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#include "dongfangMath.h"
2
#include <inttypes.h>
3
#include <avr/pgmspace.h>
4
 
5
// For scope debugging only!
6
#include "output.h"
7
 
8
const int16_t SIN_TABLE[] PROGMEM = { (int16_t) (0.0 * MATH_UNIT_FACTOR + 0.5),
9
    (int16_t) (0.01745240643728351 * MATH_UNIT_FACTOR + 0.5),
10
    (int16_t) (0.03489949670250097 * MATH_UNIT_FACTOR + 0.5),
11
    (int16_t) (0.05233595624294383 * MATH_UNIT_FACTOR + 0.5),
12
    (int16_t) (0.0697564737441253 * MATH_UNIT_FACTOR + 0.5),
13
    (int16_t) (0.08715574274765817 * MATH_UNIT_FACTOR + 0.5),
14
    (int16_t) (0.10452846326765346 * MATH_UNIT_FACTOR + 0.5),
15
    (int16_t) (0.12186934340514748 * MATH_UNIT_FACTOR + 0.5),
16
    (int16_t) (0.13917310096006544 * MATH_UNIT_FACTOR + 0.5),
17
    (int16_t) (0.15643446504023087 * MATH_UNIT_FACTOR + 0.5),
18
    (int16_t) (0.17364817766693033 * MATH_UNIT_FACTOR + 0.5),
19
    (int16_t) (0.1908089953765448 * MATH_UNIT_FACTOR + 0.5),
20
    (int16_t) (0.20791169081775931 * MATH_UNIT_FACTOR + 0.5),
21
    (int16_t) (0.224951054343865 * MATH_UNIT_FACTOR + 0.5),
22
    (int16_t) (0.24192189559966773 * MATH_UNIT_FACTOR + 0.5),
23
    (int16_t) (0.25881904510252074 * MATH_UNIT_FACTOR + 0.5),
24
    (int16_t) (0.27563735581699916 * MATH_UNIT_FACTOR + 0.5),
25
    (int16_t) (0.29237170472273677 * MATH_UNIT_FACTOR + 0.5),
26
    (int16_t) (0.3090169943749474 * MATH_UNIT_FACTOR + 0.5),
27
    (int16_t) (0.32556815445715664 * MATH_UNIT_FACTOR + 0.5),
28
    (int16_t) (0.3420201433256687 * MATH_UNIT_FACTOR + 0.5),
29
    (int16_t) (0.35836794954530027 * MATH_UNIT_FACTOR + 0.5),
30
    (int16_t) (0.374606593415912 * MATH_UNIT_FACTOR + 0.5),
31
    (int16_t) (0.3907311284892737 * MATH_UNIT_FACTOR + 0.5),
32
    (int16_t) (0.40673664307580015 * MATH_UNIT_FACTOR + 0.5),
33
    (int16_t) (0.42261826174069944 * MATH_UNIT_FACTOR + 0.5),
34
    (int16_t) (0.4383711467890774 * MATH_UNIT_FACTOR + 0.5),
35
    (int16_t) (0.45399049973954675 * MATH_UNIT_FACTOR + 0.5),
36
    (int16_t) (0.4694715627858908 * MATH_UNIT_FACTOR + 0.5),
37
    (int16_t) (0.48480962024633706 * MATH_UNIT_FACTOR + 0.5),
38
    (int16_t) (0.49999999999999994 * MATH_UNIT_FACTOR + 0.5),
39
    (int16_t) (0.5150380749100542 * MATH_UNIT_FACTOR + 0.5),
40
    (int16_t) (0.5299192642332049 * MATH_UNIT_FACTOR + 0.5),
41
    (int16_t) (0.5446390350150271 * MATH_UNIT_FACTOR + 0.5),
42
    (int16_t) (0.5591929034707469 * MATH_UNIT_FACTOR + 0.5),
43
    (int16_t) (0.573576436351046 * MATH_UNIT_FACTOR + 0.5),
44
    (int16_t) (0.5877852522924731 * MATH_UNIT_FACTOR + 0.5),
45
    (int16_t) (0.6018150231520483 * MATH_UNIT_FACTOR + 0.5),
46
