Part I of port of Rhombus math library

git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5269 42af7a65-404d-4744-a932-0658087f49c3

nuttx/lib/math/Kconfig

@@ -0,0 +1,4 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#

nuttx/lib/math/Make.defs

@@ -1,7 +1,7 @@
 ############################################################################
 # lib/math/Make.defs
 #
-#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -33,11 +33,17 @@
 #
 ############################################################################
 
-# Add the math C files to the build
+if ($(CONFIG_LIBM),y)
 
-CSRCS += lib_rint.c lib_fixedmath.c lib_b16sin.c lib_b16cos.c lib_b16atan2.c
+# Add the floating point math C files to the build
 
-# Add the math directory to the build
+CSRCS += lib_acos.c lib_asin.c lib_atan.c lib_atan2.c lib_ceil.c lib_cos.c
+CSRCS += lib_cosh.c lib_exp.c lib_fabs.c lib_floor.c lib_fmod.c lib_frexp.c
+CRRCS += lib_ldexp.c lib_log.c lib_log10.c lib_log2.c lib_modf.c lib_pow.c
+CSRCS += lib_sin.c lib_sinh.c lib_sqrt.c lib_tan.c lib_tanh.c
+
+# Add the floating point math directory to the build
 
 DEPPATH += --dep-path math
 VPATH += :math
+endif

nuttx/lib/math/Makefile

@@ -0,0 +1,100 @@
+############################################################################
+# nuttx/lib/math/Makefile
+#
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/.config
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
+
+# NSH Library
+
+ASRCS	=
+CSRCS	=
+
+ifeq ($(CONFIG_MATHEXT_LIBRARY),y)
+CSRCS	+= m_cos.c m_log2.c m_fmod.c m_sin.c m_fabs.c m_exp.c m_asin.c m_tan.c      \
+           m_modf.c m_ldexp.c m_acos.c m_frexp.c m_atan.c m_log.c m_tanh.c m_ceil.c \
+           m_sinh.c m_sqrt.c m_pow.c m_cosh.c m_floor.c m_atan2.c m_log10.c
+endif
+
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ifeq ($(WINTOOL),y)
+  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+else
+  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+endif
+
+ROOTDEPPATH	= --dep-path .
+VPATH		= 
+
+# Build targets
+
+all:	.built
+.PHONY: context .depend depend clean distclean
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+.built: $(OBJS)
+	@( for obj in $(OBJS) ; do \
+		$(call ARCHIVE, $(BIN), $${obj}); \
+	done ; )
+	@touch .built
+
+context:
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(ROOTDEPPATH) \
+	  $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	@rm -f *.o *~ .*.swp .built
+	$(call CLEAN)
+
+distclean: clean
+	@rm -f Make.dep .depend
+
+-include Make.dep
+

nuttx/lib/math/lib_acos.c

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float acosf(float x) {
+	return (M_PI_2 - asinf(x));
+}
+
+double acos(double x) {
+	return (M_PI_2 - asin(x));
+}
+
+long double acosl(long double x) {
+	return (M_PI_2 - asinl(x));
+}

nuttx/lib/math/lib_asin.c

@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float asinf(float x) {
+	long double y, y_sin, y_cos;
+
+	y = 0;
+
+	while (1) {
+		y_sin = sinf(y);
+		y_cos = cosf(y);
+
+		if (y > M_PI_2 || y < -M_PI_2) {
+			y = fmodf(y, M_PI);
+		}
+
+		if (y_sin + DBL_EPSILON >= x && y_sin - DBL_EPSILON <= x) {
+			break;
+		}
+
+		y = y - (y_sin - x) / y_cos;
+	}
+
+	return y;
+}
+
+double asin(double x) {
+	long double y, y_sin, y_cos;
+
+	y = 0;
+
+	while (1) {
+		y_sin = sin(y);
+		y_cos = cos(y);
+
+		if (y > M_PI_2 || y < -M_PI_2) {
+			y = fmod(y, M_PI);
+		}
+
+		if (y_sin + DBL_EPSILON >= x && y_sin - DBL_EPSILON <= x) {
+			break;
+		}
+
+		y = y - (y_sin - x) / y_cos;
+	}
+
+	return y;
+}
+
+long double asinl(long double x) {
+	long double y, y_sin, y_cos;
+
+	y = 0;
+
+	while (1) {
+		y_sin = sinl(y);
+		y_cos = cosl(y);
+
+		if (y > M_PI_2 || y < -M_PI_2) {
+			y = fmodl(y, M_PI);
+		}
+
+		if (y_sin + LDBL_EPSILON >= x && y_sin - LDBL_EPSILON <= x) {
+			break;
+		}
+
+		y = y - (y_sin - x) / y_cos;
+	}
+
+	return y;
+}
+

nuttx/lib/math/lib_atan.c

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+#include <stddef.h>
+#include <stdint.h>
+
+float atanf(float x) {	
+	return asinf(x / sqrtf(x * x + 1));
+}
+
+double atan(double x) {
+	return asin(x / sqrt(x * x + 1));
+}
+
+long double atanl(long double x) {
+	return asinl(x / sqrtl(x * x + 1));
+}

