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Camera_driver: initialize project and libraries

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This commit is contained in:
Petr Malanik
2022-08-15 18:21:50 +02:00
parent 4da5aefb5a
commit 34b9eaafc2
1280 changed files with 1099270 additions and 0 deletions
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37
resources/Camera_driver/Drivers/CMSIS/DSP/Source/ControllerFunctions/CMakeLists.txt Normal file
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cmake_minimum_required (VERSION 3.6)
project(CMSISDSPController)
add_library(CMSISDSPController STATIC)
configdsp(CMSISDSPController ..)
include(interpol)
interpol(CMSISDSPController)
if (CONFIGTABLE AND ALLFAST)
target_compile_definitions(CMSISDSPController PUBLIC ARM_ALL_FAST_TABLES)
endif()
target_sources(CMSISDSPController PRIVATE arm_pid_init_f32.c)
target_sources(CMSISDSPController PRIVATE arm_pid_init_q15.c)
target_sources(CMSISDSPController PRIVATE arm_pid_init_q31.c)
target_sources(CMSISDSPController PRIVATE arm_pid_reset_f32.c)
target_sources(CMSISDSPController PRIVATE arm_pid_reset_q15.c)
target_sources(CMSISDSPController PRIVATE arm_pid_reset_q31.c)
if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_COS_F32)
target_sources(CMSISDSPController PRIVATE arm_sin_cos_f32.c)
endif()
if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_COS_Q31)
target_sources(CMSISDSPController PRIVATE arm_sin_cos_q31.c)
endif()
### Includes
target_include_directories(CMSISDSPController PUBLIC "${DSP}/../../Include")

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/ControllerFunctions/ControllerFunctions.c Normal file
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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: ControllerFunctions.c
* Description: Combination of all controller function source files.
*
* $Date: 18. March 2019
* $Revision: V1.0.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2019 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 "arm_pid_init_f32.c"
#include "arm_pid_init_q15.c"
#include "arm_pid_init_q31.c"
#include "arm_pid_reset_f32.c"
#include "arm_pid_reset_q15.c"
#include "arm_pid_reset_q31.c"
#include "arm_sin_cos_f32.c"
#include "arm_sin_cos_q31.c"

