Application: 1998 Digital Signal Processing Solutions

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

IMPORTANT NOTICE
Texas Instruments and its subsidiaries (TI) reserve the right to make changes to their products
or to discontinue any product or service without notice, and advise customers to obtain the latest
version of relevant information to verify, before placing orders, that information being relied on
is current and complete. All products are sold subject to the terms and conditions of sale supplied
at the time of order acknowledgement, including those pertaining to warranty, patent
infringement, and limitation of liability.
TI warrants performance of its semiconductor products to the specifications applicable at the

time of sale in accordance with TI’s standard warranty. Testing and other quality control
techniques are utilized to the extent TI deems necessary to support this warranty. Specific testing
of all parameters of each device is not necessarily performed, except those mandated by
government requirements.
CERTAIN APPLICATIONS USING SEMICONDUCTOR PRODUCTS MAY INVOLVE

POTENTIAL RISKS OF DEATH, PERSONAL INJURY, OR SEVERE PROPERTY OR
ENVIRONMENTAL DAMAGE (“CRITICAL APPLICATIONS”). TI SEMICONDUCTOR
PRODUCTS ARE NOT DESIGNED, AUTHORIZED, OR WARRANTED TO BE SUITABLE FOR
USE IN LIFE-SUPPORT DEVICES OR SYSTEMS OR OTHER CRITICAL APPLICATIONS.
INCLUSION OF TI PRODUCTS IN SUCH APPLICATIONS IS UNDERSTOOD TO BE FULLY
AT THE CUSTOMER’S RISK.
In order to minimize risks associated with the customer’s applications, adequate design and
operating safeguards must be provided by the customer to minimize inherent or procedural
hazards.
TI assumes no liability for applications assistance or customer product design. TI does not
warrant or represent that any license, either express or implied, is granted under any patent right,
copyright, mask work right, or other intellectual property right of TI covering or relating to any
combination, machine, or process in which such semiconductor products or services might be
or are used. TI’s publication of information regarding any third party’s products or services does
not constitute TI’s approval, warranty or endorsement thereof.
Copyright  1998, Texas Instruments Incorporated

Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2 Direct Look-Up and Linear Interpolation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.1 C- and Assembly-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.1.1 C-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.1.2 Assembly-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.2 Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.3 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.4 System Utilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.5 Sine-Generation Precision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.5.1 One-Sine-Period Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.5.2 Quarter-Sine-Period Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Sine/Cosine With Mathematical Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 C- and Assembly-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1.1 C-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1.2 Assembly-Compatible Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 Sine/Cosine Mathematical Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.4 System Utilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.5 Sine-Generation Precision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.5.1 One-Sine-Period Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5.2 Quarter-Sine-Period Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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
2 Direct Look-Up With Interpolation of Sine Calculation From 0 to 2*π With
a 0.015-Radian Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Error Between the C Floating-Point Result and Direct Look-Up Calculation
From 0 to 2*π With a 0.015-Radian Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4 Results of Direct Look-Up SIN From 0 to π/2 With a 0.0039-Radian Step . . . . . . . . . . . . . . . 7
5 Error Between the C Floating-Point Result and Direct Look-Up SINE Calculation
From 0 to π/4 With a 0.0039-Radian Step in Q15 Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
6 Error Between the C Floating-Point Result and the Direct Look-Up SINE Calculation
From 0 to π/4 With a 0.0039-Radian Step in % . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
7 Formula for Calculating the Value SIN of an Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
8 Formula for Calculating the Value COS of an Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
9 Mathematical Series Sine Calculation From 0 to 2*π 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*π With a 0.015-Radian Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
11 Results of Mathematical Series Sine From 0 to π/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 π/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 π/4 With a 0.0039-Radian Step in % . . . . . . . . . . . . . . . . . . . . . . . . . . 17
iv SPRA179
Tables
List of Tables
1 Processor Utilization (Maximum) When Using Direct Look-up and Interpolation . . . . . . . . . 4
2 Memory Utilization When Using Direct Look-up and Interpolation . . . . . . . . . . . . . . . . . . . . . . 4
3 Processor Utilization (Maximum) When Using Mathematical Series . . . . . . . . . . . . . . . . . . . 11
4 Memory Utilization When Using Mathematical Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Digital Sine-Wave Generation Using the TMS320C2xx v

vi SPRA179
Digital Sine-Wave Generation Using the TMS320C2xx
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.
Digital Sine-Wave Generation Using the TMS320C2xx 1

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.
2 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 i+1
X –x Y=?
i ( y
Y = y + - y ) y
i x x i+ 1 i i
-
i+ 1 i
r = ratio x
x X x
i 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:
• 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 1–215).
2.4 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 µs
COS assembly call 38 1.90 µs
SIN fully C-compatible 42 2.10 µs
COS fully C-compatible 45 2.25 µs
SIN + COS of an angle 58 2.90 µs
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
ROM REGISTERS RAM
FUNCTION STACKLEVELS
(WORDS) USED (WORDS)
SIN assembly call 32 + 100 3 1 In stack
COS assembly call 34 + 100 3 1 In stack
COS and SIN assembly call 66 + 100 3 1 In stack
SIN Fully C compatible 42 + 100 5 1 In stack
COS + SIN in one function†

