From 94ade9753269d0a0ba330a4bdb3ec1e5cffe99ac Mon Sep 17 00:00:00 2001 From: patacongo Date: Sat, 29 Nov 2008 01:19:35 +0000 Subject: Add fixed precision sin() and cos() git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@1342 42af7a65-404d-4744-a932-0658087f49c3 --- nuttx/include/fixedmath.h | 22 ++++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) (limited to 'nuttx/include') diff --git a/nuttx/include/fixedmath.h b/nuttx/include/fixedmath.h index 3f9e8e0e6..1c4253754 100644 --- a/nuttx/include/fixedmath.h +++ b/nuttx/include/fixedmath.h @@ -54,6 +54,9 @@ #define b8HALF 0x0080 /* 0.5 */ #define b8ONETENTH 0x001a /* 0.1 (acutally 0.1015625) */ #define b8ONEHUNDRTH 0x0003 /* 0.01 (actualy 0.0117198765) */ +#define b8HALFPI 0x0192 /* 1.5703125 */ +#define b8PI 0x0324 /* 3.1406250 */ +#define b8TWOPI 0x0648 /* 6.2812500 */ #define b8MAX 0x7fff /* Max value of b8_t */ #define ub8MAX 0xffff /* Max value of rb8_t */ @@ -68,6 +71,9 @@ #define b16ONETENTH 0x0000199a /* 0.1 (actually 0.100006..) */ #define b16ONEHUNDRTH 0x0000028f /* 0.01 (actually 0.0099945..) */ #define b16ONETHOUSTH 0x00000042 /* 0.001 (actually 0.000100708..)*/ +#define b16HALFPI 0x0001921f /* 1.57078552246 */ +#define b16PI 0x0003243f /* 3.14158630371 */ +#define b16TWOPI 0x0006487b /* 6.28312683105 */ #define b16MAX 0x7fffffff /* Max value of b16_t */ #define ub16MAX 0xffffffff /* Max value of ub16_t */ @@ -84,6 +90,9 @@ #define b32ONEHUNDRTH 0x00000000028f5c29 /* 0.01 */ #define b32ONETHOUSTH 0x0000000000418937 /* 0.001 */ #define b32ONETENTHOU 0x0000000000068db9 /* 0.0001 */ +#define b32HALFPI 0x00000001921eb9ff /* 1.57078134990 */ +#define b32PI 0x00000003243f6b4f /* 3.14159269980 */ +#define b32TWOPI 0x00000006487ae7fd /* 6.28312539984 */ #define b32MAX 0x7fffffffffffffff /* Max value of b16_t */ #define ub32MAX 0xffffffffffffffff /* Max value of ub16_t */ @@ -131,6 +140,8 @@ #define b8mulb8(a,b) b16tob8((b16_t)(a)*(b16_t)(b) /* Muliplication */ #define ub8mulub8(a,b) ub16toub8((ub16_t)(a)*(ub16_t)(b) /* Muliplication */ #define b8muli(a,i) ((a)*(i)) /* Simple multiplication by integer */ +#define b8sqr(a) b8mulb8(a,a) /* Square */ +#define ub8sqr(a) ub8mulub8(a,a) /* Square */ #define b8divb8(a,b) b8tob16(a)/(b16_t)(b) /* Division */ #define ub8divub8(a,b) ub8toub16(a)/(ub16_t)(b) /* Division */ #define b8divi(a,i) ((a)/(i)) /* Simple division by integer */ @@ -162,9 +173,11 @@ #define b16idiv(i,j) (((i)<<16)/j) /* Division of integer, b16 result */ #ifdef CONFIG_HAVE_LONG_LONG -# define b16mulb16(a,b) b32tob16((b32_t)(a)*(b32_t)(b) /* Muliplication */ +# define b16mulb16(a,b) b32tob16((b32_t)(a)*(b32_t)(b)) /* Muliplication */ # define ub16mulub16(a,b) ub32toub16((ub32_t)(a)*(ub32_t)(b) -# define b16divb16(a,b) b16tob32(a)/(b32_t)(b) /* Division */ +# define b16sqr(a) b16mulb16(a,a) /* Square */ +# define ub16sqr(a) ub16mulub16(a,a) /* Square */ +# define b16divb16(a,b) b16tob32(a)/(b32_t)(b) /* Division */ # define ub16divub16(a,b) ub16toub32(a)/(ub32_t)(b) #endif @@ -196,10 +209,15 @@ extern "C" { #ifndef CONFIG_HAVE_LONG_LONG EXTERN b16_t b16mulb16(b16_t m1, b16_t m2); EXTERN ub16_t ub16mulub16(ub16_t m1, ub16_t m2); +EXTERN b16_t b16sqr(b16_t a); +EXTERN ub16_t ub16sqr(ub16_t a); EXTERN b16_t b16divb16(b16_t num, b16_t denom); EXTERN ub16_t ub16divub16(ub16_t num, ub16_t denom); #endif +EXTERN b16_t b16sin(b16_t rad); +EXTERN b16_t b16cos(b16_t rad); + #undef EXTERN #if defined(__cplusplus) } -- cgit v1.2.3