tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_sin_cos_f32.c

   1 /* ----------------------------------------------------------------------
   2 * Copyright (C) 2010-2013 ARM Limited. All rights reserved.
   3 *
   4 * $Date:        17. January 2013
   5 * $Revision:    V1.4.1
   6 *
   7 * Project:          CMSIS DSP Library
   8 * Title:                arm_sin_cos_f32.c
   9 *
  10 * Description:  Sine and Cosine calculation for floating-point values.
  11 *
  12 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
  13 *
  14 * Redistribution and use in source and binary forms, with or without
  15 * modification, are permitted provided that the following conditions
  16 * are met:
  17 *   - Redistributions of source code must retain the above copyright
  18 *     notice, this list of conditions and the following disclaimer.
  19 *   - Redistributions in binary form must reproduce the above copyright
  20 *     notice, this list of conditions and the following disclaimer in
  21 *     the documentation and/or other materials provided with the
  22 *     distribution.
  23 *   - Neither the name of ARM LIMITED nor the names of its contributors
  24 *     may be used to endorse or promote products derived from this
  25 *     software without specific prior written permission.
  26 *
  27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  28 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  29 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  30 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  31 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  32 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  33 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  34 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  35 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  36 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  37 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  38 * POSSIBILITY OF SUCH DAMAGE.
  39 * -------------------------------------------------------------------- */
  40
  41 #include "arm_math.h"
  42
  43 /**
  44  * @ingroup groupController
  45  */
  46
  47 /**
  48  * @defgroup SinCos Sine Cosine
  49  *
  50  * Computes the trigonometric sine and cosine values using a combination of table lookup
  51  * and linear interpolation.
  52  * There are separate functions for Q31 and floating-point data types.
  53  * The input to the floating-point version is in degrees while the
  54  * fixed-point Q31 have a scaled input with the range
  55  * [-1 0.9999] mapping to [-180 179] degrees.
  56  *
  57  * The implementation is based on table lookup using 360 values together with linear interpolation.
  58  * The steps used are:
  59  *  -# Calculation of the nearest integer table index.
  60  *  -# Compute the fractional portion (fract) of the input.
  61  *  -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.
  62  *  -# Sine value is computed as <code> *psinVal = y0 + (fract * (y1 - y0))</code>.
  63  *  -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.
  64  *  -# Cosine value is computed as <code> *pcosVal = y0 + (fract * (y1 - y0))</code>.
  65  */
  66
  67  /**
  68  * @addtogroup SinCos
  69  * @{
  70  */
  71
  72
  73 /**
  74 * \par
  75 * Cosine Table is generated from following loop
  76 * <pre>for(i = 0; i < 360; i++)
  77 * {
  78 *    cosTable[i]= cos((i-180) * PI/180.0);
  79 * } </pre>
  80 */
  81
  82 static const float32_t cosTable[360] = {
