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0.2.1 fast_math
This commit is contained in:
rob tillaart
parent
dd4a0dbe71
commit
a1971acf79
@ -6,6 +6,16 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
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and this project adheres to [Semantic Versioning](http://semver.org/).
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## [0.2.1] - 2022-12
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- add divmod3()
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- add divmod5()
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- add divmod12(), divmod24(), divmod60() - time related.
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- update ping2cm(), ping2mm()
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- update ping2cm32(), ping2mm32()
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- add ping2quarter();
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- add ping2inch_tempF(duration, Fahrenheit);
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## [0.2.0] - 2022-10-29
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- initial release as library
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- add examples
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@ -53,10 +53,10 @@ Backgrounder - https://forum.arduino.cc/t/faster-dec2bcd-routine-especial-for-rt
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Indicative performance Arduino UNO.
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| function | us | factor | notes |
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|:----------------|:------:|:-------:|:-------:|
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|:----------------|:------:|:-------:|:--------|
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| dec2bcd (ref) | 5.88 | 1.0 | 100 iterations
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| dec2bcd | 1.04 | 4.8 |
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| dec2bcdRTC | 0.88 | 5.7 |
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| dec2bcdRTC | 0.88 | 5.7 | range 0..68
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| | | |
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| bcd2dec (ref) | 5.96 | 1.0 |
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| bcd2dec | 2.20 | 2.7 |
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@ -65,22 +65,39 @@ Indicative performance Arduino UNO.
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### DIV
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- **void divmod10(uint32_t in, uint32_t \*div, uint8_t \*mod)**
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function calculates both divide and modulo 10 faster than the default / 10 and % 10.
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- calculates both divide and modulo 10 faster than the default / 10 and % 10.
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This function is very useful for extracting the individual digits.
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Typical use is print digits on a display, in a file or send them as ASCII.
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The divmod10() function is very useful for extracting the individual digits.
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Typical use is to print digits on a display, in a file or send them as ASCII over a network.
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Indicative performance Arduino UNO.
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| function | us | factor | notes |
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|:-----------|:------:|:-------:|:-------:|
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|:-----------|:------:|:-------:|:--------|
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| i % 10 | 38.2 | 1.0 |
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| i / 10 | 38.1 | 1.0 |
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| divmod10 | 9.1 | 4.1 |
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| divmod10 | 9.1 | 4.1 |
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Note that for printing the gain in time per digit is 65 us.
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E.g. for a 4 digit number this adds up to ~quarter millisecond.
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Backgrounder - https://forum.arduino.cc/t/divmod10-a-fast-replacement-for-10-and-10-unsigned/163586
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Note: For every element of N (natural numbers) one could develop a divmodN() function.
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- **void divmod3(uint32_t in, uint32_t \*div, uint8_t \*mod)** used by divmod12/24
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- **void divmod5(uint32_t in, uint32_t \*div, uint8_t \*mod)**
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- **void divmod12(uint32_t in, uint32_t \*div, uint8_t \*mod)** for hours
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- **void divmod24(uint32_t in, uint32_t \*div, uint8_t \*mod)** for hours
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- **void divmod60(uint32_t in, uint32_t \*div, uint8_t \*mod)** for minutes seconds
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For every element of N (natural numbers) one could develop a divmodN() function.
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The idea is to split the fraction 1/N into a sum of selected 1/(2^n) so the division
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becomes a series of adds and shifts.
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Sometimes there are patterns that can be optimized even more.
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Furthermore for limited ranges a division can be replaced by a single multiply shift pair.
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### PING
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@ -102,34 +119,55 @@ The functions assume a speed of sound of 340 m/sec.
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16 bit interface
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- **uint16_t ping2cm(uint16_t in)**
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- **uint16_t ping2mm(uint16_t in)**
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- **uint16_t ping2inch(uint16_t in)**
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- **uint16_t ping2sixteenths(uint16_t in)**
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32 bit interface
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- **uint32_t ping2cm32(uint32_t in)**
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- **uint32_t ping2mm32(uint32_t in)**
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- **uint32_t ping2cm32(uint32_t in)** for lengths > 10 meter
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- **uint32_t ping2mm32(uint32_t in)** for lengths > 10 meter
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Performance wise the 32 bit versions have a gain ~10%.
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#### temperature corrected
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- **float ping2cm_tempC(uint16_t duration, int Celsius)** temperature corrected speed of sound.
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- duration in us, temperature in Celsius.
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- this function is relative slow, a faster version is not tested.
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- **float ping2inch_tempC(uint16_t duration, int Celsius)** temperature corrected speed of sound.
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Imperial
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- **uint16_t ping2inch(uint16_t in)**
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- **uint16_t ping2quarter(uint16_t in)**
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- **uint16_t ping2sixteenths(uint16_t in)**
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Indicative performance Arduino UNO.
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| function | us | factor | notes |
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|:------------------|:------:|:-------:|:-------:|
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| us / 29 (ref) | 38.1 | 1.0 | sos == 345 m/s (integer only)
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| us \* 0.0345 | 18.5 | 2.0 |
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|:------------------|:------:|:-------:|:--------|
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| us / 29 (ref) | 38.3 | 1.0 | sos == 345 m/s (integer only)
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| us \* 0.0345 | 18.5 | 2.0 | sos == 345 m/s
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| ping2cm | 3.08 | 12.4 | sos == 340 m/s
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| ping2mm | 5.66 | 6.7 | sos == 340 m/s
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| ping2cm_tempC | 36.8 | 1.0 | adds temperature correction.
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| | | |
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| ping2inch | 3.90 | 9.8 | not as exact as inches are rather large units
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| ping2sixteenths | 8.11 | 4.8 | way more accurate than inches
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| ping2inch | 4.34 | 8.8 | not precise as inches are rather large units
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| ping2quarter | 7.55 | 5.0 | in between
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| ping2sixteenths | 8.55 | 4.4 | way more accurate than inches
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#### temperature corrected
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Instead of taking a fixed value a temperature corrected speed of sound will
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be 0-5% more accurate. Of course this depends on the temperature.
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The temperature is in whole degrees C or F.
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- **float ping2cm_tempC(uint16_t duration, int Celsius)**
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- duration in us, temperature in Celsius.
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- this function is relative slow, a faster version is not tested.
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- **float ping2inch_tempC(uint16_t duration, int Celsius)**
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- **float ping2inch_tempF(uint16_t duration, int Fahrenheit)**
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Indicative performance Arduino UNO.
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| function | us | factor | notes |
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|:------------------|:------:|:-------:|:--------|
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| normal division | 38.3 | 1.0 | not Temperature corrected
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| ping2cm_tempC | 17.2 | 2.2 |
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| ping2inch_tempC | 16.6 | 2.3 |
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| ping2inch_tempF | 16.4 | 2.3 |
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### polynome
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@ -158,33 +196,31 @@ can be tuned (runtime).
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- unit tests
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- or examples that test a lot.
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- examples
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- check output examples.
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- keep investigating faster versions.
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- divmod performance table other versions
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#### could
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- split up in multiple .h files, one per group.
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- fast_math.h includes all individual .h files.
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- There are several divide functions to be included.
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div3(), div5(), div7(), div10(), mod10()
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- There are several divide functions to be included?
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div3(), div5(), div7(), div10() depends on application.
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These need more testing (range)
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- constants?
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- GOLDEN_RATIO 1.61803398875
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- check temperature corrected float?
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#### TODO Functions
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DIV
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- **uint16_t divmod10()** 16 bit overload version
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- **uint32_t div10(x, \*d)** would be a bit faster
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- **uint16_t divmod10()** 16 bit overload version ?
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- **uint32_t div10(x, \*d)** would be a bit faster than divmod10()
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- **uint32_t mod10(x, \*m)** would be a bit faster too
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- clock
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- **divmod24** == div3 >>3 (minutes to days)
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- **divmod12** == div3 >>2
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- **divmod60** == div15 >>2 of div5 div3 >>2 (seconds to minutes + minutes to hours)
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- **div7** days - weeks.
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PING
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- **float ping2inch_tempF(uint16_t in, int Fahrenheit)**
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- **uint32_t ping2inch(uint32_t in)** + sixteenth
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- **uint32_t ping2sixteenth(uint32_t in)**
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- **div7()** days - weeks.
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BCD
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- **uint16_t dec2bcd()** + 32 bit + back?
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@ -0,0 +1,23 @@
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UNO
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1.8.19
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divmod12_performance.ino
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FASTMATH_LIB_VERSION: 0.2.0
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div + mod: 48 16807 1400 7
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divmod12: 24 16807 1400 7
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Test 0 .. 1 million (1 minute UNO)
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0
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100000
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200000
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300000
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400000
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500000
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600000
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700000
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800000
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900000
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1000000
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61147540
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done...
