Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
Loading...
Searching...
No Matches
pprz_trig_int.c
Go to the documentation of this file.
1/*
2 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3 *
4 * This file is part of paparazzi.
5 *
6 * paparazzi is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2, or (at your option)
9 * any later version.
10 *
11 * paparazzi is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with paparazzi; see the file COPYING. If not, see
18 * <http://www.gnu.org/licenses/>.
19 */
20
27#include "pprz_trig_int.h"
28#include "pprz_algebra_int.h"
29#if !defined(PPRZ_TRIG_INT_USE_FLOAT)
30#if !defined(PPRZ_TRIG_INT_COMPR_FLASH) || defined(PPRZ_TRIG_INT_TEST)
31PPRZ_TRIG_CONST int16_t pprz_trig_int[6434] = { 0,
32 3, 7, 11, 15, 19, 23, 27, 31, 35, 39, 43, 47, 51, 55, 59, 63,
33 67, 71, 75, 79, 83, 87, 91, 95, 99, 103, 107, 111, 115, 119, 123, 127,
34 131, 135, 139, 143, 147, 151, 155, 159, 163, 167, 171, 175, 179, 183, 187, 191,
35 195, 199, 203, 207, 211, 215, 219, 223, 227, 231, 235, 239, 243, 247, 251, 255,
36 259, 263, 267, 271, 275, 279, 283, 287, 291, 295, 299, 303, 307, 311, 315, 319,
37 323, 327, 331, 335, 339, 343, 347, 351, 355, 359, 363, 367, 371, 375, 379, 383,
38 387, 391, 395, 399, 403, 407, 411, 415, 419, 423, 427, 431, 435, 439, 443, 447,
39 451, 455, 459, 463, 467, 471, 475, 479, 483, 487, 491, 495, 499, 503, 507, 511,
40 515, 519, 523, 527, 531, 535, 539, 543, 547, 551, 555, 559, 563, 567, 571, 575,
41 579, 583, 587, 591, 595, 599, 603, 607, 611, 615, 619, 623, 627, 631, 635, 639,
42 643, 647, 651, 655, 659, 663, 667, 671, 675, 679, 683, 687, 691, 695, 699, 703,
43 707, 711, 715, 719, 723, 727, 731, 735, 739, 743, 747, 751, 755, 759, 763, 767,
44 771, 775, 779, 783, 787, 791, 795, 799, 803, 807, 811, 815, 819, 823, 827, 831,
45 835, 839, 843, 847, 851, 855, 859, 863, 867, 871, 875, 879, 883, 887, 891, 895,
46 899, 903, 907, 911, 915, 919, 923, 927, 931, 935, 939, 943, 947, 951, 955, 959,
47 963, 967, 971, 975, 979, 983, 987, 991, 995, 999, 1003, 1007, 1011, 1015, 1019, 1023,
48 1027, 1031, 1035, 1039, 1043, 1047, 1051, 1055, 1059, 1063, 1067, 1071, 1075, 1079, 1083, 1087,
49 1091, 1095, 1099, 1103, 1107, 1111, 1115, 1119, 1123, 1127, 1131, 1135, 1139, 1143, 1147, 1151,
50 1155, 1159, 1163, 1167, 1171, 1174, 1178, 1182, 1186, 1190, 1194, 1198, 1202, 1206, 1210, 1214,
51 1218, 1222, 1226, 1230, 1234, 1238, 1242, 1246, 1250, 1254, 1258, 1262, 1266, 1270, 1274, 1278,
52 1282, 1286, 1290, 1294, 1298, 1302, 1306, 1310, 1314, 1318, 1322, 1326, 1330, 1334, 1338, 1342,
53 1346, 1350, 1354, 1358, 1362, 1366, 1370, 1374, 1378, 1382, 1386, 1390, 1394, 1398, 1402, 1406,
54 1410, 1414, 1418, 1422, 1426, 1430, 1434, 1438, 1442, 1446, 1450, 1454, 1458, 1462, 1466, 1470,
55 1474, 1477, 1481, 1485, 1489, 1493, 1497, 1501, 1505, 1509, 1513, 1517, 1521, 1525, 1529, 1533,
56 1537, 1541, 1545, 1549, 1553, 1557, 1561, 1565, 1569, 1573, 1577, 1581, 1585, 1589, 1593, 1597,
57 1601, 1605, 1609, 1613, 1617, 1621, 1625, 1629, 1633, 1637, 1641, 1645, 1649, 1653, 1657, 1661,
58 1665, 1669, 1673, 1677, 1681, 1685, 1688, 1692, 1696, 1700, 1704, 1708, 1712, 1716, 1720, 1724,
59 1728, 1732, 1736, 1740, 1744, 1748, 1752, 1756, 1760, 1764, 1768, 1772, 1776, 1780, 1784, 1788,
60 1792, 1796, 1800, 1804, 1808, 1812, 1816, 1820, 1824, 1828, 1832, 1836, 1840, 1844, 1848, 1852,
61 1856, 1859, 1863, 1867, 1871, 1875, 1879, 1883, 1887, 1891, 1895, 1899, 1903, 1907, 1911, 1915,
62 1919, 1923, 1927, 1931, 1935, 1939, 1943, 1947, 1951, 1955, 1959, 1963, 1967, 1971, 1975, 1979,
63 1983, 1987, 1991, 1995, 1999, 2002, 2006, 2010, 2014, 2018, 2022, 2026, 2030, 2034, 2038, 2042,
64 2046, 2050, 2054, 2058, 2062, 2066, 2070, 2074, 2078, 2082, 2086, 2090, 2094, 2098, 2102, 2106,
65 2110, 2114, 2118, 2122, 2125, 2129, 2133, 2137, 2141, 2145, 2149, 2153, 2157, 2161, 2165, 2169,
66 2173, 2177, 2181, 2185, 2189, 2193, 2197, 2201, 2205, 2209, 2213, 2217, 2221, 2225, 2229, 2233,
67 2236, 2240, 2244, 2248, 2252, 2256, 2260, 2264, 2268, 2272, 2276, 2280, 2284, 2288, 2292, 2296,
68 2300, 2304, 2308, 2312, 2316, 2320, 2324, 2328, 2332, 2336, 2339, 2343, 2347, 2351, 2355, 2359,
69 2363, 2367, 2371, 2375, 2379, 2383, 2387, 2391, 2395, 2399, 2403, 2407, 2411, 2415, 2419, 2423,
70 2427, 2430, 2434, 2438, 2442, 2446, 2450, 2454, 2458, 2462, 2466, 2470, 2474, 2478, 2482, 2486,
71 2490, 2494, 2498, 2502, 2506, 2510, 2514, 2517, 2521, 2525, 2529, 2533, 2537, 2541, 2545, 2549,
72 2553, 2557, 2561, 2565, 2569, 2573, 2577, 2581, 2585, 2589, 2593, 2597, 2600, 2604, 2608, 2612,
73 2616, 2620, 2624, 2628, 2632, 2636, 2640, 2644, 2648, 2652, 2656, 2660, 2664, 2668, 2672, 2675,
74 2679, 2683, 2687, 2691, 2695, 2699, 2703, 2707, 2711, 2715, 2719, 2723, 2727, 2731, 2735, 2739,
75 2743, 2746, 2750, 2754, 2758, 2762, 2766, 2770, 2774, 2778, 2782, 2786, 2790, 2794, 2798, 2802,
76 2806, 2810, 2813, 2817, 2821, 2825, 2829, 2833, 2837, 2841, 2845, 2849, 2853, 2857, 2861, 2865,
77 2869, 2873, 2877, 2880, 2884, 2888, 2892, 2896, 2900, 2904, 2908, 2912, 2916, 2920, 2924, 2928,
78 2932, 2936, 2939, 2943, 2947, 2951, 2955, 2959, 2963, 2967, 2971, 2975, 2979, 2983, 2987, 2991,
79 2995, 2998, 3002, 3006, 3010, 3014, 3018, 3022, 3026, 3030, 3034, 3038, 3042, 3046, 3050, 3054,
80 3057, 3061, 3065, 3069, 3073, 3077, 3081, 3085, 3089, 3093, 3097, 3101, 3105, 3109, 3112, 3116,
81 3120, 3124, 3128, 3132, 3136, 3140, 3144, 3148, 3152, 3156, 3160, 3163, 3167, 3171, 3175, 3179,
82 3183, 3187, 3191, 3195, 3199, 3203, 3207, 3211, 3215, 3218, 3222, 3226, 3230, 3234, 3238, 3242,
83 3246, 3250, 3254, 3258, 3262, 3265, 3269, 3273, 3277, 3281, 3285, 3289, 3293, 3297, 3301, 3305,
84 3309, 3312, 3316, 3320, 3324, 3328, 3332, 3336, 3340, 3344, 3348, 3352, 3356, 3359, 3363, 3367,
85 3371, 3375, 3379, 3383, 3387, 3391, 3395, 3399, 3403, 3406, 3410, 3414, 3418, 3422, 3426, 3430,
86 3434, 3438, 3442, 3446, 3449, 3453, 3457, 3461, 3465, 3469, 3473, 3477, 3481, 3485, 3489, 3492,
87 3496, 3500, 3504, 3508, 3512, 3516, 3520, 3524, 3528, 3532, 3535, 3539, 3543, 3547, 3551, 3555,
88 3559, 3563, 3567, 3571, 3575, 3578, 3582, 3586, 3590, 3594, 3598, 3602, 3606, 3610, 3614, 3617,
89 3621, 3625, 3629, 3633, 3637, 3641, 3645, 3649, 3653, 3656, 3660, 3664, 3668, 3672, 3676, 3680,
90 3684, 3688, 3692, 3695, 3699, 3703, 3707, 3711, 3715, 3719, 3723, 3727, 3730, 3734, 3738, 3742,
91 3746, 3750, 3754, 3758, 3762, 3766, 3769, 3773, 3777, 3781, 3785, 3789, 3793, 3797, 3801, 3804,
92 3808, 3812, 3816, 3820, 3824, 3828, 3832, 3836, 3839, 3843, 3847, 3851, 3855, 3859, 3863, 3867,
93 3871, 3874, 3878, 3882, 3886, 3890, 3894, 3898, 3902, 3906, 3909, 3913, 3917, 3921, 3925, 3929,
94 3933, 3937, 3940, 3944, 3948, 3952, 3956, 3960, 3964, 3968, 3972, 3975, 3979, 3983, 3987, 3991,