  83   -0.999847695156391270f, -0.999390827019095760f, -0.998629534754573830f,
  84   -0.997564050259824200f, -0.996194698091745550f, -0.994521895368273290f,
  85   -0.992546151641321980f, -0.990268068741570250f,
  86   -0.987688340595137660f, -0.984807753012208020f, -0.981627183447663980f,
  87   -0.978147600733805690f, -0.974370064785235250f, -0.970295726275996470f,
  88   -0.965925826289068200f, -0.961261695938318670f,
  89   -0.956304755963035440f, -0.951056516295153530f, -0.945518575599316740f,
  90   -0.939692620785908320f, -0.933580426497201740f, -0.927183854566787310f,
  91   -0.920504853452440150f, -0.913545457642600760f,
  92   -0.906307787036649940f, -0.898794046299167040f, -0.891006524188367790f,
  93   -0.882947592858926770f, -0.874619707139395740f, -0.866025403784438710f,
  94   -0.857167300702112220f, -0.848048096156425960f,
  95   -0.838670567945424160f, -0.829037572555041620f, -0.819152044288991580f,
  96   -0.809016994374947340f, -0.798635510047292940f, -0.788010753606721900f,
  97   -0.777145961456970680f, -0.766044443118977900f,
  98   -0.754709580222772010f, -0.743144825477394130f, -0.731353701619170460f,
  99   -0.719339800338651300f, -0.707106781186547460f, -0.694658370458997030f,
 100   -0.681998360062498370f, -0.669130606358858240f,
 101   -0.656059028990507500f, -0.642787609686539360f, -0.629320391049837280f,
 102   -0.615661475325658290f, -0.601815023152048380f, -0.587785252292473030f,
 103   -0.573576436351045830f, -0.559192903470746680f,
 104   -0.544639035015027080f, -0.529919264233204790f, -0.515038074910054270f,
 105   -0.499999999999999780f, -0.484809620246337000f, -0.469471562785890530f,
 106   -0.453990499739546750f, -0.438371146789077510f,
 107   -0.422618261740699330f, -0.406736643075800100f, -0.390731128489273600f,
 108   -0.374606593415912070f, -0.358367949545300270f, -0.342020143325668710f,
 109   -0.325568154457156420f, -0.309016994374947340f,
 110   -0.292371704722736660f, -0.275637355816999050f, -0.258819045102520850f,
 111   -0.241921895599667790f, -0.224951054343864810f, -0.207911690817759120f,
 112   -0.190808995376544800f, -0.173648177666930300f,
 113   -0.156434465040231040f, -0.139173100960065350f, -0.121869343405147370f,
 114   -0.104528463267653330f, -0.087155742747658235f, -0.069756473744125330f,
 115   -0.052335956242943620f, -0.034899496702500733f,
 116   -0.017452406437283477f, 0.000000000000000061f, 0.017452406437283376f,
 117   0.034899496702501080f, 0.052335956242943966f, 0.069756473744125455f,
 118   0.087155742747658138f, 0.104528463267653460f,
 119   0.121869343405147490f, 0.139173100960065690f, 0.156434465040230920f,
 120   0.173648177666930410f, 0.190808995376544920f, 0.207911690817759450f,
 121   0.224951054343864920f, 0.241921895599667900f,
 122   0.258819045102520740f, 0.275637355816999160f, 0.292371704722736770f,
 123   0.309016994374947450f, 0.325568154457156760f, 0.342020143325668820f,
 124   0.358367949545300380f, 0.374606593415911960f,
 125   0.390731128489273940f, 0.406736643075800210f, 0.422618261740699440f,
 126   0.438371146789077460f, 0.453990499739546860f, 0.469471562785890860f,
 127   0.484809620246337110f, 0.500000000000000110f,
 128   0.515038074910054380f, 0.529919264233204900f, 0.544639035015027200f,
 129   0.559192903470746790f, 0.573576436351046050f, 0.587785252292473140f,
 130   0.601815023152048270f, 0.615661475325658290f,
 131   0.629320391049837500f, 0.642787609686539360f, 0.656059028990507280f,
