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158 lines
5.7 KiB
C
158 lines
5.7 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilot Math Utilities
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* @{
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* @addtogroup Sine and cosine methods that use a cached lookup table
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* @{
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*
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* @file sin_lookup.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Sine lookup table from flash with 1 degree resolution
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "math.h"
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#include "stdbool.h"
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#include "stdint.h"
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#include <pios_math.h>
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#define FLASH_TABLE
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#ifdef FLASH_TABLE
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/** Version of the code which precomputes the lookup table in flash **/
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// This is a precomputed sin lookup table over 90 degrees that
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const float sin_table[] = {
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0.000000f, 0.017452f, 0.034899f, 0.052336f, 0.069756f, 0.087156f, 0.104528f, 0.121869f, 0.139173f, 0.156434f,
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0.173648f, 0.190809f, 0.207912f, 0.224951f, 0.241922f, 0.258819f, 0.275637f, 0.292372f, 0.309017f, 0.325568f,
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0.342020f, 0.358368f, 0.374607f, 0.390731f, 0.406737f, 0.422618f, 0.438371f, 0.453990f, 0.469472f, 0.484810f,
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0.500000f, 0.515038f, 0.529919f, 0.544639f, 0.559193f, 0.573576f, 0.587785f, 0.601815f, 0.615661f, 0.629320f,
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0.642788f, 0.656059f, 0.669131f, 0.681998f, 0.694658f, 0.707107f, 0.719340f, 0.731354f, 0.743145f, 0.754710f,
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0.766044f, 0.777146f, 0.788011f, 0.798636f, 0.809017f, 0.819152f, 0.829038f, 0.838671f, 0.848048f, 0.857167f,
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0.866025f, 0.874620f, 0.882948f, 0.891007f, 0.898794f, 0.906308f, 0.913545f, 0.920505f, 0.927184f, 0.933580f,
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0.939693f, 0.945519f, 0.951057f, 0.956305f, 0.961262f, 0.965926f, 0.970296f, 0.974370f, 0.978148f, 0.981627f,
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0.984808f, 0.987688f, 0.990268f, 0.992546f, 0.994522f, 0.996195f, 0.997564f, 0.998630f, 0.999391f, 0.999848f,
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1.000000f, 0.999848f, 0.999391f, 0.998630f, 0.997564f, 0.996195f, 0.994522f, 0.992546f, 0.990268f, 0.987688f,
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0.984808f, 0.981627f, 0.978148f, 0.974370f, 0.970296f, 0.965926f, 0.961262f, 0.956305f, 0.951057f, 0.945519f,
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0.939693f, 0.933580f, 0.927184f, 0.920505f, 0.913545f, 0.906308f, 0.898794f, 0.891007f, 0.882948f, 0.874620f,
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0.866025f, 0.857167f, 0.848048f, 0.838671f, 0.829038f, 0.819152f, 0.809017f, 0.798636f, 0.788011f, 0.777146f,
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0.766044f, 0.754710f, 0.743145f, 0.731354f, 0.719340f, 0.707107f, 0.694658f, 0.681998f, 0.669131f, 0.656059f,
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0.642788f, 0.629320f, 0.615661f, 0.601815f, 0.587785f, 0.573576f, 0.559193f, 0.544639f, 0.529919f, 0.515038f,
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0.500000f, 0.484810f, 0.469472f, 0.453990f, 0.438371f, 0.422618f, 0.406737f, 0.390731f, 0.374607f, 0.358368f,
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0.342020f, 0.325568f, 0.309017f, 0.292372f, 0.275637f, 0.258819f, 0.241922f, 0.224951f, 0.207912f, 0.190809f,
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0.173648f, 0.156434f, 0.139173f, 0.121869f, 0.104528f, 0.087156f, 0.069756f, 0.052336f, 0.034899f, 0.017452f
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};
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int sin_lookup_initalize()
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{
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return 0;
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}
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#else /* ifdef FLASH_TABLE */
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/** Version of the code which allocates the lookup table in heap **/
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const int SIN_RESOLUTION = 180;
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static float *sin_table;
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int sin_lookup_initalize()
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{
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// Previously initialized
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if (sin_table) {
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return 0;
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}
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sin_table = (float *)pios_malloc(sizeof(float) * SIN_RESOLUTION);
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if (sin_table == NULL) {
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return -1;
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}
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for (uint32_t i = 0; i < 180; i++) {
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sin_table[i] = sinf(DEG2RAD((float)i));
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}
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return 0;
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}
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#endif /* ifdef FLASH_TABLE */
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/**
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* Use the lookup table to return sine(angle) where angle is in radians
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* to save flash this cheats and uses trig functions to only save
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* 90 values
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* @param[in] angle Angle in degrees
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* @returns sin(angle)
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*/
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float sin_lookup_deg(float angle)
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{
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if (sin_table == NULL) {
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return 0;
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}
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// <bug, was> int i_ang = ((int32_t)angle) % 360;
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// 1073741760 is a multiple of 360 that is close to 0x3fffffff
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// so angle can be a very large number of positive or negative rotations
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// this is the fastest fix (no tests, one integer addition)
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// and has the largest range since float mantissas are 23-4 bit
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// we could halve the lookup table size
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// we could interpolate for greater accuracy
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int i_ang = ((int32_t)(angle + 0.5f) + (int32_t)1073741760) % 360;
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if (i_ang >= 180) { // for 180 to 360 deg
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return -sin_table[i_ang - 180];
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} else { // for 0 to 179 deg
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return sin_table[i_ang];
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}
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return 0;
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}
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/**
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* Get cos(angle) using the sine lookup table
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* @param[in] angle Angle in degrees
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* @returns cos(angle)
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*/
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float cos_lookup_deg(float angle)
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{
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return sin_lookup_deg(angle + 90);
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}
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/**
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* Use the lookup table to return sine(angle) where angle is in radians
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* @param[in] angle Angle in radians
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* @returns sin(angle)
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*/
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float sin_lookup_rad(float angle)
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{
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int degrees = RAD2DEG(angle);
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return sin_lookup_deg(degrees);
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}
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/**
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* Use the lookup table to return sine(angle) where angle is in radians
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* @param[in] angle Angle in radians
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* @returns cos(angle)
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*/
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float cos_lookup_rad(float angle)
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{
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int degrees = RAD2DEG(angle);
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return cos_lookup_deg(degrees);
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}
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