fixes and bump to 1.0.6

check/qlibs_cpp_test.cpp

@@ -9,6 +9,7 @@ void test_tdl( void );
 void test_fp16( void );
 void test_crc( void );
 void test_ltisys( void );
+void test_ffmath( void );
 
 void test_tdl( void )
 {

doc/qfp16.dox

@@ -26,11 +26,11 @@
 * Conversion from integers and floating-point values. These conversions retain 
 * the numeric value and perform rounding where necessary.
 *
-* - \ref qlibs::fp16::from() Convert int/float or double to the qlibs::fp16 type
-* - \ref qlibs::fp16::toInt() Convert qlibs::fp16 to integer.
-* - \ref qlibs::fp16::toFloat() Convert qlibs::fp16 to float.
-* - \ref qlibs::fp16::toDouble() Convert qlibs::fp16 to double.
-* - \ref fp16::toASCII()  Convert from qlibs::fp16 to raw c-string.
+* - \ref qlibs::fp16 "from()" Convert @c int , @c float or @c double to the qlibs::fp16 type. For constants use the fixed-point literal
+* - \ref qlibs::fp16 "toInt()" Convert qlibs::fp16 to integer.
+* - \ref qlibs::fp16 "toFloat()" Convert qlibs::fp16 to float.
+* - \ref qlibs::fp16 "toDouble()" Convert qlibs::fp16 to double.
+* - \ref qlibs::fp16 "toASCII()"  Convert from qlibs::fp16 to raw c-string.
 *
 * @subsection  qfp16_basic_arithmetic Basic arithmetic
 *
@@ -46,33 +46,41 @@
 *
 * Roots, exponents & similar.
 *
-* - \ref qlibs::fp16::sqrt()  Square root. Performs rounding and is accurate to fp16 limits.
-* - \ref qlibs::fp16::exp()   Exponential function using power series approximation.
+* - \ref qlibs::fp16 "sqrt()"  Square root. Performs rounding and is accurate to fp16 limits.
+* - \ref qlibs::fp16 "exp()"   Exponential function using power series approximation.
 * Accuracy depends on range, worst case \c +-40 absolute for negative inputs and
 * @c +-0.003% for positive inputs. Average error is @c +-1 for neg and @c +-0.0003% for pos.
-* - \ref qlibs::fp16::log()  Natural logarithm using Newton approximation and qlibs::fp16::exp().
+* - \ref qlibs::fp16 "log()"  Natural logarithm using Newton approximation and \ref qlibs::fp16 "exp()".
 * Worst case error \c +-3 absolute, average error less than 1 unit.
-* - \ref qlibs::fp16::log2()  Logarithm base 2.
-* - \ref qlibs::fp16::pow()  Computes the power of a qlibs::fp16 number
+* - \ref qlibs::fp16 "log2()"  Logarithm base 2.
+* - \ref qlibs::fp16 "pow()"  Computes the power of a qlibs::fp16 number
 *
 *
 * @subsection qfp16_trig_functions Trigonometric functions and helpers
 *
-* - sin()  Sine for angle in radians
-* - \ref qlibs::fp16::cos()  Cosine for angle in radians
-* - \ref qlibs::fp16::tan()  Tangent for angle in radians
-* - \ref qlibs::fp16::asin()  Inverse of sine, output in radians
-* - \ref qlibs::fp16::acos()  Inverse of cosine, output in radians
-* - \ref qlibs::fp16::atan()  Inverse of tangent, output in radians
-* - \ref qlibs::fp16::atan2()  Arc tangent in radians x,y
-* - \ref qlibs::fp16::sinh()  Hyperbolic sine
-* - \ref qlibs::fp16::cosh()  Hyperbolic cosine
-* - \ref qlibs::fp16::tanh()  Hyperbolic tangent
-* - \ref qlibs::fp16::radToDeg()  Converts angle units from radians to degrees.
-* - \ref qlibs::fp16::degToRad()  Converts angle units from degrees to radians
-* - \ref qlibs::fp16::wrapToPi()  Wrap the fixed-point angle in radians to [−pi pi]
-* - \ref qlibs::fp16::wrapTo180()  Wrap the fixed-point angle in degrees  to [−180 180]
-*
+* - \ref qlibs::fp16 "sin()"  Sine for angle in radians
+* - \ref qlibs::fp16 "cos()"  Cosine for angle in radians
+* - \ref qlibs::fp16 "tan()"  Tangent for angle in radians
+* - \ref qlibs::fp16 "asin()"  Inverse of sine, output in radians
+* - \ref qlibs::fp16 "acos()"  Inverse of cosine, output in radians
+* - \ref qlibs::fp16 "atan()"  Inverse of tangent, output in radians
+* - \ref qlibs::fp16 "atan2()"  Arc tangent in radians x,y
+* - \ref qlibs::fp16 "sinh()"  Hyperbolic sine
+* - \ref qlibs::fp16 "cosh()"  Hyperbolic cosine
+* - \ref qlibs::fp16 "tanh()"  Hyperbolic tangent
+* - \ref qlibs::fp16 "radToDeg()"  Converts angle units from radians to degrees.
+* - \ref qlibs::fp16 "degToRad()"  Converts angle units from degrees to radians
+* - \ref qlibs::fp16 "wrapToPi()"  Wrap the fixed-point angle in radians to [−pi pi]
+* - \ref qlibs::fp16 "wrapTo180()"  Wrap the fixed-point angle in degrees  to [−180 180]
+*
+* @subsection qfp16_literal Fixed-Point literals
+*
+* Fixed-point literal defines a compile-time constant whose value is specified 
+* in the source file.
+* The suffix @c _fp indicates a type of \ref qlibs::fp16.
+*
+* A plus (+) or minus (-) symbol can precede a fixed-point literal. However, 
+* it is not part of the literal; it is interpreted as a unary operator.
 *
 * @section qfp16_example Example: Solution of the quadratic equation
 * 