    (int16_t) (0.6156614753256582 * MATH_UNIT_FACTOR + 0.5),
47
    (int16_t) (0.6293203910498374 * MATH_UNIT_FACTOR + 0.5),
48
    (int16_t) (0.6427876096865393 * MATH_UNIT_FACTOR + 0.5),
49
    (int16_t) (0.6560590289905072 * MATH_UNIT_FACTOR + 0.5),
50
    (int16_t) (0.6691306063588582 * MATH_UNIT_FACTOR + 0.5),
51
    (int16_t) (0.6819983600624985 * MATH_UNIT_FACTOR + 0.5),
52
    (int16_t) (0.6946583704589973 * MATH_UNIT_FACTOR + 0.5),
53
    (int16_t) (0.7071067811865475 * MATH_UNIT_FACTOR + 0.5),
54
    (int16_t) (0.7193398003386511 * MATH_UNIT_FACTOR + 0.5),
55
    (int16_t) (0.7313537016191705 * MATH_UNIT_FACTOR + 0.5),
56
    (int16_t) (0.7431448254773942 * MATH_UNIT_FACTOR + 0.5),
57
    (int16_t) (0.754709580222772 * MATH_UNIT_FACTOR + 0.5),
58
    (int16_t) (0.766044443118978 * MATH_UNIT_FACTOR + 0.5),
59
    (int16_t) (0.7771459614569708 * MATH_UNIT_FACTOR + 0.5),
60
    (int16_t) (0.788010753606722 * MATH_UNIT_FACTOR + 0.5),
61
    (int16_t) (0.7986355100472928 * MATH_UNIT_FACTOR + 0.5),
62
    (int16_t) (0.8090169943749475 * MATH_UNIT_FACTOR + 0.5),
63
    (int16_t) (0.8191520442889918 * MATH_UNIT_FACTOR + 0.5),
64
    (int16_t) (0.8290375725550417 * MATH_UNIT_FACTOR + 0.5),
65
    (int16_t) (0.8386705679454239 * MATH_UNIT_FACTOR + 0.5),
66
    (int16_t) (0.8480480961564261 * MATH_UNIT_FACTOR + 0.5),
67
    (int16_t) (0.8571673007021122 * MATH_UNIT_FACTOR + 0.5),
68
    (int16_t) (0.8660254037844386 * MATH_UNIT_FACTOR + 0.5),
69
    (int16_t) (0.8746197071393957 * MATH_UNIT_FACTOR + 0.5),
70
    (int16_t) (0.8829475928589269 * MATH_UNIT_FACTOR + 0.5),
71
    (int16_t) (0.8910065241883678 * MATH_UNIT_FACTOR + 0.5),
72
    (int16_t) (0.898794046299167 * MATH_UNIT_FACTOR + 0.5),
73
    (int16_t) (0.9063077870366499 * MATH_UNIT_FACTOR + 0.5),
74
    (int16_t) (0.9135454576426009 * MATH_UNIT_FACTOR + 0.5),
75
    (int16_t) (0.9205048534524403 * MATH_UNIT_FACTOR + 0.5),
76
    (int16_t) (0.9271838545667874 * MATH_UNIT_FACTOR + 0.5),
77
    (int16_t) (0.9335804264972017 * MATH_UNIT_FACTOR + 0.5),
78
    (int16_t) (0.9396926207859083 * MATH_UNIT_FACTOR + 0.5),
79
    (int16_t) (0.9455185755993167 * MATH_UNIT_FACTOR + 0.5),
80
    (int16_t) (0.9510565162951535 * MATH_UNIT_FACTOR + 0.5),
81
    (int16_t) (0.9563047559630354 * MATH_UNIT_FACTOR + 0.5),
82
    (int16_t) (0.9612616959383189 * MATH_UNIT_FACTOR + 0.5),
83
    (int16_t) (0.9659258262890683 * MATH_UNIT_FACTOR + 0.5),
84
    (int16_t) (0.9702957262759965 * MATH_UNIT_FACTOR + 0.5),
85
    (int16_t) (0.9743700647852352 * MATH_UNIT_FACTOR + 0.5),
86
    (int16_t) (0.9781476007338056 * MATH_UNIT_FACTOR + 0.5),
87
    (int16_t) (0.981627183447664 * MATH_UNIT_FACTOR + 0.5),
88
