123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264 |
- /****************************************************************************
- * include/fixedmath.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_FIXEDMATH_H
- #define __INCLUDE_FIXEDMATH_H
- /****************************************************************************
- * Included Files
- ****************************************************************************/
- #include <nuttx/compiler.h>
- #include <stdint.h>
- /****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
- /* Common numbers */
- #define b8HUNDRED 0x6400 /* 100 */
- #define b8TEN 0x0a00 /* 10 */
- #define b8ONE 0x0100 /* 1 */
- #define b8HALF 0x0080 /* 0.5 */
- #define b8ONETENTH 0x001a /* 0.1 (actually 0.1015625) */
- #define b8ONEHUNDRTH 0x0003 /* 0.01 (actually 0.0117198765) */
- #define b8HALFPI 0x0192 /* 1.5703125 */
- #define b8PI 0x0324 /* 3.1406250 */
- #define b8TWOPI 0x0648 /* 6.2812500 */
- #define b8MAX 0x7fff /* Max value of b8_t */
- #define ub8MAX 0xffff /* Max value of rb8_t */
- #define b8MIN 0x8000 /* Min value of b8_t */
- #define ub8MIN 0x0000 /* Min value of ub8_t */
- #define b16THOUSAND 0x03e80000 /* 1000 */
- #define b16HUNDRED 0x00640000 /* 100 */
- #define b16TEN 0x000a0000 /* 10 */
- #define b16ONE 0x00010000 /* 1 */
- #define b16HALF 0x00008000 /* 0.5 */
- #define b16ONETENTH 0x0000199a /* 0.1 (actually 0.100006..) */
- #define b16ONEHUNDRTH 0x0000028f /* 0.01 (actually 0.0099945..) */
- #define b16ONETHOUSTH 0x00000042 /* 0.001 (actually 0.000100708..)*/
- #define b16HALFPI 0x0001921f /* 1.57078552246 */
- #define b16PI 0x0003243f /* 3.14158630371 */
- #define b16TWOPI 0x0006487b /* 6.28312683105 */
- #define b16MAX 0x7fffffff /* Max value of b16_t */
- #define ub16MAX 0xffffffff /* Max value of ub16_t */
- #define b16MIN 0x80000000 /* Min value of b16_t */
- #define ub16MIN 0x00000000 /* Min value of ub16_t */
- #define b32MILLION 0x000f424000000000LL /* 1000000 */
- #define b32THOUSAND 0x000003e800000000LL /* 1000 */
- #define b32HUNDRED 0x0000006400000000LL /* 100 */
- #define b32TEN 0x0000000a00000000LL /* 10 */
- #define b32ONE 0x0000000100000000LL /* 1 */
- #define b32HALF 0x0000000080000000LL /* 0.5 */
- #define b32ONETENTH 0x000000001999999aLL /* 0.1 */
- #define b32ONEHUNDRTH 0x00000000028f5c29LL /* 0.01 */
- #define b32ONETHOUSTH 0x0000000000418937LL /* 0.001 */
- #define b32ONETENTHOU 0x0000000000068db9LL /* 0.0001 */
- #define b32HALFPI 0x00000001921eb9ffLL /* 1.57078134990 */
- #define b32PI 0x00000003243f6b4fLL /* 3.14159269980 */
- #define b32TWOPI 0x00000006487ae7fdLL /* 6.28312539984 */
- #define b32MAX 0x7fffffffffffffffLL /* Max value of b32_t */
- #define ub32MAX 0xffffffffffffffffLL /* Max value of ub32_t */
- #define b32MIN 0x8000000000000000LL /* Min value of b32_t */
- #define ub32MIN 0x0000000000000000LL /* Min value of ub32_t */
- /* Conversions between b32, b16, and b8 *************************************/
- #define b8tob16(b) (((b16_t)(b)) << 8)
- #define ub8toub16(b) (((ub16_t)(b)) << 8)
- #define b16tob8(b) (b8_t)(((b)+0x0080)>>8)
- #define ub16toub8(b) (ub8_t)(((b)+0x0080)>>8)
