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CMSIS DSP Library from CMSIS 2.0. See http://www.onarm.com/cmsis/ for full details

Dependents: K22F_DSP_Matrix_least_square BNO055-ELEC3810 1BNO055 ECE4180Project--Slave2 ... more

src/Cortex-M4-M3/FastMathFunctions/arm_sin_f32.c@0:1014af42efd9, 2011-03-10 (annotated)

Committer:: simon
Date:: Thu Mar 10 15:07:50 2011 +0000
Revision:: 0:1014af42efd9

Who changed what in which revision?

User	Revision	Line number	New contents of line
simon	0:1014af42efd9	1	/* ----------------------------------------------------------------------
simon	0:1014af42efd9	2	* Copyright (C) 2010 ARM Limited. All rights reserved.
simon	0:1014af42efd9	3	*
simon	0:1014af42efd9	4	* $Date: 29. November 2010
simon	0:1014af42efd9	5	* $Revision: V1.0.3
simon	0:1014af42efd9	6	*
simon	0:1014af42efd9	7	* Project: CMSIS DSP Library
simon	0:1014af42efd9	8	* Title: arm_sin_f32.c
simon	0:1014af42efd9	9	*
simon	0:1014af42efd9	10	* Description: Fast sine calculation for floating-point values.
simon	0:1014af42efd9	11	*
simon	0:1014af42efd9	12	* Target Processor: Cortex-M4/Cortex-M3
simon	0:1014af42efd9	13	*
simon	0:1014af42efd9	14	* Version 1.0.3 2010/11/29
simon	0:1014af42efd9	15	* Re-organized the CMSIS folders and updated documentation.
simon	0:1014af42efd9	16	*
simon	0:1014af42efd9	17	* Version 1.0.2 2010/11/11
simon	0:1014af42efd9	18	* Documentation updated.
simon	0:1014af42efd9	19	*
simon	0:1014af42efd9	20	* Version 1.0.1 2010/10/05
simon	0:1014af42efd9	21	* Production release and review comments incorporated.
simon	0:1014af42efd9	22	*
simon	0:1014af42efd9	23	* Version 1.0.0 2010/09/20
simon	0:1014af42efd9	24	* Production release and review comments incorporated.
simon	0:1014af42efd9	25	* -------------------------------------------------------------------- */
simon	0:1014af42efd9	26
simon	0:1014af42efd9	27	#include "arm_math.h"
simon	0:1014af42efd9	28
simon	0:1014af42efd9	29	/**
simon	0:1014af42efd9	30	* @ingroup groupFastMath
simon	0:1014af42efd9	31	*/
simon	0:1014af42efd9	32
simon	0:1014af42efd9	33	/**
simon	0:1014af42efd9	34	* @defgroup sin Sine
simon	0:1014af42efd9	35	*
simon	0:1014af42efd9	36	* Computes the trigonometric sine function using a combination of table lookup
simon	0:1014af42efd9	37	* and cubic interpolation. There are separate functions for
simon	0:1014af42efd9	38	* Q15, Q31, and floating-point data types.
simon	0:1014af42efd9	39	* The input to the floating-point version is in radians while the
simon	0:1014af42efd9	40	* fixed-point Q15 and Q31 have a scaled input with the range
simon	0:1014af42efd9	41	* [0 1) mapping to [0 2*pi).
simon	0:1014af42efd9	42	*
simon	0:1014af42efd9	43	* The implementation is based on table lookup using 256 values together with cubic interpolation.
simon	0:1014af42efd9	44	* The steps used are:
simon	0:1014af42efd9	45	* -# Calculation of the nearest integer table index
simon	0:1014af42efd9	46	* -# Fetch the four table values a, b, c, and d
simon	0:1014af42efd9	47	* -# Compute the fractional portion (fract) of the table index.
simon	0:1014af42efd9	48	* -# Calculation of wa, wb, wc, wd
simon	0:1014af42efd9	49	* -# The final result equals <code>awa + bwb + cwc + dwd</code>
simon	0:1014af42efd9	50	*
simon	0:1014af42efd9	51	* where
simon	0:1014af42efd9	52	* <pre>
simon	0:1014af42efd9	53	* a=Table[index-1];
simon	0:1014af42efd9	54	* b=Table[index+0];
simon	0:1014af42efd9	55	* c=Table[index+1];
simon	0:1014af42efd9	56	* d=Table[index+2];
simon	0:1014af42efd9	57	* </pre>
simon	0:1014af42efd9	58	* and
simon	0:1014af42efd9	59	* <pre>
simon	0:1014af42efd9	60	* wa=-(1/6)fract.^3 + (1/2)fract.^2 - (1/3)*fract;
simon	0:1014af42efd9	61	* wb=(1/2)fract.^3 - fract.^2 - (1/2)fract + 1;
simon	0:1014af42efd9	62	* wc=-(1/2)fract.^3+(1/2)fract.^2+fract;
simon	0:1014af42efd9	63	* wd=(1/6)fract.^3 - (1/6)fract;
simon	0:1014af42efd9	64	* </pre>
simon	0:1014af42efd9	65	*/
simon	0:1014af42efd9	66
simon	0:1014af42efd9	67	/**
simon	0:1014af42efd9	68	* @addtogroup sin
simon	0:1014af42efd9	69	* @{
simon	0:1014af42efd9	70	*/
simon	0:1014af42efd9	71
