arm_sin_cos_f32.c

00001 /* ----------------------------------------------------------------------  
00002 * Copyright (C) 2010 ARM Limited. All rights reserved.  
00003 *  
00004 * $Date:        29. November 2010  
00005 * $Revision:    V1.0.3  
00006 *  
00007 * Project:      CMSIS DSP Library  
00008 * Title:        arm_sin_cos_f32.c  
00009 *  
00010 * Description:  Sine and Cosine calculation for floating-point values. 
00011 *  
00012 * Target Processor: Cortex-M4/Cortex-M3
00013 *  
00014 * Version 1.0.3 2010/11/29 
00015 *    Re-organized the CMSIS folders and updated documentation.  
00016 *   
00017 * Version 1.0.2 2010/11/11  
00018 *    Documentation updated.   
00019 *  
00020 * Version 1.0.1 2010/10/05   
00021 *    Production release and review comments incorporated.  
00022 *  
00023 * Version 1.0.0 2010/09/20   
00024 *    Production release and review comments incorporated.  
00025 * -------------------------------------------------------------------- */ 
00026  
00027 #include "arm_math.h" 
00028  
00029 /**  
00030  * @ingroup groupController  
00031  */ 
00032  
00033 /**  
00034  * @defgroup SinCos Sine Cosine 
00035  *  
00036  * Computes the trigonometric sine and cosine values using a combination of table lookup 
00037  * and linear interpolation.   
00038  * There are separate functions for Q31 and floating-point data types. 
00039  * The input to the floating-point version is in degrees while the 
00040  * fixed-point Q31 have a scaled input with the range 
00041  * [-1 1) mapping to [-180 180) degrees. 
00042  * 
00043  * The implementation is based on table lookup using 360 values together with linear interpolation. 
00044  * The steps used are: 
00045  *  -# Calculation of the nearest integer table index. 
00046  *  -# Compute the fractional portion (fract) of the input. 
00047  *  -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.    
00048  *  -# Sine value is computed as <code> *psinVal = y0 + (fract * (y1 - y0))</code>.  
00049  *  -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.    
00050  *  -# Cosine value is computed as <code> *pcosVal = y0 + (fract * (y1 - y0))</code>.  
00051  */ 
00052  
00053  /**  
00054  * @addtogroup SinCos  
00055  * @{  
00056  */ 
00057  
00058  
00059 /**  
00060 * \par  
00061 * Cosine Table is generated from following loop  
00062 * <pre>for(i = 0; i < 360; i++)  
00063 * {  
00064 *    cosTable[i]= cos((i-180) * PI/180.0);  
00065 * } </pre> 
00066 */ 
00067  
00068 static const float32_t cosTable [360] = { 
00069   -0.999847695156391270f, -0.999390827019095760f, -0.998629534754573830f, 
00070   -0.997564050259824200f, -0.996194698091745550f, -0.994521895368273290f, 
00071   -0.992546151641321980f, -0.990268068741570250f, 
00072   -0.987688340595137660f, -0.984807753012208020f, -0.981627183447663980f, 
00073   -0.978147600733805690f, -0.974370064785235250f, -0.970295726275996470f, 
00074   -0.965925826289068200f, -0.961261695938318670f, 
00075   -0.956304755963035440f, -0.951056516295153530f, -0.945518575599316740f, 
00076   -0.939692620785908320f, -0.933580426497201740f, -0.927183854566787310f, 
00077   -0.920504853452440150f, -0.913545457642600760f, 
00078   -0.906307787036649940f, -0.898794046299167040f, -0.891006524188367790f, 
00079   -0.882947592858926770f, -0.874619707139395740f, -0.866025403784438710f, 
00080   -0.857167300702112220f, -0.848048096156425960f, 
