kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
69 wiersze
2.1 KiB
C++
69 wiersze
2.1 KiB
C++
#include <math.h>
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#include <stdint.h>
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#ifndef __INTMATH_H__
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#define __INTMATH_H__
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const uint32_t IntSine_Scale=0x80000000;
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// get Sine from the SineTable
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// Angle is 0..255 which corresponds to <0..2*PI)
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int32_t IntSine(uint8_t Angle);
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// precise Sine with for 16-bit angles 2nd derivative interpolation
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// max. result error is about 2.3e-7
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int32_t IntSine(uint16_t Angle);
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// precise Sine for 32-bit angles with 2nd derivative interpolation
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// max. result error is about 2.3e-7
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int32_t IntSine(uint32_t Angle);
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// less precise sine for 16-bit angles
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const int16_t Isine_Scale=0x4000;
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int16_t Isin(int16_t Angle);
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int16_t inline Icos(int16_t Angle) { return Isin(Angle+0x4000); }
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// atan2(Y, X)
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// max. result error is 1/6 degree
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int16_t IntAtan2(int16_t Y, int16_t X);
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// integer square root
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// uint32_t IntSqrt(uint32_t Inp);
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// uint64_t IntSqrt(uint64_t Inp);
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template<class Type> // integer square root for 16-bit or 32-bit
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Type IntSqrt(Type Inp) // must be made with unsigned type or signed types with _positive_ values
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{ Type Out = 0;
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Type Mask = 1; Mask<<=(sizeof(Type)*8-2);
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while(Mask>Inp) Mask>>=2;
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while(Mask)
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{ if(Inp >= (Out+Mask))
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{ Inp -= Out+Mask; Out += Mask<<1; }
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Out>>=1; Mask>>=2; }
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if(Inp>Out) Out++;
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return Out; }
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// Distance = sqrt(dX*dX+dY*dY)
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inline uint32_t IntDistance(int32_t dX, int32_t dY) { return IntSqrt((uint64_t)((int64_t)dX*dX + (int64_t)dY*dY)); }
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inline uint16_t IntDistance(int16_t dX, int16_t dY) { return IntSqrt((uint32_t)((int32_t)dX*dX + (int32_t)dY*dY)); }
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template <class IntType>
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IntType IntFastDistance(IntType dX, IntType dY) // after: http://www.flipcode.com/archives/Fast_Approximate_Distance_Functions.shtml
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{ IntType min, max, approx;
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if(dX<0) dX = -dX;
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if(dY<0) dY = -dY;
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if(dX<dY) { min = dX; max = dY; }
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else { min = dY; max = dX; }
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approx = max*1007 + min*441;
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if( max < (min<<4) ) approx -= max*40;
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return (approx+512)>>10; }
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#endif // of __INTMATH_H__
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