55 + 125 3 1 In stack
assembly call
† 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.
4 SPRA179
Figure 2. Direct Look-Up With Interpolation of Sine Calculation From 0 to 2*π

With a 0.015-Radian Step

Figure 3. Error Between the C Floating-Point Result and Direct Look-Up Calculation
From 0 to 2*π With a 0.015-Radian Step
6 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 π/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 π/4 With a 0.0039-Radian Step in Q15 Format
8 SPRA179
Figure 6. Error Between the C Floating-Point Result and the Direct Look-Up
SINE Calculation From 0 to π/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 C- and Assembly-Compatible Functions

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 C-Compatible Functions

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 Assembly-Compatible Functions

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)*X–0.9826)*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 1–215).
3.4 System Utilization

Table 3 shows processor utilization when using the mathematical series
method.
Table 3. Processor Utilization (Maximum) When Using Mathematical Series
SIN assembly main 27 1.35 µs
COS assembly main 37 1.85 µs
SIN + COS of an angle – assembly main 64 3.20 µs

Table 4 shows memory utilization when using the mathematical series

method.
Table 4. Memory Utilization When Using Mathematical Series
ROM STACK RAM
FUNCTION REGISTERS USED
(WORDS) LEVELS (WORDS)
SIN 54 3 1 In stack
COS 67 3 1 In stack
SIN 64 5 1 In stack
COS 77 5 1 In stack
COS and SIN 121 3 1 In stack
3.5 Sine-Generation Precision

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 One-Sine-Period Analysis

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*π


Figure 10. Error Between the C Floating-Point Result and the Mathematical Series
SINE Calculation From 0 to 2*π With a 0.015-Radian Step
3.5.2 Quarter-Sine-Period Analysis

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 π/2


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

18 SPRA179
Examples of a C Program and an Assembly Program Calling Sine and Cosine Functions
Appendix A Examples of a C Program and an Assembly Program

Calling Sine and Cosine Functions
A.1 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) /*–π < rad < +π*/
c=(int)(32767*rad/3.1415927);
else
c=0;
a=ser_cos(c);
.
}
Digital Sine-Wave Generation Using the TMS320C2xx A-1

A.2 Main Assembly Program to Call Sine or Cosine Functions

**********************************************************************************
*File Name: Main_trig.asm *
* *
* *
*Processor: C2xx *
*Status: *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
**********************************************************************************
.mmregs
.def _ser_sin
.sect “vectors”
b _c_int0
b $
**********************************************************************************
* Main routine
**********************************************************************************
.text
_c_int0:
.
.
LAR AR1,#60h ;stack preparation
MAR *,AR1
A-2 SPRA179
LACC #4000h ;π/2

SACL *+ ;parameters in stack
CALL _ser_sin
. ;result in ACCU
.
.end

A.3 COS Function With Direct Look-Up and Linear Interpolation for
Assembly Program
**********************************************************************************
*Routine Name: COS *
* *
*Description: COS function with Direct Look–up and *
* Interpolation Assembly calling function, *
* variables in s/w stack. *
* *
*Status: *
* *
*Processor: C2xx *
* *
*Calling convention: *
* Input : Angle in stack value 0–360 degrees <=>0h–FFFFh *
* Output : COS(angle)*32767, Q15, in ACCU *
* Pointed register AR1 *
* *
*Stack commentary: *
* Position of current register in Caps *
* Stack at beginning : angle/X *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* *
**********************************************************************************
COS
MAR *–
LACC #4000h
ADDS * ;add 0.5 for COS
SACL *
LT *+ ;variable in size_sin
;*******stack : angle/X
LACC #64h
A-4 SPRA179
SACL *
;*******stack : angle/TEMP
MPYU * ;integer position in the table
PAC ;in High part of Acc
SACH *+ ;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 ;address of beginning of the table
ADD *– ;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 *–
;*******stack : y1/TEMP/remainder
MPY *
SPH *– ;interpolation between Y1 and Y2
;*******stack : Y1/temp/remainder
LACC *+
ADD *,1 ;Y(Xdata) in ACCU
RET

equal_sin
ADD *– ;address of the pointed indice
;*******stack : RESULT/
TBLR *
LACC *+
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin .include sine.tab

Table_sin_end
.word 0
.end
A-6 SPRA179
A.4 COS Function With Direct Look-Up and Linear Interpolation for
C Program
**********************************************************************************
*Routine Name: _COS *
* *
* Interpolation C calling function, variables in C stack. *
* Fully C compatible *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_COS
ADRK #2 ;C compatibility
POPD *+
SAR AR1,*
LAR AR2,*,AR2

SBRK #3 ;C compatibility
SPM 0
LACC #4000h
SACL *
LACC #64h
SACL *
SACH *+ ;remainder
SACL * ;
LACC *,15
AND #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LACC *–
SACL *+
LT *–
A-8 SPRA179
MPY *
LACC *+
ADD *,1,AR1 ;Y(Xdata) in ACCU
MAR *– ;C compatibility
PSHD *–
SBRK #1
RET
equal_sin
TBLR *
LACC *+,0,AR1
PSHD *–
SBRK #1
RET
**********************************************************************************
* Table
**********************************************************************************