00081   -0.838670567945424160f, -0.829037572555041620f, -0.819152044288991580f, 
00082   -0.809016994374947340f, -0.798635510047292940f, -0.788010753606721900f, 
00083   -0.777145961456970680f, -0.766044443118977900f, 
00084   -0.754709580222772010f, -0.743144825477394130f, -0.731353701619170460f, 
00085   -0.719339800338651300f, -0.707106781186547460f, -0.694658370458997030f, 
00086   -0.681998360062498370f, -0.669130606358858240f, 
00087   -0.656059028990507500f, -0.642787609686539360f, -0.629320391049837280f, 
00088   -0.615661475325658290f, -0.601815023152048380f, -0.587785252292473030f, 
00089   -0.573576436351045830f, -0.559192903470746680f, 
00090   -0.544639035015027080f, -0.529919264233204790f, -0.515038074910054270f, 
00091   -0.499999999999999780f, -0.484809620246337000f, -0.469471562785890530f, 
00092   -0.453990499739546750f, -0.438371146789077510f, 
00093   -0.422618261740699330f, -0.406736643075800100f, -0.390731128489273600f, 
00094   -0.374606593415912070f, -0.358367949545300270f, -0.342020143325668710f, 
00095   -0.325568154457156420f, -0.309016994374947340f, 
00096   -0.292371704722736660f, -0.275637355816999050f, -0.258819045102520850f, 
00097   -0.241921895599667790f, -0.224951054343864810f, -0.207911690817759120f, 
00098   -0.190808995376544800f, -0.173648177666930300f, 
00099   -0.156434465040231040f, -0.139173100960065350f, -0.121869343405147370f, 
00100   -0.104528463267653330f, -0.087155742747658235f, -0.069756473744125330f, 
00101   -0.052335956242943620f, -0.034899496702500733f, 
00102   -0.017452406437283477f, 0.000000000000000061f, 0.017452406437283376f, 
00103   0.034899496702501080f, 0.052335956242943966f, 0.069756473744125455f, 
00104   0.087155742747658138f, 0.104528463267653460f, 
00105   0.121869343405147490f, 0.139173100960065690f, 0.156434465040230920f, 
00106   0.173648177666930410f, 0.190808995376544920f, 0.207911690817759450f, 
00107   0.224951054343864920f, 0.241921895599667900f, 
00108   0.258819045102520740f, 0.275637355816999160f, 0.292371704722736770f, 
00109   0.309016994374947450f, 0.325568154457156760f, 0.342020143325668820f, 
00110   0.358367949545300380f, 0.374606593415911960f, 
00111   0.390731128489273940f, 0.406736643075800210f, 0.422618261740699440f, 
00112   0.438371146789077460f, 0.453990499739546860f, 0.469471562785890860f, 
00113   0.484809620246337110f, 0.500000000000000110f, 
00114   0.515038074910054380f, 0.529919264233204900f, 0.544639035015027200f, 
00115   0.559192903470746790f, 0.573576436351046050f, 0.587785252292473140f, 
00116   0.601815023152048270f, 0.615661475325658290f, 
00117   0.629320391049837500f, 0.642787609686539360f, 0.656059028990507280f, 
00118   0.669130606358858240f, 0.681998360062498480f, 0.694658370458997370f, 
00119   0.707106781186547570f, 0.719339800338651190f, 
00120   0.731353701619170570f, 0.743144825477394240f, 0.754709580222772010f, 
00121   0.766044443118978010f, 0.777145961456970900f, 0.788010753606722010f, 
00122   0.798635510047292830f, 0.809016994374947450f, 
00123   0.819152044288991800f, 0.829037572555041620f, 0.838670567945424050f, 
00124   0.848048096156425960f, 0.857167300702112330f, 0.866025403784438710f, 
00125   0.874619707139395740f, 0.882947592858926990f, 
00126   0.891006524188367900f, 0.898794046299167040f, 0.906307787036649940f, 
00127   0.913545457642600870f, 0.920504853452440370f, 0.927183854566787420f, 
00128   0.933580426497201740f, 0.939692620785908430f, 
