From 9f95ff5b6ba01db09552b84a0ab79607060a2666 Mon Sep 17 00:00:00 2001 From: Ali Labbene Date: Wed, 11 Dec 2019 08:59:21 +0100 Subject: Official ARM version: v5.4.0 Add CMSIS V5.4.0, please refer to index.html available under \docs folder. Note: content of \CMSIS\Core\Include has been copied under \Include to keep the same structure used in existing projects, and thus avoid projects mass update Note: the following components have been removed from ARM original delivery (as not used in ST packages) - CMSIS_EW2018.pdf - .gitattributes - .gitignore - \Device - \CMSIS - \CoreValidation - \DAP - \Documentation - \DoxyGen - \Driver - \Pack - \RTOS\CMSIS_RTOS_Tutorial.pdf - \RTOS\RTX - \RTOS\Template - \RTOS2\RTX - \Utilities - All ARM/GCC projects files are deleted from \DSP, \RTOS and \RTOS2 Change-Id: Ia026c3f0f0d016627a4fb5a9032852c33d24b4d3 --- DSP/Source/ControllerFunctions/arm_pid_init_f32.c | 74 +++++++++++ DSP/Source/ControllerFunctions/arm_pid_init_q15.c | 110 ++++++++++++++++ DSP/Source/ControllerFunctions/arm_pid_init_q31.c | 95 ++++++++++++++ DSP/Source/ControllerFunctions/arm_pid_reset_f32.c | 53 ++++++++ DSP/Source/ControllerFunctions/arm_pid_reset_q15.c | 52 ++++++++ DSP/Source/ControllerFunctions/arm_pid_reset_q31.c | 53 ++++++++ DSP/Source/ControllerFunctions/arm_sin_cos_f32.c | 144 +++++++++++++++++++++ DSP/Source/ControllerFunctions/arm_sin_cos_q31.c | 110 ++++++++++++++++ 8 files changed, 691 insertions(+) create mode 100644 DSP/Source/ControllerFunctions/arm_pid_init_f32.c create mode 100644 DSP/Source/ControllerFunctions/arm_pid_init_q15.c create mode 100644 DSP/Source/ControllerFunctions/arm_pid_init_q31.c create mode 100644 DSP/Source/ControllerFunctions/arm_pid_reset_f32.c create mode 100644 DSP/Source/ControllerFunctions/arm_pid_reset_q15.c create mode 100644 DSP/Source/ControllerFunctions/arm_pid_reset_q31.c create mode 100644 DSP/Source/ControllerFunctions/arm_sin_cos_f32.c create mode 100644 DSP/Source/ControllerFunctions/arm_sin_cos_q31.c (limited to 'DSP/Source/ControllerFunctions') diff --git a/DSP/Source/ControllerFunctions/arm_pid_init_f32.c b/DSP/Source/ControllerFunctions/arm_pid_init_f32.c new file mode 100644 index 0000000..f75d61f --- /dev/null +++ b/DSP/Source/ControllerFunctions/arm_pid_init_f32.c @@ -0,0 +1,74 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_pid_init_f32.c + * Description: Floating-point PID Control initialization function + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "arm_math.h" + + /** + * @addtogroup PID + * @{ + */ + +/** + * @brief Initialization function for the floating-point PID Control. + * @param[in,out] *S points to an instance of the PID structure. + * @param[in] resetStateFlag flag to reset the state. 0 = no change in state & 1 = reset the state. + * @return none. + * \par Description: + * \par + * The resetStateFlag specifies whether to set state to zero or not. \n + * The function computes the structure fields: A0, A1 A2 + * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) + * also sets the state variables to all zeros. + */ + +void arm_pid_init_f32( + arm_pid_instance_f32 * S, + int32_t resetStateFlag) +{ + + /* Derived coefficient A0 */ + S->A0 = S->Kp + S->Ki + S->Kd; + + /* Derived coefficient A1 */ + S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd); + + /* Derived coefficient A2 */ + S->A2 = S->Kd; + + /* Check whether state needs reset or not */ + if (resetStateFlag) + { + /* Clear the state buffer. The size will be always 3 samples */ + memset(S->state, 0, 3U * sizeof(float32_t)); + } + +} + +/** + * @} end of PID group + */ diff --git a/DSP/Source/ControllerFunctions/arm_pid_init_q15.c b/DSP/Source/ControllerFunctions/arm_pid_init_q15.c new file mode 100644 index 0000000..61049cf --- /dev/null +++ b/DSP/Source/ControllerFunctions/arm_pid_init_q15.c @@ -0,0 +1,110 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_pid_init_q15.c + * Description: Q15 PID Control initialization function + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "arm_math.h" + + /** + * @addtogroup PID + * @{ + */ + +/** + * @details + * @param[in,out] *S points to an instance of the Q15 PID structure. + * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. + * @return none. + * \par Description: + * \par + * The resetStateFlag specifies whether to set state to