Revision 1603
trunk/code/projects/fp_math/fp_math.c  

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//Move theta into [0, pi/2] w/ appropriate sign. 
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theta = ABS(theta) % FP_TWO_PI; 
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//Reflecting into [0, pi] doesn't change sign. 

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if(theta > FP_PI) 
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theta = FP_TWO_PI  theta; 
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//Reflecting into [0, pi/2] does. 

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if(theta > FP_PI_OVER_TWO) { 
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theta = FP_PI  theta; 
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negative = 1; 
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} 
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//Find the nearest table values. FIXME


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//Find n such that theta is between x_{n} and x_{n+1}


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n = theta / TABLE_STEP; 
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while( n < TABLE_LENGTH  1 
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&& (x_np1 = pgm_read_dword(&linspace[n+1]) < theta))


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&& pgm_read_dword(&linspace[n+1]) < theta)


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n++; 
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//theta is between x_{n} and x_{n+1} 

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//Edge case 

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if(n == TABLE_LENGTH  1) { 
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//Perform linear interpolation, since we're close to zero anyway. 
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x_n = pgm_read_dword(&linspace[TABLE_LENGTH  1]); 
...  ...  
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return negative ? result : result; 
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} 
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if(n == TABLE_LENGTH) { 

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//We didn't find a value! Oh no! 

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usb_puts("fp_math: Fatal! We couldn't find surrounding table values! \n\r"); 

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return 0; 

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} 

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//Address the general case. Quadratic interpolation. 

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//Perform quadratic interpolation. 

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//Load in the necessary values. 
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x_n = pgm_read_dword(&linspace[n]); 
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x_np1 = pgm_read_dword(&linspace[n + 1]); 
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