 132   0.669130606358858240f, 0.681998360062498480f, 0.694658370458997370f,
 133   0.707106781186547570f, 0.719339800338651190f,
 134   0.731353701619170570f, 0.743144825477394240f, 0.754709580222772010f,
 135   0.766044443118978010f, 0.777145961456970900f, 0.788010753606722010f,
 136   0.798635510047292830f, 0.809016994374947450f,
 137   0.819152044288991800f, 0.829037572555041620f, 0.838670567945424050f,
 138   0.848048096156425960f, 0.857167300702112330f, 0.866025403784438710f,
 139   0.874619707139395740f, 0.882947592858926990f,
 140   0.891006524188367900f, 0.898794046299167040f, 0.906307787036649940f,
 141   0.913545457642600870f, 0.920504853452440370f, 0.927183854566787420f,
 142   0.933580426497201740f, 0.939692620785908430f,
 143   0.945518575599316850f, 0.951056516295153530f, 0.956304755963035440f,
 144   0.961261695938318890f, 0.965925826289068310f, 0.970295726275996470f,
 145   0.974370064785235250f, 0.978147600733805690f,
 146   0.981627183447663980f, 0.984807753012208020f, 0.987688340595137770f,
 147   0.990268068741570360f, 0.992546151641321980f, 0.994521895368273290f,
 148   0.996194698091745550f, 0.997564050259824200f,
 149   0.998629534754573830f, 0.999390827019095760f, 0.999847695156391270f,
 150   1.000000000000000000f, 0.999847695156391270f, 0.999390827019095760f,
 151   0.998629534754573830f, 0.997564050259824200f,
 152   0.996194698091745550f, 0.994521895368273290f, 0.992546151641321980f,
 153   0.990268068741570360f, 0.987688340595137770f, 0.984807753012208020f,
 154   0.981627183447663980f, 0.978147600733805690f,
 155   0.974370064785235250f, 0.970295726275996470f, 0.965925826289068310f,
 156   0.961261695938318890f, 0.956304755963035440f, 0.951056516295153530f,
 157   0.945518575599316850f, 0.939692620785908430f,
 158   0.933580426497201740f, 0.927183854566787420f, 0.920504853452440370f,
 159   0.913545457642600870f, 0.906307787036649940f, 0.898794046299167040f,
 160   0.891006524188367900f, 0.882947592858926990f,
 161   0.874619707139395740f, 0.866025403784438710f, 0.857167300702112330f,
 162   0.848048096156425960f, 0.838670567945424050f, 0.829037572555041620f,
 163   0.819152044288991800f, 0.809016994374947450f,
 164   0.798635510047292830f, 0.788010753606722010f, 0.777145961456970900f,
 165   0.766044443118978010f, 0.754709580222772010f, 0.743144825477394240f,
 166   0.731353701619170570f, 0.719339800338651190f,
 167   0.707106781186547570f, 0.694658370458997370f, 0.681998360062498480f,
 168   0.669130606358858240f, 0.656059028990507280f, 0.642787609686539360f,
 169   0.629320391049837500f, 0.615661475325658290f,
 170   0.601815023152048270f, 0.587785252292473140f, 0.573576436351046050f,
 171   0.559192903470746790f, 0.544639035015027200f, 0.529919264233204900f,
 172   0.515038074910054380f, 0.500000000000000110f,
 173   0.484809620246337110f, 0.469471562785890860f, 0.453990499739546860f,
 174   0.438371146789077460f, 0.422618261740699440f, 0.406736643075800210f,
 175   0.390731128489273940f, 0.374606593415911960f,
 176   0.358367949545300380f, 0.342020143325668820f, 0.325568154457156760f,
 177   0.309016994374947450f, 0.292371704722736770f, 0.275637355816999160f,
 178   0.258819045102520740f, 0.241921895599667900f,
 179   0.224951054343864920f, 0.207911690817759450f, 0.190808995376544920f,
 180   0.173648177666930410f, 0.156434465040230920f, 0.139173100960065690f,
 181   0.121869343405147490f, 0.104528463267653460f,
 182   0.087155742747658138f, 0.069756473744125455f, 0.052335956242943966f,
