drone-micropython-raw 0.1.1

Bindings to MicroPython.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202

/*
 * This file is part of the MicroPython project, http://micropython.org/
 *
 * These math functions are taken from newlib-nano-2, the newlib/libm/math
 * directory, available from https://github.com/32bitmicro/newlib-nano-2.
 *
 * Appropriate copyright headers are reproduced below.
 */

/* ef_rem_pio2.c -- float version of e_rem_pio2.c
 * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com.
 */

/*
 * ====================================================
 * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved.
 *
 * Developed at SunPro, a Sun Microsystems, Inc. business.
 * Permission to use, copy, modify, and distribute this
 * software is freely granted, provided that this notice 
 * is preserved.
 * ====================================================
 *
 */

/* __ieee754_rem_pio2f(x,y)
 * 
 * return the remainder of x rem pi/2 in y[0]+y[1] 
 * use __kernel_rem_pio2f()
 */

#include "fdlibm.h"

/*
 * Table of constants for 2/pi, 396 Hex digits (476 decimal) of 2/pi 
 */
#ifdef __STDC__
static const __int32_t two_over_pi[] = {
#else
static __int32_t two_over_pi[] = {
#endif
0xA2, 0xF9, 0x83, 0x6E, 0x4E, 0x44, 0x15, 0x29, 0xFC,
0x27, 0x57, 0xD1, 0xF5, 0x34, 0xDD, 0xC0, 0xDB, 0x62, 
0x95, 0x99, 0x3C, 0x43, 0x90, 0x41, 0xFE, 0x51, 0x63,
0xAB, 0xDE, 0xBB, 0xC5, 0x61, 0xB7, 0x24, 0x6E, 0x3A, 
0x42, 0x4D, 0xD2, 0xE0, 0x06, 0x49, 0x2E, 0xEA, 0x09,
0xD1, 0x92, 0x1C, 0xFE, 0x1D, 0xEB, 0x1C, 0xB1, 0x29, 
0xA7, 0x3E, 0xE8, 0x82, 0x35, 0xF5, 0x2E, 0xBB, 0x44,
0x84, 0xE9, 0x9C, 0x70, 0x26, 0xB4, 0x5F, 0x7E, 0x41, 
0x39, 0x91, 0xD6, 0x39, 0x83, 0x53, 0x39, 0xF4, 0x9C,
0x84, 0x5F, 0x8B, 0xBD, 0xF9, 0x28, 0x3B, 0x1F, 0xF8, 
0x97, 0xFF, 0xDE, 0x05, 0x98, 0x0F, 0xEF, 0x2F, 0x11,
0x8B, 0x5A, 0x0A, 0x6D, 0x1F, 0x6D, 0x36, 0x7E, 0xCF, 
0x27, 0xCB, 0x09, 0xB7, 0x4F, 0x46, 0x3F, 0x66, 0x9E,
0x5F, 0xEA, 0x2D, 0x75, 0x27, 0xBA, 0xC7, 0xEB, 0xE5, 
0xF1, 0x7B, 0x3D, 0x07, 0x39, 0xF7, 0x8A, 0x52, 0x92,
0xEA, 0x6B, 0xFB, 0x5F, 0xB1, 0x1F, 0x8D, 0x5D, 0x08, 
0x56, 0x03, 0x30, 0x46, 0xFC, 0x7B, 0x6B, 0xAB, 0xF0,
0xCF, 0xBC, 0x20, 0x9A, 0xF4, 0x36, 0x1D, 0xA9, 0xE3, 
0x91, 0x61, 0x5E, 0xE6, 0x1B, 0x08, 0x65, 0x99, 0x85,
0x5F, 0x14, 0xA0, 0x68, 0x40, 0x8D, 0xFF, 0xD8, 0x80, 
0x4D, 0x73, 0x27, 0x31, 0x06, 0x06, 0x15, 0x56, 0xCA,
0x73, 0xA8, 0xC9, 0x60, 0xE2, 0x7B, 0xC0, 0x8C, 0x6B, 
};

/* This array is like the one in e_rem_pio2.c, but the numbers are
   single precision and the last 8 bits are forced to 0.  */
#ifdef __STDC__
static const __int32_t npio2_hw[] = {
#else
static __int32_t npio2_hw[] = {
#endif
0x3fc90f00, 0x40490f00, 0x4096cb00, 0x40c90f00, 0x40fb5300, 0x4116cb00,
0x412fed00, 0x41490f00, 0x41623100, 0x417b5300, 0x418a3a00, 0x4196cb00,
0x41a35c00, 0x41afed00, 0x41bc7e00, 0x41c90f00, 0x41d5a000, 0x41e23100,
0x41eec200, 0x41fb5300, 0x4203f200, 0x420a3a00, 0x42108300, 0x4216cb00,
0x421d1400, 0x42235c00, 0x4229a500, 0x422fed00, 0x42363600, 0x423c7e00,
0x4242c700, 0x42490f00
};