Table_sin_end
.word 0
.end

Assembly Program
**********************************************************************************
*Routine Name: SIN *
* *
*Description: SIN function with Direct Look–up and Interpolation *
* Assembly calling function, variables in s/w stack. *
* *
*Status: *
* *
*Processor: C2xx *
* *
* Output : SIN(angle)*32767, Q15, in ACCU *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
SIN
MAR *+
LACC #64h
SACL *
A-10 SPRA179
SACH *+ ;remainder
SACL * ;
LACC *,15
AND #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LACC *–
SACL *+
LT *–
MPY *
LACC *+
RET
equal_sin


TBLR *
LACC *+
;*******stack : result/X
end_interp_sin
RET
*********************************************************************************
* Table
*********************************************************************************

Table_sin_end
.word 0
A-12 SPRA179
C Program
**********************************************************************************
*Routine Name: _SIN *
* *
*Description: SIN function with Direct Look–up + Interpolation
*
* C calling function, variables in C stack. *
* *
*Status: *
* *
*Processor: C2x *
* *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_SIN
POPD *+

SAR AR1,*
LAR AR2,*,AR2
SPM 0
LACC #64h
SACL *
SACH *+ ;remainder
SACL * ;
LACC *,15
AND #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LACC *–
SACL *+
LT *–
A-14 SPRA179
MPY *
LACC *+
PSHD *–
SBRK #1
RET
equal_sin
;*******stack : RESULT/...
TBLR *
LACC *+,0,AR1
PSHD *–
SBRK #1
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin_end
.word 0

A.7 Table for COS or SIN Function With Direct Look-Up

**********************************************************************************
* TABLE Sine and Cosine for separate functions COS and SIN *
**********************************************************************************
.word 0
.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 0
.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
.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 *
* *
*Description: COS+SIN function with Direct Look–up and Interpolation *
* *
*Status: *
* *
*Processor: C2xx *
* *
* Output: *
* SIN(angle)*32767, Q15, in stack pointed by AR1–1 *
* COS(angle)*32767,Q15, in stack pointed by AR1 *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
size_tab .set 64h ;this is not an error
COS_SIN
MAR *+

;*stack: angle/X
LACC #size_tab
SACL *
;*stack: angle/TEMP
SACH *+ ;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_cos ;address of beginning of the table
;*stack: ANGLE/indice/remainder
TBLR *+
;*stack: y1/INDICE/remainder
ADD #1h
TBLR *+ ;Load Y2 with the ordinate of the
;*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
;*stack: y1/y2/remainder/yy1/YY2
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
;*stack: y1/y2/remainder/yy1/TEMP
;*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 *–
;*stack: Y1/y2/remainder
SACL *+
;*stack: y1/temp/REMAINDER/cos
LT *–
;*stack: y1/TEMP/remainder/cos
MPY *
;*stack: Y1/temp/remainder/cos
LACC *+
;*stack: y1/temp/remainder/cos
SACL * ;*stack: SIN/temp/remainder/cos
ADRK #3
;*stack: sin/temp/remainder/COS
LACC *

SBRK #2
;*stack: sin/TEMP/remainder/cos
SACL *
;*stack: sin/COS
RET
equal_sin
LALK Table_sin_cos ;address of beginning of the table
;*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 0
A-22 SPRA179
A.9 Table for COS_SIN Function With Direct Look-Up

**********************************************************************************
* TABLE Sine + Cosine for functions COS_SIN *
**********************************************************************************
.word 0
.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

.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 0
.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 0
.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
A-26 SPRA179
A.10 SIN With Mathematical Series for Assembly Program

**********************************************************************************
*Routine Name: sin_ser *
* *
*Description: SIN function with Mathematical Series *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
sin_ser
SETC SXM
MAR *–
LAC *
BCND angle_neg,LT
angle_pos

;*stack : angle/X
MPY #0c90h ;abscissa scale modify degree –> rad
PAC
SACH *,4 ;angle in rad
;*stack : angle/RAD
LT *+
;*stack : angle/rad/X
MPY #985h ;0.0372
;
;PREG : angle * 0.0372
LACC #0C426h,13 ; in high ACCU
APAC ;ACCU : –0.2338 + angle * 0.0372
SACH * ,3 ;temporary value
;angle in TREG
MPY * ;multiply by temporary value
;temporary value
;*stack : angle/rad/TEMP
LACC #6f69h,10 ;0.0544
APAC ;ACCU: temp + 0.0544
SACH *,2 ;temp
;*stack : angle/RAD/temp
;angle in TREG
MPY * ;temp
LACC #7dc5h,13 ;0.9826
APAC ;ACCU=0.9826+temp
SACH *,3 ;treg = rad
;temp
MPY * ;rad * temp
;temp * angle
LACC #05532,4 ;0.0013
APAC
SACH * ,3 ;result
LACC *–
;*stack : angle/SIN
RET
A-28 SPRA179
angle_neg
;*stack : angle/X
MPY #0c90h ;abscisse scale modif degre –> rad
PAC
;*stack : angle/RAD
LT *+
MPY #985h ;0.0372
;
LACC #03bdah,13 ; in high ACCU
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LACC #6f69h,10 ;0.0544
SACH *,2 ;temp
;angle in TREG
MPY * ;temp
LACC #7dc5h,13 ;0.9826
SPAC ;ACCU=0.9826+temp
MPY * ;rad * temp
;temp * angle
LACC #05532,4 ;0.0013
APAC
SACH *,3 ;result
LACC *–
;*stack : angle/SIN
RET

