1 /*
2 * Copyright (c) 2020 - 2024 Renesas Electronics Corporation and/or its affiliates
3 *
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7 #ifndef RENESAS_TFU
8 #define RENESAS_TFU
9
10 /***********************************************************************************************************************
11 * Includes <System Includes> , "Project Includes"
12 **********************************************************************************************************************/
13
14 /* Mathematical Functions includes. */
15 #include <math.h>
16 #ifdef __cplusplus
17 extern "C" {
18 #endif
19
20 /** Common macro for FSP header files. There is also a corresponding FSP_FOOTER macro at the end of this file. */
21 FSP_HEADER
22
23 /*******************************************************************************************************************//**
24 * @addtogroup BSP_MCU
25 * @{
26 **********************************************************************************************************************/
27
28 #if BSP_FEATURE_TFU_SUPPORTED
29
30 /***********************************************************************************************************************
31 * Macro definitions
32 **********************************************************************************************************************/
33
34 #define R_TFU_HYPOT_SCALING_FACTOR 0.607252935f
35
36 #ifdef __GNUC__ /* and (arm)clang */
37 #if (__STDC_VERSION__ < 199901L) && defined(__STRICT_ANSI__) && !defined(__cplusplus)
38
39 /* No form of inline is available, it happens only when -std=c89, gnu89 and
40 * above are OK */
41 #warning \
42 "-std=c89 doesn't support type checking on TFU. Please use -std=gnu89 or higher for example -std=c99"
43 #else
44 #ifdef __GNUC_GNU_INLINE__
45
46 /* gnu89 semantics of inline and extern inline are essentially the exact
47 * opposite of those in C99 */
48 #define BSP_TFU_INLINE extern inline __attribute__((always_inline))
49 #else /* __GNUC_STDC_INLINE__ */
50 #define BSP_TFU_INLINE static inline __attribute__((always_inline))
51 #endif
52 #endif
53 #elif __ICCARM__
54 #define BSP_TFU_INLINE
55 #else
56 #error "Compiler not supported!"
57 #endif
58
59 /***********************************************************************************************************************
60 * Typedef definitions
61 **********************************************************************************************************************/
62
63 /***********************************************************************************************************************
64 * Exported global variables
65 **********************************************************************************************************************/
66
67 /***********************************************************************************************************************
68 * Inline Functions
69 **********************************************************************************************************************/
70
71 /*******************************************************************************************************************//**
72 * Calculates sine of the given angle.
73 * @param[in] angle The value of an angle in radian.
74 *
75 * @retval Sine value of an angle.
76 **********************************************************************************************************************/
77 #if __ICCARM__
78 #pragma inline = forced
79 #endif
__sinf(float angle)80 BSP_TFU_INLINE float __sinf (float angle)
81 {
82 /* Set the angle to R_TFU->SCDT1 */
83 R_TFU->SCDT1 = angle;
84
85 /* Read sin from R_TFU->SCDT1 */
86 return R_TFU->SCDT1;
87 }
88
89 /*******************************************************************************************************************//**
90 * Calculates cosine of the given angle.
91 * @param[in] angle The value of an angle in radian.
92 *
93 * @retval Cosine value of an angle.
94 **********************************************************************************************************************/
95 #if __ICCARM__
96 #pragma inline = forced
97 #endif
__cosf(float angle)98 BSP_TFU_INLINE float __cosf (float angle)
99 {
100 /* Set the angle to R_TFU->SCDT1 */
101 R_TFU->SCDT1 = angle;
102
103 /* Read cos from R_TFU->SCDT1 */
104 return R_TFU->SCDT0;
105 }
106
107 /*******************************************************************************************************************//**
108 * Calculates sine and cosine of the given angle.
109 * @param[in] angle The value of an angle in radian.
110 * @param[out] sin Sine value of an angle.
111 * @param[out] cos Cosine value of an angle.
112 **********************************************************************************************************************/
113 #if __ICCARM__
114 #pragma inline = forced
115 #endif
__sincosf(float angle,float * sin,float * cos)116 BSP_TFU_INLINE void __sincosf (float angle, float * sin, float * cos)
117 {
118 /* Set the angle to R_TFU->SCDT1 */
119 R_TFU->SCDT1 = angle;
120
121 /* Read sin from R_TFU->SCDT1 */
122 *sin = R_TFU->SCDT1;
123
124 /* Read sin from R_TFU->SCDT1 */
125 *cos = R_TFU->SCDT0;
126 }
127
128 /*******************************************************************************************************************//**
129 * Calculates the arc tangent based on given X-cordinate and Y-cordinate values.