nuttx/lib/math/lib_atan2.c

@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float atan2f(float y, float x) {
+	
+	if (y == 0.0) {
+		if (x >= 0.0) {
+			return 0.0;
+		}
+		else {
+			return M_PI;
+		}
+	}
+	else if (y > 0.0) {
+		if (x == 0.0) {
+			return M_PI_2;
+		}
+		else if (x > 0.0) {
+			return atanf(y / x);
+		}
+		else {
+			return M_PI - atanf(y / x);
+		}
+	}
+	else {
+		if (x == 0.0) {
+			return M_PI + M_PI_2;
+		}
+		else if (x > 0.0) {
+			return 2 * M_PI - atanf(y / x);
+		}
+		else {
+			return M_PI + atanf(y / x);
+		}
+	}
+}
+
+double atan2(double y, double x) {
+	
+	if (y == 0.0) {
+		if (x >= 0.0) {
+			return 0.0;
+		}
+		else {
+			return M_PI;
+		}
+	}
+	else if (y > 0.0) {
+		if (x == 0.0) {
+			return M_PI_2;
+		}
+		else if (x > 0.0) {
+			return atan(y / x);
+		}
+		else {
+			return M_PI - atan(y / x);
+		}
+	}
+	else {
+		if (x == 0.0) {
+			return M_PI + M_PI_2;
+		}
+		else if (x > 0.0) {
+			return 2 * M_PI - atan(y / x);
+		}
+		else {
+			return M_PI + atan(y / x);
+		}
+	}
+}
+
+long double atan2l(long double y, long double x) {
+	
+	if (y == 0.0) {
+		if (x >= 0.0) {
+			return 0.0;
+		}
+		else {
+			return M_PI;
+		}
+	}
+	else if (y > 0.0) {
+		if (x == 0.0) {
+			return M_PI_2;
+		}
+		else if (x > 0.0) {
+			return atanl(y / x);
+		}
+		else {
+			return M_PI - atanl(y / x);
+		}
+	}
+	else {
+		if (x == 0.0) {
+			return M_PI + M_PI_2;
+		}
+		else if (x > 0.0) {
+			return 2 * M_PI - atanl(y / x);
+		}
+		else {
+			return M_PI + atanl(y / x);
+		}
+	}
+}

nuttx/lib/math/lib_b16atan2.c

@@ -1,108 +0,0 @@
-/****************************************************************************
- * lib/math/lib_b16atan2.c
- *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <fixedmath.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define B16_C1     0x00000373 /* 0.013480470 */
-#define B16_C2     0x00000eb7 /* 0.057477314 */
-#define B16_C3     0x00001f0a /* 0.121239071 */
-#define B16_C4     0x00003215 /* 0.195635925 */
-#define B16_C5     0x0000553f /* 0.332994597 */
-#define B16_C6     0x00010000 /* 0.999995630 */
-#define B16_HALFPI 0x00019220 /* 1.570796327 */
-#define B16_PI     0x00032440 /* 3.141592654 */
-
-#ifndef MAX
-#  define MAX(a,b) (a > b ? a : b)
-#endif
-
-#ifndef MIN
-#  define MIN(a,b) (a < b ? a : b)
-#endif
-
-#ifndef ABS
-#  define ABS(a)   (a < 0 ? -a : a)
-#endif
-
-/****************************************************************************
- * Global Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: b16atan2
- *
- * Description:
- *   atan2 calculates the arctangent of y/x.  (Based on a algorithm I saw
- *   posted on the internet... now I have lost the link -- sorry).
- *
- ****************************************************************************/
-
-b16_t b16atan2(b16_t y, b16_t x)
-{
-  b16_t t0;
-  b16_t t1;
-  b16_t t2;
-  b16_t t3;
-
-  t2 = ABS(x);
-  t1 = ABS(y);
-  t0 = MAX(t2, t1);
-  t1 = MIN(t2, t1);
-  t2 = ub16inv(t0);
-  t2 = b16mulb16(t1, t2);
-
-  t3 = b16mulb16(t2, t2); 
-  t0 =                   - B16_C1;
-  t0 = b16mulb16(t0, t3) + B16_C2;
-  t0 = b16mulb16(t0, t3) - B16_C3;
-  t0 = b16mulb16(t0, t3) + B16_C4;
-  t0 = b16mulb16(t0, t3) - B16_C5;
-  t0 = b16mulb16(t0, t3) + B16_C6;
-  t2 = b16mulb16(t0, t2);
-
-  t2 = (ABS(y) > ABS(x)) ? B16_HALFPI - t2 : t2;
-  t2 = (x < 0) ?  B16_PI - t2 : t2;
-  t2 = (y < 0) ? -t2 : t2;
-
-  return t2;
-}

nuttx/lib/math/lib_b16cos.c

@@ -1,64 +0,0 @@
-/****************************************************************************
- * lib/math/lib_b16cos.c
- *
- *   Copyright (C) 2007, 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <fixedmath.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Global Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: b16cos
- ****************************************************************************/
-
-b16_t b16cos(b16_t rad)
-{
-  /* Compute cosine: sin(rad + PI/2) = cos(rad) */
-
-  rad += b16HALFPI;
-  if (rad > b16PI)
-    {
-      rad -= b16TWOPI;
-    }
-  return b16sin(rad);
-}

