CORIDC 技术并不是什么新鲜的东西。 事实上它可以追溯到 1957 年由 J. Volder 发表的一篇文章。 在上个世纪五十年代, 在大型实际的计算机中的实行移位相加受到了当时技术上的限制, 所以使用 CORDIC 变得非常必要。 到了七十年代, Hewlett Packard 和其他公司出产了手持计算器 , 许多计算器使用一个内部 CORDIC 单元来
计算所有的三角函数 ( 了解这件事的人们一定还记得,那时求一个角度的正切值需要延迟大约 1 秒中 )。
二十世纪八十年代,随着高速度乘法器与带有大存储量的通用处理器的出现, CORDIC 算法变得无关紧要了。
然而在二十一世纪的今天, 对于 FPGA 来说, CORDIC 一定是在 DSP 应用中 ( 诸如 多输入多输出 ( MIMO),波束形成以及其他自适应系统 ) 计算三角函数的备选技术
ref
https://blog.csdn.net/qq_39210023/article/details/77456031
一、CORDIC的基本原理介绍
CORDIC算法是一个“化繁为简”的算法,将许多复杂的运算转化为一种“仅需要移位和加法”的迭代操作。CORDIC算法有旋转和向量两个模式,分别可以在圆坐标系、线性坐标系和双曲线坐标系使用,从而可以演算出8种运算,而结合这8种运算也可以衍生出其他许多运算。
问题情景
当已知一个点P1的坐标,并已知该点P1旋转的角度θ,则可以根据上述公式求得目标点P2的坐标。然后,麻烦来了,我们需要用FPGA去执行上述运算操作,而FPGA的Verilog语言根本不支持三角函数运算。因此,我们需要对上述式子进行简化操作,将复杂的运算操作转换为一种单一的“迭代位移”算法。那么,接下来我们介绍优化算法部分。
module Cordic_Test
(
CLK_50M,RST_N,
Phase,
Sin,Cos,Error
);
input CLK_50M;
input RST_N;
input [31:0] Phase;
output [31:0] Sin;
output [31:0] Cos;
output [31:0] Error;
`define rot0 32'd2949120 //45бу*2^16
`define rot1 32'd1740992 //26.5651бу*2^16
`define rot2 32'd919872 //14.0362бу*2^16
`define rot3 32'd466944 //7.1250бу*2^16
`define rot4 32'd234368 //3.5763бу*2^16
`define rot5 32'd117312 //1.7899бу*2^16
`define rot6 32'd58688 //0.8952бу*2^16
`define rot7 32'd29312 //0.4476бу*2^16
`define rot8 32'd14656 //0.2238бу*2^16
`define rot9 32'd7360 //0.1119бу*2^16
`define rot10 32'd3648 //0.0560бу*2^16
`define rot11 32'd1856 //0.0280бу*2^16
`define rot12 32'd896 //0.0140бу*2^16
`define rot13 32'd448 //0.0070бу*2^16
`define rot14 32'd256 //0.0035бу*2^16
`define rot15 32'd128 //0.0018бу*2^16
parameter Pipeline = 16;
parameter K = 32'h09b74; //K=0.607253*2^16,32'h09b74,
reg signed [31:0] Sin;
reg signed [31:0] Cos;
reg signed [31:0] Error;
reg signed [31:0] x0=0,y0=0,z0=0;
reg signed [31:0] x1=0,y1=0,z1=0;
reg signed [31:0] x2=0,y2=0,z2=0;
reg signed [31:0] x3=0,y3=0,z3=0;
reg signed [31:0] x4=0,y4=0,z4=0;
reg signed [31:0] x5=0,y5=0,z5=0;
reg signed [31:0] x6=0,y6=0,z6=0;
reg signed [31:0] x7=0,y7=0,z7=0;
reg signed [31:0] x8=0,y8=0,z8=0;
reg signed [31:0] x9=0,y9=0,z9=0;
reg signed [31:0] x10=0,y10=0,z10=0;
reg signed [31:0] x11=0,y11=0,z11=0;
reg signed [31:0] x12=0,y12=0,z12=0;
reg signed [31:0] x13=0,y13=0,z13=0;
reg signed [31:0] x14=0,y14=0,z14=0;
reg signed [31:0] x15=0,y15=0,z15=0;
reg signed [31:0] x16=0,y16=0,z16=0;
reg [ 1:0] Quadrant [Pipeline:0];
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x0 <= 1'b0;
y0 <= 1'b0;
z0 <= 1'b0;
end
else
begin
x0 <= K;
y0 <= 32'd0;
z0 <= Phase[15:0] << 16;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x1 <= 1'b0;
y1 <= 1'b0;
z1 <= 1'b0;
end
else if(z0[31])
begin
x1 <= x0 + y0;
y1 <= y0 - x0;
z1 <= z0 + `rot0;
end
else
begin
x1 <= x0 - y0;
y1 <= y0 + x0;
z1 <= z0 - `rot0;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x2 <= 1'b0;
y2 <= 1'b0;
z2 <= 1'b0;
end
else if(z1[31])
begin
