| /* ---------------------------------------------------------------------- |
| * Copyright (C) 2010-2014 ARM Limited. All rights reserved. |
| * |
| * $Date: 12. March 2014 |
| * $Revision: V1.4.4 |
| * |
| * Project: CMSIS DSP Library |
| * Title: arm_sin_f32.c |
| * |
| * Description: Fast sine calculation for floating-point values. |
| * Fast 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 <stdint.h> |
| #include <nanohub_math.h> |
| |
| #define FAST_MATH_TABLE_SIZE 512 |
| typedef float float32_t; |
| |
| /** |
| * \par |
| * Example code for the generation of the floating-point sine table: |
| * <pre> |
| * tableSize = 512; |
| * for(n = 0; n < (tableSize + 1); n++) |
| * { |
| * sinTable[n]=sin(2*pi*n/tableSize); |
| * }</pre> |
| * \par |
| * where pi value is 3.14159265358979 |
| */ |
| |
| static const float32_t sinTable_f32[FAST_MATH_TABLE_SIZE + 1] = { |
| 0.00000000f, 0.01227154f, 0.02454123f, 0.03680722f, 0.04906767f, 0.06132074f, |
| 0.07356456f, 0.08579731f, 0.09801714f, 0.11022221f, 0.12241068f, 0.13458071f, |
| 0.14673047f, 0.15885814f, 0.17096189f, 0.18303989f, 0.19509032f, 0.20711138f, |
| 0.21910124f, 0.23105811f, 0.24298018f, 0.25486566f, 0.26671276f, 0.27851969f, |
| 0.29028468f, 0.30200595f, 0.31368174f, 0.32531029f, 0.33688985f, 0.34841868f, |
| 0.35989504f, 0.37131719f, 0.38268343f, 0.39399204f, 0.40524131f, 0.41642956f, |
| 0.42755509f, 0.43861624f, 0.44961133f, 0.46053871f, 0.47139674f, 0.48218377f, |
| 0.49289819f, 0.50353838f, 0.51410274f, 0.52458968f, 0.53499762f, 0.54532499f, |
| 0.55557023f, 0.56573181f, 0.57580819f, 0.58579786f, 0.59569930f, 0.60551104f, |
| 0.61523159f, 0.62485949f, 0.63439328f, 0.64383154f, 0.65317284f, 0.66241578f, |
| 0.67155895f, 0.68060100f, 0.68954054f, 0.69837625f, 0.70710678f, 0.71573083f, |
| 0.72424708f, 0.73265427f, 0.74095113f, 0.74913639f, 0.75720885f, 0.76516727f, |
| 0.77301045f, 0.78073723f, 0.78834643f, 0.79583690f, 0.80320753f, 0.81045720f, |
| 0.81758481f, 0.82458930f, 0.83146961f, 0.83822471f, 0.84485357f, 0.85135519f, |
| 0.85772861f, 0.86397286f, 0.87008699f, 0.87607009f, 0.88192126f, 0.88763962f, |
| 0.89322430f, 0.89867447f, 0.90398929f, 0.90916798f, 0.91420976f, 0.91911385f, |
| 0.92387953f, 0.92850608f, 0.93299280f, 0.93733901f, 0.94154407f, 0.94560733f, |
| 0.94952818f, 0.95330604f, 0.95694034f, 0.96043052f, 0.96377607f, 0.96697647f, |
| 0.97003125f, 0.97293995f, 0.97570213f, 0.97831737f, 0.98078528f, 0.98310549f, |
| 0.98527764f, 0.98730142f, 0.98917651f, 0.99090264f, 0.99247953f, 0.99390697f, |
| 0.99518473f, 0.99631261f, 0.99729046f, 0.99811811f, 0.99879546f, 0.99932238f, |
| 0.99969882f, 0.99992470f, 1.00000000f, 0.99992470f, 0.99969882f, 0.99932238f, |
| 0.99879546f, 0.99811811f, 0.99729046f, 0.99631261f, 0.99518473f, 0.99390697f, |
| 0.99247953f, 0.99090264f, 0.98917651f, 0.98730142f, 0.98527764f, 0.98310549f, |
| 0.98078528f, 0.97831737f, 0.97570213f, 0.97293995f, 0.97003125f, 0.96697647f, |
| 0.96377607f, 0.96043052f, 0.95694034f, 0.95330604f, 0.94952818f, 0.94560733f, |
| 0.94154407f, 0.93733901f, 0.93299280f, 0.92850608f, 0.92387953f, 0.91911385f, |
| 0.91420976f, 0.90916798f, 0.90398929f, 0.89867447f, 0.89322430f, 0.88763962f, |
| 0.88192126f, 0.87607009f, 0.87008699f, 0.86397286f, 0.85772861f, 0.85135519f, |
| 0.84485357f, 0.83822471f, 0.83146961f, 0.82458930f, 0.81758481f, 0.81045720f, |
