增加所有文件

CMSIS/DSP/Source/ControllerFunctions/Config.cmake

@@ -0,0 +1,27 @@
+cmake_minimum_required (VERSION 3.14)
+
+
+
+
+
+if (CONFIGTABLE AND ALLFAST)
+    target_compile_definitions(CMSISDSP PUBLIC ARM_ALL_FAST_TABLES)  
+endif()
+
+target_sources(CMSISDSP PRIVATE ControllerFunctions/arm_pid_init_f32.c)
+target_sources(CMSISDSP PRIVATE ControllerFunctions/arm_pid_init_q15.c)
+target_sources(CMSISDSP PRIVATE ControllerFunctions/arm_pid_init_q31.c)
+target_sources(CMSISDSP PRIVATE ControllerFunctions/arm_pid_reset_f32.c)
+target_sources(CMSISDSP PRIVATE ControllerFunctions/arm_pid_reset_q15.c)
+target_sources(CMSISDSP PRIVATE ControllerFunctions/arm_pid_reset_q31.c)
+
+if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_COS_F32)
+target_sources(CMSISDSP PRIVATE ControllerFunctions/arm_sin_cos_f32.c)
+endif()
+
+if (NOT CONFIGTABLE OR ALLFAST OR ARM_SIN_COS_Q31)
+target_sources(CMSISDSP PRIVATE ControllerFunctions/arm_sin_cos_q31.c)
+endif()
+
+
+

CMSIS/DSP/Source/ControllerFunctions/ControllerFunctions.c

@@ -0,0 +1,46 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        ControllerFunctions.c
+ * Description:  Combination of all controller function source files.
+ *
+ * $Date:        18. March 2019
+ * $Revision:    V1.0.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2019 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_pid_init_f32.c"
+#include "arm_pid_init_q15.c"
+#include "arm_pid_init_q31.c"
+#include "arm_pid_reset_f32.c"
+#include "arm_pid_reset_q15.c"
+#include "arm_pid_reset_q31.c"
+
+#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_FAST_ALLOW_TABLES)
+
+#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_F32)
+#include "arm_sin_cos_f32.c"
+#endif 
+
+#if !defined(ARM_DSP_CONFIG_TABLES) || defined(ARM_ALL_FAST_TABLES) || defined(ARM_TABLE_SIN_Q31)
+#include "arm_sin_cos_q31.c"
+#endif
+
+#endif

CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c

@@ -0,0 +1,75 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_pid_init_f32.c
+ * Description:  Floating-point PID Control initialization function
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "dsp/controller_functions.h"
+
+/**
+  @addtogroup PID
+  @{
+ */
+
+/**
+  @brief         Initialization function for the floating-point PID Control.
+  @param[in,out] S               points to an instance of the PID structure
+  @param[in]     resetStateFlag
+                   - value = 0: no change in state
+                   - value = 1: reset state
+  @return        none
+
+  @par           Details
+                   The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
+                   The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
+                   using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
+                   also sets the state variables to all zeros.
+ */
+
+void arm_pid_init_f32(
+  arm_pid_instance_f32 * S,
+  int32_t resetStateFlag)
+{
+  /* Derived coefficient A0 */
+  S->A0 = S->Kp + S->Ki + S->Kd;
+
+  /* Derived coefficient A1 */
+  S->A1 = (-S->Kp) - ((float32_t) 2.0f * S->Kd);
+
+  /* Derived coefficient A2 */
+  S->A2 = S->Kd;
+
+  /* Check whether state needs reset or not */
+  if (resetStateFlag)
+  {
+    /* Reset state to zero, The size will be always 3 samples */
+    memset(S->state, 0, 3U * sizeof(float32_t));
+  }
+
+}
+
+/**
+  @} end of PID group
+ */

CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c

@@ -0,0 +1,95 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_pid_init_q15.c
+ * Description:  Q15 PID Control initialization function
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "dsp/controller_functions.h"
+
+/**
+  @addtogroup PID
+  @{
+ */
+
+/**
+  @brief         Initialization function for the Q15 PID Control.
+  @param[in,out] S               points to an instance of the Q15 PID structure
+  @param[in]     resetStateFlag
+                   - value = 0: no change in state
+                   - value = 1: reset state
+  @return        none
+
+  @par           Details
+                   The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
+                   The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
+                   using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
+                   also sets the state variables to all zeros.
+ */
+
+void arm_pid_init_q15(
+  arm_pid_instance_q15 * S,
+  int32_t resetStateFlag)
+{
+
+#if defined (ARM_MATH_DSP)
+
+  /* Derived coefficient A0 */
+  S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
+
+  /* Derived coefficients and pack into A1 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+  S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
+#else
+  S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
+#endif
+
+#else
+
+  q31_t temp;                                    /* to store the sum */
+
+  /* Derived coefficient A0 */
+  temp = S->Kp + S->Ki + S->Kd;
+  S->A0 = (q15_t) __SSAT(temp, 16);
+
+  /* Derived coefficients and pack into A1 */
+  temp = -(S->Kd + S->Kd + S->Kp);
+  S->A1 = (q15_t) __SSAT(temp, 16);
+  S->A2 = S->Kd;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+  /* Check whether state needs reset or not */
+  if (resetStateFlag)
+  {
+    /* Reset state to zero, The size will be always 3 samples */
+    memset(S->state, 0, 3U * sizeof(q15_t));
+  }
+
+}
+
+/**
+  @} end of PID group
+ */

CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c

@@ -0,0 +1,92 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_pid_init_q31.c
+ * Description:  Q31 PID Control initialization function
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "dsp/controller_functions.h"
+
+/**
+  @addtogroup PID
+  @{
+ */
+
+/**
+  @brief         Initialization function for the Q31 PID Control.
+  @param[in,out] S               points to an instance of the Q31 PID structure
+  @param[in]     resetStateFlag
+                   - value = 0: no change in state
+                   - value = 1: reset state
+  @return        none
+
+  @par           Details
+                   The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
+                   The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
+                   using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
+                   also sets the state variables to all zeros.
+ */
+
+void arm_pid_init_q31(
+  arm_pid_instance_q31 * S,
+  int32_t resetStateFlag)
+{
+
+#if defined (ARM_MATH_DSP)
+
+  /* Derived coefficient A0 */
+  S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
+
+  /* Derived coefficient A1 */
+  S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
+
+#else
+
+  q31_t temp;                                    /* to store the sum */
+
+  /* Derived coefficient A0 */
+  temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
+  S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
+
+  /* Derived coefficient A1 */
+  temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
+  S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+  /* Derived coefficient A2 */
+  S->A2 = S->Kd;
+
+  /* Check whether state needs reset or not */
+  if (resetStateFlag)
+  {
+    /* Reset state to zero, The size will be always 3 samples */
+    memset(S->state, 0, 3U * sizeof(q31_t));
+  }
+
+}
+
+/**
+  @} end of PID group
+ */

CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_f32.c

@@ -0,0 +1,54 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_pid_reset_f32.c
+ * Description:  Floating-point PID Control reset function
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "dsp/controller_functions.h"
+
+/**
+  @addtogroup PID
+  @{
+ */
+
+/**
+  @brief         Reset function for the floating-point PID Control.
+  @param[in,out] S  points to an instance of the floating-point PID structure
+  @return        none
+
+  @par           Details
+                   The function resets the state buffer to zeros.
+ */
+
+void arm_pid_reset_f32(
+  arm_pid_instance_f32 * S)
+{
+  /* Reset state to zero, The size will be always 3 samples */
+  memset(S->state, 0, 3U * sizeof(float32_t));
+}
+
+/**
+  @} end of PID group
+ */

CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q15.c

@@ -0,0 +1,54 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_pid_reset_q15.c
+ * Description:  Q15 PID Control reset function
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "dsp/controller_functions.h"
+
+/**
+  @addtogroup PID
+  @{
+ */
+
+/**
+  @brief         Reset function for the Q15 PID Control.
+  @param[in,out] S  points to an instance of the Q15 PID structure
+  @return        none
+
+  @par           Details
+                   The function resets the state buffer to zeros.
+ */
+
+void arm_pid_reset_q15(
+  arm_pid_instance_q15 * S)
+{
+  /* Reset state to zero, The size will be always 3 samples */
+  memset(S->state, 0, 3U * sizeof(q15_t));
+}
+
+/**
+  @} end of PID group
+ */

CMSIS/DSP/Source/ControllerFunctions/arm_pid_reset_q31.c

@@ -0,0 +1,54 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_pid_reset_q31.c
+ * Description:  Q31 PID Control reset function
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "dsp/controller_functions.h"
+
+/**
+  @addtogroup PID
+  @{
+ */
+
+/**
+  @brief         Reset function for the Q31 PID Control.
+  @param[in,out] S  points to an instance of the Q31 PID structure
+  @return        none
+
+  @par           Details
+                   The function resets the state buffer to zeros.
+ */
+
+void arm_pid_reset_q31(
+  arm_pid_instance_q31 * S)
+{
+  /* Reset state to zero, The size will be always 3 samples */
+  memset(S->state, 0, 3U * sizeof(q31_t));
+}
+
+/**
+  @} end of PID group
+ */

CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_f32.c

@@ -0,0 +1,114 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_sin_cos_f32.c
+ * Description:  Sine and Cosine calculation for floating-point values
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "dsp/controller_functions.h"
+#include "arm_common_tables.h"
+
+/**
+  @addtogroup SinCos
+  @{
+ */
+
+/**
+  @brief         Floating-point sin_cos function.
+  @param[in]     theta    input value in degrees
+  @param[out]    pSinVal  points to processed sine output
+  @param[out]    pCosVal  points to processed cosine output
+  @return        none
+ */
+
+void arm_sin_cos_f32(
+  float32_t theta,
+  float32_t * pSinVal,
+  float32_t * pCosVal)
+{
+  float32_t fract, in;                             /* Temporary input, output variables */
+  uint16_t indexS, indexC;                         /* Index variable */
+  float32_t f1, f2, d1, d2;                        /* Two nearest output values */
+  float32_t Dn, Df;
+  float32_t temp, findex;
+
+  /* input x is in degrees */
+  /* Scale input, divide input by 360, for cosine add 0.25 (pi/2) to read sine table */
+  in = theta * 0.00277777777778f;
+
+  if (in < 0.0f)
+  {
+    in = -in;
+  }
+
+  in = in - (int32_t)in;
+
+  /* Calculate the nearest index */
+  findex = (float32_t)FAST_MATH_TABLE_SIZE * in;
+  indexS = ((uint16_t)findex) & 0x1ff;
+  indexC = (indexS + (FAST_MATH_TABLE_SIZE / 4)) & 0x1ff;
+
+  /* Calculation of fractional value */
+  fract = findex - (float32_t) indexS;
+
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 =  sinTable_f32[indexC  ];
+  f2 =  sinTable_f32[indexC+1];
+  d1 = -sinTable_f32[indexS  ];
+  d2 = -sinTable_f32[indexS+1];
+
+  Dn = 0.0122718463030f; /* delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE */
+  Df = f2 - f1;          /* delta between the values of the functions */
+
+  temp = Dn * (d1 + d2) - 2 * Df;
+  temp = fract * temp + (3 * Df - (d2 + 2 * d1) * Dn);
+  temp = fract * temp + d1 * Dn;
+
+  /* Calculation of cosine value */
+  *pCosVal = fract * temp + f1;
+
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 = sinTable_f32[indexS  ];
+  f2 = sinTable_f32[indexS+1];
+  d1 = sinTable_f32[indexC  ];
+  d2 = sinTable_f32[indexC+1];
+
+
+  Df = f2 - f1; // delta between the values of the functions
+  temp = Dn * (d1 + d2) - 2 * Df;
+  temp = fract * temp + (3 * Df - (d2 + 2 * d1) * Dn);
+  temp = fract * temp + d1 * Dn;
+
+  /* Calculation of sine value */
+  *pSinVal = fract * temp + f1;
+
+  if (theta < 0.0f)
+  {
+    *pSinVal = -*pSinVal;
+  }
+}
+
+/**
+  @} end of SinCos group
+ */

CMSIS/DSP/Source/ControllerFunctions/arm_sin_cos_q31.c

@@ -0,0 +1,110 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_sin_cos_q31.c
+ * Description:  Cosine & Sine calculation for Q31 values
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "dsp/controller_functions.h"
+#include "arm_common_tables.h"
+
+/**
+  @ingroup groupController
+ */
+
+/**
+  @addtogroup SinCos
+  @{
+ */
+
+/**
+  @brief         Q31 sin_cos function.
+  @param[in]     theta    scaled input value in degrees
+  @param[out]    pSinVal  points to processed sine output
+  @param[out]    pCosVal  points to processed cosine output
+  @return        none
+
+  The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179].
+ */
+
+void arm_sin_cos_q31(
+  q31_t theta,
+  q31_t * pSinVal,
+  q31_t * pCosVal)
+{
+  q31_t fract;                                     /* Temporary input, output variables */
+  uint16_t indexS, indexC;                         /* Index variable */
+  q31_t f1, f2, d1, d2;                            /* Two nearest output values */
+  q31_t Dn, Df;
+  q63_t temp;
+
+  /* Calculate the nearest index */
+  indexS = (uint32_t)theta >> CONTROLLER_Q31_SHIFT;
+  indexC = (indexS + 128) & 0x1ff;
+
+  /* Calculation of fractional value */
+  fract = (theta - (indexS << CONTROLLER_Q31_SHIFT)) << 8;
+
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 =  sinTable_q31[indexC  ];
+  f2 =  sinTable_q31[indexC+1];
+  d1 = -sinTable_q31[indexS  ];
+  d2 = -sinTable_q31[indexS+1];
+
+  Dn = 0x1921FB5; /* delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE */
+  Df = f2 - f1;   /* delta between the values of the functions */
+
+  temp = Dn * ((q63_t)d1 + d2);
+  temp = temp - ((q63_t)Df << 32);
+  temp = (q63_t)fract * (temp >> 31);
+  temp = temp + ((3 * (q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1)) * Dn);
+  temp = (q63_t)fract * (temp >> 31);
+  temp = temp + (q63_t)d1 * Dn;
+  temp = (q63_t)fract * (temp >> 31);
+
+  /* Calculation of cosine value */
+  *pCosVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);
+
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 = sinTable_q31[indexS ];
+  f2 = sinTable_q31[indexS+1];
+  d1 = sinTable_q31[indexC ];
+  d2 = sinTable_q31[indexC+1];
+
+  Df = f2 - f1; // delta between the values of the functions
+  temp = Dn * ((q63_t)d1 + d2);
+  temp = temp - ((q63_t)Df << 32);
+  temp = (q63_t)fract * (temp >> 31);
+  temp = temp + ((3 * (q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1)) * Dn);
+  temp = (q63_t)fract * (temp >> 31);
+  temp = temp + (q63_t)d1 * Dn;
+  temp = (q63_t)fract * (temp >> 31);
+
+  /* Calculation of sine value */
+  *pSinVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);
+}
+
+/**
+  @} end of SinCos group
+ */