Official ARM version: v5.6.0HEADmaster

10 files changed, 310 insertions, 247 deletions

diff --git a/DSP/Source/ControllerFunctions/CMakeLists.txt b/DSP/Source/ControllerFunctions/CMakeLists.txt
new file mode 100644
index 0000000..705f5b8
--- /dev/null
+++ b/DSP/Source/ControllerFunctions/CMakeLists.txt
@@ -0,0 +1,37 @@
+cmake_minimum_required (VERSION 3.6)
+
+project(CMSISDSPController)
+
+add_library(CMSISDSPController STATIC)
+
+configdsp(CMSISDSPController ..)
+
+include(interpol)
+interpol(CMSISDSPController)
+
+if (CONFIGTABLE AND ALLFAST)
+    target_compile_definitions(CMSISDSPController PUBLIC ARM_ALL_FAST_TABLES)  
+endif()
+
+target_sources(CMSISDSPController PRIVATE arm_pid_init_f32.c)
+target_sources(CMSISDSPController PRIVATE arm_pid_init_q15.c)
+target_sources(CMSISDSPController PRIVATE arm_pid_init_q31.c)
+target_sources(CMSISDSPController PRIVATE arm_pid_reset_f32.c)
+target_sources(CMSISDSPController PRIVATE arm_pid_reset_q15.c)
+target_sources(CMSISDSPController PRIVATE arm_pid_reset_q31.c)
+
+if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_COS_F32)
+target_sources(CMSISDSPController PRIVATE arm_sin_cos_f32.c)
+endif()
+
+if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_COS_Q31)
+target_sources(CMSISDSPController PRIVATE arm_sin_cos_q31.c)
+endif()
+
+
+
+### Includes
+target_include_directories(CMSISDSPController PUBLIC "${DSP}/../../Include")
+
+
+
diff --git a/DSP/Source/ControllerFunctions/ControllerFunctions.c b/DSP/Source/ControllerFunctions/ControllerFunctions.c
new file mode 100644
index 0000000..51720bc
--- /dev/null
+++ b/DSP/Source/ControllerFunctions/ControllerFunctions.c
@@ -0,0 +1,37 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        ControllerFunctions.c
+ * Description:  Combination of all controller function source files.
+ *
+ * $Date:        18. March 2019
+ * $Revision:    V1.0.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2019 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_pid_init_f32.c"
+#include "arm_pid_init_q15.c"
+#include "arm_pid_init_q31.c"
+#include "arm_pid_reset_f32.c"
+#include "arm_pid_reset_q15.c"
+#include "arm_pid_reset_q31.c"
+#include "arm_sin_cos_f32.c"
+#include "arm_sin_cos_q31.c"
+
diff --git a/DSP/Source/ControllerFunctions/arm_pid_init_f32.c b/DSP/Source/ControllerFunctions/arm_pid_init_f32.c
index f75d61f..433a65a 100644
--- a/DSP/Source/ControllerFunctions/arm_pid_init_f32.c
+++ b/DSP/Source/ControllerFunctions/arm_pid_init_f32.c
@@ -3,13 +3,13 @@
  * Title:        arm_pid_init_f32.c
  * Description:  Floating-point PID Control initialization function
  *
- * $Date:        27. January 2017
- * $Revision:    V.1.5.1
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
  *
  * Target Processor: Cortex-M cores
  * -------------------------------------------------------------------- */
 /*
- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -28,29 +28,30 @@
 
 #include "arm_math.h"
 
- /**
- * @addtogroup PID
- * @{
+/**
+  @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.
+  @brief         Initialization function for the floating-point PID Control.
+  @param[in,out] S               points to an instance of the PID structure
+  @param[in]     resetStateFlag
+                   - value = 0: no change in state
+                   - value = 1: reset state
+  @return        none
+
+  @par           Details
+                   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;
 