00129   0.945518575599316850f, 0.951056516295153530f, 0.956304755963035440f, 
00130   0.961261695938318890f, 0.965925826289068310f, 0.970295726275996470f, 
00131   0.974370064785235250f, 0.978147600733805690f, 
00132   0.981627183447663980f, 0.984807753012208020f, 0.987688340595137770f, 
00133   0.990268068741570360f, 0.992546151641321980f, 0.994521895368273290f, 
00134   0.996194698091745550f, 0.997564050259824200f, 
00135   0.998629534754573830f, 0.999390827019095760f, 0.999847695156391270f, 
00136   1.000000000000000000f, 0.999847695156391270f, 0.999390827019095760f, 
00137   0.998629534754573830f, 0.997564050259824200f, 
00138   0.996194698091745550f, 0.994521895368273290f, 0.992546151641321980f, 
00139   0.990268068741570360f, 0.987688340595137770f, 0.984807753012208020f, 
00140   0.981627183447663980f, 0.978147600733805690f, 
00141   0.974370064785235250f, 0.970295726275996470f, 0.965925826289068310f, 
00142   0.961261695938318890f, 0.956304755963035440f, 0.951056516295153530f, 
00143   0.945518575599316850f, 0.939692620785908430f, 
00144   0.933580426497201740f, 0.927183854566787420f, 0.920504853452440370f, 
00145   0.913545457642600870f, 0.906307787036649940f, 0.898794046299167040f, 
00146   0.891006524188367900f, 0.882947592858926990f, 
00147   0.874619707139395740f, 0.866025403784438710f, 0.857167300702112330f, 
00148   0.848048096156425960f, 0.838670567945424050f, 0.829037572555041620f, 
00149   0.819152044288991800f, 0.809016994374947450f, 
00150   0.798635510047292830f, 0.788010753606722010f, 0.777145961456970900f, 
00151   0.766044443118978010f, 0.754709580222772010f, 0.743144825477394240f, 
00152   0.731353701619170570f, 0.719339800338651190f, 
00153   0.707106781186547570f, 0.694658370458997370f, 0.681998360062498480f, 
00154   0.669130606358858240f, 0.656059028990507280f, 0.642787609686539360f, 
00155   0.629320391049837500f, 0.615661475325658290f, 
00156   0.601815023152048270f, 0.587785252292473140f, 0.573576436351046050f, 
00157   0.559192903470746790f, 0.544639035015027200f, 0.529919264233204900f, 
00158   0.515038074910054380f, 0.500000000000000110f, 
00159   0.484809620246337110f, 0.469471562785890860f, 0.453990499739546860f, 
00160   0.438371146789077460f, 0.422618261740699440f, 0.406736643075800210f, 
00161   0.390731128489273940f, 0.374606593415911960f, 
00162   0.358367949545300380f, 0.342020143325668820f, 0.325568154457156760f, 
00163   0.309016994374947450f, 0.292371704722736770f, 0.275637355816999160f, 
00164   0.258819045102520740f, 0.241921895599667900f, 
00165   0.224951054343864920f, 0.207911690817759450f, 0.190808995376544920f, 
00166   0.173648177666930410f, 0.156434465040230920f, 0.139173100960065690f, 
00167   0.121869343405147490f, 0.104528463267653460f, 
00168   0.087155742747658138f, 0.069756473744125455f, 0.052335956242943966f, 
00169   0.034899496702501080f, 0.017452406437283376f, 0.000000000000000061f, 
00170   -0.017452406437283477f, -0.034899496702500733f, 
00171   -0.052335956242943620f, -0.069756473744125330f, -0.087155742747658235f, 
00172   -0.104528463267653330f, -0.121869343405147370f, -0.139173100960065350f, 
00173   -0.156434465040231040f, -0.173648177666930300f, 
00174   -0.190808995376544800f, -0.207911690817759120f, -0.224951054343864810f, 
00175   -0.241921895599667790f, -0.258819045102520850f, -0.275637355816999050f, 
00176   -0.292371704722736660f, -0.309016994374947340f, 
