{"id":114062,"date":"2026-10-08T08:48:58","date_gmt":"2026-10-08T00:48:58","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/114062.html"},"modified":"2026-10-08T08:48:58","modified_gmt":"2026-10-08T00:48:58","slug":"%e7%9f%a9%e9%98%b5%e4%b9%98%e6%b3%95%e7%9a%84q15%e5%ae%9a%e7%82%b9%e5%ae%9e%e7%8e%b0%ef%bc%8c%e8%ae%a9%e5%8d%a1%e5%b0%94%e6%9b%bc%e6%bb%a4%e6%b3%a2%e4%b8%8d%e5%86%8d%e6%8b%96%e5%90%8e%e8%85%bf","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/114062.html","title":{"rendered":"\u77e9\u9635\u4e58\u6cd5\u7684Q15\u5b9a\u70b9\u5b9e\u73b0\uff0c\u8ba9\u5361\u5c14\u66fc\u6ee4\u6ce2\u4e0d\u518d\u62d6\u540e\u817f"},"content":{"rendered":"

\u524d\u4e94\u7bc7\u6587\u7ae0\u91cc，\u6211\u7528\u624b\u5199\u5b9a\u70b9\u51fd\u6570\u66ff\u6362\u4e86sinf()\u3001atan2f()\u3001sqrtf()\u3001expf()\u3001logf()\u3002\u4f46\u771f\u6b63\u8ba9\u5d4c\u5165\u5f0f\u5de5\u7a0b\u5e08\u5934\u75bc\u7684，\u4e0d\u662f\u5355\u4e2a\u6570\u5b66\u51fd\u6570，\u800c\u662f\u77e9\u9635\u8fd0\u7b97\u2014\u2014\u5361\u5c14\u66fc\u6ee4\u6ce2\u3001\u59ff\u6001\u89e3\u7b97\u3001\u795e\u7ecf\u7f51\u7edc\u63a8\u7406，\u6838\u5fc3\u90fd\u662f\u77e9\u9635\u4e58\u6cd5\u3002\u4eca\u5929\u6211\u4eec\u6765\u624b\u6495\u77e9\u9635\u4e58\u6cd5\u3002<\/p>\n

01 \u4e3a\u4ec0\u4e48\u662f\u77e9\u9635\u4e58\u6cd5？<\/h2>\n

\u5728\u5d4c\u5165\u5f0f\u5f00\u53d1\u4e2d，\u77e9\u9635\u4e58\u6cd5\u7684\u51fa\u573a\u9891\u7387\u6781\u9ad8：<\/p>\n

– \u5361\u5c14\u66fc\u6ee4\u6ce2：\u9884\u6d4b\u548c\u66f4\u65b0\u6b65\u9aa4\u5168\u662f\u77e9\u9635\u4e58\u6cd5<\/p>\n

– \u59ff\u6001\u89e3\u7b97：\u56db\u5143\u6570\u66f4\u65b0\u3001\u65cb\u8f6c\u77e9\u9635\u8ba1\u7b97<\/p>\n

– \u795e\u7ecf\u7f51\u7edc\u63a8\u7406：\u5168\u8fde\u63a5\u5c42\u5c31\u662f\u77e9\u9635\u4e58\u6cd5<\/p>\n

– \u6700\u5c0f\u4e8c\u4e58\u62df\u5408：\u6cd5\u65b9\u7a0b\u6c42\u89e3<\/p>\n

– \u7535\u673aFOC：Clarke\/Park\u53d8\u6362\u672c\u8d28\u662f2\u00d72\u77e9\u9635\u4e58\u6cd5<\/p>\n

