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| 662 | salvo | 1 | /* |
| 2 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
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| 3 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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| 4 | either version 3 of the License, or (at your option) any later version. |
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| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 7 | GNU General Public License and GNU Lesser General Public License for more details. |
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| 8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
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| 9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
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| 10 | If not, see <http://www.gnu.org/licenses/>. |
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| 11 | |||
| 12 | 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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| 13 | */ |
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| 14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 15 | Peter Muehlenbrock |
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| 16 | Winkelfunktionen sin, cos und arctan in |
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| 17 | brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend |
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| 18 | get_dist Funktion fuer Entfernungsermittlung |
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| 19 | Stand 12.10.2007 |
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| 20 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 21 | */ |
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| 22 | #include "main.h" |
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| 23 | #include "math.h" |
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| 24 | |||
| 25 | |||
| 26 | // arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad |
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| 27 | int arctan_i( signed int x, signed int y) |
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| 28 | { |
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| 29 | short int change_xy = 0; |
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| 30 | signed int i; |
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| 31 | long signed int wert; |
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| 32 | int return_value; |
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| 33 | |||
| 34 | if ((abs(x)) > (abs(y))) // x,y Werte vertauschen damit arctan <45 grad bleibt |
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| 35 | { |
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| 36 | change_xy = 1; |
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| 37 | i = x; |
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| 38 | x = y; |
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| 39 | y = i; |
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| 40 | } |
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| 41 | |||
| 42 | // Quadranten ermitteln |
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| 43 | |||
| 44 | // Wert durch lineare Interpolation ermitteln |
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| 45 | if ((y == 0) && (x == 0)) wert =1; // Division durch 0 nicht erlaubt |
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| 46 | else wert= abs(((long)x*1000)/((long)y)); |
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| 47 | |||
| 48 | if (wert <=268) //0...0.0,268 entsprechend 0..15 Grad |
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| 49 | { |
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| 50 | return_value = (signed int)((wert*100)/(268-0)*(15-0)/100) +0; |
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| 51 | } |
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| 52 | else if (wert <=578) //0,268...0.0,568 entsprechend 15..30 Grad |
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| 53 | { |
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| 54 | return_value = (signed int)((((wert-268)*100)/(578-268)*(30-15))/100) +15; |
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| 55 | } |
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| 56 | else //0,568...1 entsprechend 30..45 Grad |
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| 57 | { |
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| 58 | return_value = (signed int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30; |
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| 59 | } |
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| 60 | |||
| 61 | if (change_xy == 0) return_value = 90-return_value; //Quadrant 45..90 Grad |
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| 62 | if ((x >= 0) && (y <0)) return_value = - return_value; |
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| 63 | else if ((x < 0) && (y >= 0)) return_value = - return_value; |
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| 64 | |||
| 65 | return return_value; |
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| 66 | } |
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| 67 | |||
| 68 | |||
| 69 | // cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
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| 70 | signed int cos_i(signed int winkel) |
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| 71 | { |
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| 72 | winkel = sin_i(90-winkel); |
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| 73 | return winkel; |
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| 74 | } |
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| 75 | |||
| 76 | |||
| 77 | const unsigned int pgm_sinus[91] PROGMEM = {0,17,35,52,70,87,105,122,139,156,174,191,208,225,242,259,276,292,309,326,342,358,375,391,407,423,438,454,469,485,500,515,530,545,559,574,588,602,616,629,643,656,669,682,695,707,719,731,743,755,766,777,788,799,809,819,829,839,848,857,866,875,883,891,899,906,914,921,927,934,940,946,951,956,961,966,970,974,978,982,985,988,990,993,995,996,998,999,999,1000,1000}; |
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| 78 | //von Nick666, Stand 28.9.2007 |
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| 79 | // sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
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| 80 | signed int sin_i(signed int winkel) |
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| 81 | { |
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| 82 | short int m,n; |
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| 83 | |||
| 84 | if (abs(winkel) >=360) winkel = winkel % 360; |
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| 85 | if (winkel < 0) |
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| 86 | { |
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| 87 | m = -1; |
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| 88 | winkel = abs(winkel); |
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| 89 | } |
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| 90 | else m = +1; |
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| 91 | n =1; |
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| 92 | |||
| 93 | // Quadranten auswerten |
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| 94 | if ((winkel > 90 ) && (winkel <= 180)) winkel = 180 - winkel; |
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| 95 | else if ((winkel > 180 ) && (winkel <= 270)) |
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| 96 | { |
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| 97 | winkel = winkel -180; |
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| 98 | n = -1; |
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| 99 | } |
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| 100 | else if ((winkel > 270) && (winkel <= 360)) |
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| 101 | { |
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| 102 | winkel = 360 - winkel; |
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| 103 | n = -1; |
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| 104 | } |
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| 105 | // else //0 - 90 Grad |
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| 106 | |||
| 107 | winkel = pgm_read_word(&pgm_sinus[winkel]); |
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| 108 | return (winkel*m*n); |
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| 109 | } |
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| 110 | |||
| 111 | // Aus x,y und Winkel Distanz ermitteln |
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| 112 | long get_dist(signed int x, signed int y, signed int phi) |
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| 113 | { |
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| 114 | long dist; |
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| 115 | if (abs(x) > abs(y) ) |
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| 116 | { |
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| 117 | dist = (long) x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
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| 118 | dist = abs((dist *1000) / (long) sin_i(phi)); |
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| 119 | } |
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| 120 | else |
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| 121 | { |
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| 122 | dist = (long) y; |
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| 123 | dist = abs((dist *1000) / (long) cos_i(phi)); |
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| 124 | } |
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| 125 | return dist; |
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| 126 | } |
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| 127 |