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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 256 | killagreg | 1 | #include "91x_lib.h" |
| 2 | #include "mymath.h" |
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| 493 | killagreg | 3 | #include <math.h> |
| 256 | killagreg | 4 | |
| 5 | // discrete mathematics |
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| 6 | |||
| 7 | // sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
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| 8 | const s16 sinlookup[91] = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192}; |
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| 330 | holgerb | 9 | //0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 38 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 |
| 10 | const s16 arccos64[65] = {90,89,88,87,86, 85, 84, 83, 83, 82, 81, 80, 79, 78, 77, 76, 75, 74, 73, 72, 71, 71, 70, 69, 68, 67, 66, 65, 64, 63, 62, 61, 60, 59, 58, 57, 56, 55, 54, 53, 51, 50, 49, 48, 47, 45, 44, 43, 41, 40, 39, 37, 36, 34, 32, 31, 29, 27, 25, 23, 20, 18, 14, 10, 0}; |
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| 256 | killagreg | 11 | |
| 12 | s16 c_sin_8192(s16 angle) |
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| 13 | { |
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| 492 | killagreg | 14 | s8 m, n; |
| 256 | killagreg | 15 | s16 sinus; |
| 16 | |||
| 17 | // avoid negative angles |
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| 18 | if (angle < 0) |
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| 19 | { |
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| 20 | m = -1; |
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| 21 | angle = -angle; |
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| 22 | } |
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| 23 | else m = +1; |
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| 24 | |||
| 25 | // fold angle to interval 0 to 359 |
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| 26 | angle %= 360; |
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| 27 | |||
| 28 | // check quadrant |
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| 29 | if (angle <= 90) n = 1; // first quadrant |
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| 30 | else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
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| 31 | else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
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| 32 | else {angle = 360 - angle; n = -1;} //fourth quadrant |
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| 33 | // get lookup value |
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| 34 | sinus = sinlookup[angle]; |
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| 35 | // calculate sinus value |
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| 36 | return (sinus * m * n); |
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| 37 | } |
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| 38 | |||
| 493 | killagreg | 39 | s16 c_arccos2(s32 a, s32 b) |
| 330 | holgerb | 40 | { |
| 491 | killagreg | 41 | if(a>b) return(0); |
| 42 | return(arccos64[64 * a / b]); |
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| 330 | holgerb | 43 | } |
| 44 | |||
| 256 | killagreg | 45 | // cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| 46 | s16 c_cos_8192(s16 angle) |
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| 47 | { |
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| 48 | return (c_sin_8192(90 - angle)); |
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| 49 | } |
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| 50 | |||
| 293 | killagreg | 51 | // higher resolution angle in deg is arg/div |
| 52 | s16 c_sin_8192_res(s16 arg, s16 div) |
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| 53 | { |
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| 54 | s16 angle, rest; |
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| 55 | s32 tmp; |
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| 56 | |||
| 57 | angle = arg/div; |
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| 58 | rest = arg%div; |
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| 59 | |||
| 60 | if(rest>0) |
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| 61 | { |
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| 62 | tmp = (div-rest)*(s32)c_sin_8192(angle); |
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| 63 | tmp += rest * (s32)c_sin_8192(angle+1); |
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| 64 | tmp /= div; |
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| 65 | return(tmp); |
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| 66 | } |
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| 67 | else if(rest<0) |
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| 68 | { |
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| 69 | tmp = (div+rest)*(s32)c_sin_8192(angle); |
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| 70 | tmp -= rest * (s32)c_sin_8192(angle-1); |
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| 71 | tmp /= div; |
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| 72 | return(tmp); |
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| 73 | } |
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| 74 | else |
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| 75 | { |
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| 76 | return(c_sin_8192(angle)); |
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| 77 | } |
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| 78 | |||
| 79 | } |
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| 80 | |||
| 81 | s16 c_cos_8192_res(s16 arg, s16 div) |
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| 82 | { |
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| 83 | return(c_sin_8192_res(90*div - arg, div)); |
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| 84 | } |
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| 85 | |||
| 86 | |||
| 256 | killagreg | 87 | // integer based atan2 that returns angle in counts of 1/546.13° |
| 293 | killagreg | 88 | s32 c_atan2_546(s32 y, s32 x) |
| 256 | killagreg | 89 | { |
| 90 | s32 qx, qy, q; |
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| 91 | |||
| 92 | if( x < 0) qx = -x; |
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| 93 | else qx = x; |
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| 94 | if( y < 0) qy = -y; |
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| 95 | else qy = y; |
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| 96 | if(qy <= qx) |
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| 97 | { // scale down to avoid overflow in quadratic interpolation |
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| 98 | while(qy > (1<<15)) |
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| 99 | { |
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| 100 | qy/=2; |
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| 101 | qx/=2; |
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| 102 | } |
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| 103 | // calculate the quatratic interpolation |
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| 104 | q = (((qy<<13)/qx)*qy)/qx; |
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| 105 | q = (qy<<15)/qx-q; |
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| 106 | } |
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| 107 | else |
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| 108 | { // scale down to avoid overflow in quadratic interpolation |
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| 109 | while(qx>(1<<15)) |
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| 110 | { |
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| 111 | qy/=2; |
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| 112 | qx/=2; |
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| 113 | } |
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| 114 | // calculate the quatratic interpolation |
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| 115 | q = (((qx<<13)/qy)*qx)/qy; |
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| 116 | q = (qx<<15)/qy-q; |
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| 117 | q = 2*((1<<15)-(1<<13)) - q; |
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| 118 | } |
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| 119 | if(y < 0) |
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| 120 | { |
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| 121 | if(x < 0) q = q - 4*((1<<15)-(1<<13)); |
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| 122 | else q = -q; |
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| 123 | } |
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| 124 | else if( x < 0) q = 4*((1<<15)-(1<<13)) - q; |
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| 125 | return(q); |
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| 126 | } |
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| 492 | killagreg | 127 | |
| 128 | |||
| 129 | |||
| 130 | // retuns the largest integer whose square is less than or equal to the |
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| 131 | u32 isqrt(u32 value) |
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| 132 | { |
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| 133 | u32 rem = 0, root =0, idx; |
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| 134 | |||
| 135 | for(idx = 0; idx < 16; idx++) |
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| 136 | { |
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| 137 | root <<= 1; |
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| 138 | |||
| 139 | rem = ((rem << 2) + (value >> 30)); |
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| 140 | value <<= 2; |
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| 141 | root++; |
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| 142 | if(root <= rem) |
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| 143 | { |
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| 144 | rem -= root; |
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| 145 | root++; |
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| 146 | } |
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| 147 | else |
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| 148 | { |
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| 149 | root--; |
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| 150 | } |
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| 151 | } |
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| 152 | return(root >> 1); |
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| 153 | } |