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 * a * sin(b) = (a * int_sin(b * DRG_FACTOR)) / UNIT_FACTOR
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 * a * sin(b) = (a * int_sin(b * DRG_FACTOR)) / UNIT_FACTOR
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 */
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 */
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//#define MATH_UNIT_FACTOR 8192
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//#define MATH_UNIT_FACTOR 8192
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// Changed: We want to be able to multiply 2 sines/cosines and still stay comfortably (factor 100) within 31 bits.
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// Changed: We want to be able to multiply 2 sines/cosines and still stay comfortably (factor 100) within 31 bits.
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// 4096 = 12 bits, square = 24 bits, 7 bits to spare.
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// 4096 = 12 bits, square = 24 bits, 7 bits to spare.
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#define MATH_UNIT_FACTOR 4096
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#define MATH_UNIT_FACTOR_LOG 12
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#define MATH_UNIT_FACTOR (1L<<MATH_UNIT_FACTOR_LOG)
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int16_t int_sin(int32_t arg);
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int16_t int_sin(int32_t arg);
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int16_t int_cos(int32_t arg);
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int16_t int_cos(int32_t arg);