zero or not. \n + * The function computes the structure fields: A0, A1 A2 + * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) + * also sets the state variables to all zeros. + */ + +void arm_pid_init_q15( + arm_pid_instance_q15 * S, + int32_t resetStateFlag) +{ + +#if defined (ARM_MATH_DSP) + + /* Run the below code for Cortex-M4 and Cortex-M3 */ + + /* Derived coefficient A0 */ + S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd); + + /* Derived coefficients and pack into A1 */ + +#ifndef ARM_MATH_BIG_ENDIAN + + S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16); + +#else + + S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Check whether state needs reset or not */ + if (resetStateFlag) + { + /* Clear the state buffer. The size will be always 3 samples */ + memset(S->state, 0, 3U * sizeof(q15_t)); + } + +#else + + /* Run the below code for Cortex-M0 */ + + q31_t temp; /*to store the sum */ + + /* Derived coefficient A0 */ + temp = S->Kp + S->Ki + S->Kd; + S->A0 = (q15_t) __SSAT(temp, 16); + + /* Derived coefficients and pack into A1 */ + temp = -(S->Kd + S->Kd + S->Kp); + S->A1 = (q15_t) __SSAT(temp, 16); + S->A2 = S->Kd; + + + + /* Check whether state needs reset or not */ + if (resetStateFlag) + { + /* Clear the state buffer. The size will be always 3 samples */ + memset(S->state, 0, 3U * sizeof(q15_t)); + } + +#endif /* #if defined (ARM_MATH_DSP) */ + +} + +/** + * @} end of PID group + */ diff --git a/DSP/Source/ControllerFunctions/arm_pid_init_q31.c b/DSP/Source/ControllerFunctions/arm_pid_init_q31.c new file mode 100644 index 0000000..17b3b09 --- /dev/null +++ b/DSP/Source/ControllerFunctions/arm_pid_init_q31.c @@ -0,0 +1,95 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_pid_init_q31.c + * Description: Q31 PID Control initialization function + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "arm_math.h" + + /** + * @addtogroup PID + * @{ + */ + +/** + * @brief Initialization function for the Q31 PID Control. + * @param[in,out] *S points to an instance of the Q31 PID structure. + * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. + * @return none. + * \par Description: + * \par + * The resetStateFlag specifies whether to set state to zero or not. \n + * The function computes the structure fields: A0, A1 A2 + * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) + * also sets the state variables to all zeros. + */ + +void arm_pid_init_q31( + arm_pid_instance_q31 * S, + int32_t resetStateFlag) +{ + +#if defined (ARM_MATH_DSP) + + /* Run the below code for Cortex-M4 and Cortex-M3 */ + + /* Derived coefficient A0 */ + S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd); + + /* Derived coefficient A1 */ + S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp); + + +#else + + /* Run the below code for Cortex-M0 */ + + q31_t temp; + + /* Derived coefficient A0 */ + temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki); + S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd); + + /* Derived coefficient A1 */ + temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd); + S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp); + +#endif /* #if defined (ARM_MATH_DSP) */ + + /* Derived coefficient A2 */ + S->A2 = S->Kd; + + /* Check whether state needs reset or not */ + if (resetStateFlag) + { + /* Clear the state buffer. The size will be always 3 samples */ + memset(S->state, 0, 3U * sizeof(q31_t)); + } + +} + +/** + * @} end of PID group + */ diff --git a/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c b/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c new file mode 100644 index 0000000..318ec89 --- /dev/null +++ b/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c @@ -0,0 +1,53 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_pid_reset_f32.c + * Description: Floating-point PID Control reset function + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "arm_math.h" + + /** + * @addtogroup PID + * @{ + */ + +/** +* @brief Reset function for the floating-point PID Control. +* @param[in] *S Instance pointer of PID control data structure. +* @return none. +* \par Description: +* The function resets the state buffer to zeros. +*/ +void arm_pid_reset_f32( + arm_pid_instance_f32 * S) +{ + + /* Clear the state buffer. The size will be always 3 samples */ + memset(S->state, 