GOS module, for operating system independance

GMISC fast floating point trig
GMISC fast fixed point trig

2 files changed, 116 insertions, 6 deletions

diff --git a/include/gmisc/gmisc.h b/include/gmisc/gmisc.h
index bf1aa498..21eb2bbe 100644
--- a/include/gmisc/gmisc.h
+++ b/include/gmisc/gmisc.h
@@ -37,6 +37,32 @@ typedef enum ArrayDataFormat_e {
 	ARRAY_DATA_16BITUNSIGNED = 16,	ARRAY_DATA_16BITSIGNED = 17,
 	} ArrayDataFormat;
 
+/**
+ * @brief   The type for a fixed point type.
+ * @details	The top 16 bits are the integer component, the bottom 16 bits are the real component.
+ */
+typedef int32_t	fixed;
+
+/**
+ * @brief   Macros to convert to and from a fixed point.
+ * @{
+ */
+#define FIXED(x)		((fixed)(x)<<16)			/* @< integer to fixed */
+#define NONFIXED(x)		((x)>>16)					/* @< fixed to integer */
+#define FP2FIXED(x)		((fixed)((x)*65536.0))		/* @< floating point to fixed */
+#define FIXED2FP(x)		((double)(x)/65536.0)		/* @< fixed to floating point */
+/* @} */
+
+/**
+ * @brief   The famous number pi
+ */
+#define PI	3.1415926535897932384626433832795028841971693993751
+
+/**
+ * @brief   pi as a fixed point
+ */
+#define FIXED_PI	FP2FIXED(PI)
+
 /*===========================================================================*/
 /* External declarations.                                                    */
 /*===========================================================================*/
@@ -85,6 +111,76 @@ extern "C" {
 	#endif
 #endif
 
+#if GMISC_NEED_FASTTRIG || defined(__DOXYGEN__)
+		extern const double sintabledouble[];
+
+		/**
+		 * @brief	Fast Table Based Trig functions
+		 * @return	A double in the range -1.0 .. 0.0 .. 1.0
+		 *
+		 * @param[in] degrees	The angle in degrees (not radians)
+		 *
+		 * @note	These functions use degrees rather than radians to describe the angle.
+		 *
+		 * @api
+		 * @{
+		 */
+		double fsin(int degrees);
+		double fcos(int degrees);
+		/** @}
+		 *
+		 * @brief	Fast Table Based Trig functions
+		 * @return	A double in the range -1.0 .. 0.0 .. 1.0
+		 *
+		 * @param[in] degrees	The angle in degrees 0 .. 359
+		 *
+		 * @note	These functions use degrees rather than radians to describe the angle.
+		 * @note	These functions are super fast but require the parameter to be in range.
+		 * 			Use the lowercase functions if the parameter may not be in range or if a
+		 * 			required trig function is not supported in this form.
+		 *
+		 * @api
+		 * @{
+		 */
+		#define FSIN(degrees) 	sintabledouble[degrees];
+		/** @} */
+#endif
+
+#if GMISC_NEED_FIXEDTRIG || defined(__DOXYGEN__)
+		extern const fixed sintablefixed[];
+
+		/**
+		 * @brief	Fast Table Based Trig functions
+		 * @return	A fixed point in the range -1.0 .. 0.0 .. 1.0
+		 *
+		 * @param[in] degrees	The angle in degrees (not radians)
+		 *
+		 * @note	These functions use degrees rather than radians to describe the angle.
+		 *
+		 * @api
+		 * @{
+		 */
+		fixed ffsin(int degrees);
+		fixed ffcos(int degrees);
+		/** @}
+		 *
+		 * @brief	Fast Table Based Trig functions
+		 * @return	A fixed point in the range -1.0 .. 0.0 .. 1.0
+		 *
+		 * @param[in] degrees	The angle in degrees 0 .. 359
+		 *
+		 * @note	These functions use degrees rather than radians to describe the angle.
+		 * @note	These functions are super fast but require the parameter to be in range.
+		 * 			Use the lowercase functions if the parameter may not be in range or if a
+		 * 			required trig function is not supported in this form.
+		 *
+		 * @api
+		 * @{
+		 */
+		#define FFSIN(degrees) 	sintablefixed[degrees];
+		/** @} */
+#endif
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/include/gmisc/options.h b/include/gmisc/options.h
index ee58609e..5a2f68ea 100644
--- a/include/gmisc/options.h
+++ b/include/gmisc/options.h
@@ -1,9 +1,9 @@
-/*
- * This file is subject to the terms of the GFX License, v1.0. If a copy of
- * the license was not distributed with this file, you can obtain one at:
- *
- *              http://chibios-gfx.com/license.html
- */
+/*

+ * This file is subject to the terms of the GFX License, v1.0. If a copy of

+ * the license was not distributed with this file, you can obtain one at:

+ *

+ *              http://chibios-gfx.com/license.html

+ */

 

 /**

  * @file    include/gmisc/options.h

@@ -27,6 +27,20 @@
 	#ifndef GMISC_NEED_ARRAYOPS

 		#define GMISC_NEED_ARRAYOPS		FALSE

 	#endif

+	/**

+	 * @brief   Include fast array based trig functions (sin, cos)

+	 * @details	Defaults to FALSE

+	 */

+	#ifndef GMISC_NEED_FASTTRIG

+		#define GMISC_NEED_FASTTRIG		FALSE

+	#endif

+	/**

+	 * @brief   Include fast fixed point trig functions (sin, cos)

+	 * @details	Defaults to FALSE

+	 */

+	#ifndef GMISC_NEED_FIXEDTRIG

+		#define GMISC_NEED_FIXEDTRIG		FALSE

+	#endif

 /**

  * @}

  *