191 lines
6.8 KiB
C
191 lines
6.8 KiB
C
/****************************************************************************
|
|
* include/nuttx/math/cordic.h
|
|
*
|
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
|
* contributor license agreements. See the NOTICE file distributed with
|
|
* this work for additional information regarding copyright ownership. The
|
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
|
* "License"); you may not use this file except in compliance with the
|
|
* License. You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
|
* License for the specific language governing permissions and limitations
|
|
* under the License.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifndef __INCLUDE_NUTTX_MATH_CORDIC_H
|
|
#define __INCLUDE_NUTTX_MATH_CORDIC_H
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
#include <nuttx/compiler.h>
|
|
|
|
#include <fixedmath.h>
|
|
|
|
/****************************************************************************
|
|
* Pre-processor Definitions
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_MATH_CORDIC_USE_Q31
|
|
|
|
/* q1.31 conversion */
|
|
|
|
# define ftoq31(f32_val) ((f32_val) * 0x80000000)
|
|
# define q31tof(q31_val) ((float)(q31_val) / (float)0x80000000)
|
|
# define b16toq31(b16_val) ((b16_val) * 0x8000)
|
|
# define q31tob16(q31_val) ((q31_val) / 0x8000)
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Public Types
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_MATH_CORDIC_USE_Q31
|
|
/* q1.31 as int32_t */
|
|
|
|
typedef int32_t cordic_num_t;
|
|
#endif
|
|
|
|
/* CORDIC functions */
|
|
|
|
enum cordic_calc_func_e
|
|
{
|
|
CORDIC_CALC_FUNC_INVAL = 0,
|
|
CORDIC_CALC_FUNC_COS = 1, /* Primary result: cosine * m,
|
|
* secondary result: sine * m,
|
|
* primary argument: angle,
|
|
* secondary argument: modulus m
|
|
*/
|
|
CORDIC_CALC_FUNC_SIN = 2, /* Primary result: sine * m,
|
|
* secondary result: cosine * m,
|
|
* primary argument: angle,
|
|
* secondary argument: modulus m
|
|
*/
|
|
CORDIC_CALC_FUNC_PHASE = 3, /* Primary result: phase (atan2),
|
|
* secondary result: modulus,
|
|
* primary argument: x,
|
|
* secondary argument: y
|
|
*/
|
|
CORDIC_CALC_FUNC_MOD = 4, /* Primary result: modulus,
|
|
* secondary result: phase (atan2),
|
|
* primary argument: x,
|
|
* secondary argument: y
|
|
*/
|
|
CORDIC_CALC_FUNC_ARCTAN = 5, /* Primary result: arctangent,
|
|
* secondary result: none,
|
|
* primary argument: x,
|
|
* secondary argument: none
|
|
*/
|
|
CORDIC_CALC_FUNC_HCOS = 6, /* Primary result: hyperbolic cosine,
|
|
* secondary result: hyperbolic sine,
|
|
* primary argument: x,
|
|
* secondary argument: none
|
|
*/
|
|
CORDIC_CALC_FUNC_HSIN = 7, /* Primary result: hyperbolic sine,
|
|
* secondary result: hyperbolic cosine,
|
|
* primary argument: x,
|
|
* secondary argument: none
|
|
*/
|
|
CORDIC_CALC_FUNC_HARCTAN = 8, /* Primary result: hyperbolic arctangent,
|
|
* secondary result: none,
|
|
* primary argument: x,
|
|
* secondary argument: none
|
|
*/
|
|
CORDIC_CALC_FUNC_LN = 9, /* Primary result: natural logarithm,
|
|
* secondary result: none,
|
|
* primary argument: x,
|
|
* secondary argument: none
|
|
*/
|
|
CORDIC_CALC_FUNC_SQRT = 10, /* Primary result: square root,
|
|
* secondary result: none,
|
|
* primary argument: x,
|
|
* secondary argument: none
|
|
*/
|
|
CORDIC_CALC_FUNC_LAST
|
|
};
|
|
|
|
/* CORDIC calculate request */
|
|
|
|
struct cordic_calc_s
|
|
{
|
|
/* CORDIC request configuration */
|
|
|
|
uint8_t func; /* CORDIC function */
|
|
bool res2_incl; /* Include secondary result if available */
|
|
|
|
/* Input data */
|
|
|
|
cordic_num_t arg1;
|
|
cordic_num_t arg2;
|
|
|
|
/* Output data */
|
|
|
|
cordic_num_t res1;
|
|
cordic_num_t res2;
|
|
};
|
|
|
|
/* This structure provides the "lower-half" driver operations available to
|
|
* the "upper-half" driver.
|
|
*/
|
|
|
|
struct cordic_lowerhalf_s;
|
|
struct cordic_ops_s
|
|
{
|
|
/* CORDIC calculate request */
|
|
|
|
CODE int (*calc)(FAR struct cordic_lowerhalf_s *lower,
|
|
FAR struct cordic_calc_s *calc);
|
|
};
|
|
|
|
/* This structure provides the publicly visible representation of the
|
|
* "lower-half" driver state structure. "lower half" drivers will have an
|
|
* internal structure definition that will be cast-compatible with this
|
|
* structure definitions.
|
|
*/
|
|
|
|
struct cordic_lowerhalf_s
|
|
{
|
|
/* Publicly visible portion of the "lower-half" driver state structure. */
|
|
|
|
FAR const struct cordic_ops_s *ops; /* Lower half operations */
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Public Function Prototypes
|
|
****************************************************************************/
|
|
|
|
#undef EXTERN
|
|
#if defined(__cplusplus)
|
|
#define EXTERN extern "C"
|
|
extern "C"
|
|
{
|
|
#else
|
|
#define EXTERN extern
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: cordic_register
|
|
*
|
|
* Description:
|
|
* Register a CORDIC driver.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int cordic_register(FAR const char *path,
|
|
FAR struct cordic_lowerhalf_s *lower);
|
|
|
|
#undef EXTERN
|
|
#if defined(__cplusplus)
|
|
}
|
|
#endif
|
|
|
|
#endif /* __INCLUDE_NUTTX_MATH_CORDIC_H */
|