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| Rev 265 | Rev 272 | ||
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| Line 14... | Line 14... | ||
| 14 | */ |
14 | */ |
| Line 15... | Line 15... | ||
| 15 | 15 | ||
| Line 16... | Line 16... | ||
| 16 | #include "main.h" |
16 | #include "main.h" |
| Line -... | Line 17... | ||
| - | 17 | ||
| 17 | 18 | ||
| 18 | 19 | const uint8_t pgm_atan[540] PROGMEM = {0,1,1,2,2,3,3,4,5,5,6,6,7,7,8,9,9,10,10,11,11,12,12,13,13,14,15,15,16,16,17,17,18,18,19,19,20,20,21,21,22,22,23,23,24,24,25,25,26,26,27,27,27,28,28,29,29,30,30,31,31,31,32,32,33,33,33,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,40,41,41,41,42,42,42,43,43,43,44,44,44,44,45,45,45,46,46,46,46,47,47,47,47,48,48,48,48,49,49,49,49,50,50,50,50,51,51,51,51,52,52,52,52,52,53,53,53,53,53,54,54,54,54,54,55,55,55,55,55,56,56,56,56,56,56,57,57,57,57,57,58,58,58,58,58,58,58,59,59,59,59,59,59,60,60,60,60,60,60,60,61,61,61,61,61,61,61,61,62,62,62,62,62,62,62,62,63,63,63,63,63,63,63,63,64,64,64,64,64,64,64,64,64,65,65,65,65,65,65,65,65,65,65,66,66,66,66,66,66,66,66,66,66,67,67,67,67,67,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
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| 19 | const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
20 | |
| 20 | 21 | // Arkustangens2 im Gradmaß |
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| Line 21... | Line 22... | ||
| 21 | signed int arctan_i(signed int x, signed int y) |
22 | signed int atan2_i(signed int x, signed int y) |
| Line 28... | Line 29... | ||
| 28 | if (y < 0) m=-1; |
29 | if (y < 0) m=-1; |
| 29 | else m=1; |
30 | else m=1; |
| Line 30... | Line 31... | ||
| 30 | 31 | ||
| Line 31... | Line 32... | ||
| 31 | if (x==0) return (90*m); // atan2 = 90° für x = 0 |
32 | if (x==0) return (90*m); // atan2 = 90° für x = 0 |
| Line 32... | Line 33... | ||
| 32 | 33 | ||
| 33 | i = abs(((float)y / x) * 50.0); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
34 | i = abs(((double)y / x) * 100); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.01 -> *100) |
| 34 | 35 | ||
| 35 | if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
36 | if (i<540) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
| 36 | else if (i>5750) angle = 90; // Grenzwert ist 90° |
37 | else if (i>11458) angle = 90; // Grenzwert ist 90° |
| 37 | else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
38 | else if (i>3818) angle = 89; // 89° bis 80° über Wertebereiche |
| 38 | else if (i>=1150) angle = 88; |
39 | else if (i>2290) angle = 88; |
| 39 | else if (i>=820) angle = 87; |
40 | else if (i>1634) angle = 87; |
| 40 | else if (i>=640) angle = 86; |
41 | else if (i>1270) angle = 86; |
| 41 | else if (i>=520) angle = 85; |
42 | else if (i>1038) angle = 85; |
| 42 | else if (i>=440) angle = 84; |
43 | else if (i>877) angle = 84; |
| 43 | else if (i>=380) angle = 83; |
44 | else if (i>759) angle = 83; |
| Line 44... | Line 45... | ||
| 44 | else if (i>=335) angle = 82; |
45 | else if (i>669) angle = 82; |
| 45 | else if (i>=299) angle = 81; |
46 | else if (i>597) angle = 81; |
| 46 | else angle = 80; // (i>=270) |
47 | else angle = 80; // (i>539) |
| 47 | 48 | ||
| Line 68... | Line 69... | ||
| 68 | u.i[1]=pgm_read_word((PGM_P)addr+2); |
69 | u.i[1]=pgm_read_word((PGM_P)addr+2); |
| Line 69... | Line 70... | ||
| 69 | 70 | ||
| 70 | return u.f; |
71 | return u.f; |
| Line -... | Line 72... | ||
| - | 72 | } |
|
| 71 | } |
73 | |
| 72 | 74 | ||
| 73 | // cosinus Funktion: Eingabewert Winkel in Grad |
75 | // Kosinusfunktion im Gradmaß |
| 74 | float cos_f(signed int winkel) |
76 | float cos_f(signed int alpha) |
| 75 | { |
77 | { |
| Line -... | Line 78... | ||
| - | 78 | return (sin_f(90-alpha)); |
|
| 76 | return (sin_f(90-winkel)); |
79 | } |
| 77 | } |
80 | |
| 78 | 81 | ||
| 79 | // sinus Funktion: Eingabewert Winkel in Grad |
82 | // Sinusfunktion im Gradmaß |
| 80 | float sin_f(signed int winkel) |
83 | float sin_f(signed int alpha) |
| Line 81... | Line 84... | ||
| 81 | { |
84 | { |
| Line 82... | Line 85... | ||
| 82 | short int m,n; |
85 | short int m,n; |
| 83 | float sinus; |
86 | float sinus; |
| 84 | 87 | ||
| 85 | //winkel = winkel % 360; |
88 | //alpha = alpha % 360; |
| 86 | 89 | ||
| 87 | if (winkel < 0) |
90 | if (alpha < 0) |
| Line 88... | Line 91... | ||
| 88 | { |
91 | { |
| 89 | m = -1; |
92 | m = -1; |
| 90 | winkel = abs(winkel); |
93 | alpha = abs(alpha); |
| 91 | } |
94 | } |
| 92 | else m = +1; |
95 | else m = +1; |
| Line 93... | Line 96... | ||
| 93 | 96 | ||
| Line 94... | Line 97... | ||
| 94 | // Quadranten auswerten |
97 | // Quadranten auswerten |
| 95 | if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
98 | if ((alpha > 90 ) && (alpha <= 180)) {alpha = 180 - alpha; n = 1;} |
| Line 96... | Line 99... | ||
| 96 | else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
99 | else if ((alpha > 180 ) && (alpha <= 270)) {alpha = alpha - 180; n = -1;} |
| Line -... | Line 100... | ||
| - | 100 | else if ((alpha > 270) && (alpha <= 360)) {alpha = 360 - alpha; n = -1;} |
|
| 97 | else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
101 | else n = 1; //0 - 90 Grad |
| 98 | else n = 1; //0 - 90 Grad |
102 | |
| 99 | 103 | sinus = pgm_read_float(&pgm_sinus_f[alpha]); |
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| Line 100... | Line 104... | ||
| 100 | sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
104 | |