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| Rev | Author | Line No. | Line |
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| 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 | |||
| 370 | Nick666 | 31 | if (y < 0) |
| 32 | { |
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| 33 | m=-1; |
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| 34 | y=abs(y); |
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| 35 | } |
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| 366 | Nick666 | 36 | else m=1; |
| 37 | |||
| 38 | if (x==0) return (90*m); // atan2 = 90° für x = 0 |
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| 39 | |||
| 370 | Nick666 | 40 | i = ((long)y*50) / abs(x); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
| 366 | Nick666 | 41 | |
| 42 | if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
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| 43 | else if (i>5750) angle = 90; // Grenzwert ist 90° |
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| 44 | else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
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| 45 | else if (i>=1150) angle = 88; |
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| 46 | else if (i>=820) angle = 87; |
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| 47 | else if (i>=640) angle = 86; |
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| 48 | else if (i>=520) angle = 85; |
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| 49 | else if (i>=440) angle = 84; |
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| 50 | else if (i>=380) angle = 83; |
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| 51 | else if (i>=335) angle = 82; |
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| 52 | else if (i>=299) angle = 81; |
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| 53 | else angle = 80; // (i>=270) |
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| 54 | |||
| 55 | if (x > 0) return (angle*m); // Quadrant I und IV |
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| 372 | Nick666 | 56 | else if ((x < 0) && (m > 0)) return (-angle + 180); // Quadrant II |
| 366 | Nick666 | 57 | else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| 58 | } |
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| 59 | |||
| 60 | |||
| 61 | 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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| 62 | |||
| 63 | inline float pgm_read_float(const float *addr) |
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| 64 | { |
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| 65 | union |
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| 66 | { |
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| 67 | uint16_t i[2]; // 2 16-bit-Worte |
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| 68 | float f; |
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| 69 | } u; |
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| 70 | |||
| 71 | u.i[0]=pgm_read_word((PGM_P)addr); |
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| 72 | u.i[1]=pgm_read_word((PGM_P)addr+2); |
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| 73 | |||
| 74 | return u.f; |
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| 75 | } |
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| 76 | |||
| 370 | Nick666 | 77 | //############################################################################ |
| 366 | Nick666 | 78 | // Kosinusfunktion im Gradmaß |
| 79 | float cos_f(signed int winkel) |
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| 370 | Nick666 | 80 | //############################################################################ |
| 366 | Nick666 | 81 | { |
| 82 | return (sin_f(90-winkel)); |
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| 83 | } |
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| 84 | |||
| 370 | Nick666 | 85 | //############################################################################ |
| 366 | Nick666 | 86 | // Sinusfunktion im Gradmaß |
| 87 | float sin_f(signed int winkel) |
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| 370 | Nick666 | 88 | //############################################################################ |
| 366 | Nick666 | 89 | { |
| 90 | short int m,n; |
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| 91 | float sinus; |
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| 92 | |||
| 93 | //winkel = winkel % 360; |
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| 94 | |||
| 95 | if (winkel < 0) |
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| 96 | { |
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| 97 | m = -1; |
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| 98 | winkel = abs(winkel); |
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| 99 | } |
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| 100 | else m = +1; |
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| 101 | |||
| 102 | // Quadranten auswerten |
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| 103 | if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
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| 104 | else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
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| 105 | else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
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| 106 | else n = 1; //0 - 90 Grad |
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| 107 | |||
| 108 | sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
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| 109 | |||
| 110 | return (sinus*m*n); |
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| 111 | } |
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| 112 | |||
| 113 | |||
| 114 | 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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| 115 | |||
| 370 | Nick666 | 116 | //############################################################################ |
| 366 | Nick666 | 117 | // Akurssinusfunktion im Gradmaß |
| 118 | int8_t asin_i(signed int i) |
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| 370 | Nick666 | 119 | //############################################################################ |
| 366 | Nick666 | 120 | { |
| 121 | signed char m; |
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| 122 | |||
| 123 | if (i < 0) {m=-1;i=abs(i);} |
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| 124 | else m=1; |
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| 125 | |||
| 126 | return (pgm_read_byte(&pgm_asin[i]) * m); |
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| 127 | } |