Subversion Repositories FlightCtrl

/*
This program (files math.c and math.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by the Free Software Foundation; 
either version 3 of the License, or (at your option) any later version.  
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; 
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details. You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.

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 
*/
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Peter Muehlenbrock 
Winkelfunktionen sin, cos und arctan in 
brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend
Sinus Funktion von Nick666 vereinfacht
Stand 1.10.2007 
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/ 
#include "main.h"


// arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad
int arctan_i( signed int x,  signed int y)
{
        short int change_xy = 0;
        signed int i;
        long signed int wert;
        int return_value;

        if ((abs(x)) > (abs(y)))  // x,y Werte vertauschen damit arctan <45 grad bleibt
        {       
                change_xy       = 1;
                i                       = x;
                x                       = y;
                y                       = i;
        }
        
        // Quadranten ermitteln

        // Wert durch lineare Interpolation ermitteln 
        if ((y == 0) && (x == 0))  wert =1; // Division durch 0 nicht erlaubt
        else wert= abs((x*1000)/y);

        if (wert <=268) //0...0.0,268  entsprechend 0..15 Grad
        {
                return_value = (signed int)((wert*100)/(268-0)*(15-0)/100) +0;
        }
        else if (wert <=578) //0,268...0.0,568  entsprechend 15..30 Grad
        {       
                return_value = (signed int)((((wert-268)*100)/(578-268)*(30-15))/100) +15;              
        }
        else //0,568...1  entsprechend 30..45 Grad
        {       
                return_value = (signed int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30;               
        }

        if (change_xy == 0)  return_value = 90-return_value; //Quadrant 45..90 Grad
        if ((x >= 0) && (y <0)) return_value = - return_value;
        else if ((x < 0) && (y >= 0)) return_value = - return_value;

return return_value;
}


// cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000
signed int cos_i(signed int winkel)
{
  winkel = sin_i(90-winkel); 
  return winkel;
}


const unsigned int pgm_sinus[91] PROGMEM = {0,17,35,52,70,87,105,122,139,156,174,191,208,225,242,259,276,292,309,326,342,358,375,391,407,423,438,454,469,485,500,515,530,545,559,574,588,602,616,629,643,656,669,682,695,707,719,731,743,755,766,777,788,799,809,819,829,839,848,857,866,875,883,891,899,906,914,921,927,934,940,946,951,956,961,966,970,974,978,982,985,988,990,993,995,996,998,999,999,1000,1000};
//von Nick666, Stand 28.9.2007
// sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000
signed int sin_i(signed int winkel)
{
 short int m,n;

 if (abs(winkel) >=360) winkel = winkel % 360; 
 if (winkel < 0)
 {
        m = -1;
        winkel = abs(winkel);
 }
 else m = +1;
 n =1;

 // Quadranten auswerten
 if ((winkel > 90 ) && (winkel <= 180)) winkel = 180 - winkel;
 else if ((winkel > 180 ) && (winkel <= 270)) 
 {
        winkel = winkel -180;
        n = -1;
 }
  else if ((winkel > 270) && (winkel <= 360)) 
 {
        winkel = 360 - winkel;
        n = -1;
 }
 // else //0 - 90 Grad

 winkel = pgm_read_word(&pgm_sinus[winkel]);
 return (winkel*m*n);
}

// Aus x,y und Winkel Distanz ermitteln
long get_dist(signed int x, signed int y, signed int phi)
{
        long dist;
        if (abs(x) > abs(y) ) 
        {
                dist = (long) x; //Groesseren Wert wegen besserer Genauigkeit nehmen
                dist = abs((dist *1000) / (long) sin_i(phi));
        }
        else 
        {
                dist = (long) y;
                dist = abs((dist *1000) / (long) cos_i(phi));
        }
  return dist;
}