simon	0:1014af42efd9	72
simon	0:1014af42efd9	73	/**
simon	0:1014af42efd9	74	* \par
simon	0:1014af42efd9	75	* Example code for Generation of Floating-point Sin Table:
simon	0:1014af42efd9	76	* tableSize = 256;
simon	0:1014af42efd9	77	* <pre>for(n = -1; n < (tableSize + 1); n++)
simon	0:1014af42efd9	78	* {
simon	0:1014af42efd9	79	* sinTable[n+1]=sin(2pin/tableSize);
simon	0:1014af42efd9	80	* }</pre>
simon	0:1014af42efd9	81	* \par
simon	0:1014af42efd9	82	* where pi value is 3.14159265358979
simon	0:1014af42efd9	83	*/
simon	0:1014af42efd9	84
simon	0:1014af42efd9	85	static const float32_t sinTable[259] = {
simon	0:1014af42efd9	86	-0.024541229009628296f, 0.000000000000000000f, 0.024541229009628296f,
simon	0:1014af42efd9	87	0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,
simon	0:1014af42efd9	88	0.122410677373409270f, 0.146730467677116390f,
simon	0:1014af42efd9	89	0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,
simon	0:1014af42efd9	90	0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,
simon	0:1014af42efd9	91	0.313681751489639280f, 0.336889863014221190f,
simon	0:1014af42efd9	92	0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,
simon	0:1014af42efd9	93	0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,
simon	0:1014af42efd9	94	0.492898195981979370f, 0.514102756977081300f,
simon	0:1014af42efd9	95	0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,
simon	0:1014af42efd9	96	0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,
simon	0:1014af42efd9	97	0.653172850608825680f, 0.671558976173400880f,
simon	0:1014af42efd9	98	0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,
simon	0:1014af42efd9	99	0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,
simon	0:1014af42efd9	100	0.788346409797668460f, 0.803207516670227050f,
simon	0:1014af42efd9	101	0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,
simon	0:1014af42efd9	102	0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,
simon	0:1014af42efd9	103	0.893224298954010010f, 0.903989315032958980f,
simon	0:1014af42efd9	104	0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,
simon	0:1014af42efd9	105	0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,
simon	0:1014af42efd9	106	0.963776051998138430f, 0.970031261444091800f,
simon	0:1014af42efd9	107	0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,
simon	0:1014af42efd9	108	0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,
simon	0:1014af42efd9	109	0.997290432453155520f, 0.998795449733734130f,
simon	0:1014af42efd9	110	0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
simon	0:1014af42efd9	111	0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,
simon	0:1014af42efd9	112	0.992479562759399410f, 0.989176511764526370f,
simon	0:1014af42efd9	113	0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,
simon	0:1014af42efd9	114	0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,
simon	0:1014af42efd9	115	0.949528157711029050f, 0.941544055938720700f,
simon	0:1014af42efd9	116	0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,
simon	0:1014af42efd9	117	0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,
simon	0:1014af42efd9	118	0.870086967945098880f, 0.857728600502014160f,
simon	0:1014af42efd9	119	0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,
simon	0:1014af42efd9	120	0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,
simon	0:1014af42efd9	121	0.757208824157714840f, 0.740951120853424070f,
simon	0:1014af42efd9	122	0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,
simon	0:1014af42efd9	123	0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,
simon	0:1014af42efd9	124	0.615231573581695560f, 0.595699310302734380f,
simon	0:1014af42efd9	125	0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,
simon	0:1014af42efd9	126	0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,
simon	0:1014af42efd9	127	0.449611335992813110f, 0.427555084228515630f,
simon	0:1014af42efd9	128	0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,
simon	0:1014af42efd9	129	0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,