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@ -0,0 +1,23 @@
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UNO
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1.8.19
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divmod12_performance.ino
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FASTMATH_LIB_VERSION: 0.2.1
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div + mod: 48 16807 1400 7
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divmod12: 24 16807 1400 7
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Test 0 .. 1 million (1 minute UNO)
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0
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100000
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200000
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300000
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400000
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500000
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600000
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700000
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800000
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900000
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1000000
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61147540
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done...
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@ -0,0 +1,88 @@
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//
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// FILE: divmod12_performance.ino
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// AUTHOR: Rob Tillaart
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// PURPOSE: divmod12 performance test
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// URL: https://github.com/RobTillaart/fast_math
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#include "Arduino.h"
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#include "fast_math.h"
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uint32_t start, stop;
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uint32_t x, d;
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uint8_t m;
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void setup()
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{
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Serial.begin(115200);
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Serial.println();
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Serial.println(__FILE__);
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Serial.print("FASTMATH_LIB_VERSION: ");
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Serial.println(FASTMATH_LIB_VERSION);
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Serial.println();
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delay(1000);
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x = random(2000000000ULL);
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start = micros();
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d = x / 12;
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m = x % 12;
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stop = micros();
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Serial.print("div + mod: ");
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Serial.print("\t");
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Serial.print(stop - start);
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Serial.print("\t");
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Serial.print(x);
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Serial.print("\t");
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Serial.print(d);
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Serial.print("\t");
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Serial.print(m);
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Serial.print("\n");
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delay(100);
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start = micros();
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divmod12(x, &d, &m);
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stop = micros();
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Serial.print("divmod12: ");
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Serial.print("\t");
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Serial.print(stop - start);
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Serial.print("\t");
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Serial.print(x);
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Serial.print("\t");
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Serial.print(d);
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Serial.print("\t");
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Serial.print(m);
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Serial.print("\n");
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delay(100);
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Serial.println("\nTest 0 .. 1 million (1 minute UNO)");
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start = micros();
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for (uint32_t x = 0; x <= 1000000; x++)
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{
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if (x % 100000 == 0) Serial.println(x);
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divmod12(x, &d, &m);
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if ( (x != d*12 +m) || (m > 11))
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{
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Serial.print(x);
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Serial.print("\t");
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Serial.print(d);
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Serial.print("\t");
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Serial.print(m);
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Serial.print("\n");
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}
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}
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stop = micros();
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Serial.print(stop - start);
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Serial.print("\n");
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Serial.println("done...");
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}
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void loop()
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{
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}
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// -- END OF FILE --
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@ -0,0 +1,23 @@
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UNO
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1.8.19
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divmod24_performance.ino
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FASTMATH_LIB_VERSION: 0.2.1
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div + mod: 48 16807 700 7
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divmod24: 24 16807 700 7
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Test 0 .. 1 million (1 minute UNO)
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0
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100000
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200000
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300000
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400000
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500000
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600000
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700000
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800000
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900000
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1000000
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61587648
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done...
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@ -0,0 +1,88 @@
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//
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// FILE: divmod24_performance.ino
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// AUTHOR: Rob Tillaart
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// PURPOSE: divmod24 performance test
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// URL: https://github.com/RobTillaart/fast_math
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#include "Arduino.h"
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#include "fast_math.h"
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uint32_t start, stop;
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uint32_t x, d;
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uint8_t m;
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void setup()
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{
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Serial.begin(115200);
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Serial.println();
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Serial.println(__FILE__);
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Serial.print("FASTMATH_LIB_VERSION: ");
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Serial.println(FASTMATH_LIB_VERSION);
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Serial.println();
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delay(1000);
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x = random(2000000000ULL);
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start = micros();
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d = x / 24;
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m = x % 24;
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stop = micros();
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Serial.print("div + mod: ");
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Serial.print("\t");
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Serial.print(stop - start);
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Serial.print("\t");
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Serial.print(x);
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Serial.print("\t");
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Serial.print(d);
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Serial.print("\t");
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Serial.print(m);
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Serial.print("\n");
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delay(100);
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start = micros();
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divmod24(x, &d, &m);
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stop = micros();
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Serial.print("divmod24: ");
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Serial.print("\t");
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Serial.print(stop - start);
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Serial.print("\t");
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Serial.print(x);
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Serial.print("\t");
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Serial.print(d);
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Serial.print("\t");
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Serial.print(m);
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Serial.print("\n");
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delay(100);
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Serial.println("\nTest 0 .. 1 million (1 minute UNO)");
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start = micros();
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for (uint32_t x = 0; x <= 1000000; x++)
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{
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if (x % 100000 == 0) Serial.println(x);
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divmod24(x, &d, &m);
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if ( (x != d*24 +m) || (m > 23))
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{
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Serial.print(x);
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Serial.print("\t");
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Serial.print(d);
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Serial.print("\t");
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Serial.print(m);
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Serial.print("\n");
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}
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}
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stop = micros();
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Serial.print(stop - start);
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Serial.print("\n");
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Serial.println("done...");
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}
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void loop()
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{
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}
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// -- END OF FILE --
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@ -0,0 +1,23 @@
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UNO
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1.8.19
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divmod3_performance.ino
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FASTMATH_LIB_VERSION: 0.2.0
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div + mod: 44 16807 5602 1
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divmod3: 24 16807 5602 1
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Test 0 .. 1 million (1 minute UNO, < 1second ESP32)
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0
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100000
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200000
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300000
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400000
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500000
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600000
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700000
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800000
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900000
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1000000
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61210540
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done...
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@ -0,0 +1,24 @@
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UNO
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1.8.19
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divmod3_performance.ino
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FASTMATH_LIB_VERSION: 0.2.1
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div + mod: 44 16807 5602 1
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divmod3: 20 16807 5602 1
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Test 0 .. 1 million (1 minute UNO, < 1second ESP32)
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0
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100000
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200000
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300000
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400000
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500000
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600000
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700000
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800000
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900000
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1000000
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58255512
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done...
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@ -0,0 +1,88 @@
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//
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// FILE: divmod3_performance.ino
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// AUTHOR: Rob Tillaart
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// PURPOSE: divmod3 performance test
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// URL: https://github.com/RobTillaart/fast_math
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#include "Arduino.h"
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#include "fast_math.h"
|
||||
|
||||
|
||||
uint32_t start, stop;
|
||||
uint32_t x, d;
|
||||
uint8_t m;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
Serial.println();
|
||||
Serial.println(__FILE__);
|
||||
Serial.print("FASTMATH_LIB_VERSION: ");
|
||||
Serial.println(FASTMATH_LIB_VERSION);
|
||||
Serial.println();
|
||||
delay(1000);
|
||||
|
||||
x = random(2000000000ULL);
|
||||
start = micros();
|
||||
d = x / 3;
|
||||
m = x % 3;
|
||||
stop = micros();
|
||||
Serial.print("div + mod: ");
|
||||
Serial.print("\t");
|
||||
Serial.print(stop - start);
|
||||
Serial.print("\t");
|
||||
Serial.print(x);
|
||||
Serial.print("\t");
|
||||
Serial.print(d);
|
||||
Serial.print("\t");
|
||||
Serial.print(m);
|
||||
Serial.print("\n");
|
||||
delay(100);
|
||||
|
||||
start = micros();
|
||||
divmod3(x, &d, &m);
|
||||
stop = micros();
|
||||
Serial.print("divmod3: ");
|
||||
Serial.print("\t");
|
||||
Serial.print(stop - start);
|
||||
Serial.print("\t");
|
||||
Serial.print(x);
|
||||
Serial.print("\t");
|
||||
Serial.print(d);
|
||||
Serial.print("\t");
|
||||
Serial.print(m);
|
||||
Serial.print("\n");
|
||||
delay(100);
|
||||
|
||||
Serial.println("\nTest 0 .. 1 million (1 minute UNO, < 1second ESP32)");
|
||||
start = micros();
|
||||
for (uint32_t x = 0; x <= 1000000; x++)
|
||||
{
|
||||
if (x % 100000 == 0) Serial.println(x);
|
||||
divmod3(x, &d, &m);
|
||||
if ( (x != d*3 +m) || (m > 2))
|
||||
{
|
||||
Serial.print(x);
|
||||
Serial.print("\t");
|
||||
Serial.print(d);
|
||||
Serial.print("\t");
|
||||
Serial.print(m);
|
||||
Serial.print("\n");
|
||||
}
|
||||
}
|
||||
stop = micros();
|
||||
Serial.print(stop - start);
|
||||
Serial.print("\n");
|
||||
|
||||
Serial.println("done...");
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
@ -0,0 +1,23 @@
|
||||
UNO
|
||||
1.8.19
|
||||
|
||||
divmod5_performance.ino
|
||||
FASTMATH_LIB_VERSION: 0.2.0
|
||||
|
||||
div + mod: 40 16807 3361 2
|
||||
divmod5: 20 16807 3361 2
|
||||
|
||||
Test 0 .. 1 million (1 minute UNO)
|
||||
0
|
||||
100000
|
||||
200000
|
||||
300000
|
||||
400000
|
||||
500000
|
||||
600000
|
||||
700000
|
||||
800000
|
||||
900000
|
||||
1000000
|
||||
60581680
|
||||
done...
