Spra 179

Application
Report
1998
Digital Signal Processing Solutions
Printed in U.S.A., July 1998
SPRA179

1998
Application
Report
Digital Sine-Wave Generation

Using the TMS320C2xx
SPRA179
July 1998
Printed on Recycled Paper
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Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2 Direct Look-Up and Linear Interpolation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 C- and Assembly-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1 C-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2 Assembly-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 System Utilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Sine-Generation Precision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 One-Sine-Period Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2 Quarter-Sine-Period Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Sine/Cosine With Mathematical Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 C- and Assembly-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 C-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2 Assembly-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Sine/Cosine Mathematical Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 System Utilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Sine-Generation Precision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 One-Sine-Period Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 Quarter-Sine-Period Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
2
2
2
3
3
3
4
4
7
10
10
10
10
11
11
11
12
13
14
Appendix A Examples of a C Program and an Assembly Program Calling Sine and

Cosine Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1 Main C Program to Call Sine or Cosine Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.2 Main Assembly Program to Call Sine or Cosine Functions . . . . . . . . . . . . . . . . . . . . . . . A-2
A.3 COS Function With Direct Look-Up and Linear Interpolation for Assembly Program . A-4
A.4 COS Function With Direct Look-Up and Linear Interpolation for C Program . . . . . . . . A-7
A.5 SIN Function With Direct Look-Up and Linear Interpolation for
Assembly Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10
A.6 SIN Function With Direct Look-Up and Linear Interpolation for C Program . . . . . . . . A-13
A.7 Table for COS or SIN Function With Direct Look-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-16
A.8 COS_SIN Function With Direct Look-Up and Linear Interpolation for
Assembly Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19
A.9 Table for COS_SIN Function With Direct Look-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-23
A.10 SIN With Mathematical Series for Assembly Program . . . . . . . . . . . . . . . . . . . . . . . . . A-27
A.11 SIN With Mathematical Series for C Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-30
A.12 COS With Mathematical Series for Assembly Program . . . . . . . . . . . . . . . . . . . . . . . . A-34
A.13 COS With Mathematical Series for C Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-38
Digital Sine-Wave Generation Using the TMS320C2xx
iii
Figures
List of Figures
1
The Formula and the Resulting Graph for Calculating the Table Interpolation
Value COS of an Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Direct Look-Up With Interpolation of Sine Calculation From 0 to 2* With

a 0.015-Radian Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Error Between the C Floating-Point Result and Direct Look-Up Calculation

From 0 to 2* With a 0.015-Radian Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Results of Direct Look-Up SIN From 0 to /2 With a 0.0039-Radian Step . . . . . . . . . . . . . . . 7
Error Between the C Floating-Point Result and Direct Look-Up SINE Calculation
From 0 to /4 With a 0.0039-Radian Step in Q15 Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Error Between the C Floating-Point Result and the Direct Look-Up SINE Calculation
From 0 to /4 With a 0.0039-Radian Step in % . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Formula for Calculating the Value SIN of an Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Formula for Calculating the Value COS of an Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Mathematical Series Sine Calculation From 0 to 2* With a 0.015-Radian Step . . . . . . . . 13
10
Error Between the C Floating-Point Result and the Mathematical Series SINE
Calculation From 0 to 2* With a 0.015-Radian Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
11
Results of Mathematical Series Sine From 0 to /2 With a 0.0039-Radian Step . . . . . . . . . 15
12
Error Between the C Floating-Point Result and a Mathematical Series SINE

Calculation From 0 to /4 With a 0.0039-Radian Step in Q15 Format . . . . . . . . . . . . . . . . . 16
13
Error Between the C Floating-Point Result and a Mathematical Series SINE

Calculation From 0 to /4 With a 0.0039-Radian Step in % . . . . . . . . . . . . . . . . . . . . . . . . . . 17
iv
SPRA179
Tables
List of Tables
1
2
3
4
Processor Utilization (Maximum) When Using Direct Look-up and Interpolation . . . . . . . . . 4

Memory Utilization When Using Direct Look-up and Interpolation . . . . . . . . . . . . . . . . . . . . . . 4
Processor Utilization (Maximum) When Using Mathematical Series . . . . . . . . . . . . . . . . . . . 11
Memory Utilization When Using Mathematical Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
vi
SPRA179

ABSTRACT
This application report describes two methods for implementing a digital sine-wave
generator using the TMS320C2xx: the use of a direct look-up table with linear
interpolation, and the use of mathematical series. Both methods are explained in
terms of C-compatible and assembly-compatible functions. Formulas used for
calculating and graphing the results are included for each method to demonstrate
the differences.
1 Introduction
Sine-wave generators are fundamental building blocks of signal processing
systems for use in control applications. The following two methods
described in this application report are for implementing a digital sine-wave
generator using the TMS320C2xx:
Direct look-up with linear interpolation to provide sine waves with a
minimum of harmonic distortion
Realization of the sine/cosine functions with a mathematical series
The two methods respond to different constraints. The direct look-up
method is fast with minimal errors and is significant in ROM programming
requirements. The mathematical series method is fast and requires
minimum (ROM) programming but results in less precision.
Direct Look-Up and Linear Interpolation Method
2 Direct Look-Up and Linear Interpolation Method

This section describes the Direct Look-Up and Linear Interpolation method
of implementing a digital sine-wave generator using the TMS320C2xx.
2.1
C- and Assembly-Compatible Functions

The Direct Look-Up method, which uses 100 sine-period values in a table,
reveals the sine/cosine functions. To provide minimum harmonic distortion,
the method includes linear interpolation with a fixed-step table. An extended
table is used for the cosine + sine function and is located in program memory.
Two versions of each function are presented:
C-compatible functions
Assembly-compatible functions
Examples of a C program and an assembly program (that call sine and
cosine functions) are in the appendix.
2.1.1
C-Compatible Functions
Fully C-compatible functions employ C conventions to use the stack for
parameters passed to the functions. Parameters returned by the functions
are passed by a pointer. Responsibilities of called functions are managed
in a postfix expression called the function designator. Stack pointer AR1 is
well-positioned, and the return address of the hardware stack is popped
(retrieved) in case of C-interrupt runtime events using C-function features
(stack). The frame pointer is not modified and registers AR6 and AR7 are
not used.
2.1.2
Assembly-Compatible Functions
Assembly-compatible functions do not use their own variables, but instead,
rely on variables in a software stack where arguments are passed. The AR1
register points to the stack just after the last argument. After the return from
the function, the results are placed in the stack. Registers AR0, AR6, and
AR7 are not modified.
SPRA179
2.2
Interpolation
Figure 1 shows the formula and the resulting graph for calculating the table
interpolation value COS(X) of an angle X.
y
y
Y=?
X x
Y
+
i
x
i+ 1
r =
i+1
( y
i+ 1
y )
i
ratio
x
i+1
where:
{xi} = {first coordinates of the table},
{yi} = {second coordinates of the table},
i chosen so that xi < X < xi+1.
Figure 1. The Formula and the Resulting Graph for Calculating the Table
Interpolation Value COS of an Angle
Table interpolation is comprised of two steps:
1. Direct look-up: looking through the table to find the interval [xi, xi+1] at
which the considered angle X is located, with xi < X < xi+1.
2. Interpolation: solving the above mentioned calculation to obtain Y.
2.3
Functions
Functions SINE, COSINE, and SINE + COSINE are illustrated by example
in the appendix. Conventions to interface with this function are:
2.4
Input: ANGLE parameters are in the stack pointed by AR1. The value
of this angle is unsigned.
0
<->
0000h
90
<->
4000h
180
<->
8000h
240
<->
C000h
Output: COS(angle) or SIN(angle) are in ACCUMULATOR in Q15

format (1 to 1215).
System Utilization
Table 1 shows processor utilization when using the direct look-up and linear
interpolation methods.
Table 1. Processor Utilization (Maximum) When Using

Direct Look-Up and Interpolation
FUNCTION
CYCLES
EXECUTION TIME
SIN assembly call
35
1.75 s
COS assembly call
38
1.90 s
SIN fully C-compatible
42
2.10 s
COS fully C-compatible
45
2.25 s
SIN + COS of an angle
58
2.90 s
Table 2 shows memory utilization when using the direct look-up and linear
interpolation method.
Table 2. Memory Utilization When Using Direct Look-Up and Interpolation
FUNCTION
ROM
(WORDS)
STACKLEVELS
REGISTERS
USED
RAM
(WORDS)
SIN assembly call
32 + 100
In stack
COS assembly call
34 + 100
In stack
COS and SIN assembly call
66 + 100
In stack
SIN Fully C compatible
42 + 100
In stack
COS assembly call
44 + 100
In stack
COS + SIN in one function

assembly call
55 + 125
In stack
In the case of Sine + Cosine, the same table is used.
2.5
Sine-Generation Precision
Figure 2 and Figure 3 are graphs that present the precision of the direct
look-up and linear interpolation sine functions. The precision measurement
is made by comparing the direct look-up and the floating-point C library
results.
2.5.1
One-Sine-Period Analysis
The sine period provides a general image of error calculation. In Figure 2
and Figure 3, results of the sine calculation are in Q15 format.
SPRA179
Figure 2. Direct Look-Up With Interpolation of Sine Calculation From 0 to 2*