simon	0:1014af42efd9	130	0.266712754964828490f, 0.242980182170867920f,
simon	0:1014af42efd9	131	0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,
simon	0:1014af42efd9	132	0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,
simon	0:1014af42efd9	133	0.073564566671848297f, 0.049067676067352295f,
simon	0:1014af42efd9	134	0.024541229009628296f, 0.000000000000000122f, -0.024541229009628296f,
simon	0:1014af42efd9	135	-0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,
simon	0:1014af42efd9	136	-0.122410677373409270f, -0.146730467677116390f,
simon	0:1014af42efd9	137	-0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,
simon	0:1014af42efd9	138	-0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,
simon	0:1014af42efd9	139	-0.313681751489639280f, -0.336889863014221190f,
simon	0:1014af42efd9	140	-0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,
simon	0:1014af42efd9	141	-0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,
simon	0:1014af42efd9	142	-0.492898195981979370f, -0.514102756977081300f,
simon	0:1014af42efd9	143	-0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,
simon	0:1014af42efd9	144	-0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,
simon	0:1014af42efd9	145	-0.653172850608825680f, -0.671558976173400880f,
simon	0:1014af42efd9	146	-0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,
simon	0:1014af42efd9	147	-0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,
simon	0:1014af42efd9	148	-0.788346409797668460f, -0.803207516670227050f,
simon	0:1014af42efd9	149	-0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,
simon	0:1014af42efd9	150	-0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,
simon	0:1014af42efd9	151	-0.893224298954010010f, -0.903989315032958980f,
simon	0:1014af42efd9	152	-0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,
simon	0:1014af42efd9	153	-0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,
simon	0:1014af42efd9	154	-0.963776051998138430f, -0.970031261444091800f,
simon	0:1014af42efd9	155	-0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,
simon	0:1014af42efd9	156	-0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,
simon	0:1014af42efd9	157	-0.997290432453155520f, -0.998795449733734130f,
simon	0:1014af42efd9	158	-0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,
simon	0:1014af42efd9	159	-0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,
simon	0:1014af42efd9	160	-0.992479562759399410f, -0.989176511764526370f,
simon	0:1014af42efd9	161	-0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,
simon	0:1014af42efd9	162	-0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,
simon	0:1014af42efd9	163	-0.949528157711029050f, -0.941544055938720700f,
simon	0:1014af42efd9	164	-0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,
simon	0:1014af42efd9	165	-0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,
simon	0:1014af42efd9	166	-0.870086967945098880f, -0.857728600502014160f,
simon	0:1014af42efd9	167	-0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,
simon	0:1014af42efd9	168	-0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,
simon	0:1014af42efd9	169	-0.757208824157714840f, -0.740951120853424070f,
simon	0:1014af42efd9	170	-0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,
simon	0:1014af42efd9	171	-0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,
simon	0:1014af42efd9	172	-0.615231573581695560f, -0.595699310302734380f,
simon	0:1014af42efd9	173	-0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,
simon	0:1014af42efd9	174	-0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,
simon	0:1014af42efd9	175	-0.449611335992813110f, -0.427555084228515630f,
simon	0:1014af42efd9	176	-0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,
simon	0:1014af42efd9	177	-0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,
simon	0:1014af42efd9	178	-0.266712754964828490f, -0.242980182170867920f,
simon	0:1014af42efd9	179	-0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,
simon	0:1014af42efd9	180	-0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,
