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Rev | Author | Line No. | Line |
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1320 | hbuss | 1 | #include <stdlib.h> |
2 | #include <avr/pgmspace.h> |
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3 | #include "mymath.h" |
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4 | |||
5 | // discrete mathematics |
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6 | |||
7 | // Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
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8 | const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192}; |
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9 | |||
10 | int16_t c_sin_8192(int16_t angle) |
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11 | { |
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12 | int8_t m,n; |
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13 | int16_t sinus; |
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14 | |||
15 | // avoid negative angles |
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16 | if (angle < 0) |
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17 | { |
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18 | m = -1; |
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19 | angle = abs(angle); |
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20 | } |
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21 | else m = +1; |
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22 | |||
23 | // fold angle to intervall 0 to 359 |
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24 | angle %= 360; |
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25 | |||
26 | // check quadrant |
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27 | if (angle <= 90) n=1; // first quadrant |
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28 | else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
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29 | else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
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30 | else {angle = 360 - angle; n = -1;} //fourth quadrant |
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31 | // get lookup value |
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32 | sinus = pgm_read_word(&pgm_sinlookup[angle]); |
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33 | // calculate sinus value |
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34 | return (sinus * m * n); |
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35 | } |
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36 | |||
37 | // Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
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38 | int16_t c_cos_8192(int16_t angle) |
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39 | { |
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40 | return (c_sin_8192(90 - angle)); |
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1523 | holgerb | 41 | } |