diff options
Diffstat (limited to 'fw/hid-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions')
8 files changed, 0 insertions, 691 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 deleted file mode 100644 index e729500..0000000 --- a/fw/hid-dials/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/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 deleted file mode 100644 index 0f83f35..0000000 --- a/fw/hid-dials/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/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 deleted file mode 100644 index ce2936e..0000000 --- a/fw/hid-dials/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/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 deleted file mode 100644 index acc1709..0000000 --- a/fw/hid-dials/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/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 deleted file mode 100644 index 59c4416..0000000 --- a/fw/hid-dials/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/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 deleted file mode 100644 index 7112a77..0000000 --- a/fw/hid-dials/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/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 deleted file mode 100644 index 2aff091..0000000 --- a/fw/hid-dials/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/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 deleted file mode 100644 index c1c33ec..0000000 --- a/fw/hid-dials/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
- */
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