diff options
Diffstat (limited to 'src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c')
| -rw-r--r-- | src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c | 428 |
1 files changed, 428 insertions, 0 deletions
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c new file mode 100644 index 000000000..1679a780c --- /dev/null +++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c @@ -0,0 +1,428 @@ +/* ----------------------------------------------------------------------
+* Copyright (C) 2010 ARM Limited. All rights reserved.
+*
+* $Date: 15. February 2012
+* $Revision: V1.1.0
+*
+* Project: CMSIS DSP Library
+* Title: arm_sin_cos_f32.c
+*
+* Description: Sine and Cosine calculation for floating-point values.
+*
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*
+* Version 1.1.0 2012/02/15
+* Updated with more optimizations, bug fixes and minor API changes.
+*
+* Version 1.0.10 2011/7/15
+* Big Endian support added and Merged M0 and M3/M4 Source code.
+*
+* Version 1.0.3 2010/11/29
+* Re-organized the CMSIS folders and updated documentation.
+*
+* Version 1.0.2 2010/11/11
+* Documentation updated.
+*
+* Version 1.0.1 2010/10/05
+* Production release and review comments incorporated.
+*
+* Version 1.0.0 2010/09/20
+* Production release and review comments incorporated.
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**
+ * @ingroup groupController
+ */
+
+/**
+ * @defgroup SinCos Sine Cosine
+ *
+ * Computes the trigonometric sine and cosine values using a combination of table lookup
+ * and linear interpolation.
+ * There are separate functions for Q31 and floating-point data types.
+ * The input to the floating-point version is in degrees while the
+ * fixed-point Q31 have a scaled input with the range
+ * [-1 0.9999] mapping to [-180 179] degrees.
+ *
+ * The implementation is based on table lookup using 360 values together with linear interpolation.
+ * The steps used are:
+ * -# Calculation of the nearest integer table index.
+ * -# Compute the fractional portion (fract) of the input.
+ * -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.
+ * -# Sine value is computed as <code> *psinVal = y0 + (fract * (y1 - y0))</code>.
+ * -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.
+ * -# Cosine value is computed as <code> *pcosVal = y0 + (fract * (y1 - y0))</code>.
+ */
+
+ /**
+ * @addtogroup SinCos
+ * @{
+ */
+
+
+/**
+* \par
+* Cosine Table is generated from following loop
+* <pre>for(i = 0; i < 360; i++)
+* {
+* cosTable[i]= cos((i-180) * PI/180.0);
+* } </pre>
+*/
+
+static const float32_t cosTable[360] = {
+ -0.999847695156391270f, -0.999390827019095760f, -0.998629534754573830f,
+ -0.997564050259824200f, -0.996194698091745550f, -0.994521895368273290f,
+ -0.992546151641321980f, -0.990268068741570250f,
+ -0.987688340595137660f, -0.984807753012208020f, -0.981627183447663980f,
+ -0.978147600733805690f, -0.974370064785235250f, -0.970295726275996470f,
+ -0.965925826289068200f, -0.961261695938318670f,
+ -0.956304755963035440f, -0.951056516295153530f, -0.945518575599316740f,
+ -0.939692620785908320f, -0.933580426497201740f, -0.927183854566787310f,
+ -0.920504853452440150f, -0.913545457642600760f,
+ -0.906307787036649940f, -0.898794046299167040f, -0.891006524188367790f,
+ -0.882947592858926770f, -0.874619707139395740f, -0.866025403784438710f,
+ -0.857167300702112220f, -0.848048096156425960f,
+ -0.838670567945424160f, -0.829037572555041620f, -0.819152044288991580f,
+ -0.809016994374947340f, -0.798635510047292940f, -0.788010753606721900f,
+ -0.777145961456970680f, -0.766044443118977900f,