    (int16_t) (0.984807753012208 * MATH_UNIT_FACTOR + 0.5),
89
    (int16_t) (0.9876883405951378 * MATH_UNIT_FACTOR + 0.5),
90
    (int16_t) (0.9902680687415703 * MATH_UNIT_FACTOR + 0.5),
91
    (int16_t) (0.992546151641322 * MATH_UNIT_FACTOR + 0.5),
92
    (int16_t) (0.9945218953682733 * MATH_UNIT_FACTOR + 0.5),
93
    (int16_t) (0.9961946980917455 * MATH_UNIT_FACTOR + 0.5),
94
    (int16_t) (0.9975640502598242 * MATH_UNIT_FACTOR + 0.5),
95
    (int16_t) (0.9986295347545738 * MATH_UNIT_FACTOR + 0.5),
96
    (int16_t) (0.9993908270190958 * MATH_UNIT_FACTOR + 0.5),
97
    (int16_t) (0.9998476951563913 * MATH_UNIT_FACTOR + 0.5),
98
    (int16_t) (MATH_UNIT_FACTOR) + 0.5 };
99
 
100
const int16_t TAN_TABLE[] PROGMEM
101
    = { (int16_t) (0.0 * MATH_UNIT_FACTOR + 0.5),
102
        (int16_t) (0.017455064928217585 * MATH_UNIT_FACTOR + 0.5),
103
        (int16_t) (0.03492076949174773 * MATH_UNIT_FACTOR + 0.5),
104
        (int16_t) (0.0524077792830412 * MATH_UNIT_FACTOR + 0.5),
105
        (int16_t) (0.06992681194351041 * MATH_UNIT_FACTOR + 0.5),
106
        (int16_t) (0.08748866352592401 * MATH_UNIT_FACTOR + 0.5),
107
        (int16_t) (0.10510423526567646 * MATH_UNIT_FACTOR + 0.5),
108
        (int16_t) (0.1227845609029046 * MATH_UNIT_FACTOR + 0.5),
109
        (int16_t) (0.14054083470239145 * MATH_UNIT_FACTOR + 0.5),
110
        (int16_t) (0.15838444032453627 * MATH_UNIT_FACTOR + 0.5),
111
        (int16_t) (0.17632698070846498 * MATH_UNIT_FACTOR + 0.5),
112
        (int16_t) (0.19438030913771848 * MATH_UNIT_FACTOR + 0.5),
113
        (int16_t) (0.2125565616700221 * MATH_UNIT_FACTOR + 0.5),
114
        (int16_t) (0.23086819112556312 * MATH_UNIT_FACTOR + 0.5),
115
        (int16_t) (0.24932800284318068 * MATH_UNIT_FACTOR + 0.5),
116
        (int16_t) (0.2679491924311227 * MATH_UNIT_FACTOR + 0.5),
117
        (int16_t) (0.2867453857588079 * MATH_UNIT_FACTOR + 0.5),
118
        (int16_t) (0.3057306814586604 * MATH_UNIT_FACTOR + 0.5),
119
        (int16_t) (0.3249196962329063 * MATH_UNIT_FACTOR + 0.5),
120
        (int16_t) (0.3443276132896652 * MATH_UNIT_FACTOR + 0.5),
121
        (int16_t) (0.36397023426620234 * MATH_UNIT_FACTOR + 0.5),
122
        (int16_t) (0.3838640350354158 * MATH_UNIT_FACTOR + 0.5),
123
        (int16_t) (0.4040262258351568 * MATH_UNIT_FACTOR + 0.5),
124
        (int16_t) (0.4244748162096047 * MATH_UNIT_FACTOR + 0.5),
125
        (int16_t) (0.4452286853085361 * MATH_UNIT_FACTOR + 0.5),
126
        (int16_t) (0.4663076581549986 * MATH_UNIT_FACTOR + 0.5),
127
        (int16_t) (0.48773258856586144 * MATH_UNIT_FACTOR + 0.5),
128
        (int16_t) (0.5095254494944288 * MATH_UNIT_FACTOR + 0.5),
129