nuttx/lib/math/lib_b16sin.c

@@ -1,110 +0,0 @@
-/****************************************************************************
- * lib/math/lib_b16sin.c
- *
- *   Copyright (C) 2008, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <fixedmath.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define b16_P225       0x0000399a
-#define b16_P405284735 0x000067c1
-#define b16_1P27323954 0x000145f3
-
-/****************************************************************************
- * Global Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: b16sin
- * Ref: http://lab.polygonal.de/2007/07/18/fast-and-accurate-sinecosine-approximation/
- ****************************************************************************/
-
-b16_t b16sin(b16_t rad)
-{
-  b16_t tmp1;
-  b16_t tmp2;
-  b16_t tmp3;
-
-  /* Force angle into the good range */
-
-  if (rad < -b16PI)
-    {
-      rad += b16TWOPI;
-    }
-  else if (rad > b16PI)
-   {
-      rad -= b16TWOPI;
-   }
-
-  /* tmp1 = 1.27323954 * rad
-   * tmp2 = .405284735 * rad * rad
-   */
-
-
-  tmp1 = b16mulb16(b16_1P27323954, rad);
-  tmp2 = b16mulb16(b16_P405284735, b16sqr(rad));
-
-  if (rad < 0)
-    {
-       /* tmp3 = 1.27323954 * rad + .405284735 * rad * rad */
-
-       tmp3 = tmp1 + tmp2;
-    }
-  else
-    {
-       /* tmp3 = 1.27323954 * rad - 0.405284735 * rad * rad */
-
-       tmp3 = tmp1 - tmp2;
-    }
-
-  /* tmp1 = tmp3*tmp3 */
-
-  tmp1 = b16sqr(tmp3);
-  if (tmp3 < 0)
-    {
-      /* tmp1 = tmp3 * -tmp3 */
-
-      tmp1 = -tmp1;
-    }
-
-  /* Return sin = .225 * (tmp3 * (+/-tmp3) - tmp3) + tmp3 */
-
-  return b16mulb16(b16_P225, (tmp1 - tmp3)) + tmp3;
-}

nuttx/lib/math/lib_ceil.c

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float ceilf(float x) {
+	modff(x, &x);
+	if (x > 0.0) x += 1.0;
+	return x;
+}
+
+double ceil(double x) {
+	modf(x, &x);
+	if (x > 0.0) x += 1.0;
+	return x;
+}
+
+long double ceill(long double x) {
+	modfl(x, &x);
+	if (x > 0.0) x += 1.0;
+	return x;
+}
+

nuttx/lib/math/lib_cos.c

@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <stdint.h>
+#include <float.h>
+#include <apps/math.h>
+
+float cosf(float x) {
+	return sinf(x + M_PI_2);
+}
+
+double cos(double x) {
+	return sin(x + M_PI_2);
+}
+
+long double cosl(long double x) {
+	return sinl(x + M_PI_2);
+}

nuttx/lib/math/lib_cosh.c

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float coshf(float x) {
+	x = expf(x);
+	return ((x + (1.0 / x)) / 2.0);
+}
+
+double cosh(double x) {
+	x = exp(x);
+	return ((x + (1.0 / x)) / 2.0);
+}
+
+long double coshl(long double x) {
+	x = expl(x);
+	return ((x + (1.0 / x)) / 2.0);
+}