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c Normal file
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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_pid_init_f32.c
* Description: Floating-point PID Control initialization function
*
* $Date: 18. March 2019
* $Revision: V1.6.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2019 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 "arm_math.h"
/**
@addtogroup PID
@{
*/
/**
@brief Initialization function for the floating-point PID Control.
@param[in,out] S points to an instance of the PID structure
@param[in] resetStateFlag
- value = 0: no change in state
- value = 1: reset state
@return none
@par Details
The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
also sets the state variables to all zeros.
*/
void arm_pid_init_f32(
arm_pid_instance_f32 * S,
int32_t resetStateFlag)
{
/* Derived coefficient A0 */
S->A0 = S->Kp + S->Ki + S->Kd;
/* Derived coefficient A1 */
S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
/* Derived coefficient A2 */
S->A2 = S->Kd;
/* Check whether state needs reset or not */
if (resetStateFlag)
{
/* Reset state to zero, The size will be always 3 samples */
memset(S->state, 0, 3U * sizeof(float32_t));
}
}
/**
@} end of PID group
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c Normal file
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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_pid_init_q15.c
* Description: Q15 PID Control initialization function
*
* $Date: 18. March 2019
* $Revision: V1.6.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2019 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 "arm_math.h"
/**
@addtogroup PID
@{
*/
/**
@brief Initialization function for the Q15 PID Control.
@param[in,out] S points to an instance of the Q15 PID structure
@param[in] resetStateFlag
- value = 0: no change in state
- value = 1: reset state
@return none
@par Details
The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
also sets the state variables to all zeros.
*/
void arm_pid_init_q15(
arm_pid_instance_q15 * S,
int32_t resetStateFlag)
{
#if defined (ARM_MATH_DSP)
/* Derived coefficient A0 */
S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
/* Derived coefficients and pack into A1 */
#ifndef ARM_MATH_BIG_ENDIAN
S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
#else
S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
#endif
#else
q31_t temp; /* to store the sum */
/* Derived coefficient A0 */
temp = S->Kp + S->Ki + S->Kd;
S->A0 = (q15_t) __SSAT(temp, 16);
/* Derived coefficients and pack into A1 */
temp = -(S->Kd + S->Kd + S->Kp);
S->A1 = (q15_t) __SSAT(temp, 16);
S->A2 = S->Kd;
#endif /* #if defined (ARM_MATH_DSP) */
/* Check whether state needs reset or not */
if (resetStateFlag)
{
/* Reset state to zero, The size will be always 3 samples */
memset(S->state, 0, 3U * sizeof(q15_t));
}
}
/**
@} end of PID group
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c Normal file
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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_pid_init_q31.c
* Description: Q31 PID Control initialization function
*
* $Date: 18. March 2019
* $Revision: V1.6.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2019 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 "arm_math.h"
/**
@addtogroup PID
@{
*/
/**
@brief Initialization function for the Q31 PID Control.
@param[in,out] S points to an instance of the Q31 PID structure
@param[in] resetStateFlag
- value = 0: no change in state
- value = 1: reset state
@return none
@par Details
The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
also sets the state variables to all zeros.
*/
void arm_pid_init_q31(
arm_pid_instance_q31 * S,
int32_t resetStateFlag)
{
#if defined (ARM_MATH_DSP)
/* Derived coefficient A0 */
S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
/* Derived coefficient A1 */
S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
#else
q31_t temp; /* to store the sum */
/* Derived coefficient A0 */
temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
/* Derived coefficient A1 */
temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
#endif /* #if defined (ARM_MATH_DSP) */
/* Derived coefficient A2 */
S->A2 = S->Kd;
/* Check whether state needs reset or not */
if (resetStateFlag)
{
/* Reset state to zero, The size will be always 3 samples */
memset(S->state, 0, 3U * sizeof(q31_t));
}
}
/**
@} end of PID group
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c Normal file
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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_pid_reset_f32.c
* Description: Floating-point PID Control reset function
*
* $Date: 18. March 2019
* $Revision: V1.6.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2019 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 "arm_math.h"
/**
@addtogroup PID
@{
*/
/**
@brief Reset function for the floating-point PID Control.
@param[in,out] S points to an instance of the floating-point PID structure
@return none
@par Details
The function resets the state buffer to zeros.
*/
void arm_pid_reset_f32(
arm_pid_instance_f32 * S)
{
/* Reset state to zero, The size will be always 3 samples */
memset(S->state, 0, 3U * sizeof(float32_t));
}
/**
@} end of PID group
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c Normal file
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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_pid_reset_q15.c
* Description: Q15 PID Control reset function
*
* $Date: 18. March 2019
* $Revision: V1.6.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2019 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 "arm_math.h"
/**
@addtogroup PID
@{
*/
/**
@brief Reset function for the Q15 PID Control.
@param[in,out] S points to an instance of the Q15 PID structure
@return none
@par Details
The function resets the state buffer to zeros.
*/
void arm_pid_reset_q15(
arm_pid_instance_q15 * S)
{
/* Reset state to zero, The size will be always 3 samples */
memset(S->state, 0, 3U * sizeof(q15_t));
}
/**
@} end of PID group
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c Normal file
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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_pid_reset_q31.c
* Description: Q31 PID Control reset function
*
* $Date: 18. March 2019
* $Revision: V1.6.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2019 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 "arm_math.h"
/**
@addtogroup PID
@{
*/
/**
@brief Reset function for the Q31 PID Control.
@param[in,out] S points to an instance of the Q31 PID structure
@return none
@par Details
The function resets the state buffer to zeros.
*/
void arm_pid_reset_q31(
arm_pid_instance_q31 * S)
{
/* Reset state to zero, The size will be always 3 samples */
memset(S->state, 0, 3U * sizeof(q31_t));
}
/**
@} end of PID group
*/