|
||||
@ -0,0 +1,23 @@
|
||||
UNO
|
||||
1.8.19
|
||||
|
||||
divmod5_performance.ino
|
||||
FASTMATH_LIB_VERSION: 0.2.1
|
||||
|
||||
div + mod: 40 16807 3361 2
|
||||
divmod5: 20 16807 3361 2
|
||||
|
||||
Test 0 .. 1 million (1 minute UNO)
|
||||
0
|
||||
100000
|
||||
200000
|
||||
300000
|
||||
400000
|
||||
500000
|
||||
600000
|
||||
700000
|
||||
800000
|
||||
900000
|
||||
1000000
|
||||
58506880
|
||||
done...
|
||||
@ -0,0 +1,88 @@
|
||||
//
|
||||
// FILE: divmod5_performance.ino
|
||||
// AUTHOR: Rob Tillaart
|
||||
// PURPOSE: divmod5 performance test
|
||||
// URL: https://github.com/RobTillaart/fast_math
|
||||
|
||||
|
||||
#include "Arduino.h"
|
||||
#include "fast_math.h"
|
||||
|
||||
|
||||
uint32_t start, stop;
|
||||
uint32_t x, d;
|
||||
uint8_t m;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
Serial.println();
|
||||
Serial.println(__FILE__);
|
||||
Serial.print("FASTMATH_LIB_VERSION: ");
|
||||
Serial.println(FASTMATH_LIB_VERSION);
|
||||
Serial.println();
|
||||
delay(1000);
|
||||
|
||||
x = random(2000000000ULL);
|
||||
start = micros();
|
||||
d = x / 5;
|
||||
m = x % 5;
|
||||
stop = micros();
|
||||
Serial.print("div + mod: ");
|
||||
Serial.print("\t");
|
||||
Serial.print(stop - start);
|
||||
Serial.print("\t");
|
||||
Serial.print(x);
|
||||
Serial.print("\t");
|
||||
Serial.print(d);
|
||||
Serial.print("\t");
|
||||
Serial.print(m);
|
||||
Serial.print("\n");
|
||||
delay(100);
|
||||
|
||||
start = micros();
|
||||
divmod5(x, &d, &m);
|
||||
stop = micros();
|
||||
Serial.print("divmod5: ");
|
||||
Serial.print("\t");
|
||||
Serial.print(stop - start);
|
||||
Serial.print("\t");
|
||||
Serial.print(x);
|
||||
Serial.print("\t");
|
||||
Serial.print(d);
|
||||
Serial.print("\t");
|
||||
Serial.print(m);
|
||||
Serial.print("\n");
|
||||
delay(100);
|
||||
|
||||
Serial.println("\nTest 0 .. 1 million (1 minute UNO)");
|
||||
start = micros();
|
||||
for (uint32_t x = 0; x <= 1000000; x++)
|
||||
{
|
||||
if (x % 100000 == 0) Serial.println(x);
|
||||
divmod5(x, &d, &m);
|
||||
if ( (x != d*5 +m) || (m > 4))
|
||||
{
|
||||
Serial.print(x);
|
||||
Serial.print("\t");
|
||||
Serial.print(d);
|
||||
Serial.print("\t");
|
||||
Serial.print(m);
|
||||
Serial.print("\n");
|
||||
}
|
||||
}
|
||||
stop = micros();
|
||||
Serial.print(stop - start);
|
||||
Serial.print("\n");
|
||||
|
||||
Serial.println("done...");
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
@ -0,0 +1,23 @@
|
||||
UNO
|
||||
1.8.19
|
||||
|
||||
divmod60_performance.ino
|
||||
FASTMATH_LIB_VERSION: 0.2.1
|
||||
|
||||
div + mod: 48 16807 280 7
|
||||
divmod60: 12 16807 280 7
|
||||
|
||||
Test 0 .. 1 million (1 minute UNO)
|
||||
0
|
||||
100000
|
||||
200000
|
||||
300000
|
||||
400000
|
||||
500000
|
||||
600000
|
||||
700000
|
||||
800000
|
||||
900000
|
||||
1000000
|
||||
52168832
|
||||
done...
|
||||
@ -0,0 +1,88 @@
|
||||
//
|
||||
// FILE: divmod60_performance.ino
|
||||
// AUTHOR: Rob Tillaart
|
||||
// PURPOSE: divmod60 performance test
|
||||
// URL: https://github.com/RobTillaart/fast_math
|
||||
|
||||
|
||||
#include "Arduino.h"
|
||||
#include "fast_math.h"
|
||||
|
||||
|
||||
uint32_t start, stop;
|
||||
uint32_t x, d;
|
||||
uint8_t m;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
Serial.println();
|
||||
Serial.println(__FILE__);
|
||||
Serial.print("FASTMATH_LIB_VERSION: ");
|
||||
Serial.println(FASTMATH_LIB_VERSION);
|
||||
Serial.println();
|
||||
delay(1000);
|
||||
|
||||
x = random(2000000000ULL);
|
||||
start = micros();
|
||||
d = x / 60;
|
||||
m = x % 60;
|
||||
stop = micros();
|
||||
Serial.print("div + mod: ");
|
||||
Serial.print("\t");
|
||||
Serial.print(stop - start);
|
||||
Serial.print("\t");
|
||||
Serial.print(x);
|
||||
Serial.print("\t");
|
||||
Serial.print(d);
|
||||
Serial.print("\t");
|
||||
Serial.print(m);
|
||||
Serial.print("\n");
|
||||
delay(100);
|
||||
|
||||
start = micros();
|
||||
divmod60(x, &d, &m);
|
||||
stop = micros();
|
||||
Serial.print("divmod60: ");
|
||||
Serial.print("\t");
|
||||
Serial.print(stop - start);
|
||||
Serial.print("\t");
|
||||
Serial.print(x);
|
||||
Serial.print("\t");
|
||||
Serial.print(d);
|
||||
Serial.print("\t");
|
||||
Serial.print(m);
|
||||
Serial.print("\n");
|
||||
delay(100);
|
||||
|
||||
Serial.println("\nTest 0 .. 1 million (1 minute UNO)");
|
||||
start = micros();
|
||||
for (uint32_t x = 0; x <= 1000000; x++)
|
||||
{
|
||||
if (x % 100000 == 0) Serial.println(x);
|
||||
divmod60(x, &d, &m);
|
||||
if ( (x != d*60 +m) || (m > 59))
|
||||
{
|
||||
Serial.print(x);
|
||||
Serial.print("\t");
|
||||
Serial.print(d);
|
||||
Serial.print("\t");
|
||||
Serial.print(m);
|
||||
Serial.print("\n");
|
||||
}
|
||||
}
|
||||
stop = micros();
|
||||
Serial.print(stop - start);
|
||||
Serial.print("\n");
|
||||
|
||||
Serial.println("done...");
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
@ -0,0 +1,79 @@
|
||||
ping2inch.ino
|
||||
FASTMATH_LIB_VERSION: 0.2.1
|
||||
|
||||
ping2inch ref 38.1696
|
||||
ping2inch fast 4.3384
|
||||
ping2sixteenths ref 38.9048
|
||||
ping2sixteenths fast 8.5508
|
||||
|
||||
verify I
|
||||
0 0.0 2 inf 0 2 inf
|
||||
10 0.1 2 14.94 2 3 1.40
|
||||
20 0.3 2 7.47 4 5 1.17
|
||||
30 0.4 2 4.98 6 6 0.93
|
||||
40 0.5 2 3.74 9 9 1.05
|
||||
50 0.7 2 2.99 11 11 1.03
|
||||
60 0.8 2 2.49 13 12 0.93
|
||||
70 0.9 2 2.13 15 15 1.00
|
||||
80 1.1 2 1.87 17 18 1.05
|
||||
90 1.2 2 1.66 19 19 0.99
|
||||
100 1.3 2 1.49 21 21 0.98
|
||||
110 1.5 2 1.36 24 22 0.93
|
||||
120 1.6 2 1.25 26 25 0.97
|
||||
130 1.7 3 1.72 28 29 1.04
|
||||
140 1.9 3 1.60 30 30 1.00
|
||||
150 2.0 3 1.49 32 32 1.00
|
||||
160 2.1 3 1.40 34 35 1.02
|
||||
170 2.3 3 1.32 36 36 0.99
|
||||
180 2.4 3 1.25 39 38 0.99
|
||||
190 2.5 3 1.18 41 39 0.96
|
||||
|
||||
verify II
|
||||
200 2.7 3 1.12 43 43 1.00
|
||||
250 3.3 3 0.90 54 52 0.97
|
||||
300 4.0 5 1.25 64 63 0.98
|
||||
350 4.7 5 1.07 75 73 0.97
|
||||
400 5.4 6 1.12 86 86 1.00
|
||||
450 6.0 6 1.00 96 96 1.00
|
||||
500 6.7 6 0.90 107 105 0.98
|
||||
550 7.4 8 1.09 118 117 0.99
|
||||
600 8.0 8 1.00 129 128 1.00
|
||||