A.11 SIN With Mathematical Series for C Program

**********************************************************************************
*Routine Name: _sin_ser *
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_sin_ser
POPD *+
SAR AR1,*
LAR AR2,*,AR2
A-30 SPRA179
SPM 0
SETC SXM
LACC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
MPY #0c90h ;abscissa scale modify degree –> rad
;in
PAC
;*stack : angle/RAD
LT *+
MPY #985h ;0.0372
;
LACC #0C426h,13 ; in high ACCU
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LACC #6f69h,10 ;0.0544
SACH *,2 ;temp
;angle in TREG
MPY * ;temp
LACC #7dc5h,13 ;0.9826
;temp
MPY * ;rad * temp

;temp * angle
LACC #05532,4 ;0.0013
APAC
SACH * ,3 ;result
LACC *–,0,AR1
;*stack : angle/SIN
PSHD *–
SBRK #1
RET
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPY #985h ;0.0372
;
LACC #03bdah,13 ; in high ACCU
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LACC #6f69h,10 ;0.0544
SACH *,2 ;temp
;angle in TREG
MPY * ;temp
A-32 SPRA179
LACC #7dc5h,13 ;0.9826


MPY * ;rad * temp
;temp * angle
LACC #05532,4 ;0.0013
APAC
SACH *,3 ;result

LACC *–,0,AR1
;*stack : angle/SIN
PSHD *–
SBRK #1
RET

A.12 COS With Mathematical Series for Assembly Program

**********************************************************************************
*Routine Name: cos_ser *
* *
*Description: COS function with Mathematical Series *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
cos_ser
SETC SXM
MAR *–
LACC *
BCND angle_neg,LT
A-34 SPRA179
angle_pos
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPY #1070h ;0.0076 neg
;
LACC #01e76h,15 ; in high ACCU
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
LACC #0f532h,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LACC #0e0c6h,15 ;0.4879

MPY * ;rad * temp
;temp * angle
LACC #0a440h,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
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPY #0f90h ;0.0076 neg
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
LACC #00aceh,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LACC #0e0c6h,15 ;0.4879
A-36 SPRA179

;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.13 COS With Mathematical Series for C Program

**********************************************************************************
*Routine Name: _cos_ser *
* *
* C calling function, *
* variables in C stack. Fully C compatible *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_cos_ser
POPD *+
SAR AR1,*
LAR AR2,*,AR2
A-38 SPRA179
SPM 0
SETC SXM
LAC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPY #1070h ;0.0076 neg
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
LACC #0f532h,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LACC #0e0c6h,15 ;0.4879

;temp

MPY * ;rad * temp

;temp * angle
LACC #0a440h,5 ;0.0028
APAC
SACH *,2 ;result
MPY * ;
LACC #1000h,15 ;1
APAC
SETC OVM
SACH *,3
LACC *,16
ADD *,16
SACH *
LACC *–,0,AR1
;*stack : angle/SIN
PSHD *–
SBRK #1
RET
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPY #0f90h ;0.0076 neg
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
A-40 SPRA179
;temporary value
LACC #00aceh,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LACC #0e0c6h,15 ;0.4879

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
PSHD *–
SBRK #1
RET

A-42 SPRA179
Digital Sine-Wave Generation Using the TMS320C2xx
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.

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 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.1.1 C-Compatible Functions

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 Assembly-Compatible Functions

A-2 STDZ001A
C.2 Interpolation
Figure B–1 shows the formula and the resulting graph for calculating the
table interpolation value COS(X) of an angle X.
y
y i+1
X –x Y=?
i ( y
Y = y + - y ) y
i x x i+ 1 i i
-
i+ 1 i
r = ratio x
x X x
i i+1
where:
{xi} = {first coordinates of the table},
{yi} = {second coordinates of the table},
i chosen so that xi < X < xi+1.
Figure B–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.
• Interpolation: solving the above mentioned calculation to obtain Y.
C.3 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 1–215).
C.4 System Utilization

Table E–1 shows processor utilization when using the direct look-up and
linear interpolation methods.

