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fix float rounding issue in sincos index calculation

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This commit is contained in:
Oskar Weigl
2018-09-27 21:29:21 -07:00
parent ece2921316
commit e4f5062652
2 changed files with 16 additions and 9 deletions
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Firmware/MotorControl/arm_cos_f32.c
+8 -2
View File
@@ -94,8 +94,14 @@ float32_t our_arm_cos_f32(
in = in - (float32_t) n;
/* Calculation of index of the table */
findex = (float32_t) FAST_MATH_TABLE_SIZE * in;
index = ((uint16_t)findex) & 0x1ff;
findex = (float32_t)FAST_MATH_TABLE_SIZE * in;
index = (uint16_t)findex;
/* when "in" is exactly 1, we need to rotate the index down to 0 */
if (index >= FAST_MATH_TABLE_SIZE) {
index = 0;
findex -= (float32_t)FAST_MATH_TABLE_SIZE;
}
/* fractional value calculation */
fract = findex - (float32_t) index;
Firmware/MotorControl/arm_sin_f32.c
+8 -7
View File
@@ -79,11 +79,6 @@ float32_t our_arm_sin_f32(
int32_t n;
float32_t findex;
/* Special case for small negative inputs */
if ((x < 0.0f) && (x >= -1.9e-7f)) {
return x;
}
/* input x is in radians */
/* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */
in = x * 0.159154943092f;
@@ -101,8 +96,14 @@ float32_t our_arm_sin_f32(
in = in - (float32_t) n;
/* Calculation of index of the table */
findex = (float32_t) FAST_MATH_TABLE_SIZE * in;
index = ((uint16_t)findex) & 0x1ff;
findex = (float32_t)FAST_MATH_TABLE_SIZE * in;
index = (uint16_t)findex;
/* when "in" is exactly 1, we need to rotate the index down to 0 */
if (index >= FAST_MATH_TABLE_SIZE) {
index = 0;
findex -= (float32_t)FAST_MATH_TABLE_SIZE;
}
/* fractional value calculation */
fract = findex - (float32_t) index;