| 0.80320753f, 0.79583690f, 0.78834643f, 0.78073723f, 0.77301045f, 0.76516727f, |
| 0.75720885f, 0.74913639f, 0.74095113f, 0.73265427f, 0.72424708f, 0.71573083f, |
| 0.70710678f, 0.69837625f, 0.68954054f, 0.68060100f, 0.67155895f, 0.66241578f, |
| 0.65317284f, 0.64383154f, 0.63439328f, 0.62485949f, 0.61523159f, 0.60551104f, |
| 0.59569930f, 0.58579786f, 0.57580819f, 0.56573181f, 0.55557023f, 0.54532499f, |
| 0.53499762f, 0.52458968f, 0.51410274f, 0.50353838f, 0.49289819f, 0.48218377f, |
| 0.47139674f, 0.46053871f, 0.44961133f, 0.43861624f, 0.42755509f, 0.41642956f, |
| 0.40524131f, 0.39399204f, 0.38268343f, 0.37131719f, 0.35989504f, 0.34841868f, |
| 0.33688985f, 0.32531029f, 0.31368174f, 0.30200595f, 0.29028468f, 0.27851969f, |
| 0.26671276f, 0.25486566f, 0.24298018f, 0.23105811f, 0.21910124f, 0.20711138f, |
| 0.19509032f, 0.18303989f, 0.17096189f, 0.15885814f, 0.14673047f, 0.13458071f, |
| 0.12241068f, 0.11022221f, 0.09801714f, 0.08579731f, 0.07356456f, 0.06132074f, |
| 0.04906767f, 0.03680722f, 0.02454123f, 0.01227154f, 0.00000000f, -0.01227154f, |
| -0.02454123f, -0.03680722f, -0.04906767f, -0.06132074f, -0.07356456f, |
| -0.08579731f, -0.09801714f, -0.11022221f, -0.12241068f, -0.13458071f, |
| -0.14673047f, -0.15885814f, -0.17096189f, -0.18303989f, -0.19509032f, |
| -0.20711138f, -0.21910124f, -0.23105811f, -0.24298018f, -0.25486566f, |
| -0.26671276f, -0.27851969f, -0.29028468f, -0.30200595f, -0.31368174f, |
| -0.32531029f, -0.33688985f, -0.34841868f, -0.35989504f, -0.37131719f, |
| -0.38268343f, -0.39399204f, -0.40524131f, -0.41642956f, -0.42755509f, |
| -0.43861624f, -0.44961133f, -0.46053871f, -0.47139674f, -0.48218377f, |
| -0.49289819f, -0.50353838f, -0.51410274f, -0.52458968f, -0.53499762f, |
| -0.54532499f, -0.55557023f, -0.56573181f, -0.57580819f, -0.58579786f, |
| -0.59569930f, -0.60551104f, -0.61523159f, -0.62485949f, -0.63439328f, |
| -0.64383154f, -0.65317284f, -0.66241578f, -0.67155895f, -0.68060100f, |
| -0.68954054f, -0.69837625f, -0.70710678f, -0.71573083f, -0.72424708f, |
| -0.73265427f, -0.74095113f, -0.74913639f, -0.75720885f, -0.76516727f, |
| -0.77301045f, -0.78073723f, -0.78834643f, -0.79583690f, -0.80320753f, |
| -0.81045720f, -0.81758481f, -0.82458930f, -0.83146961f, -0.83822471f, |
| -0.84485357f, -0.85135519f, -0.85772861f, -0.86397286f, -0.87008699f, |
| -0.87607009f, -0.88192126f, -0.88763962f, -0.89322430f, -0.89867447f, |
| -0.90398929f, -0.90916798f, -0.91420976f, -0.91911385f, -0.92387953f, |
| -0.92850608f, -0.93299280f, -0.93733901f, -0.94154407f, -0.94560733f, |
| -0.94952818f, -0.95330604f, -0.95694034f, -0.96043052f, -0.96377607f, |
| -0.96697647f, -0.97003125f, -0.97293995f, -0.97570213f, -0.97831737f, |
| -0.98078528f, -0.98310549f, -0.98527764f, -0.98730142f, -0.98917651f, |
| -0.99090264f, -0.99247953f, -0.99390697f, -0.99518473f, -0.99631261f, |
| -0.99729046f, -0.99811811f, -0.99879546f, -0.99932238f, -0.99969882f, |
| -0.99992470f, -1.00000000f, -0.99992470f, -0.99969882f, -0.99932238f, |
| -0.99879546f, -0.99811811f, -0.99729046f, -0.99631261f, -0.99518473f, |
| -0.99390697f, -0.99247953f, -0.99090264f, -0.98917651f, -0.98730142f, |
| -0.98527764f, -0.98310549f, -0.98078528f, -0.97831737f, -0.97570213f, |
| -0.97293995f, -0.97003125f, -0.96697647f, -0.96377607f, -0.96043052f, |