00177   -0.325568154457156420f, -0.342020143325668710f, -0.358367949545300270f, 
00178   -0.374606593415912070f, -0.390731128489273600f, -0.406736643075800100f, 
00179   -0.422618261740699330f, -0.438371146789077510f, 
00180   -0.453990499739546750f, -0.469471562785890530f, -0.484809620246337000f, 
00181   -0.499999999999999780f, -0.515038074910054270f, -0.529919264233204790f, 
00182   -0.544639035015027080f, -0.559192903470746680f, 
00183   -0.573576436351045830f, -0.587785252292473030f, -0.601815023152048380f, 
00184   -0.615661475325658290f, -0.629320391049837280f, -0.642787609686539360f, 
00185   -0.656059028990507500f, -0.669130606358858240f, 
00186   -0.681998360062498370f, -0.694658370458997030f, -0.707106781186547460f, 
00187   -0.719339800338651300f, -0.731353701619170460f, -0.743144825477394130f, 
00188   -0.754709580222772010f, -0.766044443118977900f, 
00189   -0.777145961456970680f, -0.788010753606721900f, -0.798635510047292940f, 
00190   -0.809016994374947340f, -0.819152044288991580f, -0.829037572555041620f, 
00191   -0.838670567945424160f, -0.848048096156425960f, 
00192   -0.857167300702112220f, -0.866025403784438710f, -0.874619707139395740f, 
00193   -0.882947592858926770f, -0.891006524188367790f, -0.898794046299167040f, 
00194   -0.906307787036649940f, -0.913545457642600760f, 
00195   -0.920504853452440150f, -0.927183854566787310f, -0.933580426497201740f, 
00196   -0.939692620785908320f, -0.945518575599316740f, -0.951056516295153530f, 
00197   -0.956304755963035440f, -0.961261695938318670f, 
00198   -0.965925826289068200f, -0.970295726275996470f, -0.974370064785235250f, 
00199   -0.978147600733805690f, -0.981627183447663980f, -0.984807753012208020f, 
00200   -0.987688340595137660f, -0.990268068741570250f, 
00201   -0.992546151641321980f, -0.994521895368273290f, -0.996194698091745550f, 
00202   -0.997564050259824200f, -0.998629534754573830f, -0.999390827019095760f, 
00203   -0.999847695156391270f, -1.000000000000000000f 
00204 }; 
00205  
00206 /**  
00207 * \par  
00208 * Sine Table is generated from following loop  
00209 * <pre>for(i = 0; i < 360; i++)  
00210 * {  
00211 *    sinTable[i]= sin((i-180) * PI/180.0);  
00212 * } </pre>  
00213 */ 
00214  
00215  
00216 static const float32_t sinTable [360] = { 
00217   -0.017452406437283439f, -0.034899496702500699f, -0.052335956242943807f, 
00218   -0.069756473744125524f, -0.087155742747658638f, -0.104528463267653730f, 
00219   -0.121869343405147550f, -0.139173100960065740f, 
00220   -0.156434465040230980f, -0.173648177666930280f, -0.190808995376544970f, 
00221   -0.207911690817759310f, -0.224951054343864780f, -0.241921895599667730f, 
00222   -0.258819045102521020f, -0.275637355816999660f, 
00223   -0.292371704722737050f, -0.309016994374947510f, -0.325568154457156980f, 
00224   -0.342020143325668880f, -0.358367949545300210f, -0.374606593415912240f, 
00225   -0.390731128489274160f, -0.406736643075800430f, 
00226   -0.422618261740699500f, -0.438371146789077290f, -0.453990499739546860f, 
00227   -0.469471562785891080f, -0.484809620246337170f, -0.499999999999999940f, 
00228   -0.515038074910054380f, -0.529919264233204900f, 
00229   -0.544639035015026860f, -0.559192903470746900f, -0.573576436351046380f, 
00230   -0.587785252292473250f, -0.601815023152048160f, -0.615661475325658400f, 
00231   -0.629320391049837720f, -0.642787609686539470f, 
00232   -0.656059028990507280f, -0.669130606358858350f, -0.681998360062498590f, 
