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#include "../copyright"
#include <math.h>
#include <stdlib.h>
#include "c4.h"
#include "port.h"
int16_t C4WFXVal;
int16_t C4WFYVal;
int16_t C4WFZVal;
int16_t C4WFX2Val;
int16_t C4WFY2Val;
int16_t C4WFDist;
int16_t C4WFScale;
int32_t tanval;
static int32_t c4x, c4y, c4z;
static int32_t c4x2, c4y2, c4z2;
const int16_t C4MulTable[256] =
{
0x0000, 0x0003, 0x0006, 0x0009, 0x000c, 0x000f, 0x0012, 0x0015,
0x0019, 0x001c, 0x001f, 0x0022, 0x0025, 0x0028, 0x002b, 0x002f,
0x0032, 0x0035, 0x0038, 0x003b, 0x003e, 0x0041, 0x0045, 0x0048,
0x004b, 0x004e, 0x0051, 0x0054, 0x0057, 0x005b, 0x005e, 0x0061,
0x0064, 0x0067, 0x006a, 0x006d, 0x0071, 0x0074, 0x0077, 0x007a,
0x007d, 0x0080, 0x0083, 0x0087, 0x008a, 0x008d, 0x0090, 0x0093,
0x0096, 0x0099, 0x009d, 0x00a0, 0x00a3, 0x00a6, 0x00a9, 0x00ac,
0x00af, 0x00b3, 0x00b6, 0x00b9, 0x00bc, 0x00bf, 0x00c2, 0x00c5,
0x00c9, 0x00cc, 0x00cf, 0x00d2, 0x00d5, 0x00d8, 0x00db, 0x00df,
0x00e2, 0x00e5, 0x00e8, 0x00eb, 0x00ee, 0x00f1, 0x00f5, 0x00f8,
0x00fb, 0x00fe, 0x0101, 0x0104, 0x0107, 0x010b, 0x010e, 0x0111,
0x0114, 0x0117, 0x011a, 0x011d, 0x0121, 0x0124, 0x0127, 0x012a,
0x012d, 0x0130, 0x0133, 0x0137, 0x013a, 0x013d, 0x0140, 0x0143,
0x0146, 0x0149, 0x014d, 0x0150, 0x0153, 0x0156, 0x0159, 0x015c,
0x015f, 0x0163, 0x0166, 0x0169, 0x016c, 0x016f, 0x0172, 0x0175,
0x0178, 0x017c, 0x017f, 0x0182, 0x0185, 0x0188, 0x018b, 0x018e,
0x0192, 0x0195, 0x0198, 0x019b, 0x019e, 0x01a1, 0x01a4, 0x01a8,
0x01ab, 0x01ae, 0x01b1, 0x01b4, 0x01b7, 0x01ba, 0x01be, 0x01c1,
0x01c4, 0x01c7, 0x01ca, 0x01cd, 0x01d0, 0x01d4, 0x01d7, 0x01da,
0x01dd, 0x01e0, 0x01e3, 0x01e6, 0x01ea, 0x01ed, 0x01f0, 0x01f3,
0x01f6, 0x01f9, 0x01fc, 0x0200, 0x0203, 0x0206, 0x0209, 0x020c,
0x020f, 0x0212, 0x0216, 0x0219, 0x021c, 0x021f, 0x0222, 0x0225,
0x0228, 0x022c, 0x022f, 0x0232, 0x0235, 0x0238, 0x023b, 0x023e,
0x0242, 0x0245, 0x0248, 0x024b, 0x024e, 0x0251, 0x0254, 0x0258,
0x025b, 0x025e, 0x0261, 0x0264, 0x0267, 0x026a, 0x026e, 0x0271,
0x0274, 0x0277, 0x027a, 0x027d, 0x0280, 0x0284, 0x0287, 0x028a,
0x028d, 0x0290, 0x0293, 0x0296, 0x029a, 0x029d, 0x02a0, 0x02a3,
0x02a6, 0x02a9, 0x02ac, 0x02b0, 0x02b3, 0x02b6, 0x02b9, 0x02bc,
0x02bf, 0x02c2, 0x02c6, 0x02c9, 0x02cc, 0x02cf, 0x02d2, 0x02d5,
0x02d8, 0x02db, 0x02df, 0x02e2, 0x02e5, 0x02e8, 0x02eb, 0x02ee,
0x02f1, 0x02f5, 0x02f8, 0x02fb, 0x02fe, 0x0301, 0x0304, 0x0307,
0x030b, 0x030e, 0x0311, 0x0314, 0x0317, 0x031a, 0x031d, 0x0321
};
int16_t C4_Sin(int16_t Angle)
{
int32_t S;
int16_t AngleS7;
if (Angle < 0)
{
if (Angle == -32768)
return 0;
return -C4_Sin(-Angle);
}
AngleS7 = Angle >> 7;
S = C4SinTable[AngleS7] + (C4MulTable[Angle & 0xff] * C4SinTable[0x80 + AngleS7] >> 15);
if (S > 32767)
S = 32767;
return (int16_t) S;
}
int16_t C4_Cos(int16_t Angle)
{
int32_t S;
int16_t AngleS7;
if (Angle < 0)
{
if (Angle == -32768)
return -32768;
Angle = -Angle;
}
AngleS7 = Angle >> 7;
S = C4SinTable[0x80 + AngleS7] - (C4MulTable[Angle & 0xff] * C4SinTable[AngleS7] >> 15);
if (S < -32768)
S = -32767;
return (int16_t) S;
}
const int16_t atantbl[256] = {
0, 1, 1, 2, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10,
10, 11, 11, 12, 13, 13, 14, 15, 15, 16, 16, 17, 18, 18, 19, 20,
20, 21, 21, 22, 23, 23, 24, 25, 25, 26, 26, 27, 28, 28, 29, 29,