With a 0.015-Radian Step
Figure 3. Error Between the C Floating-Point Result and Direct Look-Up Calculation
From 0 to 2* With a 0.015-Radian Step
SPRA179
2.5.2
Quarter-Sine-Period Analysis
Figure 4, Figure 5, and Figure 6 graph another precise analysis using a
quarter of a half-sine period. In this case, the step is 0.0039 radian. The
interpolation is made at 0.125-radian intervals. In this way, interpolation
error is exposed on the following graphs. Each interval (table approximation)
is displayed with 32 pixels.
Figure 4. Results of Direct Look-Up SIN From 0 to /2 With a 0.0039-Radian Step
Figure 5. Error Between the C Floating-Point Result and the Direct Look-Up
SINE Calculation From 0 to /4 With a 0.0039-Radian Step in Q15 Format
SPRA179
Figure 6. Error Between the C Floating-Point Result and the Direct Look-Up
SINE Calculation From 0 to /4 With a 0.0039-Radian Step in %
Sine/Cosine With Mathematical Series
3 Sine/Cosine With Mathematical Series

This section explains the second of two methods of implementing a digital
sine-wave generator using the TMS320C2xx.
3.1

The sine/cosine method calculates the sine/cosine functions with a
mathematical series for the sine period and a mathematical series for
cosine. Calculations are made with fixed-point instructions to optimize the
time calculation. The dynamics used in the calculation fit with maximum
precision without overflow.
Two versions of each function are presented:
3.1.1
parameters passed to the functions. Parameters returned by functions are
passed by a pointer. Responsibilities of called functions are managed in a
postfix expression called the function designator. Stack pointer AR1 is
not used.
3.1.2
10
SPRA179
3.2
Sine/Cosine Mathematical Series

Figure 7 shows the formula for calculating the value SIN(X) of an angle X.
X in radian,
If (X>=0.0)
SIN(X)=((((0.0372*X)0.2338)*X+0.0544)*X+0.9826)*X+0.0013
else
SIN(X)=((((0.0372*X)+0.2338)*X+0.0544)*X0.9826)*X+0.0013
Figure 7. Formula for Calculating the Value SIN of an Angle

Figure 8 shows the formula for calculating the value COS(X) of an angle X.
X in radian,
If (X>=0.0)
COS(X)=(((((-0.0076*X)+0.0595)*X-0.0211)*X-0.4879)*X-0.0028)*X+1.0
else
COS(X)=(((((0.0076*X)+0.0595)*X+0.0211)*X-0.4879)*X+0.0028)*X+1.0
Figure 8. Formula for Calculating the Value COS of an Angle
3.3
Functions
Functions SINE and COSINE are illustrated by example in the appendix.
Conventions to interface with these functions are:
Input: ANGLE parameters are in the stack pointed to by AR1. The value
0
<->
0000h
90
<->
4000h
180 <->
8000h
240 or -90 <-> C000h
format (1 to 1215).
3.4
System Utilization
Table 3 shows processor utilization when using the mathematical series
method.
Table 3. Processor Utilization (Maximum) When Using Mathematical Series
FUNCTION
CYCLES
EXECUTION TIME
SIN assembly main
27
1.35 s
COS assembly main
37
1.85 s
34
1.70 s
44
2.20 s
SIN + COS of an angle assembly main
64
3.20 s
11
Table 4 shows memory utilization when using the mathematical series

method.
Table 4. Memory Utilization When Using Mathematical Series
3.5
FUNCTION
ROM
(WORDS)
STACK
LEVELS
REGISTERS USED
RAM
(WORDS)
SIN
54
In stack
COS
67
In stack
SIN
64
In stack
COS
77
In stack
COS and SIN
121
In stack
The following graphs present the precision of the mathematical series of
sine functions. The precision measurement is calculated by comparing the
mathematical series and floating-point C library results.
12
SPRA179
3.5.1
The sine period provides a general image of error calculation. In Figure 9
and Figure 10, results of the sine calculation are in Q15 format.
Figure 9. Mathematical Series Sine Calculation From 0 to 2*

13
Figure 10. Error Between the C Floating-Point Result and the Mathematical Series
SINE Calculation From 0 to 2* With a 0.015-Radian Step
3.5.2
Figure 11, Figure 12, and Figure 13 graph another precise analysis using a
quarter of a half-sine period. In this case, the step is 0.0039 radian.
14
SPRA179
Figure 11. Results of Mathematical Series Sine From 0 to /2

15
Figure 12. Error Between the C Floating-Point Result and a Mathematical Series
16
SPRA179
Figure 13. Error Between the C Floating-Point Result and a Mathematical Series
17
18
SPRA179
Examples of a C Program and an Assembly Program Calling Sine and Cosine Functions
Appendix A
A.1
Examples of a C Program and an Assembly Program

Calling Sine and Cosine Functions
Main C Program to Call Sine or Cosine Functions
********************************************************************************
*File Name:
Main_trig.c
*Project:
DMC Mathematical Library
*Originator:
Pascal DORSTER (Texas Instruments)
*Description:
Very simple main which calls COS or SIN function
*Processor:
C2xx
*Status:
*Last Update:
19 Oct 96
*______________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
********************************************************************************
extern ser_cos();
void main()
{
double rad;
double a;
int c;
.
.
.
if (rad!=0.0) /* < rad < +*/
c=(int)(32767*rad/3.1415927);
else
c=0;
a=ser_cos(c);
.
}
A-1
A.2
Main Assembly Program to Call Sine or Cosine Functions
**********************************************************************************
*File Name:
Main_trig.asm
*Project:
*Originator:
*Description:
*
*
*Processor:
C2xx
*Status:
*Last Update:
19 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
.mmregs
.def
_ser_sin
.sect
vectors
_c_int0
**********************************************************************************
* Main routine
**********************************************************************************
.text
_c_int0:
.
.
LAR
AR1,#60h
MAR
*,AR1
A-2
SPRA179
;stack preparation
LACC
#4000h
;/2
SACL
*+
;parameters in stack
CALL
_ser_sin
;result in ACCU
.
.end
A-3
A.3
COS Function With Direct Look-Up and Linear Interpolation for

Assembly Program
**********************************************************************************
*Routine Name:
COS
*Project:
*Originator:
*Description:
COS function with Direct Lookup and
Interpolation Assembly calling function,
variables in s/w stack.
*Status:
*Processor:
C2xx
*Calling convention:
Input : Angle in stack value 0360 degrees <=>0hFFFFh
Output : COS(angle)*32767, Q15, in ACCU
Pointed register AR1
*Stack commentary:
Position of current register in Caps
Stack at beginning : angle/X
*Last Update:
16 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
COS
MAR
LACC
#4000h
ADDS
SACL
LT
*+
;add 0.5 for COS

;variable in size_sin
;*******stack : angle/X
LACC
A-4
#64h
SPRA179
SACL
*
;*******stack : angle/TEMP
MPYU
PAC
SACH
;integer position in the table

;in High part of Acc
*+
;remainder
;*******stack : angle/indice/X
SACL
;
;*******stack : angle/indice/REMAINDER
LACC
*,15
AND
#0ffffh,15
SACH
*
;*******stack : angle/INDICE/remainder
BCND
equal_sin,EQ
LACC
#Table_sin
ADD
;address of beginning of the table

;address of the nearest first indice
;*******stack : ANGLE/indice/remainder
TBLR
*+
;*******stack : y1/INDICE/remainder
ADD
#1h
TBLR
;Load Y2 with the ordinate of the

;*******stack : y1/Y2/remainder
;nearest second indice
LACC
*
;*******stack : Y1/y2/remainder
SUB
*+
;difference between the two Y value

SACL
*+
;*******stack : y1/temp/REMAINDER
LT
MPY
;*******stack : y1/TEMP/remainder
SPH
;interpolation between Y1 and Y2

;*******stack : Y1/temp/remainder
LACC
*+
ADD
*,1
;Y(Xdata) in ACCU
RET
A-5
equal_sin
LACC
#Table_sin
ADD

;address of the pointed indice
;*******stack : RESULT/
TBLR
LACC
*+
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin
.include
Table_sin_end
.word
.end
A-6
SPRA179
sine.tab
A.4
COS Function With Direct Look-Up and Linear Interpolation for

C Program
**********************************************************************************
*Routine Name:
_COS
*Project:
*Originator:
*Description:
Interpolation C calling function, variables in C stack.
Fully C compatible
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
16 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_COS
ADRK
#2
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
;C compatibility
A-7
SBRK
#3
SPM
LACC
#4000h
ADDS
SACL
LT
*+
;C compatibility
;add 0.5 for COS

LACC
#64h
SACL
MPYU
PAC
SACH

*+
;remainder
SACL
LACC
*,15
AND
#0ffffh,15
SACH
;
BCND
equal_sin,EQ
LACC
#Table_sin
ADD