+ -0.754709580222772010f, -0.743144825477394130f, -0.731353701619170460f,
+ -0.719339800338651300f, -0.707106781186547460f, -0.694658370458997030f,
+ -0.681998360062498370f, -0.669130606358858240f,
+ -0.656059028990507500f, -0.642787609686539360f, -0.629320391049837280f,
+ -0.615661475325658290f, -0.601815023152048380f, -0.587785252292473030f,
+ -0.573576436351045830f, -0.559192903470746680f,
+ -0.544639035015027080f, -0.529919264233204790f, -0.515038074910054270f,
+ -0.499999999999999780f, -0.484809620246337000f, -0.469471562785890530f,
+ -0.453990499739546750f, -0.438371146789077510f,
+ -0.422618261740699330f, -0.406736643075800100f, -0.390731128489273600f,
+ -0.374606593415912070f, -0.358367949545300270f, -0.342020143325668710f,
+ -0.325568154457156420f, -0.309016994374947340f,
+ -0.292371704722736660f, -0.275637355816999050f, -0.258819045102520850f,
+ -0.241921895599667790f, -0.224951054343864810f, -0.207911690817759120f,
+ -0.190808995376544800f, -0.173648177666930300f,
+ -0.156434465040231040f, -0.139173100960065350f, -0.121869343405147370f,
+ -0.104528463267653330f, -0.087155742747658235f, -0.069756473744125330f,
+ -0.052335956242943620f, -0.034899496702500733f,
+ -0.017452406437283477f, 0.000000000000000061f, 0.017452406437283376f,
+ 0.034899496702501080f, 0.052335956242943966f, 0.069756473744125455f,
+ 0.087155742747658138f, 0.104528463267653460f,
+ 0.121869343405147490f, 0.139173100960065690f, 0.156434465040230920f,
+ 0.173648177666930410f, 0.190808995376544920f, 0.207911690817759450f,
+ 0.224951054343864920f, 0.241921895599667900f,
+ 0.258819045102520740f, 0.275637355816999160f, 0.292371704722736770f,
+ 0.309016994374947450f, 0.325568154457156760f, 0.342020143325668820f,
+ 0.358367949545300380f, 0.374606593415911960f,
+ 0.390731128489273940f, 0.406736643075800210f, 0.422618261740699440f,
+ 0.438371146789077460f, 0.453990499739546860f, 0.469471562785890860f,
+ 0.484809620246337110f, 0.500000000000000110f,
+ 0.515038074910054380f, 0.529919264233204900f, 0.544639035015027200f,
+ 0.559192903470746790f, 0.573576436351046050f, 0.587785252292473140f,
+ 0.601815023152048270f, 0.615661475325658290f,
+ 0.629320391049837500f, 0.642787609686539360f, 0.656059028990507280f,
+ 0.669130606358858240f, 0.681998360062498480f, 0.694658370458997370f,
+ 0.707106781186547570f, 0.719339800338651190f,
+ 0.731353701619170570f, 0.743144825477394240f, 0.754709580222772010f,
+ 0.766044443118978010f, 0.777145961456970900f, 0.788010753606722010f,
+ 0.798635510047292830f, 0.809016994374947450f,
+ 0.819152044288991800f, 0.829037572555041620f, 0.838670567945424050f,
+ 0.848048096156425960f, 0.857167300702112330f, 0.866025403784438710f,
+ 0.874619707139395740f, 0.882947592858926990f,
+ 0.891006524188367900f, 0.898794046299167040f, 0.906307787036649940f,
+ 0.913545457642600870f, 0.920504853452440370f, 0.927183854566787420f,
+ 0.933580426497201740f, 0.939692620785908430f,
+ 0.945518575599316850f, 0.951056516295153530f, 0.956304755963035440f,
+ 0.961261695938318890f, 0.965925826289068310f, 0.970295726275996470f,
+ 0.974370064785235250f, 0.978147600733805690f,
+ 0.981627183447663980f, 0.984807753012208020f, 0.987688340595137770f,
+ 0.990268068741570360f, 0.992546151641321980f, 0.994521895368273290f,
+ 0.996194698091745550f, 0.997564050259824200f,
+ 0.998629534754573830f, 0.999390827019095760f, 0.999847695156391270f,
+ 1.000000000000000000f, 0.999847695156391270f, 0.999390827019095760f,
+ 0.998629534754573830f, 0.997564050259824200f,
+ 0.996194698091745550f, 0.994521895368273290f, 0.992546151641321980f,