\u6d6e\u70b9\u77e9\u9635\u4e58\u6cd5\u5728 Cortex-M4 \u4e0a\u867d\u7136\u53ef\u4ee5\u7528 FPU \u52a0\u901f，\u4f46\u77e9\u9635\u7ef4\u5ea6\u8d8a\u5927，\u8fd0\u7b97\u8017\u65f6\u8d8a\u660e\u663e（\u8fd0\u7b97\u91cf\u6309 O(N\u00b3) \u589e\u957f），\u4e14\u6267\u884c\u65f6\u95f4\u53d7\u6570\u636e\u5f71\u54cd（\u5f02\u5e38\u503c\u3001\u975e\u89c4\u683c\u5316\u6570\u4f1a\u5bfc\u81f4\u6d41\u6c34\u7ebf\u505c\u987f）\u3002\u800c\u5b9a\u70b9 mat_mul_q15() \u7528\u7eaf\u6574\u6570\u8fd0\u7b97，\u6267\u884c\u65f6\u95f4\u66f4\u56fa\u5b9a，\u5728\u65e0 FPU \u7684 M0\/M3 \u4e0a\u901f\u5ea6\u4f18\u52bf\u660e\u663e\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f，\u5b9a\u70b9\u8fd0\u7b97\u7684\u7d2f\u79ef\u8bef\u5dee\u901a\u5e38\u6bd4\u6d6e\u70b9\u5927\u3002\u6d6e\u70b9\u7684\u76f8\u5bf9\u8bef\u5dee\u56fa\u5b9a\u5728 1e-7 \u91cf\u7ea7，\u800c\u5b9a\u70b9\u7684\u7edd\u5bf9\u8bef\u5dee\u4f1a\u968f\u7d2f\u52a0\u6b21\u6570\u7ebf\u6027\u589e\u957f\u3002\u56e0\u6b64，\u5b9a\u70b9\u77e9\u9635\u4e58\u6cd5\u9002\u5408\u5bf9\u901f\u5ea6\u3001\u786e\u5b9a\u6027\u8981\u6c42\u9ad8，\u4f46\u5bf9\u7edd\u5bf9\u7cbe\u5ea6\u8981\u6c42\u4e0d\u82db\u523b\u7684\u573a\u666f\u3002<\/p>\n

02 \u77e9\u9635\u4e58\u6cd5\u7684\u7279\u6b8a\u96be\u70b9<\/h2>\n

\u548c\u5355\u4e2a\u6570\u5b66\u51fd\u6570\u4e0d\u540c，\u77e9\u9635\u4e58\u6cd5\u6709\u4e09\u4e2a\u989d\u5916\u7684\u96be\u70b9：<\/p>\n

\u96be\u70b9\u4e00：Q\u683c\u5f0f\u4e58\u6cd5\u4f1a\u201c\u653e\u5927\u201d\u4f4d\u5bbd<\/p>\n

\u4e24\u4e2a Q15 \u6570\u76f8\u4e58，\u7ed3\u679c\u662f Q30：<\/p>\n

Q15 \u00d7 Q15 \u2192 Q30<\/p>\n

\u5fc5\u987b\u53f3\u79fb 15 \u4f4d\u624d\u80fd\u56de\u5230 Q15\u3002\u5982\u679c\u5fd8\u4e86\u79fb\u4f4d，\u7ed3\u679c\u4f1a\u5927 32768 \u500d\u3002<\/p>\n

\u96be\u70b9\u4e8c：\u7d2f\u52a0\u4f1a\u6ea2\u51fa<\/p>\n

\u77e9\u9635\u4e58\u6cd5\u7684\u6bcf\u4e2a\u8f93\u51fa\u5143\u7d20\u662f N \u4e2a\u4e58\u79ef\u4e4b\u548c\u3002\u5982\u679c N=8，\u6bcf\u4e2a\u4e58\u79ef\u6700\u5927 32767\u00d732767 \u2248 10\u2079，\u7d2f\u52a0 8 \u6b21\u5c31\u662f 8\u00d710\u2079，\u8fdc\u8d85 int32_t \u7684 2.1\u00d710\u2079\u3002<\/p>\n

\u5fc5\u987b\u7528int64_t \u7d2f\u52a0，\u6216\u8005\u7528 Q15 \u8f93\u5165\u4f46\u4e2d\u95f4\u7d2f\u52a0\u7528 Q30 \u683c\u5f0f\u3002<\/p>\n

