CSE 575

Computer Arithmetic

Spring 2003
Mary Jane Irwin
(www.cse.psu.edu/~mji)

Computer Arithmetic CSE575 CORDIC.1 © MJIrwin, PSU, 2003

 Cordic Algorithms
 A convergence method for evaluating
trigonometric (and other) functions
» if a unit-length vector with end point at
(X,Y) = (1,0) is rotated by an angle Z, its new
end point will be at (X,Y) = (cos Z, sin Z)
» simple hardware - shifters, adders, lookup
table
 Family of algorithms: rotation, vector mode
» circular rotations
» linear rotations
» hyperbolic rotations
Computer Arithmetic CSE575 CORDIC.2 © MJIrwin, PSU, 2003
 Real Cordic Rotations
If vector OEi is rotated about
Ei+1 the origin by an angle i, the
(Xi+1, Yi+1)
new vector OEi+1 will have the
Ri+1 Ei coordinates
(Xi, Yi) Real rotation: Ei+1
i Xi+1 = Xi cos i - Yi sin i
Ri
O Yi+1 = Yi cos i + Xi sin i
Zi+1 = Zi - i
The variable Z allows us to keep track of the total
rotation over several steps. If Z0 is the initial rotation
goal and if the i angles are selected at each step such
that after n iterations Zn tends to 0, then En will be the
end point after rotation by angle Z0
Computer Arithmetic CSE575 CORDIC.3 © MJIrwin, PSU, 2003
 Pseudo Cordic Rotations
Pseudo rotations increase the
E’i+1
(Xi+1, Yi+1) vector length to
Ri+1 = Ri(1 + tan2i)1/2
Ri+1 Pseudo rotation: E’i+1
Ei
(Xi, Yi) Xi+1 = Xi - Yi tan i
i
Ri Yi+1 = Yi + Xi tan i
O Zi+1 = Zi - i

Expansion factor K = (1 + tan2 i)1/2 depends on

the rotation angles 1 ,2 …, n. If we always
rotate by the same angles, K is a constant.
Computer Arithmetic CSE575 CORDIC.4 © MJIrwin, PSU, 2003
 Basic Cordic Rotations
 To simplify pseudo rotations, pick i such
that tan i = di 2-i where di  {-1,1}. Then
Xi+1 = Xi - di Yi 2-i
Yi+1 = Yi + di Xi 2-i
Zi+1 = Zi - di tan-12-i

 Computation of Xi+1 and Yi+1 requires an i-bit

right shift and an add/subtract; Zi+1 only
requires an add/subtract and one table lookup
 Precompute and store the function tan -12-i

Computer Arithmetic CSE575 CORDIC.5 © MJIrwin, PSU, 2003

 Choosing the Angles
i i = 2-i Ei=tan-12-i di Zi - diEi = Zi+1
0 1.000 000 45.000000 1 30.00 – 45.00 = -15.00
1 0.500000 26.565051 -1 -15.00 + 26.57 = 11.57
2 0.250000 14.036243 1 11.57 – 14.04 = -2.47

Zi+1  zero
3 0.125000 7.125016 -1 -2.47 + 7.13 = 4.66
4 0.062500 3.576334 1 4.66 – 3.58 = 1.08
5 0.031250 1.789910 1 1.08 -1.79 = -0.71
6 0.015625 0.895174 -1 -0.71 + 0.90 = 0.19
7 0.007813 0.447614 1 0.19 - 0.45 = -0.26
8 0.003906 0.223811 -1 -0.26 + 0.22 = -0.04
9 0.001953 0.111906 -1 -0.04 + 0.11 = 0.07
Computer Arithmetic CSE575 CORDIC.6 © MJIrwin, PSU, 2003
 Rotating the Angles
 Illustration of the first three rotations for a
Z of 30

(X0, Y0)
(X2, Y2)

-45
-14
30
O
+26.6 (X3, Y3)


(X1, Y1)

Computer Arithmetic CSE575 CORDIC.8 © MJIrwin, PSU, 2003

 Circular Rotation Mode
 Choosing di = sign(Zi)  {-1,1} to force Z to 0
gives the rotation mode Cordic iterations
Xi+1 = Xi - di Yi 2-i
Yi+1 = Yi + di Xi 2-i
Zi+1 = Zi - di Ei where Ei = tan-12-i
 After n iterations, when Zn is sufficiently close to 0,
then we have Z = i and
Xn = K(X cos Z - Y sin Z) where K = 1.646 760 258 …
Yn = K(Y cos Z + X sin Z)
Zn = 0
Rule: Choose di  {-1,1} such that Z  0
 Computes cos Z and sin Z by starting with
X = 1/K = 0.607 252 935 … and Y = 0
 For k bits of precision, run it k iterations since for
large i > k, tan-12-i  2-i
Computer Arithmetic CSE575 CORDIC.9 © MJIrwin, PSU, 2003
 Convergence Domain
 Convergence of Z to 0 happens because each
angle is more than half the previous angle.
 The domain of convergence is
0  Z  99.7
which is the sum of all the angles given in
slide 6
 Outside this range, we can use trig identities
to convert to the range
cos (Z  2j) = cos Z sin (Z  2j) = sin Z
cos (Z - ) = - cos Z sin (Z - ) = - sin Z