95 3995, 3999, 4003, 4006, 4010, 4014, 4018, 4022, 4026, 4030, 4034, 4037, 4041, 4045, 4049, 4053,
96 4057, 4061, 4065, 4068, 4072, 4076, 4080, 4084, 4088, 4092, 4096, 4099, 4103, 4107, 4111, 4115,
97 4119, 4123, 4127, 4130, 4134, 4138, 4142, 4146, 4150, 4154, 4158, 4161, 4165, 4169, 4173, 4177,
98 4181, 4185, 4188, 4192, 4196, 4200, 4204, 4208, 4212, 4216, 4219, 4223, 4227, 4231, 4235, 4239,
99 4243, 4246, 4250, 4254, 4258, 4262, 4266, 4270, 4273, 4277, 4281, 4285, 4289, 4293, 4297, 4301,
100 4304, 4308, 4312, 4316, 4320, 4324, 4328, 4331, 4335, 4339, 4343, 4347, 4351, 4355, 4358, 4362,
101 4366, 4370, 4374, 4378, 4382, 4385, 4389, 4393, 4397, 4401, 4405, 4408, 4412, 4416, 4420, 4424,
102 4428, 4432, 4435, 4439, 4443, 4447, 4451, 4455, 4459, 4462, 4466, 4470, 4474, 4478, 4482, 4485,
103 4489, 4493, 4497, 4501, 4505, 4509, 4512, 4516, 4520, 4524, 4528, 4532, 4535, 4539, 4543, 4547,
104 4551, 4555, 4559, 4562, 4566, 4570, 4574, 4578, 4582, 4585, 4589, 4593, 4597, 4601, 4605, 4608,
105 4612, 4616, 4620, 4624, 4628, 4631, 4635, 4639, 4643, 4647, 4651, 4654, 4658, 4662, 4666, 4670,
106 4674, 4677, 4681, 4685, 4689, 4693, 4697, 4700, 4704, 4708, 4712, 4716, 4720, 4723, 4727, 4731,
107 4735, 4739, 4743, 4746, 4750, 4754, 4758, 4762, 4766, 4769, 4773, 4777, 4781, 4785, 4789, 4792,
108 4796, 4800, 4804, 4808, 4811, 4815, 4819, 4823, 4827, 4831, 4834, 4838, 4842, 4846, 4850, 4854,
109 4857, 4861, 4865, 4869, 4873, 4876, 4880, 4884, 4888, 4892, 4896, 4899, 4903, 4907, 4911, 4915,
110 4918, 4922, 4926, 4930, 4934, 4938, 4941, 4945, 4949, 4953, 4957, 4960, 4964, 4968, 4972, 4976,
111 4979, 4983, 4987, 4991, 4995, 4998, 5002, 5006, 5010, 5014, 5018, 5021, 5025, 5029, 5033, 5037,
112 5040, 5044, 5048, 5052, 5056, 5059, 5063, 5067, 5071, 5075, 5078, 5082, 5086, 5090, 5094, 5097,
113 5101, 5105, 5109, 5113, 5116, 5120, 5124, 5128, 5132, 5135, 5139, 5143, 5147, 5151, 5154, 5158,
114 5162, 5166, 5170, 5173, 5177, 5181, 5185, 5189, 5192, 5196, 5200, 5204, 5208, 5211, 5215, 5219,
115 5223, 5227, 5230, 5234, 5238, 5242, 5245, 5249, 5253, 5257, 5261, 5264, 5268, 5272, 5276, 5280,
116 5283, 5287, 5291, 5295, 5298, 5302, 5306, 5310, 5314, 5317, 5321, 5325, 5329, 5333, 5336, 5340,
117 5344, 5348, 5351, 5355, 5359, 5363, 5367, 5370, 5374, 5378, 5382, 5385, 5389, 5393, 5397, 5401,
118 5404, 5408, 5412, 5416, 5419, 5423, 5427, 5431, 5435, 5438, 5442, 5446, 5450, 5453, 5457, 5461,
119 5465, 5468, 5472, 5476, 5480, 5484, 5487, 5491, 5495, 5499, 5502, 5506, 5510, 5514, 5517, 5521,
120 5525, 5529, 5533, 5536, 5540, 5544, 5548, 5551, 5555, 5559, 5563, 5566, 5570, 5574, 5578, 5581,
121 5585, 5589, 5593, 5596, 5600, 5604, 5608, 5612, 5615, 5619, 5623, 5627, 5630, 5634, 5638, 5642,
122 5645, 5649, 5653, 5657, 5660, 5664, 5668, 5672, 5675, 5679, 5683, 5687, 5690, 5694, 5698, 5702,
123 5705, 5709, 5713, 5717, 5720, 5724, 5728, 5732, 5735, 5739, 5743, 5747, 5750, 5754, 5758, 5762,
124 5765, 5769, 5773, 5777, 5780, 5784, 5788, 5792, 5795, 5799, 5803, 5806, 5810, 5814, 5818, 5821,
125 5825, 5829, 5833, 5836, 5840, 5844, 5848, 5851, 5855, 5859, 5863, 5866, 5870, 5874, 5877, 5881,
126 5885, 5889, 5892, 5896, 5900, 5904, 5907, 5911, 5915, 5919, 5922, 5926, 5930, 5933, 5937, 5941,
127 5945, 5948, 5952, 5956, 5960, 5963, 5967, 5971, 5974, 5978, 5982, 5986, 5989, 5993, 5997, 6001,
128 6004, 6008, 6012, 6015, 6019, 6023, 6027, 6030, 6034, 6038, 6041, 6045, 6049, 6053, 6056, 6060,
129 6064, 6067, 6071, 6075, 6079, 6082, 6086, 6090, 6093, 6097, 6101, 6105, 6108, 6112, 6116, 6119,
130 6123, 6127, 6131, 6134, 6138, 6142, 6145, 6149, 6153, 6157, 6160, 6164, 6168, 6171, 6175, 6179,
131 6182, 6186, 6190, 6194, 6197, 6201, 6205, 6208, 6212, 6216, 6219, 6223, 6227, 6231, 6234, 6238,
132 6242, 6245, 6249, 6253, 6256, 6260, 6264, 6268, 6271, 6275, 6279, 6282, 6286, 6290, 6293, 6297,
133 6301, 6304, 6308, 6312, 6316, 6319, 6323, 6327, 6330, 6334, 6338, 6341, 6345, 6349, 6352, 6356,
134 6360, 6364, 6367, 6371, 6375, 6378, 6382, 6386, 6389, 6393, 6397, 6400, 6404, 6408, 6411, 6415,
135 6419, 6422, 6426, 6430, 6433, 6437, 6441, 6445, 6448, 6452, 6456, 6459, 6463, 6467, 6470, 6474,
136 6478, 6481, 6485, 6489, 6492, 6496, 6500, 6503, 6507, 6511, 6514, 6518, 6522, 6525, 6529, 6533,
137 6536, 6540, 6544, 6547, 6551, 6555, 6558, 6562, 6566, 6569, 6573, 6577, 6580, 6584, 6588, 6591,
138 6595, 6599, 6602, 6606, 6610, 6613, 6617, 6621, 6624, 6628, 6632, 6635, 6639, 6643, 6646, 6650,
139 6654, 6657, 6661, 6664, 6668, 6672, 6675, 6679, 6683, 6686, 6690, 6694, 6697, 6701, 6705, 6708,
140 6712, 6716, 6719, 6723, 6727, 6730, 6734, 6737, 6741, 6745, 6748, 6752, 6756, 6759, 6763, 6767,
141 6770, 6774, 6778, 6781, 6785, 6788, 6792, 6796, 6799, 6803, 6807, 6810, 6814, 6818, 6821, 6825,
142 6828, 6832, 6836, 6839, 6843, 6847, 6850, 6854, 6858, 6861, 6865, 6868, 6872, 6876, 6879, 6883,
143 6887, 6890, 6894, 6898, 6901, 6905, 6908, 6912, 6916, 6919, 6923, 6927, 6930, 6934, 6937, 6941,
144 6945, 6948, 6952, 6956, 6959, 6963, 6966, 6970, 6974, 6977, 6981, 6984, 6988, 6992, 6995, 6999,
145 7003, 7006, 7010, 7013, 7017, 7021, 7024, 7028, 7031, 7035, 7039, 7042, 7046, 7050, 7053, 7057,
146 7060, 7064, 7068, 7071, 7075, 7078, 7082, 7086, 7089, 7093, 7096, 7100, 7104, 7107, 7111, 7114,
147 7118, 7122, 7125, 7129, 7132, 7136, 7140, 7143, 7147, 7150, 7154, 7158, 7161, 7165, 7168, 7172,
148 7176, 7179, 7183, 7186, 7190, 7194, 7197, 7201, 7204, 7208, 7212, 7215, 7219, 7222, 7226, 7230,
149 7233, 7237, 7240, 7244, 7247, 7251, 7255, 7258, 7262, 7265, 7269, 7273, 7276, 7280, 7283, 7287,
150 7290, 7294, 7298, 7301, 7305, 7308, 7312, 7316, 7319, 7323, 7326, 7330, 7333, 7337, 7341, 7344,
151 7348, 7351, 7355, 7358, 7362, 7366, 7369, 7373, 7376, 7380, 7383, 7387, 7391, 7394, 7398, 7401,
152 7405, 7408, 7412, 7416, 7419, 7423, 7426, 7430, 7433, 7437, 7441, 7444, 7448, 7451, 7455, 7458,
153 7462, 7465, 7469, 7473, 7476, 7480, 7483, 7487, 7490, 7494, 7498, 7501, 7505, 7508, 7512, 7515,
154 7519, 7522, 7526, 7530, 7533, 7537, 7540, 7544, 7547, 7551, 7554, 7558, 7561, 7565, 7569, 7572,
155 7576, 7579, 7583, 7586, 7590, 7593, 7597, 7600, 7604, 7608, 7611, 7615, 7618, 7622, 7625, 7629,
156 7632, 7636, 7639, 7643, 7646, 7650, 7654, 7657, 7661, 7664, 7668, 7671, 7675, 7678, 7682, 7685,
157 7689, 7692, 7696, 7700, 7703, 7707, 7710, 7714, 7717, 7721, 7724, 7728, 7731, 7735, 7738, 7742,
158 7745, 7749, 7752, 7756, 7759, 7763, 7767, 7770, 7774, 7777, 7781, 7784, 7788, 7791, 7795, 7798,
159 7802, 7805, 7809, 7812, 7816, 7819, 7823, 7826, 7830, 7833, 7837, 7840, 7844, 7847, 7851, 7854,
160 7858, 7861, 7865, 7868, 7872, 7875, 7879, 7882, 7886, 7889, 7893, 7896, 7900, 7904, 7907, 7911,
161 7914, 7918, 7921, 7925, 7928, 7932, 7935, 7939, 7942, 7946, 7949, 7953, 7956, 7960, 7963, 7966,
