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00030 #include "arm_math.h"
00086 static const float32_t cosTable[259] = {
00087 0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
00088 0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,
00089 0.992479562759399410f, 0.989176511764526370f,
00090 0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,
00091 0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,
00092 0.949528157711029050f, 0.941544055938720700f,
00093 0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,
00094 0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,
00095 0.870086967945098880f, 0.857728600502014160f,
00096 0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,
00097 0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,
00098 0.757208824157714840f, 0.740951120853424070f,
00099 0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,
00100 0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,
00101 0.615231573581695560f, 0.595699310302734380f,
00102 0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,
00103 0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,
00104 0.449611335992813110f, 0.427555084228515630f,
00105 0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,
00106 0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,
00107 0.266712754964828490f, 0.242980182170867920f,
00108 0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,
00109 0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,
00110 0.073564566671848297f, 0.049067676067352295f,
00111 0.024541229009628296f, 0.000000000000000061f, -0.024541229009628296f,
00112 -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,
00113 -0.122410677373409270f, -0.146730467677116390f,
00114 -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,
00115 -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,
00116 -0.313681751489639280f, -0.336889863014221190f,
00117 -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,
00118 -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,
00119 -0.492898195981979370f, -0.514102756977081300f,
00120 -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,
00121 -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,
00122 -0.653172850608825680f, -0.671558976173400880f,
00123 -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,
00124 -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,
00125 -0.788346409797668460f, -0.803207516670227050f,
00126 -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,
00127 -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,
00128 -0.893224298954010010f, -0.903989315032958980f,
00129 -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,
00130 -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,
00131 -0.963776051998138430f, -0.970031261444091800f,
00132 -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,
00133 -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,
00134 -0.997290432453155520f, -0.998795449733734130f,
00135 -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,
00136 -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,
00137 -0.992479562759399410f, -0.989176511764526370f,
00138 -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,
00139 -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,
00140 -0.949528157711029050f, -0.941544055938720700f,
00141 -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,
00142 -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,
00143 -0.870086967945098880f, -0.857728600502014160f,
00144 -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,
00145 -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,
00146 -0.757208824157714840f, -0.740951120853424070f,
00147 -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,
00148 -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,
00149 -0.615231573581695560f, -0.595699310302734380f,
00150 -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,
00151 -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,
00152 -0.449611335992813110f, -0.427555084228515630f,
00153 -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,
00154 -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,
00155 -0.266712754964828490f, -0.242980182170867920f,
00156 -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,
00157 -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,
00158 -0.073564566671848297f, -0.049067676067352295f,
00159 -0.024541229009628296f, -0.000000000000000184f, 0.024541229009628296f,
00160 0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,
00161 0.122410677373409270f, 0.146730467677116390f,
00162 0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,
00163 0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,
00164 0.313681751489639280f, 0.336889863014221190f,
00165 0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,
00166 0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,
00167 0.492898195981979370f, 0.514102756977081300f,
00168 0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,
00169 0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,
00170 0.653172850608825680f, 0.671558976173400880f,
00171 0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,
00172 0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,
00173 0.788346409797668460f, 0.803207516670227050f,
00174 0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,
00175 0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,
00176 0.893224298954010010f, 0.903989315032958980f,
00177 0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,
00178 0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,
00179 0.963776051998138430f, 0.970031261444091800f,
00180 0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,
00181 0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,
00182 0.997290432453155520f, 0.998795449733734130f,
00183 0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f
00184 };
00185
00192 float32_t arm_cos_f32(
00193 float32_t x)
00194 {
00195 float32_t cosVal, fract, in;
00196 uint32_t index;
00197 uint32_t tableSize = (uint32_t) TABLE_SIZE;
00198 float32_t wa, wb, wc, wd;
00199 float32_t a, b, c, d;
00200 float32_t *tablePtr;
00201 int32_t n;
00202
00203
00204
00205 in = x * 0.159154943092f;
00206
00207
00208 n = (int32_t) in;
00209
00210
00211 if(x < 0.0f)
00212 {
00213 n = n - 1;
00214 }
00215
00216
00217 in = in - (float32_t) n;
00218
00219
00220 index = (uint32_t) (tableSize * in);
00221
00222
00223 fract = ((float32_t) tableSize * in) - (float32_t) index;
00224
00225
00226 tablePtr = (float32_t *) & cosTable[index];
00227
00228
00229 a = *tablePtr++;
00230 b = *tablePtr++;
00231 c = *tablePtr++;
00232 d = *tablePtr++;
00233
00234
00235 wa = -(((0.166666667f) * fract) * (fract * fract)) +
00236 (((0.5f) * (fract * fract)) - ((0.3333333333333f) * fract));
00237 wb = ((((0.5f) * fract) * (fract * fract)) - (fract * fract)) +
00238 (-((0.5f) * fract) + 1.0f);
00239 wc = -(((0.5f) * fract) * (fract * fract)) +
00240 (((0.5f) * (fract * fract)) + fract);
00241 wd = (((0.166666667f) * fract) * (fract * fract)) -
00242 ((0.166666667f) * fract);
00243
00244
00245 cosVal = ((a * wa) + (b * wb)) + ((c * wc) + (d * wd));
00246
00247
00248 return (cosVal);
00249
00250 }
00251