 183   0.034899496702501080f, 0.017452406437283376f, 0.000000000000000061f,
 184   -0.017452406437283477f, -0.034899496702500733f,
 185   -0.052335956242943620f, -0.069756473744125330f, -0.087155742747658235f,
 186   -0.104528463267653330f, -0.121869343405147370f, -0.139173100960065350f,
 187   -0.156434465040231040f, -0.173648177666930300f,
 188   -0.190808995376544800f, -0.207911690817759120f, -0.224951054343864810f,
 189   -0.241921895599667790f, -0.258819045102520850f, -0.275637355816999050f,
 190   -0.292371704722736660f, -0.309016994374947340f,
 191   -0.325568154457156420f, -0.342020143325668710f, -0.358367949545300270f,
 192   -0.374606593415912070f, -0.390731128489273600f, -0.406736643075800100f,
 193   -0.422618261740699330f, -0.438371146789077510f,
 194   -0.453990499739546750f, -0.469471562785890530f, -0.484809620246337000f,
 195   -0.499999999999999780f, -0.515038074910054270f, -0.529919264233204790f,
 196   -0.544639035015027080f, -0.559192903470746680f,
 197   -0.573576436351045830f, -0.587785252292473030f, -0.601815023152048380f,
 198   -0.615661475325658290f, -0.629320391049837280f, -0.642787609686539360f,
 199   -0.656059028990507500f, -0.669130606358858240f,
 200   -0.681998360062498370f, -0.694658370458997030f, -0.707106781186547460f,
 201   -0.719339800338651300f, -0.731353701619170460f, -0.743144825477394130f,
 202   -0.754709580222772010f, -0.766044443118977900f,
 203   -0.777145961456970680f, -0.788010753606721900f, -0.798635510047292940f,
 204   -0.809016994374947340f, -0.819152044288991580f, -0.829037572555041620f,
 205   -0.838670567945424160f, -0.848048096156425960f,
 206   -0.857167300702112220f, -0.866025403784438710f, -0.874619707139395740f,
 207   -0.882947592858926770f, -0.891006524188367790f, -0.898794046299167040f,
 208   -0.906307787036649940f, -0.913545457642600760f,
 209   -0.920504853452440150f, -0.927183854566787310f, -0.933580426497201740f,
 210   -0.939692620785908320f, -0.945518575599316740f, -0.951056516295153530f,
 211   -0.956304755963035440f, -0.961261695938318670f,
 212   -0.965925826289068200f, -0.970295726275996470f, -0.974370064785235250f,
 213   -0.978147600733805690f, -0.981627183447663980f, -0.984807753012208020f,
 214   -0.987688340595137660f, -0.990268068741570250f,
 215   -0.992546151641321980f, -0.994521895368273290f, -0.996194698091745550f,
 216   -0.997564050259824200f, -0.998629534754573830f, -0.999390827019095760f,
 217   -0.999847695156391270f, -1.000000000000000000f
 218 };
 219
 220 /**
 221 * \par
 222 * Sine Table is generated from following loop
 223 * <pre>for(i = 0; i < 360; i++)
 224 * {
 225 *    sinTable[i]= sin((i-180) * PI/180.0);
 226 * } </pre>
 227 */
 228
 229
 230 static const float32_t sinTable[360] = {
 231   -0.017452406437283439f, -0.034899496702500699f, -0.052335956242943807f,
 232   -0.069756473744125524f, -0.087155742747658638f, -0.104528463267653730f,
 233   -0.121869343405147550f, -0.139173100960065740f,
 234   -0.156434465040230980f, -0.173648177666930280f, -0.190808995376544970f,
 235   -0.207911690817759310f, -0.224951054343864780f, -0.241921895599667730f,
 236   -0.258819045102521020f, -0.275637355816999660f,
 237   -0.292371704722737050f, -0.309016994374947510f, -0.325568154457156980f,
 238   -0.342020143325668880f, -0.358367949545300210f, -0.374606593415912240f,
 239   -0.390731128489274160f, -0.406736643075800430f,
 240   -0.422618261740699500f, -0.438371146789077290f, -0.453990499739546860f,
 241   -0.469471562785891080f, -0.484809620246337170f, -0.499999999999999940f,