00233   -0.694658370458997140f, -0.707106781186547570f, -0.719339800338651410f, 
00234   -0.731353701619170570f, -0.743144825477394240f, 
00235   -0.754709580222771790f, -0.766044443118978010f, -0.777145961456971010f, 
00236   -0.788010753606722010f, -0.798635510047292720f, -0.809016994374947450f, 
00237   -0.819152044288992020f, -0.829037572555041740f, 
00238   -0.838670567945424050f, -0.848048096156426070f, -0.857167300702112330f, 
00239   -0.866025403784438710f, -0.874619707139395850f, -0.882947592858927100f, 
00240   -0.891006524188367900f, -0.898794046299166930f, 
00241   -0.906307787036650050f, -0.913545457642600980f, -0.920504853452440370f, 
00242   -0.927183854566787420f, -0.933580426497201740f, -0.939692620785908430f, 
00243   -0.945518575599316850f, -0.951056516295153640f, 
00244   -0.956304755963035550f, -0.961261695938318890f, -0.965925826289068310f, 
00245   -0.970295726275996470f, -0.974370064785235250f, -0.978147600733805690f, 
00246   -0.981627183447663980f, -0.984807753012208020f, 
00247   -0.987688340595137660f, -0.990268068741570360f, -0.992546151641322090f, 
00248   -0.994521895368273400f, -0.996194698091745550f, -0.997564050259824200f, 
00249   -0.998629534754573830f, -0.999390827019095760f, 
00250   -0.999847695156391270f, -1.000000000000000000f, -0.999847695156391270f, 
00251   -0.999390827019095760f, -0.998629534754573830f, -0.997564050259824200f, 
00252   -0.996194698091745550f, -0.994521895368273290f, 
00253   -0.992546151641321980f, -0.990268068741570250f, -0.987688340595137770f, 
00254   -0.984807753012208020f, -0.981627183447663980f, -0.978147600733805580f, 
00255   -0.974370064785235250f, -0.970295726275996470f, 
00256   -0.965925826289068310f, -0.961261695938318890f, -0.956304755963035440f, 
00257   -0.951056516295153530f, -0.945518575599316740f, -0.939692620785908320f, 
00258   -0.933580426497201740f, -0.927183854566787420f, 
00259   -0.920504853452440260f, -0.913545457642600870f, -0.906307787036649940f, 
00260   -0.898794046299167040f, -0.891006524188367790f, -0.882947592858926880f, 
00261   -0.874619707139395740f, -0.866025403784438600f, 
00262   -0.857167300702112220f, -0.848048096156426070f, -0.838670567945423940f, 
00263   -0.829037572555041740f, -0.819152044288991800f, -0.809016994374947450f, 
00264   -0.798635510047292830f, -0.788010753606722010f, 
00265   -0.777145961456970790f, -0.766044443118978010f, -0.754709580222772010f, 
00266   -0.743144825477394240f, -0.731353701619170460f, -0.719339800338651080f, 
00267   -0.707106781186547460f, -0.694658370458997250f, 
00268   -0.681998360062498480f, -0.669130606358858240f, -0.656059028990507160f, 
00269   -0.642787609686539250f, -0.629320391049837390f, -0.615661475325658180f, 
00270   -0.601815023152048270f, -0.587785252292473140f, 
00271   -0.573576436351046050f, -0.559192903470746900f, -0.544639035015027080f, 
00272   -0.529919264233204900f, -0.515038074910054160f, -0.499999999999999940f, 
00273   -0.484809620246337060f, -0.469471562785890810f, 
00274   -0.453990499739546750f, -0.438371146789077400f, -0.422618261740699440f, 
00275   -0.406736643075800150f, -0.390731128489273720f, -0.374606593415912010f, 
00276   -0.358367949545300270f, -0.342020143325668710f, 
00277   -0.325568154457156640f, -0.309016994374947400f, -0.292371704722736770f, 
00278   -0.275637355816999160f, -0.258819045102520740f, -0.241921895599667730f, 
