| /**************************************************************************** |
| * include/fixedmath.h |
| * |
| * Copyright (C) 2008, 2017 Gregory Nutt. All rights reserved. |
| * Author: Gregory Nutt <gnutt@nuttx.org> |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in |
| * the documentation and/or other materials provided with the |
| * distribution. |
| * 3. Neither the name NuttX nor the names of its contributors may be |
| * used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
| * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
| * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| * POSSIBILITY OF SUCH DAMAGE. |
| * |
| ****************************************************************************/ |
| |
| #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 (acutally 0.1015625) */ |
| #define b8ONEHUNDRTH 0x0003 /* 0.01 (actualy 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 b16_t */ |
| #define ub32MAX 0xffffffffffffffffLL /* Max value of ub16_t */ |
| #define b32MIN 0x8000000000000000LL /* Min value of b16_t */ |
| #define ub32MIN 0x0000000000000000LL /* Min value of ub16_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 Functions |
| ****************************************************************************/ |
| |
| #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 */ |
