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00030 #include "arm_math.h"
00031
00088 static const float32_t sinTable[259] = {
00089 -0.024541229009628296f, 0.000000000000000000f, 0.024541229009628296f,
00090 0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,
00091 0.122410677373409270f, 0.146730467677116390f,
00092 0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,
00093 0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,
00094 0.313681751489639280f, 0.336889863014221190f,
00095 0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,
00096 0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,
00097 0.492898195981979370f, 0.514102756977081300f,
00098 0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,
00099 0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,
00100 0.653172850608825680f, 0.671558976173400880f,
00101 0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,
00102 0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,
00103 0.788346409797668460f, 0.803207516670227050f,
00104 0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,
00105 0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,
00106 0.893224298954010010f, 0.903989315032958980f,
00107 0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,
00108 0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,
00109 0.963776051998138430f, 0.970031261444091800f,
00110 0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,
00111 0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,
00112 0.997290432453155520f, 0.998795449733734130f,
00113 0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
00114 0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,
00115 0.992479562759399410f, 0.989176511764526370f,
00116 0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,
00117 0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,
00118 0.949528157711029050f, 0.941544055938720700f,
00119 0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,
00120 0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,
00121 0.870086967945098880f, 0.857728600502014160f,
00122 0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,
00123 0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,
00124 0.757208824157714840f, 0.740951120853424070f,
00125 0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,
00126 0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,
00127 0.615231573581695560f, 0.595699310302734380f,
00128 0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,
00129 0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,
00130 0.449611335992813110f, 0.427555084228515630f,
00131 0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,
00132 0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,
00133 0.266712754964828490f, 0.242980182170867920f,
00134 0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,
00135 0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,
00136 0.073564566671848297f, 0.049067676067352295f,
00137 0.024541229009628296f, 0.000000000000000122f, -0.024541229009628296f,
00138 -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,
00139 -0.122410677373409270f, -0.146730467677116390f,
00140 -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,
00141 -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,
00142 -0.313681751489639280f, -0.336889863014221190f,
00143 -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,
00144 -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,
00145 -0.492898195981979370f, -0.514102756977081300f,
00146 -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,
00147 -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,
00148 -0.653172850608825680f, -0.671558976173400880f,
00149 -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,
00150 -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,
00151 -0.788346409797668460f, -0.803207516670227050f,
00152 -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,
00153 -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,
00154 -0.893224298954010010f, -0.903989315032958980f,
00155 -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,
00156 -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,
00157 -0.963776051998138430f, -0.970031261444091800f,
00158 -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,
00159 -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,
00160 -0.997290432453155520f, -0.998795449733734130f,
00161 -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,
00162 -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,
00163 -0.992479562759399410f, -0.989176511764526370f,
00164 -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,
00165 -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,
00166 -0.949528157711029050f, -0.941544055938720700f,
00167 -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,
00168 -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,
00169 -0.870086967945098880f, -0.857728600502014160f,
00170 -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,
00171 -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,
00172 -0.757208824157714840f, -0.740951120853424070f,
00173 -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,
00174 -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,
00175 -0.615231573581695560f, -0.595699310302734380f,
00176 -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,
00177 -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,
00178 -0.449611335992813110f, -0.427555084228515630f,
00179 -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,
00180 -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,
00181 -0.266712754964828490f, -0.242980182170867920f,
00182 -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,
00183 -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,
00184 -0.073564566671848297f, -0.049067676067352295f,
00185 -0.024541229009628296f, -0.000000000000000245f, 0.024541229009628296f
00186 };
00187
00188
00195 float32_t arm_sin_f32(
00196 float32_t x)
00197 {
00198 float32_t sinVal, fract, in;
00199 uint32_t index;
00200 uint32_t tableSize = (uint32_t) TABLE_SIZE;
00201 float32_t wa, wb, wc, wd;
00202 float32_t a, b, c, d;
00203 float32_t *tablePtr;
00204 int32_t n;
00205
00206
00207
00208 in = x * 0.159154943092f;
00209
00210
00211 n = (int32_t) in;
00212
00213
00214 if(x < 0.0f)
00215 {
00216 n = n - 1;
00217 }
00218
00219
00220 in = in - (float32_t) n;
00221
00222
00223 index = (uint32_t) (tableSize * in);
00224
00225
00226 fract = ((float32_t) tableSize * in) - (float32_t) index;
00227
00228
00229 tablePtr = (float32_t *) & sinTable[index];
00230
00231
00232 a = *tablePtr++;
00233 b = *tablePtr++;
00234 c = *tablePtr++;
00235 d = *tablePtr++;
00236
00237
00238 wa = -(((0.166666667f) * (fract * (fract * fract))) +
00239 ((0.3333333333333f) * fract)) + ((0.5f) * (fract * fract));
00240 wb = (((0.5f) * (fract * (fract * fract))) -
00241 ((fract * fract) + ((0.5f) * fract))) + 1.0f;
00242 wc = (-((0.5f) * (fract * (fract * fract))) +
00243 ((0.5f) * (fract * fract))) + fract;
00244 wd = ((0.166666667f) * (fract * (fract * fract))) -
00245 ((0.166666667f) * fract);
00246
00247
00248 sinVal = ((a * wa) + (b * wb)) + ((c * wc) + (d * wd));
00249
00250
00251 return (sinVal);
00252
00253 }
00254