doc/qtdl.dox

@@ -18,7 +18,9 @@
 * You can also get any specific delay from it by using:
 *
 * - \ref qlibs::tdl::getOldest(), to get the oldest delay at tap \f$z^{-N}\f$
-* - \ref qlibs::tdl::getAtIndex(), to get the delay at tap \f$z^{-i}\f$
+* You can also use the index at @c -1 as follows: @c "delay[ -1 ]"
+* - \ref qlibs::tdl::getAtIndex(), to get the delay at tap \f$z^{-i}\f$.
+* You can also use the index using an unsigned value as follows: @c "delay[ i ]"
 * - Index operator
 *
 * Given the applications of this structure, the \ref qlibs::tdl class is used as the
@@ -30,4 +32,15 @@
 *  real_t storage[ 256 ] = { 0.0f };
 *  tdl delay( storage );
 *  @endcode
+*
+* @code{.c}
+*  delay.insertSample( 2.5 );
+*  delay.insertSample( -2.3 );
+*  delay( 4.8 ); // same as delay.insertSample( 4.8 )
+*  @endcode
+*
+* @code{.c}
+*  auto d3 = delay[ 3 ]; // get delay at t-3, same as delay.getAtIndex( 3 )
+*  auto dOldest = delay[ -1 ]; // get delay at t-255 , same as delay.getOldest()
+*  @endcode
 */

library.json

@@ -16,7 +16,7 @@
       "maintainer": true
     }
   ],
-  "version": "1.0.5",
+  "version": "1.0.6",
   "license": "MIT",
   "frameworks": "arduino",
   "platforms": "*"

library.properties

@@ -1,5 +1,5 @@
 name=qlibs
-version=1.0.5
+version=1.0.6
 license=MIT
 author=J. Camilo Gomez C. <[email protected]>
 maintainer=J. Camilo Gomez C. <[email protected]>

src/bitfield.cpp

@@ -50,7 +50,7 @@ bool bitfield::setBit( const size_t index ) noexcept
     bool retValue = false;
 
     if ( nullptr != field ) {
-        bitSet( index );
+        set( index );
         retValue = true;
     }
 
@@ -62,7 +62,7 @@ bool bitfield::clearBit( const size_t index ) noexcept
     bool retValue = false;
 
     if ( nullptr != field ) {
-        bitClear( index );
+        clear( index );
         retValue = true;
     }
 
@@ -74,7 +74,7 @@ bool bitfield::toggleBit( const size_t index ) noexcept
     bool retValue = false;
 
     if ( nullptr != field ) {
-        bitToggle( index );
+        toggle( index );
         retValue = true;
     }
 
