diff options
Diffstat (limited to 'src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions')
8 files changed, 0 insertions, 1214 deletions
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c deleted file mode 100644 index 37e48f609..000000000 --- a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c +++ /dev/null @@ -1,79 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010 ARM Limited. All rights reserved.
-*
-* $Date: 15. February 2012
-* $Revision: V1.1.0
-*
-* Project: CMSIS DSP Library
-* Title: arm_pid_init_f32.c
-*
-* Description: Floating-point PID Control initialization function
-*
-*
-* 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"
-
- /**
- * @addtogroup PID
- * @{
- */
-
-/**
- * @brief Initialization function for the floating-point PID Control.
- * @param[in,out] *S points to an instance of the PID structure.
- * @param[in] resetStateFlag flag to reset the state. 0 = no change in state & 1 = reset the state.
- * @return none.
- * \par Description:
- * \par
- * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
- * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
- * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
- * also sets the state variables to all zeros.
- */
-
-void arm_pid_init_f32(
- arm_pid_instance_f32 * S,
- int32_t resetStateFlag)
-{
-
- /* Derived coefficient A0 */
- S->A0 = S->Kp + S->Ki + S->Kd;
-
- /* Derived coefficient A1 */
- S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
-
- /* Derived coefficient A2 */
- S->A2 = S->Kd;
-
- /* Check whether state needs reset or not */
- if(resetStateFlag)
- {
- /* Clear the state buffer. The size will be always 3 samples */
- memset(S->state, 0, 3u * sizeof(float32_t));
- }
-
-}
-
-/**
- * @} end of PID group
- */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c deleted file mode 100644 index 1816bc9aa..000000000 --- a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c +++ /dev/null @@ -1,114 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010 ARM Limited. All rights reserved.
-*
-* $Date: 15. February 2012
-* $Revision: V1.1.0
-*
-* Project: CMSIS DSP Library
-* Title: arm_pid_init_q15.c
-*
-* Description: Q15 PID Control initialization function
-*
-* 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"
-
- /**
- * @addtogroup PID
- * @{
- */
-
-/**
- * @details
- * @param[in,out] *S points to an instance of the Q15 PID structure.
- * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state.
- * @return none.
- * \par Description:
- * \par
- * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
- * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
- * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
- * also sets the state variables to all zeros.
- */
-
-void arm_pid_init_q15(
- arm_pid_instance_q15 * S,
- int32_t resetStateFlag)
-{
-
-#ifndef ARM_MATH_CM0
-
- /* Run the below code for Cortex-M4 and Cortex-M3 */
-
- /* Derived coefficient A0 */
- S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
-
- /* Derived coefficients and pack into A1 */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
- S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
-
-#else
-
- S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
-
-#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
-
- /* Check whether state needs reset or not */
- if(resetStateFlag)
- {
- /* Clear the state buffer. The size will be always 3 samples */
- memset(S->state, 0, 3u * sizeof(q15_t));
- }
-
-#else
-
- /* Run the below code for Cortex-M0 */
-
- q31_t temp; /*to store the sum */
-
- /* Derived coefficient A0 */
- temp = S->Kp + S->Ki + S->Kd;
- S->A0 = (q15_t) __SSAT(temp, 16);
-
- /* Derived coefficients and pack into A1 */
- temp = -(S->Kd + S->Kd + S->Kp);
- S->A1 = (q15_t) __SSAT(temp, 16);
- S->A2 = S->Kd;
-
-
-
- /* Check whether state needs reset or not */
- if(resetStateFlag)
- {
- /* Clear the state buffer. The size will be always 3 samples */
- memset(S->state, 0, 3u * sizeof(q15_t));
- }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**
- * @} end of PID group
- */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c deleted file mode 100644 index da40ce973..000000000 --- a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c +++ /dev/null @@ -1,99 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010 ARM Limited. All rights reserved.