0, 3U * sizeof(float32_t)); +} + +/** + * @} end of PID group + */ diff --git a/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c b/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c new file mode 100644 index 0000000..93c0e7c --- /dev/null +++ b/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c @@ -0,0 +1,52 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_pid_reset_q15.c + * Description: Q15 PID Control reset function + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "arm_math.h" + + /** + * @addtogroup PID + * @{ + */ + +/** +* @brief Reset function for the Q15 PID Control. +* @param[in] *S Instance pointer of PID control data structure. +* @return none. +* \par Description: +* The function resets the state buffer to zeros. +*/ +void arm_pid_reset_q15( + arm_pid_instance_q15 * S) +{ + /* Reset state to zero, The size will be always 3 samples */ + memset(S->state, 0, 3U * sizeof(q15_t)); +} + +/** + * @} end of PID group + */ diff --git a/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c b/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c new file mode 100644 index 0000000..4c5b14e --- /dev/null +++ b/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c @@ -0,0 +1,53 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_pid_reset_q31.c + * Description: Q31 PID Control reset function + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "arm_math.h" + + /** + * @addtogroup PID + * @{ + */ + +/** +* @brief Reset function for the Q31 PID Control. +* @param[in] *S Instance pointer of PID control data structure. +* @return none. +* \par Description: +* The function resets the state buffer to zeros. +*/ +void arm_pid_reset_q31( + arm_pid_instance_q31 * S) +{ + + /* Clear the state buffer. The size will be always 3 samples */ + memset(S->state, 0, 3U * sizeof(q31_t)); +} + +/** + * @} end of PID group + */ diff --git a/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c b/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c new file mode 100644 index 0000000..7ec1b53 --- /dev/null +++ b/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c @@ -0,0 +1,144 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_sin_cos_f32.c + * Description: Sine and Cosine calculation for floating-point values + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "arm_math.h" +#include "arm_common_tables.h" + +/** + * @ingroup groupController + */ + +/** + * @defgroup SinCos Sine Cosine + * + * Computes the trigonometric sine and cosine values using a combination of table lookup + * and linear interpolation. + * There are separate functions for Q31 and floating-point data types. + * The input to the floating-point version is in degrees while the + * fixed-point Q31 have a scaled input with the range + * [-1 0.9999] mapping to [-180 +180] degrees. + * + * The floating point function also allows values that are out of the usual range. When this happens, the function will + * take extra time to adjust the input value to the range of [-180 180]. + * + * The result is accurate to 5 digits after the decimal point. + * + * The implementation is based on table lookup using 360 values together with linear interpolation. + * The steps used are: + * -# Calculation of the nearest integer table index. + * -# Compute the fractional portion (fract) of the input. + * -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1. + * -# Sine value is computed as *psinVal = y0 + (fract * (y1 - y0)). + * -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1. + * -# Cosine value is computed as *pcosVal = y0 + (fract * (y1 - y0)). + */ + + /** + * @addtogroup SinCos + * @{ + */ + +/** + * @brief Floating-point sin_cos function. + * @param[in] theta input value in degrees + * @param[out] *pSinVal points to the processed sine output. + * @param[out] *pCosVal points to the processed cos output. + * @return none. + */ + +void arm_sin_cos_f32( + float32_t theta, + float32_t * pSinVal, + float32_t * pCosVal) +{ + float32_t fract, in; /* Temporary variables for input, output */ + uint16_t indexS, indexC; /* Index variable */ + float32_t f1, f2, d1, d2; /* Two nearest output values */ + float32_t findex, Dn, Df, temp; + + /* input x is in degrees */ + /* Scale the input, divide input by 360, for cosine add 0.25 (pi/2) to read sine table */ + in = theta * 