nuttx/lib/math/lib_exp.c

@@ -0,0 +1,253 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <unistd.h>
+
+#define M_E2 	(M_E * M_E)
+#define M_E4 	(M_E2 * M_E2)
+#define M_E8	(M_E4 * M_E4)
+#define M_E16	(M_E8 * M_E8)
+#define M_E32	(M_E16 * M_E16)
+#define M_E64	(M_E32 * M_E32)
+#define M_E128	(M_E64 * M_E64)
+#define M_E256	(M_E128 * M_E128)
+#define M_E512	(M_E256 * M_E256)
+#define M_E1024	(M_E512 * M_E512)
+
+static double _expi_square_tbl[11] = {
+	M_E,		// e^1
+	M_E2,		// e^2
+	M_E4,		// e^4
+	M_E8,		// e^8
+	M_E16,		// e^16
+	M_E32,		// e^32
+	M_E64,		// e^64
+	M_E128,		// e^128
+	M_E256,		// e^256
+	M_E512,		// e^512
+	M_E1024,	// e^1024
+};
+
+static double _expi(size_t n) {
+	size_t i;
+	double val;
+
+	if (n > 1024) {
+		return INFINITY;
+	}
+
+	val = 1.0;
+
+	for (i = 0; n; i++) {
+		if (n & (1 << i)) {
+			n &= ~(1 << i);
+			val *= _expi_square_tbl[i];
+		}
+	}
+
+	return val;
+}
+
+static float _flt_inv_fact[] = {
+	1.0 / 1.0,			// 1/0!
+	1.0 / 1.0,			// 1/1!
+	1.0 / 2.0,			// 1/2!
+	1.0 / 6.0,			// 1/3!
+	1.0 / 24.0,			// 1/4!
+	1.0 / 120.0,		// 1/5!
+	1.0 / 720.0,		// 1/6!
+	1.0 / 5040.0,		// 1/7!
+	1.0 / 40320.0,		// 1/8!
+	1.0 / 362880.0,		// 1/9!
+	1.0 / 3628800.0,	// 1/10!
+};	
+
+float expf(float x) {
+	size_t int_part;
+	bool invert;
+	float value;
+	float x0;
+	size_t i;
+
+	if (x == 0) {
+		return 1;
+	}
+	else if (x < 0) {
+		invert = true;
+		x = -x;
+	}
+	else {
+		invert = false;
+	}
+
+	/* extract integer component */
+	int_part = (size_t) x;
+
+	/* set x to fractional component */
+	x -= (float) int_part;
+
+	/* perform Taylor series approximation with eleven terms */
+	value = 0.0;
+	x0 = 1.0;
+	for (i = 0; i < 10; i++) {
+		value += x0 * _flt_inv_fact[i];
+		x0 *= x;
+	}
+	
+	/* multiply by exp of the integer component */
+	value *= _expi(int_part);
+
+	if (invert) {
+		return (1.0 / value);
+	}
+	else {
+		return value;
+	}
+}
+
+static double _dbl_inv_fact[] = {
+	1.0 / 1.0,					// 1 / 0!
+	1.0 / 1.0,					// 1 / 1!
+	1.0 / 2.0,					// 1 / 2!
+	1.0 / 6.0,					// 1 / 3!
+	1.0 / 24.0,					// 1 / 4!
+	1.0 / 120.0,				// 1 / 5!
+	1.0 / 720.0,				// 1 / 6!
+	1.0 / 5040.0,				// 1 / 7!
+	1.0 / 40320.0,				// 1 / 8!
+	1.0 / 362880.0,				// 1 / 9!
+	1.0 / 3628800.0,			// 1 / 10!
+	1.0 / 39916800.0,			// 1 / 11!
+	1.0 / 479001600.0,			// 1 / 12!
+	1.0 / 6227020800.0,			// 1 / 13!
+	1.0 / 87178291200.0,		// 1 / 14!
+	1.0 / 1307674368000.0,		// 1 / 15!
+	1.0 / 20922789888000.0,		// 1 / 16!
+	1.0 / 355687428096000.0,	// 1 / 17!
+	1.0 / 6402373705728000.0,	// 1 / 18!
+};
+
+double exp(double x) {
+	size_t int_part;
+	bool invert;
+	double value;
+	double x0;
+	size_t i;
+
+	if (x == 0) {
+		return 1;
+	}
+	else if (x < 0) {
+		invert = true;
+		x = -x;
+	}
+	else {
+		invert = false;
+	}
+
+	/* extract integer component */
+	int_part = (size_t) x;
+
+	/* set x to fractional component */
+	x -= (double) int_part;
+
+	/* perform Taylor series approximation with nineteen terms */
+	value = 0.0;
+	x0 = 1.0;
+	for (i = 0; i < 19; i++) {
+		value += x0 * _dbl_inv_fact[i];
+		x0 *= x;
+	}
+	
+	/* multiply by exp of the integer component */
+	value *= _expi(int_part);
+
+	if (invert) {
+		return (1.0 / value);
+	}
+	else {
+		return value;
+	}
+}
+
+static long double _ldbl_inv_fact[] = {
+	1.0 / 1.0,					// 1 / 0!
+	1.0 / 1.0,					// 1 / 1!
+	1.0 / 2.0,					// 1 / 2!
+	1.0 / 6.0,					// 1 / 3!
+	1.0 / 24.0,					// 1 / 4!
+	1.0 / 120.0,				// 1 / 5!
+	1.0 / 720.0,				// 1 / 6!
+	1.0 / 5040.0,				// 1 / 7!
+	1.0 / 40320.0,				// 1 / 8!
+	1.0 / 362880.0,				// 1 / 9!
+	1.0 / 3628800.0,			// 1 / 10!
+	1.0 / 39916800.0,			// 1 / 11!
+	1.0 / 479001600.0,			// 1 / 12!
+	1.0 / 6227020800.0,			// 1 / 13!
+	1.0 / 87178291200.0,		// 1 / 14!
+	1.0 / 1307674368000.0,		// 1 / 15!
+	1.0 / 20922789888000.0,		// 1 / 16!
+	1.0 / 355687428096000.0,	// 1 / 17!
+	1.0 / 6402373705728000.0,	// 1 / 18!
+};
+
+long double expl(long double x) {
+	size_t int_part;
+	bool invert;
+	long double value;
+	long double x0;
+	size_t i;
+
+	if (x == 0) {
+		return 1;
+	}
+	else if (x < 0) {
+		invert = true;
+		x = -x;
+	}
+	else {
+		invert = false;
+	}
+
+	/* extract integer component */
+	int_part = (size_t) x;
+
+	/* set x to fractional component */
+	x -= (long double) int_part;
+
+	/* perform Taylor series approximation with nineteen terms */
+	value = 0.0;
+	x0 = 1.0;
+	for (i = 0; i < 19; i++) {
+		value += x0 * _ldbl_inv_fact[i];
+		x0 *= x;
+	}
+	
+	/* multiply by exp of the integer component */
+	value *= _expi(int_part);
+
+	if (invert) {
+		return (1.0 / value);
+	}
+	else {
+		return value;
+	}
+}

nuttx/lib/math/lib_fabs.c

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float fabsf(float x) {
+	return ((x < 0) ? -x : x);
+}
+
+double fabs(double x) {
+	return ((x < 0) ? -x : x);
+}
+
+long double fabsl(long double x) {
+	return ((x < 0) ? -x : x);
+}