-*
-* $Date: 15. February 2012
-* $Revision: V1.1.0
-*
-* Project: CMSIS DSP Library
-* Title: arm_pid_init_q31.c
-*
-* Description: Q31 PID Control initialization function
-*
-* 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"
-
- /**
- * @addtogroup PID
- * @{
- */
-
-/**
- * @brief Initialization function for the Q31 PID Control.
- * @param[in,out] *S points to an instance of the Q31 PID structure.
- * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state.
- * @return none.
- * \par Description:
- * \par
- * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
- * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
- * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
- * also sets the state variables to all zeros.
- */
-
-void arm_pid_init_q31(
- arm_pid_instance_q31 * S,
- int32_t resetStateFlag)
-{
-
-#ifndef ARM_MATH_CM0
-
- /* Run the below code for Cortex-M4 and Cortex-M3 */
-
- /* Derived coefficient A0 */
- S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
-
- /* Derived coefficient A1 */
- S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
-
-
-#else
-
- /* Run the below code for Cortex-M0 */
-
- q31_t temp;
-
- /* Derived coefficient A0 */
- temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
- S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
-
- /* Derived coefficient A1 */
- temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
- S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
- /* Derived coefficient A2 */
- S->A2 = S->Kd;
-
- /* Check whether state needs reset or not */
- if(resetStateFlag)
- {
- /* Clear the state buffer. The size will be always 3 samples */
- memset(S->state, 0, 3u * sizeof(q31_t));
- }
-
-}
-
-/**
- * @} end of PID group
- */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c deleted file mode 100644 index 491ad5268..000000000 --- a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c +++ /dev/null @@ -1,57 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010 ARM Limited. All rights reserved.
-*
-* $Date: 15. February 2012
-* $Revision: V1.1.0
-*
-* Project: CMSIS DSP Library
-* Title: arm_pid_reset_f32.c
-*
-* Description: Floating-point PID Control reset function
-*
-* 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"
-
- /**
- * @addtogroup PID
- * @{
- */
-
-/**
-* @brief Reset function for the floating-point PID Control.
-* @param[in] *S Instance pointer of PID control data structure.
-* @return none.
-* \par Description:
-* The function resets the state buffer to zeros.
-*/
-void arm_pid_reset_f32(
- arm_pid_instance_f32 * S)
-{
-
- /* Clear the state buffer. The size will be always 3 samples */
- memset(S->state, 0, 3u * sizeof(float32_t));
-}
-
-/**
- * @} end of PID group
- */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c deleted file mode 100644 index dc0078746..000000000 --- a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c +++ /dev/null @@ -1,56 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010 ARM Limited. All rights reserved.
-*
-* $Date: 15. February 2012
-* $Revision: V1.1.0
-*
-* Project: CMSIS DSP Library
-* Title: arm_pid_reset_q15.c
-*
-* Description: Q15 PID Control reset function
-*
-* 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"
-
- /**
- * @addtogroup PID
- * @{
- */
-
-/**
-* @brief Reset function for the Q15 PID Control.
-* @param[in] *S Instance pointer of PID control data structure.
-* @return none.
-* \par Description:
-* The function resets the state buffer to zeros.
-*/
-void arm_pid_reset_q15(
- arm_pid_instance_q15 * S)
-{
- /* Reset state to zero, The size will be always 3 samples */
- memset(S->state, 0, 3u * sizeof(q15_t));
-}
-
-/**
- * @} end of PID group
- */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c deleted file mode 100644 index b1ff753af..000000000 --- a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c +++ /dev/null @@ -1,57 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010 ARM Limited. All rights reserved.
-*
-* $Date: 15. February 2012
-* $Revision: V1.1.0
-*
-* Project: CMSIS DSP Library
-* Title: arm_pid_reset_q31.c
-*
-* Description: Q31 PID Control reset function
-*
-* 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"
-
- /**
- * @addtogroup PID
- * @{
- */
-
-/**
-* @brief Reset function for the Q31 PID Control.
