arm_sin_cos_f32.c

00001 /* ----------------------------------------------------------------------    
00002 * Copyright (C) 2010-2013 ARM Limited. All rights reserved.    
00003 *    
00004 * $Date:        17. January 2013
00005 * $Revision:    V1.4.1
00006 *    
00007 * Project:      CMSIS DSP Library    
00008 * Title:        arm_sin_cos_f32.c    
00009 *    
00010 * Description:  Sine and Cosine calculation for floating-point values.   
00011 *    
00012 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
00013 *  
00014 * Redistribution and use in source and binary forms, with or without 
00015 * modification, are permitted provided that the following conditions
00016 * are met:
00017 *   - Redistributions of source code must retain the above copyright
00018 *     notice, this list of conditions and the following disclaimer.
00019 *   - Redistributions in binary form must reproduce the above copyright
00020 *     notice, this list of conditions and the following disclaimer in
00021 *     the documentation and/or other materials provided with the 
00022 *     distribution.
00023 *   - Neither the name of ARM LIMITED nor the names of its contributors
00024 *     may be used to endorse or promote products derived from this
00025 *     software without specific prior written permission.
00026 *
00027 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00028 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00029 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00030 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
00031 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00032 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00033 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00034 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00035 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00036 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00037 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00038 * POSSIBILITY OF SUCH DAMAGE.   
00039 * -------------------------------------------------------------------- */
00040 
00041 #include "arm_math.h"
00042 
00043 /**    
00044  * @ingroup groupController    
00045  */
00046 
00047 /**    
00048  * @defgroup SinCos Sine Cosine   
00049  *    
00050  * Computes the trigonometric sine and cosine values using a combination of table lookup   
00051  * and linear interpolation.     
00052  * There are separate functions for Q31 and floating-point data types.   
00053  * The input to the floating-point version is in degrees while the   
00054  * fixed-point Q31 have a scaled input with the range   
00055  * [-1 0.9999] mapping to [-180 179] degrees.   
00056  *   
00057  * The implementation is based on table lookup using 360 values together with linear interpolation.   
00058  * The steps used are:   
00059  *  -# Calculation of the nearest integer table index.   
00060  *  -# Compute the fractional portion (fract) of the input.   
00061  *  -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.      
00062  *  -# Sine value is computed as <code> *psinVal = y0 + (fract * (y1 - y0))</code>.    
00063  *  -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.      
00064  *  -# Cosine value is computed as <code> *pcosVal = y0 + (fract * (y1 - y0))</code>.    
00065  */
00066 
00067  /**    
00068  * @addtogroup SinCos    
00069  * @{    
00070  */
00071 
00072 
00073 /**    
00074 * \par    
00075 * Cosine Table is generated from following loop    
00076 * <pre>for(i = 0; i < 360; i++)    
00077 * {    