650 8.7 9 1.03 139 139 1.00
|
||||
700 9.4 9 0.96 150 148 0.99
|
||||
750 10.0 9 0.90 161 158 0.98
|
||||
800 10.7 11 1.03 171 171 1.00
|
||||
850 11.4 11 0.97 182 181 0.99
|
||||
900 12.0 12 1.00 193 192 1.00
|
||||
950 12.7 12 0.94 203 201 0.99
|
||||
|
||||
verify III
|
||||
1000 13.4 12 0.90 214 212 0.99
|
||||
2000 26.8 25 0.93 428 427 1.00
|
||||
3000 40.2 39 0.97 643 640 1.00
|
||||
4000 53.5 52 0.97 857 855 1.00
|
||||
5000 66.9 66 0.99 1071 1070 1.00
|
||||
6000 80.3 78 0.97 1285 1283 1.00
|
||||
7000 93.7 92 0.98 1499 1497 1.00
|
||||
8000 107.1 105 0.98 1713 1712 1.00
|
||||
9000 120.5 120 1.00 1928 1926 1.00
|
||||
10000 133.9 133 0.99 2142 2141 1.00
|
||||
11000 147.2 145 0.98 2356 2353 1.00
|
||||
12000 160.6 158 0.98 2570 2568 1.00
|
||||
13000 174.0 172 0.99 2784 2783 1.00
|
||||
14000 187.4 185 0.99 2998 2997 1.00
|
||||
15000 200.8 199 0.99 3213 3211 1.00
|
||||
16000 214.2 212 0.99 3427 3426 1.00
|
||||
17000 227.6 227 1.00 3641 3640 1.00
|
||||
18000 240.9 240 1.00 3855 3855 1.00
|
||||
19000 254.3 254 1.00 4069 4068 1.00
|
||||
20000 267.7 267 1.00 4283 4283 1.00
|
||||
21000 281.1 281 1.00 4498 4498 1.00
|
||||
22000 294.5 292 0.99 4712 4710 1.00
|
||||
23000 307.9 306 0.99 4926 4924 1.00
|
||||
24000 321.3 319 0.99 5140 5139 1.00
|
||||
25000 334.6 334 1.00 5354 5353 1.00
|
||||
26000 348.0 347 1.00 5569 5568 1.00
|
||||
27000 361.4 360 1.00 5783 5780 1.00
|
||||
28000 374.8 373 1.00 5997 5995 1.00
|
||||
29000 388.2 387 1.00 6211 6210 1.00
|
||||
30000 401.6 400 1.00 6425 6424 1.00
|
||||
@ -0,0 +1,134 @@
|
||||
//
|
||||
// FILE: ping2_temp_compensated.ino
|
||||
// AUTHOR: Rob Tillaart
|
||||
// DATE: 2022-12-25
|
||||
// PUPROSE: test fast routines for PING))) sensor
|
||||
// URL: https://github.com/RobTillaart/fast_math
|
||||
|
||||
|
||||
#include "Arduino.h"
|
||||
#include "fast_math.h"
|
||||
|
||||
|
||||
uint32_t start, stop;
|
||||
volatile uint32_t q = 0;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
Serial.println();
|
||||
Serial.println(__FILE__);
|
||||
Serial.print("FASTMATH_LIB_VERSION: ");
|
||||
Serial.println(FASTMATH_LIB_VERSION);
|
||||
Serial.println();
|
||||
delay(10);
|
||||
|
||||
Serial.print("ping2cm ref\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
for (uint16_t i = 0; i < 10000; i++)
|
||||
{
|
||||
q = i / 29.41176;
|
||||
}
|
||||
stop = micros();
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(10);
|
||||
|
||||
Serial.print("ping2cm_tempC\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
for (uint16_t i = 0; i < 10000; i++)
|
||||
{
|
||||
q = ping2cm_tempC(i, 20);
|
||||
}
|
||||
stop = micros();
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(10);
|
||||
|
||||
|
||||
|
||||
Serial.print("ping2inch ref\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
for (uint16_t i = 0; i < 10000; i++)
|
||||
{
|
||||
q = i / 74.70588235;
|
||||
}
|
||||
stop = micros();
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(10);
|
||||
|
||||
Serial.print("ping2inch_tempC\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
for (uint16_t i = 0; i < 10000; i++)
|
||||
{
|
||||
q = ping2inch_tempC(i, 20);
|
||||
}
|
||||
stop = micros();
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(10);
|
||||
|
||||
Serial.print("ping2inch_tempF\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
for (uint16_t i = 0; i < 10000; i++)
|
||||
{
|
||||
q = ping2inch_tempC(i, 68);
|
||||
}
|
||||
stop = micros();
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(10);
|
||||
|
||||
|
||||
Serial.println("\n==============================================");
|
||||
|
||||
Serial.println("\ndelta ping2cm_tempC");
|
||||
for (uint16_t temp = 0; temp < 40; temp++)
|
||||
{
|
||||
Serial.print(temp);
|
||||
Serial.print("\t");
|
||||
Serial.print(15000 / 29.41176, 1);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2cm_tempC(15000, temp));
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2cm_tempC(15000, temp) / (15000 / 29.41176) );
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
Serial.println("\ndelta ping2inch_tempC");
|
||||
for (uint16_t temp = 0; temp < 40; temp++)
|
||||
{
|
||||
Serial.print(temp);
|
||||
Serial.print("\t");
|
||||
Serial.print(15000 / 74.70588235, 1);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2inch_tempC(15000, temp));
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2inch_tempC(15000, temp) / (15000 / 74.70588235));
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
|
||||
Serial.println("\ndelta ping2inch_tempF");
|
||||
for (uint16_t temp = 32; temp < 100; temp += 2)
|
||||
{
|
||||
Serial.print(temp);
|
||||
Serial.print("\t");
|
||||
Serial.print(15000 / 74.70588235, 1);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2inch_tempF(15000, temp));
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2inch_tempF(15000, temp) / (15000 / 74.70588235));
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
// -- END OF FILE --
|
||||
164
libraries/fast_math/examples/ping2cm/performance_0.2.1.txt
Normal file
164
libraries/fast_math/examples/ping2cm/performance_0.2.1.txt
Normal file
@ -0,0 +1,164 @@
|
||||
UNO
|
||||
1.8.19
|
||||
|
||||
|
||||
ping2cm.ino
|
||||
FASTMATH_LIB_VERSION: 0.2.1
|
||||
|
||||
pingRef 38.7176
|
||||
ping2cm 5.8472
|
||||
ping2mm 7.4188
|
||||
ping2cm32 35.7748
|
||||
ping2mm32 34.8948
|
||||
|
||||
=======================================
|
||||
|
||||
verify - 16 bit
|
||||
100 3.4 5 1.47 34.0 35 1.03
|
||||
110 3.7 5 1.34 37.4 37 0.99
|
||||
121 4.1 5 1.22 41.1 41 1.00
|
||||
133 4.5 6 1.33 45.2 47 1.04
|
||||
146 5.0 6 1.21 49.6 51 1.03
|
||||
160 5.4 7 1.29 54.4 56 1.03
|
||||
176 6.0 7 1.17 59.8 61 1.02
|
||||
193 6.6 8 1.22 65.6 67 1.02
|
||||
212 7.2 8 1.11 72.1 73 1.01
|
||||
233 7.9 9 1.14 79.2 79 1.00
|
||||
256 8.7 10 1.15 87.0 90 1.03
|
||||
281 9.6 10 1.05 95.5 97 1.02
|
||||
309 10.5 11 1.05 105.1 106 1.01
|
||||
339 11.5 12 1.04 115.3 116 1.01
|
||||
372 12.6 13 1.03 126.5 127 1.00
|
||||
409 13.9 14 1.01 139.1 140 1.01
|
||||
449 15.3 16 1.05 152.7 154 1.01
|
||||
493 16.8 17 1.01 167.6 167 1.00
|
||||
542 18.4 19 1.03 184.3 185 1.00