\u96be\u70b9\u4e09：\u6570\u636e\u5e03\u5c40\u5f71\u54cdCache\u547d\u4e2d\u7387<\/p>\n

\u77e9\u9635\u4e58\u6cd5\u662f\u5185\u5b58\u8bbf\u95ee\u5bc6\u96c6\u578b\u64cd\u4f5c\u3002\u884c\u4f18\u5148\u548c\u5217\u4f18\u5148\u7684\u8bbf\u95ee\u6a21\u5f0f，\u5728 Cortex-M7 \u7684 Cache \u4e0b\u6027\u80fd\u5dee\u5f02\u53ef\u8fbe\u6570\u500d\u3002<\/p>\n

03 \u6838\u5fc3\u601d\u8def：Q15\u8f93\u5165，Q30\u7d2f\u52a0，Q15\u8f93\u51fa<\/h2>\n

\u5b9a\u70b9\u77e9\u9635\u4e58\u6cd5\u7684\u6838\u5fc3\u516c\u5f0f：<\/p>\n

C[i][j] = \u03a3 A[i][k] \u00d7 B[k][j]<\/p>\n

\u6bcf\u4e00\u6b65：<\/p>\n

1. A \u548c B \u7684\u5143\u7d20\u662f Q15<\/p>\n

2. \u4e58\u79ef\u662f Q30<\/p>\n

3. \u7d2f\u52a0\u7528 int64_t（\u9632\u6b62\u6ea2\u51fa）<\/p>\n

4. \u6700\u540e\u53f3\u79fb 15 \u4f4d，\u56de\u5230 Q15<\/p>\n

\u5173\u952e\u6d1e\u5bdf：\u77e9\u9635\u4e58\u6cd5\u7684\u5b9a\u70b9\u5316\u4e0d\u662f\u201c\u628a\u6d6e\u70b9\u6362\u6210\u5b9a\u70b9\u201d\u90a3\u4e48\u7b80\u5355，\u800c\u662f\u5728\u6bcf\u4e00\u6b65\u90fd\u7cbe\u786e\u63a7\u5236Q\u683c\u5f0f\u7684\u7f29\u653e\u3002<\/p>\n

04 \u5b9a\u70b9\u77e9\u9635\u4e58\u6cd5\u5b9e\u73b0<\/h2>\n

\u57fa\u7840\u7248\u672c（\u901a\u7528，\u4efb\u610f\u7ef4\u5ea6）<\/p>\n

#include <stdint.h><\/p>\n

\/**<\/p>\n

\u00a0* @brief \u00a0Q15 \u5b9a\u70b9\u77e9\u9635\u4e58\u6cd5<\/p>\n

\u00a0* @param \u00a0A \u00a0M\u00d7K \u77e9\u9635，Q15 \u683c\u5f0f<\/p>\n

\u00a0* @param \u00a0B \u00a0K\u00d7N \u77e9\u9635，Q15 \u683c\u5f0f<\/p>\n

\u00a0* @param \u00a0C \u00a0M\u00d7N \u8f93\u51fa\u77e9\u9635，Q15 \u683c\u5f0f<\/p>\n

\u00a0* @param \u00a0M \u00a0\u884c\u6570<\/p>\n

\u00a0* @param \u00a0K \u00a0\u5185\u7ef4\u5ea6<\/p>\n

\u00a0* @param \u00a0N \u00a0\u5217\u6570<\/p>\n

\u00a0*\/<\/p>\n

void mat_mul_q15(const int16_t *A, const int16_t *B, int16_t *C,<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0int M, int K, int N) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0for (int i = 0; i < M; i++) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0for (int j = 0; j < N; j++) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0int64_t sum = 0;<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0for (int k = 0; k < K; k++) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0sum += (int32_t)A[i * K + k] * B[k * N + j];<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0}<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\/\/ \u7d2f\u52a0\u7ed3\u679c\u662f Q30，\u53f3\u79fb 15 \u4f4d\u56de\u5230 Q15<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\/\/ \u52a0 16384 \u5b9e\u73b0\u56db\u820d\u4e94\u5165<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0C[i * N + j] = (int16_t)((sum + 16384) >> 15);<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0}<\/p>\n