162 7970, 7973, 7977, 7980, 7984, 7987, 7991, 7994, 7998, 8001, 8005, 8008, 8012, 8015, 8019, 8022,
163 8026, 8029, 8033, 8036, 8040, 8043, 8047, 8050, 8054, 8057, 8061, 8064, 8068, 8071, 8075, 8078,
164 8082, 8085, 8089, 8092, 8095, 8099, 8102, 8106, 8109, 8113, 8116, 8120, 8123, 8127, 8130, 8134,
165 8137, 8141, 8144, 8148, 8151, 8155, 8158, 8161, 8165, 8168, 8172, 8175, 8179, 8182, 8186, 8189,
166 8193, 8196, 8200, 8203, 8207, 8210, 8213, 8217, 8220, 8224, 8227, 8231, 8234, 8238, 8241, 8245,
167 8248, 8251, 8255, 8258, 8262, 8265, 8269, 8272, 8276, 8279, 8283, 8286, 8289, 8293, 8296, 8300,
168 8303, 8307, 8310, 8314, 8317, 8321, 8324, 8327, 8331, 8334, 8338, 8341, 8345, 8348, 8351, 8355,
169 8358, 8362, 8365, 8369, 8372, 8376, 8379, 8382, 8386, 8389, 8393, 8396, 8400, 8403, 8406, 8410,
170 8413, 8417, 8420, 8424, 8427, 8431, 8434, 8437, 8441, 8444, 8448, 8451, 8455, 8458, 8461, 8465,
171 8468, 8472, 8475, 8478, 8482, 8485, 8489, 8492, 8496, 8499, 8502, 8506, 8509, 8513, 8516, 8520,
172 8523, 8526, 8530, 8533, 8537, 8540, 8543, 8547, 8550, 8554, 8557, 8560, 8564, 8567, 8571, 8574,
173 8578, 8581, 8584, 8588, 8591, 8595, 8598, 8601, 8605, 8608, 8612, 8615, 8618, 8622, 8625, 8629,
174 8632, 8635, 8639, 8642, 8646, 8649, 8652, 8656, 8659, 8663, 8666, 8669, 8673, 8676, 8680, 8683,
175 8686, 8690, 8693, 8696, 8700, 8703, 8707, 8710, 8713, 8717, 8720, 8724, 8727, 8730, 8734, 8737,
176 8741, 8744, 8747, 8751, 8754, 8757, 8761, 8764, 8768, 8771, 8774, 8778, 8781, 8784, 8788, 8791,
177 8795, 8798, 8801, 8805, 8808, 8811, 8815, 8818, 8822, 8825, 8828, 8832, 8835, 8838, 8842, 8845,
178 8849, 8852, 8855, 8859, 8862, 8865, 8869, 8872, 8875, 8879, 8882, 8886, 8889, 8892, 8896, 8899,
179 8902, 8906, 8909, 8912, 8916, 8919, 8922, 8926, 8929, 8933, 8936, 8939, 8943, 8946, 8949, 8953,
180 8956, 8959, 8963, 8966, 8969, 8973, 8976, 8979, 8983, 8986, 8989, 8993, 8996, 8999, 9003, 9006,
181 9009, 9013, 9016, 9020, 9023, 9026, 9030, 9033, 9036, 9040, 9043, 9046, 9050, 9053, 9056, 9060,
182 9063, 9066, 9070, 9073, 9076, 9080, 9083, 9086, 9090, 9093, 9096, 9099, 9103, 9106, 9109, 9113,
183 9116, 9119, 9123, 9126, 9129, 9133, 9136, 9139, 9143, 9146, 9149, 9153, 9156, 9159, 9163, 9166,
184 9169, 9173, 9176, 9179, 9182, 9186, 9189, 9192, 9196, 9199, 9202, 9206, 9209, 9212, 9216, 9219,
185 9222, 9225, 9229, 9232, 9235, 9239, 9242, 9245, 9249, 9252, 9255, 9259, 9262, 9265, 9268, 9272,
186 9275, 9278, 9282, 9285, 9288, 9291, 9295, 9298, 9301, 9305, 9308, 9311, 9315, 9318, 9321, 9324,
187 9328, 9331, 9334, 9338, 9341, 9344, 9347, 9351, 9354, 9357, 9361, 9364, 9367, 9370, 9374, 9377,
188 9380, 9384, 9387, 9390, 9393, 9397, 9400, 9403, 9406, 9410, 9413, 9416, 9420, 9423, 9426, 9429,
189 9433, 9436, 9439, 9442, 9446, 9449, 9452, 9456, 9459, 9462, 9465, 9469, 9472, 9475, 9478, 9482,
190 9485, 9488, 9491, 9495, 9498, 9501, 9504, 9508, 9511, 9514, 9517, 9521, 9524, 9527, 9531, 9534,
191 9537, 9540, 9544, 9547, 9550, 9553, 9557, 9560, 9563, 9566, 9570, 9573, 9576, 9579, 9582, 9586,
192 9589, 9592, 9595, 9599, 9602, 9605, 9608, 9612, 9615, 9618, 9621, 9625, 9628, 9631, 9634, 9638,
193 9641, 9644, 9647, 9650, 9654, 9657, 9660, 9663, 9667, 9670, 9673, 9676, 9680, 9683, 9686, 9689,
194 9692, 9696, 9699, 9702, 9705, 9709, 9712, 9715, 9718, 9721, 9725, 9728, 9731, 9734, 9738, 9741,
195 9744, 9747, 9750, 9754, 9757, 9760, 9763, 9766, 9770, 9773, 9776, 9779, 9783, 9786, 9789, 9792,
196 9795, 9799, 9802, 9805, 9808, 9811, 9815, 9818, 9821, 9824, 9827, 9831, 9834, 9837, 9840, 9843,
197 9847, 9850, 9853, 9856, 9859, 9863, 9866, 9869, 9872, 9875, 9879, 9882, 9885, 9888, 9891, 9894,
198 9898, 9901, 9904, 9907, 9910, 9914, 9917, 9920, 9923, 9926, 9930, 9933, 9936, 9939, 9942, 9945,
199 9949, 9952, 9955, 9958, 9961, 9964, 9968, 9971, 9974, 9977, 9980, 9984, 9987, 9990, 9993, 9996,
200 9999, 10003, 10006, 10009, 10012, 10015, 10018, 10022, 10025, 10028, 10031, 10034, 10037, 10041, 10044, 10047,
201 10050, 10053, 10056, 10059, 10063, 10066, 10069, 10072, 10075, 10078, 10082, 10085, 10088, 10091, 10094, 10097,
202 10100, 10104, 10107, 10110, 10113, 10116, 10119, 10122, 10126, 10129, 10132, 10135, 10138, 10141, 10144, 10148,
203 10151, 10154, 10157, 10160, 10163, 10166, 10170, 10173, 10176, 10179, 10182, 10185, 10188, 10192, 10195, 10198,
204 10201, 10204, 10207, 10210, 10213, 10217, 10220, 10223, 10226, 10229, 10232, 10235, 10238, 10242, 10245, 10248,
205 10251, 10254, 10257, 10260, 10263, 10267, 10270, 10273, 10276, 10279, 10282, 10285, 10288, 10291, 10295, 10298,
206 10301, 10304, 10307, 10310, 10313, 10316, 10319, 10323, 10326, 10329, 10332, 10335, 10338, 10341, 10344, 10347,
207 10350, 10354, 10357, 10360, 10363, 10366, 10369, 10372, 10375, 10378, 10381, 10385, 10388, 10391, 10394, 10397,
208 10400, 10403, 10406, 10409, 10412, 10415, 10419, 10422, 10425, 10428, 10431, 10434, 10437, 10440, 10443, 10446,
209 10449, 10452, 10456, 10459, 10462, 10465, 10468, 10471, 10474, 10477, 10480, 10483, 10486, 10489, 10492, 10496,
210 10499, 10502, 10505, 10508, 10511, 10514, 10517, 10520, 10523, 10526, 10529, 10532, 10535, 10538, 10542, 10545,
211 10548, 10551, 10554, 10557, 10560, 10563, 10566, 10569, 10572, 10575, 10578, 10581, 10584, 10587, 10590, 10593,
212 10597, 10600, 10603, 10606, 10609, 10612, 10615, 10618, 10621, 10624, 10627, 10630, 10633, 10636, 10639, 10642,
213 10645, 10648, 10651, 10654, 10657, 10660, 10663, 10667, 10670, 10673, 10676, 10679, 10682, 10685, 10688, 10691,
214 10694, 10697, 10700, 10703, 10706, 10709, 10712, 10715, 10718, 10721, 10724, 10727, 10730, 10733, 10736, 10739,
215 10742, 10745, 10748, 10751, 10754, 10757, 10760, 10763, 10766, 10769, 10772, 10775, 10778, 10781, 10784, 10787,
216 10790, 10793, 10796, 10799, 10802, 10806, 10809, 10812, 10815, 10818, 10821, 10824, 10827, 10830, 10833, 10836,
217 10839, 10842, 10845, 10848, 10851, 10854, 10857, 10860, 10863, 10866, 10869, 10871, 10874, 10877, 10880, 10883,
218 10886, 10889, 10892, 10895, 10898, 10901, 10904, 10907, 10910, 10913, 10916, 10919, 10922, 10925, 10928, 10931,
219 10934, 10937, 10940, 10943, 10946, 10949, 10952, 10955, 10958, 10961, 10964, 10967, 10970, 10973, 10976, 10979,
220 10982, 10985, 10988, 10991, 10994, 10997, 11000, 11003, 11005, 11008, 11011, 11014, 11017, 11020, 11023, 11026,
221 11029, 11032, 11035, 11038, 11041, 11044, 11047, 11050, 11053, 11056, 11059, 11062, 11065, 11068, 11071, 11073,
222 11076, 11079, 11082, 11085, 11088, 11091, 11094, 11097, 11100, 11103, 11106, 11109, 11112, 11115, 11118, 11121,
223 11123, 11126, 11129, 11132, 11135, 11138, 11141, 11144, 11147, 11150, 11153, 11156, 11159, 11162, 11165, 11167,
224 11170, 11173, 11176, 11179, 11182, 11185, 11188, 11191, 11194, 11197, 11200, 11203, 11205, 11208, 11211, 11214,