00078 *    cosTable[i]= cos((i-180) * PI/180.0);    
00079 * } </pre>   
00080 */
00081 
00082 static const float32_t cosTable [360] = {
00083   -0.999847695156391270f, -0.999390827019095760f, -0.998629534754573830f,
00084   -0.997564050259824200f, -0.996194698091745550f, -0.994521895368273290f,
00085   -0.992546151641321980f, -0.990268068741570250f,
00086   -0.987688340595137660f, -0.984807753012208020f, -0.981627183447663980f,
00087   -0.978147600733805690f, -0.974370064785235250f, -0.970295726275996470f,
00088   -0.965925826289068200f, -0.961261695938318670f,
00089   -0.956304755963035440f, -0.951056516295153530f, -0.945518575599316740f,
00090   -0.939692620785908320f, -0.933580426497201740f, -0.927183854566787310f,
00091   -0.920504853452440150f, -0.913545457642600760f,
00092   -0.906307787036649940f, -0.898794046299167040f, -0.891006524188367790f,
00093   -0.882947592858926770f, -0.874619707139395740f, -0.866025403784438710f,
00094   -0.857167300702112220f, -0.848048096156425960f,
00095   -0.838670567945424160f, -0.829037572555041620f, -0.819152044288991580f,
00096   -0.809016994374947340f, -0.798635510047292940f, -0.788010753606721900f,
00097   -0.777145961456970680f, -0.766044443118977900f,
00098   -0.754709580222772010f, -0.743144825477394130f, -0.731353701619170460f,
00099   -0.719339800338651300f, -0.707106781186547460f, -0.694658370458997030f,
00100   -0.681998360062498370f, -0.669130606358858240f,
00101   -0.656059028990507500f, -0.642787609686539360f, -0.629320391049837280f,
00102   -0.615661475325658290f, -0.601815023152048380f, -0.587785252292473030f,
00103   -0.573576436351045830f, -0.559192903470746680f,
00104   -0.544639035015027080f, -0.529919264233204790f, -0.515038074910054270f,
00105   -0.499999999999999780f, -0.484809620246337000f, -0.469471562785890530f,
00106   -0.453990499739546750f, -0.438371146789077510f,
00107   -0.422618261740699330f, -0.406736643075800100f, -0.390731128489273600f,
00108   -0.374606593415912070f, -0.358367949545300270f, -0.342020143325668710f,
00109   -0.325568154457156420f, -0.309016994374947340f,
00110   -0.292371704722736660f, -0.275637355816999050f, -0.258819045102520850f,
00111   -0.241921895599667790f, -0.224951054343864810f, -0.207911690817759120f,
00112   -0.190808995376544800f, -0.173648177666930300f,
00113   -0.156434465040231040f, -0.139173100960065350f, -0.121869343405147370f,
00114   -0.104528463267653330f, -0.087155742747658235f, -0.069756473744125330f,
00115   -0.052335956242943620f, -0.034899496702500733f,
00116   -0.017452406437283477f, 0.000000000000000061f, 0.017452406437283376f,
00117   0.034899496702501080f, 0.052335956242943966f, 0.069756473744125455f,
00118   0.087155742747658138f, 0.104528463267653460f,
00119   0.121869343405147490f, 0.139173100960065690f, 0.156434465040230920f,
00120   0.173648177666930410f, 0.190808995376544920f, 0.207911690817759450f,
00121   0.224951054343864920f, 0.241921895599667900f,
00122   0.258819045102520740f, 0.275637355816999160f, 0.292371704722736770f,
00123   0.309016994374947450f, 0.325568154457156760f, 0.342020143325668820f,
00124   0.358367949545300380f, 0.374606593415911960f,
00125   0.390731128489273940f, 0.406736643075800210f, 0.422618261740699440f,
00126   0.438371146789077460f, 0.453990499739546860f, 0.469471562785890860f,
00127   0.484809620246337110f, 0.500000000000000110f,
00128   0.515038074910054380f, 0.529919264233204900f, 0.544639035015027200f,
00129   0.559192903470746790f, 0.573576436351046050f, 0.587785252292473140f,
00130   0.601815023152048270f, 0.615661475325658290f,
00131   0.629320391049837500f, 0.642787609686539360f, 0.656059028990507280f,