Table E–1. Processor Utilization (Maximum) When Using

Table Look-Up and Interpolation
SIN assembly call 35 1.75 µs
COS assembly call 38 1.90 µs
SIN + COS of an angle 58 2.90 µs
Table E–2 shows memory utilization when using the direct look-up and
linear interpolation method.
Table E–2. Memory Utilization When Using Direct Look-Up and Interpolation
ROM REGISTERS RAM
FUNCTION STACKLEVELS
(WORDS) USED (WORDS)
SIN ssembly call 32 + 100 3 1 In stack
COS and SINassembly call 66 + 100 3 1 In stack
SIN Fully C compatible 42 + 100 5 1 In stack
COS + SIN in one function†

55 + 125 3 1 In stack
assembly call
† In the case of Sine + Cosine, the same table is used.
C.5 Sine-Generation Precision

Figure B–2 and Figure B–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.
C.5.1 One-Sine-Period Analysis

The sine period provides a general image of error calculation. In Figure B–2
and Figure B–3, results of the sine calculation are in Q15 format.
A-4 STDZ001A
Figure B–2. Direct Look-Up With Interpolation of Sine Calculation From 0 to 2*π

Figure B–3. Error Between the C Floating-Point Result and Direct Look-Up
Calculation From 0 to 2*π With a 0.015-Radian Step
A-6 STDZ001A
C.5.2 Quarter-Sine-Period Analysis

Figure B–4, Figure B–5, and Figure B–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 B–4. Results of Direct Look-Up SIN From 0 to π/2 With a 0.0039-Radian
Step

A-8 STDZ001A

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 C- and Assembly-Compatible Functions

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 C-Compatible Functions

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 Assembly-Compatible Functions

A-10 STDZ001A
D.2 Sine/Cosine Mathematical Series

Figure B–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)*X–0.9826)*X+0.0013
Figure B–7. Formula for Calculating the Value SIN of an Angle

Figure B–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 B–8. 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
0º <-> 0000h
90 º <-> 4000h
180 º <-> 8000h
240 º or -90º <-> C000h
format (–1 to 1–215).
D.4 System Utilization

Table E–3 shows processor utilization when using the mathematical series
method.
Table E–3. Processor Utilization (Maximum) When Using Mathematical Series
SIN assembly main 27 1.35 µs
COS assembly main 37 1.85 µs
SIN + COS of an angle – assembly main 64 3.20 µs

Table E–4 shows memory utilization when using the mathematical series
method.
Table E–4. Memory Utilization When Using Mathematical Series
ROM STACK RAM
FUNCTION REGISTERS USED
(WORDS) LEVELS (WORDS)
SIN 54 3 1 In stack
COS 67 3 1 In stack
SIN 64 5 1 In stack
COS 77 5 1 In stack
COS and SIN 121 3 1 In stack
D.5 Sine-Generation Precision

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 One-Sine-Period Analysis

The sine period provides a general image of error calculation. In Figure B–9
and Figure B–10, results of the sine calculation are in Q15 format.
Figure B–9. Mathematical Series Sine Calculation From 0 to 2*π


Figure B–10. Error Between the C Floating-Point Result and the Mathematical
Series
SINE Calculation From 0 to 2*π With a 0.015-Radian Step
D.5.2 Quarter-Sine-Period Analysis

Figure B–11, Figure B–12, and Figure B–13 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 B–11. Results of Mathematical Series Sine From 0 to π/2


Figure B–12. Error Between the C Floating-Point Result and a Mathematical

Series Sine Calculation From 0 to π/4 With a 0.0039-Radian Step in Q15 Format
A-16 STDZ001A
Figure B–13. Error Between the C Floating-Point Result and a Mathematical

Series Sine Calculation From 0 to π/4 With a 0.0039-Radian Step in %

********************************************************************************
* *
* *
*Processor: C2xx *
* *
*Status: *
* *
*______________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
********************************************************************************
extern ser_cos();
void main()
{
double rad;
double a;
int c;
.
.
.
if (rad!=0.0) /*–π < rad < +π*/
c=(int)(32767*rad/3.1415927);
else
c=0;
a=ser_cos(c);
.
}
**********************************************************************************
A-1
* *
* *
*Processor: C2xx *
*Status: *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
**********************************************************************************
.mmregs
.def _ser_sin
.sect “vectors”
b _c_int0
b $
**********************************************************************************
* Main routine
**********************************************************************************
.text
_c_int0:
.
.
MAR *,AR1
A-2
LAC #4000h ;π/2
CALL _ser_sin
. ;result in ACCU
.
.end
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* *
**********************************************************************************
COS
MAR *–
LAC #4000h
A-3
SACL *
LAC #64h
SACL *
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
SACH *–
BCND equal_sin,EQ
LALK Table_sin ;address of beginning of the table
TBLR *+
ADD #1h
LAC *–
SACL *+
LT *–
MPY *
A-4
LAC *+
RET
equal_sin
TBLR *
LAC *+
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************

Table_sin_end
.word 0
.end
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
A-5
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_COS
ADRK 2 ;C compatibility
POPD *+
SAR AR1,*
LAR AR2,*,AR2
SBRK 3 ;C compatibility
SPM 0
LAC #4000h
SACL *
LAC #64h
SACL *
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
A-6
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LAC *–
SACL *+
LT *–
MPY *
LAC *+
PSHD *–
SBRK 1
RET
equal_sin
TBLR *
LAC *+,0,AR1
A-7
PSHD *–
SBRK 1
RET
**********************************************************************************
* Table
**********************************************************************************

