minkbd: repo restructure

8 files changed, 0 insertions, 691 deletions

diff --git a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c b/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c
deleted file mode 100644
index e729500..0000000
--- a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c
+++ /dev/null
@@ -1,74 +0,0 @@
-/* ----------------------------------------------------------------------

- * Project:      CMSIS DSP Library

- * Title:        arm_pid_init_f32.c

- * Description:  Floating-point PID Control initialization function

- *

- * $Date:        27. January 2017

- * $Revision:    V.1.5.1

- *

- * Target Processor: Cortex-M cores

- * -------------------------------------------------------------------- */

-/*

- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.

- *

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the License); you may

- * not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- * www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an AS IS BASIS, WITHOUT

- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-

-#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/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c b/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
deleted file mode 100644
index 0f83f35..0000000
--- a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
+++ /dev/null
@@ -1,110 +0,0 @@
-/* ----------------------------------------------------------------------

- * Project:      CMSIS DSP Library

- * Title:        arm_pid_init_q15.c

- * Description:  Q15 PID Control initialization function

- *

- * $Date:        27. January 2017

- * $Revision:    V.1.5.1

- *

- * Target Processor: Cortex-M cores

- * -------------------------------------------------------------------- */

-/*

- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.

- *

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the License); you may

- * not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- * www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an AS IS BASIS, WITHOUT

- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-

-#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)

-{

-

-#if defined (ARM_MATH_DSP)

-

-  /* 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 /* #if defined (ARM_MATH_DSP) */

-

-}

-

-/**

- * @} end of PID group

- */

diff --git a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c b/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c
deleted file mode 100644
index ce2936e..0000000
--- a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c
+++ /dev/null
@@ -1,95 +0,0 @@
-/* ----------------------------------------------------------------------

- * Project:      CMSIS DSP Library

- * Title:        arm_pid_init_q31.c

- * Description:  Q31 PID Control initialization function

- *

- * $Date:        27. January 2017

- * $Revision:    V.1.5.1

- *

- * Target Processor: Cortex-M cores

- * -------------------------------------------------------------------- */

-/*

- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.

- *

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the License); you may

- * not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- * www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an AS IS BASIS, WITHOUT

- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-

-#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)

-{

-

-#if defined (ARM_MATH_DSP)

-

-  /* 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 /* #if defined (ARM_MATH_DSP) */

-

-  /* 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/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c b/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c
deleted file mode 100644
index acc1709..0000000
--- a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c
+++ /dev/null
@@ -1,53 +0,0 @@
-/* ----------------------------------------------------------------------

- * Project:      CMSIS DSP Library

- * Title:        arm_pid_reset_f32.c

- * Description:  Floating-point PID Control reset function

- *

- * $Date:        27. January 2017

- * $Revision:    V.1.5.1

- *

- * Target Processor: Cortex-M cores

- * -------------------------------------------------------------------- */

-/*

- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.

- *

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the License); you may

- * not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- * www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an AS IS BASIS, WITHOUT

- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-

-#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/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c b/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c
deleted file mode 100644
index 59c4416..0000000
--- a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c
+++ /dev/null
@@ -1,52 +0,0 @@
-/* ----------------------------------------------------------------------

- * Project:      CMSIS DSP Library

- * Title:        arm_pid_reset_q15.c

- * Description:  Q15 PID Control reset function

- *

- * $Date:        27. January 2017

- * $Revision:    V.1.5.1

- *

- * Target Processor: Cortex-M cores

- * -------------------------------------------------------------------- */

-/*

- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.

- *

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the License); you may

- * not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- * www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an AS IS BASIS, WITHOUT

- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-

-#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/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c b/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c
deleted file mode 100644
index 7112a77..0000000
--- a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c
+++ /dev/null
@@ -1,53 +0,0 @@
-/* ----------------------------------------------------------------------

- * Project:      CMSIS DSP Library

- * Title:        arm_pid_reset_q31.c

- * Description:  Q31 PID Control reset function

- *

- * $Date:        27. January 2017

- * $Revision:    V.1.5.1

- *

- * Target Processor: Cortex-M cores

- * -------------------------------------------------------------------- */

-/*

- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.

- *

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the License); you may

- * not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- * www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an AS IS BASIS, WITHOUT

- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-

-#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/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c b/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c
deleted file mode 100644
index 2aff091..0000000
--- a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c
+++ /dev/null
@@ -1,144 +0,0 @@
-/* ----------------------------------------------------------------------

- * Project:      CMSIS DSP Library

- * Title:        arm_sin_cos_f32.c

- * Description:  Sine and Cosine calculation for floating-point values

- *

- * $Date:        27. January 2017

- * $Revision:    V.1.5.1

- *

- * Target Processor: Cortex-M cores

- * -------------------------------------------------------------------- */

-/*

- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.

- *

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the License); you may

- * not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- * www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an AS IS BASIS, WITHOUT

- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-

-#include "arm_math.h"

-#include "arm_common_tables.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 +180] degrees.

- *

- * The floating point function also allows values that are out of the usual range. When this happens, the function will

- * take extra time to adjust the input value to the range of [-180 180].

- *

- * The result is accurate to 5 digits after the decimal point.

