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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 178 | Nick666 | 1 | /* |
| 2 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
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| 3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
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| 4 | either version 3 of the License, or (at your option) any later version. |
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| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
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| 8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 9 | |||
| 10 | 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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| 11 | */ |
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| 12 | |||
| 13 | #include "main.h" |
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| 14 | |||
| 15 | 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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| 16 | |||
| 17 | |||
| 18 | //----------------------------------------------- |
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| 180 | Nick666 | 19 | // Fast arctan2 with max error of .01 rads |
| 178 | Nick666 | 20 | // http://www.dspguru.com/comp.dsp/tricks/alg/fxdatan2.htm |
| 21 | //----------------------------------------------- |
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| 22 | signed int arctan_i(signed int x, signed int y) |
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| 23 | { |
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| 24 | float rad,r; |
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| 25 | signed int angle; |
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| 179 | Nick666 | 26 | short int m; |
| 178 | Nick666 | 27 | |
| 179 | Nick666 | 28 | if (!x && !y) return 0; |
| 178 | Nick666 | 29 | |
| 179 | Nick666 | 30 | if (y < 0) |
| 31 | { |
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| 32 | y = abs(y); |
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| 33 | m = -1; // neg. für Quadrant III + IV |
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| 34 | } |
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| 35 | else m = 1; |
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| 178 | Nick666 | 36 | |
| 37 | if (x>=0) |
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| 38 | { |
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| 39 | r = (x - y) / (x + y); |
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| 40 | rad = 0.1963*r*r*r - 0.9817*r + 0.7854; |
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| 41 | } |
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| 42 | else |
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| 43 | { |
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| 44 | r = (x + y) / (y - x); |
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| 45 | rad = 0.1963*r*r*r - 0.9817*r + 2.3562; |
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| 46 | } |
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| 47 | |||
| 48 | angle = (360 * rad) / 6.2832; |
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| 179 | Nick666 | 49 | |
| 50 | return(angle*m); |
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| 178 | Nick666 | 51 | } |
| 52 | |||
| 53 | // cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
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| 54 | signed int cos_i(signed int winkel) |
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| 55 | { |
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| 56 | winkel = sin_i(90-winkel); |
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| 57 | return winkel; |
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| 58 | } |
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| 59 | |||
| 60 | |||
| 61 | // sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
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| 62 | signed int sin_i(signed int winkel) |
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| 63 | { |
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| 64 | short int m; |
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| 65 | winkel = winkel % 360; |
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| 66 | |||
| 67 | if (winkel < 0) |
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| 68 | { |
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| 69 | m = -1; |
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| 70 | winkel = abs(winkel); |
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| 71 | } |
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| 72 | else m = +1; |
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| 73 | |||
| 74 | // Quadranten auswerten |
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| 75 | if ((winkel > 90 ) && (winkel <= 180)) winkel = winkel - 90; |
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| 76 | else if ((winkel > 180 ) && (winkel <= 270)) winkel = winkel - 180; |
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| 77 | else if ((winkel > 270) && (winkel <= 360)) winkel = winkel - 270; |
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| 78 | // else //0 - 90 Grad |
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| 79 | |||
| 80 | winkel = pgm_read_word(&pgm_sinus[winkel]); |
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| 81 | |||
| 82 | return (winkel*m); |
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| 83 | |||
| 84 | } |
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| 85 | |||
| 86 |