}
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if (nb_average_f0 == NB_AVERAGE_NORMAL_f0){
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matrix_compression(averaged_spec_mat_f0, 0, compressed_spec_mat_f0);
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//printf("f0 compressed\n");
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nb_average_f0 = 0;
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matrix_reset(averaged_spec_mat_f0);
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}
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}
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}
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}
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void matrix_average(volatile int *spec_mat, float *averaged_spec_mat)
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{
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int i;
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for(i=0; i<TOTAL_SIZE_SPEC_MAT; i++){
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averaged_spec_mat[i] = averaged_spec_mat[i] + spec_mat_f0_a[i]
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+ spec_mat_f0_b[i]
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+ spec_mat_f0_c[i]
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+ spec_mat_f0_d[i]
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+ spec_mat_f0_e[i]
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+ spec_mat_f0_f[i]
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+ spec_mat_f0_g[i]
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+ spec_mat_f0_h[i];
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}
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}
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void matrix_reset(float *averaged_spec_mat)
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{
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int i;
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for(i=0; i<TOTAL_SIZE_SPEC_MAT; i++){
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averaged_spec_mat_f0[i] = 0;
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}
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}
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void matrix_compression(float *averaged_spec_mat, unsigned char fChannel, float *compressed_spec_mat)
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{
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int i, j;
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switch (fChannel){
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case 0:
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for(i=0;i<NB_BINS_COMPRESSED_MATRIX_f0;i++){
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j = 17 + i * 8;
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compressed_spec_mat[i] = (averaged_spec_mat[j]
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+ averaged_spec_mat[j+1]
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+ averaged_spec_mat[j+2]
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+ averaged_spec_mat[j+3]
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+ averaged_spec_mat[j+4]
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+ averaged_spec_mat[j+5]
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+ averaged_spec_mat[j+6]
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+ averaged_spec_mat[j+7])/(8*NB_AVERAGE_NORMAL_f0);
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}
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break;
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case 1:
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// case fChannel = f1 tp be completed later
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break;
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case 2:
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// case fChannel = f1 tp be completed later
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break;
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default:
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break;
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}
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}
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void BP1_set(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat, unsigned char * LFR_BP1){
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int i, j;
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unsigned char tmp_u_char;
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unsigned char * pt_char;
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float PSDB, PSDE;
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float NVEC_V0, NVEC_V1, NVEC_V2;
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//float significand;
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//int exponent;
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float aux, tr_SB_SB, tmp;
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float sx_re, sx_im;
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float nebx_re = 0, nebx_im = 0;
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float ny = 0, nz = 0;
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float bx_bx_star = 0;
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for(i=0; i<nb_bins_compressed_spec_mat; i++){
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//==============================================
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// BP1 PSD == B PAR_LFR_SC_BP1_PE_FL0 == 16 bits
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PSDB = compressed_spec_mat[i*30] // S11
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+ compressed_spec_mat[i*30+10] // S22
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+ compressed_spec_mat[i*30+18]; // S33
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//significand = frexp(PSDB, &exponent);
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pt_char = (unsigned char*) &PSDB;
