418 lines
15 KiB
C
418 lines
15 KiB
C
|
#ifndef _FASTRTS_H_
|
||
|
|
#define _FASTRTS_H_
|
||
|
|
//#############################################################################
|
||
|
|
//
|
||
|
|
//! \file fastrts_.h
|
||
|
|
//!
|
||
|
|
//! \brief Fast RTS Definitions and Types
|
||
|
|
//! \author Vishal Coelho
|
||
|
|
//! \date Dec 25, 2015
|
||
|
|
//
|
||
|
|
// Group: C2000
|
||
|
|
// Target Device: C28x+FPU32/FPU64
|
||
|
|
//
|
||
|
|
//#############################################################################
|
||
|
|
//!
|
||
|
|
//! Copyright: Copyright (C) 2023 Texas Instruments Incorporated -
|
||
|
|
//! All rights reserved not granted herein.
|
||
|
|
//! Limited License.
|
||
|
|
//!
|
||
|
|
//! Texas Instruments Incorporated grants a world-wide, royalty-free,
|
||
|
|
//! non-exclusive license under copyrights and patents it now or hereafter
|
||
|
|
//! owns or controls to make, have made, use, import, offer to sell and sell
|
||
|
|
//! ("Utilize") this software subject to the terms herein. With respect to the
|
||
|
|
//! foregoing patent license, such license is granted solely to the extent that
|
||
|
|
//! any such patent is necessary to Utilize the software alone. The patent
|
||
|
|
//! license shall not apply to any combinations which include this software,
|
||
|
|
//! other than combinations with devices manufactured by or for TI
|
||
|
|
//! ("TI Devices").
|
||
|
|
//! No hardware patent is licensed hereunder.
|
||
|
|
//!
|
||
|
|
//! Redistributions must preserve existing copyright notices and reproduce this
|
||
|
|
//! license (including the above copyright notice and the disclaimer and
|
||
|
|
//! (if applicable) source code license limitations below) in the documentation
|
||
|
|
//! and/or other materials provided with the distribution.
|
||
|
|
//!
|
||
|
|
//! Redistribution and use in binary form, without modification, are permitted
|
||
|
|
//! provided that the following conditions are met:
|
||
|
|
//!
|
||
|
|
//! * No reverse engineering, decompilation, or disassembly of this software is
|
||
|
|
//! permitted with respect to any software provided in binary form.
|
||
|
|
//! * Any redistribution and use are licensed by TI for use only
|
||
|
|
//! with TI Devices.
|
||
|
|
//! * Nothing shall obligate TI to provide you with source code for the
|
||
|
|
//! software licensed and provided to you in object code.
|
||
|
|
//!
|
||
|
|
//! If software source code is provided to you, modification and redistribution
|
||
|
|
//! of the source code are permitted provided that the following conditions
|
||
|
|
//! are met:
|
||
|
|
//!
|
||
|
|
//! * any redistribution and use of the source code, including any resulting
|
||
|
|
//! derivative works, are licensed by TI for use only with TI Devices.
|
||
|
|
//! * any redistribution and use of any object code compiled from the source
|
||
|
|
//! code and any resulting derivative works, are licensed by TI for use
|
||
|
|
//! only with TI Devices.
|
||
|
|
//!
|
||
|
|
//! Neither the name of Texas Instruments Incorporated nor the names of its
|
||
|
|
//! suppliers may be used to endorse or promote products derived from this
|
||
|
|
//! software without specific prior written permission.
|
||
|
|
//#############################################################################
|
||
|
|
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
// the includes
|
||
|
|
//*****************************************************************************
|
||
|
|
#include <stdint.h>
|
||
|
|
|
||
|
|
//!
|
||
|
|
//! \defgroup FASTRTS_F64 Fast RTS Definitions and Types
|
||
|
|
//!
