fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-22 13:27:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
faced6bfe3826a4fdcfcd72171edbb501226814a
PX4-Autopilot/CMSIS/Documentation/DSP/html/group___sin_cos.html
T
jgoppert 1579630efe Added CMSIS library.
2013-01-06 13:57:31 -05:00

327 lines
17 KiB
HTML
Raw Blame History

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>Sine Cosine</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="cmsis.css" rel="stylesheet" type="text/css" />
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
$(document).ready(initResizable);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
$(document).ready(function() { searchBox.OnSelectItem(0); });
</script>
</head>
<body>
<div id="top"><!-- do not remove this div! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 46px;">
<td id="proglogo"><img alt="CMSIS Logo" src="CMSIS_Logo_Final.png"></td>
<td style="padding-left: 0.5em;">
<div id="projectname">CMSIS-DSP
&#160;<span id="projectnumber">Verison 1.1.0</span>
</div>
<div id="projectbrief">CMSIS DSP Software Library</div>
</td>
</tr>
</tbody>
</table>
</div>
<div id="CMSISnav" class="tabs1">
<ul class="tablist">
<li><a href="../../General/html/index.html"><span>CMSIS</span></a></li>
<li><a href="../../Core/html/index.html"><span>CORE</span></a></li>
<li class="current"><a href="../../DSP/html/index.html"><span>DSP</span></a></li>
<li><a href="../../RTOS/html/index.html"><span>RTOS API</span></a></li>
<li><a href="../../SVD/html/index.html"><span>SVD</span></a></li>
</ul>
</div>
<!-- Generated by Doxygen 1.7.5.1 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main&#160;Page</span></a></li>
<li><a href="modules.html"><span>Reference</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</li>
</ul>
</div>
</div>
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
initNavTree('group___sin_cos.html','');
</script>
<div id="doc-content">
<div class="header">
<div class="summary">
<a href="#var-members">Variables</a> &#124;
<a href="#func-members">Functions</a> </div>
<div class="headertitle">
<div class="title">Sine Cosine</div> </div>
<div class="ingroups"><a class="el" href="group__group_controller.html">Controller Functions</a></div></div>
<div class="contents">
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="var-members"></a>
Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___sin_cos.html#ga73d46b72b2e2e5c3301adb7a8a7cab5e">cosTable</a> [360]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___sin_cos.html#ga2e70480fd73eae93d51a6e881bb1f2e4">sinTable</a> [360]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const int32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___sin_cos.html#ga77c2ec4c8f210d254ef0fbeea0bdf067">sinTableQ31</a> [360]</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const int32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___sin_cos.html#gab3ca1fd1431d146c6bde7d39dd7e903d">cosTableQ31</a> [360]</td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___sin_cos.html#ga4420d45c37d58c310ef9ae1b5fe58020">arm_sin_cos_f32</a> (<a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> theta, <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> *pSinVal, <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> *pCosVal)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Floating-point sin_cos function. <a href="#ga4420d45c37d58c310ef9ae1b5fe58020"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___sin_cos.html#gae9e4ddebff9d4eb5d0a093e28e0bc504">arm_sin_cos_q31</a> (<a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> theta, <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> *pSinVal, <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> *pCosVal)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Q31 sin_cos function. <a href="#gae9e4ddebff9d4eb5d0a093e28e0bc504"></a><br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Description</h2>
<p>Computes the trigonometric sine and cosine values using a combination of table lookup and linear interpolation. There are separate functions for Q31 and floating-point data types. The input to the floating-point version is in degrees while the fixed-point Q31 have a scaled input with the range [-1 0.9999] mapping to [-180 179] degrees.</p>
<p>The implementation is based on table lookup using 360 values together with linear interpolation. The steps used are:</p>
<ol type="1">
<li>Calculation of the nearest integer table index.</li>
<li>Compute the fractional portion (fract) of the input.</li>
<li>Fetch the value corresponding to <code>index</code> from sine table to <code>y0</code> and also value from <code>index+1</code> to <code>y1</code>.</li>
<li>Sine value is computed as <code> *psinVal = y0 + (fract * (y1 - y0))</code>.</li>
<li>Fetch the value corresponding to <code>index</code> from cosine table to <code>y0</code> and also value from <code>index+1</code> to <code>y1</code>.</li>
<li>Cosine value is computed as <code> *pcosVal = y0 + (fract * (y1 - y0))</code>. </li>
</ol>
<hr/><h2>Variable Documentation</h2>
<a class="anchor" id="ga73d46b72b2e2e5c3301adb7a8a7cab5e"></a><!-- doxytag: member="arm_sin_cos_f32.c::cosTable" ref="ga73d46b72b2e2e5c3301adb7a8a7cab5e" args="[360]" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> <a class="el" href="group__cos.html#gac597d7d00485bea7080b318b4473e83f">cosTable</a>[360]<code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<dl class="user"><dt><b></b></dt><dd>Cosine Table is generated from following loop <pre>for(i = 0; i &lt; 360; i++)
{
