From 5576e321fa8cd027b15deeb15b7ca05541fde4fe Mon Sep 17 00:00:00 2001 From: px4dev Date: Mon, 20 May 2013 00:30:43 +0200 Subject: Use the new prebuilt-library support to wrap the ARM CMSIS DSP library, and update to the version shipped with CMSIS 3.0 r3p2 --- .../DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c | 239 --------------------- 1 file changed, 239 deletions(-) delete mode 100644 src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c (limited to 'src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c') diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c deleted file mode 100644 index 1326215fe..000000000 --- a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c +++ /dev/null @@ -1,239 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_cos_q31.c -* -* Description: Fast cosine 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 groupFastMath - */ - - /** - * @addtogroup cos - * @{ - */ - -/** - * \par - * Table Values are in Q31(1.31 Fixed point format) and generation is done in three steps - * First Generate cos values in floating point: - * tableSize = 256; - * 
for(n = -1; n < (tableSize + 1); n++)    
- * {    
- *	cosTable[n+1]= cos(2*pi*n/tableSize);    
- * }
- * where pi value is 3.14159265358979 - * \par - * Secondly Convert Floating point to Q31(Fixed point): - * (cosTable[i] * pow(2, 31)) - * \par - * Finally Rounding to nearest integer is done - * cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5); - */ - - -static const q31_t cosTableQ31[259] = { - 0x7ff62182, 0x7fffffff, 0x7ff62182, 0x7fd8878e, 0x7fa736b4, 0x7f62368f, - 0x7f0991c4, 0x7e9d55fc, - 0x7e1d93ea, 0x7d8a5f40, 0x7ce3ceb2, 0x7c29fbee, 0x7b5d039e, 0x7a7d055b, - 0x798a23b1, 0x78848414, - 0x776c4edb, 0x7641af3d, 0x7504d345, 0x73b5ebd1, 0x72552c85, 0x70e2cbc6, - 0x6f5f02b2, 0x6dca0d14, - 0x6c242960, 0x6a6d98a4, 0x68a69e81, 0x66cf8120, 0x64e88926, 0x62f201ac, - 0x60ec3830, 0x5ed77c8a, - 0x5cb420e0, 0x5a82799a, 0x5842dd54, 0x55f5a4d2, 0x539b2af0, 0x5133cc94, - 0x4ebfe8a5, 0x4c3fdff4, - 0x49b41533, 0x471cece7, 0x447acd50, 0x41ce1e65, 0x3f1749b8, 0x3c56ba70, - 0x398cdd32, 0x36ba2014, - 0x33def287, 0x30fbc54d, 0x2e110a62, 0x2b1f34eb, 0x2826b928, 0x25280c5e, - 0x2223a4c5, 0x1f19f97b, - 0x1c0b826a, 0x18f8b83c, 0x15e21445, 0x12c8106f, 0xfab272b, 0xc8bd35e, - 0x96a9049, 0x647d97c, - 0x3242abf, 0x0, 0xfcdbd541, 0xf9b82684, 0xf6956fb7, 0xf3742ca2, 0xf054d8d5, - 0xed37ef91, - 0xea1debbb, 0xe70747c4, 0xe3f47d96, 0xe0e60685, 0xdddc5b3b, 0xdad7f3a2, - 0xd7d946d8, 0xd4e0cb15, - 0xd1eef59e, 0xcf043ab3, 0xcc210d79, 0xc945dfec, 0xc67322ce, 0xc3a94590, - 0xc0e8b648, 0xbe31e19b, - 0xbb8532b0, 0xb8e31319, 0xb64beacd, 0xb3c0200c, 0xb140175b, 0xaecc336c, - 0xac64d510, 0xaa0a5b2e, - 0xa7bd22ac, 0xa57d8666, 0xa34bdf20, 0xa1288376, 0x9f13c7d0, 0x9d0dfe54, - 0x9b1776da, 0x99307ee0, - 0x9759617f, 0x9592675c, 0x93dbd6a0, 0x9235f2ec, 0x90a0fd4e, 0x8f1d343a, - 0x8daad37b, 0x8c4a142f, - 0x8afb2cbb, 0x89be50c3, 0x8893b125, 0x877b7bec, 0x8675dc4f, 0x8582faa5, - 0x84a2fc62, 0x83d60412, - 0x831c314e, 0x8275a0c0, 0x81e26c16, 0x8162aa04, 0x80f66e3c, 0x809dc971, - 0x8058c94c, 0x80277872, - 0x8009de7e, 0x80000000, 0x8009de7e, 0x80277872, 0x8058c94c, 0x809dc971, - 0x80f66e3c, 0x8162aa04, - 0x81e26c16, 0x8275a0c0, 0x831c314e, 0x83d60412, 0x84a2fc62, 0x8582faa5, - 0x8675dc4f, 0x877b7bec, - 0x8893b125, 0x89be50c3, 0x8afb2cbb, 0x8c4a142f, 0x8daad37b, 0x8f1d343a, - 0x90a0fd4e, 0x9235f2ec, - 0x93dbd6a0, 0x9592675c, 0x9759617f, 0x99307ee0, 0x9b1776da, 0x9d0dfe54, - 0x9f13c7d0, 0xa1288376, - 0xa34bdf20, 0xa57d8666, 0xa7bd22ac, 0xaa0a5b2e, 0xac64d510, 0xaecc336c, - 0xb140175b, 0xb3c0200c, - 0xb64beacd, 0xb8e31319, 0xbb8532b0, 0xbe31e19b, 0xc0e8b648, 0xc3a94590, - 0xc67322ce, 0xc945dfec, - 0xcc210d79, 0xcf043ab3, 0xd1eef59e, 0xd4e0cb15, 0xd7d946d8, 0xdad7f3a2, - 0xdddc5b3b, 0xe0e60685, - 0xe3f47d96, 0xe70747c4, 0xea1debbb, 0xed37ef91, 0xf054d8d5, 0xf3742ca2, - 0xf6956fb7, 0xf9b82684, - 0xfcdbd541, 0x0, 0x3242abf, 0x647d97c, 0x96a9049, 0xc8bd35e, 