|
||||
596 20.3 21 1.04 202.6 204 1.01
|
||||
655 22.3 23 1.03 222.7 223 1.00
|
||||
720 24.5 25 1.02 244.8 246 1.00
|
||||
792 26.9 27 1.00 269.3 271 1.01
|
||||
871 29.6 30 1.01 296.1 296 1.00
|
||||
958 32.6 32 0.98 325.7 325 1.00
|
||||
1053 35.8 36 1.01 358.0 359 1.00
|
||||
1158 39.4 40 1.02 393.7 395 1.00
|
||||
1273 43.3 43 0.99 432.8 432 1.00
|
||||
1400 47.6 47 0.99 476.0 476 1.00
|
||||
1540 52.4 53 1.01 523.6 526 1.00
|
||||
1694 57.6 57 0.99 576.0 576 1.00
|
||||
1863 63.3 63 0.99 633.4 634 1.00
|
||||
2049 69.7 71 1.02 696.7 699 1.00
|
||||
2253 76.6 77 1.01 766.0 766 1.00
|
||||
2478 84.3 84 1.00 842.5 842 1.00
|
||||
2725 92.7 93 1.00 926.5 927 1.00
|
||||
2997 101.9 101 0.99 1019.0 1019 1.00
|
||||
3296 112.1 112 1.00 1120.6 1121 1.00
|
||||
3625 123.3 123 1.00 1232.5 1233 1.00
|
||||
3987 135.6 134 0.99 1355.6 1356 1.00
|
||||
4385 149.1 150 1.01 1490.9 1492 1.00
|
||||
4823 164.0 164 1.00 1639.8 1639 1.00
|
||||
5305 180.4 180 1.00 1803.7 1803 1.00
|
||||
5835 198.4 198 1.00 1983.9 1983 1.00
|
||||
6418 218.2 218 1.00 2182.1 2183 1.00
|
||||
7059 240.0 239 1.00 2400.1 2400 1.00
|
||||
7764 264.0 263 1.00 2639.8 2640 1.00
|
||||
8540 290.4 290 1.00 2903.6 2904 1.00
|
||||
9394 319.4 319 1.00 3194.0 3194 1.00
|
||||
10333 351.3 351 1.00 3513.2 3513 1.00
|
||||
11366 386.4 386 1.00 3864.4 3864 1.00
|
||||
12502 425.1 425 1.00 4250.7 4250 1.00
|
||||
13752 467.6 466 1.00 4675.7 4675 1.00
|
||||
15127 514.3 513 1.00 5143.2 5143 1.00
|
||||
16639 565.7 566 1.00 5657.3 5655 1.00
|
||||
18302 622.3 621 1.00 6222.7 6221 1.00
|
||||
20132 684.5 684 1.00 6844.9 6845 1.00
|
||||
22145 752.9 753 1.00 7529.3 7530 1.00
|
||||
24359 828.2 827 1.00 8282.1 8281 1.00
|
||||
26794 911.0 911 1.00 9110.0 9109 1.00
|
||||
29473 1002.1 1002 1.00 10020.8 10021 1.00
|
||||
|
||||
verify - 32 bit
|
||||
100 3.4 6 1.76 34.0 35 1.03
|
||||
110 3.7 6 1.60 37.4 37 0.99
|
||||
121 4.1 6 1.46 41.1 41 1.00
|
||||
133 4.5 7 1.55 45.2 47 1.04
|
||||
146 5.0 7 1.41 49.6 51 1.03
|
||||
160 5.4 8 1.47 54.4 56 1.03
|
||||
176 6.0 8 1.34 59.8 61 1.02
|
||||
193 6.6 9 1.37 65.6 67 1.02
|
||||
212 7.2 9 1.25 72.1 73 1.01
|
||||
233 7.9 10 1.26 79.2 79 1.00
|
||||
256 8.7 11 1.26 87.0 90 1.03
|
||||
281 9.6 11 1.15 95.5 97 1.02
|
||||
309 10.5 12 1.14 105.1 106 1.01
|
||||
339 11.5 13 1.13 115.3 116 1.01
|
||||
372 12.6 14 1.11 126.5 127 1.00
|
||||
409 13.9 15 1.08 139.1 140 1.01
|
||||
449 15.3 17 1.11 152.7 154 1.01
|
||||
493 16.8 18 1.07 167.6 167 1.00
|
||||
542 18.4 20 1.09 184.3 185 1.00
|
||||
596 20.3 22 1.09 202.6 204 1.01
|
||||
655 22.3 24 1.08 222.7 223 1.00
|
||||
720 24.5 26 1.06 244.8 246 1.00
|
||||
792 26.9 28 1.04 269.3 271 1.01
|
||||
871 29.6 31 1.05 296.1 296 1.00
|
||||
958 32.6 33 1.01 325.7 325 1.00
|
||||
1053 35.8 37 1.03 358.0 359 1.00
|
||||
1158 39.4 41 1.04 393.7 395 1.00
|
||||
1273 43.3 44 1.02 432.8 432 1.00
|
||||
1400 47.6 48 1.01 476.0 476 1.00
|
||||
1540 52.4 54 1.03 523.6 526 1.00
|
||||
1694 57.6 58 1.01 576.0 576 1.00
|
||||
1863 63.3 64 1.01 633.4 634 1.00
|
||||
2049 69.7 72 1.03 696.7 699 1.00
|
||||
2253 76.6 78 1.02 766.0 766 1.00
|
||||
2478 84.3 85 1.01 842.5 842 1.00
|
||||
2725 92.7 94 1.01 926.5 927 1.00
|
||||
2997 101.9 102 1.00 1019.0 1019 1.00
|
||||
3296 112.1 113 1.01 1120.6 1121 1.00
|
||||
3625 123.3 124 1.01 1232.5 1233 1.00
|
||||
3987 135.6 135 1.00 1355.6 1356 1.00
|
||||
4385 149.1 151 1.01 1490.9 1492 1.00
|
||||
4823 164.0 165 1.01 1639.8 1639 1.00
|
||||
5305 180.4 181 1.00 1803.7 1803 1.00
|
||||
5835 198.4 199 1.00 1983.9 1983 1.00
|
||||
6418 218.2 219 1.00 2182.1 2183 1.00
|
||||
7059 240.0 240 1.00 2400.1 2400 1.00
|
||||
7764 264.0 264 1.00 2639.8 2640 1.00
|
||||
8540 290.4 291 1.00 2903.6 2904 1.00
|
||||
9394 319.4 320 1.00 3194.0 3194 1.00
|
||||
10333 351.3 352 1.00 3513.2 3513 1.00
|
||||
11366 386.4 387 1.00 3864.4 3864 1.00
|
||||
12502 425.1 426 1.00 4250.7 4250 1.00
|
||||
13752 467.6 467 1.00 4675.7 4675 1.00
|
||||
15127 514.3 514 1.00 5143.2 5143 1.00
|
||||
16639 565.7 567 1.00 5657.3 5655 1.00
|
||||
18302 622.3 622 1.00 6222.7 6221 1.00
|
||||
20132 684.5 685 1.00 6844.9 6845 1.00
|
||||
22145 752.9 754 1.00 7529.3 7530 1.00
|
||||
24359 828.2 828 1.00 8282.1 8281 1.00
|
||||
26794 911.0 912 1.00 9110.0 9109 1.00
|
||||
29473 1002.1 1003 1.00 10020.8 10021 1.00
|
||||
32420 1102.3 1102 1.00 11022.8 11022 1.00
|
||||
35662 1212.5 1213 1.00 12125.1 12125 1.00
|
||||
39228 1333.8 1334 1.00 13337.5 13337 1.00
|
||||
43150 1467.1 1468 1.00 14671.0 14671 1.00
|
||||
47465 1613.8 1614 1.00 16138.1 16137 1.00
|
||||
52211 1775.2 1775 1.00 17751.7 17750 1.00
|
||||
57432 1952.7 1954 1.00 19526.9 19527 1.00
|
||||
63175 2148.0 2148 1.00 21479.5 21478 1.00
|
||||
69492 2362.7 2362 1.00 23627.3 23627 1.00
|
||||
76441 2599.0 2599 1.00 25989.9 25990 1.00
|
||||
84085 2858.9 2860 1.00 28588.9 28588 1.00
|
||||
92493 3144.8 3145 1.00 31447.6 31447 1.00
|
||||
101742 3459.2 3459 1.00 34592.3 34591 1.00
|
||||
111916 3805.1 3805 1.00 38051.4 38051 1.00
|
||||
123107 4185.6 4187 1.00 41856.4 41855 1.00
|
||||
135417 4604.2 4605 1.00 46041.8 46040 1.00
|
||||
148958 5064.6 5064 1.00 50645.7 50644 1.00
|
||||
163853 5571.0 5573 1.00 55710.0 55711 1.00
|
||||
180238 6128.1 6130 1.00 61280.9 61281 1.00
|
||||
198261 6740.9 6741 1.00 67408.7 67408 1.00
|
||||
218087 7415.0 7415 1.00 74149.6 74147 1.00
|
||||
239895 8156.4 8156 1.00 81564.3 81564 1.00
|
||||
263884 8972.1 8972 1.00 89720.6 89720 1.00
|
||||
290272 9869.2 9868 1.00 98692.5 98691 1.00
|
||||
@ -57,8 +57,31 @@ void setup()
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(100);
|
||||
|
||||
Serial.println("\nverify I");
|
||||
for (uint16_t i = 0; i < 200; i += 10)
|
||||
Serial.print("ping2cm32\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
for (uint16_t i = 0; i < 10000; i++)
|
||||
{
|
||||
q = ping2cm32(i);
|
||||
}
|
||||
stop = micros();
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(10);
|
||||
|
||||
Serial.print("ping2mm32\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
for (uint16_t i = 0; i < 10000; i++)
|
||||
{
|
||||
q = ping2mm32(i);
