Сделал отдельную ветку для работы с urdf
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MarkVoltov
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1114 changed files with 2 additions and 1735181 deletions
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/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_const_structs.c
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* Description: Constant structs that are initialized for user convenience.
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* For example, some can be given as arguments to the arm_cfft_f32() or arm_rfft_f32() functions.
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*
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* $Date: 27. January 2017
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* $Revision: V.1.5.1
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*
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* Target Processor: Cortex-M cores
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* -------------------------------------------------------------------- */
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/*
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* Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "arm_const_structs.h"
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/* Floating-point structs */
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const arm_cfft_instance_f32 arm_cfft_sR_f32_len16 = {
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16, twiddleCoef_16, armBitRevIndexTable16, ARMBITREVINDEXTABLE_16_TABLE_LENGTH
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};
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const arm_cfft_instance_f32 arm_cfft_sR_f32_len32 = {
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32, twiddleCoef_32, armBitRevIndexTable32, ARMBITREVINDEXTABLE_32_TABLE_LENGTH
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};
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const arm_cfft_instance_f32 arm_cfft_sR_f32_len64 = {
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64, twiddleCoef_64, armBitRevIndexTable64, ARMBITREVINDEXTABLE_64_TABLE_LENGTH
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};
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const arm_cfft_instance_f32 arm_cfft_sR_f32_len128 = {
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128, twiddleCoef_128, armBitRevIndexTable128, ARMBITREVINDEXTABLE_128_TABLE_LENGTH
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};
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const arm_cfft_instance_f32 arm_cfft_sR_f32_len256 = {
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256, twiddleCoef_256, armBitRevIndexTable256, ARMBITREVINDEXTABLE_256_TABLE_LENGTH
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};
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const arm_cfft_instance_f32 arm_cfft_sR_f32_len512 = {
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512, twiddleCoef_512, armBitRevIndexTable512, ARMBITREVINDEXTABLE_512_TABLE_LENGTH
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};
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const arm_cfft_instance_f32 arm_cfft_sR_f32_len1024 = {
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1024, twiddleCoef_1024, armBitRevIndexTable1024, ARMBITREVINDEXTABLE_1024_TABLE_LENGTH
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};
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const arm_cfft_instance_f32 arm_cfft_sR_f32_len2048 = {
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2048, twiddleCoef_2048, armBitRevIndexTable2048, ARMBITREVINDEXTABLE_2048_TABLE_LENGTH
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};
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const arm_cfft_instance_f32 arm_cfft_sR_f32_len4096 = {
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4096, twiddleCoef_4096, armBitRevIndexTable4096, ARMBITREVINDEXTABLE_4096_TABLE_LENGTH
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};
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/* Fixed-point structs */
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const arm_cfft_instance_q31 arm_cfft_sR_q31_len16 = {
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16, twiddleCoef_16_q31, armBitRevIndexTable_fixed_16, ARMBITREVINDEXTABLE_FIXED_16_TABLE_LENGTH
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};
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const arm_cfft_instance_q31 arm_cfft_sR_q31_len32 = {
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32, twiddleCoef_32_q31, armBitRevIndexTable_fixed_32, ARMBITREVINDEXTABLE_FIXED_32_TABLE_LENGTH
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};
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const arm_cfft_instance_q31 arm_cfft_sR_q31_len64 = {
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64, twiddleCoef_64_q31, armBitRevIndexTable_fixed_64, ARMBITREVINDEXTABLE_FIXED_64_TABLE_LENGTH
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};
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const arm_cfft_instance_q31 arm_cfft_sR_q31_len128 = {
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128, twiddleCoef_128_q31, armBitRevIndexTable_fixed_128, ARMBITREVINDEXTABLE_FIXED_128_TABLE_LENGTH
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};
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const arm_cfft_instance_q31 arm_cfft_sR_q31_len256 = {
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256, twiddleCoef_256_q31, armBitRevIndexTable_fixed_256, ARMBITREVINDEXTABLE_FIXED_256_TABLE_LENGTH
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};
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const arm_cfft_instance_q31 arm_cfft_sR_q31_len512 = {
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512, twiddleCoef_512_q31, armBitRevIndexTable_fixed_512, ARMBITREVINDEXTABLE_FIXED_512_TABLE_LENGTH
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};
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const arm_cfft_instance_q31 arm_cfft_sR_q31_len1024 = {
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1024, twiddleCoef_1024_q31, armBitRevIndexTable_fixed_1024, ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH
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};
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const arm_cfft_instance_q31 arm_cfft_sR_q31_len2048 = {
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2048, twiddleCoef_2048_q31, armBitRevIndexTable_fixed_2048, ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH
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};
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const arm_cfft_instance_q31 arm_cfft_sR_q31_len4096 = {
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4096, twiddleCoef_4096_q31, armBitRevIndexTable_fixed_4096, ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH
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};
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const arm_cfft_instance_q15 arm_cfft_sR_q15_len16 = {
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16, twiddleCoef_16_q15, armBitRevIndexTable_fixed_16, ARMBITREVINDEXTABLE_FIXED_16_TABLE_LENGTH
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};
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const arm_cfft_instance_q15 arm_cfft_sR_q15_len32 = {
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32, twiddleCoef_32_q15, armBitRevIndexTable_fixed_32, ARMBITREVINDEXTABLE_FIXED_32_TABLE_LENGTH
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};
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const arm_cfft_instance_q15 arm_cfft_sR_q15_len64 = {
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64, twiddleCoef_64_q15, armBitRevIndexTable_fixed_64, ARMBITREVINDEXTABLE_FIXED_64_TABLE_LENGTH
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};
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const arm_cfft_instance_q15 arm_cfft_sR_q15_len128 = {
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128, twiddleCoef_128_q15, armBitRevIndexTable_fixed_128, ARMBITREVINDEXTABLE_FIXED_128_TABLE_LENGTH
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};
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const arm_cfft_instance_q15 arm_cfft_sR_q15_len256 = {
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256, twiddleCoef_256_q15, armBitRevIndexTable_fixed_256, ARMBITREVINDEXTABLE_FIXED_256_TABLE_LENGTH