cosTable[i]= cos((i-180) * PI/180.0);
} </pre> </dd></dl>
<p>Referenced by <a class="el" href="group___sin_cos.html#ga4420d45c37d58c310ef9ae1b5fe58020">arm_sin_cos_f32()</a>.</p>
</div>
</div>
<a class="anchor" id="gab3ca1fd1431d146c6bde7d39dd7e903d"></a><!-- doxytag: member="arm_sin_cos_q31.c::cosTableQ31" ref="gab3ca1fd1431d146c6bde7d39dd7e903d" args="[360]" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const int32_t <a class="el" href="group__cos.html#gafe999a5fcf1774a2292220071096b834">cosTableQ31</a>[360]<code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<dl class="user"><dt><b></b></dt><dd>Cosine Table is generated from following loop <pre>for(i = 0; i &lt; 360; i++)
{
cosTable[i]= cos((i-180) * PI/180.0);
} </pre> </dd></dl>
<dl class="user"><dt><b></b></dt><dd>Convert above coefficients to fixed point 1.31 format. </dd></dl>
<p>Referenced by <a class="el" href="group___sin_cos.html#gae9e4ddebff9d4eb5d0a093e28e0bc504">arm_sin_cos_q31()</a>.</p>
</div>
</div>
<a class="anchor" id="ga2e70480fd73eae93d51a6e881bb1f2e4"></a><!-- doxytag: member="arm_sin_cos_f32.c::sinTable" ref="ga2e70480fd73eae93d51a6e881bb1f2e4" args="[360]" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> <a class="el" href="group__sin.html#ga71a0a466c6d42c65526968509b04790c">sinTable</a>[360]<code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<dl class="user"><dt><b></b></dt><dd>Sine Table is generated from following loop <pre>for(i = 0; i &lt; 360; i++)
{
sinTable[i]= sin((i-180) * PI/180.0);
} </pre> </dd></dl>
<p>Referenced by <a class="el" href="group___sin_cos.html#ga4420d45c37d58c310ef9ae1b5fe58020">arm_sin_cos_f32()</a>.</p>
</div>
</div>
<a class="anchor" id="ga77c2ec4c8f210d254ef0fbeea0bdf067"></a><!-- doxytag: member="arm_sin_cos_q31.c::sinTableQ31" ref="ga77c2ec4c8f210d254ef0fbeea0bdf067" args="[360]" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const int32_t <a class="el" href="group__sin.html#gab1ffde7f3deee5adc75ba8b3d0a53106">sinTableQ31</a>[360]<code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<dl class="user"><dt><b></b></dt><dd>Sine Table is generated from following loop <pre>for(i = 0; i &lt; 360; i++)
{
sinTable[i]= sin((i-180) * PI/180.0);
} </pre> Convert above coefficients to fixed point 1.31 format. </dd></dl>
<p>Referenced by <a class="el" href="group___sin_cos.html#gae9e4ddebff9d4eb5d0a093e28e0bc504">arm_sin_cos_q31()</a>.</p>
</div>
</div>
<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga4420d45c37d58c310ef9ae1b5fe58020"></a><!-- doxytag: member="arm_sin_cos_f32.c::arm_sin_cos_f32" ref="ga4420d45c37d58c310ef9ae1b5fe58020" args="(float32_t theta, float32_t *pSinVal, float32_t *pCosVal)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void arm_sin_cos_f32 </td>
<td>(</td>
<td class="paramtype"><a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a>&#160;</td>
<td class="paramname"><em>theta</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> *&#160;</td>
<td class="paramname"><em>pSinVal</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> *&#160;</td>
<td class="paramname"><em>pCosVal</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">theta</td><td>input value in degrees </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">*pSinVal</td><td>points to the processed sine output. </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">*pCosVal</td><td>points to the processed cos output. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none. </dd></dl>
<p>References <a class="el" href="group___sin_cos.html#ga73d46b72b2e2e5c3301adb7a8a7cab5e">cosTable</a>, and <a class="el" href="group___sin_cos.html#ga2e70480fd73eae93d51a6e881bb1f2e4">sinTable</a>.</p>
</div>
</div>
<a class="anchor" id="gae9e4ddebff9d4eb5d0a093e28e0bc504"></a><!-- doxytag: member="arm_sin_cos_q31.c::arm_sin_cos_q31" ref="gae9e4ddebff9d4eb5d0a093e28e0bc504" args="(q31_t theta, q31_t *pSinVal, q31_t *pCosVal)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void arm_sin_cos_q31 </td>
<td>(</td>
<td class="paramtype"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td>
<td class="paramname"><em>theta</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> *&#160;</td>
<td class="paramname"><em>pSinVal</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> *&#160;</td>
<td class="paramname"><em>pCosVal</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">theta</td><td>scaled input value in degrees </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">*pSinVal</td><td>points to the processed sine output. </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">*pCosVal</td><td>points to the processed cosine output. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>none.</dd></dl>
<p>The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179]. </p>
<p>References <a class="el" href="group___sin_cos.html#gab3ca1fd1431d146c6bde7d39dd7e903d">cosTableQ31</a>, <a class="el" href="arm__math_8h.html#a1339e9abc11a3870e0c04f822a62166a">INPUT_SPACING</a>, and <a class="el" href="group___sin_cos.html#ga77c2ec4c8f210d254ef0fbeea0bdf067">sinTableQ31</a>.</p>
</div>
</div>
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Data Structures</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(8)"><span class="SelectionMark">&#160;</span>Defines</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<li class="footer">Generated on Wed Mar 28 2012 15:38:08 for CMSIS-DSP by ARM Ltd. All rights reserved.
<!--
<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.5.1 </li>
-->
</li>
</ul>
</div>
</body>
</html>
Reference in New Issue View Git Blame Copy Permalink