Initial commit: TC264 smart car project with IPS200 menu system

- IPS200 display menu with real-time status and parameter settings
- Camera image processing and line tracking
- IMU attitude solution and PID control
- WiFi SPI oscilloscope data transmission

libraries/infineon_libraries/Service/CpuGeneric/SysSe/Math/Ifx_LutAtan2F32.c

@@ -0,0 +1,204 @@
+/**
+ * \file Ifx_LutAtan2F32.c
+ * \brief ATAN2 lookup functions with fixed-point angle data type
+ *
+ *
+ * \version disabled
+ * \copyright Copyright (c) 2013 Infineon Technologies AG. All rights reserved.
+ *
+ *
+ *                                 IMPORTANT NOTICE
+ *
+ *
+ * Use of this file is subject to the terms of use agreed between (i) you or 
+ * the company in which ordinary course of business you are acting and (ii) 
+ * Infineon Technologies AG or its licensees. If and as long as no such 
+ * terms of use are agreed, use of this file is subject to following:
+
+
+ * Boost Software License - Version 1.0 - August 17th, 2003
+
+ * Permission is hereby granted, free of charge, to any person or 
+ * organization obtaining a copy of the software and accompanying 
+ * documentation covered by this license (the "Software") to use, reproduce,
+ * display, distribute, execute, and transmit the Software, and to prepare
+ * derivative works of the Software, and to permit third-parties to whom the 
+ * Software is furnished to do so, all subject to the following:
+
+ * The copyright notices in the Software and this entire statement, including
+ * the above license grant, this restriction and the following disclaimer, must
+ * be included in all copies of the Software, in whole or in part, and all
+ * derivative works of the Software, unless such copies or derivative works are
+ * solely in the form of machine-executable object code generated by a source
+ * language processor.
+
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+ * SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE 
+ * FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+
+ *
+ */
+#include "Ifx_LutAtan2F32.h"
+
+#include <math.h>
+
+void Ifx_LutAtan2F32_init(void)
+{
+#if IFX_LUT_TABLE_CONST == 0
+    {   /* generate arctan table */
+        sint32  k;
+        float32 Step, value;
+        Step = (double)IFX_LUT_ATAN_LIMIT_LOW / IFX_LUT_ATAN_SIZE_LOW;
+
+        for (k = 0; k < IFX_LUTATAN2F32_SIZE; k++)
+        {
+            Ifx_g_LutAtan2F32_FxpAngle_table[k] = IFX_LUT_F32_TO_FXPANGLE(atanf(k / Step));
+        }
+    }
+#endif
+}
+
+
+IFX_INLINE Ifx_Lut_FxpAngle Ifx_LutAtan2F32_fxpAnglePrivate(float32 valf)
+{
+    uint32 vali;
+    valf = IFX_LUTATAN2F32_SIZE * valf;
+    vali = (uint32)valf;
+
+    if ((valf - (float32)vali) > 0.5)
+    {   /* Round to nearest */
+        vali++;
+    }
+
+    return Ifx_g_LutAtan2F32_FxpAngle_table[vali];
+}
+
+
+IFX_INLINE float32 Ifx_LutAtan2F32_float32Private(float32 val)
+{   /* FIXME round to nearest ?? */
+    return Ifx_g_LutAtan2F32_table[(int)(val * IFX_LUTATAN2F32_SIZE)];
+}
+
+
+Ifx_Lut_FxpAngle Ifx_LutAtan2F32_fxpAngle(float32 x, float32 y)
+{
+    Ifx_Lut_FxpAngle angle;
+    float32          fx = (float32)x;
+    float32          fy = (float32)y;
+
+    if (y < 0)
+    {
+        if (x < 0)
+        {
+            if (-y < -x)
+            {   // 180 .. 225 deg
+                angle = -IFX_LUT_ANGLE_PI + Ifx_LutAtan2F32_fxpAnglePrivate(-fy / -fx);
+            }
+            else
+            {   // 225 .. 270 deg
+                angle = -(IFX_LUT_ANGLE_PI / 2) - Ifx_LutAtan2F32_fxpAnglePrivate(-fx / -fy);
+            }
+        }
+        else // x >= 0
+        {
+            if (-y < x)
+            { // 315 .. 360 deg
+                angle = -Ifx_LutAtan2F32_fxpAnglePrivate(-fy / fx); // ok
+            }
+            else
+            {                                                         // 225 .. 270 deg
+                angle = -(IFX_LUT_ANGLE_PI / 2) + Ifx_LutAtan2F32_fxpAnglePrivate(fx / -fy);
+            }
+        }
+    }
+    else // y >= 0
+    {
+        if (x < 0)
+        {
+            if (y < -x)
+            {                                                                                 // 135 .. 180 deg
+                angle = IFX_LUT_ANGLE_PI - Ifx_LutAtan2F32_fxpAnglePrivate(fy / -fx);       // ok
+            }
+            else
+            {                                                                                 // 90 .. 135 deg
+                angle = (IFX_LUT_ANGLE_PI / 2) + Ifx_LutAtan2F32_fxpAnglePrivate(-fx / fy); // ok
+            }
+        }
+        else // x >= 0
+        {
+            if (y < x)
+            {                                                                                // 0 .. 45 deg
+                angle = Ifx_LutAtan2F32_fxpAnglePrivate(fy / fx);                          // ok
+            }
+            else
+            {                                                                                // 45 .. 90 deg
+                angle = (IFX_LUT_ANGLE_PI / 2) - Ifx_LutAtan2F32_fxpAnglePrivate(fx / fy); // ok
+            }
+        }
+    }
+
+    return angle & (IFX_LUT_ANGLE_RESOLUTION - 1);
+}
+
+
+float32 Ifx_LutAtan2F32_float32(float32 y, float32 x)
+{
+    float32 angle;
+
+    if (y < 0)
+    {
+        if (x < 0)
+        {
+            if (-y < -x)
+            {   // 180 .. 225 deg
+                angle = -IFX_PI + Ifx_LutAtan2F32_float32Private(-y / -x);
+            }
+            else
+            {   // 225 .. 270 deg
+                angle = -(IFX_PI / 2) - Ifx_LutAtan2F32_float32Private(-x / -y);
+            }
+        }
+        else // x >= 0
+        {
+            if (-y < x)
+            { // 315 .. 360 deg
+                angle = -Ifx_LutAtan2F32_float32Private(-y / x); // ok
+            }
+            else
+            {                                                      // 225 .. 270 deg
+                angle = -(IFX_PI / 2) + Ifx_LutAtan2F32_float32Private(x / -y);
+            }
+        }
+    }
+    else // y >= 0
+    {
+        if (x < 0)
+        {
+            if (y < -x)
+            {                                                                    // 135 .. 180 deg
+                angle = IFX_PI - Ifx_LutAtan2F32_float32Private(y / -x);       // ok
+            }
+            else
+            {                                                                    // 90 .. 135 deg
+                angle = (IFX_PI / 2) + Ifx_LutAtan2F32_float32Private(-x / y); // ok
+            }
+        }
+        else // x >= 0
+        {
+            if (y < x)
+            {                                                                   // 0 .. 45 deg
+                angle = Ifx_LutAtan2F32_float32Private(y / x);                // ok
+            }
+            else
+            {                                                                   // 45 .. 90 deg
+                angle = (IFX_PI / 2) - Ifx_LutAtan2F32_float32Private(x / y); // ok
+            }
+        }
+    }
+
+    return angle;
+}