|
||||
}
|
||||
stop = micros();
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(100);
|
||||
|
||||
Serial.println("\n=======================================");
|
||||
Serial.println("\nverify - 16 bit - up to 10 meter");
|
||||
for (uint16_t i = 100; i < 30000; i *= 1.1)
|
||||
{
|
||||
Serial.print(i);
|
||||
Serial.print("\t");
|
||||
@ -73,47 +96,26 @@ void setup()
|
||||
Serial.print(ping2mm(i));
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2mm(i)) / (i * 0.34) );
|
||||
Serial.print("\t");
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
Serial.println("\nverify II");
|
||||
for (uint16_t i = 200; i < 1000; i += 50)
|
||||
{
|
||||
Serial.print(i);
|
||||
Serial.print("\t");
|
||||
Serial.print(i * 0.034, 1);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2cm(i));
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2cm(i)) / (i * 0.034) );
|
||||
Serial.print("\t\t");
|
||||
Serial.print(i * 0.34, 1);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2mm(i));
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2mm(i)) / (i * 0.34) );
|
||||
Serial.print("\t");
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
Serial.println("\nverify III");
|
||||
for (uint16_t i = 1000; i <= 10000; i += 500)
|
||||
Serial.println("\nverify - 32 bit - up to 100 meter");
|
||||
for (uint32_t i = 100; i <= 300000; i *= 1.1)
|
||||
{
|
||||
Serial.print(i);
|
||||
Serial.print("\t");
|
||||
Serial.print(i * 0.034, 1);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2cm(i));
|
||||
Serial.print(ping2cm32(i));
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2cm(i)) / (i * 0.034) );
|
||||
Serial.print((1.0 * ping2cm32(i)) / (i * 0.034) );
|
||||
Serial.print("\t\t");
|
||||
Serial.print(i * 0.34, 1);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2mm(i));
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2mm(i)) / (i * 0.34) );
|
||||
Serial.print(ping2mm32(i));
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2mm32(i)) / (i * 0.34) );
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
|
||||
79
libraries/fast_math/examples/ping2inch/performance_0.2.1.txt
Normal file
79
libraries/fast_math/examples/ping2inch/performance_0.2.1.txt
Normal file
@ -0,0 +1,79 @@
|
||||
ping2inch.ino
|
||||
FASTMATH_LIB_VERSION: 0.2.1
|
||||
|
||||
ping2inch ref 38.1696
|
||||
ping2inch fast 4.3384
|
||||
ping2sixteenths ref 38.9048
|
||||
ping2sixteenths fast 8.5508
|
||||
|
||||
verify I
|
||||
0 0.0 2 inf 0 2 inf
|
||||
10 0.1 2 14.94 2 3 1.40
|
||||
20 0.3 2 7.47 4 5 1.17
|
||||
30 0.4 2 4.98 6 6 0.93
|
||||
40 0.5 2 3.74 9 9 1.05
|
||||
50 0.7 2 2.99 11 11 1.03
|
||||
60 0.8 2 2.49 13 12 0.93
|
||||
70 0.9 2 2.13 15 15 1.00
|
||||
80 1.1 2 1.87 17 18 1.05
|
||||
90 1.2 2 1.66 19 19 0.99
|
||||
100 1.3 2 1.49 21 21 0.98
|
||||
110 1.5 2 1.36 24 22 0.93
|
||||
120 1.6 2 1.25 26 25 0.97
|
||||
130 1.7 3 1.72 28 29 1.04
|
||||
140 1.9 3 1.60 30 30 1.00
|
||||
150 2.0 3 1.49 32 32 1.00
|
||||
160 2.1 3 1.40 34 35 1.02
|
||||
170 2.3 3 1.32 36 36 0.99
|
||||
180 2.4 3 1.25 39 38 0.99
|
||||
190 2.5 3 1.18 41 39 0.96
|
||||
|
||||
verify II
|
||||
200 2.7 3 1.12 43 43 1.00
|
||||
250 3.3 3 0.90 54 52 0.97
|
||||
300 4.0 5 1.25 64 63 0.98
|
||||
350 4.7 5 1.07 75 73 0.97
|
||||
400 5.4 6 1.12 86 86 1.00
|
||||
450 6.0 6 1.00 96 96 1.00
|
||||
500 6.7 6 0.90 107 105 0.98
|
||||
550 7.4 8 1.09 118 117 0.99
|
||||
600 8.0 8 1.00 129 128 1.00
|
||||
650 8.7 9 1.03 139 139 1.00
|
||||
700 9.4 9 0.96 150 148 0.99
|
||||
750 10.0 9 0.90 161 158 0.98
|
||||
800 10.7 11 1.03 171 171 1.00
|
||||
850 11.4 11 0.97 182 181 0.99
|
||||
900 12.0 12 1.00 193 192 1.00
|
||||
950 12.7 12 0.94 203 201 0.99
|
||||
|
||||
verify III
|
||||
1000 13.4 12 0.90 214 212 0.99
|
||||
2000 26.8 25 0.93 428 427 1.00
|
||||
3000 40.2 39 0.97 643 640 1.00
|
||||
4000 53.5 52 0.97 857 855 1.00
|
||||
5000 66.9 66 0.99 1071 1070 1.00
|
||||
6000 80.3 78 0.97 1285 1283 1.00
|
||||
7000 93.7 92 0.98 1499 1497 1.00
|
||||
8000 107.1 105 0.98 1713 1712 1.00
|
||||
9000 120.5 120 1.00 1928 1926 1.00
|
||||
10000 133.9 133 0.99 2142 2141 1.00
|
||||
11000 147.2 145 0.98 2356 2353 1.00
|
||||
12000 160.6 158 0.98 2570 2568 1.00
|
||||
13000 174.0 172 0.99 2784 2783 1.00
|
||||
14000 187.4 185 0.99 2998 2997 1.00
|
||||
15000 200.8 199 0.99 3213 3211 1.00
|
||||
16000 214.2 212 0.99 3427 3426 1.00
|
||||
17000 227.6 227 1.00 3641 3640 1.00
|
||||
18000 240.9 240 1.00 3855 3855 1.00
|
||||
19000 254.3 254 1.00 4069 4068 1.00
|
||||
20000 267.7 267 1.00 4283 4283 1.00
|
||||
21000 281.1 281 1.00 4498 4498 1.00
|
||||
22000 294.5 292 0.99 4712 4710 1.00
|
||||
23000 307.9 306 0.99 4926 4924 1.00
|
||||
24000 321.3 319 0.99 5140 5139 1.00
|
||||
25000 334.6 334 1.00 5354 5353 1.00
|
||||
26000 348.0 347 1.00 5569 5568 1.00
|
||||
27000 361.4 360 1.00 5783 5780 1.00
|
||||
28000 374.8 373 1.00 5997 5995 1.00
|
||||
29000 388.2 387 1.00 6211 6210 1.00
|
||||
30000 401.6 400 1.00 6425 6424 1.00
|
||||
@ -48,6 +48,30 @@ void setup()
|
||||
delay(10);
|
||||
|
||||
|
||||
Serial.print("ping2quarter ref\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
for (uint16_t i = 0; i < 10000; i++)
|
||||
{
|
||||
q = i / 18.6764705875;
|
||||
}
|
||||
stop = micros();
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(10);
|
||||
|
||||
|
||||
Serial.print("ping2quarter fast\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
for (uint16_t i = 0; i < 10000; i++)
|
||||
{
|
||||
q = ping2quarter(i);
|
||||
}
|
||||
stop = micros();
|
||||
Serial.println((stop - start) / 10000.0, 4);
|
||||
delay(10);
|
||||
|
||||
|
||||
Serial.print("ping2sixteenths ref\t");
|
||||
delay(10);
|
||||
start = micros();
|
||||
@ -84,6 +108,12 @@ void setup()
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2inch(i)) / (i / 74.70588235), 2 );
|
||||
Serial.print("\t\t");
|
||||
Serial.print(i / 18.6764705875, 0);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2quarter(i));
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2quarter(i)) / (i / 18.6764705875), 2 );
|
||||
Serial.print("\t\t");
|
||||