Table_sin_end
.word 0
.end
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
A-8
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
SIN
MAR *+
LAC #64h
SACL *
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LAC *–
SACL *+
A-9
LT *–
MPY *
LAC *+
RET
equal_sin
TBLR *
LAC *+
end_interp_sin
RET
*********************************************************************************
* Table
*********************************************************************************

Table_sin_end
.word 0
**********************************************************************************
* *
*
A-10
* *
*Status: *
* *
*Processor: C2x *
* *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_SIN
POPD *+
SAR AR1,*
LAR AR2,*,AR2
SPM 0
LAC #64h
SACL *
A-11
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LAC *–
SACL *+
LT *–
MPY *
LAC *+
PSHD *–
SBRK 1
RET
A-12
equal_sin
TBLR *
LAC *+,0,AR1
PSHD *–
SBRK 1
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin_end
.word 0
**********************************************************************************
**********************************************************************************
.word 0
.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 0
.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
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* Output: *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
A-16
COS_SIN
MAR *+
;*stack: angle/X
LAC #size_tab
SACL *
;*stack: angle/TEMP
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
ADRK 1
ADD #18h
TBLR *+
ADD #1h
LAC *– ;calculate cos interpolate

A-17
LT *–
SBRK 1
MPY *
ADRK 2
LAC *+
SACL *–
SBRK 1
LAC *–
SACL *+
LT *–
MPY *
LAC *+
A-18
ADRK 3
LAC *
SBRK 2
SACL *
;*stack: sin/COS
RET
equal_sin
TBLR *+
ADDK 19h
TBLR *
;*stack: sin/COS
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************

Table_sin_cos_end
.word 0
**********************************************************************************
**********************************************************************************
.word 0
.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 0
.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 0
.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
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
sin_ser
SETC SXM
A-23
MAR *–
LAC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
MPYK 0c90h ;abscissa scale modify degree –> rad
PAC
;*stack : angle/RAD
LT *+
MPYK 985h ;0.0372
;
LAC #0C426h,13 ; in high ACCU
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LAC #6f69h,10 ;0.0544
SACH *,2 ;temp
;angle in TREG
MPY * ;temp
LAC #7dc5h,13 ;0.9826
;temp
MPY * ;rad * temp
;temp * angle
LAC #05532,4 ;0.0013
APAC
A-24
SACH * ,3 ;result
LAC *–
;*stack : angle/SIN
RET
angle_neg
;*stack : angle/X
MPYK 0c90h ;abscisse scale modif degre –> rad
PAC
;*stack : angle/RAD
LT *+
MPYK 985h ;0.0372
;
LAC #03bdah,13 ; in high ACCU
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LAC #6f69h,10 ;0.0544
SACH *,2 ;temp
;angle in TREG
MPY * ;temp
LAC #7dc5h,13 ;0.9826
MPY * ;rad * temp
;temp * angle
LAC #05532,4 ;0.0013
A-25
APAC
SACH *,3 ;result
LAC *–
;*stack : angle/SIN
RET
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_sin_ser
A-26
POPD *+
SAR AR1,*
LAR AR2,*,AR2
SPM 0
SETC SXM
LAC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
;in
PAC
;*stack : angle/RAD
LT *+
MPYK 985h ;0.0372
;
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LAC #6f69h,10 ;0.0544
SACH *,2 ;temp
;angle in TREG
MPY * ;temp
LAC #7dc5h,13 ;0.9826
A-27
;temp
MPY * ;rad * temp
;temp * angle
LAC #05532,4 ;0.0013
APAC
SACH * ,3 ;result
LAC *–,0,AR1
;*stack : angle/SIN
PSHD *–
SBRK 1
RET
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPYK 985h ;0.0372
;
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LAC #6f69h,10 ;0.0544
SACH *,2 ;temp
A-28
;angle in TREG
MPY * ;temp
LAC #7dc5h,13 ;0.9826

MPY * ;rad * temp
;temp * angle
LAC #05532,4 ;0.0013
APAC
SACH *,3 ;result

LAC *–,0,AR1
;*stack : angle/SIN
PSHD *–
SBRK 1
RET
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
A-29
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
cos_ser
SETC SXM
MAR *–
LAC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPYK 1070h ;0.0076 neg
;
LAC #01e76h,15 ; in high ACCU
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
A-30
LAC #0f532h,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LAC #0e0c6h,15 ;0.4879

MPY * ;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 *–
;*stack : angle/SIN
RET
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
A-31
MPYK 0f90h ;0.0076 neg
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
LAC #00aceh,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LAC #0e0c6h,15 ;0.4879

;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
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_cos_ser
POPD *+
SAR AR1,*
LAR AR2,*,AR2
A-33
SPM 0
SETC SXM
LAC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPYK 1070h ;0.0076 neg
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
LAC #0f532h,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LAC #0e0c6h,15 ;0.4879

;temp
MPY * ;rad * temp
A-34
;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
;*stack : angle/SIN
PSHD *–
SBRK 1
RET
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
A-35
LAC #00aceh,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LAC #0e0c6h,15 ;0.4879