Computer Arithmetic CSE575 CORDIC.10 © MJIrwin, PSU, 2003

 Rotation Example
Computing cos 30 (= 0.866 025) and sin 30 (=0.500 000)
i di Xi+1  cos Yi+1  sin Zi+1  0
1/K = 0.607 253 0.000 000 30.000 000
0 1 0.607 253 0.607 253 -15.000 000
1 -1 0.910 880 0.303 627 11.565 051
2 1 0.834 973 0.531 347 -2.471 192
3 -1 0.901 391 0.426 975 4.653 824
4 1 0.874 705 0.483 312 1.077 490
5 1 0.859 602 0.510 647 -0.712 420
6 -1 0.867 581 0.497 216 0.182 754
7 1 0.863 697 0.503 994 -0.264 860
8 -1 0.865 666 0.500 620 -0.041 049
... ... ... ... ...

Computer Arithmetic CSE575 CORDIC.11 © MJIrwin, PSU, 2003

 Circular Vector Mode
 Choosing di = - sign(Xi Yi)  {-1,1} to force Y to 0
gives the vector mode Cordic iterations
Xi+1 = Xi - di Yi 2-i
Yi+1 = Yi + di Xi 2-i
Zi+1 = Zi - di Ei where Ei = tan-12-i
 After n iterations, when Yn is sufficiently close to 0,
then we have tan (i) = -Y/Z
Xn = K (X2 + Y2) where K = 1.646 760 258 …
Yn = 0
Zn = Z + tan-1 (Y/X)
Rule: Choose di  {-1,1} such that Y  0
 Computes tan-1 Y by starting with X = 1 and Z = 0
 For k bits of precision, run it k iterations since for
large i > k, tan-12-i  2-i
Computer Arithmetic CSE575 CORDIC.12 © MJIrwin, PSU, 2003
 Vector Example
Computing tan-1 0.414 210 (= 22.499 830)
di Xi+1  K(X2 + Y2) Yi+1  0 Zi+1  tan-1
1.000 000 0.414 210 0.000 000
0 -1 1.414 210 -0.585 790 45.000 000
1 1 1.707 105 0.121 315 18.434 949
2 -1 1.737 434 -0.305 461 32.471 192
3 1 1.775 617 -0.088 282 25.346 176
4 1 1.781 135 0.022 694 21.769 842
5 -1 1.781 844 -0.032 966 23.559 752
6 1 1.782 359 -0.005 125 22.664 578
7 1 1.782 399 0.008 800 22.216 964
8 -1 1.782 433 0.000 184 22.440 775
... ... ... ... ...

Computer Arithmetic CSE575 CORDIC.13 © MJIrwin, PSU, 2003

 Circular Cordic Hardware

X
shift

Xi+1 = Xi – di Yi 2-i
i counter
shift
Yi+1 = Yi – di Xi 2-i

Y

Z

lookup Zi+1 = Zi – di Ei
values of
Ei= tan-12-i table
di control
Computer Arithmetic CSE575 CORDIC.14 © MJIrwin, PSU, 2003
 Generalized Cordic
 Generalized Cordic defined as
Xi+1 = Xi -  di Yi 2-i
Yi+1 = Yi + di Xi 2-i
Zi+1 = Zi - di Ei

 Defining  and Ei gives

=1 Circular rotations (basic) Ei = tan-12-i
=0 Linear rotations Ei = 2-i
 = -1 Hyperbolic rotations Ei = tanh-12-i

Computer Arithmetic CSE575 CORDIC.15 © MJIrwin, PSU, 2003

 Generalized Rotations
2(area AOB) 2(area EOF)
angle AOB = -------------- angle EOF = ---------------
(OU)2 (OW)2
B =1
A
F
 = -1
E
O
W V U
=0

