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#include "math.h"
// Angle conversion constants.
const double fromRadians = 10430.378350470453; // 65536 / 2π
const double toRadians = 0.00009587379924285257; // 2π / 65536
// Reset the math device.
void math_reset(MathDevice *math) {
math->x = 0;
math->y = 0;
math->r = 0;
math->t = 0;
math_clear_cartesian(math);
math_clear_polar(math);
}
// Clear all values calculated from cartesian coordinates.
void math_clear_cartesian(MathDevice *math) {
math->r_cached = false;
math->t_cached = false;
math->prod_cached = false;
math->quot_cached = false;
math->rem_cached = false;
}
// Clear all values calculated from polar coordinates.
void math_clear_polar(MathDevice *math) {
math->x_cached = false;
math->y_cached = false;
}
// Calculate the x coordinate of the polar point.
s16 math_get_x(MathDevice *math) {
if (!math->x_cached) {
double x = cos(math->t * toRadians) * math->r;
if (-32768.0 <= x && x <= 32768.0) {
math->x_read = x;
} else {
math->x_read = 0;
}
math->x_cached = true;
}
return math->x_read;
}
// Calculate the y coordinate of the polar point.
s16 math_get_y(MathDevice *math) {
if (!math->y_cached) {
double y = sin(math->t * toRadians) * math->r;
if (-32768.0 <= y && y <= 32767.0) {
math->y_read = y;
} else {
math->y_read = 0;
}
math->y_cached = true;
}
return math->y_read;
}
// Calculate the r coordinate of the cartesian point.
u16 math_get_r(MathDevice *math) {
if (!math->r_cached) {
u32 x2 = math->x * math->x;
u32 y2 = math->y * math->y;
math->r_read = sqrt32(x2 + y2);
math->r_cached = true;
}
return math->r_read;
}
// Calculate the t coordinate of the cartesian point.
u16 math_get_t(MathDevice *math) {
if (!math->t_cached) {
if (math->x || math->y) {
math->t_read = atan2(math->y, math->x) * fromRadians;
} else {
math->t_read = 0;
}
math->t_cached = true;
}
return math->t_read;
}
// Calculate the product of x by y.
u32 math_get_prod(MathDevice *math) {
if (!math->prod_cached) {
math->prod_read = (u16)math->x * (u16)math->y;
math->prod_cached = true;
}
return math->prod_read;
}
// Calculate the quotient of x by y.
u16 math_get_quot(MathDevice *math) {
if (!math->quot_cached) {
if (math->y) {
math->quot_read = div32((u16)math->x, (u16)math->y);
} else {
math->quot_read = 0;
}
math->quot_cached = true;
}
return math->quot_read;
}
// Calculate the remainder of x by y.
u16 math_get_rem(MathDevice *math) {
if (!math->rem_cached) {
if (math->y) {
math->rem_read = mod32((u16)math->x, (u16)math->y);
} else {
math->rem_read = 0;
}
math->rem_cached = true;
}
return math->rem_read;
}
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