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
PSHD *–
SBRK 1
RET
A-36
A-37
********************************************************************************
* *
* *
*Processor: C2xx *
* *
*Status: *
* *
*______________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
********************************************************************************
extern ser_cos();
void main()
{
double rad;
double a;
int c;
.
.
.
if (rad!=0.0) /*–π < rad < +π*/
c=(int)(32767*rad/3.1415927);
else
c=0;
a=ser_cos(c);
.
}
**********************************************************************************
A-1
* *
* *
*Processor: C2xx *
*Status: *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
**********************************************************************************
.mmregs
.def _ser_sin
.sect “vectors”
b _c_int0
b $
**********************************************************************************
* Main routine
**********************************************************************************
.text
_c_int0:
.
.
MAR *,AR1
A-2
LAC #4000h ;π/2
CALL _ser_sin
. ;result in ACCU
.
.end
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* *
**********************************************************************************
COS
MAR *–
LAC #4000h
A-3
SACL *
LAC #64h
SACL *
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LAC *–
SACL *+
LT *–
MPY *
A-4
LAC *+
RET
equal_sin
TBLR *
LAC *+
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************

Table_sin_end
.word 0
.end
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
A-5
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_COS
POPD *+
SAR AR1,*
LAR AR2,*,AR2
SPM 0
LAC #4000h
SACL *
LAC #64h
SACL *
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
A-6
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LAC *–
SACL *+
LT *–
MPY *
LAC *+
PSHD *–
SBRK 1
RET
equal_sin
TBLR *
LAC *+,0,AR1
A-7
PSHD *–
SBRK 1
RET
**********************************************************************************
* Table
**********************************************************************************

Table_sin_end
.word 0
.end
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
A-8
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
SIN
MAR *+
LAC #64h
SACL *
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LAC *–
SACL *+
A-9
LT *–
MPY *
LAC *+
RET
equal_sin
TBLR *
LAC *+
end_interp_sin
RET
*********************************************************************************
* Table
*********************************************************************************

Table_sin_end
.word 0
**********************************************************************************
* *
*
A-10
* *
*Status: *
* *
*Processor: C2x *
* *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_SIN
POPD *+
SAR AR1,*
LAR AR2,*,AR2
SPM 0
LAC #64h
SACL *
A-11
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
LAC *–
SACL *+
LT *–
MPY *
LAC *+
PSHD *–
SBRK 1
RET
A-12
equal_sin
TBLR *
LAC *+,0,AR1
PSHD *–
SBRK 1
RET
**********************************************************************************
* Table
**********************************************************************************
Table_sin_end
.word 0
**********************************************************************************
**********************************************************************************
.word 0
.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 0
.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
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* Output: *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
A-16
COS_SIN
MAR *+
;*stack: angle/X
LAC #size_tab
SACL *
;*stack: angle/TEMP
SACH *+ ;remainder
SACL * ;
LAC *,15
ANDK #0ffffh,15
SACH *–
BCND equal_sin,EQ
TBLR *+
ADD #1h
ADRK 1
ADD #18h
TBLR *+
ADD #1h
LAC *– ;calculate cos interpolate

A-17
LT *–
SBRK 1
MPY *
ADRK 2
LAC *+
SACL *–
SBRK 1
LAC *–
SACL *+
LT *–
MPY *
LAC *+
A-18
ADRK 3
LAC *
SBRK 2
SACL *
;*stack: sin/COS
RET
equal_sin
TBLR *+
ADDK 19h
TBLR *
;*stack: sin/COS
end_interp_sin
RET
**********************************************************************************
* Table
**********************************************************************************

Table_sin_cos_end
.word 0
**********************************************************************************
**********************************************************************************
.word 0
.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 0
.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 0
.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
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
sin_ser
SETC SXM
A-23
MAR *–
LAC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPYK 985h ;0.0372
;
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LAC #6f69h,10 ;0.0544
SACH *,2 ;temp
;angle in TREG
MPY * ;temp
LAC #7dc5h,13 ;0.9826
;temp
MPY * ;rad * temp
;temp * angle
LAC #05532,4 ;0.0013
APAC
A-24
SACH * ,3 ;result
LAC *–
;*stack : angle/SIN
RET
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPYK 985h ;0.0372
;
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LAC #6f69h,10 ;0.0544
SACH *,2 ;temp
;angle in TREG
MPY * ;temp
LAC #7dc5h,13 ;0.9826
MPY * ;rad * temp
;temp * angle
LAC #05532,4 ;0.0013
A-25
APAC
SACH *,3 ;result
LAC *–
;*stack : angle/SIN
RET
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_sin_ser
A-26
POPD *+
SAR AR1,*
LAR AR2,*,AR2
SPM 0
SETC SXM
LAC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
;in
PAC
;*stack : angle/RAD
LT *+
MPYK 985h ;0.0372
;
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LAC #6f69h,10 ;0.0544
SACH *,2 ;temp
;angle in TREG
MPY * ;temp
LAC #7dc5h,13 ;0.9826
A-27
;temp
MPY * ;rad * temp
;temp * angle
LAC #05532,4 ;0.0013
APAC
SACH * ,3 ;result
LAC *–,0,AR1
;*stack : angle/SIN
PSHD *–
SBRK 1
RET
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPYK 985h ;0.0372
;
APAC ;ACCU : –0.2338 + angle * 0.0372
;angle in TREG
;temporary value
LAC #6f69h,10 ;0.0544
SACH *,2 ;temp
A-28
;angle in TREG
MPY * ;temp
LAC #7dc5h,13 ;0.9826