- #ifdef CONFIG_HAVE_LONG_LONG
- # define b8tob32(b) (((b32_t)(b)) << 24)
- # define ub8toub32(b) (((ub32_t)(b)) << 24)
- # define b16tob32(b) (((b32_t)(b)) << 16)
- # define ub16toub32(b) (((ub32_t)(b)) << 16)
- # define b32tob16(b) (b16_t)(((b) + 0x0000000000008000)>>16)
- # define ub32toub16(b) (ub16_t)(((b) + 0x0000000000008000)>>16)
- # define b32tob8(b) (b8_t)(((b) + 0x0000000000000080)>>8)
- #endif
- /* 16-bit values with 8 bits of precision ***********************************/
- /* Conversions */
- #define b8toi(a) ((a) >> 8) /* Conversion to integer */
- #define ub8toi(a) ((a) >> 8) /* Conversion to unsigned integer */
- #define itob8(i) (((b8_t)(i)) << 8) /* Conversion from integer */
- #define uitoub8(i) (((ub8_t)(i)) << 8) /* Conversion from unsigned integer */
- #define b8tof(b) (((float)(b))/256.0f) /* Conversion to float */
- #define ftob8(f) (b8_t)(((f)*256.0f)) /* Conversion from float */
- #define b8trunc(a) ((a) & 0xff00) /* Truncate to integer b8 */
- #define b8round(a) (((a)+0x0080) & 0xff00) /* Round to integer b8 */
- #define b8frac(a) ((a) & 0x00ff) /* Take fractional part */
- /* Operators */
- #define ub8inv(b) (0x8000/((b)>>1)) /* Inversion (b8=b15/b7) */
- #define b8inv(b) (0x4000/((b)>>2)) /* Inversion (b8=b14/b6) */
- #define b8addb8(a,b) ((a)+(b)) /* Addition */
- #define b8addi(a,i) ((a)+itob8(i)) /* Add integer from b16 */
- #define b8subb8(a,b) ((a)-(b)) /* Subtraction */
- #define b8subi(a,i) ((a)-itob8(i)) /* Subtract integer from b8 */
- #define b8mulb8(a,b) (b16tob8((b16_t)(a)*(b16_t)(b)) /* Muliplication */
- #define ub8mulub8(a,b) (ub16toub8((ub16_t)(a)*(ub16_t)(b)) /* Muliplication */
- #define b8muli(a,i) ((a)*(i)) /* Simple multiplication by integer */
- #define b8sqr(a) b8mulb8(a,a) /* Square */
- #define ub8sqr(a) ub8mulub8(a,a) /* Square */
- #define b8divb8(a,b) (b8tob16(a)/(b16_t)(b)) /* Division */
- #define ub8divub8(a,b) (ub8toub16(a)/(ub16_t)(b)) /* Division */
- #define b8divi(a,i) ((a)/(i)) /* Simple division by integer */
- #define b8idiv(i,j) (((i)<<8)/j) /* Division of integer, b8 result */
- /* 32-bit values with 16 bits of precision **********************************/
- /* Conversions */
- #define b16toi(a) ((a) >> 16) /* Conversion to integer */
- #define ub16toi(a) ((a) >> 16) /* Conversion to unsgined integer */
- #define itob16(i) (((b16_t)(i)) << 16) /* Conversion from integer */
- #define uitoub16(i) (((ub16_t)(i)) << 16) /* Conversion from unsigned integer */
- #define b16tof(b) (((float)(b))/65536.0f) /* Conversion to float */
- #define ftob16(f) (b16_t)(((f)*65536.0f)) /* Conversion from float */
- #define b16tod(b) (((double)(b))/65536.0) /* Conversion to double */
- #define dtob16(f) (b16_t)(((f)*65536.0)) /* Conversion from double */
- #define b16trunc(a) ((a) & 0xffff0000) /* Truncate to integer */
- #define b16round(a) (((a)+0x00008000) & 0xffff0000)
- #define b16frac(a) ((a) & 0x0000ffff) /* Take fractional part */
- /* Operators */
- #define ub16inv(b) (0x80000000/((b)>>1)) /* Inversion (b16=b31/b15) */
- #define b16inv(b) (0x40000000/((b)>>2)) /* Inversion (b16=b30/b14) */
- #define b16addb16(a,b) ((a)+(b)) /* Addition */