+ 0.990268068741570360f, 0.987688340595137770f, 0.984807753012208020f,
+ 0.981627183447663980f, 0.978147600733805690f,
+ 0.974370064785235250f, 0.970295726275996470f, 0.965925826289068310f,
+ 0.961261695938318890f, 0.956304755963035440f, 0.951056516295153530f,
+ 0.945518575599316850f, 0.939692620785908430f,
+ 0.933580426497201740f, 0.927183854566787420f, 0.920504853452440370f,
+ 0.913545457642600870f, 0.906307787036649940f, 0.898794046299167040f,
+ 0.891006524188367900f, 0.882947592858926990f,
+ 0.874619707139395740f, 0.866025403784438710f, 0.857167300702112330f,
+ 0.848048096156425960f, 0.838670567945424050f, 0.829037572555041620f,
+ 0.819152044288991800f, 0.809016994374947450f,
+ 0.798635510047292830f, 0.788010753606722010f, 0.777145961456970900f,
+ 0.766044443118978010f, 0.754709580222772010f, 0.743144825477394240f,
+ 0.731353701619170570f, 0.719339800338651190f,
+ 0.707106781186547570f, 0.694658370458997370f, 0.681998360062498480f,
+ 0.669130606358858240f, 0.656059028990507280f, 0.642787609686539360f,
+ 0.629320391049837500f, 0.615661475325658290f,
+ 0.601815023152048270f, 0.587785252292473140f, 0.573576436351046050f,
+ 0.559192903470746790f, 0.544639035015027200f, 0.529919264233204900f,
+ 0.515038074910054380f, 0.500000000000000110f,
+ 0.484809620246337110f, 0.469471562785890860f, 0.453990499739546860f,
+ 0.438371146789077460f, 0.422618261740699440f, 0.406736643075800210f,
+ 0.390731128489273940f, 0.374606593415911960f,
+ 0.358367949545300380f, 0.342020143325668820f, 0.325568154457156760f,
+ 0.309016994374947450f, 0.292371704722736770f, 0.275637355816999160f,
+ 0.258819045102520740f, 0.241921895599667900f,
+ 0.224951054343864920f, 0.207911690817759450f, 0.190808995376544920f,
+ 0.173648177666930410f, 0.156434465040230920f, 0.139173100960065690f,
+ 0.121869343405147490f, 0.104528463267653460f,
+ 0.087155742747658138f, 0.069756473744125455f, 0.052335956242943966f,
+ 0.034899496702501080f, 0.017452406437283376f, 0.000000000000000061f,
+ -0.017452406437283477f, -0.034899496702500733f,
+ -0.052335956242943620f, -0.069756473744125330f, -0.087155742747658235f,
+ -0.104528463267653330f, -0.121869343405147370f, -0.139173100960065350f,
+ -0.156434465040231040f, -0.173648177666930300f,
+ -0.190808995376544800f, -0.207911690817759120f, -0.224951054343864810f,
+ -0.241921895599667790f, -0.258819045102520850f, -0.275637355816999050f,
+ -0.292371704722736660f, -0.309016994374947340f,
+ -0.325568154457156420f, -0.342020143325668710f, -0.358367949545300270f,
+ -0.374606593415912070f, -0.390731128489273600f, -0.406736643075800100f,
+ -0.422618261740699330f, -0.438371146789077510f,
+ -0.453990499739546750f, -0.469471562785890530f, -0.484809620246337000f,
+ -0.499999999999999780f, -0.515038074910054270f, -0.529919264233204790f,
+ -0.544639035015027080f, -0.559192903470746680f,
+ -0.573576436351045830f, -0.587785252292473030f, -0.601815023152048380f,
+ -0.615661475325658290f, -0.629320391049837280f, -0.642787609686539360f,
+ -0.656059028990507500f, -0.669130606358858240f,
+ -0.681998360062498370f, -0.694658370458997030f, -0.707106781186547460f,
+ -0.719339800338651300f, -0.731353701619170460f, -0.743144825477394130f,
+ -0.754709580222772010f, -0.766044443118977900f,
+ -0.777145961456970680f, -0.788010753606721900f, -0.798635510047292940f,
+ -0.809016994374947340f, -0.819152044288991580f, -0.829037572555041620f,
+ -0.838670567945424160f, -0.848048096156425960f,
+ -0.857167300702112220f, -0.866025403784438710f, -0.874619707139395740f,
+ -0.882947592858926770f, -0.891006524188367790f, -0.898794046299167040f,