@@ -63,12 +64,12 @@ void arm_pid_init_f32(
   /* Check whether state needs reset or not */
   if (resetStateFlag)
   {
-    /* Clear the state buffer.  The size will be always 3 samples */
+    /* Reset state to zero, The size will be always 3 samples */
     memset(S->state, 0, 3U * sizeof(float32_t));
   }
 
 }
 
 /**
- * @} end of PID group
+  @} end of PID group
  */
diff --git a/DSP/Source/ControllerFunctions/arm_pid_init_q15.c b/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
index 61049cf..c88a3d9 100644
--- a/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
+++ b/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
@@ -3,13 +3,13 @@
  * Title:        arm_pid_init_q15.c
  * Description:  Q15 PID Control initialization function
  *
- * $Date:        27. January 2017
- * $Revision:    V.1.5.1
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
  *
  * Target Processor: Cortex-M cores
  * -------------------------------------------------------------------- */
 /*
- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -28,22 +28,24 @@
 
 #include "arm_math.h"
 
- /**
- * @addtogroup PID
- * @{
+/**
+  @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.
+  @brief         Initialization function for the Q15 PID Control.
+  @param[in,out] S               points to an instance of the Q15 PID structure
+  @param[in]     resetStateFlag
+                   - value = 0: no change in state
+                   - value = 1: reset state
+  @return        none
+
+  @par           Details
+                   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(
@@ -53,35 +55,20 @@ void arm_pid_init_q15(
 
 #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));
-  }
+#endif
 
 #else
 
-  /* Run the below code for Cortex-M0 */
-
-  q31_t temp;                                    /*to store the sum */
+  q31_t temp;                                    /* to store the sum */
 
   /* Derived coefficient A0 */
   temp = S->Kp + S->Ki + S->Kd;
@@ -92,19 +79,17 @@ void arm_pid_init_q15(
   S->A1 = (q15_t) __SSAT(temp, 16);
   S->A2 = S->Kd;
 
-
+#endif /* #if defined (ARM_MATH_DSP) */
 
   /* Check whether state needs reset or not */
   if (resetStateFlag)
   {
-    /* Clear the state buffer.  The size will be always 3 samples */
+    /* Reset state to zero, 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
+  @} end of PID group
  */
diff --git a/DSP/Source/ControllerFunctions/arm_pid_init_q31.c b/DSP/Source/ControllerFunctions/arm_pid_init_q31.c
index 17b3b09..1625a5f 100644
--- a/DSP/Source/ControllerFunctions/arm_pid_init_q31.c
+++ b/DSP/Source/ControllerFunctions/arm_pid_init_q31.c
@@ -3,13 +3,13 @@
  * Title:        arm_pid_init_q31.c
  * Description:  Q31 PID Control initialization function
  *
- * $Date:        27. January 2017
- * $Revision:    V.1.5.1
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
  *
  * Target Processor: Cortex-M cores
  * -------------------------------------------------------------------- */
 /*
- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -28,22 +28,24 @@
 
 #include "arm_math.h"
 
- /**
- * @addtogroup PID
- * @{
+/**
+  @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.
+  @brief         Initialization function for the Q31 PID Control.
+  @param[in,out] S               points to an instance of the Q31 PID structure
+  @param[in]     resetStateFlag
+                   - value = 0: no change in state
+                   - value = 1: reset state
+  @return        none
+
+  @par           Details
+                   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(
@@ -53,20 +55,15 @@ void arm_pid_init_q31(
 
 #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;
+  q31_t temp;                                    /* to store the sum */
 
   /* Derived coefficient A0 */
   temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
@@ -84,12 +81,12 @@ void arm_pid_init_q31(
   /* Check whether state needs reset or not */
   if (resetStateFlag)
   {
-    /* Clear the state buffer.  The size will be always 3 samples */
+    /* Reset state to zero, The size will be always 3 samples */
     memset(S->state, 0, 3U * sizeof(q31_t));
   }
 
