File size: 4,018 Bytes
25ade36 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 | #include "edge-impulse-sdk/dsp/config.hpp"
#if EIDSP_LOAD_CMSIS_DSP_SOURCES
/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_atan2_f32.c
* Description: float32 Arc tangent of y/x
*
* $Date: 22 April 2022
* $Revision: V1.10.0
*
* Target Processor: Cortex-M and Cortex-A cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2022 ARM Limited or its affiliates. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed 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
*
* 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.
*/
#include "edge-impulse-sdk/CMSIS/DSP/Include/dsp/fast_math_functions.h"
/*
atan for argument between in [0, 1.0]
*/
#define ATANHALFF32 0.463648f
#define PIHALFF32 1.5707963267948966192313f
#define ATAN2_NB_COEFS_F32 10
static const float32_t atan2_coefs_f32[ATAN2_NB_COEFS_F32]={0.0f
,1.0000001638308195518f
,-0.0000228941363602264f
,-0.3328086544578890873f
,-0.004404814619311061f
,0.2162217461808173258f
,-0.0207504842057097504f
,-0.1745263362250363339f
,0.1340557235283553386f
,-0.0323664125927477625f
};
__STATIC_FORCEINLINE float32_t arm_atan_limited_f32(float32_t x)
{
float32_t res=atan2_coefs_f32[ATAN2_NB_COEFS_F32-1];
int i=1;
for(i=1;i<ATAN2_NB_COEFS_F32;i++)
{
res = x*res + atan2_coefs_f32[ATAN2_NB_COEFS_F32-1-i];
}
return(res);
}
__STATIC_FORCEINLINE float32_t arm_atan_f32(float32_t x)
{
int sign=0;
float32_t res=0.0f;
if (x < 0.0f)
{
sign=1;
x=-x;
}
if (x > 1.0f)
{
x = 1.0f / x;
res = PIHALFF32 - arm_atan_limited_f32(x);
}
else
{
res += arm_atan_limited_f32(x);
}
if (sign)
{
res = -res;
}
return(res);
}
/**
@ingroup groupFastMath
*/
/**
@defgroup atan2 ArcTan2
Computing Arc tangent only using the ratio y/x is not enough to determine the angle
since there is an indeterminacy. Opposite quadrants are giving the same ratio.
ArcTan2 is not using y/x to compute the angle but y and x and use the sign of y and x
to determine the quadrant.
*/
/**
@addtogroup atan2
@{
*/
/**
@brief Arc Tangent of y/x using sign of y and x to get right quadrant
@param[in] y y coordinate
@param[in] x x coordinate
@param[out] result Result
@return error status.
@par Compute the Arc tangent of y/x:
The sign of y and x are used to determine the right quadrant
and compute the right angle.
*/
arm_status arm_atan2_f32(float32_t y,float32_t x,float32_t *result)
{
if (x > 0.0f)
{
*result=arm_atan_f32(y/x);
return(ARM_MATH_SUCCESS);
}
if (x < 0.0f)
{
if (y > 0.0f)
{
*result=arm_atan_f32(y/x) + PI;
}
else if (y < 0.0f)
{
*result=arm_atan_f32(y/x) - PI;
}
else
{
if (signbit(y))
{
*result= -PI;
}
else
{
*result= PI;
}
}
return(ARM_MATH_SUCCESS);
}
if (x == 0.0f)
{
if (y > 0.0f)
{
*result=PIHALFF32;
return(ARM_MATH_SUCCESS);
}
if (y < 0.0f)
{
*result=-PIHALFF32;
return(ARM_MATH_SUCCESS);
}
}
return(ARM_MATH_NANINF);
}
/**
@} end of atan2 group
*/
#endif // EIDSP_LOAD_CMSIS_DSP_SOURCES
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