 242   -0.515038074910054380f, -0.529919264233204900f,
 243   -0.544639035015026860f, -0.559192903470746900f, -0.573576436351046380f,
 244   -0.587785252292473250f, -0.601815023152048160f, -0.615661475325658400f,
 245   -0.629320391049837720f, -0.642787609686539470f,
 246   -0.656059028990507280f, -0.669130606358858350f, -0.681998360062498590f,
 247   -0.694658370458997140f, -0.707106781186547570f, -0.719339800338651410f,
 248   -0.731353701619170570f, -0.743144825477394240f,
 249   -0.754709580222771790f, -0.766044443118978010f, -0.777145961456971010f,
 250   -0.788010753606722010f, -0.798635510047292720f, -0.809016994374947450f,
 251   -0.819152044288992020f, -0.829037572555041740f,
 252   -0.838670567945424050f, -0.848048096156426070f, -0.857167300702112330f,
 253   -0.866025403784438710f, -0.874619707139395850f, -0.882947592858927100f,
 254   -0.891006524188367900f, -0.898794046299166930f,
 255   -0.906307787036650050f, -0.913545457642600980f, -0.920504853452440370f,
 256   -0.927183854566787420f, -0.933580426497201740f, -0.939692620785908430f,
 257   -0.945518575599316850f, -0.951056516295153640f,
 258   -0.956304755963035550f, -0.961261695938318890f, -0.965925826289068310f,
 259   -0.970295726275996470f, -0.974370064785235250f, -0.978147600733805690f,
 260   -0.981627183447663980f, -0.984807753012208020f,
 261   -0.987688340595137660f, -0.990268068741570360f, -0.992546151641322090f,
 262   -0.994521895368273400f, -0.996194698091745550f, -0.997564050259824200f,
 263   -0.998629534754573830f, -0.999390827019095760f,
 264   -0.999847695156391270f, -1.000000000000000000f, -0.999847695156391270f,
 265   -0.999390827019095760f, -0.998629534754573830f, -0.997564050259824200f,
 266   -0.996194698091745550f, -0.994521895368273290f,
 267   -0.992546151641321980f, -0.990268068741570250f, -0.987688340595137770f,
 268   -0.984807753012208020f, -0.981627183447663980f, -0.978147600733805580f,
 269   -0.974370064785235250f, -0.970295726275996470f,
 270   -0.965925826289068310f, -0.961261695938318890f, -0.956304755963035440f,
 271   -0.951056516295153530f, -0.945518575599316740f, -0.939692620785908320f,
 272   -0.933580426497201740f, -0.927183854566787420f,
 273   -0.920504853452440260f, -0.913545457642600870f, -0.906307787036649940f,
 274   -0.898794046299167040f, -0.891006524188367790f, -0.882947592858926880f,
 275   -0.874619707139395740f, -0.866025403784438600f,
 276   -0.857167300702112220f, -0.848048096156426070f, -0.838670567945423940f,
 277   -0.829037572555041740f, -0.819152044288991800f, -0.809016994374947450f,
 278   -0.798635510047292830f, -0.788010753606722010f,
 279   -0.777145961456970790f, -0.766044443118978010f, -0.754709580222772010f,
 280   -0.743144825477394240f, -0.731353701619170460f, -0.719339800338651080f,
 281   -0.707106781186547460f, -0.694658370458997250f,
 282   -0.681998360062498480f, -0.669130606358858240f, -0.656059028990507160f,
 283   -0.642787609686539250f, -0.629320391049837390f, -0.615661475325658180f,
 284   -0.601815023152048270f, -0.587785252292473140f,
 285   -0.573576436351046050f, -0.559192903470746900f, -0.544639035015027080f,
 286   -0.529919264233204900f, -0.515038074910054160f, -0.499999999999999940f,
 287   -0.484809620246337060f, -0.469471562785890810f,
 288   -0.453990499739546750f, -0.438371146789077400f, -0.422618261740699440f,
 289   -0.406736643075800150f, -0.390731128489273720f, -0.374606593415912010f,
 290   -0.358367949545300270f, -0.342020143325668710f,
