diff options
Diffstat (limited to 'Drivers/CMSIS/DSP/Source/ControllerFunctions')
10 files changed, 754 insertions, 767 deletions
diff --git a/Drivers/CMSIS/DSP/Source/ControllerFunctions/CMakeLists.txt b/Drivers/CMSIS/DSP/Source/ControllerFunctions/CMakeLists.txt index 12dedb4..93014b7 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/CMakeLists.txt +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/CMakeLists.txt @@ -1,41 +1,37 @@ -cmake_minimum_required (VERSION 3.14) - -project(CMSISDSPController) - -include(configLib) -include(configDsp) - -add_library(CMSISDSPController STATIC) - -configLib(CMSISDSPController ${ROOT}) -configDsp(CMSISDSPController ${ROOT}) - -include(interpol) -interpol(CMSISDSPController) - -if (CONFIGTABLE AND ALLFAST) - target_compile_definitions(CMSISDSPController PUBLIC ARM_ALL_FAST_TABLES) -endif() - -target_sources(CMSISDSPController PRIVATE arm_pid_init_f32.c) -target_sources(CMSISDSPController PRIVATE arm_pid_init_q15.c) -target_sources(CMSISDSPController PRIVATE arm_pid_init_q31.c) -target_sources(CMSISDSPController PRIVATE arm_pid_reset_f32.c) -target_sources(CMSISDSPController PRIVATE arm_pid_reset_q15.c) -target_sources(CMSISDSPController PRIVATE arm_pid_reset_q31.c) - -if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_COS_F32) -target_sources(CMSISDSPController PRIVATE arm_sin_cos_f32.c) -endif() - -if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_COS_Q31) -target_sources(CMSISDSPController PRIVATE arm_sin_cos_q31.c) -endif() - - - -### Includes -target_include_directories(CMSISDSPController PUBLIC "${DSP}/Include") - - - +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/Drivers/CMSIS/DSP/Source/ControllerFunctions/ControllerFunctions.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/ControllerFunctions.c index 9abd328..edd3bf2 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/ControllerFunctions.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/ControllerFunctions.c @@ -1,46 +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" - -#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FAST_ALLOW_TABLES) - -#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_F32) -#include "arm_sin_cos_f32.c" -#endif - -#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_Q31) -#include "arm_sin_cos_q31.c" -#endif - -#endif +/* ----------------------------------------------------------------------
+ * 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/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c index 384994b..0e4d5d6 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c @@ -1,75 +1,75 @@ -/* ---------------------------------------------------------------------- - * Project: CMSIS DSP Library - * Title: arm_pid_init_f32.c - * Description: Floating-point PID Control initialization function - * - * $Date: 23 April 2021 - * $Revision: V1.9.0 - * - * Target Processor: Cortex-M and Cortex-A cores - * -------------------------------------------------------------------- */ -/* - * Copyright (C) 2010-2021 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 "dsp/controller_functions.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 - - 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; - - /* Derived coefficient A1 */ - S->A1 = (-S->Kp) - ((float32_t) 2.0f * S->Kd); - - /* Derived coefficient A2 */ - S->A2 = S->Kd; - - /* Check whether state needs reset or not */ - if (resetStateFlag) - { - /* Reset state to zero, The size will be always 3 samples */ - memset(S->state, 0, 3U * sizeof(float32_t)); - } - -} - -/** - @} end of PID group - */ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_pid_init_f32.c
+ * Description: Floating-point PID Control initialization function
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 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_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
+ - 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;
+
+ /* 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)
+ {
+ /* Reset state to zero, The size will be always 3 samples */
+ memset(S->state, 0, 3U * sizeof(float32_t));
+ }
+
+}
+
+/**
+ @} end of PID group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c index e1f510b..3f82711 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c @@ -1,95 +1,95 @@ -/* ---------------------------------------------------------------------- - * Project: CMSIS DSP Library - * Title: arm_pid_init_q15.c - * Description: Q15 PID Control initialization function - * - * $Date: 23 April 2021 - * $Revision: V1.9.0 - * - * Target Processor: Cortex-M and Cortex-A cores - * -------------------------------------------------------------------- */ -/* - * Copyright (C) 2010-2021 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 "dsp/controller_functions.h" - -/** - @addtogroup PID - @{ - */ - -/** - @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( - arm_pid_instance_q15 * S, - int32_t resetStateFlag) -{ - -#if defined (ARM_MATH_DSP) - - /* 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 - -#else - - 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; - -#endif /* #if defined (ARM_MATH_DSP) */ - - /* Check whether state needs reset or not */ - if (resetStateFlag) - { - /* Reset state to zero, The size will be always 3 samples */ - memset(S->state, 0, 3U * sizeof(q15_t)); - } - -} - -/** - @} end of PID group - */ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_pid_init_q15.c
