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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-01 01:04:32 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-01 01:04:32 +0200 |
commit | 5375bb5b86e266157ceceef08c367da711b8144e (patch) | |
tree | 88bc81cab11d8f0b2b6f9391f803051c081b2ecb /nuttx/libc/fixedmath/lib_b16atan2.c | |
parent | 27ee36b2049167a1272122548fe61aa2993d79c1 (diff) | |
download | px4-firmware-5375bb5b86e266157ceceef08c367da711b8144e.tar.gz px4-firmware-5375bb5b86e266157ceceef08c367da711b8144e.tar.bz2 px4-firmware-5375bb5b86e266157ceceef08c367da711b8144e.zip |
Cleanup, WIP, needs a NuttX checkout to Firmware/NuttX now
Diffstat (limited to 'nuttx/libc/fixedmath/lib_b16atan2.c')
-rw-r--r-- | nuttx/libc/fixedmath/lib_b16atan2.c | 108 |
1 files changed, 0 insertions, 108 deletions
diff --git a/nuttx/libc/fixedmath/lib_b16atan2.c b/nuttx/libc/fixedmath/lib_b16atan2.c deleted file mode 100644 index 443ab7be3..000000000 --- a/nuttx/libc/fixedmath/lib_b16atan2.c +++ /dev/null @@ -1,108 +0,0 @@ -/**************************************************************************** - * libc/fixedmath/lib_b16atan2.c - * - * Copyright (C) 2011 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <gnutt@nuttx.org> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include <fixedmath.h> - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -#define B16_C1 0x00000373 /* 0.013480470 */ -#define B16_C2 0x00000eb7 /* 0.057477314 */ -#define B16_C3 0x00001f0a /* 0.121239071 */ -#define B16_C4 0x00003215 /* 0.195635925 */ -#define B16_C5 0x0000553f /* 0.332994597 */ -#define B16_C6 0x00010000 /* 0.999995630 */ -#define B16_HALFPI 0x00019220 /* 1.570796327 */ -#define B16_PI 0x00032440 /* 3.141592654 */ - -#ifndef MAX -# define MAX(a,b) (a > b ? a : b) -#endif - -#ifndef MIN -# define MIN(a,b) (a < b ? a : b) -#endif - -#ifndef ABS -# define ABS(a) (a < 0 ? -a : a) -#endif - -/**************************************************************************** - * Global Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: b16atan2 - * - * Description: - * atan2 calculates the arctangent of y/x. (Based on a algorithm I saw - * posted on the internet... now I have lost the link -- sorry). - * - ****************************************************************************/ - -b16_t b16atan2(b16_t y, b16_t x) -{ - b16_t t0; - b16_t t1; - b16_t t2; - b16_t t3; - - t2 = ABS(x); - t1 = ABS(y); - t0 = MAX(t2, t1); - t1 = MIN(t2, t1); - t2 = ub16inv(t0); - t2 = b16mulb16(t1, t2); - - t3 = b16mulb16(t2, t2); - t0 = - B16_C1; - t0 = b16mulb16(t0, t3) + B16_C2; - t0 = b16mulb16(t0, t3) - B16_C3; - t0 = b16mulb16(t0, t3) + B16_C4; - t0 = b16mulb16(t0, t3) - B16_C5; - t0 = b16mulb16(t0, t3) + B16_C6; - t2 = b16mulb16(t0, t2); - - t2 = (ABS(y) > ABS(x)) ? B16_HALFPI - t2 : t2; - t2 = (x < 0) ? B16_PI - t2 : t2; - t2 = (y < 0) ? -t2 : t2; - - return t2; -} |