 291   -0.325568154457156640f, -0.309016994374947400f, -0.292371704722736770f,
 292   -0.275637355816999160f, -0.258819045102520740f, -0.241921895599667730f,
 293   -0.224951054343865000f, -0.207911690817759310f,
 294   -0.190808995376544800f, -0.173648177666930330f, -0.156434465040230870f,
 295   -0.139173100960065440f, -0.121869343405147480f, -0.104528463267653460f,
 296   -0.087155742747658166f, -0.069756473744125302f,
 297   -0.052335956242943828f, -0.034899496702500969f, -0.017452406437283512f,
 298   0.000000000000000000f, 0.017452406437283512f, 0.034899496702500969f,
 299   0.052335956242943828f, 0.069756473744125302f,
 300   0.087155742747658166f, 0.104528463267653460f, 0.121869343405147480f,
 301   0.139173100960065440f, 0.156434465040230870f, 0.173648177666930330f,
 302   0.190808995376544800f, 0.207911690817759310f,
 303   0.224951054343865000f, 0.241921895599667730f, 0.258819045102520740f,
 304   0.275637355816999160f, 0.292371704722736770f, 0.309016994374947400f,
 305   0.325568154457156640f, 0.342020143325668710f,
 306   0.358367949545300270f, 0.374606593415912010f, 0.390731128489273720f,
 307   0.406736643075800150f, 0.422618261740699440f, 0.438371146789077400f,
 308   0.453990499739546750f, 0.469471562785890810f,
 309   0.484809620246337060f, 0.499999999999999940f, 0.515038074910054160f,
 310   0.529919264233204900f, 0.544639035015027080f, 0.559192903470746900f,
 311   0.573576436351046050f, 0.587785252292473140f,
 312   0.601815023152048270f, 0.615661475325658180f, 0.629320391049837390f,
 313   0.642787609686539250f, 0.656059028990507160f, 0.669130606358858240f,
 314   0.681998360062498480f, 0.694658370458997250f,
 315   0.707106781186547460f, 0.719339800338651080f, 0.731353701619170460f,
 316   0.743144825477394240f, 0.754709580222772010f, 0.766044443118978010f,
 317   0.777145961456970790f, 0.788010753606722010f,
 318   0.798635510047292830f, 0.809016994374947450f, 0.819152044288991800f,
 319   0.829037572555041740f, 0.838670567945423940f, 0.848048096156426070f,
 320   0.857167300702112220f, 0.866025403784438600f,
 321   0.874619707139395740f, 0.882947592858926880f, 0.891006524188367790f,
 322   0.898794046299167040f, 0.906307787036649940f, 0.913545457642600870f,
 323   0.920504853452440260f, 0.927183854566787420f,
 324   0.933580426497201740f, 0.939692620785908320f, 0.945518575599316740f,
 325   0.951056516295153530f, 0.956304755963035440f, 0.961261695938318890f,
 326   0.965925826289068310f, 0.970295726275996470f,
 327   0.974370064785235250f, 0.978147600733805580f, 0.981627183447663980f,
 328   0.984807753012208020f, 0.987688340595137770f, 0.990268068741570250f,
 329   0.992546151641321980f, 0.994521895368273290f,
 330   0.996194698091745550f, 0.997564050259824200f, 0.998629534754573830f,
 331   0.999390827019095760f, 0.999847695156391270f, 1.000000000000000000f,
 332   0.999847695156391270f, 0.999390827019095760f,
 333   0.998629534754573830f, 0.997564050259824200f, 0.996194698091745550f,
 334   0.994521895368273400f, 0.992546151641322090f, 0.990268068741570360f,
 335   0.987688340595137660f, 0.984807753012208020f,
 336   0.981627183447663980f, 0.978147600733805690f, 0.974370064785235250f,
 337   0.970295726275996470f, 0.965925826289068310f, 0.961261695938318890f,
 338   0.956304755963035550f, 0.951056516295153640f,
 339   0.945518575599316850f, 0.939692620785908430f, 0.933580426497201740f,
 340   0.927183854566787420f, 0.920504853452440370f, 0.913545457642600980f,
 341   0.906307787036650050f, 0.898794046299166930f,
