From b83876718b1a535ee04ca0351ad57814454ec646 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 25 Oct 2013 04:00:49 -0700 Subject: altos: Add floating point math functions from newlib These are all BSD licensed, so we can simply include them directly Signed-off-by: Keith Packard --- src/math/math.h | 35 +++++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) create mode 100644 src/math/math.h (limited to 'src/math/math.h') diff --git a/src/math/math.h b/src/math/math.h new file mode 100644 index 00000000..c62f583d --- /dev/null +++ b/src/math/math.h @@ -0,0 +1,35 @@ +/* + * Copyright © 2013 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _MATH_H_ +#define _MATH_H_ + +float acosf(float x); + +float cosf(float x); + +float sqrtf(float x); + +float fabsf(float x); + +float floorf(float x); + +float scalbnf(float x, int n); + +float copysignf(float x, float y); + +#endif -- cgit v1.2.3 From d96fd33aa8a220d547512eb43c88fc8f5651e39e Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 27 Oct 2013 23:28:50 -0700 Subject: altos: Add sinf to math code Needed for the quaternion gyro tracking code Signed-off-by: Keith Packard --- src/math/math.h | 2 ++ src/math/sf_sin.c | 62 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 64 insertions(+) create mode 100644 src/math/sf_sin.c (limited to 'src/math/math.h') diff --git a/src/math/math.h b/src/math/math.h index c62f583d..fd543bc2 100644 --- a/src/math/math.h +++ b/src/math/math.h @@ -22,6 +22,8 @@ float acosf(float x); float cosf(float x); +float sinf(float x); + float sqrtf(float x); float fabsf(float x); diff --git a/src/math/sf_sin.c b/src/math/sf_sin.c new file mode 100644 index 00000000..da81845d --- /dev/null +++ b/src/math/sf_sin.c @@ -0,0 +1,62 @@ +/* sf_sin.c -- float version of s_sin.c. + * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com. + */ + +/* + * ==================================================== + * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved. + * + * Developed at SunPro, a Sun Microsystems, Inc. business. + * Permission to use, copy, modify, and distribute this + * software is freely granted, provided that this notice + * is preserved. + * ==================================================== + */ + +#include "fdlibm.h" + +#ifdef __STDC__ + float sinf(float x) +#else + float sinf(x) + float x; +#endif +{ + float y[2],z=0.0; + __int32_t n,ix; + + GET_FLOAT_WORD(ix,x); + + /* |x| ~< pi/4 */ + ix &= 0x7fffffff; + if(ix <= 0x3f490fd8) return __kernel_sinf(x,z,0); + + /* sin(Inf or NaN) is NaN */ + else if (!FLT_UWORD_IS_FINITE(ix)) return x-x; + + /* argument reduction needed */ + else { + n = __ieee754_rem_pio2f(x,y); + switch(n&3) { + case 0: return __kernel_sinf(y[0],y[1],1); + case 1: return __kernel_cosf(y[0],y[1]); + case 2: return -__kernel_sinf(y[0],y[1],1); + default: + return -__kernel_cosf(y[0],y[1]); + } + } +} + +#ifdef _DOUBLE_IS_32BITS + +#ifdef __STDC__ + double sin(double x) +#else + double sin(x) + double x; +#endif +{ + return (double) sinf((float) x); +} + +#endif /* defined(_DOUBLE_IS_32BITS) */ -- cgit v1.2.3