225 11217, 11220, 11223, 11226, 11229, 11232, 11235, 11238, 11240, 11243, 11246, 11249, 11252, 11255, 11258, 11261,
226 11264, 11267, 11269, 11272, 11275, 11278, 11281, 11284, 11287, 11290, 11293, 11296, 11298, 11301, 11304, 11307,
227 11310, 11313, 11316, 11319, 11322, 11325, 11327, 11330, 11333, 11336, 11339, 11342, 11345, 11348, 11351, 11353,
228 11356, 11359, 11362, 11365, 11368, 11371, 11374, 11376, 11379, 11382, 11385, 11388, 11391, 11394, 11397, 11399,
229 11402, 11405, 11408, 11411, 11414, 11417, 11420, 11422, 11425, 11428, 11431, 11434, 11437, 11440, 11442, 11445,
230 11448, 11451, 11454, 11457, 11460, 11463, 11465, 11468, 11471, 11474, 11477, 11480, 11482, 11485, 11488, 11491,
231 11494, 11497, 11500, 11502, 11505, 11508, 11511, 11514, 11517, 11520, 11522, 11525, 11528, 11531, 11534, 11537,
232 11539, 11542, 11545, 11548, 11551, 11554, 11556, 11559, 11562, 11565, 11568, 11571, 11573, 11576, 11579, 11582,
233 11585, 11588, 11590, 11593, 11596, 11599, 11602, 11605, 11607, 11610, 11613, 11616, 11619, 11621, 11624, 11627,
234 11630, 11633, 11636, 11638, 11641, 11644, 11647, 11650, 11652, 11655, 11658, 11661, 11664, 11666, 11669, 11672,
235 11675, 11678, 11681, 11683, 11686, 11689, 11692, 11695, 11697, 11700, 11703, 11706, 11709, 11711, 11714, 11717,
236 11720, 11723, 11725, 11728, 11731, 11734, 11736, 11739, 11742, 11745, 11748, 11750, 11753, 11756, 11759, 11762,
237 11764, 11767, 11770, 11773, 11775, 11778, 11781, 11784, 11787, 11789, 11792, 11795, 11798, 11800, 11803, 11806,
238 11809, 11812, 11814, 11817, 11820, 11823, 11825, 11828, 11831, 11834, 11837, 11839, 11842, 11845, 11848, 11850,
239 11853, 11856, 11859, 11861, 11864, 11867, 11870, 11872, 11875, 11878, 11881, 11883, 11886, 11889, 11892, 11894,
240 11897, 11900, 11903, 11905, 11908, 11911, 11914, 11916, 11919, 11922, 11925, 11927, 11930, 11933, 11936, 11938,
241 11941, 11944, 11947, 11949, 11952, 11955, 11958, 11960, 11963, 11966, 11968, 11971, 11974, 11977, 11979, 11982,
242 11985, 11988, 11990, 11993, 11996, 11998, 12001, 12004, 12007, 12009, 12012, 12015, 12017, 12020, 12023, 12026,
243 12028, 12031, 12034, 12037, 12039, 12042, 12045, 12047, 12050, 12053, 12055, 12058, 12061, 12064, 12066, 12069,
244 12072, 12074, 12077, 12080, 12083, 12085, 12088, 12091, 12093, 12096, 12099, 12101, 12104, 12107, 12110, 12112,
245 12115, 12118, 12120, 12123, 12126, 12128, 12131, 12134, 12136, 12139, 12142, 12144, 12147, 12150, 12153, 12155,
246 12158, 12161, 12163, 12166, 12169, 12171, 12174, 12177, 12179, 12182, 12185, 12187, 12190, 12193, 12195, 12198,
247 12201, 12203, 12206, 12209, 12211, 12214, 12217, 12219, 12222, 12225, 12227, 12230, 12233, 12235, 12238, 12241,
248 12243, 12246, 12249, 12251, 12254, 12257, 12259, 12262, 12265, 12267, 12270, 12273, 12275, 12278, 12280, 12283,
249 12286, 12288, 12291, 12294, 12296, 12299, 12302, 12304, 12307, 12310, 12312, 12315, 12317, 12320, 12323, 12325,
250 12328, 12331, 12333, 12336, 12339, 12341, 12344, 12346, 12349, 12352, 12354, 12357, 12360, 12362, 12365, 12367,
251 12370, 12373, 12375, 12378, 12381, 12383, 12386, 12388, 12391, 12394, 12396, 12399, 12401, 12404, 12407, 12409,
252 12412, 12415, 12417, 12420, 12422, 12425, 12428, 12430, 12433, 12435, 12438, 12441, 12443, 12446, 12448, 12451,
253 12454, 12456, 12459, 12461, 12464, 12467, 12469, 12472, 12474, 12477, 12480, 12482, 12485, 12487, 12490, 12493,
254 12495, 12498, 12500, 12503, 12505, 12508, 12511, 12513, 12516, 12518, 12521, 12524, 12526, 12529, 12531, 12534,
255 12536, 12539, 12542, 12544, 12547, 12549, 12552, 12554, 12557, 12560, 12562, 12565, 12567, 12570, 12572, 12575,
256 12577, 12580, 12583, 12585, 12588, 12590, 12593, 12595, 12598, 12601, 12603, 12606, 12608, 12611, 12613, 12616,
257 12618, 12621, 12624, 12626, 12629, 12631, 12634, 12636, 12639, 12641, 12644, 12646, 12649, 12652, 12654, 12657,
258 12659, 12662, 12664, 12667, 12669, 12672, 12674, 12677, 12679, 12682, 12684, 12687, 12690, 12692, 12695, 12697,
259 12700, 12702, 12705, 12707, 12710, 12712, 12715, 12717, 12720, 12722, 12725, 12727, 12730, 12732, 12735, 12737,
260 12740, 12743, 12745, 12748, 12750, 12753, 12755, 12758, 12760, 12763, 12765, 12768, 12770, 12773, 12775, 12778,
261 12780, 12783, 12785, 12788, 12790, 12793, 12795, 12798, 12800, 12803, 12805, 12808, 12810, 12813, 12815, 12818,
262 12820, 12823, 12825, 12828, 12830, 12833, 12835, 12838, 12840, 12842, 12845, 12847, 12850, 12852, 12855, 12857,
263 12860, 12862, 12865, 12867, 12870, 12872, 12875, 12877, 12880, 12882, 12885, 12887, 12890, 12892, 12894, 12897,
264 12899, 12902, 12904, 12907, 12909, 12912, 12914, 12917, 12919, 12922, 12924, 12926, 12929, 12931, 12934, 12936,
265 12939, 12941, 12944, 12946, 12949, 12951, 12953, 12956, 12958, 12961, 12963, 12966, 12968, 12971, 12973, 12975,
266 12978, 12980, 12983, 12985, 12988, 12990, 12993, 12995, 12997, 13000, 13002, 13005, 13007, 13010, 13012, 13014,
267 13017, 13019, 13022, 13024, 13027, 13029, 13031, 13034, 13036, 13039, 13041, 13044, 13046, 13048, 13051, 13053,
268 13056, 13058, 13060, 13063, 13065, 13068, 13070, 13073, 13075, 13077, 13080, 13082, 13085, 13087, 13089, 13092,
269 13094, 13097, 13099, 13101, 13104, 13106, 13109, 13111, 13113, 13116, 13118, 13121, 13123, 13125, 13128, 13130,
270 13133, 13135, 13137, 13140, 13142, 13145, 13147, 13149, 13152, 13154, 13156, 13159, 13161, 13164, 13166, 13168,
271 13171, 13173, 13175, 13178, 13180, 13183, 13185, 13187, 13190, 13192, 13194, 13197, 13199, 13202, 13204, 13206,
272 13209, 13211, 13213, 13216, 13218, 13221, 13223, 13225, 13228, 13230, 13232, 13235, 13237, 13239, 13242, 13244,
273 13246, 13249, 13251, 13254, 13256, 13258, 13261, 13263, 13265, 13268, 13270, 13272, 13275, 13277, 13279, 13282,
274 13284, 13286, 13289, 13291, 13293, 13296, 13298, 13300, 13303, 13305, 13307, 13310, 13312, 13314, 13317, 13319,
275 13321, 13324, 13326, 13328, 13331, 13333, 13335, 13338, 13340, 13342, 13345, 13347, 13349, 13352, 13354, 13356,
276 13359, 13361, 13363, 13365, 13368, 13370, 13372, 13375, 13377, 13379, 13382, 13384, 13386, 13389, 13391, 13393,
277 13395, 13398, 13400, 13402, 13405, 13407, 13409, 13412, 13414, 13416, 13418, 13421, 13423, 13425, 13428, 13430,
278 13432, 13435, 13437, 13439, 13441, 13444, 13446, 13448, 13451, 13453, 13455, 13457, 13460, 13462, 13464, 13466,
279 13469, 13471, 13473, 13476, 13478, 13480, 13482, 13485, 13487, 13489, 13492, 13494, 13496, 13498, 13501, 13503,
280 13505, 13507, 13510, 13512, 13514, 13516, 13519, 13521, 13523, 13525, 13528, 13530, 13532, 13534, 13537, 13539,
281 13541, 13543, 13546, 13548, 13550, 13552, 13555, 13557, 13559, 13561, 13564, 13566, 13568, 13570, 13573, 13575,
282 13577, 13579, 13582, 13584, 13586, 13588, 13591, 13593, 13595, 13597, 13600, 13602, 13604, 13606, 13608, 13611,