nuttx/lib/math/lib_fixedmath.c

@@ -1,272 +0,0 @@
-/****************************************************************************
- * lib/math/lib_fixedmath.c
- *
- *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <fixedmath.h>
-
-#ifndef CONFIG_HAVE_LONG_LONG
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Type Declarations
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Name: fixsign
- ****************************************************************************/
-
-static void fixsign(b16_t *parg1, b16_t *parg2, bool *pnegate)
-{
-  bool negate = false;
-  b16_t arg;
-
-  arg = *parg1;
-  if (arg < 0)
-    {
-      *parg1 = -arg;
-      negate = true;
-    }
-
-  arg = *parg2;
-  if (arg < 0)
-    {
-      *parg2 = -arg;
-      negate ^= true;
-    }
-
-  *pnegate = negate;
-}
-
-/****************************************************************************
- * Name: adjustsign
- ****************************************************************************/
-
-static b16_t adjustsign(b16_t result, bool negate)
-{
-  /* If the product is negative, then we overflowed */
-
-  if (result < 0)
-    {
-      if (result)
-        {
-          return b16MIN;
-        }
-      else
-        {
-          return b16MAX;
-        }
-    }
-
-  /* correct the sign of the result */
-
-  if (negate)
-    {
-      return -result;
-    }
-  return result;
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: b16mulb16
- ****************************************************************************/
-
-b16_t b16mulb16(b16_t m1, b16_t m2)
-{
-  bool negate;
-  b16_t product;
-
-  fixsign(&m1, &m2, &negate);
-  product = (b16_t)ub16mulub16((ub16_t)m1, (ub16_t)m2);
-  return adjustsign(product, negate);
-}
-
-/****************************************************************************
- * Name: ub16mulub16
- **************************************************************************/
-
-ub16_t ub16mulub16(ub16_t m1, ub16_t m2)
-{
- /* Let:
- *
-  *   m1 = m1i*2**16 + m1f                                            (b16)
-  *   m2 = m2i*2**16 + m2f                                            (b16)
-  *
-  * Then:
-  *
-  *  m1*m2 = (m1i*m2i)*2**32 + (m1i*m2f + m2i*m1f)*2**16 + m1f*m2f     (b32)
-  *        = (m1i*m2i)*2**16 + (m1i*m2f + m2i*m1f) + m1f*m2f*2**-16    (b16)
-  *        = a*2**16 + b + c*2**-16
-  */
-
-  uint32_t m1i = ((uint32_t)m1 >> 16);
-  uint32_t m2i = ((uint32_t)m1 >> 16);
-  uint32_t m1f = ((uint32_t)m1 & 0x0000ffff);
-  uint32_t m2f = ((uint32_t)m2 & 0x0000ffff);
-
-  return (m1i*m2i << 16) + m1i*m2f + m2i*m1f + (((m1f*m2f) + b16HALF) >> 16);
-}
-
-/****************************************************************************
- * Name: b16sqr
- **************************************************************************/
-
-b16_t b16sqr(b16_t a)
-{
-  b16_t sq;
-
-  /* The result is always positive.  Just take the absolute value */
-
-  if (a < 0)
-    {
-      a = -a;
-    }
-
-  /* Overflow occurred if the result is negative */
-
-  sq = (b16_t)ub16sqr(a);
-  if (sq < 0)
-    {
-      sq = b16MAX;
-    }
-  return sq;
-}
-
-/****************************************************************************
- * Name: b16divb16
- **************************************************************************/
-
-ub16_t ub16sqr(ub16_t a)
-{
- /* Let:
- *
-  *   m = mi*2**16 + mf                                               (b16)
-  *
-  * Then:
-  *
-  *  m*m = (mi*mi)*2**32 + 2*(m1*m2)*2**16 + mf*mf                    (b32)
-  *      = (mi*mi)*2**16 + 2*(mi*mf)       + mf*mf*2**-16             (b16)
-  */
-
-  uint32_t mi = ((uint32_t)a >> 16);
-  uint32_t mf = ((uint32_t)a & 0x0000ffff);
-
-  return (mi*mi << 16) + (mi*mf << 1) + ((mf*mf + b16HALF) >> 16);
-}
-
-/****************************************************************************
- * Name: b16divb16
- **************************************************************************/
-
-b16_t b16divb16(b16_t num, b16_t denom)
-{
-  bool  negate;
-  b16_t quotient;
-
-  fixsign(&num, &denom, &negate);
-  quotient = (b16_t)ub16divub16((ub16_t)num, (ub16_t)denom);
-  return adjustsign(quotient, negate);
-}
-
-/****************************************************************************
- * Name: ub16divub16
- **************************************************************************/
-
-ub16_t ub16divub16(ub16_t num, ub16_t denom)
-{
-  uint32_t term1;
-  uint32_t numf;
-  uint32_t product;
-
- /* Let:
-  *
-  *   num = numi*2**16 + numf                                         (b16)
-  *   den = deni*2**16 + denf                                         (b16)
-  *
-  * Then:
-  *
-  *  num/den = numi*2**16 / den + numf / den                          (b0)
-  *          = numi*2**32 / den + numf*2**16 /den                     (b16)
-  */
-
-  /* Check for overflow in the first part of the quotient */
-
-  term1 = ((uint32_t)num & 0xffff0000) / denom;
-  if (term1 >= 0x00010000)
-    {
-        return ub16MAX; /* Will overflow */
-    }
-
-  /* Finish the division */
-
-  numf    = num - term1 * denom;
-  term1 <<= 16;
-  product = term1 + (numf + (denom >> 1)) / denom;
-
-  /* Check for overflow */
-
-  if (product < term1)
-    {
-        return ub16MAX; /* Overflowed */
-    }
-  return product;
-}
-
-#endif

nuttx/lib/math/lib_floor.c

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float floorf(float x) {
+	modff(x, &x);
+	if (x < 0.0) x -= 1.0;
+	return x;
+}
+
+double floor(double x) {
+	modf(x, &x);
+	if (x < 0.0) x -= 1.0;
+	return x;
+}
+
+long double floorl(long double x) {
+	modfl(x, &x);
+	if (x < 0.0) x -= 1.0;
+	return x;
+}
+

nuttx/lib/math/lib_fmod.c

@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+/* If GCC/CLang builtins are available, use them */
+#ifdef __GNUC__
+
+float fmodf(float x, float div) {
+	return __builtin_fmodf(x, div);
+}
+
+double fmod(double x, double div) {
+	return __builtin_fmod(x, div);
+}
+
+long double fmodl(long double x, long double div) {
+	return __builtin_fmodl(x, div);
+}
+
+#else
+
+float fmodf(float x, float div) {
+	float n0;
+
+	x /= div;
+	x = modff(x, &n0);
+	x *= div;
+
+	return x;
+}
+
+double fmod(double x, double div) {
+	double n0;
+
+	x /= div;
+	x = modf(x, &n0);
+	x *= div;
+
+	return x;
+}
+
+long double fmodl(long double x, long double div) {
+	long double n0;
+
+	x /= div;
+	x = modfl(x, &n0);
+	x *= div;
+
+	return x;
+}
+
+#endif