|
||
|
|
//! \ingroup FASTRTS_F64
|
||
|
|
//@{
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//defines
|
||
|
|
//*****************************************************************************
|
||
|
|
//! FAST RTS Library Version
|
||
|
|
#define LIBRARY_VERSION "2.05.00.00"
|
||
|
|
|
||
|
|
#define COMPILER_FPU64_SUPPORT 0U
|
||
|
|
#define CONVERT_F32_TO_F64 0U
|
||
|
|
|
||
|
|
//! Determines if 0/0 results in a result of infinity
|
||
|
|
#define ZERO_BY_ZERO_EQ_INF 1U
|
||
|
|
//! Determines if 0/0 results in a result of zero
|
||
|
|
#define ZERO_BY_ZERO_EQ_ZER0 (!ZERO_O_ZERO_EQ_INF)
|
||
|
|
|
||
|
|
//! This line prevents conflicts with the data types and macros declared in
|
||
|
|
//! FPU DSP library
|
||
|
|
#ifndef _RTS_IN_USE_
|
||
|
|
#define _RTS_IN_USE_
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
// typedefs
|
||
|
|
//*****************************************************************************
|
||
|
|
// c2000 types for IEEE754 (same as defined in <device>/inc/hw_types.h)
|
||
|
|
#ifndef C2000_IEEE754_TYPES
|
||
|
|
#define C2000_IEEE754_TYPES
|
||
|
|
#ifdef __TI_EABI__
|
||
|
|
typedef float float32_t;
|
||
|
|
typedef double float64_t;
|
||
|
|
#else // TI COFF
|
||
|
|
typedef float float32_t;
|
||
|
|
typedef long double float64_t;
|
||
|
|
#endif // __TI_EABI__
|
||
|
|
#endif // C2000_IEEE754_TYPES
|
||
|
|
|
||
|
|
#if defined(__TMS320C28XX_FPU64__)
|
||
|
|
//! \brief 64-bit Double Precision Float
|
||
|
|
//! The union of a double precision value, an unsigned long long and a signed
|
||
|
|
//! long long allows for manipulation of the hex representation of the floating
|
||
|
|
//! point value as well as signed and unsigned arithmetic to determine error
|
||
|
|
//! metrics.
|
||
|
|
//! This data type is only defined if the compiler option --float_support is
|
||
|
|
//! set to fpu64
|
||
|
|
//!
|
||
|
|
typedef union
|
||
|
|
{
|
||
|
|
uint64_t ui64; //!< Unsigned long long representation
|
||
|
|
int64_t i64; //!< Signed long long represntaion
|
||
|
|
float64_t f64; //!< Double precision (64-bit) representation
|
||
|
|
}float64u_t;
|
||
|
|
#endif //defined(__TMS320C28XX_FPU64__)
|
||
|
|
|
||
|
|
#if (defined(__TMS320C28XX_FPU32__) || defined(__TMS320C28XX_FPU64__))
|
||
|
|
//! \brief 32-bit Double Precision Float
|
||
|
|
//! The union of a double precision value, an unsigned long and a signed
|
||
|
|
//! long allows for manipulation of the hex representation of the floating
|
||
|
|
//! point value as well as signed and unsigned arithmetic to determine error
|
||
|
|
//! metrics.
|
||
|
|
//! This data type is only defined if the compiler option --float_support is
|
||
|
|
//! set to fpu32
|
||
|
|
//!
|
||
|
|
typedef union
|
||
|
|
{
|
||
|
|
uint32_t ui32; //!< Unsigned long representation
|
||
|
|
int32_t i32; //!< Signed long represntaion
|
||
|
|
float f32; //!< Single precision (32-bit) representation
|
||
|
|
}float32u_t;
|
||
|
|
#endif //defined(__TMS320C28XX_FPU32__)
|
||
|
|
|
||
|
|
//! \brief a function pointer with a void pointer argument returning nothing
|
||
|
|
//!
|
||
|
|
typedef void (*v_pfn_v)(void *);
|
||
|
|
|
||
|
|
#if !(defined(__TMS320C28XX_FPU32__) || defined(__TMS320C28XX_FPU64__))
|
||
|
|
#error "--float_support=fpu64 option must be set to build the FPU64 \
|
||
|
|
version of the library. --float_support=fpu32 must be set to build the \
|
||
|
|
FPU32 version of the DSP library"
|
||
|
|
#endif // (defined(__TMS320C28XX_FPU32__) || defined(__TMS320C28XX_FPU64__))
|
||
|
|
|
||
|
|
#endif // _RTS_IN_USE
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//globals
|
||
|
|
//*****************************************************************************
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
// the function prototypes
|
||
|
|
//*****************************************************************************
|
||
|
|
#if defined(__TMS320C28XX_FPU64__)
|
||
|
|
void run_sin(float64u_t *pdest, float64u_t *psrc);
|
||
|
|
void run_cos(float64u_t *pdest, float64u_t *psrc);
|
||
|
|
void run_isqrt(float64u_t *pdest, float64u_t *psrc);
|
||
|
|
void run_sqrt(float64u_t *pdest, float64u_t *psrc);
|
||
|
|
void run_div(float64u_t *pdest, float64u_t *psrc1, float64u_t *psrc2);
|
||
|
|
void run_sincos(float64u_t *pangle, float64u_t *psin, float64u_t *pcos);
|
||
|
|
void run_atan(float64u_t *pdest, float64u_t *psrc);
|
||
|
|
void run_atan2(float64u_t *pdest, float64u_t *psrc1, float64u_t *psrc2);
|
||
|
|
#endif //__TMS320C28XX_FPU64__
|
||
|
|
|
||
|
|
#if defined(__TMS320C28XX_FPU64__)
|
||
|
|
//! \brief Double Precision Floating Point Sine and Cosine (radians)
|
||
|
|
//!