        (int16_t) (0.5317094316614788 * MATH_UNIT_FACTOR + 0.5),
130
        (int16_t) (0.554309051452769 * MATH_UNIT_FACTOR + 0.5),
131
        (int16_t) (0.5773502691896257 * MATH_UNIT_FACTOR + 0.5),
132
        (int16_t) (0.6008606190275604 * MATH_UNIT_FACTOR + 0.5),
133
        (int16_t) (0.6248693519093275 * MATH_UNIT_FACTOR + 0.5),
134
        (int16_t) (0.6494075931975106 * MATH_UNIT_FACTOR + 0.5),
135
        (int16_t) (0.6745085168424267 * MATH_UNIT_FACTOR + 0.5),
136
        (int16_t) (0.7002075382097097 * MATH_UNIT_FACTOR + 0.5),
137
        (int16_t) (0.7265425280053608 * MATH_UNIT_FACTOR + 0.5),
138
        (int16_t) (0.7535540501027942 * MATH_UNIT_FACTOR + 0.5),
139
        (int16_t) (0.7812856265067173 * MATH_UNIT_FACTOR + 0.5),
140
        (int16_t) (0.809784033195007 * MATH_UNIT_FACTOR + 0.5),
141
        (int16_t) (0.8390996311772799 * MATH_UNIT_FACTOR + 0.5),
142
        (int16_t) (0.8692867378162265 * MATH_UNIT_FACTOR + 0.5),
143
        (int16_t) (0.9004040442978399 * MATH_UNIT_FACTOR + 0.5),
144
        (int16_t) (0.9325150861376615 * MATH_UNIT_FACTOR + 0.5),
145
        (int16_t) (0.9656887748070739 * MATH_UNIT_FACTOR + 0.5),
146
        (int16_t) (0.9999999999999999 * MATH_UNIT_FACTOR + 0.5),
147
        (int16_t) (1.0355303137905694 * MATH_UNIT_FACTOR + 0.5),
148
        (int16_t) (1.0723687100246826 * MATH_UNIT_FACTOR + 0.5),
149
        (int16_t) (1.1106125148291928 * MATH_UNIT_FACTOR + 0.5),
150
        (int16_t) (1.1503684072210094 * MATH_UNIT_FACTOR + 0.5),
151
        (int16_t) (1.19175359259421 * MATH_UNIT_FACTOR + 0.5),
152
        (int16_t) (1.234897156535051 * MATH_UNIT_FACTOR + 0.5),
153
        (int16_t) (1.2799416321930788 * MATH_UNIT_FACTOR + 0.5),
154
        (int16_t) (1.3270448216204098 * MATH_UNIT_FACTOR + 0.5),
155
        (int16_t) (1.3763819204711734 * MATH_UNIT_FACTOR + 0.5),
156
        (int16_t) (1.4281480067421144 * MATH_UNIT_FACTOR + 0.5),
157
        (int16_t) (1.4825609685127403 * MATH_UNIT_FACTOR + 0.5),
158
        (int16_t) (1.5398649638145825 * MATH_UNIT_FACTOR + 0.5),
159
        (int16_t) (1.6003345290410504 * MATH_UNIT_FACTOR + 0.5),
160
        (int16_t) (1.6642794823505174 * MATH_UNIT_FACTOR + 0.5),
161
        (int16_t) (1.7320508075688767 * MATH_UNIT_FACTOR + 0.5),
162
        (int16_t) (1.8040477552714236 * MATH_UNIT_FACTOR + 0.5),
163
        (int16_t) (1.8807264653463318 * MATH_UNIT_FACTOR + 0.5),
164
        (int16_t) (1.9626105055051504 * MATH_UNIT_FACTOR + 0.5),
165
        (int16_t) (2.050303841579296 * MATH_UNIT_FACTOR + 0.5),
166
        (int16_t) (2.1445069205095586 * MATH_UNIT_FACTOR + 0.5),
167
        (int16_t) (2.2460367739042164 * MATH_UNIT_FACTOR + 0.5),
168