00132   0.669130606358858240f, 0.681998360062498480f, 0.694658370458997370f,
00133   0.707106781186547570f, 0.719339800338651190f,
00134   0.731353701619170570f, 0.743144825477394240f, 0.754709580222772010f,
00135   0.766044443118978010f, 0.777145961456970900f, 0.788010753606722010f,
00136   0.798635510047292830f, 0.809016994374947450f,
00137   0.819152044288991800f, 0.829037572555041620f, 0.838670567945424050f,
00138   0.848048096156425960f, 0.857167300702112330f, 0.866025403784438710f,
00139   0.874619707139395740f, 0.882947592858926990f,
00140   0.891006524188367900f, 0.898794046299167040f, 0.906307787036649940f,
00141   0.913545457642600870f, 0.920504853452440370f, 0.927183854566787420f,
00142   0.933580426497201740f, 0.939692620785908430f,
00143   0.945518575599316850f, 0.951056516295153530f, 0.956304755963035440f,
00144   0.961261695938318890f, 0.965925826289068310f, 0.970295726275996470f,
00145   0.974370064785235250f, 0.978147600733805690f,
00146   0.981627183447663980f, 0.984807753012208020f, 0.987688340595137770f,
00147   0.990268068741570360f, 0.992546151641321980f, 0.994521895368273290f,
00148   0.996194698091745550f, 0.997564050259824200f,
00149   0.998629534754573830f, 0.999390827019095760f, 0.999847695156391270f,
00150   1.000000000000000000f, 0.999847695156391270f, 0.999390827019095760f,
00151   0.998629534754573830f, 0.997564050259824200f,
00152   0.996194698091745550f, 0.994521895368273290f, 0.992546151641321980f,
00153   0.990268068741570360f, 0.987688340595137770f, 0.984807753012208020f,
00154   0.981627183447663980f, 0.978147600733805690f,
00155   0.974370064785235250f, 0.970295726275996470f, 0.965925826289068310f,
00156   0.961261695938318890f, 0.956304755963035440f, 0.951056516295153530f,
00157   0.945518575599316850f, 0.939692620785908430f,
00158   0.933580426497201740f, 0.927183854566787420f, 0.920504853452440370f,
00159   0.913545457642600870f, 0.906307787036649940f, 0.898794046299167040f,
00160   0.891006524188367900f, 0.882947592858926990f,
00161   0.874619707139395740f, 0.866025403784438710f, 0.857167300702112330f,
00162   0.848048096156425960f, 0.838670567945424050f, 0.829037572555041620f,
00163   0.819152044288991800f, 0.809016994374947450f,
00164   0.798635510047292830f, 0.788010753606722010f, 0.777145961456970900f,
00165   0.766044443118978010f, 0.754709580222772010f, 0.743144825477394240f,
00166   0.731353701619170570f, 0.719339800338651190f,
00167   0.707106781186547570f, 0.694658370458997370f, 0.681998360062498480f,
00168   0.669130606358858240f, 0.656059028990507280f, 0.642787609686539360f,
00169   0.629320391049837500f, 0.615661475325658290f,
00170   0.601815023152048270f, 0.587785252292473140f, 0.573576436351046050f,
00171   0.559192903470746790f, 0.544639035015027200f, 0.529919264233204900f,
00172   0.515038074910054380f, 0.500000000000000110f,
00173   0.484809620246337110f, 0.469471562785890860f, 0.453990499739546860f,
00174   0.438371146789077460f, 0.422618261740699440f, 0.406736643075800210f,
00175   0.390731128489273940f, 0.374606593415911960f,
00176   0.358367949545300380f, 0.342020143325668820f, 0.325568154457156760f,
00177   0.309016994374947450f, 0.292371704722736770f, 0.275637355816999160f,
00178   0.258819045102520740f, 0.241921895599667900f,
00179   0.224951054343864920f, 0.207911690817759450f, 0.190808995376544920f,
00180   0.173648177666930410f, 0.156434465040230920f, 0.139173100960065690f,
00181   0.121869343405147490f, 0.104528463267653460f,
00182   0.087155742747658138f, 0.069756473744125455f, 0.052335956242943966f,
