diff options
Diffstat (limited to 'DSP_Lib/Source/ControllerFunctions')
| -rw-r--r-- | DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c | 87 | ||||
| -rw-r--r-- | DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c | 122 | ||||
| -rw-r--r-- | DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c | 107 | ||||
| -rw-r--r-- | DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c | 65 | ||||
| -rw-r--r-- | DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c | 64 | ||||
| -rw-r--r-- | DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c | 65 | ||||
| -rw-r--r-- | DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c | 149 | ||||
| -rw-r--r-- | DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c | 122 |
8 files changed, 0 insertions, 781 deletions
diff --git a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c deleted file mode 100644 index 2bc1854..0000000 --- a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c +++ /dev/null @@ -1,87 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. March 2015 -* $Revision: V.1.4.5 -* -* Project: CMSIS DSP Library -* Title: arm_pid_init_f32.c -* -* Description: Floating-point PID Control initialization function -* -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* ------------------------------------------------------------------- */ - -#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 <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; - - /* 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/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c deleted file mode 100644 index c163901..0000000 --- a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c +++ /dev/null @@ -1,122 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. March 2015 -* $Revision: V.1.4.5 -* -* Project: CMSIS DSP Library -* Title: arm_pid_init_q15.c -* -* Description: Q15 PID Control initialization function -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -------------------------------------------------------------------- */ - -#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 <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( - arm_pid_instance_q15 * S, - int32_t resetStateFlag) -{ - -#ifndef ARM_MATH_CM0_FAMILY - - /* 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 /* #ifndef ARM_MATH_CM0_FAMILY */ - -} - -/** - * @} end of PID group - */ diff --git a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c deleted file mode 100644 index 012e873..0000000 --- a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c +++ /dev/null @@ -1,107 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. March 2015 -* $Revision: V.1.4.5 -* -* Project: CMSIS DSP Library -* Title: arm_pid_init_q31.c -* -* Description: Q31 PID Control initialization function -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* ------------------------------------------------------------------- */ - -#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 <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( - arm_pid_instance_q31 * S, - int32_t resetStateFlag) -{ - -#ifndef ARM_MATH_CM0_FAMILY - - /* 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 /* #ifndef ARM_MATH_CM0_FAMILY */ - - /* 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/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c deleted file mode 100644 index 081cf0c..0000000 --- a/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c +++ /dev/null @@ -1,65 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. March 2015 -* $Revision: V.1.4.5 -* -* Project: CMSIS DSP Library -* Title: arm_pid_reset_f32.c -* -* Description: Floating-point PID Control reset function -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* ------------------------------------------------------------------- */ - -#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/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c deleted file mode 100644 index 4dfe419..0000000 --- a/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c +++ /dev/null @@ -1,64 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. March 2015 -* $Revision: V.1.4.5 -* -* Project: CMSIS DSP Library -* Title: arm_pid_reset_q15.c -* -* Description: Q15 PID Control reset function -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -------------------------------------------------------------------- */ - -#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/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c deleted file mode 100644 index 540a54a..0000000 --- a/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c +++ /dev/null @@ -1,65 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. March 2015 -* $Revision: V.1.4.5 -* -* Project: CMSIS DSP Library -* Title: arm_pid_reset_q31.c -* -* Description: Q31 PID Control reset function -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* ------------------------------------------------------------------- */ - -#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/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c deleted file mode 100644 index 37d63a8..0000000 --- a/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c +++ /dev/null @@ -1,149 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. March 2015 -* $Revision: V.1.4.5 -* -* Project: CMSIS DSP Library -* Title: arm_sin_cos_f32.c -* -* Description: Sine and Cosine calculation for floating-point values. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -------------------------------------------------------------------- */ - -#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 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 */ - int32_t n; - 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; - - /* Calculation of floor value of input */ - n = (int32_t) in; - - /* Make negative values towards -infinity */ - if(in < 0.0f) - { - n--; - } - /* Map input value to [0 1] */ - in = in - (float32_t) n; - - /* 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]; - - 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]; - - 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; -} -/** - * @} end of SinCos group - */ diff --git a/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c deleted file mode 100644 index 5e11b0f..0000000 --- a/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c +++ /dev/null @@ -1,122 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. March 2015 -* $Revision: V.1.4.5 -* -* Project: CMSIS DSP Library -* Title: arm_sin_cos_q31.c -* -* Description: Cosine & Sine calculation for Q31 values. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -------------------------------------------------------------------- */ - -#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 - */ |