Official ARM version: v5.4.0

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Change-Id: Ia026c3f0f0d016627a4fb5a9032852c33d24b4d3

1 files changed, 144 insertions, 0 deletions

diff --git a/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c b/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c
new file mode 100644
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+++ b/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c
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+/* ----------------------------------------------------------------------
+ * 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
+ */