-* @param[in] *S Instance pointer of PID control data structure.
-* @return none.
-* \par Description:
-* The function resets the state buffer to zeros.
-*/
-void arm_pid_reset_q31(
- arm_pid_instance_q31 * S)
-{
-
- /* Clear the state buffer. The size will be always 3 samples */
- memset(S->state, 0, 3u * sizeof(q31_t));
-}
-
-/**
- * @} end of PID group
- */
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 deleted file mode 100644 index 1679a780c..000000000 --- a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c +++ /dev/null @@ -1,428 +0,0 @@ -/* ----------------------------------------------------------------------
-* 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,
- -0.275637355816999160f, -0.258819045102520740f, -0.241921895599667730f,
- -0.224951054343865000f, -0.207911690817759310f,
- -0.190808995376544800f, -0.173648177666930330f, -0.156434465040230870f,
- -0.139173100960065440f, -0.121869343405147480f, -0.104528463267653460f,
- -0.087155742747658166f, -0.069756473744125302f,
- -0.052335956242943828f, -0.034899496702500969f, -0.017452406437283512f,
- 0.000000000000000000f, 0.017452406437283512f, 0.034899496702500969f,
- 0.052335956242943828f, 0.069756473744125302f,
- 0.087155742747658166f, 0.104528463267653460f, 0.121869343405147480f,
- 0.139173100960065440f, 0.156434465040230870f, 0.173648177666930330f,
- 0.190808995376544800f, 0.207911690817759310f,
- 0.224951054343865000f, 0.241921895599667730f, 0.258819045102520740f,
- 0.275637355816999160f, 0.292371704722736770f, 0.309016994374947400f,
- 0.325568154457156640f, 0.342020143325668710f,
- 0.358367949545300270f, 0.374606593415912010f, 0.390731128489273720f,
- 0.406736643075800150f, 0.422618261740699440f, 0.438371146789077400f,
- 0.453990499739546750f, 0.469471562785890810f,
- 0.484809620246337060f, 0.499999999999999940f, 0.515038074910054160f,
- 0.529919264233204900f, 0.544639035015027080f, 0.559192903470746900f,
- 0.573576436351046050f, 0.587785252292473140f,
- 0.601815023152048270f, 0.615661475325658180f, 0.629320391049837390f,
- 0.642787609686539250f, 0.656059028990507160f, 0.669130606358858240f,
- 0.681998360062498480f, 0.694658370458997250f,
- 0.707106781186547460f, 0.719339800338651080f, 0.731353701619170460f,
- 0.743144825477394240f, 0.754709580222772010f, 0.766044443118978010f,
- 0.777145961456970790f, 0.788010753606722010f,
- 0.798635510047292830f, 0.809016994374947450f, 0.819152044288991800f,
- 0.829037572555041740f, 0.838670567945423940f, 0.848048096156426070f,
- 0.857167300702112220f, 0.866025403784438600f,
- 0.874619707139395740f, 0.882947592858926880f, 0.891006524188367790f,
- 0.898794046299167040f, 0.906307787036649940f, 0.913545457642600870f,
- 0.920504853452440260f, 0.927183854566787420f,
- 0.933580426497201740f, 0.939692620785908320f, 0.945518575599316740f,
- 0.951056516295153530f, 0.956304755963035440f, 0.961261695938318890f,
- 0.965925826289068310f, 0.970295726275996470f,
- 0.974370064785235250f, 0.978147600733805580f, 0.981627183447663980f,
- 0.984807753012208020f, 0.987688340595137770f, 0.990268068741570250f,
- 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,
- 0.994521895368273400f, 0.992546151641322090f, 0.990268068741570360f,
- 0.987688340595137660f, 0.984807753012208020f,
- 0.981627183447663980f, 0.978147600733805690f, 0.974370064785235250f,
- 0.970295726275996470f, 0.965925826289068310f, 0.961261695938318890f,
- 0.956304755963035550f, 0.951056516295153640f,
- 0.945518575599316850f, 0.939692620785908430f, 0.933580426497201740f,