00183   0.034899496702501080f, 0.017452406437283376f, 0.000000000000000061f,
00184   -0.017452406437283477f, -0.034899496702500733f,
00185   -0.052335956242943620f, -0.069756473744125330f, -0.087155742747658235f,
00186   -0.104528463267653330f, -0.121869343405147370f, -0.139173100960065350f,
00187   -0.156434465040231040f, -0.173648177666930300f,
00188   -0.190808995376544800f, -0.207911690817759120f, -0.224951054343864810f,
00189   -0.241921895599667790f, -0.258819045102520850f, -0.275637355816999050f,
00190   -0.292371704722736660f, -0.309016994374947340f,
00191   -0.325568154457156420f, -0.342020143325668710f, -0.358367949545300270f,
00192   -0.374606593415912070f, -0.390731128489273600f, -0.406736643075800100f,
00193   -0.422618261740699330f, -0.438371146789077510f,
00194   -0.453990499739546750f, -0.469471562785890530f, -0.484809620246337000f,
00195   -0.499999999999999780f, -0.515038074910054270f, -0.529919264233204790f,
00196   -0.544639035015027080f, -0.559192903470746680f,
00197   -0.573576436351045830f, -0.587785252292473030f, -0.601815023152048380f,
00198   -0.615661475325658290f, -0.629320391049837280f, -0.642787609686539360f,
00199   -0.656059028990507500f, -0.669130606358858240f,
00200   -0.681998360062498370f, -0.694658370458997030f, -0.707106781186547460f,
00201   -0.719339800338651300f, -0.731353701619170460f, -0.743144825477394130f,
00202   -0.754709580222772010f, -0.766044443118977900f,
00203   -0.777145961456970680f, -0.788010753606721900f, -0.798635510047292940f,
00204   -0.809016994374947340f, -0.819152044288991580f, -0.829037572555041620f,
00205   -0.838670567945424160f, -0.848048096156425960f,
00206   -0.857167300702112220f, -0.866025403784438710f, -0.874619707139395740f,
00207   -0.882947592858926770f, -0.891006524188367790f, -0.898794046299167040f,
00208   -0.906307787036649940f, -0.913545457642600760f,
00209   -0.920504853452440150f, -0.927183854566787310f, -0.933580426497201740f,
00210   -0.939692620785908320f, -0.945518575599316740f, -0.951056516295153530f,
00211   -0.956304755963035440f, -0.961261695938318670f,
00212   -0.965925826289068200f, -0.970295726275996470f, -0.974370064785235250f,
00213   -0.978147600733805690f, -0.981627183447663980f, -0.984807753012208020f,
00214   -0.987688340595137660f, -0.990268068741570250f,
00215   -0.992546151641321980f, -0.994521895368273290f, -0.996194698091745550f,
00216   -0.997564050259824200f, -0.998629534754573830f, -0.999390827019095760f,
00217   -0.999847695156391270f, -1.000000000000000000f
00218 };
00219 
00220 /**    
00221 * \par    
00222 * Sine Table is generated from following loop    
00223 * <pre>for(i = 0; i < 360; i++)    
00224 * {    
00225 *    sinTable[i]= sin((i-180) * PI/180.0);    
00226 * } </pre>    
00227 */
00228 
00229 
00230 static const float32_t sinTable [360] = {
00231   -0.017452406437283439f, -0.034899496702500699f, -0.052335956242943807f,
00232   -0.069756473744125524f, -0.087155742747658638f, -0.104528463267653730f,
00233   -0.121869343405147550f, -0.139173100960065740f,
00234   -0.156434465040230980f, -0.173648177666930280f, -0.190808995376544970f,
00235   -0.207911690817759310f, -0.224951054343864780f, -0.241921895599667730f,
00236   -0.258819045102521020f, -0.275637355816999660f,
00237   -0.292371704722737050f, -0.309016994374947510f, -0.325568154457156980f,
00238   -0.342020143325668880f, -0.358367949545300210f, -0.374606593415912240f,
00239   -0.390731128489274160f, -0.406736643075800430f,
00240   -0.422618261740699500f, -0.438371146789077290f, -0.453990499739546860f,
