Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1004 | salvo | 1 | /* |
| 2 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
||
| 3 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
||
| 4 | either version 3 of the License, or (at your option) any later version. |
||
| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
||
| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||
| 7 | GNU General Public License and GNU Lesser General Public License for more details. |
||
| 8 | You should have received a copy of GNU General Public License (License_GPL.txt) and |
||
| 9 | GNU Lesser General Public License (License_LGPL.txt) along with this program. |
||
| 10 | If not, see <http://www.gnu.org/licenses/>. |
||
| 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 |
||
| 13 | */ |
||
| 14 | /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 15 | Peter Muehlenbrock |
||
| 16 | Winkelfunktionen sin, cos und arctan in |
||
| 17 | brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend |
||
| 18 | get_dist Funktion fuer Entfernungsermittlung |
||
| 19 | Stand 12.10.2007 |
||
| 20 | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 21 | */ |
||
| 22 | #include "main.h" |
||
| 23 | #include "math.h" |
||
| 24 | |||
| 25 | |||
| 26 | // arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad |
||
| 27 | int arctan_i( signed int x, signed int y) |
||
| 28 | { |
||
| 29 | short int change_xy = 0; |
||
| 30 | signed int i; |
||
| 31 | long signed int wert; |
||
| 32 | int return_value; |
||
| 33 | |||
| 34 | if ((abs(x)) > (abs(y))) // x,y Werte vertauschen damit arctan <45 grad bleibt |
||
| 35 | { |
||
| 36 | change_xy = 1; |
||
| 37 | i = x; |
||
| 38 | x = y; |
||
| 39 | y = i; |
||
| 40 | } |
||
| 41 | |||
| 42 | // Quadranten ermitteln |
||
| 43 | |||
| 44 | // Wert durch lineare Interpolation ermitteln |
||
| 45 | if ((y == 0) && (x == 0)) wert =1; // Division durch 0 nicht erlaubt |
||
| 46 | else wert= abs(((long)x*1000)/((long)y)); |
||
| 47 | |||
| 48 | if (wert <=268) //0...0.0,268 entsprechend 0..15 Grad |
||
| 49 | { |
||
| 50 | return_value = (signed int)((wert*100)/(268-0)*(15-0)/100) +0; |
||
| 51 | } |
||
| 52 | else if (wert <=578) //0,268...0.0,568 entsprechend 15..30 Grad |
||
| 53 | { |
||
| 54 | return_value = (signed int)((((wert-268)*100)/(578-268)*(30-15))/100) +15; |
||
| 55 | } |
||
| 56 | else //0,568...1 entsprechend 30..45 Grad |
||
| 57 | { |
||
| 58 | return_value = (signed int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30; |
||
| 59 | } |
||
| 60 | |||
| 61 | if (change_xy == 0) return_value = 90-return_value; //Quadrant 45..90 Grad |
||
| 62 | if ((x >= 0) && (y <0)) return_value = - return_value; |
||
| 63 | else if ((x < 0) && (y >= 0)) return_value = - return_value; |
||
| 64 | |||
| 65 | return return_value; |
||
| 66 | } |
||
| 67 | |||
| 68 | |||
| 69 | // cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
||
| 70 | signed int cos_i(signed int winkel) |
||
| 71 | { |
||
| 72 | winkel = sin_i(90-winkel); |
||
| 73 | return winkel; |
||
| 74 | } |
||
| 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}; |
||
| 78 | //von Nick666, Stand 28.9.2007 |
||
| 79 | // sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
||
| 80 | signed int sin_i(signed int winkel) |
||
| 81 | { |
||
| 82 | short int m,n; |
||
| 83 | |||
| 84 | if (abs(winkel) >=360) winkel = winkel % 360; |
||
| 85 | if (winkel < 0) |
||
| 86 | { |
||
| 87 | m = -1; |
||
| 88 | winkel = abs(winkel); |
||
| 89 | } |
||
| 90 | else m = +1; |
||
| 91 | n =1; |
||
| 92 | |||
| 93 | // Quadranten auswerten |
||
| 94 | if ((winkel > 90 ) && (winkel <= 180)) winkel = 180 - winkel; |
||
| 95 | else if ((winkel > 180 ) && (winkel <= 270)) |
||
| 96 | { |
||
| 97 | winkel = winkel -180; |
||
| 98 | n = -1; |
||
| 99 | } |
||
| 100 | else if ((winkel > 270) && (winkel <= 360)) |
||
| 101 | { |
||
| 102 | winkel = 360 - winkel; |
||
| 103 | n = -1; |
||
| 104 | } |
||
| 105 | // else //0 - 90 Grad |
||
| 106 | |||
| 107 | winkel = pgm_read_word(&pgm_sinus[winkel]); |
||
| 108 | return (winkel*m*n); |
||
| 109 | } |
||
| 110 | |||
| 111 | // Aus x,y und Winkel Distanz ermitteln |
||
| 112 | long get_dist(signed int x, signed int y, signed int phi) |
||
| 113 | { |
||
| 114 | long dist; |
||
| 115 | if (abs(x) > abs(y) ) |
||
| 116 | { |
||
| 117 | dist = (long) x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
||
| 118 | dist = abs((dist *1000) / (long) sin_i(phi)); |
||
| 119 | } |
||
| 120 | else |
||
| 121 | { |
||
| 122 | dist = (long) y; |
||
| 123 | dist = abs((dist *1000) / (long) cos_i(phi)); |
||
| 124 | } |
||
| 125 | return dist; |
||
| 126 | } |
||
| 127 |