Rev 2204 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2204 | Rev 2205 | ||
---|---|---|---|
Line 46... | Line 46... | ||
46 | return r; |
46 | return r; |
47 | } |
47 | } |
Line 48... | Line 48... | ||
48 | 48 | ||
49 | // aus Orginal MK source code |
49 | // aus Orginal MK source code |
50 | // sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
50 | // sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
51 | const uint16_t sinlookup[91] = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, \ |
51 | const int16_t sinlookup[91] = { 0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, \ |
52 | 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, \ |
52 | 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, \ |
53 | 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, \ |
53 | 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, \ |
54 | 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, \ |
54 | 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, \ |
55 | 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, \ |
55 | 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, \ |
56 | 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, \ |
56 | 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, \ |
57 | 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, \ |
57 | 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, \ |
Line 58... | Line -... | ||
58 | 8161, 8172, 8181, 8187, 8191, 8192}; |
- | |
59 | - | ||
60 | int16_t c_cos_8192(int16_t angle) |
- | |
61 | { |
- | |
Line 62... | Line -... | ||
62 | int8_t m,n; |
- | |
63 | int16_t sinus; |
58 | 8161, 8172, 8181, 8187, 8191, 8192}; |
64 | - | ||
65 | angle = 90 - angle; |
59 | |
66 | // avoid negative angles |
- | |
67 | if (angle < 0) |
60 | |
68 | { |
61 | int16_t c_cos_8192(int16_t angle) |
69 | m = -1; |
- | |
Line 70... | Line -... | ||
70 | angle = -angle; |
- | |
71 | } |
- | |
Line 72... | Line -... | ||
72 | else m = +1; |
- | |
73 | - | ||
74 | // fold angle to interval 0 to 359 |
- | |
75 | angle %= 360; |
- | |
76 | - | ||
77 | // check quadrant |
- | |
78 | if (angle <= 90) n = 1; // first quadrant |
- | |
79 | else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
- | |
80 | else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
- | |
81 | else {angle = 360 - angle; n = -1;} //fourth quadrant |
- | |
Line 82... | Line 62... | ||
82 | // get lookup value |
62 | { |
83 | sinus = sinlookup[angle]; |
63 | return (c_sin_8192(90 - angle)); |
84 | // calculate sinus value |
64 | } |
85 | return (sinus * m * n); |
65 |