- *

- * 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

- * @{

- */

-

-/**

- * @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)

-{

-    float32_t fract, in;                             /* Temporary variables for input, output */

-    uint16_t indexS, indexC;                         /* Index variable */

-    float32_t f1, f2, d1, d2;                        /* Two nearest output values */

-    float32_t findex, Dn, Df, temp;

-

-    /* input x is in degrees */

-    /* Scale the input, divide input by 360, for cosine add 0.25 (pi/2) to read sine table */

-    in = theta * 0.00277777777778f;

-

-    if (in < 0.0f)

-    {

-        in = -in;

-    }

-

-    in = in - (int32_t)in;

-

-    /* Calculation of index of the table */

-    findex = (float32_t) FAST_MATH_TABLE_SIZE * in;

-    indexS = ((uint16_t)findex) & 0x1ff;

-    indexC = (indexS + (FAST_MATH_TABLE_SIZE / 4)) & 0x1ff;

-

-    /* fractional value calculation */

-    fract = findex - (float32_t) indexS;

-

-    /* Read two nearest values of input value from the cos & sin tables */

-    f1 = sinTable_f32[indexC+0];

-    f2 = sinTable_f32[indexC+1];

-    d1 = -sinTable_f32[indexS+0];

-    d2 = -sinTable_f32[indexS+1];

-

-    temp = (1.0f - fract) * f1 + fract * f2;

-

-    Dn = 0.0122718463030f; // delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE

-    Df = f2 - f1;          // delta between the values of the functions

-

-    temp = Dn *(d1 + d2) - 2 * Df;

-    temp = fract * temp + (3 * Df - (d2 + 2 * d1) * Dn);

-    temp = fract * temp + d1 * Dn;

-

-    /* Calculation of cosine value */

-    *pCosVal = fract * temp + f1;

-

-    /* Read two nearest values of input value from the cos & sin tables */

-    f1 = sinTable_f32[indexS+0];

-    f2 = sinTable_f32[indexS+1];

-    d1 = sinTable_f32[indexC+0];

-    d2 = sinTable_f32[indexC+1];

-

-    temp = (1.0f - fract) * f1 + fract * f2;

-

-    Df = f2 - f1; // delta between the values of the functions

-    temp = Dn*(d1 + d2) - 2*Df;

-    temp = fract*temp + (3*Df - (d2 + 2*d1)*Dn);

-    temp = fract*temp + d1*Dn;

-

-    /* Calculation of sine value */

-    *pSinVal = fract*temp + f1;

-

-    if (theta < 0.0f)

-    {

-        *pSinVal = -*pSinVal;

-    }

-}

-/**

- * @} end of SinCos group

- */

diff --git a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c b/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c
deleted file mode 100644
index c1c33ec..0000000
--- a/Blink/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c
+++ /dev/null
@@ -1,110 +0,0 @@
-/* ----------------------------------------------------------------------

- * Project:      CMSIS DSP Library

- * Title:        arm_sin_cos_q31.c

- * Description:  Cosine & Sine calculation for Q31 values

- *

- * $Date:        27. January 2017

- * $Revision:    V.1.5.1

- *

- * Target Processor: Cortex-M cores

- * -------------------------------------------------------------------- */

-/*

- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.

- *

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the License); you may

- * not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- * www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an AS IS BASIS, WITHOUT

- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-

-#include "arm_math.h"

-#include "arm_common_tables.h"

-

-/**

- * @ingroup groupController

- */

-

- /**

- * @addtogroup SinCos

- * @{

- */

-

-/**

- * @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 fract;                                 /* Temporary variables for input, output */

-  uint16_t indexS, indexC;                     /* Index variable */

-  q31_t f1, f2, d1, d2;                        /* Two nearest output values */

-  q31_t Dn, Df;

-  q63_t temp;

-

-  /* Calculate the nearest index */

-  indexS = (uint32_t)theta >> CONTROLLER_Q31_SHIFT;

-  indexC = (indexS + 128) & 0x1ff;

-

-  /* Calculation of fractional value */

-  fract = (theta - (indexS << CONTROLLER_Q31_SHIFT)) << 8;

-

-  /* Read two nearest values of input value from the cos & sin tables */

-  f1 = sinTable_q31[indexC+0];

-  f2 = sinTable_q31[indexC+1];

-  d1 = -sinTable_q31[indexS+0];

-  d2 = -sinTable_q31[indexS+1];

-

-  Dn = 0x1921FB5; // delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE

-  Df = f2 - f1; // delta between the values of the functions

-  temp = Dn*((q63_t)d1 + d2);

-  temp = temp - ((q63_t)Df << 32);

-  temp = (q63_t)fract*(temp >> 31);

-  temp = temp + ((3*(q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1))*Dn);

-  temp = (q63_t)fract*(temp >> 31);

-  temp = temp + (q63_t)d1*Dn;

-  temp = (q63_t)fract*(temp >> 31);

-

-  /* Calculation of cosine value */

-  *pCosVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);

-

-  /* Read two nearest values of input value from the cos & sin tables */

-  f1 = sinTable_q31[indexS+0];

-  f2 = sinTable_q31[indexS+1];

-  d1 = sinTable_q31[indexC+0];

-  d2 = sinTable_q31[indexC+1];

-

-  Df = f2 - f1; // delta between the values of the functions

-  temp = Dn*((q63_t)d1 + d2);

-  temp = temp - ((q63_t)Df << 32);

-  temp = (q63_t)fract*(temp >> 31);

-  temp = temp + ((3*(q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1))*Dn);

-  temp = (q63_t)fract*(temp >> 31);

-  temp = temp + (q63_t)d1*Dn;

-  temp = (q63_t)fract*(temp >> 31);

-

-  /* Calculation of sine value */

-  *pSinVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);

-}

-

-/**

- * @} end of SinCos group

- */