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/*
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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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#include "main.h"
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//-----------------------------------------------
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// Fast arctan2 with max error of .01 rads
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// http://www.dspguru.com/comp.dsp/tricks/alg/fxdatan2.htm
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//-----------------------------------------------
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signed int arctan_i(signed int x, signed int y)
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{  
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   float rad,r;
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   signed int angle;
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   short int m;  
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   if (!x && !y) return 0;
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   if (y < 0) {y = abs(y); m = -1;}
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   else m = 1;
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   if (x>=0)
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   {
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      r = (x - y) / (x + y);
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      rad = 0.1963*r*r*r - 0.9817*r + 0.7854;
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   }
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   else
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   {
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      r = (x + y) / (y - x);
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      rad = 0.1963*r*r*r - 0.9817*r + 2.3562;
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   }
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   angle = (180 * rad) / 3.1416;
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   return(angle*m);
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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[92] PROGMEM = {0,0,17,35,52,70,87,105,122,139,156,174,191,208,225,242,259,276,292,309,326,342,358,375,391,407,423,438,454,469,485,500,515,530,545,559,574,588,602,616,629,643,656,669,682,695,707,719,731,743,755,766,777,788,799,809,819,829,839,848,857,866,875,883,891,899,906,914,921,927,934,940,946,951,956,961,966,970,974,978,982,985,988,990,993,995,996,998,999,999,1000,1000};
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// 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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 //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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 // Quadranten auswerten
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 if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;}
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 else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;}
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 else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;}
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 else n = 1; //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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