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LFR_BP1[i*9+2] = pt_char[0]; // bits 31 downto 24 of the float
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LFR_BP1[i*9+3] = pt_char[1]; // bits 23 downto 16 of the float
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//==============================================
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// BP1 PSD == E PAR_LFR_SC_BP1_PB_FL0 == 16 bits
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PSDE = compressed_spec_mat[i*30+24] * k44_pe // S44
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+ compressed_spec_mat[i*30+28] * k55_pe // S55
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+ compressed_spec_mat[i*30+26] * k45_pe_re // S45
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- compressed_spec_mat[i*30+27] * k45_pe_im; // S45
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pt_char = (unsigned char*) &PSDE;
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LFR_BP1[i*9+0] = pt_char[0]; // bits 31 downto 24 of the float
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LFR_BP1[i*9+1] = pt_char[1]; // bits 23 downto 16 of the float
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//==============================================================================
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// BP1 normal wave vector == PAR_LFR_SC_BP1_NVEC_V0_F0 == 8 bits
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// == PAR_LFR_SC_BP1_NVEC_V1_F0 == 8 bits
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// == PAR_LFR_SC_BP1_NVEC_V2_F0 == 1 bits
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tmp = sqrt(
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compressed_spec_mat[i*30+3]*compressed_spec_mat[i*30+3] //Im S12
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+compressed_spec_mat[i*30+5]*compressed_spec_mat[i*30+5] //Im S13
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+compressed_spec_mat[i*30+13]*compressed_spec_mat[i*30+13] //Im S23
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);
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NVEC_V0 = compressed_spec_mat[i*30+13] / tmp; // Im S23
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NVEC_V1 = -compressed_spec_mat[i*30+5] / tmp; // Im S13
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NVEC_V2 = compressed_spec_mat[i*30+3] / tmp; // Im S12
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LFR_BP1[i*9+4] = (char) (NVEC_V0*127);
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LFR_BP1[i*9+5] = (char) (NVEC_V1*127);
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pt_char = (unsigned char*) &NVEC_V2;
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LFR_BP1[i*9+6] = pt_char[0] & 0x80; // extract the sign of NVEC_V2
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//=======================================================
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// BP1 ellipticity == PAR_LFR_SC_BP1_ELLIP_F0 == 4 bits
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aux = 2*tmp / PSDB; // compute the ellipticity
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tmp_u_char = (unsigned char) (aux*(16-1)); // convert the ellipticity
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LFR_BP1[i*9+6] = LFR_BP1[i*9+6] | ((tmp_u_char&0x0f)<<3); // keeps 4 bits of the resulting unsigned char
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//==============================================================
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// BP1 degree of polarization == PAR_LFR_SC_BP1_DOP_F0 == 3 bits
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for(j = 0; j<NB_VALUES_PER_spec_mat;j++){
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tr_SB_SB = compressed_spec_mat[i*30] * compressed_spec_mat[i*30]
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+ compressed_spec_mat[i*30+10] * compressed_spec_mat[i*30+10]
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+ compressed_spec_mat[i*30+18] * compressed_spec_mat[i*30+18]
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+ 2 * compressed_spec_mat[i*30+2] * compressed_spec_mat[i*30+2]
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+ 2 * compressed_spec_mat[i*30+3] * compressed_spec_mat[i*30+3]
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+ 2 * compressed_spec_mat[i*30+4] * compressed_spec_mat[i*30+4]
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+ 2 * compressed_spec_mat[i*30+5] * compressed_spec_mat[i*30+5]
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+ 2 * compressed_spec_mat[i*30+12] * compressed_spec_mat[i*30+12]
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+ 2 * compressed_spec_mat[i*30+13] * compressed_spec_mat[i*30+13];
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}
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aux = PSDB*PSDB;
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tmp = sqrt( abs( ( 3*tr_SB_SB - aux ) / ( 2 * aux ) ) );
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tmp_u_char = (unsigned char) (NVEC_V0*(8-1));
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LFR_BP1[i*9+6] = LFR_BP1[i*9+6] | (tmp_u_char & 0x07); // keeps 3 bits of the resulting unsigned char
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//=======================================================================================
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// BP1 x-component of the normalized Poynting flux == PAR_LFR_SC_BP1_SZ_F0 == 8 bits (7+1)
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sx_re = compressed_spec_mat[i*30+20] * k34_sx_re
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+ compressed_spec_mat[i*30+6] * k14_sx_re
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+ compressed_spec_mat[i*30+8] * k15_sx_re
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+ compressed_spec_mat[i*30+14] * k24_sx_re
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+ compressed_spec_mat[i*30+16] * k25_sx_re
