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149 salvo 1 
/*
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This program (files math.c and math.h) is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by the Free Software Foundation;
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either version 3 of the License, or (at your option) any later version.  
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This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details. You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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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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*/
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/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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Peter Muehlenbrock
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Winkelfunktionen sin, cos und arctan in
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brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend
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Sinus Funktion von Nick666 vereinfacht
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Stand 1.10.2007
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++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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*/
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#include "main.h"
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// arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad
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int arctan_i( signed int x,  signed int y)
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{
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        short int change_xy = 0;
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        signed int i;
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        long signed int wert;
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        int return_value;
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        if ((abs(x)) > (abs(y)))  // x,y Werte vertauschen damit arctan <45 grad bleibt
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        {      
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                change_xy       = 1;
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                i                       = x;
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                x                       = y;
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                y                       = i;
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        }
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        // Quadranten ermitteln
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        // Wert durch lineare Interpolation ermitteln
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        if ((y == 0) && (x == 0))  wert =1; // Division durch 0 nicht erlaubt
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        else wert= abs((x*1000)/y);
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        if (wert <=268) //0...0.0,268  entsprechend 0..15 Grad
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        {
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                return_value = (signed int)((wert*100)/(268-0)*(15-0)/100) +0;
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        }
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        else if (wert <=578) //0,268...0.0,568  entsprechend 15..30 Grad
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        {      
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                return_value = (signed int)((((wert-268)*100)/(578-268)*(30-15))/100) +15;             
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        }
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        else //0,568...1  entsprechend 30..45 Grad
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        {      
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                return_value = (signed int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30;              
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        }
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        if (change_xy == 0)  return_value = 90-return_value; //Quadrant 45..90 Grad
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        if ((x >= 0) && (y <0)) return_value = - return_value;
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        else if ((x < 0) && (y >= 0)) return_value = - return_value;
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return return_value;
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}
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// cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000
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signed int cos_i(signed int winkel)
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{
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  winkel = sin_i(90-winkel);
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  return winkel;
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}
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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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//von Nick666, Stand 28.9.2007
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// sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000
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signed int sin_i(signed int winkel)
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{
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 short int m,n;
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 if (abs(winkel) >=360) winkel = winkel % 360;
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 if (winkel < 0)
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 {
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        m = -1;
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        winkel = abs(winkel);
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 }
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 else m = +1;
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 n =1;
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 // Quadranten auswerten
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 if ((winkel > 90 ) && (winkel <= 180)) winkel = 180 - winkel;
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 else if ((winkel > 180 ) && (winkel <= 270))
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 {
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        winkel = winkel -180;
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        n = -1;
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 }
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  else if ((winkel > 270) && (winkel <= 360))
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 {
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        winkel = 360 - winkel;
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        n = -1;
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 }
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 // else //0 - 90 Grad
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 winkel = pgm_read_word(&pgm_sinus[winkel]);
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 return (winkel*m*n);
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}
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