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