simon	0:1014af42efd9	181	-0.073564566671848297f, -0.049067676067352295f,
simon	0:1014af42efd9	182	-0.024541229009628296f, -0.000000000000000245f, 0.024541229009628296f
simon	0:1014af42efd9	183	};
simon	0:1014af42efd9	184
simon	0:1014af42efd9	185
simon	0:1014af42efd9	186	/**
simon	0:1014af42efd9	187	* @brief Fast approximation to the trigonometric sine function for floating-point data.
simon	0:1014af42efd9	188	* @param[in] x input value in radians.
simon	0:1014af42efd9	189	* @return sin(x).
simon	0:1014af42efd9	190	*/
simon	0:1014af42efd9	191
simon	0:1014af42efd9	192	float32_t arm_sin_f32(
simon	0:1014af42efd9	193	float32_t x)
simon	0:1014af42efd9	194	{
simon	0:1014af42efd9	195	float32_t sinVal, fract, in; /* Temporary variables for input, output */
simon	0:1014af42efd9	196	uint32_t index; /* Index variables */
simon	0:1014af42efd9	197	uint32_t tableSize = (uint32_t) TABLE_SIZE; /* Initialise tablesize */
simon	0:1014af42efd9	198	float32_t wa, wb, wc, wd; /* Cubic interpolation coefficients */
simon	0:1014af42efd9	199	float32_t a, b, c, d; /* Four nearest output values */
simon	0:1014af42efd9	200	float32_t tablePtr; / Pointer to table */
simon	0:1014af42efd9	201	int32_t n;
simon	0:1014af42efd9	202
simon	0:1014af42efd9	203	/* input x is in radians */
simon	0:1014af42efd9	204	/* Scale the input to [0 1] range from [0 2PI] , divide input by 2pi */
simon	0:1014af42efd9	205	in = x * 0.159154943092f;
simon	0:1014af42efd9	206
simon	0:1014af42efd9	207	/* Calculation of floor value of input */
simon	0:1014af42efd9	208	n = (int32_t) in;
simon	0:1014af42efd9	209
simon	0:1014af42efd9	210	/* Make negative values towards -infinity */
simon	0:1014af42efd9	211	if(x < 0.0f)
simon	0:1014af42efd9	212	{
simon	0:1014af42efd9	213	n = n - 1;
simon	0:1014af42efd9	214	}
simon	0:1014af42efd9	215
simon	0:1014af42efd9	216	/* Map input value to [0 1] */
simon	0:1014af42efd9	217	in = in - (float32_t) n;
simon	0:1014af42efd9	218
simon	0:1014af42efd9	219	/* Calculation of index of the table */
simon	0:1014af42efd9	220	index = (uint32_t) (tableSize * in);
simon	0:1014af42efd9	221
simon	0:1014af42efd9	222	/* fractional value calculation */
simon	0:1014af42efd9	223	fract = ((float32_t) tableSize * in) - (float32_t) index;
simon	0:1014af42efd9	224
simon	0:1014af42efd9	225	/* Initialise table pointer */
simon	0:1014af42efd9	226	tablePtr = (float32_t *) & sinTable[index];
simon	0:1014af42efd9	227
simon	0:1014af42efd9	228	/* Read four nearest values of output value from the sin table */
simon	0:1014af42efd9	229	a = *tablePtr++;
simon	0:1014af42efd9	230	b = *tablePtr++;
simon	0:1014af42efd9	231	c = *tablePtr++;
simon	0:1014af42efd9	232	d = *tablePtr++;
simon	0:1014af42efd9	233
simon	0:1014af42efd9	234	/* Cubic interpolation process */
simon	0:1014af42efd9	235	wa = -(((0.166666667f) * (fract * (fract * fract))) +
simon	0:1014af42efd9	236	((0.3333333333333f) * fract)) + ((0.5f) * (fract * fract));
simon	0:1014af42efd9	237	wb = (((0.5f) * (fract * (fract * fract))) -
simon	0:1014af42efd9	238	((fract * fract) + ((0.5f) * fract))) + 1.0f;
simon	0:1014af42efd9	239	wc = (-((0.5f) * (fract * (fract * fract))) +
simon	0:1014af42efd9	240	((0.5f) * (fract * fract))) + fract;
simon	0:1014af42efd9	241	wd = ((0.166666667f) * (fract * (fract * fract))) -
simon	0:1014af42efd9	242	((0.166666667f) * fract);
simon	0:1014af42efd9	243
simon	0:1014af42efd9	244	/* Calculate sin value */
simon	0:1014af42efd9	245	sinVal = ((a * wa) + (b * wb)) + ((c * wc) + (d * wd));
simon	0:1014af42efd9	246
simon	0:1014af42efd9	247	/* Return the output value */
simon	0:1014af42efd9	248	return (sinVal);
simon	0:1014af42efd9	249
simon	0:1014af42efd9	250	}
simon	0:1014af42efd9	251
simon	0:1014af42efd9	252	/**
simon	0:1014af42efd9	253	* @} end of sin group
simon	0:1014af42efd9	254	*/

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Type:	Library
Created:	10 Mar 2011
Imports:	907
Forks:	1
Commits:	3
Dependents:	5
Dependencies:	0
Followers:	35

src/Cortex-M4-M3/FastMathFunctions/arm_sin_f32.c@0:1014af42efd9, 2011-03-10 (annotated)

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