0xfab272b, - 0x12c8106f, - 0x15e21445, 0x18f8b83c, 0x1c0b826a, 0x1f19f97b, 0x2223a4c5, 0x25280c5e, - 0x2826b928, 0x2b1f34eb, - 0x2e110a62, 0x30fbc54d, 0x33def287, 0x36ba2014, 0x398cdd32, 0x3c56ba70, - 0x3f1749b8, 0x41ce1e65, - 0x447acd50, 0x471cece7, 0x49b41533, 0x4c3fdff4, 0x4ebfe8a5, 0x5133cc94, - 0x539b2af0, 0x55f5a4d2, - 0x5842dd54, 0x5a82799a, 0x5cb420e0, 0x5ed77c8a, 0x60ec3830, 0x62f201ac, - 0x64e88926, 0x66cf8120, - 0x68a69e81, 0x6a6d98a4, 0x6c242960, 0x6dca0d14, 0x6f5f02b2, 0x70e2cbc6, - 0x72552c85, 0x73b5ebd1, - 0x7504d345, 0x7641af3d, 0x776c4edb, 0x78848414, 0x798a23b1, 0x7a7d055b, - 0x7b5d039e, 0x7c29fbee, - 0x7ce3ceb2, 0x7d8a5f40, 0x7e1d93ea, 0x7e9d55fc, 0x7f0991c4, 0x7f62368f, - 0x7fa736b4, 0x7fd8878e, - 0x7ff62182, 0x7fffffff, 0x7ff62182 -}; - -/** - * @brief Fast approximation to the trigonometric cosine function for Q31 data. - * @param[in] x Scaled input value in radians. - * @return cos(x). - * - * The Q31 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi), Here range excludes 2*pi. - */ - -q31_t arm_cos_q31( - q31_t x) -{ - q31_t cosVal, in, in2; /* Temporary variables for input, output */ - q31_t wa, wb, wc, wd; /* Cubic interpolation coefficients */ - q31_t a, b, c, d; /* Four nearest output values */ - q31_t *tablePtr; /* Pointer to table */ - q31_t fract, fractCube, fractSquare; /* Temporary values for fractional values */ - q31_t oneBy6 = 0x15555555; /* Fixed point value of 1/6 */ - q31_t tableSpacing = TABLE_SPACING_Q31; /* Table spacing */ - q31_t temp; /* Temporary variable for intermediate process */ - int32_t index; /* Index variable */ - - in = x; - - /* Calculate the nearest index */ - index = in / tableSpacing; - - /* Calculate the nearest value of input */ - in2 = ((q31_t) index) * tableSpacing; - - /* Calculation of fractional value */ - fract = (in - in2) << 8; - - /* fractSquare = fract * fract */ - fractSquare = ((q31_t) (((q63_t) fract * fract) >> 32)); - fractSquare = fractSquare << 1; - - /* fractCube = fract * fract * fract */ - fractCube = ((q31_t) (((q63_t) fractSquare * fract) >> 32)); - fractCube = fractCube << 1; - - /* Checking min and max index of table */ - if(index < 0) - { - index = 0; - } - else if(index > 256) - { - index = 256; - } - - /* Initialise table pointer */ - tablePtr = (q31_t *) & cosTableQ31[index]; - - /* Cubic interpolation process */ - /* Calculation of wa */ - /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAAAAAA)*fract; */ - wa = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32)); - temp = 0x2AAAAAAA; - wa = (q31_t) ((((q63_t) wa << 32) + ((q63_t) temp * fract)) >> 32); - wa = -(wa << 1u); - wa += (fractSquare >> 1u); - - /* Read first nearest value of output from the cos table */ - a = *tablePtr++; - - /* cosVal = a*wa */ - cosVal = ((q31_t) (((q63_t) a * wa) >> 32)); - - /* q31(1.31) Fixed point value of 1 */ - temp = 0x7FFFFFFF; - - /* Calculation of wb */ - wb = ((fractCube >> 1u) - (fractSquare + (fract >> 1u))) + temp; - /* Read second nearest value of output from the cos table */ - b = *tablePtr++; - - /* cosVal += b*wb */ - cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) b * (wb))) >> 32); - - /* Calculation of wc */ - wc = -fractCube + fractSquare; - wc = (wc >> 1u) + fract; - /* Read third nearest values of output value from the cos table */ - c = *tablePtr++; - - /* cosVal += c*wc */ - cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) c * (wc))) >> 32); - - /* Calculation of wd */ - /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */ - fractCube = fractCube - fract; - wd = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32)); - wd = (wd << 1u); - - /* Read fourth nearest value of output from the cos table */ - d = *tablePtr++; - - /* cosVal += d*wd; */ - cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) d * (wd))) >> 32); - - - /* convert cosVal in 2.30 format to 1.31 format */ - return (__QADD(cosVal, cosVal)); - -} - -/** - * @} end of cos group - */ -- cgit v1.2.3