+ -0.906307787036649940f, -0.913545457642600760f,
+ -0.920504853452440150f, -0.927183854566787310f, -0.933580426497201740f,
+ -0.939692620785908320f, -0.945518575599316740f, -0.951056516295153530f,
+ -0.956304755963035440f, -0.961261695938318670f,
+ -0.965925826289068200f, -0.970295726275996470f, -0.974370064785235250f,
+ -0.978147600733805690f, -0.981627183447663980f, -0.984807753012208020f,
+ -0.987688340595137660f, -0.990268068741570250f,
+ -0.992546151641321980f, -0.994521895368273290f, -0.996194698091745550f,
+ -0.997564050259824200f, -0.998629534754573830f, -0.999390827019095760f,
+ -0.999847695156391270f, -1.000000000000000000f
+};
+
+/**
+* \par
+* Sine Table is generated from following loop
+* <pre>for(i = 0; i < 360; i++)
+* {
+* sinTable[i]= sin((i-180) * PI/180.0);
+* } </pre>
+*/
+
+
+static const float32_t sinTable[360] = {
+ -0.017452406437283439f, -0.034899496702500699f, -0.052335956242943807f,
+ -0.069756473744125524f, -0.087155742747658638f, -0.104528463267653730f,
+ -0.121869343405147550f, -0.139173100960065740f,
+ -0.156434465040230980f, -0.173648177666930280f, -0.190808995376544970f,
+ -0.207911690817759310f, -0.224951054343864780f, -0.241921895599667730f,
+ -0.258819045102521020f, -0.275637355816999660f,
+ -0.292371704722737050f, -0.309016994374947510f, -0.325568154457156980f,
+ -0.342020143325668880f, -0.358367949545300210f, -0.374606593415912240f,
+ -0.390731128489274160f, -0.406736643075800430f,
+ -0.422618261740699500f, -0.438371146789077290f, -0.453990499739546860f,
+ -0.469471562785891080f, -0.484809620246337170f, -0.499999999999999940f,
+ -0.515038074910054380f, -0.529919264233204900f,
+ -0.544639035015026860f, -0.559192903470746900f, -0.573576436351046380f,
+ -0.587785252292473250f, -0.601815023152048160f, -0.615661475325658400f,
+ -0.629320391049837720f, -0.642787609686539470f,
+ -0.656059028990507280f, -0.669130606358858350f, -0.681998360062498590f,
+ -0.694658370458997140f, -0.707106781186547570f, -0.719339800338651410f,
+ -0.731353701619170570f, -0.743144825477394240f,
+ -0.754709580222771790f, -0.766044443118978010f, -0.777145961456971010f,
+ -0.788010753606722010f, -0.798635510047292720f, -0.809016994374947450f,
+ -0.819152044288992020f, -0.829037572555041740f,
+ -0.838670567945424050f, -0.848048096156426070f, -0.857167300702112330f,
+ -0.866025403784438710f, -0.874619707139395850f, -0.882947592858927100f,
+ -0.891006524188367900f, -0.898794046299166930f,
+ -0.906307787036650050f, -0.913545457642600980f, -0.920504853452440370f,
+ -0.927183854566787420f, -0.933580426497201740f, -0.939692620785908430f,
+ -0.945518575599316850f, -0.951056516295153640f,
+ -0.956304755963035550f, -0.961261695938318890f, -0.965925826289068310f,
+ -0.970295726275996470f, -0.974370064785235250f, -0.978147600733805690f,
+ -0.981627183447663980f, -0.984807753012208020f,
+ -0.987688340595137660f, -0.990268068741570360f, -0.992546151641322090f,
+ -0.994521895368273400f, -0.996194698091745550f, -0.997564050259824200f,
+ -0.998629534754573830f, -0.999390827019095760f,
+ -0.999847695156391270f, -1.000000000000000000f, -0.999847695156391270f,
+ -0.999390827019095760f, -0.998629534754573830f, -0.997564050259824200f,
+ -0.996194698091745550f, -0.994521895368273290f,
+ -0.992546151641321980f, -0.990268068741570250f, -0.987688340595137770f,
+ -0.984807753012208020f, -0.981627183447663980f, -0.978147600733805580f,
+ -0.974370064785235250f, -0.970295726275996470f,
+ -0.965925826289068310f, -0.961261695938318890f, -0.956304755963035440f,
+ -0.951056516295153530f, -0.945518575599316740f, -0.939692620785908320f,