+ * Description: Q15 PID Control initialization function
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 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_math.h"
+
+/**
+ @addtogroup PID
+ @{
+ */
+
+/**
+ @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(
+ arm_pid_instance_q15 * S,
+ int32_t resetStateFlag)
+{
+
+#if defined (ARM_MATH_DSP)
+
+ /* 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
+
+#else
+
+ 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;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* Check whether state needs reset or not */
+ if (resetStateFlag)
+ {
+ /* 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/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c index 53df5ee..680d463 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c @@ -1,92 +1,92 @@ -/* ---------------------------------------------------------------------- - * Project: CMSIS DSP Library - * Title: arm_pid_init_q31.c - * Description: Q31 PID Control initialization function - * - * $Date: 23 April 2021 - * $Revision: V1.9.0 - * - * Target Processor: Cortex-M and Cortex-A cores - * -------------------------------------------------------------------- */ -/* - * Copyright (C) 2010-2021 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 "dsp/controller_functions.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 - - 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( - arm_pid_instance_q31 * S, - int32_t resetStateFlag) -{ - -#if defined (ARM_MATH_DSP) - - /* 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 - - q31_t temp; /* to store the sum */ - - /* 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) - { - /* Reset state to zero, The size will be always 3 samples */ - memset(S->state, 0, 3U * sizeof(q31_t)); - } - -} - -/** - @} end of PID group - */ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_pid_init_q31.c
+ * Description: Q31 PID Control initialization function
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 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_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
+ - 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(
+ arm_pid_instance_q31 * S,
+ int32_t resetStateFlag)
+{
+
+#if defined (ARM_MATH_DSP)
+
+ /* 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
+
+ q31_t temp; /* to store the sum */
+
+ /* 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)
+ {
+ /* Reset state to zero, The size will be always 3 samples */
+ memset(S->state, 0, 3U * sizeof(q31_t));
+ }
+
+}
+
+/**
+ @} end of PID group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c index cb267ad..ed1038e 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c @@ -1,54 +1,54 @@ -/* ---------------------------------------------------------------------- - * Project: CMSIS DSP Library - * Title: arm_pid_reset_f32.c - * Description: Floating-point PID Control reset function - * - * $Date: 23 April 2021 - * $Revision: V1.9.0 - * - * Target Processor: Cortex-M and Cortex-A cores - * -------------------------------------------------------------------- */ -/* - * Copyright (C) 2010-2021 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 "dsp/controller_functions.h" - -/** - @addtogroup PID - @{ - */ - -/** - @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) -{ - /* Reset state to zero, The size will be always 3 samples */ - memset(S->state, 0, 3U * sizeof(float32_t)); -} - -/** - @} end of PID group - */ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_pid_reset_f32.c
+ * Description: Floating-point PID Control reset function
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 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_math.h"
+
+/**
+ @addtogroup PID
+ @{
+ */
+
+/**
+ @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)
+{
+ /* Reset state to zero, The size will be always 3 samples */
+ memset(S->state, 0, 3U * sizeof(float32_t));
+}
+
+/**
+ @} end of PID group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c index aa4076e..f61391e 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c @@ -1,54 +1,54 @@ -/* ---------------------------------------------------------------------- - * Project: CMSIS DSP Library - * Title: arm_pid_reset_q15.c - * Description: Q15 PID Control reset function - * - * $Date: 23 April 2021 - * $Revision: V1.9.0 - * - * Target Processor: Cortex-M and Cortex-A cores - * -------------------------------------------------------------------- */ -/* - * Copyright (C) 2010-2021 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 "dsp/controller_functions.h" - -/** - @addtogroup PID - @{ - */ - -/** - @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) -{ - /* Reset state to zero, The size will be always 3 samples */ - memset(S->state, 0, 3U * sizeof(q15_t)); -} - -/** - @} end of PID group - */ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_pid_reset_q15.c
+ * Description: Q15 PID Control reset function
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 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_math.h"
+
+/**
+ @addtogroup PID
+ @{
+ */
+
+/**
+ @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)
+{