- 0.927183854566787420f, 0.920504853452440370f, 0.913545457642600980f,
- 0.906307787036650050f, 0.898794046299166930f,
- 0.891006524188367900f, 0.882947592858927100f, 0.874619707139395850f,
- 0.866025403784438710f, 0.857167300702112330f, 0.848048096156426070f,
- 0.838670567945424050f, 0.829037572555041740f,
- 0.819152044288992020f, 0.809016994374947450f, 0.798635510047292720f,
- 0.788010753606722010f, 0.777145961456971010f, 0.766044443118978010f,
- 0.754709580222771790f, 0.743144825477394240f,
- 0.731353701619170570f, 0.719339800338651410f, 0.707106781186547570f,
- 0.694658370458997140f, 0.681998360062498590f, 0.669130606358858350f,
- 0.656059028990507280f, 0.642787609686539470f,
- 0.629320391049837720f, 0.615661475325658400f, 0.601815023152048160f,
- 0.587785252292473250f, 0.573576436351046380f, 0.559192903470746900f,
- 0.544639035015026860f, 0.529919264233204900f,
- 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
- */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c deleted file mode 100644 index e22d25e53..000000000 --- a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c +++ /dev/null @@ -1,324 +0,0 @@ -/* ----------------------------------------------------------------------
-* Copyright (C) 2010 ARM Limited. All rights reserved.
-*
-* $Date: 15. February 2012
-* $Revision: V1.1.0
-*
-* Project: CMSIS DSP Library
-* Title: arm_sin_cos_q31.c
-*
-* Description: Cosine & Sine calculation for Q31 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
- */
-
- /**
- * @addtogroup SinCos
- * @{
- */
-
-/**
-* \par
-* Sine Table is generated from following loop
-* <pre>for(i = 0; i < 360; i++)
-* {
-* sinTable[i]= sin((i-180) * PI/180.0);
-* } </pre>
-* Convert above coefficients to fixed point 1.31 format.
-*/
-
-static const int32_t sinTableQ31[360] = {
-
- 0x0, 0xfdc41e9b, 0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2,
- 0xf06695da,
- 0xee2f9369, 0xebf9f498, 0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9,
- 0xe108b40d, 0xdedf047d,
- 0xdcb7ea46, 0xda939061, 0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0,
- 0xd00ce422, 0xcdfc85bb,
- 0xcbf00dbe, 0xc9e7a512, 0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224,
- 0xc0000000, 0xbe133b7c,
- 0xbc2b9b05, 0xba4944a2, 0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af,
- 0xb1320139, 0xaf726def,
- 0xadb922b7, 0xac0641fb, 0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666,
- 0xa3ecac65, 0xa263007d,
- 0xa0e0a15f, 0x9f65ad2d, 0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5,
- 0x98722192, 0x9726069c,
- 0x95e218c9, 0x94a6715d, 0x937328f5, 0x92485786, 0x9126145f, 0x900c7621,
- 0x8efb92c2, 0x8df37f8b,
- 0x8cf45113, 0x8bfe1b3f, 0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4,
- 0x87b826f7, 0x86f93f50,
- 0x8643c7b3, 0x8597ce46, 0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b,
- 0x82cc0f36, 0x825a0a5b,
- 0x81f1d1ce, 0x81936daf, 0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130,
- 0x804fd23a, 0x802ce84c,
- 0x8013f61d, 0x8004fda0, 0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c,
- 0x804fd23a, 0x807cb130,
- 0x80b381ac, 0x80f43f69, 0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b,
- 0x82cc0f36, 0x8347d77b,
- 0x83cd5982, 0x845c8ae3, 0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50,
- 0x87b826f7, 0x88806fc4,
- 0x89520a1a, 0x8a2ce59f, 0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b,
- 0x8efb92c2, 0x900c7621,
