Odrive0.5.1-FOC电机控制 arm_cos_f32.cpp arm_sin_f32.cpp代码实现（二）
01 理论原理见arm_cos_f32.c 代码分析文章Odrive0.5.1-FOC电机控制 arm_cos_f32.cpp arm_sin_f32.cpp代码实现（一）-CSDN博客
02 float32_t our_arm_sin_f32(float32_t x)
float32_t our_arm_sin_f32(float32_t x)
{
float32_t sinVal, fract, in; /* Temporary variables for input, output */
uint16_t index; /* Index variable */
float32_t a, b; /* Two nearest output values */
int32_t n;
float32_t findex;
/* input x is in radians */
/* Scale the input to range from , divide input by 2*pi */
in = x * 0.159154943092f;
/* Calculation of floor value of input */
n = (int32_t) in;
/* Make negative values towards -infinity */
if (x < 0.0f)
{
n--;
}
/* Map input value to */
in = in - (float32_t) n;
/* Calculation of index of the table */
findex = (float32_t)FAST_MATH_TABLE_SIZE * in;
index = (uint16_t)findex;
/* when "in" is exactly 1, we need to rotate the index down to 0 */
if (index >= FAST_MATH_TABLE_SIZE) {
index = 0;
findex -= (float32_t)FAST_MATH_TABLE_SIZE;
}
/* fractional value calculation */
fract = findex - (float32_t) index;
/* Read two nearest values of input value from the sin table */
a = sinTable_f32;
b = sinTable_f32;
/* Linear interpolation process */
sinVal = (1.0f-fract)*a + fract*b;
/* Return the output value */
return (sinVal);
}
/**
* @} end of sin group
*/
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