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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_sin_cos_f32.c
* Description: Sine and Cosine calculation for floating-point values
*
* $Date: 18. March 2019
* $Revision: V1.6.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2019 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 "arm_math.h"
#include "arm_common_tables.h"
/**
@ingroup groupController
*/
/**
@defgroup SinCos Sine Cosine
Computes the trigonometric sine and cosine values using a combination of table lookup
and linear interpolation.
There are separate functions for Q31 and floating-point data types.
The input to the floating-point version is in degrees while the
fixed-point Q31 have a scaled input with the range
[-1 0.9999] mapping to [-180 +180] degrees.
The floating point function also allows values that are out of the usual range. When this happens, the function will
take extra time to adjust the input value to the range of [-180 180].
The result is accurate to 5 digits after the decimal point.
The implementation is based on table lookup using 360 values together with linear interpolation.
The steps used are:
-# Calculation of the nearest integer table index.
-# Compute the fractional portion (fract) of the input.
-# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.
-# Sine value is computed as <code> *psinVal = y0 + (fract * (y1 - y0))</code>.
-# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.
-# Cosine value is computed as <code> *pcosVal = y0 + (fract * (y1 - y0))</code>.
*/
/**
@addtogroup SinCos
@{
*/
/**
@brief Floating-point sin_cos function.
@param[in] theta input value in degrees
@param[out] pSinVal points to processed sine output
@param[out] pCosVal points to processed cosine output
@return none
*/
void arm_sin_cos_f32(
float32_t theta,
float32_t * pSinVal,
float32_t * pCosVal)
{
float32_t fract, in; /* Temporary input, output variables */
uint16_t indexS, indexC; /* Index variable */
float32_t f1, f2, d1, d2; /* Two nearest output values */
float32_t Dn, Df;
float32_t temp, findex;
/* input x is in degrees */
/* Scale input, divide input by 360, for cosine add 0.25 (pi/2) to read sine table */
in = theta * 0.00277777777778f;
if (in < 0.0f)
{
in = -in;
}
in = in - (int32_t)in;
/* Calculate the nearest index */
findex = (float32_t)FAST_MATH_TABLE_SIZE * in;
indexS = ((uint16_t)findex) & 0x1ff;
indexC = (indexS + (FAST_MATH_TABLE_SIZE / 4)) & 0x1ff;
/* Calculation of fractional value */
fract = findex - (float32_t) indexS;
/* Read two nearest values of input value from the cos & sin tables */
f1 = sinTable_f32[indexC ];
f2 = sinTable_f32[indexC+1];
d1 = -sinTable_f32[indexS ];
d2 = -sinTable_f32[indexS+1];
temp = (1.0f - fract) * f1 + fract * f2;
Dn = 0.0122718463030f; /* delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE */
Df = f2 - f1; /* delta between the values of the functions */
temp = Dn * (d1 + d2) - 2 * Df;
temp = fract * temp + (3 * Df - (d2 + 2 * d1) * Dn);
temp = fract * temp + d1 * Dn;
/* Calculation of cosine value */
*pCosVal = fract * temp + f1;
/* Read two nearest values of input value from the cos & sin tables */
f1 = sinTable_f32[indexS ];
f2 = sinTable_f32[indexS+1];
d1 = sinTable_f32[indexC ];
d2 = sinTable_f32[indexC+1];
temp = (1.0f - fract) * f1 + fract * f2;
Df = f2 - f1; // delta between the values of the functions
temp = Dn * (d1 + d2) - 2 * Df;
temp = fract * temp + (3 * Df - (d2 + 2 * d1) * Dn);
temp = fract * temp + d1 * Dn;
/* Calculation of sine value */
*pSinVal = fract * temp + f1;
if (theta < 0.0f)
{
*pSinVal = -*pSinVal;
}
}
/**
@} end of SinCos group
*/

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resources/Camera_driver/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c Normal file
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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_sin_cos_q31.c
* Description: Cosine & Sine calculation for Q31 values
*
* $Date: 18. March 2019
* $Revision: V1.6.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2019 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 "arm_math.h"
#include "arm_common_tables.h"
/**
@ingroup groupController
*/
/**
@addtogroup SinCos
@{
*/
/**
@brief Q31 sin_cos function.
@param[in] theta scaled input value in degrees
@param[out] pSinVal points to processed sine output
@param[out] pCosVal points to processed cosine output
@return none
The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179].
*/
void arm_sin_cos_q31(
q31_t theta,
q31_t * pSinVal,
q31_t * pCosVal)
{
q31_t fract; /* Temporary input, output variables */
uint16_t indexS, indexC; /* Index variable */
q31_t f1, f2, d1, d2; /* Two nearest output values */
q31_t Dn, Df;
q63_t temp;
/* Calculate the nearest index */
indexS = (uint32_t)theta >> CONTROLLER_Q31_SHIFT;
indexC = (indexS + 128) & 0x1ff;
/* Calculation of fractional value */
fract = (theta - (indexS << CONTROLLER_Q31_SHIFT)) << 8;
/* Read two nearest values of input value from the cos & sin tables */
f1 = sinTable_q31[indexC ];
f2 = sinTable_q31[indexC+1];
d1 = -sinTable_q31[indexS ];
d2 = -sinTable_q31[indexS+1];
Dn = 0x1921FB5; /* delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE */
Df = f2 - f1; /* delta between the values of the functions */
temp = Dn * ((q63_t)d1 + d2);
temp = temp - ((q63_t)Df << 32);
temp = (q63_t)fract * (temp >> 31);
temp = temp + ((3 * (q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1)) * Dn);
temp = (q63_t)fract * (temp >> 31);
temp = temp + (q63_t)d1 * Dn;
temp = (q63_t)fract * (temp >> 31);
/* Calculation of cosine value */
*pCosVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);
/* Read two nearest values of input value from the cos & sin tables */
f1 = sinTable_q31[indexS ];
f2 = sinTable_q31[indexS+1];
d1 = sinTable_q31[indexC ];
d2 = sinTable_q31[indexC+1];
Df = f2 - f1; // delta between the values of the functions
temp = Dn * ((q63_t)d1 + d2);
temp = temp - ((q63_t)Df << 32);
temp = (q63_t)fract * (temp >> 31);
temp = temp + ((3 * (q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1)) * Dn);
temp = (q63_t)fract * (temp >> 31);
temp = temp + (q63_t)d1 * Dn;
temp = (q63_t)fract * (temp >> 31);
/* Calculation of sine value */
*pSinVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);
}
/**
@} end of SinCos group
*/