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#include <stdlib.h>
#include <avr/pgmspace.h>
#include "mymath.h"
// discrete mathematics
// Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit.
const uint16_t pgm_sinlookup
[91] PROGMEM
= {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192};
int16_t c_sin_8192
(int16_t angle
)
{
int8_t m
,n
;
int16_t sinus
;
// avoid negative angles
if (angle
< 0)
{
m
= -1;
angle
= abs(angle
);
}
else m
= +1;
// fold angle to intervall 0 to 359
angle
%= 360;
// check quadrant
if (angle
<= 90) n
=1; // first quadrant
else if ((angle
> 90) && (angle
<= 180)) {angle
= 180 - angle
; n
= 1;} // second quadrant
else if ((angle
> 180) && (angle
<= 270)) {angle
= angle
- 180; n
= -1;} // third quadrant
else {angle
= 360 - angle
; n
= -1;} //fourth quadrant
// get lookup value
sinus
= pgm_read_word
(&pgm_sinlookup
[angle
]);
// calculate sinus value
return (sinus
* m
* n
);
}
// Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit.
int16_t c_cos_8192
(int16_t angle
)
{
return (c_sin_8192
(90 - angle
));
}