- 0x9126145f, 0x92485786, 0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c,
- 0x98722192, 0x99c64fc5,
- 0x9b2276b0, 0x9c867b2c, 0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d,
- 0xa3ecac65, 0xa57d8666,
- 0xa7156f3c, 0xa8b4471a, 0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def,
- 0xb1320139, 0xb2f7b9af,
- 0xb4c373ee, 0xb6950c1e, 0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c,
- 0xc0000000, 0xc1f1c224,
- 0xc3e85b18, 0xc5e3a3a9, 0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb,
- 0xd00ce422, 0xd220ffc0,
- 0xd438af17, 0xd653c860, 0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d,
- 0xe108b40d, 0xe334cdc9,
- 0xe5632654, 0xe7939223, 0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da,
- 0xf29ecfb2, 0xf4d814a4,
- 0xf7123849, 0xf94d0e2e, 0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632,
- 0x6b2f1d2,
- 0x8edc7b7, 0xb27eb5c, 0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68,
- 0x163a1a7e, 0x186c6ddd,
- 0x1a9cd9ac, 0x1ccb3237, 0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f,
- 0x278dde6e, 0x29ac37a0,
- 0x2bc750e9, 0x2ddf0040, 0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee,
- 0x381c8bb5, 0x3a1c5c57,
- 0x3c17a4e8, 0x3e0e3ddc, 0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e,
- 0x4793a210, 0x496af3e2,
- 0x4b3c8c12, 0x4d084651, 0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05,
- 0x55a6125c, 0x574bb8e6,
- 0x58ea90c4, 0x5a82799a, 0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3,
- 0x620dbe8b, 0x637984d4,
- 0x64dd8950, 0x6639b03b, 0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3,
- 0x6c8cd70b, 0x6db7a87a,
- 0x6ed9eba1, 0x6ff389df, 0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1,
- 0x74ef0ebc, 0x75d31a61,
- 0x76adf5e6, 0x777f903c, 0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba,
- 0x7b0a9f8d, 0x7ba3751d,
- 0x7c32a67e, 0x7cb82885, 0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251,
- 0x7ec11aa5, 0x7f0bc097,
- 0x7f4c7e54, 0x7f834ed0, 0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260,
- 0x7fffffff, 0x7ffb0260,
- 0x7fec09e3, 0x7fd317b4, 0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097,
- 0x7ec11aa5, 0x7e6c9251,
- 0x7e0e2e32, 0x7da5f5a5, 0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d,
- 0x7b0a9f8d, 0x7a6831ba,
- 0x79bc384d, 0x7906c0b0, 0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61,
- 0x74ef0ebc, 0x7401e4c1,
- 0x730baeed, 0x720c8075, 0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a,
- 0x6c8cd70b, 0x6b598ea3,
- 0x6a1de737, 0x68d9f964, 0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4,
- 0x620dbe8b, 0x609a52d3,
- 0x5f1f5ea1, 0x5d9cff83, 0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6,
- 0x55a6125c, 0x53f9be05,
- 0x5246dd49, 0x508d9211, 0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2,
- 0x4793a210, 0x45b6bb5e,
- 0x43d464fb, 0x41ecc484, 0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57,
- 0x381c8bb5, 0x36185aee,
- 0x340ff242, 0x32037a45, 0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0,
- 0x278dde6e, 0x256c6f9f,
- 0x234815ba, 0x2120fb83, 0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd,
- 0x163a1a7e, 0x14060b68,
- 0x11d06c97, 0xf996a26, 0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2,
- 0x4779632, 0x23be165,
-
-
-};
-
-/**
-* \par
-* Cosine Table is generated from following loop
-* <pre>for(i = 0; i < 360; i++)
-* {
-* cosTable[i]= cos((i-180) * PI/180.0);
-* } </pre>
-* \par
-* Convert above coefficients to fixed point 1.31 format.