 342   0.891006524188367900f, 0.882947592858927100f, 0.874619707139395850f,
 343   0.866025403784438710f, 0.857167300702112330f, 0.848048096156426070f,
 344   0.838670567945424050f, 0.829037572555041740f,
 345   0.819152044288992020f, 0.809016994374947450f, 0.798635510047292720f,
 346   0.788010753606722010f, 0.777145961456971010f, 0.766044443118978010f,
 347   0.754709580222771790f, 0.743144825477394240f,
 348   0.731353701619170570f, 0.719339800338651410f, 0.707106781186547570f,
 349   0.694658370458997140f, 0.681998360062498590f, 0.669130606358858350f,
 350   0.656059028990507280f, 0.642787609686539470f,
 351   0.629320391049837720f, 0.615661475325658400f, 0.601815023152048160f,
 352   0.587785252292473250f, 0.573576436351046380f, 0.559192903470746900f,
 353   0.544639035015026860f, 0.529919264233204900f,
 354   0.515038074910054380f, 0.499999999999999940f, 0.484809620246337170f,
 355   0.469471562785891080f, 0.453990499739546860f, 0.438371146789077290f,
 356   0.422618261740699500f, 0.406736643075800430f,
 357   0.390731128489274160f, 0.374606593415912240f, 0.358367949545300210f,
 358   0.342020143325668880f, 0.325568154457156980f, 0.309016994374947510f,
 359   0.292371704722737050f, 0.275637355816999660f,
 360   0.258819045102521020f, 0.241921895599667730f, 0.224951054343864780f,
 361   0.207911690817759310f, 0.190808995376544970f, 0.173648177666930280f,
 362   0.156434465040230980f, 0.139173100960065740f,
 363   0.121869343405147550f, 0.104528463267653730f, 0.087155742747658638f,
 364   0.069756473744125524f, 0.052335956242943807f, 0.034899496702500699f,
 365   0.017452406437283439f, 0.000000000000000122f
 366 };
 367
 368
 369 /**
 370  * @brief  Floating-point sin_cos function.
 371  * @param[in]  theta    input value in degrees
 372  * @param[out] *pSinVal points to the processed sine output.
 373  * @param[out] *pCosVal points to the processed cos output.
 374  * @return none.
 375  */
 376
 377
 378 void arm_sin_cos_f32(
 379   float32_t theta,
 380   float32_t * pSinVal,
 381   float32_t * pCosVal)
 382 {
 383   int32_t i;                                     /* Index for reading nearwst output values */
 384   float32_t x1 = -179.0f;                        /* Initial input value */
 385   float32_t y0, y1;                              /* nearest output values */
 386   float32_t y2, y3;
 387   float32_t fract;                               /* fractional part of input */
 388
 389   /* Calculation of fractional part */
 390   if(theta > 0.0f)
 391   {
 392     fract = theta - (float32_t) ((int32_t) theta);
 393   }
 394   else
 395   {
 396     fract = (theta - (float32_t) ((int32_t) theta)) + 1.0f;
 397   }
 398
 399   /* index calculation for reading nearest output values */
 400   i = (uint32_t) (theta - x1);
 401
 402   /* Checking min and max index of table */
 403   if(i < 0)
 404   {
 405     i = 0;
 406   }
 407   else if(i >= 359)
 408   {
 409     i = 358;
 410   }
 411
 412   /* reading nearest sine output values */
 413   y0 = sinTable[i];
 414   y1 = sinTable[i + 1u];
 415
 416   /* reading nearest cosine output values */
 417   y2 = cosTable[i];
 418   y3 = cosTable[i + 1u];
 419
 420   y1 = y1 - y0;
 421   y3 = y3 - y2;
 422
 423   y1 = fract * y1;
 424   y3 = fract * y3;
 425
 426   /* Calculation of sine value */
 427   *pSinVal = y0 + y1;
 428
 429   /* Calculation of cosine value */
 430   *pCosVal = y2 + y3;
 431
 432 }
 433
 434 /**
 435  * @} end of SinCos group
 436  */