 }
 
 /**
- * @} end of PID group
+  @} end of PID group
  */
diff --git a/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c b/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c
index 318ec89..d839e55 100644
--- a/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c
+++ b/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c
@@ -3,13 +3,13 @@
  * Title:        arm_pid_reset_f32.c
  * Description:  Floating-point PID Control reset function
  *
- * $Date:        27. January 2017
- * $Revision:    V.1.5.1
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
  *
  * Target Processor: Cortex-M cores
  * -------------------------------------------------------------------- */
 /*
- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -28,26 +28,27 @@
 
 #include "arm_math.h"
 
- /**
- * @addtogroup PID
- * @{
+/**
+  @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.
-*/
+  @brief         Reset function for the floating-point PID Control.
+  @param[in,out] S  points to an instance of the floating-point PID structure
+  @return        none
+
+  @par           Details
+                   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 */
+  /* Reset state to zero, The size will be always 3 samples */
   memset(S->state, 0, 3U * sizeof(float32_t));
 }
 
 /**
- * @} end of PID group
+  @} end of PID group
  */
diff --git a/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c b/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c
index 93c0e7c..256fd8c 100644
--- a/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c
+++ b/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c
@@ -3,13 +3,13 @@
  * Title:        arm_pid_reset_q15.c
  * Description:  Q15 PID Control reset function
  *
- * $Date:        27. January 2017
- * $Revision:    V.1.5.1
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
  *
  * Target Processor: Cortex-M cores
  * -------------------------------------------------------------------- */
 /*
- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -28,18 +28,20 @@
 
 #include "arm_math.h"
 
- /**
- * @addtogroup PID
- * @{
+/**
+  @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.
-*/
+  @brief         Reset function for the Q15 PID Control.
+  @param[in,out] S  points to an instance of the Q15 PID structure
+  @return        none
+
+  @par           Details
+                   The function resets the state buffer to zeros.
+ */
+
 void arm_pid_reset_q15(
   arm_pid_instance_q15 * S)
 {
@@ -48,5 +50,5 @@ void arm_pid_reset_q15(
 }
 
 /**
- * @} end of PID group
+  @} end of PID group
  */
diff --git a/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c b/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c
index 4c5b14e..2aa391c 100644
--- a/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c
+++ b/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c
@@ -3,13 +3,13 @@
  * Title:        arm_pid_reset_q31.c
  * Description:  Q31 PID Control reset function
  *
- * $Date:        27. January 2017
- * $Revision:    V.1.5.1
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
  *
  * Target Processor: Cortex-M cores
  * -------------------------------------------------------------------- */
 /*
- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -28,26 +28,27 @@
 
 #include "arm_math.h"
 
- /**
- * @addtogroup PID
- * @{
+/**
+  @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.
-*/
+  @brief         Reset function for the Q31 PID Control.
+  @param[in,out] S  points to an instance of the Q31 PID structure
+  @return        none
+
+  @par           Details
+                   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 */
+  /* Reset state to zero, The size will be always 3 samples */
   memset(S->state, 0, 3U * sizeof(q31_t));
 }
 
 /**
- * @} end of PID group
+  @} end of PID group
  */
diff --git a/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c b/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c
index 7ec1b53..12a1c83 100644
--- a/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c
+++ b/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c
@@ -3,13 +3,13 @@
  * Title:        arm_sin_cos_f32.c
  * Description:  Sine and Cosine calculation for floating-point values
  *
- * $Date:        27. January 2017
- * $Revision:    V.1.5.1
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
  *
  * Target Processor: Cortex-M cores
  * -------------------------------------------------------------------- */
 /*
- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -30,115 +30,117 @@
 #include "arm_common_tables.h"
 