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+ compressed_spec_mat[i*30+22] * k35_sx_re;
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sx_im = compressed_spec_mat[i*30+21] * k34_sx_im
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+ compressed_spec_mat[i*30+7] * k14_sx_im
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+ compressed_spec_mat[i*30+9] * k15_sx_im
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+ compressed_spec_mat[i*30+15] * k24_sx_im
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+ compressed_spec_mat[i*30+17] * k25_sx_im
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+ compressed_spec_mat[i*30+23] * k35_sx_im;
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LFR_BP1[i*9+7] = ((unsigned char) (sx_re * 128)) & 0x7f; // cf DOC for the compression
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if ( abs(sx_re) > abs(sx_im) )
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LFR_BP1[i*9+7] = LFR_BP1[i*9+1] | (0x80); // extract the sector of sx
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else
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LFR_BP1[i*9+7] = LFR_BP1[i*9+1] & (0x7f); // extract the sector of sx
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//======================================================================
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// BP1 phase velocity estimator == PAR_LFR_SC_BP1_VPHI_F0 == 8 bits (7+1)
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ny = sin(alpha_M)*NVEC_V1 + cos(alpha_M)*NVEC_V2;
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nz = NVEC_V0;
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bx_bx_star = cos(alpha_M) * cos(alpha_M) * compressed_spec_mat[i*30+10] // re S22
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+ sin(alpha_M) * sin(alpha_M) * compressed_spec_mat[i*30+18] // re S33
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- 2 * sin(alpha_M) * cos(alpha_M) * compressed_spec_mat[i*30+12]; // re S23
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nebx_re = ny * (compressed_spec_mat[i*30+14] * k24_ny_re
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+compressed_spec_mat[i*30+16] * k25_ny_re
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+compressed_spec_mat[i*30+20] * k34_ny_re
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+compressed_spec_mat[i*30+22] * k35_ny_re)
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+ nz * (compressed_spec_mat[i*30+14] * k24_nz_re
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+compressed_spec_mat[i*30+16] * k25_nz_re
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+compressed_spec_mat[i*30+20] * k34_nz_re
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+compressed_spec_mat[i*30+22] * k35_nz_re);
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nebx_im = ny * (compressed_spec_mat[i*30+15]*k24_ny_re
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+compressed_spec_mat[i*30+17] * k25_ny_re
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+compressed_spec_mat[i*30+21] * k34_ny_re
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+compressed_spec_mat[i*30+23] * k35_ny_re)
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+ nz * (compressed_spec_mat[i*30+15] * k24_nz_im
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+compressed_spec_mat[i*30+17] * k25_nz_im
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+compressed_spec_mat[i*30+21] * k34_nz_im
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+compressed_spec_mat[i*30+23] * k35_nz_im);
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tmp = nebx_re / bx_bx_star;
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LFR_BP1[i*9+8] = ((unsigned char) (tmp * 128)) & 0x7f; // cf DOC for the compression
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if ( abs(nebx_re) > abs(nebx_im) )
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LFR_BP1[i*9+8] = LFR_BP1[i*9+8] | (0x80); // extract the sector of nebx
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else
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LFR_BP1[i*9+8] = LFR_BP1[i*9+8] & (0x7f); // extract the sector of nebx
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}
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}
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void BP2_set(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat){
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// BP2 autocorrelation
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int i, aux = 0;
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for(i = 0; i<nb_bins_compressed_spec_mat; i++){
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// S12
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aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[i*30+10]);
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compressed_spec_mat[i*30+2] = compressed_spec_mat[i*30+2] / aux;
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compressed_spec_mat[i*30+3] = compressed_spec_mat[i*30+3] / aux;
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// S13
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aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[i*30+18]);
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compressed_spec_mat[i*30+4] = compressed_spec_mat[i*30+4] / aux;
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compressed_spec_mat[i*30+5] = compressed_spec_mat[i*30+5] / aux;
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// S23
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aux = sqrt(compressed_spec_mat[i*30+12]*compressed_spec_mat[i*30+18]);
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compressed_spec_mat[i*30+12] = compressed_spec_mat[i*30+12] / aux;
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compressed_spec_mat[i*30+13] = compressed_spec_mat[i*30+13] / aux;
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// S45
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aux = sqrt(compressed_spec_mat[i*30+24]*compressed_spec_mat[i*30+28]);