TBLR
*+
ADD
#1h
TBLR
LACC
SUB
*+
SACL
*+
LT
A-8
*
SPRA179
MPY
*
SPH
LACC
*+

ADD
*,1,AR1
;Y(Xdata) in ACCU
MAR
;C compatibility
PSHD
SBRK
#1
RET
equal_sin
LACC
#Table_sin
ADD
TBLR
LACC
*+,0,AR1

MAR
PSHD
SBRK
#1
;C compatibility
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word
.end
A-9
A.5
SIN Function With Direct Look-Up and Linear Interpolation for

Assembly Program
**********************************************************************************
*Routine Name:
SIN
*Project:
*Originator:
*Description:
SIN function with Direct Lookup and Interpolation
Assembly calling function, variables in s/w stack.
*Status:
*Processor:
C2xx
Output : SIN(angle)*32767, Q15, in ACCU
*Stack commentary:
*Last Update:
16 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
SIN
MAR
*+
LT
*+
LACC
#64h
SACL
A-10
SPRA179
MPYU
PAC
SACH

*+
;remainder
SACL
LACC
*,15
AND
#0ffffh,15
SACH
BCND
equal_sin,EQ
LACC
#Table_sin
ADD
;
TBLR
*+
ADD
#1h
TBLR
LACC
SUB
*+
SACL
*+
LT
MPY
*
SPH
LACC
*+

ADD
*,1
;Y(Xdata) in ACCU
RET
equal_sin
A-11
LACC
#Table_sin
ADD

TBLR
LACC
*+
;*******stack : result/X
end_interp_sin
RET
*********************************************************************************
* Table
*********************************************************************************
Table_sin
.include
Table_sin_end
.word 0
A-12
SPRA179
sine.tab
A.6
SIN Function With Direct Look-Up and Linear Interpolation for

C Program
**********************************************************************************
*Routine Name:
_SIN
*Project:
*Originator:
*Description:
*
SIN function with Direct Lookup + Interpolation
C calling function, variables in C stack.
Fully C compatible
*Status:
*Processor:
C2x
*Stack commentary:
*Last Update:
16 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_SIN
ADRK
#2
POPD
*+
;C compatibility
A-13
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
#3
SPM
LT
*+
LACC
#64h
SACL
;C compatibility
MPYU
PAC

SACH
*+
;remainder
SACL
LACC
*,15
AND
#0ffffh,15
SACH
BCND
equal_sin,EQ
LACC
#Table_sin
ADD
TBLR
*+
ADD
#1h
TBLR

LACC
*
SUB
*+

SACL
*+
LT
A-14
SPRA179
MPY
*
SPH

LACC
*+
ADD
*,1,AR1
;Y(Xdata) in ACCU
MAR
;C compatibility
PSHD
SBRK
#1
RET
equal_sin
LACC
#Table_sin
ADD

;*******stack : RESULT/...
TBLR
LACC
*+,0,AR1
MAR
PSHD
SBRK
#1
;C compatibility
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word
A-15
A.7
Table for COS or SIN Function With Direct Look-Up
**********************************************************************************
* TABLE Sine and Cosine for separate functions COS and SIN
**********************************************************************************
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
A-16
SPRA179
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
A-17
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
A-18
SPRA179
A.8
COS_SIN Function With Direct Look-Up and Linear Interpolation for

Assembly Program
**********************************************************************************
*Routine Name:
COS_SIN
*Project:
*Originator:
*Description:
COS+SIN function with Direct Lookup and Interpolation
*Status:
*Processor:
C2xx
Output:
SIN(angle)*32767, Q15, in stack pointed by AR11
COS(angle)*32767,Q15, in stack pointed by AR1
*Stack commentary:
*Last Update:
16 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
size_tab .set
64h
;this is not an error
COS_SIN
MAR
*+
LT
*+
A-19
;*stack: angle/X
LACC
#size_tab
SACL
MPYU
;*stack: angle/TEMP
PAC
SACH

*+
;remainder
;*stack: angle/indice/X
SACL
;
;*stack: angle/indice/REMAINDER
LACC
*,15
AND
#0ffffh,15
SACH
BCND
equal_sin,EQ
LACC
#Table_sin_cos
ADD
;*stack: angle/INDICE/remainder

;*stack: ANGLE/indice/remainder
TBLR
*+
ADD
#1h
TBLR
*+
;*stack: y1/INDICE/remainder
;*stack: y1/y2/REMAINDER
ADRK
#1
;*stack: y1/y2/remainder/X
ADD
#18h
TBLR
*+
;*stack: y1/y2/remainder/yy1/X
ADD
#1h
TBLR
;*stack: y1/y2/remainder/yy1/YY2
LACC
;calculate cos interpolate

;*stack: y1/y2/remainder/YY1/yy2
SUB
*+
SACL
;*stack: y1/y2/remainder/yy1/TEMP
LT
A-20
SPRA179
;*stack: y1/y2/remainder/YY1
SBRK
#1
;*stack: y1/y2/REMAINDER/yy1
MPY
*
ADRK #2
SPH

;*stack: Y1/y2/remainder/YY1/temp
LACC
*+
ADD
*,1
;Y(Xdata) in ACCU
SACL
*
;*stack: y1/y2/REMAINDER/cos
;calculate sin interpolate
SBRK
#1
;*stack: y1/Y2/remainder/cos
LACC
SUB
*+
;*stack: Y1/y2/remainder
SACL
*+
;*stack: y1/temp/REMAINDER/cos
LT
*
;*stack: y1/TEMP/remainder/cos
MPY
*
SPH
LACC
*+

;*stack: Y1/temp/remainder/cos
ADD
*,1
;Y(Xdata) in ACCU
;*stack: y1/temp/remainder/cos
SACL
ADRK
#3
;*stack: SIN/temp/remainder/cos
;*stack: sin/temp/remainder/COS
LACC
A-21
SBRK
#2
;*stack: sin/TEMP/remainder/cos
SACL
*
;*stack: sin/COS
RET
equal_sin
LALK
Table_sin_cos ;address of beginning of the table

ADD

;*stack: ANGLE/indice
TBLR
*+
;*stack: sin/INDICE/remainder
ADD
#19h
TBLR
*
;*stack: sin/COS
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin_cos
.include sin_cos.tab
Table_sin_cos_end
.word
A-22
SPRA179
A.9
Table for COS_SIN Function With Direct Look-Up
**********************************************************************************
* TABLE Sine + Cosine for functions COS_SIN
**********************************************************************************
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
A-23
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
A-24
SPRA179
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
A-25
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
A-26
SPRA179
A.10
SIN With Mathematical Series for Assembly Program
**********************************************************************************
*Routine Name:
sin_ser
*Project:
*Originator:
*Description:
SIN function with Mathematical Series
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
sin_ser
SETC
SXM
MAR
LAC
BCND
angle_neg,LT
angle_pos
A-27
LT
*+
;*stack : angle/X
MPY
#0c90h
;abscissa scale modify degree > rad
*,4
;angle in rad
PAC
SACH
;*stack : angle/RAD
LT
*+
;*stack : angle/rad/X
MPY
#985h
;0.0372
;
;PREG : angle * 0.0372
LACC
#0C426h,13
APAC
SACH
; in high ACCU
;ACCU : 0.2338 + angle * 0.0372
* ,3
;temporary value
;angle in TREG
MPY
;multiply by temporary value

;temporary value
;*stack : angle/rad/TEMP
LACC
#6f69h,10
APAC
SACH
;0.0544
;ACCU: temp + 0.0544
*,2
;temp
;*stack : angle/RAD/temp
;angle in TREG
MPY
;temp
LACC
#7dc5h,13
;0.9826
*,3
;treg = rad
APAC
SACH
;ACCU=0.9826+temp
;temp
MPY
;rad * temp
;temp * angle
LACC
#05532,4
;0.0013
SACH
* ,3
;result
LACC
APAC
;*stack : angle/SIN
RET
A-28
SPRA179
angle_neg
LT
*+
MPY
#0c90h
;abscisse scale modif degre > rad
*,4
;angle in rad
;*stack : angle/X
PAC
SACH
;*stack : angle/RAD
LT
*+
MPY
#985h
;0.0372
;
LACC
#03bdah,13
APAC
; in high ACCU
;ACCU : 0.2338 + angle * 0.0372
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
LACC
#6f69h,10
APAC
SACH
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LACC
#7dc5h,13
;0.9826
SPAC
;ACCU=0.9826+temp
SACH
*,3
;treg = rad
MPY
;rad * temp
;temp * angle
LACC
#05532,4
;0.0013
SACH
*,3
;result
LACC
APAC
;*stack : angle/SIN
RET
A-29
A.11
SIN With Mathematical Series for C Program
**********************************************************************************
*Routine Name:
_sin_ser
*Project:
*Originator:
*Description:
Fully C compatible
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_sin_ser
ADRK
#2
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
#3
A-30
SPRA179
;C compatibility
;C compatibility
SPM
SETC
SXM
LACC
BCND
angle_neg,LT
angle_pos
LT
*+
;*stack : angle/X
MPY
#0c90h