00241   -0.469471562785891080f, -0.484809620246337170f, -0.499999999999999940f,
00242   -0.515038074910054380f, -0.529919264233204900f,
00243   -0.544639035015026860f, -0.559192903470746900f, -0.573576436351046380f,
00244   -0.587785252292473250f, -0.601815023152048160f, -0.615661475325658400f,
00245   -0.629320391049837720f, -0.642787609686539470f,
00246   -0.656059028990507280f, -0.669130606358858350f, -0.681998360062498590f,
00247   -0.694658370458997140f, -0.707106781186547570f, -0.719339800338651410f,
00248   -0.731353701619170570f, -0.743144825477394240f,
00249   -0.754709580222771790f, -0.766044443118978010f, -0.777145961456971010f,
00250   -0.788010753606722010f, -0.798635510047292720f, -0.809016994374947450f,
00251   -0.819152044288992020f, -0.829037572555041740f,
00252   -0.838670567945424050f, -0.848048096156426070f, -0.857167300702112330f,
00253   -0.866025403784438710f, -0.874619707139395850f, -0.882947592858927100f,
00254   -0.891006524188367900f, -0.898794046299166930f,
00255   -0.906307787036650050f, -0.913545457642600980f, -0.920504853452440370f,
00256   -0.927183854566787420f, -0.933580426497201740f, -0.939692620785908430f,
00257   -0.945518575599316850f, -0.951056516295153640f,
00258   -0.956304755963035550f, -0.961261695938318890f, -0.965925826289068310f,
00259   -0.970295726275996470f, -0.974370064785235250f, -0.978147600733805690f,
00260   -0.981627183447663980f, -0.984807753012208020f,
00261   -0.987688340595137660f, -0.990268068741570360f, -0.992546151641322090f,
00262   -0.994521895368273400f, -0.996194698091745550f, -0.997564050259824200f,
00263   -0.998629534754573830f, -0.999390827019095760f,
00264   -0.999847695156391270f, -1.000000000000000000f, -0.999847695156391270f,
00265   -0.999390827019095760f, -0.998629534754573830f, -0.997564050259824200f,
00266   -0.996194698091745550f, -0.994521895368273290f,
00267   -0.992546151641321980f, -0.990268068741570250f, -0.987688340595137770f,
00268   -0.984807753012208020f, -0.981627183447663980f, -0.978147600733805580f,
00269   -0.974370064785235250f, -0.970295726275996470f,
00270   -0.965925826289068310f, -0.961261695938318890f, -0.956304755963035440f,
00271   -0.951056516295153530f, -0.945518575599316740f, -0.939692620785908320f,
00272   -0.933580426497201740f, -0.927183854566787420f,
00273   -0.920504853452440260f, -0.913545457642600870f, -0.906307787036649940f,
00274   -0.898794046299167040f, -0.891006524188367790f, -0.882947592858926880f,
00275   -0.874619707139395740f, -0.866025403784438600f,
00276   -0.857167300702112220f, -0.848048096156426070f, -0.838670567945423940f,
00277   -0.829037572555041740f, -0.819152044288991800f, -0.809016994374947450f,
00278   -0.798635510047292830f, -0.788010753606722010f,
00279   -0.777145961456970790f, -0.766044443118978010f, -0.754709580222772010f,
00280   -0.743144825477394240f, -0.731353701619170460f, -0.719339800338651080f,
00281   -0.707106781186547460f, -0.694658370458997250f,
00282   -0.681998360062498480f, -0.669130606358858240f, -0.656059028990507160f,
00283   -0.642787609686539250f, -0.629320391049837390f, -0.615661475325658180f,
00284   -0.601815023152048270f, -0.587785252292473140f,
00285   -0.573576436351046050f, -0.559192903470746900f, -0.544639035015027080f,
00286   -0.529919264233204900f, -0.515038074910054160f, -0.499999999999999940f,
00287   -0.484809620246337060f, -0.469471562785890810f,
00288   -0.453990499739546750f, -0.438371146789077400f, -0.422618261740699440f,
00289   -0.406736643075800150f, -0.390731128489273720f, -0.374606593415912010f,
00290   -0.358367949545300270f, -0.342020143325668710f,