283 13613, 13615, 13617, 13620, 13622, 13624, 13626, 13628, 13631, 13633, 13635, 13637, 13640, 13642, 13644, 13646,
284 13648, 13651, 13653, 13655, 13657, 13659, 13662, 13664, 13666, 13668, 13670, 13673, 13675, 13677, 13679, 13681,
285 13684, 13686, 13688, 13690, 13692, 13695, 13697, 13699, 13701, 13703, 13706, 13708, 13710, 13712, 13714, 13717,
286 13719, 13721, 13723, 13725, 13728, 13730, 13732, 13734, 13736, 13738, 13741, 13743, 13745, 13747, 13749, 13751,
287 13754, 13756, 13758, 13760, 13762, 13765, 13767, 13769, 13771, 13773, 13775, 13778, 13780, 13782, 13784, 13786,
288 13788, 13790, 13793, 13795, 13797, 13799, 13801, 13803, 13806, 13808, 13810, 13812, 13814, 13816, 13818, 13821,
289 13823, 13825, 13827, 13829, 13831, 13834, 13836, 13838, 13840, 13842, 13844, 13846, 13848, 13851, 13853, 13855,
290 13857, 13859, 13861, 13863, 13866, 13868, 13870, 13872, 13874, 13876, 13878, 13880, 13883, 13885, 13887, 13889,
291 13891, 13893, 13895, 13897, 13900, 13902, 13904, 13906, 13908, 13910, 13912, 13914, 13916, 13919, 13921, 13923,
292 13925, 13927, 13929, 13931, 13933, 13935, 13938, 13940, 13942, 13944, 13946, 13948, 13950, 13952, 13954, 13956,
293 13959, 13961, 13963, 13965, 13967, 13969, 13971, 13973, 13975, 13977, 13979, 13981, 13984, 13986, 13988, 13990,
294 13992, 13994, 13996, 13998, 14000, 14002, 14004, 14006, 14009, 14011, 14013, 14015, 14017, 14019, 14021, 14023,
295 14025, 14027, 14029, 14031, 14033, 14035, 14037, 14040, 14042, 14044, 14046, 14048, 14050, 14052, 14054, 14056,
296 14058, 14060, 14062, 14064, 14066, 14068, 14070, 14072, 14074, 14077, 14079, 14081, 14083, 14085, 14087, 14089,
297 14091, 14093, 14095, 14097, 14099, 14101, 14103, 14105, 14107, 14109, 14111, 14113, 14115, 14117, 14119, 14121,
298 14123, 14125, 14127, 14129, 14131, 14134, 14136, 14138, 14140, 14142, 14144, 14146, 14148, 14150, 14152, 14154,
299 14156, 14158, 14160, 14162, 14164, 14166, 14168, 14170, 14172, 14174, 14176, 14178, 14180, 14182, 14184, 14186,
300 14188, 14190, 14192, 14194, 14196, 14198, 14200, 14202, 14204, 14206, 14208, 14210, 14212, 14214, 14216, 14218,
301 14220, 14222, 14224, 14226, 14228, 14230, 14232, 14234, 14236, 14238, 14240, 14242, 14243, 14245, 14247, 14249,
302 14251, 14253, 14255, 14257, 14259, 14261, 14263, 14265, 14267, 14269, 14271, 14273, 14275, 14277, 14279, 14281,
303 14283, 14285, 14287, 14289, 14291, 14293, 14295, 14297, 14299, 14300, 14302, 14304, 14306, 14308, 14310, 14312,
304 14314, 14316, 14318, 14320, 14322, 14324, 14326, 14328, 14330, 14332, 14334, 14335, 14337, 14339, 14341, 14343,
305 14345, 14347, 14349, 14351, 14353, 14355, 14357, 14359, 14361, 14362, 14364, 14366, 14368, 14370, 14372, 14374,
306 14376, 14378, 14380, 14382, 14384, 14386, 14387, 14389, 14391, 14393, 14395, 14397, 14399, 14401, 14403, 14405,
307 14407, 14408, 14410, 14412, 14414, 14416, 14418, 14420, 14422, 14424, 14426, 14427, 14429, 14431, 14433, 14435,
308 14437, 14439, 14441, 14443, 14444, 14446, 14448, 14450, 14452, 14454, 14456, 14458, 14460, 14461, 14463, 14465,
309 14467, 14469, 14471, 14473, 14475, 14476, 14478, 14480, 14482, 14484, 14486, 14488, 14489, 14491, 14493, 14495,
310 14497, 14499, 14501, 14503, 14504, 14506, 14508, 14510, 14512, 14514, 14516, 14517, 14519, 14521, 14523, 14525,
311 14527, 14529, 14530, 14532, 14534, 14536, 14538, 14540, 14541, 14543, 14545, 14547, 14549, 14551, 14552, 14554,
312 14556, 14558, 14560, 14562, 14563, 14565, 14567, 14569, 14571, 14573, 14574, 14576, 14578, 14580, 14582, 14584,
313 14585, 14587, 14589, 14591, 14593, 14595, 14596, 14598, 14600, 14602, 14604, 14605, 14607, 14609, 14611, 14613,
314 14614, 14616, 14618, 14620, 14622, 14623, 14625, 14627, 14629, 14631, 14632, 14634, 14636, 14638, 14640, 14641,
315 14643, 14645, 14647, 14649, 14650, 14652, 14654, 14656, 14658, 14659, 14661, 14663, 14665, 14667, 14668, 14670,
316 14672, 14674, 14675, 14677, 14679, 14681, 14683, 14684, 14686, 14688, 14690, 14691, 14693, 14695, 14697, 14698,
317 14700, 14702, 14704, 14706, 14707, 14709, 14711, 14713, 14714, 14716, 14718, 14720, 14721, 14723, 14725, 14727,
318 14728, 14730, 14732, 14734, 14735, 14737, 14739, 14741, 14742, 14744, 14746, 14748, 14749, 14751, 14753, 14755,
319 14756, 14758, 14760, 14761, 14763, 14765, 14767, 14768, 14770, 14772, 14774, 14775, 14777, 14779, 14781, 14782,
320 14784, 14786, 14787, 14789, 14791, 14793, 14794, 14796, 14798, 14799, 14801, 14803, 14805, 14806, 14808, 14810,
321 14811, 14813, 14815, 14817, 14818, 14820, 14822, 14823, 14825, 14827, 14828, 14830, 14832, 14834, 14835, 14837,
322 14839, 14840, 14842, 14844, 14845, 14847, 14849, 14851, 14852, 14854, 14856, 14857, 14859, 14861, 14862, 14864,
323 14866, 14867, 14869, 14871, 14872, 14874, 14876, 14877, 14879, 14881, 14882, 14884, 14886, 14887, 14889, 14891,
324 14892, 14894, 14896, 14897, 14899, 14901, 14902, 14904, 14906, 14907, 14909, 14911, 14912, 14914, 14916, 14917,
325 14919, 14921, 14922, 14924, 14926, 14927, 14929, 14931, 14932, 14934, 14936, 14937, 14939, 14940, 14942, 14944,
326 14945, 14947, 14949, 14950, 14952, 14954, 14955, 14957, 14958, 14960, 14962, 14963, 14965, 14967, 14968, 14970,
327 14971, 14973, 14975, 14976, 14978, 14980, 14981, 14983, 14984, 14986, 14988, 14989, 14991, 14993, 14994, 14996,
328 14997, 14999, 15001, 15002, 15004, 15005, 15007, 15009, 15010, 15012, 15013, 15015, 15017, 15018, 15020, 15021,
329 15023, 15025, 15026, 15028, 15029, 15031, 15033, 15034, 15036, 15037, 15039, 15041, 15042, 15044, 15045, 15047,
330 15048, 15050, 15052, 15053, 15055, 15056, 15058, 15059, 15061, 15063, 15064, 15066, 15067, 15069, 15070, 15072,
331 15074, 15075, 15077, 15078, 15080, 15081, 15083, 15085, 15086, 15088, 15089, 15091, 15092, 15094, 15095, 15097,
332 15099, 15100, 15102, 15103, 15105, 15106, 15108, 15109, 15111, 15113, 15114, 15116, 15117, 15119, 15120, 15122,
333 15123, 15125, 15126, 15128, 15129, 15131, 15133, 15134, 15136, 15137, 15139, 15140, 15142, 15143, 15145, 15146,
334 15148, 15149, 15151, 15152, 15154, 15155, 15157, 15158, 15160, 15161, 15163, 15165, 15166, 15168, 15169, 15171,
335 15172, 15174, 15175, 15177, 15178, 15180, 15181, 15183, 15184, 15186, 15187, 15189, 15190, 15192, 15193, 15195,
336 15196, 15198, 15199, 15201, 15202, 15204, 15205, 15207, 15208, 15210, 15211, 15213, 15214, 15215, 15217, 15218,
337 15220, 15221, 15223, 15224, 15226, 15227, 15229, 15230, 15232, 15233, 15235, 15236, 15238, 15239, 15241, 15242,
338 15243, 15245, 15246, 15248, 15249, 15251, 15252, 15254, 15255, 15257, 15258, 15260, 15261, 15262, 15264, 15265,
339 15267, 15268, 15270, 15271, 15273, 15274, 15276, 15277, 15278, 15280, 15281, 15283, 15284, 15286, 15287, 15289,
340 15290, 15291, 15293, 15294, 15296, 15297, 15299, 15300, 15301, 15303, 15304, 15306, 15307, 15309, 15310, 15311,