nuttx/lib/math/lib_frexp.c

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float frexpf(float x, int *exp) {
+	*exp = (int) ceilf(log2f(x));
+	return x / ldexpf(1.0, *exp);
+}
+
+double frexp(double x, int *exp) {
+	*exp = (int) ceil(log2(x));
+	return x / ldexp(1.0, *exp);
+}
+
+long double frexpl(long double x, int *exp) {
+	*exp = (int) ceill(log2(x));
+	return x / ldexpl(1.0, *exp);
+}
+

nuttx/lib/math/lib_ldexp.c

@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float ldexpf(float x, int n) {
+	return (x * powf(2.0, (float) n));
+}
+
+double ldexp(double x, int n) {
+	return (x * pow(2.0, (double) n));
+}
+
+long double ldexpl(long double x, int n) {
+	return (x * powl(2.0, (long double) n));
+}
+

nuttx/lib/math/lib_log.c

@@ -0,0 +1,113 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float logf(float x) {
+	float y, y_old, ey, epsilon;
+
+	y = 0.0;
+	y_old = 1.0;
+	epsilon = FLT_EPSILON;
+
+	while (y > y_old + epsilon || y < y_old - epsilon) {
+		y_old = y;
+		ey = exp(y);
+		y -= (ey - x) / ey;
+
+		if (y > 700.0) {
+			y = 700.0;
+		}
+		if (y < -700.0) {
+			y = -700.0;
+		}
+
+		epsilon = (fabs(y) > 1.0) ? fabs(y) * FLT_EPSILON : FLT_EPSILON;
+	}
+
+	if (y == 700.0) {
+		return INFINITY;
+	}
+	if (y == -700.0) {
+		return INFINITY;
+	}
+
+	return y;
+}
+
+double log(double x) {
+	double y, y_old, ey, epsilon;
+
+	y = 0.0;
+	y_old = 1.0;
+	epsilon = DBL_EPSILON;
+
+	while (y > y_old + epsilon || y < y_old - epsilon) {
+		y_old = y;
+		ey = exp(y);
+		y -= (ey - x) / ey;
+
+		if (y > 700.0) {
+			y = 700.0;
+		}
+		if (y < -700.0) {
+			y = -700.0;
+		}
+
+		epsilon = (fabs(y) > 1.0) ? fabs(y) * DBL_EPSILON : DBL_EPSILON;
+	}
+
+	if (y == 700.0) {
+		return INFINITY;
+	}
+	if (y == -700.0) {
+		return INFINITY;
+	}
+
+	return y;
+}
+
+long double logl(long double x) {
+	long double y, y_old, ey, epsilon;
+
+	y = 0.0;
+	y_old = 1.0;
+	epsilon = 1e-6; //fixme
+
+	while (y > y_old + epsilon || y < y_old - epsilon) {
+		y_old = y;
+		ey = expl(y);
+		y -= (ey - x) / ey;
+
+		if (y > 700.0) {
+			y = 700.0;
+		}
+		if (y < -700.0) {
+			y = -700.0;
+		}
+	}
+
+	if (y == 700.0) {
+		return INFINITY;
+	}
+	if (y == -700.0) {
+		return INFINITY;
+	}
+
+	return y;
+}
+

nuttx/lib/math/lib_log10.c

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float log10f(float x) {
+	return (logf(x) / M_LN10);
+}
+
+double log10(double x) {
+	return (log(x) / M_LN10);
+}
+
+long double log10l(long double x) {
+	return (logl(x) / M_LN10);
+}

nuttx/lib/math/lib_log2.c

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float log2f(float x) {
+	return (logf(x) / M_LN2);
+}
+
+double log2(double x) {
+	return (log(x) / M_LN2);
+}
+
+long double log2l(long double x) {
+	return (logl(x) / M_LN2);
+}

nuttx/lib/math/lib_modf.c

@@ -0,0 +1,65 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+#include <stdint.h>
+
+float modff(float x, float *iptr) {
+	if (fabsf(x) >= 8388608.0) {
+		*iptr = x;
+		return 0.0;
+	}
+	else if (fabs(x) < 1.0) {
+		*iptr = 0.0;
+		return x;
+	}
+	else {
+		*iptr = (float) (int) x;
+		return (x - *iptr);
+	}
+}
+
+double modf(double x, double *iptr) {
+	if (fabs(x) >= 4503599627370496.0) {
+		*iptr = x;
+		return 0.0;
+	}
+	else if (fabs(x) < 1.0) {
+		*iptr = 0.0;
+		return x;
+	}
+	else {
+		*iptr = (double) (int64_t) x;
+		return (x - *iptr);
+	}
+}
+
+long double modfl(long double x, long double *iptr) {
+	if (fabs(x) >= 4503599627370496.0) {
+		*iptr = x;
+		return 0.0;
+	}
+	else if (fabs(x) < 1.0) {
+		*iptr = 0.0;
+		return x;
+	}
+	else {
+		*iptr = (long double) (int64_t) x;
+		return (x - *iptr);
+	}
+}
+

nuttx/lib/math/lib_pow.c

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float powf(float b, float e) {
+	return expf(e * logf(b));
+}
+
+double pow(double b, double e) {
+	return exp(e * log(b));
+}
+
+long double powl(long double b, long double e) {
+	return expl(e * logl(b));
+}