MPY * ;rad * temp
;temp * angle
LAC #05532,4 ;0.0013
APAC
SACH *,3 ;result

LAC *–,0,AR1
;*stack : angle/SIN
PSHD *–
SBRK 1
RET
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
A-29
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
cos_ser
SETC SXM
MAR *–
LAC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPYK 1070h ;0.0076 neg
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
A-30
LAC #0f532h,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LAC #0e0c6h,15 ;0.4879

MPY * ;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 *–
;*stack : angle/SIN
RET
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
A-31
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
LAC #00aceh,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LAC #0e0c6h,15 ;0.4879

;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
**********************************************************************************
* *
* *
*Status: *
* *
*Processor: C2xx *
* *
* *
* *
* *
*________________________________________________________________________________*
*––––––––––––––|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––*
* | *
* | *
**********************************************************************************
_cos_ser
POPD *+
SAR AR1,*
LAR AR2,*,AR2
A-33
SPM 0
SETC SXM
LAC *
BCND angle_neg,LT
angle_pos
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
MPYK 1070h ;0.0076 neg
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
LAC #0f532h,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LAC #0e0c6h,15 ;0.4879

;temp
MPY * ;rad * temp
A-34
;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
;*stack : angle/SIN
PSHD *–
SBRK 1
RET
angle_neg
;*stack : angle/X
PAC
;*stack : angle/RAD
LT *+
;
APAC ;ACCU : +0.0595 + angle * 0.0076
;angle in TREG
;temporary value
A-35
LAC #00aceh,15 ;0.0211
SACH * ;temp
;angle in TREG
MPY * ;temp
LAC #0e0c6h,15 ;0.4879

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
PSHD *–
SBRK 1
RET
A-36
A-37

Application: 1998 Digital Signal Processing Solutions

Uploaded by

Copyright:

Available Formats

Application: 1998 Digital Signal Processing Solutions

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Application: 1998 Digital Signal Processing Solutions

Uploaded by

Copyright:

Available Formats

 

1998 Digital Signal Processing Solutions

Printed on Recycled Paper

TI warrants performance of its semiconductor products to the specifications applicable at the

CERTAIN APPLICATIONS USING SEMICONDUCTOR PRODUCTS MAY INVOLVE

Copyright  1998, Texas Instruments Incorporated

Digital Sine-Wave Generation Using the TMS320C2xx iii

Digital Sine-Wave Generation Using the TMS320C2xx v

Digital Sine-Wave Generation Using the TMS320C2xx 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

Table interpolation is comprised of two steps:

2.4 System Utilization

Digital Sine-Wave Generation Using the TMS320C2xx 3

Table 1. Processor Utilization (Maximum) When Using

COS assembly call 34 + 100 3 1 In stack

COS and SIN assembly call 66 + 100 3 1 In stack

SIN Fully C compatible 42 + 100 5 1 In stack

COS assembly call 44 + 100 5 1 In stack

COS + SIN in one function†

2.5 Sine-Generation Precision

2.5.1 One-Sine-Period Analysis

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

Digital Sine-Wave Generation Using the TMS320C2xx 5

2.5.2 Quarter-Sine-Period Analysis

Digital Sine-Wave Generation Using the TMS320C2xx 7

Digital Sine-Wave Generation Using the TMS320C2xx 9

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

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

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

3.4 System Utilization

Digital Sine-Wave Generation Using the TMS320C2xx 11

Table 4 shows memory utilization when using the mathematical series

3.5 Sine-Generation Precision

3.5.1 One-Sine-Period Analysis

Figure 9. Mathematical Series Sine Calculation From 0 to 2*π

Digital Sine-Wave Generation Using the TMS320C2xx 13

3.5.2 Quarter-Sine-Period Analysis

Figure 11. Results of Mathematical Series Sine From 0 to π/2

Digital Sine-Wave Generation Using the TMS320C2xx 15

Digital Sine-Wave Generation Using the TMS320C2xx 17

Appendix A Examples of a C Program and an Assembly Program

Digital Sine-Wave Generation Using the TMS320C2xx A-1

A.2 Main Assembly Program to Call Sine or Cosine Functions

LACC #4000h ;π/2

Digital Sine-Wave Generation Using the TMS320C2xx A-3

Digital Sine-Wave Generation Using the TMS320C2xx A-5

Table_sin .include sine.tab

Digital Sine-Wave Generation Using the TMS320C2xx A-7

Table_sin .include sine.tab

Digital Sine-Wave Generation Using the TMS320C2xx A-9

Digital Sine-Wave Generation Using the TMS320C2xx A-11

LACC #Table_sin ;address of beginning of the table