| -0.95694034f, -0.95330604f, -0.94952818f, -0.94560733f, -0.94154407f, |
| -0.93733901f, -0.93299280f, -0.92850608f, -0.92387953f, -0.91911385f, |
| -0.91420976f, -0.90916798f, -0.90398929f, -0.89867447f, -0.89322430f, |
| -0.88763962f, -0.88192126f, -0.87607009f, -0.87008699f, -0.86397286f, |
| -0.85772861f, -0.85135519f, -0.84485357f, -0.83822471f, -0.83146961f, |
| -0.82458930f, -0.81758481f, -0.81045720f, -0.80320753f, -0.79583690f, |
| -0.78834643f, -0.78073723f, -0.77301045f, -0.76516727f, -0.75720885f, |
| -0.74913639f, -0.74095113f, -0.73265427f, -0.72424708f, -0.71573083f, |
| -0.70710678f, -0.69837625f, -0.68954054f, -0.68060100f, -0.67155895f, |
| -0.66241578f, -0.65317284f, -0.64383154f, -0.63439328f, -0.62485949f, |
| -0.61523159f, -0.60551104f, -0.59569930f, -0.58579786f, -0.57580819f, |
| -0.56573181f, -0.55557023f, -0.54532499f, -0.53499762f, -0.52458968f, |
| -0.51410274f, -0.50353838f, -0.49289819f, -0.48218377f, -0.47139674f, |
| -0.46053871f, -0.44961133f, -0.43861624f, -0.42755509f, -0.41642956f, |
| -0.40524131f, -0.39399204f, -0.38268343f, -0.37131719f, -0.35989504f, |
| -0.34841868f, -0.33688985f, -0.32531029f, -0.31368174f, -0.30200595f, |
| -0.29028468f, -0.27851969f, -0.26671276f, -0.25486566f, -0.24298018f, |
| -0.23105811f, -0.21910124f, -0.20711138f, -0.19509032f, -0.18303989f, |
| -0.17096189f, -0.15885814f, -0.14673047f, -0.13458071f, -0.12241068f, |
| -0.11022221f, -0.09801714f, -0.08579731f, -0.07356456f, -0.06132074f, |
| -0.04906767f, -0.03680722f, -0.02454123f, -0.01227154f, -0.00000000f |
| }; |
| |
| /** |
| * @ingroup groupFastMath |
| */ |
| |
| /** |
| * @defgroup sin Sine |
| * |
| * Computes the trigonometric sine function using a combination of table lookup |
| * and cubic interpolation. There are separate functions for |
| * Q15, Q31, and floating-point data types. |
| * The input to the floating-point version is in radians while the |
| * fixed-point Q15 and Q31 have a scaled input with the range |
| * [0 +0.9999] mapping to [0 2*pi). The fixed-point range is chosen so that a |
| * value of 2*pi wraps around to 0. |
| * |
| * The implementation is based on table lookup using 256 values together with cubic interpolation. |
| * The steps used are: |
| * -# Calculation of the nearest integer table index |
| * -# Fetch the four table values a, b, c, and d |
| * -# Compute the fractional portion (fract) of the table index. |
| * -# Calculation of wa, wb, wc, wd |
| * -# The final result equals <code>a*wa + b*wb + c*wc + d*wd</code> |
| * |
| * where |
| * <pre> |
| * a=Table[index-1]; |
| * b=Table[index+0]; |
| * c=Table[index+1]; |
| * d=Table[index+2]; |
| * </pre> |
| * and |
| * <pre> |
| * wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract; |
| * wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1; |
| * wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract; |
| * wd=(1/6)*fract.^3 - (1/6)*fract; |
| * </pre> |
| */ |
| |
| /** |
| * @addtogroup sin |
| * @{ |
| */ |
| |
| /** |
| * @brief Fast approximation to the trigonometric sine function for floating-point data. |
| * @param[in] x input value in radians. |
| * @return sin(x). |
| */ |
| |
| float32_t arm_sin_f32( |
| float32_t x) |
| { |
| float32_t sinVal, fract, in; /* Temporary variables for input, output */ |
| uint16_t index; /* Index variable */ |
