From 94f94260ace13688285fc8c62687079b26c18854 Mon Sep 17 00:00:00 2001 From: jaseg Date: Sun, 20 Dec 2020 15:18:02 +0100 Subject: Submodule-cache WIP --- .../Source/ControllerFunctions/arm_pid_init_f32.c | 74 ----------- .../Source/ControllerFunctions/arm_pid_init_q15.c | 110 ---------------- .../Source/ControllerFunctions/arm_pid_init_q31.c | 95 -------------- .../Source/ControllerFunctions/arm_pid_reset_f32.c | 53 -------- .../Source/ControllerFunctions/arm_pid_reset_q15.c | 52 -------- .../Source/ControllerFunctions/arm_pid_reset_q31.c | 53 -------- .../Source/ControllerFunctions/arm_sin_cos_f32.c | 144 --------------------- .../Source/ControllerFunctions/arm_sin_cos_q31.c | 110 ---------------- 8 files changed, 691 deletions(-) delete mode 100644 fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c delete mode 100644 fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c delete mode 100644 fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c delete mode 100644 fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c delete mode 100644 fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c delete mode 100644 fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c delete mode 100644 fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c delete mode 100644 fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c (limited to 'fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions') diff --git a/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c b/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c deleted file mode 100644 index e729500..0000000 --- a/fw/cdc-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 resetStateFlag specifies whether to set state to zero or not. \n - * The function computes the structure fields: A0, A1 A2 - * 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/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c b/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c deleted file mode 100644 index 0f83f35..0000000 --- a/fw/cdc-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 resetStateFlag specifies whether to set state to zero or not. \n - * The function computes the structure fields: A0, A1 A2 - * 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/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c b/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c deleted file mode 100644 index ce2936e..0000000 --- a/fw/cdc-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 resetStateFlag specifies whether to set state to zero or not. \n - * The function computes the structure fields: A0, A1 A2 - * 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/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c b/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c deleted file mode 100644 index acc1709..0000000 --- a/fw/cdc-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/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c b/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c deleted file mode 100644 index 59c4416..0000000 --- a/fw/cdc-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/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c b/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c deleted file mode 100644 index 7112a77..0000000 --- a/fw/cdc-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/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 deleted file mode 100644 index 2aff091..0000000 --- a/fw/cdc-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 *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 - */ diff --git a/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c b/fw/cdc-dials/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c deleted file mode 100644 index c1c33ec..0000000 --- a/fw/cdc-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 - */ -- cgit