+ -0.933580426497201740f, -0.927183854566787420f,
+ -0.920504853452440260f, -0.913545457642600870f, -0.906307787036649940f,
+ -0.898794046299167040f, -0.891006524188367790f, -0.882947592858926880f,
+ -0.874619707139395740f, -0.866025403784438600f,
+ -0.857167300702112220f, -0.848048096156426070f, -0.838670567945423940f,
+ -0.829037572555041740f, -0.819152044288991800f, -0.809016994374947450f,
+ -0.798635510047292830f, -0.788010753606722010f,
+ -0.777145961456970790f, -0.766044443118978010f, -0.754709580222772010f,
+ -0.743144825477394240f, -0.731353701619170460f, -0.719339800338651080f,
+ -0.707106781186547460f, -0.694658370458997250f,
+ -0.681998360062498480f, -0.669130606358858240f, -0.656059028990507160f,
+ -0.642787609686539250f, -0.629320391049837390f, -0.615661475325658180f,
+ -0.601815023152048270f, -0.587785252292473140f,
+ -0.573576436351046050f, -0.559192903470746900f, -0.544639035015027080f,
+ -0.529919264233204900f, -0.515038074910054160f, -0.499999999999999940f,
+ -0.484809620246337060f, -0.469471562785890810f,
+ -0.453990499739546750f, -0.438371146789077400f, -0.422618261740699440f,
+ -0.406736643075800150f, -0.390731128489273720f, -0.374606593415912010f,
+ -0.358367949545300270f, -0.342020143325668710f,
+ -0.325568154457156640f, -0.309016994374947400f, -0.292371704722736770f,
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+ 0.515038074910054380f, 0.499999999999999940f, 0.484809620246337170f,
+ 0.469471562785891080f, 0.453990499739546860f, 0.438371146789077290f,
+ 0.422618261740699500f, 0.406736643075800430f,
+ 0.390731128489274160f, 0.374606593415912240f, 0.358367949545300210f,
+ 0.342020143325668880f, 0.325568154457156980f, 0.309016994374947510f,
+ 0.292371704722737050f, 0.275637355816999660f,
+ 0.258819045102521020f, 0.241921895599667730f, 0.224951054343864780f,
+ 0.207911690817759310f, 0.190808995376544970f, 0.173648177666930280f,
+ 0.156434465040230980f, 0.139173100960065740f,
+ 0.121869343405147550f, 0.104528463267653730f, 0.087155742747658638f,
+ 0.069756473744125524f, 0.052335956242943807f, 0.034899496702500699f,
+ 0.017452406437283439f, 0.000000000000000122f
+};
+
+
+/**
+ * @brief Floating-point sin_cos function.
+ * @param[in] theta input value in degrees
+ * @param[out] *pSinVal points to the processed sine output.
+ * @param[out] *pCosVal points to the processed cos output.
+ * @return none.
+ */
+
+
+void arm_sin_cos_f32(
+ float32_t theta,
+ float32_t * pSinVal,
+ float32_t * pCosVal)
+{
+ int32_t i; /* Index for reading nearwst output values */
+ float32_t x1 = -179.0f; /* Initial input value */
+ float32_t y0, y1; /* nearest output values */
+ float32_t y2, y3;
+ float32_t fract; /* fractional part of input */
+
+ /* Calculation of fractional part */
+ if(theta > 0.0f)
+ {
+ fract = theta - (float32_t) ((int32_t) theta);
+ }
+ else
+ {
+ fract = (theta - (float32_t) ((int32_t) theta)) + 1.0f;
+ }
+
+ /* index calculation for reading nearest output values */
+ i = (uint32_t) (theta - x1);
+
+ /* Checking min and max index of table */
+ if(i < 0)
+ {
+ i = 0;
+ }
+ else if(i >= 359)
+ {
+ i = 358;
+ }
+
+ /* reading nearest sine output values */
+ y0 = sinTable[i];
+ y1 = sinTable[i + 1u];
+
+ /* reading nearest cosine output values */
+ y2 = cosTable[i];
+ y3 = cosTable[i + 1u];
+
+ y1 = y1 - y0;
+ y3 = y3 - y2;
+
+ y1 = fract * y1;
+ y3 = fract * y3;
+
+ /* Calculation of sine value */
+ *pSinVal = y0 + y1;
+
+ /* Calculation of cosine value */
+ *pCosVal = y2 + y3;
+
+}
+
+/**
+ * @} end of SinCos group
+ */
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