vector OV

Computer Arithmetic CSE575 CORDIC.16 © MJIrwin, PSU, 2003

 Enhanced Cordic Hardware

X
X Xi+1 = Xi – di Yi 2-i 
shift
i counter
shift
Yi+1 = Yi + di Xi 2 -i
Y 
Y

Zi+1 = Zi - di Ei
Z
Z 
Ei lookup table
 (tan-12-i, 2-i, tanh-12-i)
di control

Computer Arithmetic CSE575 CORDIC.17 © MJIrwin, PSU, 2003

 Circular Mode ( = 1)
 Circular rotation mode
Xn = K(X cos Z - Y sin Z) Computes functions
cos Z and sin Z
Yn = K(Y cos Z + X sin Z) X = 1/K and Y = 0
Zn = 0
Rule: Choose di  {-1,1} such that Z  0
 Circular vector mode
Xn = K(X2 + Y2)1/2 Computes function
Yn = 0 tan-1 Y
X = 1 and Z = 0
Zn = Z + tan-1 (Y/X)
Rule: Choose di  {-1,1} such that Y  0
Computer Arithmetic CSE575 CORDIC.18 © MJIrwin, PSU, 2003
 Linear Mode ( = 0)
 Linear rotation mode
Xn = X Computes functions
Yn = Y + X * Z multiply and multiply-add
Y=0
Zn = 0
Rule: Choose di  {-1,1} such that Z  0
 Linear vector mode
Xn = X Computes functions
Yn = 0 divide and divide-add
Z=0
Zn = Z + Y/X
Rule: Choose di  {-1,1} such that Y  0
Computer Arithmetic CSE575 CORDIC.19 © MJIrwin, PSU, 2003
 Hyperbolic Mode ( = -1)
 Hyperbolic rotation mode
Xn = K’(X cosh Z + Y sinh Z) Computes functions
Yn = K’(Y cosh Z + X sinh Z) hyperbolic sin and cos
X = 1/K’ and Y = 0
Zn = 0
Rule: Choose di  {-1,1} such that Z  0
K’ = 0.828 159 360 …
 Hyperbolic vector mode
Computes functions
Xn = K’(X - Y )
2 2 1/2
hyperbolic tanh-1 y
Yn = 0 X = 1 and Z = 0
Zn = Z + tanh-1 (Y/X)
Rule: Choose di  {-1,1} such that Y  0
Computer Arithmetic CSE575 CORDIC.20 © MJIrwin, PSU, 2003
 Cordic Computation Unit
Rotation mode: di=sign(Zi); Zi0 Vector mode: di= -sign(Xi  Yi); Yi0
CORDIC

CORDIC
Ciclr X K(X cosZ – Y sinZ) X K (X2 + Y2)
=1 Y K(Y cosZ + X sinZ) Y 0
Z 0 Z Z + tan -1(Y/X)
Ei = For cos & sin, set X=1/K, Y=0 For tan-1, set X=1, Z=0
tan-12-i tanZ=sinZ/cosZ cos-1W=tan-1[(1-W2)/W];sin-1W=tan-1[W/(1-W2)]
Linear X X X X
CORDIC

CORDIC
=0 Y Y + X*Z Y 0
Z 0 Z Z + Y/X
Ei = 2-i For multiply, set Y=0 For divide, set Z=0
Hprblc X K’(X coshZ – Y sinhZ) X K’ (X2 - Y2)
CORDIC

CORDIC
 = -1 Y K’(Y coshZ + X sinhZ) Y 0
Z 0 Z Z + tanh -1(Y/X)
Ei = For cosh & sinh, set X=1/K’, Y=0 For tanh-1, set X=1, Z=0
tanh-1 cosh-1W=ln[W+(1-W2)];sinh-1W=ln[W+(1+W2)]
2-i tanhZ=sinhZ/coshZ; Wt=Et lnW
Ez=sinhZ+coshZ lnW=2tanh-1|(W-1)/(W+1)|;W=((W+¼)2-(W-¼)2)
In executing the iterations for  = -1, steps 4, 13, 40, 121, …, j, 3j+1, … must be repeated.

Computer Arithmetic CSE575 CORDIC.21 © MJIrwin, PSU, 2003

 Cordic Summary
 Can compute virtually all trig functions of
common interest
 When the number of iterations is fixed,
K and K’ are constants
» Thus, we can not stop computing if Z (or Y)
becomes 0 (except when  = 0); we always
need k iterations for k digits of precision
 Cordic can be extended to higher radices
(e.g., for base 4, di{-2,-1,1,2} and the
number of iterations will be cut in half
with essentially the same hardware)
Computer Arithmetic CSE575 CORDIC.22 © MJIrwin, PSU, 2003
 Key References
Duprat and Muller, The CORDIC algorithm: New results for
fast VLSI implementation, IEEE Trans. on Computers,
42(2):168-178, 1993.
Parhami, Computer Arithmetic, Oxford Univ. Press, 1999.
Phatak, Double step branching CORDIC, IEEE Trans. on
Computers, 47(5)587-603, May 1998.
Vachss, The CORDIC magnification function, IEEE Micro,
7(5):83-83, Oct. 1987.
Volder, The CORDIC trigonometric computing technique,
IRE Trans. Elecronic Computers, Vol 8, pp. 330-335,
Sept. 1959.
Walther, A unified algorithm for elementary functions,
Proc. Spring Joint Computer Conf, pp. 379-385, 1971.

Computer Arithmetic CSE575 CORDIC.23 © MJIrwin, PSU, 2003