Serial.print(i / 4.669117646875, 0);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2sixteenths(i));
|
||||
@ -94,7 +124,7 @@ void setup()
|
||||
}
|
||||
|
||||
Serial.println("\nverify II");
|
||||
for (uint16_t i = 200; i < 1000; i += 100)
|
||||
for (uint16_t i = 200; i < 1000; i += 50)
|
||||
{
|
||||
Serial.print(i);
|
||||
Serial.print("\t");
|
||||
@ -105,6 +135,12 @@ void setup()
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2inch(i)) / (i / 74.70588235), 2 );
|
||||
Serial.print("\t\t");
|
||||
Serial.print(i / 18.6764705875, 0);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2quarter(i));
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2quarter(i)) / (i / 18.6764705875), 2 );
|
||||
Serial.print("\t\t");
|
||||
Serial.print(i / 4.669117646875, 0);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2sixteenths(i));
|
||||
@ -113,9 +149,9 @@ void setup()
|
||||
Serial.print("\t");
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
|
||||
Serial.println("\nverify III");
|
||||
for (uint16_t i = 1000; i <= 10000; i += 1000)
|
||||
for (uint16_t i = 1000; i <= 30000; i += 1000)
|
||||
{
|
||||
Serial.print(i);
|
||||
Serial.print("\t");
|
||||
@ -126,6 +162,12 @@ void setup()
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2inch(i)) / (i / 74.70588235), 2 );
|
||||
Serial.print("\t\t");
|
||||
Serial.print(i / 18.6764705875, 0);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2quarter(i));
|
||||
Serial.print("\t");
|
||||
Serial.print((1.0 * ping2quarter(i)) / (i / 18.6764705875), 2 );
|
||||
Serial.print("\t\t");
|
||||
Serial.print(i / 4.669117646875, 0);
|
||||
Serial.print("\t");
|
||||
Serial.print(ping2sixteenths(i));
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
//
|
||||
// FILE: fast_math.cpp
|
||||
// AUTHOR: Rob Tillaart
|
||||
// VERSION: 0.2.0
|
||||
// VERSION: 0.2.1
|
||||
// PURPOSE: Arduino library for fast math algorithms
|
||||
// DATE: 27 October 2013
|
||||
// URL: https://github.com/RobTillaart/fast_math
|
||||
@ -30,6 +30,66 @@ void divmod10(uint32_t in, uint32_t *div, uint8_t *mod)
|
||||
}
|
||||
|
||||
|
||||
void divmod3(uint32_t in, uint32_t *div, uint8_t *mod)
|
||||
{
|
||||
uint32_t q = (in >> 1) + (in >> 3);
|
||||
q = q + (q >> 4);
|
||||
q = q + (q >> 8);
|
||||
q = q + (q >> 16);
|
||||
q = q >> 1;
|
||||
uint32_t r = in - q * 3;
|
||||
q = q + (r * 86 >> 8);
|
||||
*div = q;
|
||||
*mod = in - q * 3;
|
||||
}
|
||||
|
||||
|
||||
void divmod5(uint32_t in, uint32_t *div, uint8_t *mod)
|
||||
{
|
||||
uint32_t q = (in >> 1) + (in >> 2);
|
||||
q = q + (q >> 4);
|
||||
q = q + (q >> 8);
|
||||
q = q + (q >> 16);
|
||||
q = q >> 2;
|
||||
uint32_t r = in - q * 5; // remainder approx
|
||||
q = q + (r * 56 >> 8);
|
||||
*div = q;
|
||||
*mod = in - q * 5;
|
||||
}
|
||||
|
||||
|
||||
void divmod12(uint32_t in, uint32_t *div, uint8_t *mod)
|
||||
{
|
||||
uint32_t d;
|
||||
uint8_t m;
|
||||
divmod3(in, &d, &m);
|
||||
*div = d >> 2;
|
||||
*mod = m + (d & 0x03) * 3;
|
||||
}
|
||||
|
||||
|
||||
void divmod24(uint32_t in, uint32_t *div, uint8_t *mod)
|
||||
{
|
||||
uint32_t d;
|
||||
uint8_t m;
|
||||
divmod3(in, &d, &m);
|
||||
*div = d >> 3;
|
||||
*mod = m + (d & 0x07) * 3;
|
||||
}
|
||||
|
||||
|
||||
void divmod60(uint32_t in, uint32_t *div, uint8_t *mod)
|
||||
{
|
||||
uint32_t q = (in >> 1) + (in >> 5);
|
||||
q = (q + (q >> 8) + (q >> 16) + (q >> 24) ) >> 5;
|
||||
uint8_t r = in - q*60;
|
||||
if (r > 59) { q++; r -= 60; }; // correction.
|
||||
*div = q;
|
||||
*mod = r;
|
||||
}
|
||||
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////
|
||||
//
|
||||
// BCD
|
||||
@ -111,7 +171,7 @@ uint16_t ping2cm(uint16_t in)
|
||||
d >>= 1; // in >> 12
|
||||
q += d;
|
||||
d >>= 2; // in >> 14
|
||||
q += d + 1;
|
||||
q += d + 2;
|
||||
return q;
|
||||
}
|
||||
|
||||
@ -130,7 +190,7 @@ uint16_t ping2mm(uint16_t in)
|
||||
d >>= 1; // in >> 8
|
||||
q += d;
|
||||
d >>= 5; // in >> 13
|
||||
q += d + 2;
|
||||
q += d + 3;
|
||||
return q;
|
||||
}
|
||||
|
||||
@ -142,7 +202,7 @@ uint16_t ping2inch(uint16_t in)
|
||||
uint16_t q = d;
|
||||
d >>= 1; // in >> 8
|
||||
q += d;
|
||||
d >>= 2; // in >> 10;
|
||||
d >>= 2; // in >> 10
|
||||
q += d;
|
||||
d >>= 1; // in >> 11
|
||||
q += d;
|
||||
@ -153,6 +213,27 @@ uint16_t ping2inch(uint16_t in)
|
||||
return q;
|
||||
}
|
||||
|
||||
uint16_t ping2quarter(uint16_t in)
|
||||
{
|
||||
// divide by 18.6764705875 == * 0.05354330709
|
||||
// uint16_t q = (in >> 5) + (in >> 6) + (in >> 8) + (in >> 9) + (in >> 11) + (in >> 12) + (in >> 14) ;
|
||||
uint16_t d = in >> 5;
|
||||
uint16_t q = d;
|
||||
d >>= 1; // in >> 6
|
||||
q += d;
|
||||
d >>= 2; // in >> 8
|
||||
q += d;
|
||||
d >>= 1; // in >> 9
|
||||
q += d;
|
||||
d >>= 2; // in >> 11
|
||||
q += d;
|
||||
d >>= 1; // in >> 12
|
||||
q += d;
|
||||
d >>= 2; // in >> 14
|
||||
q += d + 3; // correction.
|
||||
return q;
|
||||
}
|
||||
|
||||
uint16_t ping2sixteenths(uint16_t in)
|
||||
{
|
||||
// divide by 4.669117646875 == * 0.214173228
|
||||
@ -161,7 +242,7 @@ uint16_t ping2sixteenths(uint16_t in)
|
||||
uint16_t q = d;
|
||||
d >>= 1; // in >> 4
|
||||
q += d;
|
||||
d >>= 2; // in >> 6;
|
||||
d >>= 2; // in >> 6
|
||||
q += d;
|
||||
d >>= 1; // in >> 7
|
||||
q += d;
|
||||
@ -172,15 +253,19 @@ uint16_t ping2sixteenths(uint16_t in)
|
||||
d >>= 2; // in >> 12
|
||||
q += d;
|
||||
d >>= 2; // in >> 14
|
||||
q += d + 2; // correction.
|
||||
q += d + 3; // correction.
|
||||
return q;
|
||||
}
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
uint32_t ping2cm32(uint32_t in)
|
||||
{
|
||||
// divide by 29.41176 == * 0.034
|
||||
// uint32_t q = (in >> 5) + (in >> 9) + (in >> 11) + (in >> 12) + (in >> 14);
|
||||
// uint32_t q = (in >> 5) + (in >> 9) + (in >> 11) + (in >> 12) + (in >> 14)
|
||||
// + (in >> 19) + (in >> 20) + (In >> 21) + (in >> 24) + (26, 28 29...;
|
||||
uint32_t d = in >> 5;
|
||||
uint32_t q = d;
|
||||
d >>= 4; // in >> 9
|
||||
@ -189,8 +274,22 @@ uint32_t ping2cm32(uint32_t in)
|
||||
q += d;
|
||||
d >>= 1; // in >> 12
|
||||
q += d;
|
||||
d >>= 2; // in >> 14 // TODO more decimals?