+ /* 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/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c index 3e9c39f..2853ea9 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c @@ -1,54 +1,54 @@ -/* ---------------------------------------------------------------------- - * Project: CMSIS DSP Library - * Title: arm_pid_reset_q31.c - * Description: Q31 PID Control reset function - * - * $Date: 23 April 2021 - * $Revision: V1.9.0 - * - * Target Processor: Cortex-M and Cortex-A cores - * -------------------------------------------------------------------- */ -/* - * Copyright (C) 2010-2021 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 "dsp/controller_functions.h" - -/** - @addtogroup PID - @{ - */ - -/** - @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) -{ - /* Reset state to zero, The size will be always 3 samples */ - memset(S->state, 0, 3U * sizeof(q31_t)); -} - -/** - @} end of PID group - */ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_pid_reset_q31.c
+ * Description: Q31 PID Control reset function
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 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_math.h"
+
+/**
+ @addtogroup PID
+ @{
+ */
+
+/**
+ @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)
+{
+ /* Reset state to zero, The size will be always 3 samples */
+ memset(S->state, 0, 3U * sizeof(q31_t));
+}
+
+/**
+ @} end of PID group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c index e6d9d90..438e4d4 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c @@ -1,146 +1,146 @@ -/* ---------------------------------------------------------------------- - * Project: CMSIS DSP Library - * Title: arm_sin_cos_f32.c - * Description: Sine and Cosine calculation for floating-point values - * - * $Date: 23 April 2021 - * $Revision: V1.9.0 - * - * Target Processor: Cortex-M and Cortex-A cores - * -------------------------------------------------------------------- */ -/* - * Copyright (C) 2010-2021 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 "dsp/controller_functions.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 <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 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 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 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; - - /* 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; - - /* 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 ]; - f2 = sinTable_f32[indexC+1]; - d1 = -sinTable_f32[indexS ]; - 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 ]; - f2 = sinTable_f32[indexS+1]; - d1 = sinTable_f32[indexC ]; - 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 - */ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_sin_cos_f32.c
+ * Description: Sine and Cosine calculation for floating-point values
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 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_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 <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 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 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 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;
+
+ /* 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;
+
+ /* 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 ];
+ f2 = sinTable_f32[indexC+1];
+ d1 = -sinTable_f32[indexS ];
+ 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 ];
+ f2 = sinTable_f32[indexS+1];
+ d1 = sinTable_f32[indexC ];
+ 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/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c index 990c891..dcc45aa 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c @@ -1,110 +1,110 @@ -/* ---------------------------------------------------------------------- - * Project: CMSIS DSP Library - * Title: arm_sin_cos_q31.c - * Description: Cosine & Sine calculation for Q31 values - * - * $Date: 23 April 2021 - * $Revision: V1.9.0 - * - * Target Processor: Cortex-M and Cortex-A cores - * -------------------------------------------------------------------- */ -/* - * Copyright (C) 2010-2021 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 "dsp/controller_functions.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 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( - q31_t theta, - q31_t * pSinVal, - q31_t * pCosVal) -{ - 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; - - /* 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 ]; - 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); - 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 ]; - f2 = sinTable_q31[indexS+1]; - 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 = 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 - */ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_sin_cos_q31.c
+ * Description: Cosine & Sine calculation for Q31 values
+ *
+ * $Date: 18. March 2019
+ * $Revision: V1.6.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2019 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_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 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(
+ q31_t theta,
+ q31_t * pSinVal,
+ q31_t * pCosVal)
+{
+ 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;
+
+ /* 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 ];
+ 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);
+ 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 ];
+ f2 = sinTable_q31[indexS+1];
+ 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 = 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
+ */
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