341 15313, 15314, 15316, 15317, 15318, 15320, 15321, 15323, 15324, 15326, 15327, 15328, 15330, 15331, 15333, 15334,
342 15335, 15337, 15338, 15340, 15341, 15342, 15344, 15345, 15347, 15348, 15349, 15351, 15352, 15354, 15355, 15356,
343 15358, 15359, 15361, 15362, 15363, 15365, 15366, 15368, 15369, 15370, 15372, 15373, 15375, 15376, 15377, 15379,
344 15380, 15381, 15383, 15384, 15386, 15387, 15388, 15390, 15391, 15392, 15394, 15395, 15397, 15398, 15399, 15401,
345 15402, 15403, 15405, 15406, 15407, 15409, 15410, 15411, 15413, 15414, 15416, 15417, 15418, 15420, 15421, 15422,
346 15424, 15425, 15426, 15428, 15429, 15430, 15432, 15433, 15434, 15436, 15437, 15438, 15440, 15441, 15442, 15444,
347 15445, 15446, 15448, 15449, 15450, 15452, 15453, 15454, 15456, 15457, 15458, 15460, 15461, 15462, 15464, 15465,
348 15466, 15468, 15469, 15470, 15472, 15473, 15474, 15476, 15477, 15478, 15480, 15481, 15482, 15483, 15485, 15486,
349 15487, 15489, 15490, 15491, 15493, 15494, 15495, 15496, 15498, 15499, 15500, 15502, 15503, 15504, 15506, 15507,
350 15508, 15509, 15511, 15512, 15513, 15515, 15516, 15517, 15518, 15520, 15521, 15522, 15524, 15525, 15526, 15527,
351 15529, 15530, 15531, 15532, 15534, 15535, 15536, 15538, 15539, 15540, 15541, 15543, 15544, 15545, 15546, 15548,
352 15549, 15550, 15551, 15553, 15554, 15555, 15556, 15558, 15559, 15560, 15561, 15563, 15564, 15565, 15566, 15568,
353 15569, 15570, 15571, 15573, 15574, 15575, 15576, 15578, 15579, 15580, 15581, 15583, 15584, 15585, 15586, 15588,
354 15589, 15590, 15591, 15592, 15594, 15595, 15596, 15597, 15599, 15600, 15601, 15602, 15603, 15605, 15606, 15607,
355 15608, 15610, 15611, 15612, 15613, 15614, 15616, 15617, 15618, 15619, 15620, 15622, 15623, 15624, 15625, 15626,
356 15628, 15629, 15630, 15631, 15632, 15634, 15635, 15636, 15637, 15638, 15640, 15641, 15642, 15643, 15644, 15646,
357 15647, 15648, 15649, 15650, 15652, 15653, 15654, 15655, 15656, 15657, 15659, 15660, 15661, 15662, 15663, 15664,
358 15666, 15667, 15668, 15669, 15670, 15671, 15673, 15674, 15675, 15676, 15677, 15678, 15680, 15681, 15682, 15683,
359 15684, 15685, 15687, 15688, 15689, 15690, 15691, 15692, 15693, 15695, 15696, 15697, 15698, 15699, 15700, 15701,
360 15703, 15704, 15705, 15706, 15707, 15708, 15709, 15711, 15712, 15713, 15714, 15715, 15716, 15717, 15719, 15720,
361 15721, 15722, 15723, 15724, 15725, 15726, 15728, 15729, 15730, 15731, 15732, 15733, 15734, 15735, 15736, 15738,
362 15739, 15740, 15741, 15742, 15743, 15744, 15745, 15746, 15748, 15749, 15750, 15751, 15752, 15753, 15754, 15755,
363 15756, 15757, 15759, 15760, 15761, 15762, 15763, 15764, 15765, 15766, 15767, 15768, 15769, 15770, 15772, 15773,
364 15774, 15775, 15776, 15777, 15778, 15779, 15780, 15781, 15782, 15783, 15785, 15786, 15787, 15788, 15789, 15790,
365 15791, 15792, 15793, 15794, 15795, 15796, 15797, 15798, 15799, 15800, 15802, 15803, 15804, 15805, 15806, 15807,
366 15808, 15809, 15810, 15811, 15812, 15813, 15814, 15815, 15816, 15817, 15818, 15819, 15820, 15821, 15822, 15824,
367 15825, 15826, 15827, 15828, 15829, 15830, 15831, 15832, 15833, 15834, 15835, 15836, 15837, 15838, 15839, 15840,
368 15841, 15842, 15843, 15844, 15845, 15846, 15847, 15848, 15849, 15850, 15851, 15852, 15853, 15854, 15855, 15856,
369 15857, 15858, 15859, 15860, 15861, 15862, 15863, 15864, 15865, 15866, 15867, 15868, 15869, 15870, 15871, 15872,
370 15873, 15874, 15875, 15876, 15877, 15878, 15879, 15880, 15881, 15882, 15883, 15884, 15885, 15886, 15887, 15888,
371 15889, 15890, 15891, 15892, 15893, 15894, 15895, 15896, 15897, 15898, 15899, 15900, 15901, 15902, 15902, 15903,
372 15904, 15905, 15906, 15907, 15908, 15909, 15910, 15911, 15912, 15913, 15914, 15915, 15916, 15917, 15918, 15919,
373 15920, 15921, 15922, 15922, 15923, 15924, 15925, 15926, 15927, 15928, 15929, 15930, 15931, 15932, 15933, 15934,
374 15935, 15936, 15937, 15937, 15938, 15939, 15940, 15941, 15942, 15943, 15944, 15945, 15946, 15947, 15948, 15948,
375 15949, 15950, 15951, 15952, 15953, 15954, 15955, 15956, 15957, 15958, 15958, 15959, 15960, 15961, 15962, 15963,
376 15964, 15965, 15966, 15967, 15968, 15968, 15969, 15970, 15971, 15972, 15973, 15974, 15975, 15976, 15976, 15977,
377 15978, 15979, 15980, 15981, 15982, 15983, 15983, 15984, 15985, 15986, 15987, 15988, 15989, 15990, 15990, 15991,
378 15992, 15993, 15994, 15995, 15996, 15997, 15997, 15998, 15999, 16000, 16001, 16002, 16003, 16003, 16004, 16005,
379 16006, 16007, 16008, 16009, 16009, 16010, 16011, 16012, 16013, 16014, 16014, 16015, 16016, 16017, 16018, 16019,
380 16020, 16020, 16021, 16022, 16023, 16024, 16025, 16025, 16026, 16027, 16028, 16029, 16030, 16030, 16031, 16032,
381 16033, 16034, 16034, 16035, 16036, 16037, 16038, 16039, 16039, 16040, 16041, 16042, 16043, 16043, 16044, 16045,
382 16046, 16047, 16047, 16048, 16049, 16050, 16051, 16051, 16052, 16053, 16054, 16055, 16055, 16056, 16057, 16058,
383 16059, 16059, 16060, 16061, 16062, 16063, 16063, 16064, 16065, 16066, 16067, 16067, 16068, 16069, 16070, 16070,
384 16071, 16072, 16073, 16074, 16074, 16075, 16076, 16077, 16077, 16078, 16079, 16080, 16080, 16081, 16082, 16083,
385 16084, 16084, 16085, 16086, 16087, 16087, 16088, 16089, 16090, 16090, 16091, 16092, 16093, 16093, 16094, 16095,
386 16096, 16096, 16097, 16098, 16099, 16099, 16100, 16101, 16102, 16102, 16103, 16104, 16104, 16105, 16106, 16107,
387 16107, 16108, 16109, 16110, 16110, 16111, 16112, 16113, 16113, 16114, 16115, 16115, 16116, 16117, 16118, 16118,
388 16119, 16120, 16120, 16121, 16122, 16123, 16123, 16124, 16125, 16125, 16126, 16127, 16128, 16128, 16129, 16130,
389 16130, 16131, 16132, 16132, 16133, 16134, 16135, 16135, 16136, 16137, 16137, 16138, 16139, 16139, 16140, 16141,
390 16141, 16142, 16143, 16143, 16144, 16145, 16146, 16146, 16147, 16148, 16148, 16149, 16150, 16150, 16151, 16152,
391 16152, 16153, 16154, 16154, 16155, 16156, 16156, 16157, 16158, 16158, 16159, 16160, 16160, 16161, 16162, 16162,
392 16163, 16164, 16164, 16165, 16165, 16166, 16167, 16167, 16168, 16169, 16169, 16170, 16171, 16171, 16172, 16173,
393 16173, 16174, 16174, 16175, 16176, 16176, 16177, 16178, 16178, 16179, 16180, 16180, 16181, 16181, 16182, 16183,
394 16183, 16184, 16185, 16185, 16186, 16186, 16187, 16188, 16188, 16189, 16189, 16190, 16191, 16191, 16192, 16193,
395 16193, 16194, 16194, 16195, 16196, 16196, 16197, 16197, 16198, 16199, 16199, 16200, 16200, 16201, 16202, 16202,
396 16203, 16203, 16204, 16205, 16205, 16206, 16206, 16207, 16207, 16208, 16209, 16209, 16210, 16210, 16211, 16212,
397 16212, 16213, 16213, 16214, 16214, 16215, 16216, 16216, 16217, 16217, 16218, 16218, 16219, 16220, 16220, 16221,
398 16221, 16222, 16222, 16223, 16223, 16224, 16225, 16225, 16226, 16226, 16227, 16227, 16228, 16228, 16229, 16230,