-*/
-static const int32_t cosTableQ31[360] = {
- 0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c, 0x804fd23a, 0x807cb130,
- 0x80b381ac, 0x80f43f69,
- 0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b, 0x82cc0f36, 0x8347d77b,
- 0x83cd5982, 0x845c8ae3,
- 0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50, 0x87b826f7, 0x88806fc4,
- 0x89520a1a, 0x8a2ce59f,
- 0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b, 0x8efb92c2, 0x900c7621,
- 0x9126145f, 0x92485786,
- 0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c, 0x98722192, 0x99c64fc5,
- 0x9b2276b0, 0x9c867b2c,
- 0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d, 0xa3ecac65, 0xa57d8666,
- 0xa7156f3c, 0xa8b4471a,
- 0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def, 0xb1320139, 0xb2f7b9af,
- 0xb4c373ee, 0xb6950c1e,
- 0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c, 0xc0000000, 0xc1f1c224,
- 0xc3e85b18, 0xc5e3a3a9,
- 0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb, 0xd00ce422, 0xd220ffc0,
- 0xd438af17, 0xd653c860,
- 0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d, 0xe108b40d, 0xe334cdc9,
- 0xe5632654, 0xe7939223,
- 0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da, 0xf29ecfb2, 0xf4d814a4,
- 0xf7123849, 0xf94d0e2e,
- 0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632, 0x6b2f1d2, 0x8edc7b7,
- 0xb27eb5c,
- 0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68, 0x163a1a7e, 0x186c6ddd,
- 0x1a9cd9ac, 0x1ccb3237,
- 0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f, 0x278dde6e, 0x29ac37a0,
- 0x2bc750e9, 0x2ddf0040,
- 0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee, 0x381c8bb5, 0x3a1c5c57,
- 0x3c17a4e8, 0x3e0e3ddc,
- 0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e, 0x4793a210, 0x496af3e2,
- 0x4b3c8c12, 0x4d084651,
- 0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05, 0x55a6125c, 0x574bb8e6,
- 0x58ea90c4, 0x5a82799a,
- 0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3, 0x620dbe8b, 0x637984d4,
- 0x64dd8950, 0x6639b03b,
- 0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3, 0x6c8cd70b, 0x6db7a87a,
- 0x6ed9eba1, 0x6ff389df,
- 0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1, 0x74ef0ebc, 0x75d31a61,
- 0x76adf5e6, 0x777f903c,
- 0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba, 0x7b0a9f8d, 0x7ba3751d,
- 0x7c32a67e, 0x7cb82885,
- 0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251, 0x7ec11aa5, 0x7f0bc097,
- 0x7f4c7e54, 0x7f834ed0,
- 0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260, 0x7fffffff, 0x7ffb0260,
- 0x7fec09e3, 0x7fd317b4,
- 0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097, 0x7ec11aa5, 0x7e6c9251,
- 0x7e0e2e32, 0x7da5f5a5,
- 0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d, 0x7b0a9f8d, 0x7a6831ba,
- 0x79bc384d, 0x7906c0b0,
- 0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61, 0x74ef0ebc, 0x7401e4c1,
- 0x730baeed, 0x720c8075,
- 0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a, 0x6c8cd70b, 0x6b598ea3,
- 0x6a1de737, 0x68d9f964,
- 0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4, 0x620dbe8b, 0x609a52d3,
- 0x5f1f5ea1, 0x5d9cff83,
- 0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6, 0x55a6125c, 0x53f9be05,
- 0x5246dd49, 0x508d9211,
- 0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2, 0x4793a210, 0x45b6bb5e,
- 0x43d464fb, 0x41ecc484,
- 0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57, 0x381c8bb5, 0x36185aee,