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};
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const arm_cfft_instance_q15 arm_cfft_sR_q15_len512 = {
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512, twiddleCoef_512_q15, armBitRevIndexTable_fixed_512, ARMBITREVINDEXTABLE_FIXED_512_TABLE_LENGTH
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};
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const arm_cfft_instance_q15 arm_cfft_sR_q15_len1024 = {
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1024, twiddleCoef_1024_q15, armBitRevIndexTable_fixed_1024, ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH
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};
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const arm_cfft_instance_q15 arm_cfft_sR_q15_len2048 = {
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2048, twiddleCoef_2048_q15, armBitRevIndexTable_fixed_2048, ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH
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};
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const arm_cfft_instance_q15 arm_cfft_sR_q15_len4096 = {
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4096, twiddleCoef_4096_q15, armBitRevIndexTable_fixed_4096, ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH
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};
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/* Structure for real-value inputs */
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/* Floating-point structs */
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const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len32 = {
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{ 16, twiddleCoef_32, armBitRevIndexTable32, ARMBITREVINDEXTABLE_16_TABLE_LENGTH },
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32U,
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(float32_t *)twiddleCoef_rfft_32
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};
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const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len64 = {
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{ 32, twiddleCoef_32, armBitRevIndexTable32, ARMBITREVINDEXTABLE_32_TABLE_LENGTH },
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64U,
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(float32_t *)twiddleCoef_rfft_64
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};
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const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len128 = {
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{ 64, twiddleCoef_64, armBitRevIndexTable64, ARMBITREVINDEXTABLE_64_TABLE_LENGTH },
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128U,
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(float32_t *)twiddleCoef_rfft_128
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};
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const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len256 = {
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{ 128, twiddleCoef_128, armBitRevIndexTable128, ARMBITREVINDEXTABLE_128_TABLE_LENGTH },
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256U,
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(float32_t *)twiddleCoef_rfft_256
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};
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const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len512 = {
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{ 256, twiddleCoef_256, armBitRevIndexTable256, ARMBITREVINDEXTABLE_256_TABLE_LENGTH },
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512U,
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(float32_t *)twiddleCoef_rfft_512
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};
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const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len1024 = {
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{ 512, twiddleCoef_512, armBitRevIndexTable512, ARMBITREVINDEXTABLE_512_TABLE_LENGTH },
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1024U,
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(float32_t *)twiddleCoef_rfft_1024
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};
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const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len2048 = {
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{ 1024, twiddleCoef_1024, armBitRevIndexTable1024, ARMBITREVINDEXTABLE_1024_TABLE_LENGTH },
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2048U,
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(float32_t *)twiddleCoef_rfft_2048
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};
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const arm_rfft_fast_instance_f32 arm_rfft_fast_sR_f32_len4096 = {
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{ 2048, twiddleCoef_2048, armBitRevIndexTable2048, ARMBITREVINDEXTABLE_2048_TABLE_LENGTH },
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4096U,
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(float32_t *)twiddleCoef_rfft_4096
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};
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/* Fixed-point structs */
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/* q31_t */
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extern const q31_t realCoefAQ31[8192];
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extern const q31_t realCoefBQ31[8192];
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const arm_rfft_instance_q31 arm_rfft_sR_q31_len32 = {
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32U,
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0,
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1,
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256U,
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(q31_t*)realCoefAQ31,
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(q31_t*)realCoefBQ31,
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&arm_cfft_sR_q31_len16
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};
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const arm_rfft_instance_q31 arm_rfft_sR_q31_len64 = {
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64U,
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0,
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1,
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128U,
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(q31_t*)realCoefAQ31,
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(q31_t*)realCoefBQ31,
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&arm_cfft_sR_q31_len32
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};
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const arm_rfft_instance_q31 arm_rfft_sR_q31_len128 = {
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128U,
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0,
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1,
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64U,
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(q31_t*)realCoefAQ31,
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(q31_t*)realCoefBQ31,
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&arm_cfft_sR_q31_len64
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};
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const arm_rfft_instance_q31 arm_rfft_sR_q31_len256 = {
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256U,
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0,
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1,
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32U,
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(q31_t*)realCoefAQ31,
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(q31_t*)realCoefBQ31,
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&arm_cfft_sR_q31_len128
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};
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const arm_rfft_instance_q31 arm_rfft_sR_q31_len512 = {
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512U,
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0,
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1,
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16U,
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(q31_t*)realCoefAQ31,
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(q31_t*)realCoefBQ31,