@@ -86,7 +86,7 @@ bool bitfield::readBit( const size_t index ) const noexcept
     bool retValue = false;
 
     if ( nullptr != field ) {
-        retValue = 0U != bitGet( index );
+        retValue = 0U != get( index );
     }
 
     return retValue;
@@ -99,10 +99,10 @@ bool bitfield::writeBit( const size_t index,
 
     if ( nullptr != field ) {
         if ( value ) {
-            bitSet( index );
+            set( index );
         }
         else {
-            bitClear( index );
+            clear( index );
         }
         retValue = true;
     }
@@ -206,18 +206,18 @@ void* bitfield::dump( void * const dst,
 /*============================================================================*/
 uint32_t bitfield::read_uint32( const size_t index ) const noexcept
 {
-    size_t slot, of, bits_taken;
+    size_t s, of, bits_taken;
     uint32_t result;
 
-    slot = bitSlot( index );
+    s = slot( index );
     of = offset( index );
     /*cstat -CERT-INT34-C_a*/
-    result = field[ slot ] >> of;
+    result = field[ s ] >> of;
     /*cstat +CERT-INT34-C_a*/
     bits_taken  = 32U - of;
     if ( ( 0U != of ) && ( ( index + bits_taken ) < size ) ) {
         /*cstat -ATH-shift-bounds -MISRAC++2008-5-8-1 -CERT-INT34-C_b*/
-        result |= field[ slot + 1U ] << static_cast<uint32_t>( bits_taken );
+        result |= field[ s + 1U ] << static_cast<uint32_t>( bits_taken );
         /*cstat +ATH-shift-bounds +MISRAC++2008-5-8-1 +CERT-INT34-C_b*/
     }
 
@@ -228,20 +228,20 @@ void bitfield::write_uint32( const size_t index,
                              const uint32_t value ) noexcept
 {
     uint32_t wMask;
-    size_t slot, of;
+    size_t s, of;
 
-    slot = bitSlot( index );
+    s = slot( index );
     of = offset( index );
     if ( 0U == of ) {
-        field[ slot ] = value;
+        field[ s ] = value;
     }
     else {
         wMask = safeMask( 0xFFFFFFFFU, LBit, of );
         /*cstat -CERT-INT34-C_a*/
-        field[ slot ] = ( value << of ) | ( field[ slot ] & wMask );
+        field[ s ] = ( value << of ) | ( field[ s ] & wMask );
         /*cstat +CERT-INT34-C_a*/
-        if ( ++slot < nSlots ) {
-            field[ slot ] = safeMask( value, 32U, of ) | ( field[ slot ] & ( ~wMask ) );
+        if ( ++s < nSlots ) {
+            field[ s ] = safeMask( value, 32U, of ) | ( field[ s ] & ( ~wMask ) );
         }
     }
 }

src/ffmath.cpp

@@ -5,6 +5,7 @@ using namespace qlibs;
 template<typename T1, typename T2>
 static inline void cast_reinterpret( T1 &f, const T2 &u )
 {
+    static_assert( sizeof(T1)==sizeof(T2), "Types must match sizes" );
     (void)memcpy( &f, &u, sizeof(T2) );
 }
 
@@ -204,13 +205,18 @@ float ffmath::mod( float x, float y )
 float ffmath::sin( float x )
 {
     float y;
+    if ( ffmath::absf( x ) <= 0.0066F ) {
+        y = x;
+    }
+    else {
+        x *= -ffmath::FFP_1_PI;
+        y = x + 25165824.0F;
+        x -= y - 25165824.0F;
+        x *= ffmath::absf( x ) - 1.0F;
+        y = x*( ( 3.5841304553896F*ffmath::absf( x ) ) + 3.1039673861526F );
+    }
 