0.00277777777778f; + + if (in < 0.0f) + { + in = -in; + } + + in = in - (int32_t)in; + + /* Calculation of index of the table */ + findex = (float32_t) FAST_MATH_TABLE_SIZE * in; + indexS = ((uint16_t)findex) & 0x1ff; + indexC = (indexS + (FAST_MATH_TABLE_SIZE / 4)) & 0x1ff; + + /* fractional value calculation */ + fract = findex - (float32_t) indexS; + + /* Read two nearest values of input value from the cos & sin tables */ + f1 = sinTable_f32[indexC+0]; + f2 = sinTable_f32[indexC+1]; + d1 = -sinTable_f32[indexS+0]; + d2 = -sinTable_f32[indexS+1]; + + temp = (1.0f - fract) * f1 + fract * f2; + + Dn = 0.0122718463030f; // delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE + Df = f2 - f1; // delta between the values of the functions + + temp = Dn *(d1 + d2) - 2 * Df; + temp = fract * temp + (3 * Df - (d2 + 2 * d1) * Dn); + temp = fract * temp + d1 * Dn; + + /* Calculation of cosine value */ + *pCosVal = fract * temp + f1; + + /* Read two nearest values of input value from the cos & sin tables */ + f1 = sinTable_f32[indexS+0]; + f2 = sinTable_f32[indexS+1]; + d1 = sinTable_f32[indexC+0]; + d2 = sinTable_f32[indexC+1]; + + temp = (1.0f - fract) * f1 + fract * f2; + + Df = f2 - f1; // delta between the values of the functions + temp = Dn*(d1 + d2) - 2*Df; + temp = fract*temp + (3*Df - (d2 + 2*d1)*Dn); + temp = fract*temp + d1*Dn; + + /* Calculation of sine value */ + *pSinVal = fract*temp + f1; + + if (theta < 0.0f) + { + *pSinVal = -*pSinVal; + } +} +/** + * @} end of SinCos group + */ diff --git a/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c b/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c new file mode 100644 index 0000000..d661830 --- /dev/null +++ b/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c @@ -0,0 +1,110 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_sin_cos_q31.c + * Description: Cosine & Sine calculation for Q31 values + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "arm_math.h" +#include "arm_common_tables.h" + +/** + * @ingroup groupController + */ + + /** + * @addtogroup SinCos + * @{ + */ + +/** + * @brief Q31 sin_cos function. + * @param[in] theta scaled input value in degrees + * @param[out] *pSinVal points to the processed sine output. + * @param[out] *pCosVal points to the processed cosine output. + * @return none. + * + * The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179]. + * + */ + +void arm_sin_cos_q31( + q31_t theta, + q31_t * pSinVal, + q31_t * pCosVal) +{ + q31_t fract; /* Temporary variables for input, output */ + uint16_t indexS, indexC; /* Index variable */ + q31_t f1, f2, d1, d2; /* Two nearest output values */ + q31_t Dn, Df; + q63_t temp; + + /* Calculate the nearest index */ + indexS = (uint32_t)theta >> CONTROLLER_Q31_SHIFT; + indexC = (indexS + 128) & 0x1ff; + + /* Calculation of fractional value */ + fract = (theta - (indexS << CONTROLLER_Q31_SHIFT)) << 8; + + /* Read two nearest values of input value from the cos & sin tables */ + f1 = sinTable_q31[indexC+0]; + f2 = sinTable_q31[indexC+1]; + d1 = -sinTable_q31[indexS+0]; + d2 = -sinTable_q31[indexS+1]; + + Dn = 0x1921FB5; // delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE + Df = f2 - f1; // delta between the values of the functions + temp = Dn*((q63_t)d1 + d2); + temp = temp - ((q63_t)Df << 32); + temp = (q63_t)fract*(temp >> 31); + temp = temp + ((3*(q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1))*Dn); + temp = (q63_t)fract*(temp >> 31); + temp = temp + (q63_t)d1*Dn; + temp = (q63_t)fract*(temp >> 31); + + /* Calculation of cosine value */ + *pCosVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1); + + /* Read two nearest values of input value from the cos & sin tables */ + f1 = sinTable_q31[indexS+0]; + f2 = sinTable_q31[indexS+1]; + d1 = sinTable_q31[indexC+0]; + d2 = sinTable_q31[indexC+1]; + + Df = f2 - f1; // delta between the values of the functions + temp = Dn*((q63_t)d1 + d2); + temp = temp - ((q63_t)Df << 32); + temp = (q63_t)fract*(temp >> 31); + temp = temp + ((3*(q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1))*Dn); + temp = (q63_t)fract*(temp >> 31); + temp = temp + (q63_t)d1*Dn; + temp = (q63_t)fract*(temp >> 31); + + /* Calculation of sine value */ + *pSinVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1); +} + +/** + * @} end of SinCos group + */ -- cgit