        (int16_t) (2.355852365823752 * MATH_UNIT_FACTOR + 0.5),
169
        (int16_t) (2.4750868534162964 * MATH_UNIT_FACTOR + 0.5),
170
        (int16_t) (2.6050890646938005 * MATH_UNIT_FACTOR + 0.5),
171
        (int16_t) (2.7474774194546216 * MATH_UNIT_FACTOR + 0.5),
172
        (int16_t) (2.904210877675822 * MATH_UNIT_FACTOR + 0.5),
173
        (int16_t) (3.0776835371752527 * MATH_UNIT_FACTOR + 0.5),
174
        (int16_t) (3.2708526184841404 * MATH_UNIT_FACTOR + 0.5),
175
        (int16_t) (3.4874144438409087 * MATH_UNIT_FACTOR + 0.5),
176
        (int16_t) (3.7320508075688776 * MATH_UNIT_FACTOR + 0.5),
177
        (int16_t) (4.010780933535842 * MATH_UNIT_FACTOR + 0.5),
178
        (int16_t) (4.331475874284157 * MATH_UNIT_FACTOR + 0.5),
179
        (int16_t) (4.704630109478451 * MATH_UNIT_FACTOR + 0.5),
180
        (int16_t) (5.144554015970307 * MATH_UNIT_FACTOR + 0.5),
181
        (int16_t) (5.671281819617707 * MATH_UNIT_FACTOR + 0.5),
182
        (int16_t) (6.313751514675041 * MATH_UNIT_FACTOR + 0.5),
183
        (int16_t) (7.115369722384195 * MATH_UNIT_FACTOR + 0.5),
184
        (int16_t) (8.144346427974593 * MATH_UNIT_FACTOR + 0.5),
185
        (int16_t) (9.514364454222587 * MATH_UNIT_FACTOR + 0.5),
186
        (int16_t) (11.430052302761348 * MATH_UNIT_FACTOR + 0.5),
187
        (int16_t) (14.300666256711896 * MATH_UNIT_FACTOR + 0.5),
188
        (int16_t) (19.08113668772816 * MATH_UNIT_FACTOR + 0.5),
189
        (int16_t) (28.636253282915515 * MATH_UNIT_FACTOR + 0.5),
190
        (int16_t) (57.289961630759876 * MATH_UNIT_FACTOR + 0.5),
191
        (int16_t) (32767) };
192
 
193
int16_t sin_360(int16_t arg) {
194
  int8_t sign;
195
  int16_t result;
196
  arg %= 360;
197
  if (arg < 0) {
198
    arg = -arg;
199
    sign = -1;
200
  } else {
201
    sign = 1;
202
  }
203
  if (arg > 180) {
204
    arg = 360 - arg;
205
    sign = -sign;
206
  }
207
  if (arg > 90) {
208
    arg = 180 - arg;
209
  }
210
  result = pgm_read_word(&SIN_TABLE[(uint8_t) arg]);
211
  return (sign == 1) ? result : -result;
212
}
213
 
214
int16_t cos_360(int16_t arg) {
215
  return sin_360(arg + 90);
216
}
217
 
218
int16_t tan_360(int16_t arg) {
219
  int8_t sign = 1;
220
  int16_t result;
221
  if (arg < 0) {
222
      arg = -arg;
223
      sign = -1;
224
  }
225
  if (arg >= 90) {
226
    arg = 180 - arg;
227
    sign = -sign;
228
  }
229
  result = pgm_read_word(&TAN_TABLE[(uint8_t) arg]);
230
  return (sign == 1) ? result : -result;
231
}
232
 
233
void intervalWrap(int32_t *number, int32_t limit) {
234
  if (*number >= limit) {
235
    *number -= limit; // 360 deg. wrap
236
  } else if (*number < 0) {
237
    *number += limit;
238
  }
239
}