x2 <= x1 + (y1 >>> 1);
y2 <= y1 - (x1 >>> 1);
z2 <= z1 + `rot1;
end
else
begin
x2 <= x1 - (y1 >>> 1);
y2 <= y1 + (x1 >>> 1);
z2 <= z1 - `rot1;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x3 <= 1'b0;
y3 <= 1'b0;
z3 <= 1'b0;
end
else if(z2[31])
begin
x3 <= x2 + (y2 >>> 2);
y3 <= y2 - (x2 >>> 2);
z3 <= z2 + `rot2;
end
else
begin
x3 <= x2 - (y2 >>> 2);
y3 <= y2 + (x2 >>> 2);
z3 <= z2 - `rot2;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x4 <= 1'b0;
y4 <= 1'b0;
z4 <= 1'b0;
end
else if(z3[31])
begin
x4 <= x3 + (y3 >>> 3);
y4 <= y3 - (x3 >>> 3);
z4 <= z3 + `rot3;
end
else
begin
x4 <= x3 - (y3 >>> 3);
y4 <= y3 + (x3 >>> 3);
z4 <= z3 - `rot3;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x5 <= 1'b0;
y5 <= 1'b0;
z5 <= 1'b0;
end
else if(z4[31])
begin
x5 <= x4 + (y4 >>> 4);
y5 <= y4 - (x4 >>> 4);
z5 <= z4 + `rot4;
end
else
begin
x5 <= x4 - (y4 >>> 4);
y5 <= y4 + (x4 >>> 4);
z5 <= z4 - `rot4;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x6 <= 1'b0;
y6 <= 1'b0;
z6 <= 1'b0;
end
else if(z5[31])
begin
x6 <= x5 + (y5 >>> 5);
y6 <= y5 - (x5 >>> 5);
z6 <= z5 + `rot5;
end
else
begin
x6 <= x5 - (y5 >>> 5);
y6 <= y5 + (x5 >>> 5);
z6 <= z5 - `rot5;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x7 <= 1'b0;
y7 <= 1'b0;
z7 <= 1'b0;
end
else if(z6[31])
begin
x7 <= x6 + (y6 >>> 6);
y7 <= y6 - (x6 >>> 6);
z7 <= z6 + `rot6;
end
else
begin
x7 <= x6 - (y6 >>> 6);
y7 <= y6 + (x6 >>> 6);
z7 <= z6 - `rot6;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x8 <= 1'b0;
y8 <= 1'b0;
z8 <= 1'b0;
end
else if(z7[31])
begin
x8 <= x7 + (y7 >>> 7);
y8 <= y7 - (x7 >>> 7);
z8 <= z7 + `rot7;
end
else
begin
x8 <= x7 - (y7 >>> 7);
y8 <= y7 + (x7 >>> 7);
z8 <= z7 - `rot7;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x9 <= 1'b0;
y9 <= 1'b0;
z9 <= 1'b0;
end
else if(z8[31])
begin
x9 <= x8 + (y8 >>> 8);
y9 <= y8 - (x8 >>> 8);
z9 <= z8 + `rot8;
end
else
begin
x9 <= x8 - (y8 >>> 8);
y9 <= y8 + (x8 >>> 8);
z9 <= z8 - `rot8;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x10 <= 1'b0;
y10 <= 1'b0;
z10 <= 1'b0;
end
else if(z9[31])
begin
x10 <= x9 + (y9 >>> 9);
y10 <= y9 - (x9 >>> 9);
z10 <= z9 + `rot9;
end
else
begin
x10 <= x9 - (y9 >>> 9);
y10 <= y9 + (x9 >>> 9);
z10 <= z9 - `rot9;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x11 <= 1'b0;
y11 <= 1'b0;
z11 <= 1'b0;
end
else if(z10[31])
begin
x11 <= x10 + (y10 >>> 10);
y11 <= y10 - (x10 >>> 10);
z11 <= z10 + `rot10;
end
else
begin
x11 <= x10 - (y10 >>> 10);
y11 <= y10 + (x10 >>> 10);
z11 <= z10 - `rot10;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x12 <= 1'b0;
y12 <= 1'b0;
z12 <= 1'b0;
end
else if(z11[31])
begin
x12 <= x11 + (y11 >>> 11);
y12 <= y11 - (x11 >>> 11);
z12 <= z11 + `rot11;
end
else
begin
x12 <= x11 - (y11 >>> 11);
y12 <= y11 + (x11 >>> 11);
z12 <= z11 - `rot11;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x13 <= 1'b0;
