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This commit is contained in:
jLynx
2023-05-19 08:16:05 +12:00
committed by GitHub
parent 7aca7ce74d
commit 033c4e9a5b
599 changed files with 70746 additions and 66896 deletions
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98
firmware/baseband/fxpt_atan2.cpp
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@@ -38,7 +38,7 @@
*/
/*
static inline int16_t q15_from_double(const double d) {
return lrint(d * 32768);
return lrint(d * 32768);
}
*/
/**
@@ -49,16 +49,16 @@ static inline int16_t q15_from_double(const double d) {
* @param i 16-bit signed integer
* @return negative absolute value of i; defined for all values of i
*/
/*
/*
static inline int16_t s16_nabs(const int16_t j) {
#if (((int16_t)-1) >> 1) == ((int16_t)-1)
// signed right shift sign-extends (arithmetic)
const int16_t negSign = ~(j >> 15); // splat sign bit into all 16 and complement
// if j is positive (negSign is -1), xor will invert j and sub will add 1
// otherwise j is unchanged
return (j ^ negSign) - negSign;
// signed right shift sign-extends (arithmetic)
const int16_t negSign = ~(j >> 15); // splat sign bit into all 16 and complement
// if j is positive (negSign is -1), xor will invert j and sub will add 1
// otherwise j is unchanged
return (j ^ negSign) - negSign;
#else
return (j < 0 ? j : -j);
return (j < 0 ? j : -j);
#endif
}
*/
@@ -71,13 +71,13 @@ static inline int16_t s16_nabs(const int16_t j) {
* @return product of j and k, in same format
*/
static inline int16_t q15_mul(const int16_t j, const int16_t k) {
const int32_t intermediate = j * k;
#if 0 // don't round
const int32_t intermediate = j * k;
#if 0 // don't round
return intermediate >> 15;
#elif 0 // biased rounding
return (intermediate + 0x4000) >> 15;
#else // unbiased rounding
return (intermediate + ((intermediate & 0x7FFF) == 0x4000 ? 0 : 0x4000)) >> 15;
#elif 0 // biased rounding
return (intermediate + 0x4000) >> 15;
#else // unbiased rounding
return (intermediate + ((intermediate & 0x7FFF) == 0x4000 ? 0 : 0x4000)) >> 15;
#endif
}
@@ -92,7 +92,7 @@ static inline int16_t q15_mul(const int16_t j, const int16_t k) {
* @return numer / denom in same format as numer and denom
*/
static inline int16_t q15_div(const int16_t numer, const int16_t denom) {
return (static_cast<int32_t>(numer) << 15) / denom;
return (static_cast<int32_t>(numer) << 15) / denom;
}
/**
@@ -112,41 +112,41 @@ static inline int16_t q15_div(const int16_t numer, const int16_t denom) {
*/
static inline int16_t nabs(const int16_t j) {
//return -abs(x);
return (j < 0 ? j : -j);
// return -abs(x);
return (j < 0 ? j : -j);
}
int16_t fxpt_atan2(const int16_t y, const int16_t x) {
static const int16_t k1 = 2847;
static const int16_t k2 = 11039;
if (x == y) { // x/y or y/x would return -1 since 1 isn't representable
if (y > 0) { // 1/8
return 8192;
} else if (y < 0) { // 5/8
return 40960;
} else { // x = y = 0
return 0;
}
}
const int16_t nabs_y = nabs(y);
const int16_t nabs_x = nabs(x);
if (nabs_x < nabs_y) { // octants 1, 4, 5, 8
const int16_t y_over_x = q15_div(y, x);
const int16_t correction = q15_mul(k1, nabs(y_over_x));
const int16_t unrotated = q15_mul(k2 + correction, y_over_x);
if (x > 0) { // octants 1, 8
return unrotated;
} else { // octants 4, 5
return 32768 + unrotated;
}
} else { // octants 2, 3, 6, 7
const int16_t x_over_y = q15_div(x, y);
const int16_t correction = q15_mul(k1, nabs(x_over_y));
const int16_t unrotated = q15_mul(k2 + correction, x_over_y);
if (y > 0) { // octants 2, 3
return 16384 - unrotated;
} else { // octants 6, 7
return 49152 - unrotated;
}
}
static const int16_t k1 = 2847;
static const int16_t k2 = 11039;
if (x == y) { // x/y or y/x would return -1 since 1 isn't representable
if (y > 0) { // 1/8
return 8192;
} else if (y < 0) { // 5/8
return 40960;
} else { // x = y = 0
return 0;
}
}
const int16_t nabs_y = nabs(y);
const int16_t nabs_x = nabs(x);
if (nabs_x < nabs_y) { // octants 1, 4, 5, 8
const int16_t y_over_x = q15_div(y, x);
const int16_t correction = q15_mul(k1, nabs(y_over_x));
const int16_t unrotated = q15_mul(k2 + correction, y_over_x);
if (x > 0) { // octants 1, 8
return unrotated;
} else { // octants 4, 5
return 32768 + unrotated;
}
} else { // octants 2, 3, 6, 7
const int16_t x_over_y = q15_div(x, y);
const int16_t correction = q15_mul(k1, nabs(x_over_y));
const int16_t unrotated = q15_mul(k2 + correction, x_over_y);
if (y > 0) { // octants 2, 3
return 16384 - unrotated;
} else { // octants 6, 7
return 49152 - unrotated;
}
}
}