|
||
|
|
//! Returns both the sine and cosine of a floating-point argument X (in
|
||
|
|
//! radians) using table look-up and Taylor series expansion between the
|
||
|
|
//! look-up table entries.
|
||
|
|
//!
|
||
|
|
//! \param[in] X double precision floating point argument
|
||
|
|
//! \param[out] PtrSin pointer to the sine of the argument
|
||
|
|
//! \param[out] PtrCin pointer to the cosine of the argument
|
||
|
|
//! \return none
|
||
|
|
//!
|
||
|
|
//! \note This is not a standard C Math function; it requires the
|
||
|
|
//! "fastrts.h" header instead of "math.h"
|
||
|
|
//!
|
||
|
|
//! <table>
|
||
|
|
//! <caption id="multi_row">Performance Data</caption>
|
||
|
|
//! <tr><th>Cycles <th> Comment
|
||
|
|
//! <tr><td> 73 <td> Cycle count includes the call and return
|
||
|
|
//! </table>
|
||
|
|
//
|
||
|
|
#ifdef __TI_EABI__
|
||
|
|
void sincos(float64u_t radian, float64u_t* PtrSin, float64u_t* PtrCos);
|
||
|
|
#else
|
||
|
|
void sincosl(float64u_t radian, float64u_t* PtrSin, float64u_t* PtrCos);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
//! \brief Single-Precision Floating-Point 1.0/Square Root
|
||
|
|
//! \param[in] X double precision floating point argument
|
||
|
|
//! \return 1.0 /square root of a floating-point argument X using a Newton-
|
||
|
|
//! Raphson algorithm.
|
||
|
|
//!
|
||
|
|
//! \attention
|
||
|
|
//! -# isqrt(FLT_MAX) and isqrt(FLT_MIN) set the LUF flag.
|
||
|
|
//! -# isqrt(-FLT_MIN) will set both the LUF and LVF flags.
|
||
|
|
//! -# isqrt(0.0) sets the LVF flag.
|
||
|
|
//! -# If X is negative, isqrt(X) will set LVF and return 0.0.
|
||
|
|
//! -# This square root routine computes \f$\sqrt{x}\f$ by first estimating
|
||
|
|
//! \f$\frac{1}{\sqrt{x}}\f$, performing a few iterations of Newton-Raphson
|
||
|
|
//! approximation to improve the precision of \f$\frac{1}{\sqrt{x}}\f$, and
|
||
|
|
//! then finally multiplying that estimate by x; it essentially computes
|
||
|
|
//! \f$\sqrt{x}\f$ as \f$\frac{1}{\sqrt{x}} \times x\f$. If
|
||
|
|
//! \f$\frac{1}{\sqrt{x}}\f$ is not perfectly representable in the floating
|
||
|
|
//! point format it can lead to inaccuracies in the final result. The user is
|
||
|
|
//! encouraged to use the standard runtime support library division routine if
|
||
|
|
//! accuracy takes priority over speed.
|
||
|
|
//!
|
||
|
|
//! \note
|
||
|
|
//! -# This function is not included in the standard RTS library. It is
|
||
|
|
//! typically computed as \e 1.0L/sqrt(X) . To use this function
|
||
|
|
//! you must modify your code to instead call isqrt(X).
|
||
|
|
//! -# When migrating from an IQmath project, you can modify the IQmath
|
||
|
|
//! header file to use isqrt(X) when configured for FLOAT_MATH.
|
||
|
|
//! -# This is not a standard C Math function; it requires the
|
||
|
|
//! "fastrts.h" header instead of "math.h"
|
||
|
|
//!
|
||
|
|
//! <table>
|
||
|
|
//! <caption id="multi_row">Performance Data</caption>
|
||
|
|
//! <tr><th>Cycles <th> Comment
|
||
|
|
//! <tr><td> 59 <td> Cycle count includes the call and return
|
||
|
|
//! </table>
|
||
|
|
//
|
||
|
|
#ifdef __TI_EABI__
|
||
|
|
float64u_t isqrt(float64u_t X);
|
||
|
|
#else
|
||
|
|
float64u_t isqrtl(float64u_t X);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
//! \brief Single-Precision Floating-Point ATAN (radians)
|
||
|
|
//! \param[in] X double precision floating point argument
|
||
|
|
//! \return the arc tangent of a floating-point argument X. The return value
|
||
|
|
//! is an angle in the range \f$[-{\pi}, {\pi}]\f$ radians.