\u00a0\u00a0\u00a0\u00a0}<\/p>\n

}<\/p>\n

\u4f18\u5316\u7248\u672c\u4e00：\u5faa\u73af\u987a\u5e8f\u4f18\u5316<\/p>\n

\u4e0a\u9762\u7684\u4ee3\u7801\u5728k\u5faa\u73af\u4e2d\u8bbf\u95ee B[k*N+j]，\u8fd9\u662f\u5217\u8bbf\u95ee，\u5728\u884c\u4f18\u5148\u5b58\u50a8\u4e2d\u4e0d\u8fde\u7eed\u3002\u6539\u6210 `i-k-j` \u5faa\u73af\u987a\u5e8f\u53ef\u4ee5\u6539\u5584：<\/p>\n

void mat_mul_q15_ikj(const int16_t *A, const int16_t *B, int16_t *C,<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0int M, int K, int N) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\/\/ \u5148\u6e05\u96f6<\/p>\n

\u00a0\u00a0\u00a0\u00a0for (int i = 0; i < M * N; i++) C[i] = 0;<\/p>\n

\u00a0\u00a0\u00a0\u00a0for (int i = 0; i < M; i++) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0for (int k = 0; k < K; k++) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0int16_t a = A[i * K + k];<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0for (int j = 0; j < N; j++) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\/\/ C[i][j] += A[i][k] * B[k][j]<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\/\/ \u8fd9\u91cc\u7528 int32_t \u7d2f\u52a0 Q30，\u6ce8\u610f\u6ea2\u51fa<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0int32_t prod = (int32_t)a * B[k * N + j];<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\/\/ \u9700\u8981\u628a prod \u4ece Q30 \u8f6c\u6210 Q15 \u518d\u7d2f\u52a0<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\/\/ \u4f46\u8fd9\u6837\u4f1a\u635f\u5931\u7cbe\u5ea6，\u66f4\u597d\u7684\u505a\u6cd5\u662f\u7528 int64_t<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0C[i * N + j] += (int16_t)(prod >> 15);<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0}<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0}<\/p>\n

\u00a0\u00a0\u00a0\u00a0}<\/p>\n

}<\/p>\n

\u6ce8\u610f：\u8fd9\u4e2a\u7248\u672c\u4e3a\u4e86\u51cf\u5c11\u5185\u5b58\u8bbf\u95ee，\u727a\u7272\u4e86\u7cbe\u5ea6（\u6bcf\u6b21\u4e58\u79ef\u5148\u8f6cQ15\u518d\u7d2f\u52a0）\u3002\u63a8\u8350\u7528\u57fa\u7840\u7248\u672c，\u7cbe\u5ea6\u66f4\u9ad8\u3002<\/p>\n

\u4f18\u5316\u7248\u672c\u4e8c：2\u00d72 \u77e9\u9635\u4e13\u7528<\/p>\n

\u5bf9\u4e8e FOC \u7684 Clarke\/Park \u53d8\u6362，2\u00d72 \u77e9\u9635\u4e58\u6cd5\u53ef\u4ee5\u5b8c\u5168\u5c55\u5f00：<\/p>\n

\/\/ [c00 c01] \u00a0\u00a0[a00 a01] \u00a0\u00a0[b00 b01]<\/p>\n

\/\/ [c10 c11] = [a10 a11] \u00d7 [b10 b11]<\/p>\n

void mat_mul_2x2_q15(const int16_t *A, const int16_t *B, int16_t *C) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0int64_t s00 = (int64_t)A[0]*B[0] + (int64_t)A[1]*B[2];<\/p>\n

\u00a0\u00a0\u00a0\u00a0int64_t s01 = (int64_t)A[0]*B[1] + (int64_t)A[1]*B[3];<\/p>\n

