Create coreslam_armv7l.c

2014-09-07 20:46:12 -04:00
parent 1b63351f36
commit 697b205811
1 changed files with 117 additions and 0 deletions
--- a/c/coreslam_armv7l.c
+++ b/c/coreslam_armv7l.c
@@ -0,0 +1,117 @@
+/*
+coreslam_armv7l.c.c ARM Cortex Neon acceleration for CoreSLAM
+
+Copyright (C) 2014 by Simon D. Levy
+
+This code is free software: you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as 
+published by the Free Software Foundation, either version 3 of the 
+License, or (at your option) any later version.
+
+This code is distributed in the hope that it will be useful,     
+but WITHOUT ANY WARRANTY without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License 
+along with this code.  If not, see <http:#www.gnu.org/licenses/>.
+*/
+
+
+#ifdef _MSC_VER
+typedef __int64 int64_t;       /* Define it from MSVC's internal type */
+#else
+#include <stdint.h>            /* Use the C99 official header */
+#endif
+
+#include <math.h>
+#include <stdio.h>
+
+#include <arm_neon.h>
+
+#include "coreslam.h"
+#include "coreslam_internals.h"
+
+/* Performs one rotation/translation */
+static void 
+neon_coord_4(
+    float32x4_t a_4, 
+    float32x4_t b_4,
+    float32x4_t x_4, 
+    float32x4_t y_4,
+    float32x4_t pos_4f, 
+    float32x4_t point5_4, 
+    int * result)
+{
+    float32x4_t tmp1 = vmulq_f32(a_4, x_4);
+    float32x4_t tmp2 = vmulq_f32(b_4, y_4);
+    tmp2 = vaddq_f32(tmp1, tmp2);
+    tmp2 = vaddq_f32(tmp2, pos_4f);
+    tmp2 = vaddq_f32(tmp2, point5_4);
+    int32x4_t c_4 = vcvtq_s32_f32(tmp2);
+    vst1q_s32(result, c_4);
+}
+
+
+int
+distance_scan_to_map(
+		map_t *  map,
+		scan_t * scan,
+		position_t position)
+{    
+    /* Pre-compute sine and cosine of angle for rotation */
+    double position_theta_radians = radians(position.theta_degrees);
+    double costheta = cos(position_theta_radians) * map->scale_pixels_per_mm;
+    double sintheta = sin(position_theta_radians) * map->scale_pixels_per_mm;
+
+    /* Pre-compute pixel offset for translation */
+    double pos_x_pix = position.x_mm * map->scale_pixels_per_mm;
+    double pos_y_pix = position.y_mm * map->scale_pixels_per_mm;
+
+
+    float32x4_t half_4  = vdupq_n_f32(0.5);
+
+    float32x4_t costheta_4  = vdupq_n_f32(costheta);
+    float32x4_t sintheta_4  = vdupq_n_f32(sintheta);
+    float32x4_t nsintheta_4 = vdupq_n_f32(-sintheta);
+
+    float32x4_t pos_x_4 = vdupq_n_f32(pos_x_pix);
+    float32x4_t pos_y_4 = vdupq_n_f32(pos_y_pix);
+
+    int npoints = 0; /* number of points where scan matches map */
+    int64_t sum = 0;
+    
+    /* Stride by 4 over obstacle points in scan */
+    int i = 0;
+    for (i=0; i<scan->obst_npoints; i+=4) 
+    {        
+        /* Duplicate current obstacle point X and Y in 128-bit registers */
+        float32x4_t scan_x_4 = vld1q_f32(&scan->obst_x_mm[i]); 
+        float32x4_t scan_y_4 = vld1q_f32(&scan->obst_y_mm[i]); 
+
+        /* Compute X coordinate of 4 rotated / translated points at once */
+        int xarr[4];
+        neon_coord_4(costheta_4, nsintheta_4, scan_x_4, scan_y_4, pos_x_4, half_4, xarr);
+
+        /* Compute Y coordinate of 4 rotated / translated points at once */
+        int yarr[4];
+        neon_coord_4(sintheta_4, costheta_4,  scan_x_4, scan_y_4, pos_y_4, half_4, yarr);
+
+        /* Handle rotated/translated points serially */
+        int j;
+        for (j=0; j<4 && (i+j)<scan->obst_npoints; ++j)
+        {
+            int x = xarr[j];
+            int y = yarr[j];
+
+	    /* Add point if in map bounds */
+	    if (x >= 0 && x < map->size_pixels && y >= 0 && y < map->size_pixels) 
+	    {
+		    sum += map->pixels[y * map->size_pixels + x];
+		    npoints++;
+	    }
+	}
+    }
+
+    return npoints ? (int)(sum * 1024 / npoints) : -1;  
+}