diff options
Diffstat (limited to 'fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions')
8 files changed, 691 insertions, 0 deletions
diff --git a/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c new file mode 100644 index 0000000..e729500 --- /dev/null +++ b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c @@ -0,0 +1,74 @@ +/* ----------------------------------------------------------------------
+ * 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/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c new file mode 100644 index 0000000..0f83f35 --- /dev/null +++ b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c @@ -0,0 +1,110 @@ +/* ----------------------------------------------------------------------
+ * 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/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c new file mode 100644 index 0000000..ce2936e --- /dev/null +++ b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c @@ -0,0 +1,95 @@ +/* ----------------------------------------------------------------------
+ * 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/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c new file mode 100644 index 0000000..acc1709 --- /dev/null +++ b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c @@ -0,0 +1,53 @@ +/* ----------------------------------------------------------------------
+ * 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/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c new file mode 100644 index 0000000..59c4416 --- /dev/null +++ b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c @@ -0,0 +1,52 @@ +/* ----------------------------------------------------------------------
+ * 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/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c new file mode 100644 index 0000000..7112a77 --- /dev/null +++ b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c @@ -0,0 +1,53 @@ +/* ----------------------------------------------------------------------
+ * 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/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c new file mode 100644 index 0000000..2aff091 --- /dev/null +++ b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c @@ -0,0 +1,144 @@ +/* ----------------------------------------------------------------------
+ * 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/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c new file mode 100644 index 0000000..c1c33ec --- /dev/null +++ b/fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c @@ -0,0 +1,110 @@ +/* ----------------------------------------------------------------------
+ * 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
+ */
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