-    x *= -ffmath::FFP_1_PI;
-    y = x + 25165824.0F;
-    x -= y - 25165824.0F;
-    x *= ffmath::absf( x ) - 1.0F;
-
-    return x*( ( 3.5841304553896F*ffmath::absf( x ) ) + 3.1039673861526F );
+    return y;
 }
 /*============================================================================*/
 float ffmath::cos( float x )

src/include/bitfield.hpp

@@ -46,31 +46,31 @@ namespace qlibs {
             {
                 return static_cast<uint32_t>( 1U ) << ( index % LBit );
             }
-            inline size_t bitSlot( const size_t index ) const noexcept
+            inline size_t slot( const size_t index ) const noexcept
             {
                 return index/LBit;
             }
-            inline uint32_t bitGet( const size_t index ) const noexcept
+            inline uint32_t get( const size_t index ) const noexcept
             {
-                const size_t slot = bitSlot( index );
-                return  ( field[ slot ] >> ( index % LBit ) ) & 1U;
+                const size_t s = slot( index );
+                return  ( field[ s ] >> ( index % LBit ) ) & 1U;
             }
-            inline void bitSet( const size_t index ) noexcept
+            inline void set( const size_t index ) noexcept
             {
-                const size_t slot = bitSlot( index );
-                field[ slot ] |= mask( index );
+                const size_t s = slot( index );
+                field[ s ] |= mask( index );
             }
-            inline void bitClear( const size_t index ) noexcept
+            inline void clear( const size_t index ) noexcept
             {
-                const size_t slot = bitSlot( index );
+                const size_t s = slot( index );
 
-                field[ slot ] &= ~mask( index );
+                field[ s ] &= ~mask( index );
             }
-            inline void bitToggle( const size_t index ) noexcept
+            inline void toggle( const size_t index ) noexcept
             {
-                const size_t slot = bitSlot( index );
+                const size_t s = slot( index );
 
-                field[ slot ] ^= mask( index );
+                field[ s ] ^= mask( index );
             }
             inline uint32_t safeMask( const uint32_t val,
                                       const size_t x,

src/include/ltisys.hpp

@@ -98,17 +98,22 @@ namespace qlibs {
                                             size_t n_den );
             real_t saturate( real_t y );
             ltisysType type{ LTISYS_TYPE_UNKNOWN };
+            virtual real_t update( const real_t u ) = 0;
+
         public:
             virtual ~ltisys() {}
             ltisys() = default;
 
             /**
             * @brief Drives the LTI system recursively using the input signal provided
             * @pre Instance must be previously initialized.
+            * @note The user must ensure that this function is executed in the 
+            * required sample time @a T  or time step @a dt either by using a 
+            * HW or SW timer, a real time task or a timing service.
             * @param[in] u A sample of the input signal that excites the system
             * @return The system response.
             */
-            virtual real_t excite( real_t u ) = 0;
+            real_t excite( real_t u );
 
             /**
             * @brief Check if the LTI system is initialized.
@@ -167,7 +172,7 @@ namespace qlibs {
     class discreteSystem : public ltisys {
         private:
             real_t *xd{ nullptr };
-            real_t update( const real_t u );
+            real_t update( const real_t u ) override;
         public:
             virtual ~discreteSystem() {}
 
@@ -352,20 +357,6 @@ namespace qlibs {
                                      const size_t wsize,
                                      const real_t x,
                                      const real_t * const c = nullptr );
-
-            /**
-            * @brief Drives the discrete LTI system recursively using the input 
-            * signal provided
-            * @pre Instance must be previously initialized using the 
-            * discreteSystem::setup() method
-            * @note The user must ensure that this function is executed in the 
-            * required sample time @a T either by using a HW or SW timer, a 
-            * real time task or a timing service.
-            * @param[in] u A sample of the input signal that excites the system
-            * @return The system response.
-            */
-            real_t excite( real_t u ) override;
-
     };
 
     /**
@@ -377,7 +368,7 @@ namespace qlibs {
         private:
             real_t dt{ 1.0_re };
             state *xc{ nullptr };
-            real_t update( const real_t u );
+            real_t update( const real_t u ) override;
         public:
             virtual ~continuousSystem() {}
 
@@ -560,19 +551,6 @@ namespace qlibs {
             * @return @c true on success, otherwise return @c false.
             */
             bool setIntegrationMethod( integrationMethod m );
-
-            /**
-            * @brief Drives the continuous LTI system recursively using the input 
-            * signal provided
-            * @pre Instance must be previously initialized using the 
-            * continuousSystem::setup() method
-            * @note The user must ensure that this function is executed in the time
-            * specified in @a dt either by using a HW or SW timer, a real time task,
-            * or a timing service.
-            * @param[in] u A sample of the input signal that excites the system
-            * @return The system response.
-            */
-            real_t excite( real_t u ) override;
     };
 
     /** @}*/