|
||||
d >>= 2; // in >> 14
|
||||
q += d;
|
||||
d >>= 5; // in >> 19
|
||||
// q += d;
|
||||
// d >>= 1; // in >> 20
|
||||
// q += d;
|
||||
// d >>= 1; // in >> 21
|
||||
// q += d;
|
||||
// d >>= 3; // in >> 24
|
||||
// q += d;
|
||||
// d >>= 2; // in >> 26;
|
||||
// q += d;
|
||||
// d >>= 2; // in >> 28
|
||||
// q += d;
|
||||
// d >>= 1; // in >> 29
|
||||
q += d + 3; // rounding correction
|
||||
return q;
|
||||
}
|
||||
|
||||
@ -199,22 +298,44 @@ uint32_t ping2mm32(uint32_t in)
|
||||
{
|
||||
// divide by 2.941176 == * 0.34;
|
||||
// uint32_t q = (in >> 2) + (in >> 4) + (in >> 6) + (in >> 7) + (in >> 8) + (in >> 13);
|
||||
// 15, 19, 20, 21, 22, 24, 26, 27, 28
|
||||
uint32_t d = in >> 2;
|
||||
uint32_t q = d;
|
||||
d >>= 2; // in >> 4
|
||||
q += d;
|
||||
d >>= 2; // in >> 6;
|
||||
d >>= 2; // in >> 6
|
||||
q += d;
|
||||
d >>= 1; // in >> 7
|
||||
q += d;
|
||||
d >>= 1; // in >> 8
|
||||
q += d;
|
||||
d >>= 5; // in >> 13 // TODO more decimals?
|
||||
d >>= 5; // in >> 13
|
||||
q += d;
|
||||
d >>= 2; // in >> 15
|
||||
q += d;
|
||||
d >>= 4; // in >> 19
|
||||
// q += d;
|
||||
// d >>= 1; // in >> 20
|
||||
// q += d;
|
||||
// d >>= 1; // in >> 21
|
||||
// q += d;
|
||||
// d >>= 1; // in >> 22
|
||||
// q += d;
|
||||
// d >>= 2; // in >> 24
|
||||
// q += d;
|
||||
// d >>= 2; // in >> 26
|
||||
// q += d;
|
||||
// d >>= 1; // in >> 27
|
||||
// q += d;
|
||||
// d >>= 1; // in >> 28
|
||||
q += d + 3; // rounding correction.
|
||||
return q;
|
||||
}
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
// temperature in Celsius
|
||||
float ping2cm_tempC(uint16_t duration, int Celsius )
|
||||
{
|
||||
@ -228,17 +349,26 @@ float ping2cm_tempC(uint16_t duration, int Celsius )
|
||||
|
||||
float ping2inch_tempC(uint16_t duration, int Celsius )
|
||||
{
|
||||
//
|
||||
// return duration * 331.45 * sqrt(1 + temp / 273.0) / 10000;
|
||||
// formula ping2cm_tempC converted
|
||||
return duration * (0.013049 + Celsius * (0.013049 / 546.0));
|
||||
}
|
||||
|
||||
|
||||
float ping2inch_tempF(uint16_t duration, int Fahrenheit )
|
||||
{
|
||||
// formula ping2inch_tempC converted
|
||||
// return duration * 331.45 * sqrt(1 + temp * (1.0 / 273.0)) * 0.0001;
|
||||
// return duration * 331.45 * (1 + temp * (1.0 / 546.0)) * 0.0001; // little less accurate sqrt
|
||||
return duration * (0.013049 + Celsius * (0.013049 / 546.0)); // minimized.
|
||||
// inches
|
||||
// return duration * 130.49 * (1 + temp * (1.0 / 546.0)) * 0.0001; // little less accurate sqrt
|
||||
// Fahrenheit
|
||||
// return duration * (0.013049 + (Fahrenheit - 32) * (5.0/9.0) * (0.013049 / 546.0));
|
||||
return duration * (0.013049 + (Fahrenheit - 32) * ((5.0/9.0) * (0.013049 / 546.0)));
|
||||
}
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////
|
||||
//
|
||||
// TODO
|
||||
// TODO ...
|
||||
//
|
||||
|
||||
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
//
|
||||
// FILE: fast_math.h
|
||||
// AUTHOR: Rob Tillaart
|
||||
// VERSION: 0.2.0
|
||||
// VERSION: 0.2.1
|
||||
// PURPOSE: Arduino library for fast math algorithms
|
||||
// DATE: 27 October 2013
|
||||
// URL: https://github.com/RobTillaart/fast_math
|
||||
@ -16,7 +16,7 @@
|
||||
#include "Arduino.h"
|
||||
#endif
|
||||
|
||||
#define FASTMATH_LIB_VERSION (F("0.2.0"))
|
||||
#define FASTMATH_LIB_VERSION (F("0.2.1"))
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
@ -28,12 +28,19 @@ extern "C"
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// ROUTINE: divmod10
|
||||
// PURPOSE: fast routine that provides both /10 and %10 for integer math.
|
||||
// PURPOSE: fast routine that provides both / 10 and % 10 for integer math.
|
||||
// URL: https://forum.arduino.cc/t/divmod10-a-fast-replacement-for-10-and-10-unsigned/163586
|
||||
// AUTHORS: see URL
|
||||
// NOTE: assembler version for AVR exists (by Stimmer) - see URL
|
||||
//
|
||||
void divmod10(uint32_t in, uint32_t *div, uint8_t *mod);
|
||||
void divmod3(uint32_t in, uint32_t *div, uint8_t *mod);
|
||||
void divmod5(uint32_t in, uint32_t *div, uint8_t *mod);
|
||||
// for clocks
|
||||
void divmod12(uint32_t in, uint32_t *div, uint8_t *mod);
|
||||
void divmod24(uint32_t in, uint32_t *div, uint8_t *mod);
|
||||
void divmod60(uint32_t in, uint32_t *div, uint8_t *mod);
|
||||
|
||||
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
@ -62,7 +69,7 @@ float polynome(float x, float ar[], uint8_t degree);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// 16 BIT PING MATH - for distances up to ~20 meter
|
||||
// 16 BIT PING MATH - for distances up to ~10 meter
|
||||
//
|
||||
//////////////////////////////////////////////////////////
|
||||
//
|
||||
@ -70,13 +77,16 @@ float polynome(float x, float ar[], uint8_t degree);
|
||||
// PURPOSE: fast routines to calculate the distance in cm / mm for a ping sensor
|
||||
//
|
||||
uint16_t ping2cm(uint16_t in);
|
||||
uint16_t ping2mm(uint16_t in);
|
||||
uint16_t ping2mm(uint16_t in); // smaller units are more accurate.
|
||||
|
||||
uint16_t ping2inch(uint16_t in);
|
||||
uint16_t ping2quarter(uint16_t in);
|
||||
uint16_t ping2sixteenths(uint16_t in);
|
||||
|
||||
|
||||
//////////////////////////////////////////////////////////
|
||||
//
|
||||
// 32 BIT PING MATH - for longer distances
|
||||
// 32 BIT PING MATH - for distances > 10 meter (gaim ~10%)
|
||||
//
|
||||
uint32_t ping2cm32(uint32_t in);
|
||||
uint32_t ping2mm32(uint32_t in);
|
||||
@ -85,7 +95,7 @@ uint32_t ping2mm32(uint32_t in);
|
||||
// temperature compensated speed of sound distance
|
||||
float ping2cm_tempC(uint16_t duration, int Celsius);
|
||||
float ping2inch_tempC(uint16_t duration, int Celsius);
|
||||
// TODO ping2inch_tempF.
|
||||
float ping2inch_tempF(uint16_t duration, int Fahrenheit);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@ -5,6 +5,12 @@
|
||||
|
||||
# Methods and Functions (KEYWORD2)
|
||||
divmod10 KEYWORD2
|
||||
divmod3 KEYWORD2
|
||||
divmod5 KEYWORD2
|
||||
|
||||
divmod12 KEYWORD2
|
||||
divmod24 KEYWORD2
|
||||
divmod60 KEYWORD2
|
||||
|
||||
dec2bcdRef KEYWORD2
|
||||
dec2bcd KEYWORD2
|
||||
@ -16,7 +22,9 @@ polynome KEYWORD2
|
||||
|
||||
ping2cm KEYWORD2
|
||||
ping2mm KEYWORD2
|
||||
|
||||
ping2inch KEYWORD2
|
||||
ping2quarter KEYWORD2
|
||||
ping2sixteenths KEYWORD2
|
||||
|
||||
ping2cm32 KEYWORD2
|
||||
@ -24,6 +32,7 @@ ping2mm32 KEYWORD2
|
||||
|
||||
ping2cm_tempC KEYWORD2
|
||||
ping2inch_tempC KEYWORD2
|
||||
ping2inch_tempF KEYWORD2
|
||||
|
||||
|
||||
# Constants (LITERAL1)
|
||||
|
||||
@ -15,7 +15,7 @@
|
||||
"type": "git",
|
||||
"url": "https://github.com/RobTillaart/fast_math.git"
|
||||
},
|
||||
"version": "0.2.0",
|
||||
"version": "0.2.1",
|
||||
"license": "MIT",
|
||||
"frameworks": "arduino",
|
||||
"platforms": "*",
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
name=fast_math
|
||||
version=0.2.0
|
||||
version=0.2.1
|
||||
author=Rob Tillaart <rob.tillaart@gmail.com>
|
||||
maintainer=Rob Tillaart <rob.tillaart@gmail.com>
|
||||
sentence=Arduino library for fast math algorithms
|
||||
|
||||
Loading…
Reference in New Issue
Block a user