\u00a0\u00a0\u00a0\u00a0int64_t s10 = (int64_t)A[2]*B[0] + (int64_t)A[3]*B[2];<\/p>\n

\u00a0\u00a0\u00a0\u00a0int64_t s11 = (int64_t)A[2]*B[1] + (int64_t)A[3]*B[3];<\/p>\n

\u00a0\u00a0\u00a0\u00a0C[0] = (int16_t)((s00 + 16384) >> 15);<\/p>\n

\u00a0\u00a0\u00a0\u00a0C[1] = (int16_t)((s01 + 16384) >> 15);<\/p>\n

\u00a0\u00a0\u00a0\u00a0C[2] = (int16_t)((s10 + 16384) >> 15);<\/p>\n

\u00a0\u00a0\u00a0\u00a0C[3] = (int16_t)((s11 + 16384) >> 15);<\/p>\n

}<\/p>\n

\u5c55\u5f00\u540e\u6ca1\u6709\u5faa\u73af，\u7f16\u8bd1\u5668\u53ef\u4ee5\u505a\u66f4\u597d\u7684\u5bc4\u5b58\u5668\u5206\u914d，\u901f\u5ea6\u6bd4\u901a\u7528\u7248\u672c\u5feb 2~3 \u500d\u3002<\/p>\n

\n

\u4f18\u5316\u7248\u672c\u4e09：3\u00d73 \u77e9\u9635\u4e13\u7528（\u7528\u4e8e\u5361\u5c14\u66fc\u6ee4\u6ce2）<\/p>\n

\n

void mat_mul_3x3_q15(const int16_t *A, const int16_t *B, int16_t *C) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0for (int i = 0; i < 3; i++) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0for (int j = 0; j < 3; j++) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0int64_t sum = 0;<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0for (int k = 0; k < 3; k++) {<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0sum += (int32_t)A[i*3+k] * B[k*3+j];<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0}<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0C[i*3+j] = (int16_t)((sum + 16384) >> 15);<\/p>\n

\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0}<\/p>\n

\u00a0\u00a0\u00a0\u00a0}<\/p>\n

}<\/p>\n

3\u00d73 \u77e9\u9635\u662f\u5361\u5c14\u66fc\u6ee4\u6ce2\u7684\u5178\u578b\u7ef4\u5ea6（\u72b6\u6001\u5411\u91cf3\u7ef4），\u624b\u5199\u5c55\u5f00\u53ef\u4ee5\u8fdb\u4e00\u6b65\u4f18\u5316\u3002<\/p>\n

05 \u7cbe\u5ea6\u5206\u6790<\/h2>\n

\u5b9a\u70b9\u77e9\u9635\u4e58\u6cd5\u7684\u8bef\u5dee\u6765\u6e90：<\/p>\n\n\n\n\n\n\n\n
\n