399 16230, 16231, 16231, 16232, 16232, 16233, 16233, 16234, 16234, 16235, 16235, 16236, 16237, 16237, 16238, 16238,
400 16239, 16239, 16240, 16240, 16241, 16241, 16242, 16242, 16243, 16243, 16244, 16244, 16245, 16246, 16246, 16247,
401 16247, 16248, 16248, 16249, 16249, 16250, 16250, 16251, 16251, 16252, 16252, 16253, 16253, 16254, 16254, 16255,
402 16255, 16256, 16256, 16257, 16257, 16258, 16258, 16259, 16259, 16260, 16260, 16261, 16261, 16262, 16262, 16263,
403 16263, 16264, 16264, 16264, 16265, 16265, 16266, 16266, 16267, 16267, 16268, 16268, 16269, 16269, 16270, 16270,
404 16271, 16271, 16272, 16272, 16273, 16273, 16273, 16274, 16274, 16275, 16275, 16276, 16276, 16277, 16277, 16278,
405 16278, 16278, 16279, 16279, 16280, 16280, 16281, 16281, 16282, 16282, 16283, 16283, 16283, 16284, 16284, 16285,
406 16285, 16286, 16286, 16286, 16287, 16287, 16288, 16288, 16289, 16289, 16289, 16290, 16290, 16291, 16291, 16292,
407 16292, 16292, 16293, 16293, 16294, 16294, 16295, 16295, 16295, 16296, 16296, 16297, 16297, 16297, 16298, 16298,
408 16299, 16299, 16299, 16300, 16300, 16301, 16301, 16301, 16302, 16302, 16303, 16303, 16303, 16304, 16304, 16305,
409 16305, 16305, 16306, 16306, 16307, 16307, 16307, 16308, 16308, 16309, 16309, 16309, 16310, 16310, 16310, 16311,
410 16311, 16312, 16312, 16312, 16313, 16313, 16313, 16314, 16314, 16315, 16315, 16315, 16316, 16316, 16316, 16317,
411 16317, 16317, 16318, 16318, 16318, 16319, 16319, 16320, 16320, 16320, 16321, 16321, 16321, 16322, 16322, 16322,
412 16323, 16323, 16323, 16324, 16324, 16324, 16325, 16325, 16325, 16326, 16326, 16326, 16327, 16327, 16327, 16328,
413 16328, 16328, 16329, 16329, 16329, 16330, 16330, 16330, 16331, 16331, 16331, 16332, 16332, 16332, 16333, 16333,
414 16333, 16334, 16334, 16334, 16334, 16335, 16335, 16335, 16336, 16336, 16336, 16337, 16337, 16337, 16338, 16338,
415 16338, 16338, 16339, 16339, 16339, 16340, 16340, 16340, 16340, 16341, 16341, 16341, 16342, 16342, 16342, 16342,
416 16343, 16343, 16343, 16344, 16344, 16344, 16344, 16345, 16345, 16345, 16346, 16346, 16346, 16346, 16347, 16347,
417 16347, 16347, 16348, 16348, 16348, 16348, 16349, 16349, 16349, 16349, 16350, 16350, 16350, 16351, 16351, 16351,
418 16351, 16352, 16352, 16352, 16352, 16353, 16353, 16353, 16353, 16353, 16354, 16354, 16354, 16354, 16355, 16355,
419 16355, 16355, 16356, 16356, 16356, 16356, 16357, 16357, 16357, 16357, 16357, 16358, 16358, 16358, 16358, 16359,
420 16359, 16359, 16359, 16359, 16360, 16360, 16360, 16360, 16361, 16361, 16361, 16361, 16361, 16362, 16362, 16362,
421 16362, 16362, 16363, 16363, 16363, 16363, 16363, 16364, 16364, 16364, 16364, 16364, 16365, 16365, 16365, 16365,
422 16365, 16366, 16366, 16366, 16366, 16366, 16366, 16367, 16367, 16367, 16367, 16367, 16368, 16368, 16368, 16368,
423 16368, 16368, 16369, 16369, 16369, 16369, 16369, 16369, 16370, 16370, 16370, 16370, 16370, 16370, 16371, 16371,
424 16371, 16371, 16371, 16371, 16371, 16372, 16372, 16372, 16372, 16372, 16372, 16373, 16373, 16373, 16373, 16373,
425 16373, 16373, 16374, 16374, 16374, 16374, 16374, 16374, 16374, 16374, 16375, 16375, 16375, 16375, 16375, 16375,
426 16375, 16376, 16376, 16376, 16376, 16376, 16376, 16376, 16376, 16376, 16377, 16377, 16377, 16377, 16377, 16377,
427 16377, 16377, 16377, 16378, 16378, 16378, 16378, 16378, 16378, 16378, 16378, 16378, 16379, 16379, 16379, 16379,
428 16379, 16379, 16379, 16379, 16379, 16379, 16379, 16380, 16380, 16380, 16380, 16380, 16380, 16380, 16380, 16380,
429 16380, 16380, 16380, 16381, 16381, 16381, 16381, 16381, 16381, 16381, 16381, 16381, 16381, 16381, 16381, 16381,
430 16381, 16382, 16382, 16382, 16382, 16382, 16382, 16382, 16382, 16382, 16382, 16382, 16382, 16382, 16382, 16382,
431 16382, 16382, 16382, 16382, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383,
432 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383,
433 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383, 16383,
434 16383
435 };
436#endif
437
438#if defined(PPRZ_TRIG_INT_COMPR_FLASH)
439
440const uint8_t pprz_trig_int_compr[TRIG_INT_COMPR_LEN] = {
441 0xF3, 0xCF, 0xFF, 0xFC, 0xCF, 0xFF, 0xFC, 0xCF, 0xFF, 0xFC, 0xCF, 0x9E,
442 0xF3, 0xCF, 0x8F, 0x3C, 0xFF, 0xFC, 0x41, 0xF3, 0xCF, 0x34, 0x9F, 0x3C,
443 0x4F, 0x3C, 0x1F, 0x3C, 0xFF, 0x34, 0xCF, 0x34, 0xBF, 0x34, 0xAF, 0x34,
444 0x8F, 0x34, 0x7F, 0x34, 0x6F, 0x34, 0x6F, 0x34, 0x4F, 0x34, 0x4F, 0x34,
445 0x4F, 0x34, 0x3F, 0x34, 0x2F, 0x34, 0x3F, 0x34, 0x1F, 0x34, 0x1F, 0x34,
446 0x1F, 0x34, 0x1F, 0x34, 0x0F, 0x34, 0x0F, 0x34, 0x0F, 0x34, 0x0F, 0x34,
447 0xEE, 0x3E, 0xEE, 0x3E, 0xEE, 0x3E, 0xEE, 0x39, 0xEE, 0x3E, 0xEE, 0x39,
448 0xEE, 0x39, 0xEE, 0x39, 0xEE, 0x39, 0xEE, 0x34, 0xEE, 0x39, 0xEE, 0x34,
449 0xEE, 0x34, 0xEE, 0x34, 0xEE, 0x34, 0xEE, 0x34, 0xEE, 0x34, 0xEE, 0xE3,
450 0x4E, 0xE3, 0x3E, 0xEE, 0xE3, 0x4E, 0xE3, 0x3E, 0xEE, 0xE3, 0x3E, 0x9E,
451 0xE3, 0x3E, 0xEE, 0xE3, 0x39, 0xEE, 0xE3, 0x39, 0xEE, 0xE3, 0x39, 0x9E,
452 0xE3, 0x39, 0x9E, 0xE3, 0x39, 0x9E, 0xE3, 0x39, 0x9E, 0xE3, 0x39, 0x9E,
453 0xE3, 0x34, 0x9E, 0xE3, 0x39, 0x4E, 0xE3, 0x39, 0x4E, 0xE3, 0x39, 0x4E,
454 0xE3, 0x34, 0x4E, 0xE3, 0x39, 0x4E, 0xE3, 0x34, 0x4E, 0xE3, 0x34, 0x4E,
455 0xE3, 0x34, 0x4E, 0xE3, 0x34, 0x4E, 0xE3, 0x34, 0x4E, 0xE3, 0xE3, 0x34,
456 0x4E, 0xE3, 0xE3, 0x34, 0x4E, 0xE3, 0xE3, 0x34, 0x3E, 0x4E, 0xE3, 0xE3,
457 0x34, 0x3E, 0x3E, 0x4E, 0xE3, 0xE3, 0xE3, 0x34, 0x3E, 0x3E, 0x3E, 0x3E,
458 0x4E, 0xE3, 0xE3, 0xE3, 0xE3, 0xE3, 0xE3, 0xE3, 0xE3, 0xE3, 0xE3, 0xE3,
459 0xE3, 0x93, 0xE3, 0xE3, 0xE3, 0xE3, 0x93, 0xE3, 0xE3, 0xE3, 0x93, 0xE3,
460 0xE3, 0x93, 0xE3, 0xE3, 0x93, 0xE3, 0x93, 0xE3, 0x93, 0xE3, 0x93, 0xE3,
461 0x93, 0xE3, 0x93, 0xE3, 0x93, 0x93, 0xE3, 0x93, 0x93, 0xE3, 0x93, 0x93,
462 0xE3, 0x93, 0x93, 0x93, 0xE3, 0x93, 0x93, 0x93, 0xE3, 0x93, 0x93, 0x93,
463 0x93, 0x93, 0x93, 0xE3, 0x93, 0x93, 0x93, 0x93, 0x93, 0x93, 0x93, 0x93,
464 0x93, 0x93, 0x93, 0x93, 0x93, 0x93, 0x93, 0x93, 0x93, 0x93, 0x93, 0x43,
465 0x93, 0x93, 0x93, 0x93, 0x93, 0x93, 0x43, 0x93, 0x93, 0x93, 0x93, 0x43,
466 0x93, 0x93, 0x93, 0x43, 0x93, 0x93, 0x93, 0x43, 0x93, 0x93, 0x93, 0x43,
467 0x93, 0x93, 0x43, 0x93, 0x93, 0x43, 0x93, 0x43, 0x93, 0x93, 0x43, 0x93,
468 0x43, 0x93, 0x93, 0x43, 0x93, 0x43, 0x93, 0x43, 0x93, 0x43, 0x93, 0x43,
469 0x93, 0x43, 0x93, 0x43, 0x93, 0x43, 0x93, 0x43, 0x93, 0x43, 0x93, 0x43,
470 0x43, 0x93, 0x43, 0x93, 0x43, 0x43, 0x93, 0x43, 0x93, 0x43, 0x43, 0x93,
471 0x43, 0x43, 0x93, 0x43, 0x43, 0x93, 0x43, 0x43, 0x93, 0x43, 0x43, 0x93,
472 0x43, 0x43, 0x43, 0x93, 0x43, 0x43, 0x93, 0x43, 0x43, 0x43, 0x93, 0x43,
473 0x43, 0x43, 0x43, 0x93, 0x43, 0x43, 0x43, 0x43, 0x93, 0x43, 0x43, 0x43,
474 0x43, 0x43, 0x93, 0x43, 0x43, 0x43, 0x43, 0x43, 0x93, 0x43, 0x43, 0x43,
475 0x43, 0x43, 0x43, 0x43, 0x43, 0x93, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43,