|
||
|
|
//!
|
||
|
|
//! \note This is a standard C math function and requires "math.h" to be
|
||
|
|
//! included
|
||
|
|
//!
|
||
|
|
//! <table>
|
||
|
|
//! <caption id="multi_row">Performance Data</caption>
|
||
|
|
//! <tr><th>Cycles <th> Comment
|
||
|
|
//! <tr><td> 78 <td> Cycle count includes the call and return
|
||
|
|
//! </table>
|
||
|
|
//
|
||
|
|
#ifdef __TI_EABI__
|
||
|
|
float64u_t atan (float64u_t X);
|
||
|
|
#else
|
||
|
|
float64u_t atanl (float64u_t X);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
//! \brief Single-Precision Floating-Point ATAN2 (radians)
|
||
|
|
//! \param[in] Y first double precision floating point argument
|
||
|
|
//! \param[in] X second double precision floating point argument
|
||
|
|
//! \return the 4-quadrant arctangent of floating-point arguments X/Y. The
|
||
|
|
//! return value is an angle in the range \f$[-{\pi}, {\pi}]\f$
|
||
|
|
//!
|
||
|
|
//! \note This is a standard C math function and requires "math.h" to be
|
||
|
|
//! included
|
||
|
|
//!
|
||
|
|
//! <table>
|
||
|
|
//! <caption id="multi_row">Performance Data</caption>
|
||
|
|
//! <tr><th>Cycles <th> Comment
|
||
|
|
//! <tr><td> 81 <td> Cycle count includes the call and return
|
||
|
|
//! </table>
|
||
|
|
//
|
||
|
|
#ifdef __TI_EABI__
|
||
|
|
float64u_t atan2 (float64u_t Y, float64u_t X);
|
||
|
|
#else
|
||
|
|
float64u_t atan2l (float64u_t Y, float64u_t X);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
//! \brief Single-Precision Floating-Point Cosine (radians)
|
||
|
|
//! \param[in] X double precision floating point argument
|
||
|
|
//! \return the cosine of a floating-point argument X (in radians) using table
|
||
|
|
//! look-up and Taylor series expansion between the look-up table entries.
|
||
|
|
//!
|
||
|
|
//! \note This is a standard C math function and requires "math.h" to be
|
||
|
|
//! included
|
||
|
|
//!
|
||
|
|
//! <table>
|
||
|
|
//! <caption id="multi_row">Performance Data</caption>
|
||
|
|
//! <tr><th>Cycles <th> Comment
|
||
|
|
//! <tr><td> 63 <td> Cycle count includes the call and return
|
||
|
|
//! </table>
|
||
|
|
//
|
||
|
|
#ifdef __TI_EABI__
|
||
|
|
float64u_t cos (float64u_t X);
|
||
|
|
#else
|
||
|
|
float64u_t cosl (float64u_t X);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
//! \brief Single-Precision Floating-Point Division
|
||
|
|
//!
|
||
|
|
//! Replaces the single-precision division operation from the standard RTS
|
||
|
|
//! library. This function uses a Newton-Raphson algorithm.
|
||
|
|
//!
|
||
|
|
//! In C code, an expression of the type \code Z = Y/X \endcode will
|
||
|
|
//! invoke FS$$DIV
|
||
|
|
//!
|
||
|
|
//! \param[in] X double precision floating point numerator
|
||
|
|
//! \param[in] Y double precision floating point denominator
|
||
|
|
//! \return the quotient
|
||
|
|
//!
|
||
|
|
//! \attention
|
||
|
|
//! -# This division routine computes y/x by first estimating (1/x), performing
|
||
|
|
//! a few iterations of Newton-Raphson approximation to improve the precision
|
||
|
|
//! of 1/x, and then finally multiplying that estimate by y; it essentially
|
||
|
|
//! computes y/x as (1/x)*y. If 1/x is not perfectly representable in the
|
||
|
|
//! floating point format it can lead to inaccuracies in the final result. The
|
||
|
|
//! user is encouraged to use the standard runtime support library division
|
||
|
|
//! routine if accuracy takes priority over speed.
|
||
|
|
//! -# These are the special cases for division
|
||
|
|
//!