30, 31, 31, 32, 33, 33, 34, 34, 35, 36, 36, 37, 37, 38, 39, 39,
40, 40, 41, 42, 42, 43, 43, 44, 44, 45, 46, 46, 47, 47, 48, 49,
49, 50, 50, 51, 51, 52, 53, 53, 54, 54, 55, 55, 56, 57, 57, 58,
58, 59, 59, 60, 60, 61, 62, 62, 63, 63, 64, 64, 65, 65, 66, 66,
67, 67, 68, 69, 69, 70, 70, 71, 71, 72, 72, 73, 73, 74, 74, 75,
75, 76, 76, 77, 77, 78, 78, 79, 79, 80, 80, 81, 81, 82, 82, 83,
83, 84, 84, 85, 85, 86, 86, 86, 87, 87, 88, 88, 89, 89, 90, 90,
91, 91, 92, 92, 92, 93, 93, 94, 94, 95, 95, 96, 96, 96, 97, 97,
98, 98, 99, 99, 99, 100, 100, 101, 101, 101, 102, 102, 103, 103, 104, 104,
104, 105, 105, 106, 106, 106, 107, 107, 108, 108, 108, 109, 109, 109, 110, 110,
111, 111, 111, 112, 112, 113, 113, 113, 114, 114, 114, 115, 115, 115, 116, 116,
117, 117, 117, 118, 118, 118, 119, 119, 119, 120, 120, 120, 121, 121, 121, 122,
122, 122, 123, 123, 123, 124, 124, 124, 125, 125, 125, 126, 126, 126, 127, 127
};
int16_t _atan2(int16_t x, int16_t y)
{
int32_t absAtan;
int32_t x1, y1;
if (x == 0)
return 0;
x1 = ABS(x);
y1 = ABS(y);
if (x1 > y1)
absAtan = atantbl[(uint8_t)((y1 << 8) / x1)];
else
absAtan = atantbl[(uint8_t)((x1 << 8) / y1)];
if ((x >= 0) ^ (y >= 0))
return -absAtan;
return absAtan;
}
void C4TransfWireFrame()
{
c4x = C4WFXVal;
c4y = C4WFYVal;
c4z = C4WFZVal - 0x95;
/* Rotate X */
tanval = -C4WFX2Val << 9;
c4y2 = (c4y * C4_Cos(tanval) - c4z * C4_Sin(tanval)) >> 15;
c4z2 = (c4y * C4_Sin(tanval) + c4z * C4_Cos(tanval)) >> 15;
/* Rotate Y */
tanval = -C4WFY2Val << 9;
c4x2 = (c4x * C4_Cos(tanval) + c4z2 * C4_Sin(tanval)) >> 15;
c4z = (c4x * -C4_Sin(tanval) + c4z2 * C4_Cos(tanval)) >> 15;
/* Rotate Z */
tanval = -C4WFDist << 9;
c4x = (c4x2 * C4_Cos(tanval) - c4y2 * C4_Sin(tanval)) >> 15;
c4y = (c4x2 * C4_Sin(tanval) + c4y2 * C4_Cos(tanval)) >> 15;
/* Scale */
C4WFXVal = (int16_t)(((int32_t)c4x * C4WFScale * 0x95) / (0x90 * (c4z + 0x95)));
C4WFYVal = (int16_t)(((int32_t)c4y * C4WFScale * 0x95) / (0x90 * (c4z + 0x95)));
}
void C4TransfWireFrame2()
{
c4x = C4WFXVal;
c4y = C4WFYVal;
c4z = C4WFZVal;
/* Rotate X */
tanval = -C4WFX2Val << 9;
c4y2 = (c4y * C4_Cos(tanval) - c4z * C4_Sin(tanval)) >> 15;
c4z2 = (c4y * C4_Sin(tanval) + c4z * C4_Cos(tanval)) >> 15;
/* Rotate Y */
tanval = -C4WFY2Val << 9;
c4x2 = (c4x * C4_Cos(tanval) + c4z2 * C4_Sin(tanval)) >> 15;
c4z = (c4x * -C4_Sin(tanval) + c4z2 * C4_Cos(tanval)) >> 15;
/* Rotate Z */
tanval = -C4WFDist << 9;
c4x = (c4x2 * C4_Cos(tanval) - c4y2 * C4_Sin(tanval)) >> 15;
c4y = (c4x2 * C4_Sin(tanval) + c4y2 * C4_Cos(tanval)) >> 15;
/* Scale */
C4WFXVal = (int16_t)(((int32_t)c4x * C4WFScale) / 0x100);
C4WFYVal = (int16_t)(((int32_t)c4y * C4WFScale) / 0x100);
}
void C4CalcWireFrame()
{
C4WFXVal = C4WFX2Val - C4WFXVal;
C4WFYVal = C4WFY2Val - C4WFYVal;
if (ABS(C4WFXVal) > ABS(C4WFYVal))
{
C4WFDist = ABS(C4WFXVal) + 1;
C4WFYVal = (int16_t)(((int32_t)C4WFYVal << 8) / ABS(C4WFXVal));
if (C4WFXVal < 0)
C4WFXVal = -256;
else
C4WFXVal = 256;
}
else
{
if (C4WFYVal != 0)
{
C4WFDist = ABS(C4WFYVal) + 1;
C4WFXVal = (int16_t)(((int32_t)C4WFXVal << 8) / ABS(C4WFYVal));
if (C4WFYVal < 0)
C4WFYVal = -256;
else
C4WFYVal = 256;
}
else
C4WFDist = 0;
}
}
int16_t C41FXVal;
int16_t C41FYVal;
int16_t C41FAngleRes;
int16_t C41FDist;
int16_t C41FDistVal;
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