\u8bef\u5dee\u6765\u6e90<\/p>\n<\/td>\n

\n

\u91cf\u7ea7<\/p>\n<\/td>\n

\n

\u8bf4\u660e<\/p>\n<\/td>\n<\/tr>\n

\n

Q15\u8f93\u5165\u91cf\u5316<\/p>\n<\/td>\n

\n

~0.003%<\/p>\n<\/td>\n

\n

\u6bcf\u4e2a\u5143\u7d20\u7684\u5206\u8fa8\u7387<\/p>\n<\/td>\n<\/tr>\n

\n

\u4e58\u79ef\u820d\u5165<\/p>\n<\/td>\n

\n

~0.001%<\/p>\n<\/td>\n

\n

\u6bcf\u6b21\u4e58\u79ef\u7684\u820d\u5165<\/p>\n<\/td>\n<\/tr>\n

\n

\u7d2f\u52a0\u820d\u5165<\/p>\n<\/td>\n

\n

~0.001%<\/p>\n<\/td>\n

\n

\u7d2f\u52a0\u540e\u7684\u79fb\u4f4d\u820d\u5165<\/p>\n<\/td>\n<\/tr>\n

\n

\u603b\u76f8\u5bf9\u8bef\u5dee<\/p>\n<\/td>\n

\n

~0.01%<\/p>\n<\/td>\n

\n

\u53d6\u51b3\u4e8e\u77e9\u9635\u7ef4\u5ea6<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u5bf9\u4e8e\u5361\u5c14\u66fc\u6ee4\u6ce2\u3001\u59ff\u6001\u89e3\u7b97\u3001\u795e\u7ecf\u7f51\u7edc\u63a8\u7406，0.01% \u7684\u76f8\u5bf9\u8bef\u5dee\u5b8c\u5168\u591f\u7528\u3002<\/p>\n

06 \u6027\u80fd\u5b9e\u6d4b<\/h2>\n

\u6d4b\u8bd5\u5e73\u53f0：GD32F303VGT6 @120MHz，DWT\u5468\u671f\u8ba1\u6570\u3002<\/p>\n

\u6d4b\u8bd5\u6761\u4ef6<\/p>\n

– \u77e9\u9635\u7ef4\u5ea6：4\u00d74，\u5355\u6b21\u8c03\u7528<\/p>\n\n\n\n\n
\n

\u51fd\u6570<\/p>\n<\/td>\n

\n

\u5f00\u542fFPU（\u5468\u671f）<\/p>\n<\/td>\n

\n

\u5173\u95edFPU（\u5468\u671f）<\/p>\n<\/td>\n<\/tr>\n

\n

mat_mul_q15()<\/p>\n<\/td>\n

\n

1549<\/p>\n<\/td>\n

\n

1549<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u8bf4\u660e：mat_mul_q15()\u00a0\u5b8c\u5168\u91c7\u7528\u6574\u6570\u8fd0\u7b97，\u56e0\u6b64\u5f00\u542f\u6216\u5173\u95ed FPU \u5bf9\u5176\u8017\u65f6\u6ca1\u6709\u5f71\u54cd\u3002<\/p>\n

07 \u5e94\u7528\u573a\u666f<\/h2>\n

\u00a0\u5361\u5c14\u66fc\u6ee4\u6ce2<\/p>\n

\/\/ \u9884\u6d4b\u6b65\u9aa4：x = F\u00b7x<\/p>\n

mat_mul_q15(F, x, x_pred, 4, 4, 1);<\/p>\n

\/\/ \u534f\u65b9\u5dee\u9884\u6d4b：P = F\u00b7P\u00b7F\u1d40 + Q<\/p>\n

mat_mul_q15(F, P, FP, 4, 4, 4);<\/p>\n

mat_mul_q15(FP, F_T, P_pred, 4, 4, 4);<\/p>\n

\u59ff\u6001\u89e3\u7b97<\/p>\n

\/\/ \u56db\u5143\u6570\u66f4\u65b0：q = q + 0.5\u00b7q\u2297\u03c9\u00b7dt<\/p>\n

\/\/ \u56db\u5143\u6570\u4e58\u6cd5\u662f4\u00d74\u77e9\u9635\u4e58\u6cd5<\/p>\n

mat_mul_q15(q_matrix, omega, q_dot, 4, 4, 1);<\/p>\n

\u795e\u7ecf\u7f51\u7edc\u63a8\u7406<\/p>\n

\/\/ \u5168\u8fde\u63a5\u5c42：y = W\u00b7x + b<\/p>\n

mat_mul_q15(W, x, y, 1, N, 1);<\/p>\n

08 \u6e90\u7801\u4e0e\u5de5\u7a0b<\/h2>\n

\u5b8c\u6574\u7684Keil\u5de5\u7a0b\u5df2\u4e0a\u4f20Gitee，\u5305\u542b：<\/p>\n

– GD32F303VGT6\u7684\u5b8c\u6574\u5de5\u7a0b<\/p>\n

– `mat_mul_q15` \u5b8c\u6574\u6e90\u7801（\u901a\u7528\u7248 + 2\u00d72 + 3\u00d73 + 4\u00d74）<\/p>\n

