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This commit is contained in:
Edward Emelianov
2026-08-12 22:35:39 +03:00
parent 40d0605218
commit 811d8bda5d
12 changed files with 464 additions and 41 deletions
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36
G4:G431/CORDIC/cordic.c
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@@ -33,17 +33,12 @@ static void cordic_enable(void){
static int32_t float_to_q31(float x){
if(x >= 1.0f) x = 1.0f - 1e-6f;
if(x <= -1.0f) x = -1.0f + 1e-6f;
return (int32_t)(x * 2147483648.0f);
return (int32_t)(x * Q31_BASE);
}
// Convert Q1.31 to float
static float q31_to_float(int32_t q){
return (float)q / 2147483648.0f;
}
// Wait CORDIC ready
static void cordic_wait_ready(void){
while(!(CORDIC->CSR & CORDIC_CSR_RRDY));
return (float)q / Q31_BASE;
}
static void cordic_init(void){
@@ -72,28 +67,40 @@ static float cordic_scalar(uint32_t func_mode, float x, int arg_count){
}
#endif
// sincos
void cordic_sincos(float angle, float *s, float *c){
float norm = angle / M_PIf;
if(norm > 1.0f) norm = 1.0f;
if(norm < -1.0f) norm = -1.0f;
cordic_init();
CORDIC->CSR = (CORDIC_CSR_FUNC_SIN << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF | CORDIC_CSR_NRES;
CORDIC->WDATA = float_to_q31(norm);
int32_t res = CORDIC->RDATA;
if(s) *s = q31_to_float(res);
res = CORDIC->RDATA;
if(c) *c = q31_to_float(res);
}
// sin
float cordic_sin(float angle){
float norm = angle / 3.141592653589793f;
float norm = angle / M_PIf;
if(norm > 1.0f) norm = 1.0f;
if(norm < -1.0f) norm = -1.0f;
cordic_init();
CORDIC->CSR = (CORDIC_CSR_FUNC_SIN << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
CORDIC->WDATA = float_to_q31(norm);
cordic_wait_ready();
int32_t res = CORDIC->RDATA; // ÐÅÒ×ÏÅ ÞÔÅÎÉÅ -> sin
int32_t res = CORDIC->RDATA;
return q31_to_float(res);
}
// cos
float cordic_cos(float angle){
float norm = angle / 3.141592653589793f;
float norm = angle / M_PIf;
if(norm > 1.0f) norm = 1.0f;
if(norm < -1.0f) norm = -1.0f;
cordic_init();
CORDIC->CSR = (CORDIC_CSR_FUNC_COS << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
CORDIC->WDATA = float_to_q31(norm);
cordic_wait_ready();
int32_t res = CORDIC->RDATA; // cos
return q31_to_float(res);
}
@@ -104,9 +111,8 @@ float cordic_atan(float val){
cordic_init();
CORDIC->CSR = (CORDIC_CSR_FUNC_ATAN << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
CORDIC->WDATA = float_to_q31(val);
cordic_wait_ready();
int32_t res = CORDIC->RDATA;
return q31_to_float(res) * 3.141592653589793f;
return q31_to_float(res) * M_PIf;
}
// sqrt
@@ -123,7 +129,6 @@ float cordic_sqrt(float x){
cordic_init();
CORDIC->CSR = (CORDIC_CSR_FUNC_SQRT << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
CORDIC->WDATA = float_to_q31(x);
cordic_wait_ready();
int32_t res = CORDIC->RDATA;
return scale * q31_to_float(res);
}
@@ -141,7 +146,6 @@ float cordic_log(float x){
cordic_init();
CORDIC->CSR = (CORDIC_CSR_FUNC_LOG << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
CORDIC->WDATA = float_to_q31(x);
cordic_wait_ready();
int32_t res = CORDIC->RDATA;
return q31_to_float(res) * 0.6931471805599453f + add;
}