00279   -0.224951054343865000f, -0.207911690817759310f, 
00280   -0.190808995376544800f, -0.173648177666930330f, -0.156434465040230870f, 
00281   -0.139173100960065440f, -0.121869343405147480f, -0.104528463267653460f, 
00282   -0.087155742747658166f, -0.069756473744125302f, 
00283   -0.052335956242943828f, -0.034899496702500969f, -0.017452406437283512f, 
00284   0.000000000000000000f, 0.017452406437283512f, 0.034899496702500969f, 
00285   0.052335956242943828f, 0.069756473744125302f, 
00286   0.087155742747658166f, 0.104528463267653460f, 0.121869343405147480f, 
00287   0.139173100960065440f, 0.156434465040230870f, 0.173648177666930330f, 
00288   0.190808995376544800f, 0.207911690817759310f, 
00289   0.224951054343865000f, 0.241921895599667730f, 0.258819045102520740f, 
00290   0.275637355816999160f, 0.292371704722736770f, 0.309016994374947400f, 
00291   0.325568154457156640f, 0.342020143325668710f, 
00292   0.358367949545300270f, 0.374606593415912010f, 0.390731128489273720f, 
00293   0.406736643075800150f, 0.422618261740699440f, 0.438371146789077400f, 
00294   0.453990499739546750f, 0.469471562785890810f, 
00295   0.484809620246337060f, 0.499999999999999940f, 0.515038074910054160f, 
00296   0.529919264233204900f, 0.544639035015027080f, 0.559192903470746900f, 
00297   0.573576436351046050f, 0.587785252292473140f, 
00298   0.601815023152048270f, 0.615661475325658180f, 0.629320391049837390f, 
00299   0.642787609686539250f, 0.656059028990507160f, 0.669130606358858240f, 
00300   0.681998360062498480f, 0.694658370458997250f, 
00301   0.707106781186547460f, 0.719339800338651080f, 0.731353701619170460f, 
00302   0.743144825477394240f, 0.754709580222772010f, 0.766044443118978010f, 
00303   0.777145961456970790f, 0.788010753606722010f, 
00304   0.798635510047292830f, 0.809016994374947450f, 0.819152044288991800f, 
00305   0.829037572555041740f, 0.838670567945423940f, 0.848048096156426070f, 
00306   0.857167300702112220f, 0.866025403784438600f, 
00307   0.874619707139395740f, 0.882947592858926880f, 0.891006524188367790f, 
00308   0.898794046299167040f, 0.906307787036649940f, 0.913545457642600870f, 
00309   0.920504853452440260f, 0.927183854566787420f, 
00310   0.933580426497201740f, 0.939692620785908320f, 0.945518575599316740f, 
00311   0.951056516295153530f, 0.956304755963035440f, 0.961261695938318890f, 
00312   0.965925826289068310f, 0.970295726275996470f, 
00313   0.974370064785235250f, 0.978147600733805580f, 0.981627183447663980f, 
00314   0.984807753012208020f, 0.987688340595137770f, 0.990268068741570250f, 
00315   0.992546151641321980f, 0.994521895368273290f, 
00316   0.996194698091745550f, 0.997564050259824200f, 0.998629534754573830f, 
00317   0.999390827019095760f, 0.999847695156391270f, 1.000000000000000000f, 
00318   0.999847695156391270f, 0.999390827019095760f, 
00319   0.998629534754573830f, 0.997564050259824200f, 0.996194698091745550f, 
00320   0.994521895368273400f, 0.992546151641322090f, 0.990268068741570360f, 
00321   0.987688340595137660f, 0.984807753012208020f, 
00322   0.981627183447663980f, 0.978147600733805690f, 0.974370064785235250f, 
00323   0.970295726275996470f, 0.965925826289068310f, 0.961261695938318890f, 
00324   0.956304755963035550f, 0.951056516295153640f, 
00325   0.945518575599316850f, 0.939692620785908430f, 0.933580426497201740f, 
00326   0.927183854566787420f, 0.920504853452440370f, 0.913545457642600980f, 
00327   0.906307787036650050f, 0.898794046299166930f, 