nuttx/lib/math/lib_rint.c

@@ -1,135 +0,0 @@
-/************************************************************
- * lib/math/lib_rint.c
- *
- *   Copyright (C) 2007, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************/
-
-/************************************************************
- * Compilation Switches
- ************************************************************/
-
-/************************************************************
- * Included Files
- ************************************************************/
-
-#include <nuttx/config.h>
-#include <sys/types.h>
-#include <stdlib.h>
-
-/************************************************************
- * Definitions
- ************************************************************/
-
-/************************************************************
- * Private Type Declarations
- ************************************************************/
-
-/************************************************************
- * Private Function Prototypes
- ************************************************************/
-
-/**********************************************************
- * Global Constant Data
- **********************************************************/
-
-/************************************************************
- * Global Variables
- ************************************************************/
-
-/**********************************************************
- * Private Constant Data
- **********************************************************/
-
-/************************************************************
- * Private Variables
- ************************************************************/
-
-double_t rint(double_t x)
-{
-  double_t ret;
-
-  /* If the current rounding mode rounds toward negative
-   * infinity, rint() is identical to floor().  If the current
-   * rounding mode rounds toward positive infinity, rint() is
-   * identical to ceil().
-   */
-
-#if defined(CONFIG_FP_ROUND_POSITIVE) && CONFIG_FP_ROUNDING_POSITIVE != 0
-
-  ret = ceil(x);
-
-#elif defined(CONFIG_FP_ROUND_NEGATIVE) && CONFIG_FP_ROUNDING_NEGATIVE != 0
-
-  ret = floor(x);
-
-#else
-
-  /* In the default rounding mode (round to nearest), rint(x) is the
-   * integer nearest x with the additional stipulation that if
-   * |rint(x)-x|=1/2, then rint(x) is even.
-   */
-
-  long     dwinteger  = (long)x;
-  double_t fremainder = x - (double_t)dwinteger;
-
-  if (x < 0.0)
-    {
-      /* fremainder should be in range 0 .. -1 */
-
-      if (fremainder == -0.5)
-        {
-          dwinteger = ((dwinteger+1)&~1);
-        }
-      else if (fremainder < -0.5)
-        {
-          dwinteger--;
-        }
-    }
-  else
-    {
-      /* fremainder should be in range 0 .. 1 */
-
-      if (fremainder == 0.5)
-        {
-          dwinteger = ((dwinteger+1)&~1);
-        }
-      else if (fremainder > 0.5)
-        {
-          dwinteger++;
-        }
-    }
-
-  ret = (double_t)dwinteger;
-#endif
-
-  return ret;
-}

nuttx/lib/math/lib_sin.c

@@ -0,0 +1,152 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <stdint.h>
+#include <unistd.h>
+#include <float.h>
+#include <apps/math.h>
+
+static float _flt_inv_fact[] = {
+	1.0 / 1.0,			// 1 / 1!
+	1.0 / 6.0,			// 1 / 3!
+	1.0 / 120.0,		// 1 / 5!
+	1.0 / 5040.0,		// 1 / 7!
+	1.0 / 362880.0,		// 1 / 9!
+	1.0 / 39916800.0,	// 1 / 11!
+};
+
+float sinf(float x) {
+	float x_squared;
+	float sin_x;
+	size_t i;
+	
+	/* move x to [-pi, pi) */
+	x = fmodf(x, 2 * M_PI);
+	if (x >= M_PI) x -= 2 * M_PI;
+	if (x < -M_PI) x += 2 * M_PI;
+
+	/* move x to [-pi/2, pi/2) */
+	if (x >= M_PI_2) x =  M_PI - x;
+	if (x < -M_PI_2) x = -M_PI - x;
+
+	x_squared = x * x;
+	sin_x = 0.0;
+
+	/* perform Taylor series approximation for sin(x) with six terms */
+	for (i = 0; i < 6; i++) {
+		if (i % 2 == 0) {
+			sin_x += x * _flt_inv_fact[i];
+		}
+		else {
+			sin_x -= x * _flt_inv_fact[i];
+		}
+
+		x *= x_squared;
+	}
+
+	return sin_x;
+}
+	
+static double _dbl_inv_fact[] = {
+	1.0 / 1.0,						// 1 / 1!
+	1.0 / 6.0,						// 1 / 3!
+	1.0 / 120.0,					// 1 / 5!
+	1.0 / 5040.0,					// 1 / 7!
+	1.0 / 362880.0,					// 1 / 9!
+	1.0 / 39916800.0,				// 1 / 11!
+	1.0 / 6227020800.0,				// 1 / 13!
+	1.0 / 1307674368000.0,			// 1 / 15!
+	1.0 / 355687428096000.0,		// 1 / 17!
+	1.0 / 121645100408832000.0,		// 1 / 19!
+};
+
+double sin(double x) {
+	double x_squared;
+	double sin_x;
+	size_t i;
+	
+	/* move x to [-pi, pi) */
+	x = fmod(x, 2 * M_PI);
+	if (x >= M_PI) x -= 2 * M_PI;
+	if (x < -M_PI) x += 2 * M_PI;
+
+	/* move x to [-pi/2, pi/2) */
+	if (x >= M_PI_2) x =  M_PI - x;
+	if (x < -M_PI_2) x = -M_PI - x;
+
+	x_squared = x * x;
+	sin_x = 0.0;
+
+	/* perform Taylor series approximation for sin(x) with ten terms */
+	for (i = 0; i < 10; i++) {
+		if (i % 2 == 0) {
+			sin_x += x * _dbl_inv_fact[i];
+		}
+		else {
+			sin_x -= x * _dbl_inv_fact[i];
+		}
+
+		x *= x_squared;
+	}
+
+	return sin_x;
+}
+
+static long double _ldbl_inv_fact[] = {
+	1.0 / 1.0,						// 1 / 1!
+	1.0 / 6.0,						// 1 / 3!
+	1.0 / 120.0,					// 1 / 5!
+	1.0 / 5040.0,					// 1 / 7!
+	1.0 / 362880.0,					// 1 / 9!
+	1.0 / 39916800.0,				// 1 / 11!
+	1.0 / 6227020800.0,				// 1 / 13!
+	1.0 / 1307674368000.0,			// 1 / 15!
+	1.0 / 355687428096000.0,		// 1 / 17!
+	1.0 / 121645100408832000.0,		// 1 / 19!
+};
+
+long double sinl(long double x) {
+	long double x_squared;
+	long double sin_x;
+	size_t i;
+	
+	/* move x to [-pi, pi) */
+	x = fmodl(x, 2 * M_PI);
+	if (x >= M_PI) x -= 2 * M_PI;
+	if (x < -M_PI) x += 2 * M_PI;
+
+	/* move x to [-pi/2, pi/2) */
+	if (x >= M_PI_2) x =  M_PI - x;
+	if (x < -M_PI_2) x = -M_PI - x;
+
+	x_squared = x * x;
+	sin_x = 0.0;
+
+	/* perform Taylor series approximation for sin(x) with ten terms */
+	for (i = 0; i < 10; i++) {
+		if (i % 2 == 0) {
+			sin_x += x * _ldbl_inv_fact[i];
+		}
+		else {
+			sin_x -= x * _ldbl_inv_fact[i];
+		}
+
+		x *= x_squared;
+	}
+
+	return sin_x;
+}
+