- 0x340ff242, 0x32037a45,
- 0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0, 0x278dde6e, 0x256c6f9f,
- 0x234815ba, 0x2120fb83,
- 0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd, 0x163a1a7e, 0x14060b68,
- 0x11d06c97, 0xf996a26,
- 0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2, 0x4779632, 0x23be165, 0x0,
- 0xfdc41e9b,
- 0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2, 0xf06695da,
- 0xee2f9369, 0xebf9f498,
- 0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9, 0xe108b40d, 0xdedf047d,
- 0xdcb7ea46, 0xda939061,
- 0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0, 0xd00ce422, 0xcdfc85bb,
- 0xcbf00dbe, 0xc9e7a512,
- 0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224, 0xc0000000, 0xbe133b7c,
- 0xbc2b9b05, 0xba4944a2,
- 0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af, 0xb1320139, 0xaf726def,
- 0xadb922b7, 0xac0641fb,
- 0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666, 0xa3ecac65, 0xa263007d,
- 0xa0e0a15f, 0x9f65ad2d,
- 0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5, 0x98722192, 0x9726069c,
- 0x95e218c9, 0x94a6715d,
- 0x937328f5, 0x92485786, 0x9126145f, 0x900c7621, 0x8efb92c2, 0x8df37f8b,
- 0x8cf45113, 0x8bfe1b3f,
- 0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4, 0x87b826f7, 0x86f93f50,
- 0x8643c7b3, 0x8597ce46,
- 0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b, 0x82cc0f36, 0x825a0a5b,
- 0x81f1d1ce, 0x81936daf,
- 0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130, 0x804fd23a, 0x802ce84c,
- 0x8013f61d, 0x8004fda0,
-
-};
-
-
-/**
- * @brief Q31 sin_cos function.
- * @param[in] theta scaled input value in degrees
- * @param[out] *pSinVal points to the processed sine output.
- * @param[out] *pCosVal points to the processed cosine output.
- * @return none.
- *
- * The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179].
- *
- */
-
-
-void arm_sin_cos_q31(
- q31_t theta,
- q31_t * pSinVal,
- q31_t * pCosVal)
-{
- q31_t x0; /* Nearest input value */
- q31_t y0, y1; /* Nearest output values */
- q31_t xSpacing = INPUT_SPACING; /* Spaing between inputs */
- int32_t i; /* Index */
- q31_t oneByXSpacing; /* 1/ xSpacing value */
- q31_t out; /* temporary variable */
- uint32_t sign_bits; /* No.of sign bits */
- uint32_t firstX = 0x80000000; /* First X value */
-
- /* Calculation of index */
- i = ((uint32_t) theta - firstX) / (uint32_t) xSpacing;
-
- /* Checking min and max index of table */
- if(i < 0)
- {
- i = 0;
- }
- else if(i >= 359)
- {
- i = 358;
- }
-
- /* Calculation of first nearest input value */
- x0 = (q31_t) firstX + ((q31_t) i * xSpacing);
-
- /* Reading nearest sine output values from table */
- y0 = sinTableQ31[i];
- y1 = sinTableQ31[i + 1u];
-
- /* Calculation of 1/(x1-x0) */
- /* (x1-x0) is xSpacing which is fixed value */
- sign_bits = 8u;
- oneByXSpacing = 0x5A000000;
-
- /* Calculation of (theta - x0)/(x1-x0) */
- out =
- (((q31_t) (((q63_t) (theta - x0) * oneByXSpacing) >> 32)) << sign_bits);
-
- /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */
- *pSinVal = __QADD(y0, ((q31_t) (((q63_t) (y1 - y0) * out) >> 30)));
-
- /* Reading nearest cosine output values from table */
- y0 = cosTableQ31[i];
- y1 = cosTableQ31[i + 1u];
-
- /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */
- *pCosVal = __QADD(y0, ((q31_t) (((q63_t) (y1 - y0) * out) >> 30)));
-
-}
-
-/**
- * @} end of SinCos group
- */
|