;in
PAC
SACH
*,4
LT
*+
;angle in rad
;*stack : angle/RAD
MPY
#985h
;0.0372
;
LACC
#0C426h,13
APAC
; in high ACCU
;ACCU : 0.2338 + angle * 0.0372
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
LACC
#6f69h,10
APAC
SACH
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LACC
#7dc5h,13
;0.9826
APAC
SACH
;ACCU=0.9826+temp
*,3
;treg = rad
;temp
MPY
;rad * temp
A-31
;temp * angle
LACC
#05532,4
;0.0013
SACH
* ,3
;result
LACC
*,0,AR1
APAC
;*stack : angle/SIN
MAR
PSHD
SBRK
#1
;C compatibility
RET
angle_neg
LT
*+
;*stack : angle/X
MPY
#0c90h
*,4
;angle in rad
PAC
SACH
;*stack : angle/RAD
LT
*+
MPY
#985h
;0.0372
;
LACC
#03bdah,13
APAC
SACH
; in high ACCU
;ACCU : 0.2338 + angle * 0.0372
* ,3
;temporary value
;angle in TREG
MPY

;temporary value
LACC
#6f69h,10
APAC
SACH
;0.0544
*,2
;temp
;angle in TREG
MPY
A-32
*
SPRA179
;temp
LACC
#7dc5h,13
SPAC
;0.9826
;ACCU=0.9826+temp
SACH
*,3
;treg = rad
MPY
;rad * temp
;temp * angle
LACC
#05532,4
;0.0013
SACH
*,3
;result
LACC
*,0,AR1
APAC
;*stack : angle/SIN
MAR
PSHD
SBRK
#1
;C compatibility
RET
A-33
A.12
COS With Mathematical Series for Assembly Program
**********************************************************************************
*Routine Name:
cos_ser
*Project:
*Originator:
*Description:
COS function with Mathematical Series
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
cos_ser
SETC
SXM
MAR
LACC
BCND
angle_neg,LT
A-34
SPRA179
angle_pos
LT
*+
;*stack : angle/X
MPY
#0c90h
SACH
*,4
;angle in rad
LT
*+
PAC
;*stack : angle/RAD
MPY
#1070h
;0.0076 neg
;
LACC
#01e76h,15
; in high ACCU
* ,3
;temporary value
APAC
SACH
;ACCU : +0.0595 + angle * 0.0076

;angle in TREG
MPY

;temporary value
LACC
#0f532h,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LACC
#0e0c6h,15
;0.4879
APAC
;ACCU=0.9826+temp
SACH
*,2
;treg = rad
MPY
;rad * temp
;temp * angle
LACC
#0a440h,5
;0.0028
SACH
*,2
;result
MPY
LACC
#1000h,15
;1
APAC
APAC
A-35
SETC
OVM
SACH
*,3
LACC
*,16
ADD
*,16
SACH
LACC
*
;*stack : angle/SIN
RET
angle_neg
LT
*+
;*stack : angle/X
MPY
#0c90h
*,4
;angle in rad
PAC
SACH
;*stack : angle/RAD
LT
*+
MPY
#0f90h
;0.0076 neg
;
LACC
#01e76h,15
; in high ACCU
* ,3
;temporary value
APAC
SACH
;ACCU : +0.0595 + angle * 0.0076

;angle in TREG
MPY

;temporary value
LACC
#00aceh,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LACC
#0e0c6h,15
;0.4879
APAC
A-36
;ACCU=0.9826+temp
SPRA179
SACH
*,2
;treg = rad
;temp
MPY
;rad * temp
;temp * angle
LACC
#05bc0h,5
;0.0028
APAC
SACH
*,2
;result
MPY
LACC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LACC
*,16
ADD
*,16
SACH
LACC
*
;*stack : angle/SIN
RET
A-37
A.13
COS With Mathematical Series for C Program
**********************************************************************************
*Routine Name:
_cos_ser
*Project:
*Originator:
*Description:
C calling function,
variables in C stack. Fully C compatible
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_cos_ser
ADRK
#2
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
#3
A-38
SPRA179
;C compatibility
;C compatibility
SPM
SETC
SXM
LAC
BCND
angle_neg,LT
angle_pos
LT
*+
;*stack : angle/X
MPY
#0c90h
SACH
*,4
;angle in rad
LT
*+
PAC
;*stack : angle/RAD
MPY
#1070h
;0.0076 neg
;
LACC
#01e76h,15
APAC
; in high ACCU
;ACCU : +0.0595 + angle * 0.0076
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
LACC
#0f532h,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LACC
#0e0c6h,15
;0.4879
APAC
SACH
;ACCU=0.9826+temp
*,2
;treg = rad
;temp
A-39
MPY
;rad * temp
;temp * angle
LACC
#0a440h,5
;0.0028
SACH
*,2
;result
MPY
LACC
#1000h,15
;1
APAC
APAC
SETC
OVM
SACH
*,3
LACC
*,16
ADD
*,16
SACH
LACC
*,0,AR1
;*stack : angle/SIN
MAR
PSHD
SBRK
#1
;C compatibility
RET
angle_neg
LT
*+
;*stack : angle/X
MPY
#0c90h
*,4
;angle in rad
PAC
SACH
;*stack : angle/RAD
LT
*+
MPY
#0f90h
;0.0076 neg
;
LACC
#01e76h,15
APAC
SACH
; in high ACCU
;ACCU : +0.0595 + angle * 0.0076
* ,3
;temporary value
;angle in TREG
MPY
A-40
*
SPRA179
;temporary value
LACC
#00aceh,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LACC
#0e0c6h,15
;0.4879
APAC
;ACCU=0.9826+temp
SACH
*,2
;treg = rad
MPY
;rad * temp
;temp * angle in Q28
LACC
#05bc0h,5
;0.0028
SACH
*,2
;result
MPY
LACC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LACC
*,16
ADD
*,16
SACH
LACC
*,0,AR1
;*stack : angle/SIN
MAR
PSHD
SBRK
#1
;C compatibility
RET
A-41
A-42
SPRA179

ABSTRACT
This application report describes two methods for implementing a digital sine-wave
generator using the TMS320C2xx: the use of a direct look-up table with linear
interpolation, and the use of mathematical series. Both methods are explained in
terms of C-compatible and assembly-compatible functions. Formulas used for
calculating and graphing the results are included for each method to demonstrate
the differences.
B Introduction
Sine-wave generators are fundamental building blocks of signal processing
systems for use in control applications. The following two methods are
described in this application report for implementing a digital sine-wave
generator using the TMS320C2xx:
Direct look-up with linear interpolation to provide sine waves with a
minimum of harmonic distortion
Realization of the sine/cosine functions with a mathematical series
The two methods respond to different constraints. The direct look-up
method is fast with minimum errors and is significant in ROM programming
requirements. The mathematical series method is fast and requires
minimum (ROM) programming but results in less precision.
A-1
C Direct Look-Up and Linear Interpolation Method

This section describes the Direct Look- Up and Linear Interpolation method
of implementing a digital sine-wave generator using the TMS320C2xx.
C.1

The Direct Look-Up method, which uses 100 sine-period values in a table,
reveals the sine/cosine functions. To provide minimum harmonic distortion,
the method includes linear interpolation with a fixed-step table. An extended
table is used for the cosine + sine function and is located in program memory.
Two versions of each function are presented :
C.1.1
parameters passed to the functions. Parameters returned by the functions
are passed by a pointer. Responsibilities of called functions are managed
in a postfix expression called the function designator. Stack pointer AR1 is
not used.
C.1.2
A-2
STDZ001A
C.2
Interpolation
Figure B1 shows the formula and the resulting graph for calculating the
table interpolation value COS(X) of an angle X.
y
y
X x
Y
+
i
x
i+ 1
r =
i+1
Y=?
( y
i+ 1
y )
i
ratio
x
i+1
where:
{xi} = {first coordinates of the table},
{yi} = {second coordinates of the table},
i chosen so that xi < X < xi+1.
Figure B1. The Formula and the Resulting Graph for Calculating the Table
Interpolation Value COS of an Angle
Table interpolation is comprised of two steps:
1. Direct look-up: looking through the table to find the interval [xi, xi+1] at which the
considered angle X is located, with xi < X < xi+1.
C.3
Interpolation: solving the above mentioned calculation to obtain Y.
Functions
Functions SINE, COSINE, and SINE + COSINE are illustrated by example
in the appendix. Conventions to interface with this function are:
Input: ANGLE parameters are in the stack pointed by AR1. The value
0
<->
0000h
90
<->
4000h
180 <->
8000h
240 <->
C000h
format (1 to 1215).
C.4
System Utilization
Table E1 shows processor utilization when using the direct look-up and
linear interpolation methods.
A-3
Table E1. Processor Utilization (Maximum) When Using