– \u6027\u80fd\u6d4b\u8bd5\u4ee3\u7801（\u4f7f\u7528DWT\u5468\u671f\u8ba1\u6570）<\/p>\n

– \u7cbe\u5ea6\u6d4b\u8bd5\u4ee3\u7801<\/p>\n

Gitee\u5730\u5740：https:\/\/gitee.com\/jervis_luo\/gd32_mat_mul.git<\/p>\n

09 \u603b\u7ed3<\/h2>\n\n\n\n\n\n\n\n
\n

\u5bf9\u6bd4\u7ef4\u5ea6<\/p>\n<\/td>\n

\n

mat_mul_q15()<\/p>\n<\/td>\n<\/tr>\n

\n

\u5355\u6b214\u00d74\u77e9\u9635\u8017\u65f6\u5468\u671f<\/p>\n<\/td>\n

\n

1549<\/p>\n<\/td>\n<\/tr>\n

\n

\u6700\u5927\u76f8\u5bf9\u8bef\u5dee<\/p>\n<\/td>\n

\n

~0.01%<\/p>\n<\/td>\n<\/tr>\n

\n

\u662f\u5426\u9700\u8981FPU<\/p>\n<\/td>\n

\n

\u5426<\/p>\n<\/td>\n<\/tr>\n

\n

\u9002\u7528\u82af\u7247<\/p>\n<\/td>\n

\n

M0\/M3\/M4\/M7<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\n

\u4e09\u70b9\u6838\u5fc3\u6536\u83b7：<\/p>\n

1. \u5b9a\u70b9\u77e9\u9635\u4e58\u6cd5\u7684\u6838\u5fc3\u662fQ\u683c\u5f0f\u7f29\u653e\u2014\u2014Q15\u00d7Q15\u2192Q30，\u7d2f\u52a0\u540e\u53f3\u79fb15\u4f4d\u56de\u5230Q15\u3002<\/p>\n

2. \u7d2f\u52a0\u5fc5\u987b\u7528int64_t\u2014\u2014\u9632\u6b62N\u4e2a\u4e58\u79ef\u4e4b\u548c\u6ea2\u51faint32_t\u3002<\/p>\n

3. \u6267\u884c\u65f6\u95f4\u56fa\u5b9a\u2014\u2014\u6ca1\u6709\u5faa\u73af\u548c\u5206\u652f\u9884\u6d4b\u5931\u8d25，\u5bf9\u5b9e\u65f6\u63a7\u5236\u975e\u5e38\u53cb\u597d\u3002<\/p>\n

\n

\u7cfb\u5217\u6587\u7ae0<\/p>\n

1. fast_sin：\u6bd4\u5b98\u65b9sinf\u5feb14\u500d<\/p>\n

2. fast_atan2：FOC\u89d2\u5ea6\u8ba1\u7b97\u4f18\u5316：128\u70b9\u67e5\u8868\u6cd5\u8ba9atan2f\u5feb8\u500d<\/p>\n

3. fast_sqrt：FOC\u77e2\u91cf\u5e45\u503c\u8ba1\u7b97\u4f18\u5316：256\u70b9\u67e5\u8868+\u725b\u987f\u8fed\u4ee3，\u8ba9sqrtf\u5feb2.5\u500d<\/p>\n

4.fast_exp：\u62c6\u6574\u6570+\u67e5\u8868+\u63d2\u503c，\u5173\u95edFPU\u5feb9\u500d<\/p>\n

5.fast_log：\u63d0\u53d6\u4e8c\u8fdb\u5236\u6307\u6570+\u67e5\u8868，\u8ba9\u5bf9\u6570\u8fd0\u7b97\u5feb11\u500d<\/p>\n

6.mat_mul_q15：\u5b9a\u70b9\u77e9\u9635\u4e58\u6cd5，\u8ba9\u5361\u5c14\u66fc\u6ee4\u6ce2\u4e0d\u518d\u62d6\u540e\u817f(\u672c\u6587)<\/p>\n