nuttx/lib/math/lib_sinh.c

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float sinhf(float x) {
+	x = expf(x);
+	return ((x - (1.0 / x)) / 2.0);
+}
+
+double sinh(double x) {
+	x = exp(x);
+	return ((x - (1.0 / x)) / 2.0);
+}
+
+long double sinhl(long double x) {
+	x = expl(x);
+	return ((x - (1.0 / x)) / 2.0);
+}

nuttx/lib/math/lib_sqrt.c

@@ -0,0 +1,116 @@
+/*
+ * Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <stdint.h>
+#include <float.h>
+#include <errno.h>
+#include <apps/math.h>
+
+static float __sqrt_approx(float x) {
+	int32_t i;
+
+	// floats + bit manipulation = +inf fun!
+	i = *((int32_t*) &x);
+	i = 0x1FC00000 + (i >> 1);
+	x = *((float*) &i);
+
+	return x;
+}
+
+float sqrtf(float x) {
+	float y;
+
+	// filter out invalid/trivial inputs
+	if (x < 0.0) { errno = EDOM; return NAN; }
+	if (isnan(x)) return NAN;
+	if (isinf(x)) return INFINITY;
+	if (x == 0.0) return 0.0;
+
+	// guess square root (using bit manipulation)
+	y = __sqrt_approx(x);
+
+	// perform three iterations of approximation
+	// this number (3) is definitely optimal
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+
+	return y;
+}
+
+double sqrt(double x) {
+	long double y, y1;
+	
+	// filter out invalid/trivial inputs
+	if (x < 0.0) { errno = EDOM; return NAN; }
+	if (isnan(x)) return NAN;
+	if (isinf(x)) return INFINITY;
+	if (x == 0.0) return 0.0;
+
+	// guess square root (using bit manipulation)
+	y = __sqrt_approx(x);
+
+	// perform four iterations of approximation
+	// this number (4) is definitely optimal
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+
+	// if guess was terribe (out of range of float)
+	// repeat approximation until convergence
+	if (y * y < x - 1.0 || y * y > x + 1.0) {
+		y1 = -1.0;
+		while (y != y1) {
+			y1 = y;
+			y = 0.5 * (y + x / y);
+		}
+	}
+
+	return y;
+}
+
+long double sqrtl(long double x) {
+	long double y, y1;
+
+	// filter out invalid/trivial inputs
+	if (x < 0.0) { errno = EDOM; return NAN; }
+	if (isnan(x)) return NAN;
+	if (isinf(x)) return INFINITY;
+	if (x == 0.0) return 0.0;
+
+	// guess square root (using bit manipulation)
+	y = __sqrt_approx(x);
+
+	// perform four iterations of approximation
+	// this number (4) is definitely optimal
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+	y = 0.5 * (y + x / y);
+
+	// if guess was terribe (out of range of float)
+	// repeat approximation until convergence
+	if (y * y < x - 1.0 || y * y > x + 1.0) {
+		y1 = -1.0;
+		while (y != y1) {
+			y1 = y;
+			y = 0.5 * (y + x / y);
+		}
+	}
+
+	return y;
+}

nuttx/lib/math/lib_tan.c

@@ -0,0 +1,31 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <stdint.h>
+#include <float.h>
+#include <apps/math.h>
+
+float tanf(float x) {
+	return (sinf(x) / cosf(x));
+}
+
+double tan(double x) {
+	return (sin(x) / cos(x));
+}
+
+long double tanl(long double x) {
+	return (sinl(x) / cosl(x));
+}

nuttx/lib/math/lib_tanh.c

@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2009, 2010 Nick Johnson <nickbjohnson4224 at gmail.com>
+ * 
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <apps/math.h>
+#include <float.h>
+
+float tanhf(float x) {
+	float x0 = expf(x);
+	float x1 = 1.0 / x0;
+
+	return ((x0 + x1) / (x0 - x1));
+}
+
+double tanh(double x) {
+	double x0 = exp(x);
+	double x1 = 1.0 / x0;
+
+	return ((x0 + x1) / (x0 - x1));
+}
+
+long double tanhl(long double x) {
+	long double x0 = exp(x);
+	long double x1 = 1.0 / x0;
+
+	return ((x0 + x1) / (x0 - x1));
+}