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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 891 | Nick666 | 1 | /* |
| 2 | |||
| 3 | Copyright 2007, Niklas Nold |
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| 4 | |||
| 5 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
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| 6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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| 7 | either version 3 of the License, or (at your option) any later version. |
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| 8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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| 9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
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| 11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 12 | |||
| 13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
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| 14 | */ |
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| 15 | |||
| 16 | #include "main.h" |
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| 17 | |||
| 18 | |||
| 19 | const uint8_t pgm_atan[346] PROGMEM = {0,1,2,3,4,4,5,6,7,8,9,10,11,11,12,13,14,15,16,17,17,18,19,20,21,21,22,23,24,24,25,26,27,27,28,29,29,30,31,31,32,33,33,34,35,35,36,36,37,37,38,39,39,40,40,41,41,42,42,43,43,44,44,45,45,45,46,46,47,47,48,48,48,49,49,50,50,50,51,51,51,52,52,52,53,53,53,54,54,54,55,55,55,55,56,56,56,57,57,57,57,58,58,58,58,59,59,59,59,60,60,60,60,60,61,61,61,61,62,62,62,62,62,63,63,63,63,63,63,64,64,64,64,64,64,65,65,65,65,65,65,66,66,66,66,66,66,66,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
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| 20 | |||
| 21 | //############################################################################ |
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| 22 | // Arkustangens2 im Gradmaß |
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| 23 | signed int atan2_i(signed int x, signed int y) |
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| 24 | //############################################################################ |
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| 25 | { |
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| 26 | int16_t angle; |
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| 27 | uint16_t i; |
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| 28 | int8_t m; |
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| 29 | |||
| 30 | if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
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| 31 | |||
| 32 | if (y < 0) m=-1; |
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| 33 | else m=1; |
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| 34 | |||
| 35 | if (!x) return (90*m); // atan2 = 90° für x = 0 |
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| 36 | |||
| 37 | i = abs(y / x); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0,015625 -> y *64) |
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| 38 | |||
| 39 | if (i<346) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
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| 40 | else if (i>7334) angle = 90; // Grenzwert ist 90° |
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| 41 | else if (i>2444) angle = 89; // 89° bis 80° über Wertebereiche |
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| 42 | else if (i>1465) angle = 88; |
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| 43 | else if (i>1046) angle = 87; |
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| 44 | else if (i>813) angle = 86; |
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| 45 | else if (i>664) angle = 85; |
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| 46 | else if (i>561) angle = 84; |
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| 47 | else if (i>486) angle = 83; |
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| 48 | else if (i>428) angle = 82; |
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| 49 | else if (i>382) angle = 81; |
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| 50 | else angle = 80; // (i>345) |
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| 51 | |||
| 52 | if (x > 0) return (angle*m); // Quadrant I und IV |
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| 53 | else if ((x < 0) && (m > 0)) return (-angle + 180); // Quadrant II |
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| 54 | else return (angle - 180); // x < 0 && y < 0 Quadrant III |
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| 55 | } |
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| 56 | |||
| 57 | |||
| 58 | const uint16_t pgm_sinus_i[91] PROGMEM = {0,18,36,54,71,89,107,125,143,160,178,195,213,230,248,265,282,299,316,333,350,367,384,400,416,433,449,465,481,496,512,527,543,558,573,587,602,616,630,644,658,672,685,698,711,724,737,749,761,773,784,796,807,818,828,839,849,859,868,878,887,896,904,912,920,928,935,943,949,956,962,968,974,979,984,989,994,998,1002,1005,1008,1011,1014,1016,1018,1020,1022,1023,1023,1024,1024}; |
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| 59 | |||
| 60 | //############################################################################ |
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| 61 | // Kosinusfunktion im Gradmaß |
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| 62 | signed int cos_i(signed int winkel) |
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| 63 | //############################################################################ |
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| 64 | { |
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| 65 | return (sin_i(90-winkel)); |
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| 66 | } |
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| 67 | |||
| 68 | //############################################################################ |
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| 69 | // Sinusfunktion im Gradmaß |
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| 70 | signed int sin_i(signed int winkel) |
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| 71 | //############################################################################ |
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| 72 | { |
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| 73 | short int m,n; |
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| 74 | signed int sinus; |
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| 75 | |||
| 76 | if (winkel < 0) |
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| 77 | { |
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| 78 | m = -1; |
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| 79 | winkel = abs(winkel); |
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| 80 | } |
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| 81 | else m = +1; |
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| 82 | |||
| 83 | // Quadranten auswerten |
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| 84 | if (winkel <= 90) n=1; |
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| 85 | else if ((winkel > 90) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
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| 86 | else if ((winkel > 180) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
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| 87 | else {winkel = 360 - winkel; n = -1;} //if ((winkel > 270) && (winkel <= 360)) |
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| 88 | |||
| 89 | sinus = pgm_read_word(&pgm_sinus_i[winkel]); |
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| 90 | |||
| 91 | return (sinus*m*n); |
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| 92 | } |
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| 93 | |||
| 94 | /* |
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| 95 | const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
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| 96 | |||
| 97 | //############################################################################ |
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| 98 | // Akurssinusfunktion im Gradmaß |
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| 99 | int8_t asin_i(signed int i) |
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| 100 | //############################################################################ |
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| 101 | { |
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| 102 | signed char m; |
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| 103 | |||
| 104 | if (i < 0) {m=-1;i=abs(i);} |
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| 105 | else m=1; |
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| 106 | |||
| 107 | i %= 200; |
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| 108 | |||
| 109 | return (pgm_read_byte(&pgm_asin[i]) * m); |
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| 110 | } |
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| 111 | */ |