Table Look-Up and Interpolation
FUNCTION
CYCLES
EXECUTION TIME
SIN assembly call
35
1.75 s
COS assembly call
38
1.90 s
42
2.10 s
45
2.25 s
SIN + COS of an angle
58
2.90 s
Table E2 shows memory utilization when using the direct look-up and
linear interpolation method.
Table E2. Memory Utilization When Using Direct Look-Up and Interpolation
FUNCTION
ROM
(WORDS)
STACKLEVELS
REGISTERS
USED
RAM
(WORDS)
SIN ssembly call
32 + 100
In stack
COS assembly call
34 + 100
In stack
COS and SINassembly call
66 + 100
In stack
SIN Fully C compatible
42 + 100
In stack
COS assembly call
44 + 100
In stack
COS + SIN in one function

assembly call
55 + 125
In stack
In the case of Sine + Cosine, the same table is used.
C.5
Figure B2 and Figure B3 are graphs that present the precision of the
direct look-up and linear interpolation sine functions. The precision
measurement is made by comparing the direct look-up and the floating-point
C library results.
C.5.1
The sine period provides a general image of error calculation. In Figure B2
and Figure B3, results of the sine calculation are in Q15 format.
A-4
STDZ001A
Figure B2. Direct Look-Up With Interpolation of Sine Calculation From 0 to 2*

A-5
Figure B3. Error Between the C Floating-Point Result and Direct Look-Up
Calculation From 0 to 2* With a 0.015-Radian Step
A-6
STDZ001A
C.5.2
Figure B4, Figure B5, and Figure B6 graph another precise analysis
using a quarter of a half-sine period. In this case, the step is 0.0039 radian.
The interpolation is made at 0.125-radian intervals. In this way, interpolation
error is exposed on the following graphs. Each interval (table approximation)
is displayed with 32 pixels.
Figure B4. Results of Direct Look-Up SIN From 0 to /2 With a 0.0039-Radian

Step
A-7
A-8
STDZ001A
A-9
D Sine/Cosine With Mathematical Series

This section explains the second of two methods of implementing a digital
sine-wave generator using the TMS320C2xx.
D.1

The sine/cosine method calculates the sine/cosine functions with a
mathematical series for the sine period and a mathematical series for
cosine. Calculations are made with fixed-point instructions to optimize the
time calculation. The dynamics used in the calculation fit with maximum
precision without overflow.
Two versions of each function are presented :
D.1.1
parameters passed to the functions. Parameters returned by functions are
passed by a pointer. Responsibilities of called functions are managed in a
postfix expression called the function designator. Stack pointer AR1 is
not used.
D.1.2
A-10
STDZ001A
D.2
Sine/Cosine Mathematical Series

Figure B7 shows the formula for calculating the value SIN(X) of an angle
X.
X in radian,
If (X>=0.0)
SIN(X)=((((0.0372*X)0.2338)*X+0.0544)*X+0.9826)*X+0.0013
else
SIN(X)=((((0.0372*X)+0.2338)*X+0.0544)*X0.9826)*X+0.0013
Figure B7. Formula for Calculating the Value SIN of an Angle

Figure B8 shows the formula for calculating the value COS(X) of an angle
X.
X in radian,
If (X>=0.0)
COS(X)=(((((-0.0076*X)+0.0595)*X-0.0211)*X-0.4879)*X-0.0028)*X+1.0
else
COS(X)=(((((0.0076*X)+0.0595)*X+0.0211)*X-0.4879)*X+0.0028)*X+1.0
Figure B8. Formula for Calculating the Value COS of an Angle
D.3
Functions
Functions SINE and COSINE are illustrated by example in the appendix.
Conventions to interface with these functions are:
Input: ANGLE parameters are in the stack pointed toby AR1. The value
0
<->
0000h
90
<->
4000h
180 <->
8000h
240 or -90 <-> C000h
format (1 to 1215).
D.4
System Utilization
Table E3 shows processor utilization when using the mathematical series
method.
Table E3. Processor Utilization (Maximum) When Using Mathematical Series

FUNCTION
CYCLES
EXECUTION TIME
SIN assembly main
27
1.35 s
COS assembly main
37
1.85 s
34
1.70 s
44
2.20 s
SIN + COS of an angle assembly main
64
3.20 s
A-11
Table E4 shows memory utilization when using the mathematical series

method.
Table E4. Memory Utilization When Using Mathematical Series
D.5
FUNCTION
ROM
(WORDS)
STACK
LEVELS
REGISTERS USED
RAM
(WORDS)
SIN
54
In stack
COS
67
In stack
SIN
64
In stack
COS
77
In stack
COS and SIN
121
In stack
The following graphs present the precision of the mathematical series of
sine functions. The precision measurement is calculated by comparing the
mathematical series and floating-point C library results.
A-12
STDZ001A
D.5.1
The sine period provides a general image of error calculation. In Figure B9
and Figure B10, results of the sine calculation are in Q15 format.
Figure B9. Mathematical Series Sine Calculation From 0 to 2*

A-13
Figure B10. Error Between the C Floating-Point Result and the Mathematical
Series
SINE Calculation From 0 to 2* With a 0.015-Radian Step
D.5.2
Figure B11, Figure B12, and Figure B13 graph another precise analysis
using a quarter of a half-sine period. In this case, the step is 0.0039 radian.
A-14
STDZ001A
Figure B11.
Results of Mathematical Series Sine From 0 to /2

A-15
Figure B12. Error Between the C Floating-Point Result and a Mathematical

Series Sine Calculation From 0 to /4 With a 0.0039-Radian Step in Q15 Format
A-16
STDZ001A
Figure B13. Error Between the C Floating-Point Result and a Mathematical

Series Sine Calculation From 0 to /4 With a 0.0039-Radian Step in %
A-17
********************************************************************************
*File Name:
Main_trig.c
*Project:
*Originator:
*Description:
*Processor:
C2xx
*Status:
*Last Update:
19 Oct 96
*______________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
********************************************************************************
extern ser_cos();
void main()
{
double rad;
double a;
int c;
.
.
.
if (rad!=0.0) /* < rad < +*/
c=(int)(32767*rad/3.1415927);
else
c=0;
a=ser_cos(c);
.
}
**********************************************************************************
*File Name:
Main_trig.asm
*Project:
*Originator:
A-1
*Description:
*
*
*Processor:
C2xx
*Status:
*Last Update:
19 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
.mmregs
.def
_ser_sin
.sect
vectors
_c_int0
**********************************************************************************
* Main routine
**********************************************************************************
.text
_c_int0:
.
.
LAR
AR1,#60h
MAR
*,AR1
A-2
;stack preparation
LAC
#4000h
;/2
SACL
*+
CALL
_ser_sin
;result in ACCU
.
.end
**********************************************************************************
*Routine Name:
COS
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
16 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
COS
MAR
LAC
#4000h
ADDS
;add 0.5 for COS
A-3
SACL
LT
*+
LAC
#64h
SACL
*
MPYU
PAC
SACH

*+
;remainder
SACL
;
LAC
*,15
ANDK
#0ffffh,15
SACH
*
BCND
equal_sin,EQ
LALK
Table_sin
ADD
TBLR
*+
ADD
#1h
TBLR

LAC
*
SUB
*+
SACL
*+

LT
*
MPY
SPH
A-4
LAC
*+
ADD
*,1
;Y(Xdata) in ACCU
LALK
Table_sin
ADD
RET
equal_sin
TBLR
LAC
*+
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word
.end
**********************************************************************************
*Routine Name:
_COS
*Project:
*Originator:
*Description:
Fully C compatible
*Status:
*Processor:
C2xx
A-5
*Stack commentary:
*Last Update:
16 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_COS
ADRK
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
SPM
LAC
#4000h
ADDS
SACL
LT
*+
LAC
#64h
SACL
MPYU
;C compatibility
;C compatibility
;add 0.5 for COS

PAC
SACH

*+
;remainder
SACL
LAC
*,15
ANDK
#0ffffh,15
;
A-6
SACH
*
BCND
equal_sin,EQ
LALK
Table_sin
ADD

TBLR
*+
ADD
#1h
TBLR

LAC
SUB
*+
SACL
*+
LT
MPY
SPH

LAC
*+
ADD
*,1,AR1
;Y(Xdata) in ACCU
MAR
;C compatibility
PSHD
SBRK
RET
equal_sin
LALK
Table_sin
ADD
TBLR
LAC
*+,0,AR1
A-7
MAR
PSHD
SBRK
;C compatibility
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word
.end
**********************************************************************************
*Routine Name:
SIN
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
*
*
*Stack commentary:
*
*Last Update:
*
16 Oct 96
*________________________________________________________________________________*
A-8
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
SIN
MAR
*+
LT
*+
LAC
#64h
SACL
*
MPYU
PAC

SACH
*+
;remainder
SACL
LAC
*,15
ANDK
#0ffffh,15
SACH
BCND
equal_sin,EQ
LALK
Table_sin
ADD
TBLR
*+
ADD
#1h
TBLR

