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-rw-r--r--DSP/Source/ControllerFunctions/CMakeLists.txt37
-rw-r--r--DSP/Source/ControllerFunctions/ControllerFunctions.c37
-rw-r--r--DSP/Source/ControllerFunctions/arm_pid_init_f32.c39
-rw-r--r--DSP/Source/ControllerFunctions/arm_pid_init_q15.c61
-rw-r--r--DSP/Source/ControllerFunctions/arm_pid_init_q31.c45
-rw-r--r--DSP/Source/ControllerFunctions/arm_pid_reset_f32.c31
-rw-r--r--DSP/Source/ControllerFunctions/arm_pid_reset_q15.c28
-rw-r--r--DSP/Source/ControllerFunctions/arm_pid_reset_q31.c31
-rw-r--r--DSP/Source/ControllerFunctions/arm_sin_cos_f32.c172
-rw-r--r--DSP/Source/ControllerFunctions/arm_sin_cos_q31.c76
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
*/