y13 <= 1'b0;
z13 <= 1'b0;
end
else if(z12[31])
begin
x13 <= x12 + (y12 >>> 12);
y13 <= y12 - (x12 >>> 12);
z13 <= z12 + `rot12;
end
else
begin
x13 <= x12 - (y12 >>> 12);
y13 <= y12 + (x12 >>> 12);
z13 <= z12 - `rot12;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x14 <= 1'b0;
y14 <= 1'b0;
z14 <= 1'b0;
end
else if(z13[31])
begin
x14 <= x13 + (y13 >>> 13);
y14 <= y13 - (x13 >>> 13);
z14 <= z13 + `rot13;
end
else
begin
x14 <= x13 - (y13 >>> 13);
y14 <= y13 + (x13 >>> 13);
z14 <= z13 - `rot13;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x15 <= 1'b0;
y15 <= 1'b0;
z15 <= 1'b0;
end
else if(z14[31])
begin
x15 <= x14 + (y14 >>> 14);
y15 <= y14 - (x14 >>> 14);
z15 <= z14 + `rot14;
end
else
begin
x15 <= x14 - (y14 >>> 14);
y15 <= y14 + (x14 >>> 14);
z15 <= z14 - `rot14;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
x16 <= 1'b0;
y16 <= 1'b0;
z16 <= 1'b0;
end
else if(z15[31])
begin
x16 <= x15 + (y15 >>> 15);
y16 <= y15 - (x15 >>> 15);
z16 <= z15 + `rot15;
end
else
begin
x16 <= x15 - (y15 >>> 15);
y16 <= y15 + (x15 >>> 15);
z16 <= z15 - `rot15;
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
Quadrant[0] <= 1'b0;
Quadrant[1] <= 1'b0;
Quadrant[2] <= 1'b0;
Quadrant[3] <= 1'b0;
Quadrant[4] <= 1'b0;
Quadrant[5] <= 1'b0;
Quadrant[6] <= 1'b0;
Quadrant[7] <= 1'b0;
Quadrant[8] <= 1'b0;
Quadrant[9] <= 1'b0;
Quadrant[10] <= 1'b0;
Quadrant[11] <= 1'b0;
Quadrant[12] <= 1'b0;
Quadrant[13] <= 1'b0;
Quadrant[14] <= 1'b0;
Quadrant[15] <= 1'b0;
Quadrant[16] <= 1'b0;
end
else
begin
Quadrant[0] <= Phase[17:16];
Quadrant[1] <= Quadrant[0];
Quadrant[2] <= Quadrant[1];
Quadrant[3] <= Quadrant[2];
Quadrant[4] <= Quadrant[3];
Quadrant[5] <= Quadrant[4];
Quadrant[6] <= Quadrant[5];
Quadrant[7] <= Quadrant[6];
Quadrant[8] <= Quadrant[7];
Quadrant[9] <= Quadrant[8];
Quadrant[10] <= Quadrant[9];
Quadrant[11] <= Quadrant[10];
Quadrant[12] <= Quadrant[11];
Quadrant[13] <= Quadrant[12];
Quadrant[14] <= Quadrant[13];
Quadrant[15] <= Quadrant[14];
Quadrant[16] <= Quadrant[15];
end
end
always @ (posedge CLK_50M or negedge RST_N)
begin
if(!RST_N)
begin
Cos <= 1'b0;
Sin <= 1'b0;
Error <= 1'b0;
end
else
begin
Error <= z16;
case(Quadrant[16])
2'b00: //if the Phase is in first Quadrant,the Sin(X)=Sin(A),Cos(X)=Cos(A)
begin
Cos <= x16;
Sin <= y16;
end
2'b01: //if the Phase is in second Quadrant,the Sin(X)=Sin(A+90)=CosA,Cos(X)=Cos(A+90)=-SinA
begin
Cos <= ~(y16) + 1'b1;//-Sin
Sin <= x16;//Cos
end
2'b10: //if the Phase is in third Quadrant,the Sin(X)=Sin(A+180)=-SinA,Cos(X)=Cos(A+180)=-CosA
begin
Cos <= ~(x16) + 1'b1;//-Cos
Sin <= ~(y16) + 1'b1;//-Sin
end
2'b11: //if the Phase is in forth Quadrant,the Sin(X)=Sin(A+270)=-CosA,Cos(X)=Cos(A+270)=SinA
begin
Cos <= y16;//Sin
Sin <= ~(x16) + 1'b1;//-Cos
end
endcase
end
end
endmodule
ref
https://wenku.baidu.com/view/6c623aa8910ef12d2bf9e732.html