LAC
*
SUB
*+

SACL
*+
A-9
LT
*
MPY
SPH
LAC
*+
ADD
*,1
;Y(Xdata) in ACCU
LALK
Table_sin
ADD
RET
equal_sin
TBLR
LAC
*+
end_interp_sin
RET
*********************************************************************************
* Table
*********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word 0
**********************************************************************************
*Routine Name:
_SIN
*Project:
*Originator:
*Description:
*
Fully C compatible
A-10
*Status:
*Processor:
C2x
*Stack commentary:
*Last Update:
16 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_SIN
ADRK
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
SPM
LT
*+
;C compatibility
;C compatibility
LAC
#64h
SACL
*
MPYU
A-11
PAC
SACH

*+
;remainder
SACL
;
LAC
*,15
ANDK
#0ffffh,15
SACH
*
BCND
equal_sin,EQ
LALK
Table_sin
ADD

TBLR
*+
ADD
#1h
TBLR

LAC
*
SUB
*+
SACL
*+

LT
MPY
SPH

LAC
*+
ADD
*,1,AR1
;Y(Xdata) in ACCU
MAR
;C compatibility
PSHD
SBRK
RET
A-12
equal_sin
LALK
Table_sin
ADD
TBLR
LAC
*+,0,AR1
MAR
PSHD
SBRK
;C compatibility
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word
**********************************************************************************
**********************************************************************************
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
A-13
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
A-14
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
A-15
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
**********************************************************************************
*Routine Name:
COS_SIN
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
Output:
*Stack commentary:
*Last Update:
16 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
size_tab .set
A-16
64h
COS_SIN
MAR
*+
LT
*+
;*stack: angle/X
LAC
#size_tab
SACL
*
;*stack: angle/TEMP
MPYU
PAC
SACH

*+
;remainder
SACL
LAC
*,15
ANDK
#0ffffh,15
SACH
;
BCND
equal_sin,EQ
LALK
ADD

TBLR
*+
ADD
#1h
TBLR
*+

ADRK
ADD
#18h
TBLR
*+
ADD
#1h
TBLR
LAC
A-17
SUB
*+

SACL
LT
SBRK
MPY
ADRK 2
SPH

LAC
*+
ADD
*,1
SACL
;Y(Xdata) in ACCU
SBRK
1
LAC
*
SUB
*+

SACL
*+
LT
MPY
SPH

LAC
*+
ADD
*,1
;Y(Xdata) in ACCU
A-18
SACL
ADRK
LAC
SBRK
2
SACL
*
;*stack: sin/COS
RET
equal_sin
LALK

ADD
TBLR
*+

ADDK
19h
TBLR
*
;*stack: sin/COS
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin_cos
Table_sin_cos_end
.word
**********************************************************************************
**********************************************************************************
.word
.word
2057
.word
4107
.word
6140
.word
8149
A-19
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
A-20
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
A-21
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
A-22
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
**********************************************************************************
*Routine Name:
sin_ser
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
sin_ser
SETC
SXM
A-23
MAR
LAC
BCND
angle_neg,LT
angle_pos
LT
*+
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
;*stack : angle/X
PAC
;*stack : angle/RAD
MPYK
985h
;0.0372
;
LAC
#0C426h,13
APAC
; in high ACCU
;ACCU : 0.2338 + angle * 0.0372
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
LAC
#6f69h,10
APAC
SACH
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LAC
#7dc5h,13
;0.9826
APAC
SACH
;ACCU=0.9826+temp
*,3
;treg = rad
;temp
MPY
;rad * temp
LAC
#05532,4
;0.0013
;temp * angle
APAC
A-24
SACH
* ,3
LAC
;result
;*stack : angle/SIN
RET
angle_neg
LT
*+
;*stack : angle/X
MPYK
0c90h
*,4
;angle in rad
PAC
SACH
;*stack : angle/RAD
LT
*+
MPYK
985h
;0.0372
;
LAC
#03bdah,13
; in high ACCU
* ,3
;temporary value
APAC
SACH
;ACCU : 0.2338 + angle * 0.0372

;angle in TREG
MPY

;temporary value
LAC
#6f69h,10
APAC
SACH
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LAC
#7dc5h,13
;0.9826
SPAC
;ACCU=0.9826+temp
SACH
*,3
;treg = rad
MPY
;rad * temp
;temp * angle
LAC
#05532,4
;0.0013
A-25
APAC
SACH
*,3
LAC
;result
;*stack : angle/SIN
RET
**********************************************************************************
*Routine Name:
_sin_ser
*Project:
*Originator:
*Description:
Fully C compatible
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_sin_ser
ADRK
A-26
;C compatibility
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
SPM
SETC
SXM
LAC
BCND
angle_neg,LT
;C compatibility
angle_pos
LT
*+
;*stack : angle/X
MPYK
0c90h

;in
PAC
SACH
*,4
;angle in rad
;*stack : angle/RAD
LT
*+
MPYK
985h
;0.0372
;
LAC
#0C426h,13
APAC
; in high ACCU
;ACCU : 0.2338 + angle * 0.0372
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
LAC
#6f69h,10
APAC
SACH
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LAC
#7dc5h,13
;0.9826
A-27
APAC
SACH
;ACCU=0.9826+temp
*,3
;treg = rad
;temp
MPY
;rad * temp
;temp * angle
LAC
#05532,4
;0.0013
SACH
* ,3
;result
LAC
*,0,AR1
APAC
;*stack : angle/SIN
MAR
PSHD
SBRK
;C compatibility
RET
angle_neg
LT
*+
;*stack : angle/X
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
PAC
;*stack : angle/RAD
MPYK
985h
;0.0372
;
LAC
#03bdah,13
; in high ACCU
* ,3
;temporary value
APAC
SACH
;ACCU : 0.2338 + angle * 0.0372

;angle in TREG
MPY

;temporary value
LAC
#6f69h,10
APAC
SACH
A-28
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LAC
#7dc5h,13
;0.9826
SPAC
;ACCU=0.9826+temp
SACH
*,3
;treg = rad
MPY
;rad * temp
;temp * angle
LAC
#05532,4
;0.0013
SACH
*,3
;result
LAC
*,0,AR1
APAC
;*stack : angle/SIN
MAR
PSHD
SBRK
;C compatibility
RET
**********************************************************************************
*Routine Name:
cos_ser
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
A-29
*Stack commentary:
*Last Update:
18 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
cos_ser
SETC
SXM
MAR
LAC
BCND
angle_neg,LT
angle_pos
LT
*+
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
;*stack : angle/X
PAC
;*stack : angle/RAD
MPYK
1070h
;0.0076 neg
;
LAC
#01e76h,15
APAC
; in high ACCU
;ACCU : +0.0595 + angle * 0.0076
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
A-30
LAC
#0f532h,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LAC
#0e0c6h,15
;0.4879
APAC
;ACCU=0.9826+temp
SACH
*,2
;treg = rad
MPY
;rad * temp
LAC
#0a440h,5
;0.0028
;temp * angle
APAC
SACH
*,2
;result
MPY
LAC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LAC
*,16
ADD
*,16
SACH
LAC
*
;*stack : angle/SIN
RET
angle_neg
LT
*+
;*stack : angle/X
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
PAC
;*stack : angle/RAD
A-31
MPYK
0f90h
;0.0076 neg
;
LAC
#01e76h,15
APAC
; in high ACCU
;ACCU : +0.0595 + angle * 0.0076
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
LAC
#00aceh,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LAC
#0e0c6h,15
;0.4879
APAC
SACH
;ACCU=0.9826+temp
*,2
;treg = rad
;temp
MPY
;rad * temp
;temp * angle
LAC
#05bc0h,5
;0.0028
APAC
SACH
*,2
;result
MPY
LAC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LAC
*,16
ADD
*,16
SACH
LAC
*
;*stack : angle/SIN
RET
A-32
**********************************************************************************
*Routine Name:
_cos_ser
*Project:
*Originator:
*Description:
C calling function,
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_cos_ser
ADRK
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
;C compatibility
;C compatibility
A-33
SPM
SETC
SXM
LAC
BCND
angle_neg,LT
angle_pos
LT
*+
;*stack : angle/X
MPYK
0c90h
*,4
;angle in rad
PAC
SACH
;*stack : angle/RAD
LT
*+
MPYK
1070h
;0.0076 neg
;
LAC
#01e76h,15
; in high ACCU
* ,3
;temporary value
APAC
SACH
;ACCU : +0.0595 + angle * 0.0076