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compressed_spec_mat[i*30+26] = compressed_spec_mat[i*30+26] / aux;
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compressed_spec_mat[i*30+27] = compressed_spec_mat[i*30+27] / aux;
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// S14
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aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[i*30+24]);
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compressed_spec_mat[i*30+6] = compressed_spec_mat[i*30+6] / aux;
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compressed_spec_mat[i*30+7] = compressed_spec_mat[i*30+7] / aux;
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// S15
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aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[i*30+28]);
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compressed_spec_mat[i*30+8] = compressed_spec_mat[i*30+8] / aux;
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compressed_spec_mat[i*30+9] = compressed_spec_mat[i*30+9] / aux;
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// S24
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aux = sqrt(compressed_spec_mat[i*10]*compressed_spec_mat[i*30+24]);
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compressed_spec_mat[i*30+14] = compressed_spec_mat[i*30+14] / aux;
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compressed_spec_mat[i*30+15] = compressed_spec_mat[i*30+15] / aux;
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|
// S25
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|
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aux = sqrt(compressed_spec_mat[i*10]*compressed_spec_mat[i*30+28]);
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|
|
compressed_spec_mat[i*30+16] = compressed_spec_mat[i*30+16] / aux;
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|
compressed_spec_mat[i*30+17] = compressed_spec_mat[i*30+17] / aux;
|
|
|
// S34
|
|
|
aux = sqrt(compressed_spec_mat[i*18]*compressed_spec_mat[i*30+24]);
|
|
|
compressed_spec_mat[i*30+20] = compressed_spec_mat[i*30+20] / aux;
|
|
|
compressed_spec_mat[i*30+21] = compressed_spec_mat[i*30+21] / aux;
|
|
|
// S35
|
|
|
aux = sqrt(compressed_spec_mat[i*18]*compressed_spec_mat[i*30+28]);
|
|
|
compressed_spec_mat[i*30+22] = compressed_spec_mat[i*30+22] / aux;
|
|
|
compressed_spec_mat[i*30+23] = compressed_spec_mat[i*30+23] / aux;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
rtems_task avf0_task(rtems_task_argument argument){
|
|
|
int i;
|
|
|
static int nb_average;
|
|
|
rtems_event_set event_out;
|
|
|
rtems_status_code status;
|
|
|
|
|
|
spectral_matrices_regs = (struct spectral_matrices_regs_str *) REGS_ADDR_SPECTRAL_MATRICES;
|
|
|
spectral_matrices_regs->address0 = (volatile int) spec_mat_f0_a;
|
|
|
spectral_matrices_regs->address1 = (volatile int) spec_mat_f0_b;
|
|
|
|
|
|
nb_average = 0;
|
|
|
|
|
|
PRINTF("In AVFO *** \n")
|
|
|
|
|
|
while(1){
|
|
|
rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
|
|
|
for(i=0; i<TOTAL_SIZE_SPEC_MAT; i++){
|
|
|
averaged_spec_mat_f0[i] = averaged_spec_mat_f0[i] + spec_mat_f0_a[i]
|
|
|
+ spec_mat_f0_b[i]
|
|
|
+ spec_mat_f0_c[i]
|
|
|
+ spec_mat_f0_d[i]
|
|
|
+ spec_mat_f0_e[i]
|
|
|
+ spec_mat_f0_f[i]
|
|
|
+ spec_mat_f0_g[i]
|
|
|
+ spec_mat_f0_h[i];
|
|
|
}
|
|
|
spectral_matrices_regs->ctrl = spectral_matrices_regs->ctrl & 0xfffffffe; // reset the appropriate bit in the register
|
|
|
nb_average = nb_average + NB_SM_TO_RECEIVE_BEFORE_AVF0;
|
|
|
if (nb_average == NB_AVERAGE_NORMAL_f0) {
|
|
|
nb_average = 0;
|
|
|
status = rtems_event_send( Task_id[7], RTEMS_EVENT_0 ); // sending an event to the task 7, BPF0
|
|
|
if (status != RTEMS_SUCCESSFUL) printf("IN TASK AVF0 *** Error sending RTEMS_EVENT_0, code %d\n", status);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
rtems_task bpf0_task(rtems_task_argument argument){
|
|
|
rtems_event_set event_out;
|
|
|
|
|
|
PRINTF("In BPFO *** \n")
|
|
|
|
|
|
while(1){
|
|
|
rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
|
|
|
matrix_compression(averaged_spec_mat_f0, 0, compressed_spec_mat_f0);
|
|
|
BP1_set(compressed_spec_mat_f0, NB_BINS_COMPRESSED_MATRIX_f0, LFR_BP1_F0);
|
|
|
//PRINTF("IN TASK BPF0 *** Matrix compressed, parameters calculated\n")
|
|
|
}
|
|
|
}
|
|
|
|
|
|
//*******
|
|
|
// UNUSED
|
|
|
rtems_task spw_bppr_task_rate_monotonic(rtems_task_argument argument)
|
|
|
{/*
|
|
|
rtems_status_code status;
|
|
|
//static int nb_average_f1 = 0;
|
|
|
//static int nb_average_f2 = 0;
|
|
|
|
|
|
rtems_name name;
|
|
|
rtems_id period;
|
|
|
name = rtems_build_name( 'P', 'E', 'R', 'D' );
|
|
|
status = rtems_rate_monotonic_create( name, &period );
|
|
|
if( status != RTEMS_SUCCESSFUL ) {
|
|
|
printf( "rtems_rate_monotonic_create failed with status of %d\n", status );
|
|
|
//exit( 1 );
|
|
|
}
|
|
|
|
|
|
spectral_matrices_regs = (struct spectral_matrices_regs_str *) REGS_ADDR_SPECTRAL_MATRICES;
|
|
|
spectral_matrices_regs->address0 = (volatile int) spec_mat_f0_a;
|
|
|
spectral_matrices_regs->address1 = (volatile int) spec_mat_f0_b;
|
|
|
|
|
|
printf("In BPPR BIS ***\n");
|
|
|
|
|
|
while(1){ // launch the rate monotonic task
|
|
|
if ( rtems_rate_monotonic_period( period, 8 ) == RTEMS_TIMEOUT ){
|
|
|
printf("TIMEOUT\n");
|
|
|
//break;
|
|
|
}
|
|
|
status = rtems_event_send( Task_id[6], RTEMS_EVENT_0 ); // sending an event to the task 6, AVF0
|
|
|
if (status != RTEMS_SUCCESSFUL) printf("IN TASK BPPR BIS *** Error sending RTEMS_EVENT_0 to AVF0, code %d\n", status);
|
|
|
}
|
|
|
|
|
|
status = rtems_rate_monotonic_delete( period );
|
|
|
if ( status != RTEMS_SUCCESSFUL ) {
|
|
|
printf( "rtems_rate_monotonic_delete failed with status of %d.\n", status );
|
|
|
//exit( 1 );
|
|
|
}
|
|
|
status = rtems_task_delete( RTEMS_SELF ); // should not return
|
|
|
printf( "rtems_task_delete returned with status of %d.\n", status );
|
|
|
//exit( 1 );*/
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
