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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 366 | Nick666 | 1 | /* |
| 2 | |||
| 3 | Copyright 2007, Niklas Nold |
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| 4 | |||
| 5 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
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| 6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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| 7 | either version 3 of the License, or (at your option) any later version. |
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| 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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| 10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
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| 11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 12 | |||
| 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 |
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| 14 | */ |
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| 15 | |||
| 16 | #include "main.h" |
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| 17 | |||
| 18 | |||
| 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}; |
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| 20 | |||
| 370 | Nick666 | 21 | //############################################################################ |
| 366 | Nick666 | 22 | // Arkustangens2 im Gradmaß |
| 23 | signed int atan2_i(signed int x, signed int y) |
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| 370 | Nick666 | 24 | //############################################################################ |
| 366 | Nick666 | 25 | { |
| 26 | int i,angle; |
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| 27 | int8_t m; |
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| 28 | |||
| 29 | if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
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| 30 | |||
| 391 | Nick666 | 31 | if (y < 0) m=-1; |
| 366 | Nick666 | 32 | else m=1; |
| 33 | |||
| 34 | if (x==0) return (90*m); // atan2 = 90° für x = 0 |
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| 35 | |||
| 385 | Nick666 | 36 | i = abs(((long)y*50) / x); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
| 366 | Nick666 | 37 | |
| 38 | if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
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| 39 | else if (i>5750) angle = 90; // Grenzwert ist 90° |
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| 40 | else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
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| 41 | else if (i>=1150) angle = 88; |
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| 42 | else if (i>=820) angle = 87; |
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| 43 | else if (i>=640) angle = 86; |
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| 44 | else if (i>=520) angle = 85; |
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| 45 | else if (i>=440) angle = 84; |
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| 46 | else if (i>=380) angle = 83; |
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| 47 | else if (i>=335) angle = 82; |
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| 48 | else if (i>=299) angle = 81; |
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| 49 | else angle = 80; // (i>=270) |
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| 50 | |||
| 51 | if (x > 0) return (angle*m); // Quadrant I und IV |
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| 372 | Nick666 | 52 | else if ((x < 0) && (m > 0)) return (-angle + 180); // Quadrant II |
| 366 | Nick666 | 53 | else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| 54 | } |
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| 55 | |||
| 56 | |||
| 391 | Nick666 | 57 | const float pgm_sinus_f[91] PROGMEM = {0.0,0.01745241,0.03489950,0.05233595,0.06975647,0.08715574,0.10452846,0.12186934,0.13917310,0.15643446,0.17364817,0.19080899,0.20791168,0.22495105,0.24192189,0.25881904,0.27563735,0.29237170,0.30901699,0.32556815,0.34202013,0.35836794,0.37460658,0.39073112,0.40673663,0.42261825,0.43837113,0.45399049,0.46947155,0.48480961,0.49999999,0.51503806,0.52991925,0.54463902,0.55919289,0.57357642,0.58778524,0.60181501,0.61566146,0.62932038,0.64278759,0.65605901,0.66913059,0.68199834,0.69465835,0.70710676,0.71933978,0.73135368,0.74314481,0.75470956,0.76604443,0.77714594,0.78801074,0.79863549,0.80901698,0.81915203,0.82903756,0.83867055,0.84804808,0.85716728,0.86602539,0.87461969,0.88294758,0.89100651,0.89879403,0.90630777,0.91354544,0.92050484,0.92718384,0.93358041,0.93969261,0.94551856,0.95105650,0.95630474,0.96126169,0.96592582,0.97029572,0.97437006,0.97814759,0.98162718,0.98480775,0.98768833,0.99026806,0.99254615,0.99452189,0.99619469,0.99756405,0.99862953,0.99939083,0.99984769,1.0}; |
| 366 | Nick666 | 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 | |||
| 370 | Nick666 | 73 | //############################################################################ |
| 366 | Nick666 | 74 | // Kosinusfunktion im Gradmaß |
| 75 | float cos_f(signed int winkel) |
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| 370 | Nick666 | 76 | //############################################################################ |
| 366 | Nick666 | 77 | { |
| 78 | return (sin_f(90-winkel)); |
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| 79 | } |
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| 80 | |||
| 370 | Nick666 | 81 | //############################################################################ |
| 366 | Nick666 | 82 | // Sinusfunktion im Gradmaß |
| 83 | float sin_f(signed int winkel) |
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| 370 | Nick666 | 84 | //############################################################################ |
| 366 | Nick666 | 85 | { |
| 86 | short int m,n; |
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| 87 | float sinus; |
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| 88 | |||
| 89 | //winkel = winkel % 360; |
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| 90 | |||
| 91 | if (winkel < 0) |
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| 92 | { |
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| 93 | m = -1; |
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| 94 | winkel = abs(winkel); |
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| 95 | } |
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| 96 | else m = +1; |
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| 97 | |||
| 98 | // Quadranten auswerten |
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| 391 | Nick666 | 99 | if (winkel <= 90) n=1; |
| 100 | else if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
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| 366 | Nick666 | 101 | else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
| 391 | Nick666 | 102 | else {winkel = 360 - winkel; n = -1;} //if ((winkel > 270) && (winkel <= 360)) |
| 366 | Nick666 | 103 | |
| 391 | Nick666 | 104 | sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
| 366 | Nick666 | 105 | |
| 106 | return (sinus*m*n); |
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| 107 | } |
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| 108 | |||
| 109 | |||
| 110 | const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
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| 111 | |||
| 370 | Nick666 | 112 | //############################################################################ |
| 366 | Nick666 | 113 | // Akurssinusfunktion im Gradmaß |
| 114 | int8_t asin_i(signed int i) |
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| 370 | Nick666 | 115 | //############################################################################ |
| 366 | Nick666 | 116 | { |
| 117 | signed char m; |
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| 118 | |||
| 119 | if (i < 0) {m=-1;i=abs(i);} |
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| 120 | else m=1; |
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| 121 | |||
| 391 | Nick666 | 122 | i = i % 200; |
| 378 | Nick666 | 123 | |
| 366 | Nick666 | 124 | return (pgm_read_byte(&pgm_asin[i]) * m); |
| 125 | } |