| float32_t a, b; /* Two nearest output values */ |
| int32_t n; |
| float32_t findex; |
| |
| /* input x is in radians */ |
| /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */ |
| in = x * 0.159154943092f; |
| |
| /* Calculation of floor value of input */ |
| n = (int32_t) in; |
| |
| /* Make negative values towards -infinity */ |
| if(x < 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; |
| index = ((uint16_t)findex) & 0x1ff; |
| |
| /* fractional value calculation */ |
| fract = findex - (float32_t) index; |
| |
| /* Read two nearest values of input value from the sin table */ |
| a = sinTable_f32[index]; |
| b = sinTable_f32[index+1]; |
| |
| /* Linear interpolation process */ |
| sinVal = (1.0f-fract)*a + fract*b; |
| |
| /* Return the output value */ |
| return (sinVal); |
| } |
| |
| /** |
| * @defgroup cos Cosine |
| * |
| * Computes the trigonometric cosine function using a combination of table lookup |
| * and cubic interpolation. There are separate functions for |
| * Q15, Q31, and floating-point data types. |
| * The input to the floating-point version is in radians while the |
| * fixed-point Q15 and Q31 have a scaled input with the range |
| * [0 +0.9999] mapping to [0 2*pi). The fixed-point range is chosen so that a |
| * value of 2*pi wraps around to 0. |
| * |
| * The implementation is based on table lookup using 256 values together with cubic interpolation. |
| * The steps used are: |
| * -# Calculation of the nearest integer table index |
| * -# Fetch the four table values a, b, c, and d |
| * -# Compute the fractional portion (fract) of the table index. |
| * -# Calculation of wa, wb, wc, wd |
| * -# The final result equals <code>a*wa + b*wb + c*wc + d*wd</code> |
| * |
| * where |
| * <pre> |
| * a=Table[index-1]; |
| * b=Table[index+0]; |
| * c=Table[index+1]; |
| * d=Table[index+2]; |
| * </pre> |
| * and |
| * <pre> |
| * wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract; |
| * wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1; |
| * wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract; |
| * wd=(1/6)*fract.^3 - (1/6)*fract; |
| * </pre> |
| */ |
| |
| /** |
| * @addtogroup cos |
| * @{ |
| */ |
| |
| /** |
| * @brief Fast approximation to the trigonometric cosine function for floating-point data. |
| * @param[in] x input value in radians. |
| * @return cos(x). |
| */ |
| |
| float32_t arm_cos_f32( |
| float32_t x) |
| { |
| float32_t cosVal, fract, in; /* Temporary variables for input, output */ |
| uint16_t index; /* Index variable */ |
| float32_t a, b; /* Two nearest output values */ |
| int32_t n; |
| float32_t findex; |
| |
| /* input x is in radians */ |
| /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi, add 0.25 (pi/2) to read sine table */ |
| in = x * 0.159154943092f + 0.25f; |
| |
| /* 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; |
| index = ((uint16_t)findex) & 0x1ff; |
| |
| /* fractional value calculation */ |
| fract = findex - (float32_t) index; |
| |
| /* Read two nearest values of input value from the cos table */ |
| a = sinTable_f32[index]; |
| b = sinTable_f32[index+1]; |
| |
| /* Linear interpolation process */ |
| cosVal = (1.0f-fract)*a + fract*b; |
| |
| /* Return the output value */ |
| return (cosVal); |
| } |
| |
| /** |
| * @} end of cos group |
| */ |