;angle in TREG
MPY

;temporary value
LAC
#0f532h,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LAC
#0e0c6h,15
;0.4879
APAC
SACH
;ACCU=0.9826+temp
*,2
;treg = rad
;temp
MPY
A-34
;rad * temp
;temp * angle
LAC
#0a440h,5
;0.0028
APAC
SACH
*,2
;result
MPY
LAC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LAC
*,16
ADD
*,16
SACH
LAC
*,0,AR1
MAR
PSHD
SBRK
;*stack : angle/SIN
;C compatibility
RET
angle_neg
LT
*+
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
;*stack : angle/X
PAC
;*stack : angle/RAD
MPYK
0f90h
;0.0076 neg
;
LAC
#01e76h,15
APAC
; in high ACCU
;ACCU : +0.0595 + angle * 0.0076
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
A-35
LAC
#00aceh,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LAC
#0e0c6h,15
;0.4879
APAC
;ACCU=0.9826+temp
SACH
*,2
;treg = rad
MPY
;rad * temp
LAC
#05bc0h,5
;0.0028
SACH
*,2
;result
MPY
LAC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LAC
*,16
ADD
*,16
SACH
LAC
*,0,AR1
;*stack : angle/SIN
MAR
PSHD
SBRK
RET
A-36
;C compatibility
A-37
********************************************************************************
*File Name:
Main_trig.c
*Project:
*Originator:
*Description:
*Processor:
C2xx
*Status:
*Last Update:
19 Oct 96
*______________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
********************************************************************************
extern ser_cos();
void main()
{
double rad;
double a;
int c;
.
.
.
if (rad!=0.0) /* < rad < +*/
c=(int)(32767*rad/3.1415927);
else
c=0;
a=ser_cos(c);
.
}
**********************************************************************************
*File Name:
Main_trig.asm
*Project:
*Originator:
A-1
*Description:
*
*
*Processor:
C2xx
*Status:
*Last Update:
19 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
.mmregs
.def
_ser_sin
.sect
vectors
_c_int0
**********************************************************************************
* Main routine
**********************************************************************************
.text
_c_int0:
.
.
LAR
AR1,#60h
MAR
*,AR1
A-2
;stack preparation
LAC
#4000h
;/2
SACL
*+
CALL
_ser_sin
;result in ACCU
.
.end
**********************************************************************************
*Routine Name:
COS
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
16 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
COS
MAR
LAC
#4000h
ADDS
;add 0.5 for COS
A-3
SACL
LT
*+
LAC
#64h
SACL
*
MPYU
PAC
SACH

*+
;remainder
SACL
;
LAC
*,15
ANDK
#0ffffh,15
SACH
*
BCND
equal_sin,EQ
LALK
Table_sin
ADD
TBLR
*+
ADD
#1h
TBLR

LAC
*
SUB
*+
SACL
*+

LT
*
MPY
SPH
A-4
LAC
*+
ADD
*,1
;Y(Xdata) in ACCU
LALK
Table_sin
ADD
RET
equal_sin
TBLR
LAC
*+
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word
.end
**********************************************************************************
*Routine Name:
_COS
*Project:
*Originator:
*Description:
Fully C compatible
*Status:
*Processor:
C2xx
A-5
*Stack commentary:
*Last Update:
16 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_COS
ADRK
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
SPM
LAC
#4000h
ADDS
SACL
LT
*+
LAC
#64h
SACL
MPYU
;C compatibility
;C compatibility
;add 0.5 for COS

PAC
SACH

*+
;remainder
SACL
LAC
*,15
ANDK
#0ffffh,15
;
A-6
SACH
*
BCND
equal_sin,EQ
LALK
Table_sin
ADD

TBLR
*+
ADD
#1h
TBLR

LAC
SUB
*+
SACL
*+
LT
MPY
SPH

LAC
*+
ADD
*,1,AR1
;Y(Xdata) in ACCU
MAR
;C compatibility
PSHD
SBRK
RET
equal_sin
LALK
Table_sin
ADD
TBLR
LAC
*+,0,AR1
A-7
MAR
PSHD
SBRK
;C compatibility
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word
.end
**********************************************************************************
*Routine Name:
SIN
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
*
*
*Stack commentary:
*
*Last Update:
*
16 Oct 96
*________________________________________________________________________________*
A-8
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
SIN
MAR
*+
LT
*+
LAC
#64h
SACL
*
MPYU
PAC

SACH
*+
;remainder
SACL
LAC
*,15
ANDK
#0ffffh,15
SACH
BCND
equal_sin,EQ
LALK
Table_sin
ADD
TBLR
*+
ADD
#1h
TBLR

LAC
*
SUB
*+

SACL
*+
A-9
LT
*
MPY
SPH
LAC
*+
ADD
*,1
;Y(Xdata) in ACCU
LALK
Table_sin
ADD
RET
equal_sin
TBLR
LAC
*+
end_interp_sin
RET
*********************************************************************************
* Table
*********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word 0
**********************************************************************************
*Routine Name:
_SIN
*Project:
*Originator:
*Description:
*
Fully C compatible
A-10
*Status:
*Processor:
C2x
*Stack commentary:
*Last Update:
16 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_SIN
ADRK
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
SPM
LT
*+
;C compatibility
;C compatibility
LAC
#64h
SACL
*
MPYU
A-11
PAC
SACH

*+
;remainder
SACL
;
LAC
*,15
ANDK
#0ffffh,15
SACH
*
BCND
equal_sin,EQ
LALK
Table_sin
ADD

TBLR
*+
ADD
#1h
TBLR

LAC
*
SUB
*+
SACL
*+

LT
MPY
SPH

LAC
*+
ADD
*,1,AR1
;Y(Xdata) in ACCU
MAR
;C compatibility
PSHD
SBRK
RET
A-12
equal_sin
LALK
Table_sin
ADD
TBLR
LAC
*+,0,AR1
MAR
PSHD
SBRK
;C compatibility
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin
.include
sine.tab
Table_sin_end
.word
**********************************************************************************
**********************************************************************************
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
A-13
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
A-14
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
A-15
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
**********************************************************************************
*Routine Name:
COS_SIN
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
Output:
*Stack commentary:
*Last Update:
16 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
size_tab .set
A-16
64h
COS_SIN
MAR
*+
LT
*+
;*stack: angle/X
LAC
#size_tab
SACL
*
;*stack: angle/TEMP
MPYU
PAC
SACH

*+
;remainder
SACL
LAC
*,15
ANDK
#0ffffh,15
SACH
;
BCND
equal_sin,EQ
LALK
ADD

TBLR
*+
ADD
#1h
TBLR
*+

ADRK
ADD
#18h
TBLR
*+
ADD
#1h
TBLR
LAC
A-17
SUB
*+

SACL
LT
SBRK
MPY
ADRK 2
SPH

LAC
*+
ADD
*,1
SACL
;Y(Xdata) in ACCU
SBRK
1
LAC
*
SUB
*+

SACL
*+
LT
MPY
SPH

LAC
*+
ADD
*,1
;Y(Xdata) in ACCU
A-18
SACL
ADRK
LAC
SBRK
2
SACL
*
;*stack: sin/COS
RET
equal_sin
LALK

ADD
TBLR
*+

ADDK
19h
TBLR
*
;*stack: sin/COS
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin_cos
Table_sin_cos_end
.word
**********************************************************************************
**********************************************************************************
.word
.word
2057
.word
4107
.word
6140
.word
8149
A-19
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
A-20
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
.word
32767
.word
32702
.word
32509
.word
32187
.word
31738
.word
31163
A-21
.word
30466
.word
29648
.word
28714
.word
27666
.word
26509
.word
25247
.word
23886
.word
22431
.word
20886
.word
19260
.word
17557
.word
15786
.word
13952
.word
12062
.word
10126
.word
8149
.word
6140
.word
4107
.word
2057
.word
.word
2057
.word
4107
.word
6140
.word
8149
.word
10126
.word
12062
.word
13952
.word
15786
.word
17557
.word
19260
.word
20886
.word
22431
.word
23886
.word
25247
.word
26509
.word
27666
.word
28714
.word
29648
A-22
.word
30466
.word
31163
.word
31738
.word
32187
.word
32509
.word
32702
**********************************************************************************
*Routine Name:
sin_ser
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
sin_ser
SETC
SXM
A-23
MAR
LAC
BCND
angle_neg,LT
angle_pos
LT
*+
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
;*stack : angle/X
PAC
;*stack : angle/RAD
MPYK
985h
;0.0372
;
LAC
#0C426h,13
APAC
; in high ACCU
;ACCU : 0.2338 + angle * 0.0372
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
LAC
#6f69h,10
APAC
SACH
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LAC
#7dc5h,13
;0.9826
APAC
SACH
;ACCU=0.9826+temp
*,3
;treg = rad
;temp
MPY
;rad * temp
LAC
#05532,4
;0.0013
;temp * angle
APAC
A-24
SACH
* ,3
LAC
;result
;*stack : angle/SIN
RET
angle_neg
LT
*+
;*stack : angle/X
MPYK
0c90h
*,4
;angle in rad
PAC
SACH
;*stack : angle/RAD
LT
*+
MPYK
985h
;0.0372
;
LAC
#03bdah,13
; in high ACCU
* ,3
;temporary value
APAC
SACH
;ACCU : 0.2338 + angle * 0.0372

;angle in TREG
MPY

;temporary value
LAC
#6f69h,10
APAC
SACH
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LAC
#7dc5h,13
;0.9826
SPAC
;ACCU=0.9826+temp
SACH
*,3
;treg = rad
MPY
;rad * temp
;temp * angle
LAC
#05532,4
;0.0013
A-25
APAC
SACH
*,3
LAC
;result
;*stack : angle/SIN
RET
**********************************************************************************
*Routine Name:
_sin_ser
*Project:
*Originator:
*Description:
Fully C compatible
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_sin_ser
ADRK
A-26
;C compatibility
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
SPM
SETC
SXM
LAC
BCND
angle_neg,LT
;C compatibility
angle_pos
LT
*+
;*stack : angle/X
MPYK
0c90h

