16,9 → 16,10 |
#include "main.h" |
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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}; |
const uint8_t pgm_atan[540] PROGMEM = {0,1,1,2,2,3,3,4,5,5,6,6,7,7,8,9,9,10,10,11,11,12,12,13,13,14,15,15,16,16,17,17,18,18,19,19,20,20,21,21,22,22,23,23,24,24,25,25,26,26,27,27,27,28,28,29,29,30,30,31,31,31,32,32,33,33,33,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,40,41,41,41,42,42,42,43,43,43,44,44,44,44,45,45,45,46,46,46,46,47,47,47,47,48,48,48,48,49,49,49,49,50,50,50,50,51,51,51,51,52,52,52,52,52,53,53,53,53,53,54,54,54,54,54,55,55,55,55,55,56,56,56,56,56,56,57,57,57,57,57,58,58,58,58,58,58,58,59,59,59,59,59,59,60,60,60,60,60,60,60,61,61,61,61,61,61,61,61,62,62,62,62,62,62,62,62,63,63,63,63,63,63,63,63,64,64,64,64,64,64,64,64,64,65,65,65,65,65,65,65,65,65,65,66,66,66,66,66,66,66,66,66,66,67,67,67,67,67,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
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signed int arctan_i(signed int x, signed int y) |
// Arkustangens2 im Gradmaß |
signed int atan2_i(signed int x, signed int y) |
{ |
int i,angle; |
int8_t m; |
30,20 → 31,20 |
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if (x==0) return (90*m); // atan2 = 90° für x = 0 |
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i = abs(((float)y / x) * 50.0); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
i = abs(((double)y / x) * 100); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.01 -> *100) |
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if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
else if (i>5750) angle = 90; // Grenzwert ist 90° |
else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
else if (i>=1150) angle = 88; |
else if (i>=820) angle = 87; |
else if (i>=640) angle = 86; |
else if (i>=520) angle = 85; |
else if (i>=440) angle = 84; |
else if (i>=380) angle = 83; |
else if (i>=335) angle = 82; |
else if (i>=299) angle = 81; |
else angle = 80; // (i>=270) |
if (i<540) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
else if (i>11458) angle = 90; // Grenzwert ist 90° |
else if (i>3818) angle = 89; // 89° bis 80° über Wertebereiche |
else if (i>2290) angle = 88; |
else if (i>1634) angle = 87; |
else if (i>1270) angle = 86; |
else if (i>1038) angle = 85; |
else if (i>877) angle = 84; |
else if (i>759) angle = 83; |
else if (i>669) angle = 82; |
else if (i>597) angle = 81; |
else angle = 80; // (i>539) |
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if (x > 0) return (angle*m); // Quadrant I und IV |
else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II |
70,34 → 71,36 |
return u.f; |
} |
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// cosinus Funktion: Eingabewert Winkel in Grad |
float cos_f(signed int winkel) |
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// Kosinusfunktion im Gradmaß |
float cos_f(signed int alpha) |
{ |
return (sin_f(90-winkel)); |
return (sin_f(90-alpha)); |
} |
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// sinus Funktion: Eingabewert Winkel in Grad |
float sin_f(signed int winkel) |
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// Sinusfunktion im Gradmaß |
float sin_f(signed int alpha) |
{ |
short int m,n; |
float sinus; |
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//winkel = winkel % 360; |
//alpha = alpha % 360; |
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if (winkel < 0) |
if (alpha < 0) |
{ |
m = -1; |
winkel = abs(winkel); |
alpha = abs(alpha); |
} |
else m = +1; |
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// Quadranten auswerten |
if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
if ((alpha > 90 ) && (alpha <= 180)) {alpha = 180 - alpha; n = 1;} |
else if ((alpha > 180 ) && (alpha <= 270)) {alpha = alpha - 180; n = -1;} |
else if ((alpha > 270) && (alpha <= 360)) {alpha = 360 - alpha; n = -1;} |
else n = 1; //0 - 90 Grad |
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sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
sinus = pgm_read_float(&pgm_sinus_f[alpha]); |
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return (sinus*m*n); |
} |
106,6 → 109,7 |
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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// Arkussinusfunktion im Gradmaß |
signed char asin_i(signed int i) |
{ |
signed char m; |