00291   -0.325568154457156640f, -0.309016994374947400f, -0.292371704722736770f,
00292   -0.275637355816999160f, -0.258819045102520740f, -0.241921895599667730f,
00293   -0.224951054343865000f, -0.207911690817759310f,
00294   -0.190808995376544800f, -0.173648177666930330f, -0.156434465040230870f,
00295   -0.139173100960065440f, -0.121869343405147480f, -0.104528463267653460f,
00296   -0.087155742747658166f, -0.069756473744125302f,
00297   -0.052335956242943828f, -0.034899496702500969f, -0.017452406437283512f,
00298   0.000000000000000000f, 0.017452406437283512f, 0.034899496702500969f,
00299   0.052335956242943828f, 0.069756473744125302f,
00300   0.087155742747658166f, 0.104528463267653460f, 0.121869343405147480f,
00301   0.139173100960065440f, 0.156434465040230870f, 0.173648177666930330f,
00302   0.190808995376544800f, 0.207911690817759310f,
00303   0.224951054343865000f, 0.241921895599667730f, 0.258819045102520740f,
00304   0.275637355816999160f, 0.292371704722736770f, 0.309016994374947400f,
00305   0.325568154457156640f, 0.342020143325668710f,
00306   0.358367949545300270f, 0.374606593415912010f, 0.390731128489273720f,
00307   0.406736643075800150f, 0.422618261740699440f, 0.438371146789077400f,
00308   0.453990499739546750f, 0.469471562785890810f,
00309   0.484809620246337060f, 0.499999999999999940f, 0.515038074910054160f,
00310   0.529919264233204900f, 0.544639035015027080f, 0.559192903470746900f,
00311   0.573576436351046050f, 0.587785252292473140f,
00312   0.601815023152048270f, 0.615661475325658180f, 0.629320391049837390f,
00313   0.642787609686539250f, 0.656059028990507160f, 0.669130606358858240f,
00314   0.681998360062498480f, 0.694658370458997250f,
00315   0.707106781186547460f, 0.719339800338651080f, 0.731353701619170460f,
00316   0.743144825477394240f, 0.754709580222772010f, 0.766044443118978010f,
00317   0.777145961456970790f, 0.788010753606722010f,
00318   0.798635510047292830f, 0.809016994374947450f, 0.819152044288991800f,
00319   0.829037572555041740f, 0.838670567945423940f, 0.848048096156426070f,
00320   0.857167300702112220f, 0.866025403784438600f,
00321   0.874619707139395740f, 0.882947592858926880f, 0.891006524188367790f,
00322   0.898794046299167040f, 0.906307787036649940f, 0.913545457642600870f,
00323   0.920504853452440260f, 0.927183854566787420f,
00324   0.933580426497201740f, 0.939692620785908320f, 0.945518575599316740f,
00325   0.951056516295153530f, 0.956304755963035440f, 0.961261695938318890f,
00326   0.965925826289068310f, 0.970295726275996470f,
00327   0.974370064785235250f, 0.978147600733805580f, 0.981627183447663980f,
00328   0.984807753012208020f, 0.987688340595137770f, 0.990268068741570250f,
00329   0.992546151641321980f, 0.994521895368273290f,
00330   0.996194698091745550f, 0.997564050259824200f, 0.998629534754573830f,
00331   0.999390827019095760f, 0.999847695156391270f, 1.000000000000000000f,
00332   0.999847695156391270f, 0.999390827019095760f,
00333   0.998629534754573830f, 0.997564050259824200f, 0.996194698091745550f,
00334   0.994521895368273400f, 0.992546151641322090f, 0.990268068741570360f,
00335   0.987688340595137660f, 0.984807753012208020f,
00336   0.981627183447663980f, 0.978147600733805690f, 0.974370064785235250f,
00337   0.970295726275996470f, 0.965925826289068310f, 0.961261695938318890f,
00338   0.956304755963035550f, 0.951056516295153640f,
00339   0.945518575599316850f, 0.939692620785908430f, 0.933580426497201740f,
00340   0.927183854566787420f, 0.920504853452440370f, 0.913545457642600980f,
00341   0.906307787036650050f, 0.898794046299166930f,