;in
PAC
SACH
*,4
;angle in rad
;*stack : angle/RAD
LT
*+
MPYK
985h
;0.0372
;
LAC
#0C426h,13
APAC
; in high ACCU
;ACCU : 0.2338 + angle * 0.0372
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
LAC
#6f69h,10
APAC
SACH
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LAC
#7dc5h,13
;0.9826
A-27
APAC
SACH
;ACCU=0.9826+temp
*,3
;treg = rad
;temp
MPY
;rad * temp
;temp * angle
LAC
#05532,4
;0.0013
SACH
* ,3
;result
LAC
*,0,AR1
APAC
;*stack : angle/SIN
MAR
PSHD
SBRK
;C compatibility
RET
angle_neg
LT
*+
;*stack : angle/X
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
PAC
;*stack : angle/RAD
MPYK
985h
;0.0372
;
LAC
#03bdah,13
; in high ACCU
* ,3
;temporary value
APAC
SACH
;ACCU : 0.2338 + angle * 0.0372

;angle in TREG
MPY

;temporary value
LAC
#6f69h,10
APAC
SACH
A-28
;0.0544
*,2
;temp
;angle in TREG
MPY
;temp
LAC
#7dc5h,13
;0.9826
SPAC
;ACCU=0.9826+temp
SACH
*,3
;treg = rad
MPY
;rad * temp
;temp * angle
LAC
#05532,4
;0.0013
SACH
*,3
;result
LAC
*,0,AR1
APAC
;*stack : angle/SIN
MAR
PSHD
SBRK
;C compatibility
RET
**********************************************************************************
*Routine Name:
cos_ser
*Project:
*Originator:
*Description:
*Status:
*Processor:
C2xx
A-29
*Stack commentary:
*Last Update:
18 Oct 96
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
cos_ser
SETC
SXM
MAR
LAC
BCND
angle_neg,LT
angle_pos
LT
*+
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
;*stack : angle/X
PAC
;*stack : angle/RAD
MPYK
1070h
;0.0076 neg
;
LAC
#01e76h,15
APAC
; in high ACCU
;ACCU : +0.0595 + angle * 0.0076
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
A-30
LAC
#0f532h,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LAC
#0e0c6h,15
;0.4879
APAC
;ACCU=0.9826+temp
SACH
*,2
;treg = rad
MPY
;rad * temp
LAC
#0a440h,5
;0.0028
;temp * angle
APAC
SACH
*,2
;result
MPY
LAC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LAC
*,16
ADD
*,16
SACH
LAC
*
;*stack : angle/SIN
RET
angle_neg
LT
*+
;*stack : angle/X
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
PAC
;*stack : angle/RAD
A-31
MPYK
0f90h
;0.0076 neg
;
LAC
#01e76h,15
APAC
; in high ACCU
;ACCU : +0.0595 + angle * 0.0076
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
LAC
#00aceh,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LAC
#0e0c6h,15
;0.4879
APAC
SACH
;ACCU=0.9826+temp
*,2
;treg = rad
;temp
MPY
;rad * temp
;temp * angle
LAC
#05bc0h,5
;0.0028
APAC
SACH
*,2
;result
MPY
LAC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LAC
*,16
ADD
*,16
SACH
LAC
*
;*stack : angle/SIN
RET
A-32
**********************************************************************************
*Routine Name:
_cos_ser
*Project:
*Originator:
*Description:
C calling function,
*Status:
*Processor:
C2xx
*Stack commentary:
*Last Update:
18 Oct 96
*
*
*________________________________________________________________________________*
*Date of Mod
DESCRIPTION
*|*
*
**********************************************************************************
_cos_ser
ADRK
POPD
*+
SAR
AR1,*
LAR
AR2,*,AR2
SBRK
;C compatibility
;C compatibility
A-33
SPM
SETC
SXM
LAC
BCND
angle_neg,LT
angle_pos
LT
*+
;*stack : angle/X
MPYK
0c90h
*,4
;angle in rad
PAC
SACH
;*stack : angle/RAD
LT
*+
MPYK
1070h
;0.0076 neg
;
LAC
#01e76h,15
; in high ACCU
* ,3
;temporary value
APAC
SACH
;ACCU : +0.0595 + angle * 0.0076

;angle in TREG
MPY

;temporary value
LAC
#0f532h,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LAC
#0e0c6h,15
;0.4879
APAC
SACH
;ACCU=0.9826+temp
*,2
;treg = rad
;temp
MPY
A-34
;rad * temp
;temp * angle
LAC
#0a440h,5
;0.0028
APAC
SACH
*,2
;result
MPY
LAC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LAC
*,16
ADD
*,16
SACH
LAC
*,0,AR1
MAR
PSHD
SBRK
;*stack : angle/SIN
;C compatibility
RET
angle_neg
LT
*+
MPYK
0c90h
SACH
*,4
;angle in rad
LT
*+
;*stack : angle/X
PAC
;*stack : angle/RAD
MPYK
0f90h
;0.0076 neg
;
LAC
#01e76h,15
APAC
; in high ACCU
;ACCU : +0.0595 + angle * 0.0076
SACH
* ,3
;temporary value
MPY
;angle in TREG
;temporary value
A-35
LAC
#00aceh,15
APAC
SACH
;0.0211
;temp
;angle in TREG
MPY
;temp
LAC
#0e0c6h,15
;0.4879
APAC
;ACCU=0.9826+temp
SACH
*,2
;treg = rad
MPY
;rad * temp
LAC
#05bc0h,5
;0.0028
SACH
*,2
;result
MPY
LAC
#1000h,15
;1
APAC
SETC
OVM
SACH
*,3
LAC
*,16
ADD
*,16
SACH
LAC
*,0,AR1
;*stack : angle/SIN
MAR
PSHD
SBRK
RET
A-36
;C compatibility
A-37

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Digital Signal Processing Solutions

Printed in U.S.A., July 1998

Digital Sine-Wave Generation

Printed on Recycled Paper

Copyright 1998, Texas Instruments Incorporated

Appendix A Examples of a C Program and an Assembly Program Calling Sine and

Digital Sine-Wave Generation Using the TMS320C2xx

Direct Look-Up With Interpolation of Sine Calculation From 0 to 2* With

Error Between the C Floating-Point Result and Direct Look-Up Calculation

Results of Direct Look-Up SIN From 0 to /2 With a 0.0039-Radian Step . . . . . . . . . . . . . . . 7

Formula for Calculating the Value SIN of an Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Formula for Calculating the Value COS of an Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Mathematical Series Sine Calculation From 0 to 2* With a 0.015-Radian Step . . . . . . . . 13

Results of Mathematical Series Sine From 0 to /2 With a 0.0039-Radian Step . . . . . . . . . 15

Error Between the C Floating-Point Result and a Mathematical Series SINE

Error Between the C Floating-Point Result and a Mathematical Series SINE

Processor Utilization (Maximum) When Using Direct Look-up and Interpolation . . . . . . . . . 4

Digital Sine-Wave Generation Using the TMS320C2xx

Digital Sine-Wave Generation Using the TMS320C2xx

Digital Sine-Wave Generation Using the TMS320C2xx

Direct Look-Up and Linear Interpolation Method

2 Direct Look-Up and Linear Interpolation Method

C- and Assembly-Compatible Functions

Direct Look-Up and Linear Interpolation Method

Output: COS(angle) or SIN(angle) are in ACCUMULATOR in Q15

Direct Look-Up and Linear Interpolation Method

Table 1. Processor Utilization (Maximum) When Using

SIN assembly call

COS assembly call

SIN fully C-compatible

COS fully C-compatible

SIN + COS of an angle

SIN assembly call

COS assembly call

COS and SIN assembly call

SIN Fully C compatible

COS assembly call

COS + SIN in one function

In the case of Sine + Cosine, the same table is used.

Direct Look-Up and Linear Interpolation Method

Figure 2. Direct Look-Up With Interpolation of Sine Calculation From 0 to 2*

Digital Sine-Wave Generation Using the TMS320C2xx

Direct Look-Up and Linear Interpolation Method

Direct Look-Up and Linear Interpolation Method

Figure 4. Results of Direct Look-Up SIN From 0 to /2 With a 0.0039-Radian Step

Digital Sine-Wave Generation Using the TMS320C2xx

Direct Look-Up and Linear Interpolation Method

Direct Look-Up and Linear Interpolation Method

Digital Sine-Wave Generation Using the TMS320C2xx

Sine/Cosine With Mathematical Series

3 Sine/Cosine With Mathematical Series

C- and Assembly-Compatible Functions

Sine/Cosine With Mathematical Series

Sine/Cosine Mathematical Series

Figure 7. Formula for Calculating the Value SIN of an Angle

Figure 8. Formula for Calculating the Value COS of an Angle

SIN assembly main

COS assembly main

SIN fully C-compatible

COS fully C-compatible

SIN + COS of an angle assembly main

Digital Sine-Wave Generation Using the TMS320C2xx