From 6ab94e0b318884bbcb95e2ea3835f951502e1d99 Mon Sep 17 00:00:00 2001 From: jaseg Date: Wed, 14 Oct 2020 12:47:28 +0200 Subject: Move firmware into subdirectory --- .../Source/ControllerFunctions/arm_sin_cos_f32.c | 144 +++++++++++++++++++++ 1 file changed, 144 insertions(+) create mode 100644 fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c (limited to 'fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c') diff --git a/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c b/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c new file mode 100644 index 0000000..2aff091 --- /dev/null +++ b/fw/cdc-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 *psinVal = y0 + (fract * (y1 - y0)). + * -# 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 *pcosVal = y0 + (fract * (y1 - y0)). + */ + + /** + * @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 + */ -- cgit