00342   0.891006524188367900f, 0.882947592858927100f, 0.874619707139395850f,
00343   0.866025403784438710f, 0.857167300702112330f, 0.848048096156426070f,
00344   0.838670567945424050f, 0.829037572555041740f,
00345   0.819152044288992020f, 0.809016994374947450f, 0.798635510047292720f,
00346   0.788010753606722010f, 0.777145961456971010f, 0.766044443118978010f,
00347   0.754709580222771790f, 0.743144825477394240f,
00348   0.731353701619170570f, 0.719339800338651410f, 0.707106781186547570f,
00349   0.694658370458997140f, 0.681998360062498590f, 0.669130606358858350f,
00350   0.656059028990507280f, 0.642787609686539470f,
00351   0.629320391049837720f, 0.615661475325658400f, 0.601815023152048160f,
00352   0.587785252292473250f, 0.573576436351046380f, 0.559192903470746900f,
00353   0.544639035015026860f, 0.529919264233204900f,
00354   0.515038074910054380f, 0.499999999999999940f, 0.484809620246337170f,
00355   0.469471562785891080f, 0.453990499739546860f, 0.438371146789077290f,
00356   0.422618261740699500f, 0.406736643075800430f,
00357   0.390731128489274160f, 0.374606593415912240f, 0.358367949545300210f,
00358   0.342020143325668880f, 0.325568154457156980f, 0.309016994374947510f,
00359   0.292371704722737050f, 0.275637355816999660f,
00360   0.258819045102521020f, 0.241921895599667730f, 0.224951054343864780f,
00361   0.207911690817759310f, 0.190808995376544970f, 0.173648177666930280f,
00362   0.156434465040230980f, 0.139173100960065740f,
00363   0.121869343405147550f, 0.104528463267653730f, 0.087155742747658638f,
00364   0.069756473744125524f, 0.052335956242943807f, 0.034899496702500699f,
00365   0.017452406437283439f, 0.000000000000000122f
00366 };
00367 
00368 
00369 /**    
00370  * @brief  Floating-point sin_cos function.   
00371  * @param[in]  theta    input value in degrees    
00372  * @param[out] *pSinVal points to the processed sine output.    
00373  * @param[out] *pCosVal points to the processed cos output.    
00374  * @return none.   
00375  */
00376 
00377 
00378 void arm_sin_cos_f32(
00379   float32_t theta,
00380   float32_t * pSinVal,
00381   float32_t * pCosVal)
00382 {
00383   int32_t i;                                     /* Index for reading nearwst output values */
00384   float32_t x1 = -179.0f;                        /* Initial input value */
00385   float32_t y0, y1;                              /* nearest output values */
00386   float32_t y2, y3;
00387   float32_t fract;                               /* fractional part of input */
00388 
00389   /* Calculation of fractional part */
00390   if(theta > 0.0f)
00391   {
00392     fract = theta - (float32_t) ((int32_t) theta);
00393   }
00394   else
00395   {
00396     fract = (theta - (float32_t) ((int32_t) theta)) + 1.0f;
00397   }
00398 
00399   /* index calculation for reading nearest output values */
00400   i = (uint32_t) (theta - x1);
00401 
00402   /* Checking min and max index of table */
00403   if(i < 0)
00404   {
00405     i = 0;
00406   }
00407   else if(i >= 359)
00408   {
00409     i = 358;
00410   }
00411 
00412   /* reading nearest sine output values */
00413   y0 = sinTable [i];
00414   y1 = sinTable [i + 1u];
00415 
00416   /* reading nearest cosine output values */
00417   y2 = cosTable [i];
00418   y3 = cosTable [i + 1u];
00419 
00420   y1 = y1 - y0;
00421   y3 = y3 - y2;
00422 
00423   y1 = fract * y1;
00424   y3 = fract * y3;
00425 
00426   /* Calculation of sine value */
00427   *pSinVal = y0 + y1;
00428 
00429   /* Calculation of cosine value */
00430   *pCosVal = y2 + y3;
00431 
00432 }
00433 
00434 /**    
00435  * @} end of SinCos group    
00436  */