/* * SPDX-License-Identifier: MIT * * Copyright (C) 2013-2024 OpenMV, LLC. * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * Fast approximate math functions. */ #ifndef __FMATH_H__ #define __FMATH_H__ #include #include #include #include CMSIS_MCU_H #include "arm_math.h" float fast_atanf(float x); float fast_atan2f(float y, float x); float fast_expf(float x); float fast_cbrtf(float d); float fast_log(float x); float fast_log2(float x); float fast_powf(float a, float b); void fast_get_min_max(float *data, size_t data_len, float *p_min, float *p_max); static inline float fast_sqrtf(float x) { #if (__ARM_ARCH >= 7) __asm__ volatile ( "vsqrt.f32 %[r], %[x]\n" : [r] "=t" (x) : [x] "t" (x)); return x; #else return sqrtf(x); #endif } static inline int fast_floorf(float x) { #if (__ARM_ARCH >= 7) int i; __asm__ volatile ( #if (__CORTEX_M > 4) "vcvtm.S32.f32 %[r], %[x]\n" #else "vcvt.S32.f32 %[r], %[x]\n" #endif : [r] "=t" (i) : [x] "t" (x)); return i; #else return floorf(x); #endif } static inline int fast_ceilf(float x) { #if (__ARM_ARCH >= 7) int i; #if (__CORTEX_M > 4) __asm__ volatile ( "vcvtp.S32.f32 %[r], %[x]\n" #else union { uint32_t i; float f; } max = { 0x3f7fffff }; x += max.f; __asm__ volatile ( "vcvt.S32.f32 %[r], %[x]\n" #endif : [r] "=t" (i) : [x] "t" (x)); return i; #else return ceilf(x); #endif } static inline int fast_roundf(float x) { #if (__ARM_ARCH >= 7) int i; __asm__ volatile ( "vcvtr.S32.F32 %[r], %[x]\n" : [r] "=t" (i) : [x] "t" (x)); return i; #else return roundf(x); #endif } static inline float fast_fabsf(float x) { #if (__ARM_ARCH >= 7) __asm__ volatile ( "vabs.f32 %[r], %[x]\n" : [r] "=t" (x) : [x] "t" (x)); return x; #else return fabsf(x); #endif } extern const float cos_table[360]; extern const float sin_table[360]; #endif // __FMATH_H__