130 * @param[in] y_cord Y-Axis cordinate value.
131 * @param[in] x_cord X-Axis cordinate value.
132 *
133 * @retval Arc tangent for given values.
134 **********************************************************************************************************************/
135 #if __ICCARM__
136 #pragma inline = forced
137 #endif
__atan2f(float y_cord,float x_cord)138 BSP_TFU_INLINE float __atan2f (float y_cord, float x_cord)
139 {
140 /* Set X-cordinate to R_TFU->ATDT0 */
141 R_TFU->ATDT0 = x_cord;
142
143 /* set Y-cordinate to R_TFU->ATDT1 */
144 R_TFU->ATDT1 = y_cord;
145
146 /* Read arctan(y/x) from R_TFU->ATDT1 */
147 return R_TFU->ATDT1;
148 }
149
150 /*******************************************************************************************************************//**
151 * Calculates the hypotenuse based on given X-cordinate and Y-cordinate values.
152 * @param[in] y_cord Y-cordinate value.
153 * @param[in] x_cord X-cordinate value.
154 *
155 * @retval Hypotenuse for given values.
156 **********************************************************************************************************************/
157 #if __ICCARM__
158 #pragma inline = forced
159 #endif
__hypotf(float x_cord,float y_cord)160 BSP_TFU_INLINE float __hypotf (float x_cord, float y_cord)
161 {
162 /* Set X-coordinate to R_TFU->ATDT0 */
163 R_TFU->ATDT0 = x_cord;
164
165 /* set Y-coordinate to R_TFU->ATDT1 */
166 R_TFU->ATDT1 = y_cord;
167
168 /* Read sqrt (x_cord2 + y_cord2) from R_TFU->ATDT0 */
169 return R_TFU->ATDT0 * R_TFU_HYPOT_SCALING_FACTOR;
170 }
171
172 /*******************************************************************************************************************//**
173 * Calculates the arc tangent and hypotenuse based on given X-cordinate and Y-cordinate values.
174 * @param[in] y_cord Y-cordinate value.
175 * @param[in] x_cord X-cordinate value.
176 * @param[out] atan2 Arc tangent for given values.
177 * @param[out] hypot Hypotenuse for given values.
178 **********************************************************************************************************************/
179 #if __ICCARM__
180 #pragma inline = forced
181 #endif
__atan2hypotf(float y_cord,float x_cord,float * atan2,float * hypot)182 BSP_TFU_INLINE void __atan2hypotf (float y_cord, float x_cord, float * atan2, float * hypot)
183 {
184 /* Set X-coordinate to R_TFU->ATDT0 */
185 R_TFU->ATDT0 = x_cord;
186
187 /* set Y-coordinate to R_TFU->ATDT1 */
188 R_TFU->ATDT1 = y_cord;
189
190 /* Read arctan(y/x) from R_TFU->ATDT1 */
191 *atan2 = R_TFU->ATDT1;
192
193 /* Read sqrt (x_cord2 + y_cord2) from R_TFU->ATDT0 */
194 *hypot = R_TFU->ATDT0 * R_TFU_HYPOT_SCALING_FACTOR;
195 }
196
197 #if BSP_CFG_USE_TFU_MATHLIB
198 #define sinf(x) __sinf(x)
199 #define cosf(x) __cosf(x)
200 #define atan2f(y, x) __atan2f(y, x)
201 #define hypotf(x, y) __hypotf(x, y)
202 #define atan2hypotf(y, x, a, h) __atan2hypotf(y, x, a, h)
203 #define sincosf(a, s, c) __sincosf(a, s, c)
204 #endif
205
206 /***********************************************************************************************************************
207 * Exported global functions (to be accessed by other files)
208 **********************************************************************************************************************/
209
210 #endif
211
212 /** @} (end addtogroup BSP_MCU) */
213
214 /** Common macro for FSP header files. There is also a corresponding FSP_HEADER macro at the top of this file. */
215 FSP_FOOTER
216
217 #ifdef __cplusplus
218 }
219 #endif
220
221 #endif /* RENESAS_TFU */
222