- #define b16addi(a,i) ((a)+itob16(i)) /* Add integer to b16 */
- #define b16subb16(a,b) ((a)-(b)) /* Subtraction */
- #define b16subi(a,i) ((a)-itob16(i)) /* Subtract integer from b16 */
- #define b16muli(a,i) ((a)*(i)) /* Simple multiplication by integer */
- #define b16divi(a,i) ((a)/(i)) /* Simple division by integer*/
- #define b16idiv(i,j) (((i)<<16)/j) /* Division of integer, b16 result */
- #ifdef CONFIG_HAVE_LONG_LONG
- /* Multiplication operators */
- # define b16mulb16(a,b) b32tob16((b32_t)(a)*(b32_t)(b))
- # define ub16mulub16(a,b) ub32toub16((ub32_t)(a)*(ub32_t)(b))
- /* Square operators */
- # define b16sqr(a) b16mulb16(a,a)
- # define ub16sqr(a) ub16mulub16(a,a)
- /* Division operators */
- # define b16divb16(a,b) (b16_t)(b16tob32(a)/(b32_t)(b))
- # define ub16divub16(a,b) (ub16_t)(ub16toub32(a)/(ub32_t)(b))
- /* Square root operators */
- # define ub16sqrtub16(a) ub32sqrtub16(ub16toub32(a))
- #else
- # define ub16sqrtub16(a) ub8toub16(ub16sqrtub8(a))
- #endif
- /* 64-bit values with 32 bits of precision **********************************/
- #ifdef CONFIG_HAVE_LONG_LONG
- /* Conversions */
- #define b32toi(a) ((a) >> 32) /* Conversion to integer */
- #define itob32(i) (((b32_t)(i)) << 32) /* Conversion from integer */
- #define uitoub32(i) (((ub32_t)(i)) << 32) /* Conversion from unsigned integer */
- #define b32tod(b) (((double)(b))/b32ONE) /* Conversion to double */
- #define dtob32(f) (b32_t)(((f)*(double)b32ONE)) /* Conversion from double */
- #define b32trunc(a) ((a) & 0xffffffff00000000) /* Truncate to integer */
- #define b32round(a) (((a)+0x0000000080000000) & 0xffffffff00000000)
- #define b32frac(a) ((a) & 0x00000000ffffffff) /* Take fractional part */
- #endif
- /****************************************************************************
- * Public Types
- ****************************************************************************/
- typedef int16_t b8_t;
- typedef uint16_t ub8_t;
- typedef int32_t b16_t;
- typedef uint32_t ub16_t;
- #ifdef CONFIG_HAVE_LONG_LONG
- typedef int64_t b32_t;
- typedef uint64_t ub32_t;
- #endif
- /****************************************************************************
- * Public Function Prototypes
- ****************************************************************************/
- #undef EXTERN
- #if defined(__cplusplus)
- #define EXTERN extern "C"
- extern "C"
- {
- #else
- #define EXTERN extern
- #endif
- #ifndef CONFIG_HAVE_LONG_LONG
- /* Multiplication operators */
- b16_t b16mulb16(b16_t m1, b16_t m2);
- ub16_t ub16mulub16(ub16_t m1, ub16_t m2);
- /* Square operators */
- b16_t b16sqr(b16_t a);
- ub16_t ub16sqr(ub16_t a);
- /* Division operators */
- b16_t b16divb16(b16_t num, b16_t denom);
- ub16_t ub16divub16(ub16_t num, ub16_t denom);
- #endif
- /* Trigonometric Functions */
- b16_t b16sin(b16_t rad);
- b16_t b16cos(b16_t rad);
- b16_t b16atan2(b16_t y, b16_t x);
- /* Square root operators */
- #ifdef CONFIG_HAVE_LONG_LONG
- ub16_t ub32sqrtub16(ub32_t a);
- #endif
- ub8_t ub16sqrtub8(ub16_t a);
- #undef EXTERN
- #if defined(__cplusplus)
- }
- #endif
- #endif /* __INCLUDE_FIXEDMATH_H */
|