/*
 * invpio2:  24 bits of 2/pi
 * pio2_1:   first  17 bit of pi/2
 * pio2_1t:  pi/2 - pio2_1
 * pio2_2:   second 17 bit of pi/2
 * pio2_2t:  pi/2 - (pio2_1+pio2_2)
 * pio2_3:   third  17 bit of pi/2
 * pio2_3t:  pi/2 - (pio2_1+pio2_2+pio2_3)
 */

#ifdef __STDC__
static const float 
#else
static float 
#endif
zero =  0.0000000000e+00, /* 0x00000000 */
half =  5.0000000000e-01, /* 0x3f000000 */
two8 =  2.5600000000e+02, /* 0x43800000 */
invpio2 =  6.3661980629e-01, /* 0x3f22f984 */
pio2_1  =  1.5707855225e+00, /* 0x3fc90f80 */
pio2_1t =  1.0804334124e-05, /* 0x37354443 */
pio2_2  =  1.0804273188e-05, /* 0x37354400 */
pio2_2t =  6.0770999344e-11, /* 0x2e85a308 */
pio2_3  =  6.0770943833e-11, /* 0x2e85a300 */
pio2_3t =  6.1232342629e-17; /* 0x248d3132 */

#ifdef __STDC__
	__int32_t __ieee754_rem_pio2f(float x, float *y)
#else
	__int32_t __ieee754_rem_pio2f(x,y)
	float x,y[];
#endif
{
	float z,w,t,r,fn;
	float tx[3];
	__int32_t i,j,n,ix,hx;
	int e0,nx;

	GET_FLOAT_WORD(hx,x);
	ix = hx&0x7fffffff;
	if(ix<=0x3f490fd8)   /* |x| ~<= pi/4 , no need for reduction */
	    {y[0] = x; y[1] = 0; return 0;}
	if(ix<0x4016cbe4) {  /* |x| < 3pi/4, special case with n=+-1 */
	    if(hx>0) { 
		z = x - pio2_1;
		if((ix&0xfffffff0)!=0x3fc90fd0) { /* 24+24 bit pi OK */
		    y[0] = z - pio2_1t;
		    y[1] = (z-y[0])-pio2_1t;
		} else {		/* near pi/2, use 24+24+24 bit pi */
		    z -= pio2_2;
		    y[0] = z - pio2_2t;
		    y[1] = (z-y[0])-pio2_2t;
		}
		return 1;
	    } else {	/* negative x */
		z = x + pio2_1;
		if((ix&0xfffffff0)!=0x3fc90fd0) { /* 24+24 bit pi OK */
		    y[0] = z + pio2_1t;
		    y[1] = (z-y[0])+pio2_1t;
		} else {		/* near pi/2, use 24+24+24 bit pi */
		    z += pio2_2;
		    y[0] = z + pio2_2t;
		    y[1] = (z-y[0])+pio2_2t;
		}
		return -1;
	    }
	}
	if(ix<=0x43490f80) { /* |x| ~<= 2^7*(pi/2), medium size */
	    t  = fabsf(x);
	    n  = (__int32_t) (t*invpio2+half);
	    fn = (float)n;
	    r  = t-fn*pio2_1;
	    w  = fn*pio2_1t;	/* 1st round good to 40 bit */
	    if(n<32&&(ix&0xffffff00)!=npio2_hw[n-1]) {	
		y[0] = r-w;	/* quick check no cancellation */
	    } else {
	        __uint32_t high;
	        j  = ix>>23;
	        y[0] = r-w; 
		GET_FLOAT_WORD(high,y[0]);
	        i = j-((high>>23)&0xff);
	        if(i>8) {  /* 2nd iteration needed, good to 57 */
		    t  = r;
		    w  = fn*pio2_2;	
		    r  = t-w;
		    w  = fn*pio2_2t-((t-r)-w);	
		    y[0] = r-w;
		    GET_FLOAT_WORD(high,y[0]);
		    i = j-((high>>23)&0xff);
		    if(i>25)  {	/* 3rd iteration need, 74 bits acc */
		    	t  = r;	/* will cover all possible cases */
		    	w  = fn*pio2_3;	
		    	r  = t-w;
		    	w  = fn*pio2_3t-((t-r)-w);	
		    	y[0] = r-w;
		    }
		}
	    }
	    y[1] = (r-y[0])-w;
	    if(hx<0) 	{y[0] = -y[0]; y[1] = -y[1]; return -n;}
	    else	 return n;
	}
    /* 
     * all other (large) arguments
     */
	if(!FLT_UWORD_IS_FINITE(ix)) {
	    y[0]=y[1]=x-x; return 0;
	}
    /* set z = scalbn(|x|,ilogb(x)-7) */
	e0 	= (int)((ix>>23)-134);	/* e0 = ilogb(z)-7; */
	SET_FLOAT_WORD(z, ix - ((__int32_t)e0<<23));
	for(i=0;i<2;i++) {
		tx[i] = (float)((__int32_t)(z));
		z     = (z-tx[i])*two8;
	}
	tx[2] = z;
	nx = 3;
	while(tx[nx-1]==zero) nx--;	/* skip zero term */
	n  =  __kernel_rem_pio2f(tx,y,e0,nx,2,two_over_pi);
	if(hx<0) {y[0] = -y[0]; y[1] = -y[1]; return -n;}
	return n;
}