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&arm_cfft_sR_q31_len256
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};
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const arm_rfft_instance_q31 arm_rfft_sR_q31_len1024 = {
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1024U,
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0,
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1,
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8U,
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(q31_t*)realCoefAQ31,
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(q31_t*)realCoefBQ31,
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&arm_cfft_sR_q31_len512
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};
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const arm_rfft_instance_q31 arm_rfft_sR_q31_len2048 = {
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2048U,
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0,
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1,
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4U,
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(q31_t*)realCoefAQ31,
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(q31_t*)realCoefBQ31,
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&arm_cfft_sR_q31_len1024
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};
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const arm_rfft_instance_q31 arm_rfft_sR_q31_len4096 = {
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4096U,
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0,
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1,
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2U,
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(q31_t*)realCoefAQ31,
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(q31_t*)realCoefBQ31,
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&arm_cfft_sR_q31_len2048
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};
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const arm_rfft_instance_q31 arm_rfft_sR_q31_len8192 = {
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8192U,
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0,
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1,
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1U,
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(q31_t*)realCoefAQ31,
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(q31_t*)realCoefBQ31,
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&arm_cfft_sR_q31_len4096
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};
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/* q15_t */
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extern const q15_t realCoefAQ15[8192];
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extern const q15_t realCoefBQ15[8192];
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const arm_rfft_instance_q15 arm_rfft_sR_q15_len32 = {
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32U,
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0,
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1,
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256U,
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(q15_t*)realCoefAQ15,
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(q15_t*)realCoefBQ15,
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&arm_cfft_sR_q15_len16
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};
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const arm_rfft_instance_q15 arm_rfft_sR_q15_len64 = {
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64U,
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0,
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1,
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128U,
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(q15_t*)realCoefAQ15,
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(q15_t*)realCoefBQ15,
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&arm_cfft_sR_q15_len32
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};
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const arm_rfft_instance_q15 arm_rfft_sR_q15_len128 = {
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128U,
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0,
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1,
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64U,
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(q15_t*)realCoefAQ15,
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(q15_t*)realCoefBQ15,
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&arm_cfft_sR_q15_len64
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};
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const arm_rfft_instance_q15 arm_rfft_sR_q15_len256 = {
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256U,
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0,
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1,
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32U,
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(q15_t*)realCoefAQ15,
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(q15_t*)realCoefBQ15,
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&arm_cfft_sR_q15_len128
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};
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const arm_rfft_instance_q15 arm_rfft_sR_q15_len512 = {
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512U,
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0,
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1,
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16U,
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(q15_t*)realCoefAQ15,
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(q15_t*)realCoefBQ15,
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&arm_cfft_sR_q15_len256
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};
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const arm_rfft_instance_q15 arm_rfft_sR_q15_len1024 = {
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1024U,
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0,
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1,
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8U,
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(q15_t*)realCoefAQ15,
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(q15_t*)realCoefBQ15,
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&arm_cfft_sR_q15_len512
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};
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const arm_rfft_instance_q15 arm_rfft_sR_q15_len2048 = {
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2048U,
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0,
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1,
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4U,
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(q15_t*)realCoefAQ15,
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(q15_t*)realCoefBQ15,
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&arm_cfft_sR_q15_len1024
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};
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const arm_rfft_instance_q15 arm_rfft_sR_q15_len4096 = {
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4096U,
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0,
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1,
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2U,
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(q15_t*)realCoefAQ15,
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(q15_t*)realCoefBQ15,
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&arm_cfft_sR_q15_len2048
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};
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const arm_rfft_instance_q15 arm_rfft_sR_q15_len8192 = {
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8192U,
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0,
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1,
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1U,
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(q15_t*)realCoefAQ15,
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(q15_t*)realCoefBQ15,
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&arm_cfft_sR_q15_len4096
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};
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