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205 | Nick666 | 1 | /* |
256 | Nick666 | 2 | |
3 | Copyright 2007, Niklas Nold |
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4 | |||
205 | Nick666 | 5 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
256 | Nick666 | 6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
205 | Nick666 | 7 | either version 3 of the License, or (at your option) any later version. |
8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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256 | Nick666 | 10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
205 | Nick666 | 11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
12 | |||
257 | Nick666 | 13 | 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 |
205 | Nick666 | 14 | */ |
15 | |||
16 | #include "main.h" |
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17 | |||
18 | |||
232 | Nick666 | 19 | const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
20 | |||
226 | Nick666 | 21 | signed int arctan_i(signed int x, signed int y) |
214 | Nick666 | 22 | { |
232 | Nick666 | 23 | int i,angle; |
24 | int8_t m; |
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214 | Nick666 | 25 | |
232 | Nick666 | 26 | if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
27 | |||
28 | if (y < 0) m=-1; |
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29 | else m=1; |
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30 | |||
31 | if (x==0) return (90*m); // atan2 = 90° für x = 0 |
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32 | |||
33 | i = abs(((float)y / x) * 50.0); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
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214 | Nick666 | 34 | |
232 | Nick666 | 35 | if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
36 | else if (i>5750) angle = 90; // Grenzwert ist 90° |
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37 | else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
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38 | else if (i>=1150) angle = 88; |
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39 | else if (i>=820) angle = 87; |
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40 | else if (i>=640) angle = 86; |
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41 | else if (i>=520) angle = 85; |
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42 | else if (i>=440) angle = 84; |
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43 | else if (i>=380) angle = 83; |
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44 | else if (i>=335) angle = 82; |
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45 | else if (i>=299) angle = 81; |
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46 | else angle = 80; // (i>=270) |
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226 | Nick666 | 47 | |
232 | Nick666 | 48 | if (x > 0) return (angle*m); // Quadrant I und IV |
49 | else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II |
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50 | else return (angle - 180); // x < 0 && y < 0 Quadrant III |
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214 | Nick666 | 51 | } |
52 | |||
226 | Nick666 | 53 | |
54 | |||
55 | |||
229 | Nick666 | 56 | |
57 | const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000}; |
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58 | |||
59 | inline float pgm_read_float(const float *addr) |
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60 | { |
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61 | union |
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62 | { |
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63 | uint16_t i[2]; // 2 16-bit-Worte |
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64 | float f; |
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65 | } u; |
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66 | |||
67 | u.i[0]=pgm_read_word((PGM_P)addr); |
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68 | u.i[1]=pgm_read_word((PGM_P)addr+2); |
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69 | |||
70 | return u.f; |
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71 | } |
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72 | |||
73 | // cosinus Funktion: Eingabewert Winkel in Grad |
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74 | float cos_f(signed int winkel) |
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75 | { |
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76 | return (sin_f(90-winkel)); |
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205 | Nick666 | 77 | } |
78 | |||
229 | Nick666 | 79 | // sinus Funktion: Eingabewert Winkel in Grad |
80 | float sin_f(signed int winkel) |
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205 | Nick666 | 81 | { |
82 | short int m,n; |
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229 | Nick666 | 83 | float sinus; |
205 | Nick666 | 84 | |
85 | //winkel = winkel % 360; |
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86 | |||
87 | if (winkel < 0) |
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88 | { |
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89 | m = -1; |
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90 | winkel = abs(winkel); |
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91 | } |
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92 | else m = +1; |
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93 | |||
94 | // Quadranten auswerten |
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95 | if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
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96 | else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
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97 | else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
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98 | else n = 1; //0 - 90 Grad |
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99 | |||
229 | Nick666 | 100 | sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
205 | Nick666 | 101 | |
229 | Nick666 | 102 | return (sinus*m*n); |
205 | Nick666 | 103 | } |