| /branches/salvo_gps/math_.c |
|---|
| File deleted |
| /branches/salvo_gps/math_.h |
|---|
| File deleted |
| /branches/salvo_gps/math_alt.c |
|---|
| 0,0 → 1,82 |
| /* |
| This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 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 |
| */ |
| #include "main.h" |
| 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}; |
| //----------------------------------------------- |
| // Fast arctan2 |
| // http://www.dspguru.com/comp.dsp/tricks/alg/fxdatan2.htm |
| //----------------------------------------------- |
| signed int arctan_i(signed int x, signed int y) |
| { |
| float rad,r; |
| signed int angle; |
| if ( !x && !y) return 0; |
| y = abs(y); |
| if (x>=0) |
| { |
| r = (x - y) / (x + y); |
| rad = 0.1963*r*r*r - 0.9817*r + 0.7854; |
| } |
| else |
| { |
| r = (x + y) / (y - x); |
| rad = 0.1963*r*r*r - 0.9817*r + 2.3562; |
| } |
| angle = (360 * rad) / 6.2832; |
| if (y < 0) return(-angle); // negate if in quad III or IV |
| else return(angle); |
| } |
| // cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
| signed int cos_i(signed int winkel) |
| { |
| winkel = sin_i(90-winkel); |
| return winkel; |
| } |
| // sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
| signed int sin_i(signed int winkel) |
| { |
| short int m; |
| winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| // Quadranten auswerten |
| if ((winkel > 90 ) && (winkel <= 180)) winkel = winkel - 90; |
| else if ((winkel > 180 ) && (winkel <= 270)) winkel = winkel - 180; |
| else if ((winkel > 270) && (winkel <= 360)) winkel = winkel - 270; |
| // else //0 - 90 Grad |
| winkel = pgm_read_word(&pgm_sinus[winkel]); |
| return (winkel*m); |
| } |
| /branches/salvo_gps/math_alt.h |
|---|
| 0,0 → 1,10 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock |
| // Definitionen fuer Modul math |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern signed int sin_i(signed int winkel); |
| extern signed int cos_i(signed int winkel); |
| extern signed int arctan_i(signed int x, signed int y); |