 /**
- * @ingroup groupController
+  @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>.
+  @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
- * @{
+/**
+  @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.
+  @brief         Floating-point sin_cos function.
+  @param[in]     theta    input value in degrees
+  @param[out]    pSinVal  points to processed sine output
+  @param[out]    pCosVal  points to processed cosine output
+  @return        none
  */
 
 void arm_sin_cos_f32(
-                      float32_t theta,
-                      float32_t * pSinVal,
-                      float32_t * pCosVal)
+  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;
+  float32_t fract, in;                             /* Temporary input, output variables */
+  uint16_t indexS, indexC;                         /* Index variable */
+  float32_t f1, f2, d1, d2;                        /* Two nearest output values */
+  float32_t Dn, Df;
+  float32_t temp, findex;
 
-    /* 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;
+  /* input x is in degrees */
+  /* Scale 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;
-    }
+  if (in < 0.0f)
+  {
+    in = -in;
+  }
 
-    in = in - (int32_t)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;
+  /* Calculate the nearest index */
+  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;
+  /* Calculation of fractional value */
+  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];
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 =  sinTable_f32[indexC  ];
+  f2 =  sinTable_f32[indexC+1];
+  d1 = -sinTable_f32[indexS  ];
+  d2 = -sinTable_f32[indexS+1];
 
-    temp = (1.0f - fract) * f1 + fract * f2;
+  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
+  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;
+  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;
+  /* 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];
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 = sinTable_f32[indexS  ];
+  f2 = sinTable_f32[indexS+1];
+  d1 = sinTable_f32[indexC  ];
+  d2 = sinTable_f32[indexC+1];
 
-    temp = (1.0f - fract) * f1 + fract * f2;
+  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;
+  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;
+  /* Calculation of sine value */
+  *pSinVal = fract * temp + f1;
 
-    if (theta < 0.0f)
-    {
-        *pSinVal = -*pSinVal;
-    }
+  if (theta < 0.0f)
+  {
+    *pSinVal = -*pSinVal;
+  }
 }
+
 /**
- * @} end of SinCos group
+  @} end of SinCos group
  */
diff --git a/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c b/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c
index d661830..84ee3d2 100644
--- a/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c
+++ b/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c
@@ -3,13 +3,13 @@
  * Title:        arm_sin_cos_q31.c
  * Description:  Cosine & Sine calculation for Q31 values
  *
- * $Date:        27. January 2017
- * $Revision:    V.1.5.1
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
  *
  * Target Processor: Cortex-M cores
  * -------------------------------------------------------------------- */
 /*
- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -30,23 +30,22 @@
 #include "arm_common_tables.h"
 
 /**
- * @ingroup groupController
+  @ingroup groupController
  */
 
- /**
- * @addtogroup SinCos
- * @{
+/**
+  @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].
- *
+  @brief         Q31 sin_cos function.
+  @param[in]     theta    scaled input value in degrees
+  @param[out]    pSinVal  points to processed sine output
+  @param[out]    pCosVal  points to 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(
@@ -54,9 +53,9 @@ void arm_sin_cos_q31(
   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 fract;                                     /* Temporary input, output variables */
+  uint16_t indexS, indexC;                         /* Index variable */
+  q31_t f1, f2, d1, d2;                            /* Two nearest output values */
   q31_t Dn, Df;
   q63_t temp;
 
@@ -68,43 +67,44 @@ void arm_sin_cos_q31(
   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];
+  f1 =  sinTable_q31[indexC  ];
+  f2 =  sinTable_q31[indexC+1];
+  d1 = -sinTable_q31[indexS  ];
   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);
+  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);
+  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];
+  f1 = sinTable_q31[indexS ];
   f2 = sinTable_q31[indexS+1];
-  d1 = sinTable_q31[indexC+0];
+  d1 = sinTable_q31[indexC ];
   d2 = sinTable_q31[indexC+1];
 
   Df = f2 - f1; // delta between the values of the functions
-  temp = Dn*((q63_t)d1 + d2);
+  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);
+  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
+  @} end of SinCos group
  */