00328   0.891006524188367900f, 0.882947592858927100f, 0.874619707139395850f, 
00329   0.866025403784438710f, 0.857167300702112330f, 0.848048096156426070f, 
00330   0.838670567945424050f, 0.829037572555041740f, 
00331   0.819152044288992020f, 0.809016994374947450f, 0.798635510047292720f, 
00332   0.788010753606722010f, 0.777145961456971010f, 0.766044443118978010f, 
00333   0.754709580222771790f, 0.743144825477394240f, 
00334   0.731353701619170570f, 0.719339800338651410f, 0.707106781186547570f, 
00335   0.694658370458997140f, 0.681998360062498590f, 0.669130606358858350f, 
00336   0.656059028990507280f, 0.642787609686539470f, 
00337   0.629320391049837720f, 0.615661475325658400f, 0.601815023152048160f, 
00338   0.587785252292473250f, 0.573576436351046380f, 0.559192903470746900f, 
00339   0.544639035015026860f, 0.529919264233204900f, 
00340   0.515038074910054380f, 0.499999999999999940f, 0.484809620246337170f, 
00341   0.469471562785891080f, 0.453990499739546860f, 0.438371146789077290f, 
00342   0.422618261740699500f, 0.406736643075800430f, 
00343   0.390731128489274160f, 0.374606593415912240f, 0.358367949545300210f, 
00344   0.342020143325668880f, 0.325568154457156980f, 0.309016994374947510f, 
00345   0.292371704722737050f, 0.275637355816999660f, 
00346   0.258819045102521020f, 0.241921895599667730f, 0.224951054343864780f, 
00347   0.207911690817759310f, 0.190808995376544970f, 0.173648177666930280f, 
00348   0.156434465040230980f, 0.139173100960065740f, 
00349   0.121869343405147550f, 0.104528463267653730f, 0.087155742747658638f, 
00350   0.069756473744125524f, 0.052335956242943807f, 0.034899496702500699f, 
00351   0.017452406437283439f, 0.000000000000000122f 
00352 }; 
00353  
00354  
00355 /**  
00356  * @brief  Floating-point sin_cos function. 
00357  * @param[in]  theta    input value in degrees  
00358  * @param[out] *pSinVal points to the processed sine output.  
00359  * @param[out] *pCosVal points to the processed cos output.  
00360  * @return none. 
00361  */ 
00362  
00363  
00364 void arm_sin_cos_f32( 
00365   float32_t theta, 
00366   float32_t * pSinVal, 
00367   float32_t * pCosVal) 
00368 { 
00369   uint32_t i;                                    /* Index for reading nearwst output values */ 
00370   float32_t x1 = -179.0f;                        /* Initial input value */ 
00371   float32_t y0, y1;                              /* nearest output values */ 
00372   float32_t fract;                               /* fractional part of input */ 
00373  
00374   /* Calculation of fractional part */ 
00375   if(theta > 0.0f) 
00376   { 
00377     fract = theta - (float32_t) ((int32_t) theta); 
00378   } 
00379   else 
00380   { 
00381     fract = (theta - (float32_t) ((int32_t) theta)) + 1.0f; 
00382   } 
00383  
00384   /* index calculation for reading nearest output values */ 
00385   i = (uint32_t) (theta - x1); 
00386  
00387   /* reading nearest sine output values */ 
00388   y0 = sinTable [i]; 
00389   y1 = sinTable [i + 1u]; 
00390  
00391   /* Calculation of sine value */ 
00392   *pSinVal = y0 + (fract * (y1 - y0)); 
00393  
00394   /* reading nearest cosine output values */ 
00395   y0 = cosTable [i]; 
00396   y1 = cosTable [i + 1u]; 
00397  
00398   /* Calculation of cosine value */ 
00399   *pCosVal = y0 + (fract * (y1 - y0)); 
00400  
00401 } 
00402  
00403 /**  
00404  * @} end of SinCos group  
00405  */