\n

\u540e\u8bb0：\u5199\u5b8c\u8fd9\u7bc7\u6587\u7ae0\u540e，\u6211\u628a mat_mul_q15()\u00a0\u7528\u5728\u4e86\u81ea\u5df1\u505a\u7684\u5361\u5c14\u66fc\u6ee4\u6ce2\u59ff\u6001\u89e3\u7b97\u91cc\u3002\u539f\u672c\u7528\u6d6e\u70b9\u77e9\u9635\u4e58\u6cd5\u65f6，4\u00d74\u77e9\u9635\u4e58\u6cd5\u6bcf\u4e2a\u5468\u671f\u8981\u82b1\u51e0\u5341\u5fae\u79d2；\u6362\u4e0amat_mul_q15()\u540e，\u76f4\u63a5\u964d\u5230\u51e0\u5fae\u79d2\u3002\u59ff\u6001\u66f4\u65b0\u7387\u4ece1kHz\u63d0\u5347\u5230\u4e865kHz\u3002\u8fd9\u5927\u6982\u5c31\u662f\u4f18\u5316\u7684\u4e50\u8da3\u6240\u5728\u3002<\/p>\n

\u5982\u679c\u4f60\u5bf9\u5b9a\u70b9\u6570\u5b66\u5e93\u611f\u5174\u8da3，\u6b22\u8fce\u5173\u6ce8\u6211\u3002\u8fd9\u4e2a\u7cfb\u5217\u5230\u8fd9\u91cc\u5df2\u7ecf\u8986\u76d6\u4e86 sin()\u3001atan2()\u3001sqrt()\u3001exp()\u3001log()\u00a0\u548c\u77e9\u9635\u4e58\u6cd5，\u57fa\u672c\u8986\u76d6\u4e86\u5d4c\u5165\u5f0f\u4e2d\u6700\u5e38\u7528\u7684\u6570\u5b66\u8fd0\u7b97\u3002\u540e\u7eed\u5982\u679c\u5927\u5bb6\u611f\u5174\u8da3，\u6211\u53ef\u4ee5\u7ee7\u7eed\u5199\u5b9a\u70b9\u77e9\u9635\u6c42\u9006\u3001\u5b9a\u70b9\u5361\u5c14\u66fc\u6ee4\u6ce2\u6216\u8005\u5b9a\u70b9\u795e\u7ecf\u7f51\u7edc\u63a8\u7406\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

\u524d\u4e94\u7bc7\u6587\u7ae0\u91cc，\u6211\u7528\u624b\u5199\u5b9a\u70b9\u51fd\u6570\u66ff\u6362\u4e86sinf()\u3001atan2f()\u3001sqrtf()\u3001expf()\u3001logf()\u3002\u4f46\u771f\u6b63\u8ba9\u5d4c\u5165\u5f0f\u5de5\u7a0b\u5e08\u5934\u75bc\u7684，\u4e0d\u662f\u5355\u4e2a\u6570\u5b66\u51fd\u6570，\u800c\u662f\u77e9\u9635\u8fd0\u7b97\u2014\u2014\u5361\u5c14\u66fc\u6ee4\u6ce2\u3001\u59ff\u6001\u89e3\u7b97\u3001\u795e\u7ecf\u7f51\u7edc\u63a8\u7406，\u6838\u5fc3\u90fd\u662f\u77e9\u9635\u4e58\u6cd5\u3002\u4eca\u5929\u6211\u4eec\u6765\u624b\u6495\u77e9\u9635\u4e58\u6cd5\u3002
\n01 \u4e3a\u4ec0\u4e48\u662f\u77e9\u9635\u4e58\u6cd5？
\n\u5728\u5d4c\u5165\u5f0f\u5f00\u53d1\u4e2d，\u77e9\u9635\u4e58\u6cd5\u7684\u51fa\u573a\u9891\u7387\u6781\u9ad8：
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