|
||
|
|
//! <table>
|
||
|
|
//! <caption id="multi_row">Special Cases for Division</caption>
|
||
|
|
//! <tr><th> Case <th> Result <th> Flags
|
||
|
|
//! <tr><td> (0.0/0.0) <td> = +infinity <td>
|
||
|
|
//! <tr><td> (+DBL_MAX/+DBL_MAX) <td> = 0.0 <td> LUF = 1
|
||
|
|
//! <tr><td> (-DBL_MAX/+DBL_MAX) <td> = -0.0 <td> LUF = 1
|
||
|
|
//! <tr><td> (+DBL_MAX/-DBL_MAX) <td> = 0.0 <td> LUF = 1
|
||
|
|
//! <tr><td> (-DBL_MAX/-DBL_MAX) <td> = -0.0 <td> LUF = 1
|
||
|
|
//! <tr><td> (+DBL_MIN/+DBL_MAX) <td> = 0.0 <td> LUF = 1
|
||
|
|
//! <tr><td> (-DBL_MIN/+DBL_MAX) <td> = -0.0 <td> LUF = 1
|
||
|
|
//! <tr><td> (+DBL_MIN/-DBL_MAX) <td> = 0.0 <td> LUF = 1
|
||
|
|
//! <tr><td> (-DBL_MIN/-DBL_MAX) <td> = -0.0 <td> LUF = 1
|
||
|
|
//! </table>
|
||
|
|
//!
|
||
|
|
//! \note
|
||
|
|
//! -# This is a standard C math function and requires "math.h" to be
|
||
|
|
//! included
|
||
|
|
//!
|
||
|
|
//! <table>
|
||
|
|
//! <caption id="multi_row">Performance Data</caption>
|
||
|
|
//! <tr><th>Cycles <th> Comment
|
||
|
|
//! <tr><td> 51 <td> Cycle count includes the call and return
|
||
|
|
//! </table>
|
||
|
|
//
|
||
|
|
#ifdef __TI_EABI__
|
||
|
|
float64u_t __c28xabi_div (float64u_t X, float64u_t Y);
|
||
|
|
#else
|
||
|
|
float64u_t FD$$DIV (float64u_t X, float64u_t Y);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
//! \brief Single-Precision Floating-Point Sine (radians)
|
||
|
|
//! \param[in] X double precision floating point argument
|
||
|
|
//! \return the sine of a floating-point argument X (in radians) using table
|
||
|
|
//! look-up and Taylor series expansion between the look-up table entries.
|
||
|
|
//!
|
||
|
|
//! \note This is a standard C math function and requires "math.h" to be
|
||
|
|
//! included
|
||
|
|
//!
|
||
|
|
//! <table>
|
||
|
|
//! <caption id="multi_row">Performance Data</caption>
|
||
|
|
//! <tr><th>Cycles <th> Comment
|
||
|
|
//! <tr><td> 63 <td> Cycle count includes the call and return
|
||
|
|
//! </table>
|
||
|
|
//
|
||
|
|
#ifdef __TI_EABI__
|
||
|
|
float64u_t sin (float64u_t X);
|
||
|
|
#else
|
||
|
|
float64u_t sinl (float64u_t X);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
//! \brief Single-Precision Floating-Point Square Root
|
||
|
|
//! \param[in] X double precision floating point argument
|
||
|
|
//! \return the square root of a floating-point argument X using a Newton-
|
||
|
|
//! Raphson algorithm.
|
||
|
|
//!
|
||
|
|
//! \note This is a standard C math function and requires "math.h" to be
|
||
|
|
//! included
|
||
|
|
//!
|
||
|
|
//! \attention
|
||
|
|
//! -# sqrt(FLT_MAX) and sqrt(FLT_MIN) set the LUF flag.
|
||
|
|
//! -# sqrt(-FLT_MIN) will set both the LUF and LVF flags.
|
||
|
|
//! -# sqrt(0.0) sets the LVF flag.
|
||
|
|
//! -# If X is negative, sqrt(X) will set LVF and return 0.0.
|
||
|
|
//!
|
||
|
|
//! <table>
|
||
|
|
//! <caption id="multi_row">Performance Data</caption>
|
||
|
|
//! <tr><th>Cycles <th> Comment
|
||
|
|
//! <tr><td> 63 <td> Cycle count includes the call and return
|
||
|
|
//! </table>
|
||
|
|
//
|
||
|
|
#ifdef __TI_EABI__
|
||
|
|
float64u_t sqrt (float64u_t X);
|
||
|
|
#else
|
||
|
|
float64u_t sqrtl (float64u_t X);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif //__TMS320C28XX_FPU64__
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif // extern "C"
|
||
|
|
//@} // ingroup
|
||
|
|
|
||
|
|
#endif // end of _FASTRTS_H_definition
|
||
|
|
|
||
|
|
// End of File
|