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/*
Copyright 2007, Niklas Nold
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 Lesser 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser 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
*/
#include "main.h"
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};
//############################################################################
// Arkustangens2 im Gradmaß
signed int atan2_i
(signed int x
, signed int y
)
//############################################################################
{
int i
,angle
;
int8_t m
;
if (!x
&& !y
) return 0; //atan2 = 0 für x und y = 0
if (y
< 0) m
=-1;
else m
=1;
if (x
==0) return (90*m
); // atan2 = 90° für x = 0
i
= abs(((long)y
*50) / x
); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50)
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 (x
> 0) return (angle
*m
); // Quadrant I und IV
else if ((x
< 0) && (m
> 0)) return (-angle
+ 180); // Quadrant II
else return (angle
- 180); // x < 0 && y < 0 Quadrant III
}
const float pgm_sinus_f
[91] PROGMEM
= {0.0,0.0174524,0.0348995,0.0523360,0.0697565,0.0871557,0.1045285,0.1218693,0.1391731,0.1564345,0.1736482,0.1908090,0.2079117,0.2249510,0.2419219,0.2588190,0.2756373,0.2923717,0.3090170,0.3255681,0.3420201,0.3583679,0.3746066,0.3907311,0.4067366,0.4226182,0.4383711,0.4539905,0.4694715,0.4848096,0.5000000,0.5150381,0.5299193,0.5446390,0.5591929,0.5735764,0.5877852,0.6018150,0.6156615,0.6293204,0.6427876,0.6560590,0.6691306,0.6819983,0.6946584,0.7071068,0.7193398,0.7313537,0.7431448,0.7547096,0.7660444,0.7771459,0.7880107,0.7986355,0.8090170,0.8191520,0.8290376,0.8386706,0.8480481,0.8571673,0.8660254,0.8746197,0.8829476,0.8910065,0.8987940,0.9063078,0.9135454,0.9205048,0.9271838,0.9335804,0.9396926,0.9455186,0.9510565,0.9563047,0.9612617,0.9659258,0.9702957,0.9743701,0.9781476,0.9816272,0.9848077,0.9876883,0.9902681,0.9925461,0.9945219,0.9961947,0.9975640,0.9986295,0.9993908,0.9998477,1.0};
inline float pgm_read_float
(const float *addr
)
{
union
{
uint16_t i
[2]; // 2 16-bit-Worte
float f
;
} u
;
u.
i[0]=pgm_read_word
((PGM_P
)addr
);
u.
i[1]=pgm_read_word
((PGM_P
)addr
+2);
return u.
f;
}
//############################################################################
// Kosinusfunktion im Gradmaß
float cos_f
(signed int winkel
)
//############################################################################
{
return (sin_f
(90-winkel
));
}
//############################################################################
// Sinusfunktion im Gradmaß
float sin_f
(signed int winkel
)
//############################################################################
{
short int m
,n
;
float sinus
;
//winkel = winkel % 360;
if (winkel
< 0)
{
m
= -1;
winkel
= abs(winkel
);
}
else m
= +1;
// Quadranten auswerten
if (winkel
<= 90) n
=1;
else if ((winkel
> 90 ) && (winkel
<= 180)) {winkel
= 180 - winkel
; n
= 1;}
else if ((winkel
> 180 ) && (winkel
<= 270)) {winkel
= winkel
- 180; n
= -1;}
else {winkel
= 360 - winkel
; n
= -1;} //if ((winkel > 270) && (winkel <= 360))
sinus
= pgm_read_float
(&pgm_sinus_f
[winkel
]);
return (sinus
*m
*n
);
}
/*
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};
//############################################################################
// Akurssinusfunktion im Gradmaß
int8_t asin_i(signed int i)
//############################################################################
{
signed char m;
if (i < 0) {m=-1;i=abs(i);}
else m=1;
i = i % 200;
return (pgm_read_byte(&pgm_asin[i]) * m);
}
*/