476 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43,
477 0x93, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x48, 0x43, 0x43,
478 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43,
479 0x43, 0x43, 0x43, 0x48, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43,
480 0x48, 0x43, 0x43, 0x43, 0x43, 0x43, 0x43, 0x48, 0x43, 0x43, 0x43, 0x43,
481 0x48, 0x43, 0x43, 0x43, 0x43, 0x48, 0x43, 0x43, 0x43, 0x43, 0x48, 0x43,
482 0x43, 0x48, 0x43, 0x43, 0x43, 0x48, 0x43, 0x43, 0x48, 0x43, 0x43, 0x43,
483 0x48, 0x43, 0x43, 0x48, 0x43, 0x48, 0x43, 0x43, 0x48, 0x43, 0x43, 0x48,
484 0x43, 0x48, 0x43, 0x48, 0x43, 0x43, 0x48, 0x43, 0x48, 0x43, 0x48, 0x43,
485 0x48, 0x43, 0x48, 0x43, 0x48, 0x43, 0x48, 0x48, 0x43, 0x48, 0x43, 0x48,
486 0x43, 0x48, 0x48, 0x43, 0x48, 0x48, 0x43, 0x48, 0x48, 0x43, 0x48, 0x48,
487 0x43, 0x48, 0x48, 0x48, 0x43, 0x48, 0x48, 0x48, 0x48, 0x43, 0x48, 0x48,
488 0x48, 0x48, 0x48, 0x48, 0x48, 0x48, 0x43, 0x48, 0x48, 0x48, 0x48, 0x48,
489 0x48, 0x48, 0x4D, 0x48, 0x48, 0x48, 0x48, 0x48, 0x48, 0x48, 0x4D, 0x48,
490 0x48, 0x48, 0x4D, 0x48, 0x48, 0x48, 0x4D, 0x48, 0x4D, 0x48, 0x48, 0x4D,
491 0x48, 0x4D, 0x48, 0x4D, 0x48, 0x4D, 0x4D, 0x48, 0x4D, 0x4D, 0x48, 0x4D,
492 0x4D, 0x4D, 0x4D, 0x4D, 0x48, 0x4D, 0x4D, 0x4D, 0x3D, 0xD4, 0xD4, 0xD4,
493 0xD4, 0xD4, 0x43, 0x4D, 0x4D, 0x3D, 0xD4, 0xD4, 0x43, 0x4D, 0x3D, 0xD4,
494 0x43, 0x4D, 0x3D, 0xD4, 0x43, 0x3D, 0xD4, 0x43, 0x3D, 0xD4, 0x43, 0x8D,
495 0xD4, 0x43, 0x3D, 0xD4, 0x48, 0x8D, 0xD4, 0x43, 0x8D, 0xD4, 0x48, 0x8D,
496 0xD4, 0x4D, 0x8D, 0xD4, 0x4D, 0xDD, 0xD4, 0x4D, 0xDD, 0xD4, 0x4D, 0xDD,
497 0x43, 0xDD, 0x43, 0xDD, 0x43, 0xDD, 0x48, 0xDD, 0x48, 0xDD, 0x4D, 0xDD,
498 0x4D, 0x0F, 0x43, 0x1F, 0x43, 0x2F, 0x43, 0x4F, 0x43, 0x7F, 0x43, 0xCF,
499 0x43, 0xFF, 0xDB, 0x43, 0xBF, 0x23, 0xFF, 0xDB, 0xF2, 0x3C, 0xF2, 0x36,
500 0xF2, 0x34, 0xF2, 0x32, 0xF2, 0x31, 0xD2, 0xDD, 0xD2, 0xDD, 0xD2, 0xDD,
501 0xD2, 0x8D, 0xD2, 0x3D, 0xD2, 0x3D, 0xD2, 0x3D, 0xD2, 0x2D, 0xDD, 0x23,
502 0x8D, 0xD2, 0x2D, 0xDD, 0xD2, 0x28, 0x8D, 0xD2, 0x28, 0x8D, 0xD2, 0x28,
503 0x3D, 0xD2, 0x28, 0x3D, 0xD2, 0x23, 0x8D, 0xD2, 0x23, 0x3D, 0xD2, 0x23,
504 0x2D, 0x3D, 0xD2, 0x23, 0x2D, 0x3D, 0xD2, 0xD2, 0x23, 0x2D, 0x3D, 0xD2,
505 0xD2, 0xD2, 0xD2, 0xD2, 0xD2, 0xD2, 0xD2, 0xD2, 0xD2, 0xD2, 0x82, 0xD2,
506 0xD2, 0x82, 0xD2, 0x82, 0xD2, 0xD2, 0x82, 0x82, 0xD2, 0x82, 0xD2, 0x82,
507 0x82, 0xD2, 0x82, 0x82, 0x82, 0x82, 0xD2, 0x82, 0x82, 0x82, 0x82, 0x82,
508 0x82, 0x82, 0x82, 0x82, 0x82, 0x82, 0x82, 0x82, 0x82, 0x82, 0x32, 0x82,
509 0x82, 0x82, 0x82, 0x32, 0x82, 0x82, 0x82, 0x32, 0x82, 0x82, 0x32, 0x82,
510 0x82, 0x32, 0x82, 0x32, 0x82, 0x82, 0x32, 0x82, 0x32, 0x82, 0x32, 0x82,
511 0x32, 0x82, 0x32, 0x82, 0x32, 0x82, 0x32, 0x32, 0x82, 0x32, 0x82, 0x32,
512 0x32, 0x82, 0x32, 0x32, 0x82, 0x32, 0x32, 0x32, 0x82, 0x32, 0x32, 0x82,
513 0x32, 0x32, 0x32, 0x82, 0x32, 0x32, 0x32, 0x32, 0x82, 0x32, 0x32, 0x32,
514 0x32, 0x32, 0x32, 0x82, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32,
515 0x32, 0x82, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32,
516 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x37, 0x32, 0x32,
517 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x32, 0x37, 0x32, 0x32, 0x32, 0x32,
518 0x32, 0x37, 0x32, 0x32, 0x32, 0x32, 0x37, 0x32, 0x32, 0x32, 0x37, 0x32,
519 0x32, 0x32, 0x37, 0x32, 0x32, 0x37, 0x32, 0x32, 0x37, 0x32, 0x32, 0x37,
520 0x32, 0x37, 0x32, 0x32, 0x37, 0x32, 0x37, 0x32, 0x37, 0x32, 0x37, 0x32,
521 0x37, 0x32, 0x37, 0x32, 0x37, 0x37, 0x32, 0x37, 0x37, 0x32, 0x37, 0x37,
522 0x32, 0x37, 0x37, 0x32, 0x37, 0x37, 0x37, 0x37, 0x32, 0x37, 0x37, 0x37,
523 0x37, 0x37, 0x37, 0x37, 0x37, 0x37, 0x37, 0x37, 0x37, 0x37, 0x37, 0x37,
524 0x3C, 0x37, 0x37, 0x37, 0x3C, 0x37, 0x37, 0x3C, 0x37, 0x37, 0x3C, 0x37,
525 0x3C, 0x3C, 0x37, 0x3C, 0x37, 0x3C, 0x3C, 0x3C, 0x3C, 0x3C, 0x3C, 0x3C,
526 0x3C, 0x3C, 0x3C, 0x3C, 0x3C, 0x2C, 0xC3, 0xC3, 0x32, 0x3C, 0x2C, 0xC3,
527 0x32, 0x2C, 0xC3, 0x32, 0x2C, 0xC3, 0x32, 0x2C, 0xC3, 0x32, 0x7C, 0xC3,
528 0x37, 0x2C, 0xC3, 0x37, 0xCC, 0xC3, 0x37, 0xCC, 0xC3, 0x37, 0xCC, 0x32,
529 0xCC, 0xC3, 0x2C, 0xC3, 0x2C, 0xC3, 0x7C, 0xC3, 0x7C, 0xC3, 0xCC, 0xF3,
530 0x21, 0xF3, 0x21, 0xF3, 0x24, 0xF3, 0x27, 0xF3, 0xA1, 0xF3, 0xAF, 0x3F,
531 0x12, 0x2F, 0x1A, 0x7F, 0x12, 0x3F, 0x12, 0x2F, 0x12, 0x0F, 0x12, 0xCC,
532 0x1C, 0xCC, 0x17, 0xCC, 0x17, 0xCC, 0x12, 0xCC, 0xC1, 0x2C, 0xC1, 0x1C,
533 0xCC, 0xC1, 0x17, 0x7C, 0xC1, 0x17, 0x7C, 0xC1, 0x17, 0x7C, 0xC1, 0x12,
534 0x2C, 0xC1, 0x12, 0x2C, 0xC1, 0x12, 0x2C, 0xC1, 0x12, 0x2C, 0xC1, 0xC1,
535 0x12, 0x1C, 0x1C, 0x2C, 0xC1, 0xC1, 0xC1, 0xC1, 0xC1, 0xC1, 0xC1, 0x71,
536 0xC1, 0xC1, 0xC1, 0x71, 0xC1, 0x71, 0xC1, 0x71, 0xC1, 0x71, 0x71, 0xC1,
537 0x71, 0x71, 0xC1, 0x71, 0x71, 0x71, 0x71, 0x71, 0x71, 0x71, 0x71, 0x71,
538 0x71, 0x71, 0x71, 0x71, 0x71, 0x71, 0x71, 0x71, 0x21, 0x71, 0x71, 0x71,
539 0x21, 0x71, 0x71, 0x21, 0x71, 0x71, 0x21, 0x71, 0x71, 0x21, 0x71, 0x21,
540 0x71, 0x21, 0x71, 0x21, 0x71, 0x21, 0x71, 0x21, 0x71, 0x21, 0x21, 0x71,
541 0x21, 0x21, 0x71, 0x21, 0x21, 0x71, 0x21, 0x21, 0x71, 0x21, 0x21, 0x21,
542 0x71, 0x21, 0x21, 0x21, 0x71, 0x21, 0x21, 0x21, 0x21, 0x21, 0x71, 0x21,
543 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x71, 0x21, 0x21, 0x21,
544 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21,
545 0x21, 0x26, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x21, 0x26, 0x21,
546 0x21, 0x21, 0x21, 0x21, 0x26, 0x21, 0x21, 0x21, 0x21, 0x26, 0x21, 0x21,
547 0x21, 0x26, 0x21, 0x21, 0x26, 0x21, 0x21, 0x26, 0x21, 0x26, 0x21, 0x21,
548 0x26, 0x21, 0x26, 0x21, 0x26, 0x21, 0x26, 0x21, 0x26, 0x21, 0x26, 0x21,
549 0x26, 0x21, 0x26, 0x26, 0x21, 0x26, 0x26, 0x21, 0x26, 0x26, 0x26, 0x26,
550 0x21, 0x26, 0x26, 0x26, 0x26, 0x26, 0x26, 0x26, 0x26, 0x26, 0x26, 0x26,
551 0x26, 0x26, 0x26, 0x26, 0x26, 0x2B, 0x26, 0x26, 0x2B, 0x26, 0x26, 0x2B,
552 0x26, 0x2B, 0x26, 0x2B, 0x2B, 0x26, 0x2B, 0x2B, 0x2B, 0x2B, 0x2B, 0x2B,
553 0x2B, 0x2B, 0x2B, 0x2B, 0x1B, 0xB2, 0xB2, 0x21, 0x2B, 0x1B, 0xB2, 0x21,
554 0x1B, 0xB2, 0x21, 0x1B, 0xB2, 0x21, 0x1B, 0xB2, 0x26, 0x6B, 0xB2, 0x26,
555 0x6B, 0xB2, 0x26, 0xBB, 0xB2, 0x2B, 0xBB, 0xB2, 0x2B, 0xBB, 0x21, 0xBB,
556 0x26, 0xBB, 0x26, 0xBB, 0x2B, 0x1F, 0x21, 0x1F, 0x21, 0x5F, 0x21, 0xAF,
557 0x21, 0xFF, 0xF9, 0x9B, 0xF0, 0x1A, 0xF0, 0x15, 0xF0, 0x11, 0xF0, 0x10,
558 0xF0, 0x10, 0xB0, 0x6B, 0xB0, 0x1B, 0xB0, 0x1B, 0xB0, 0x1B, 0xB0, 0x0B,
559 0xBB, 0xB0, 0x06, 0xBB, 0xB0, 0x06, 0x6B, 0xB0, 0x01, 0x6B, 0xB0, 0x01,
560 0x1B, 0xB0, 0x01, 0x1B, 0xB0, 0x01, 0x1B, 0xB0, 0x01, 0x0B, 0x1B, 0xB0,
561 0xB0, 0xB0, 0x01, 0x0B, 0x0B, 0x0B, 0x0B, 0x0B, 0x0B, 0x06, 0x0B, 0x0B,
562 0x0B, 0x06, 0x0B, 0x06, 0x0B, 0x06, 0x0B, 0x06, 0x06, 0x0B, 0x06, 0x06,
563 0x06, 0x06, 0x0B, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06,
564 0x01, 0x06, 0x06, 0x06, 0x06, 0x01, 0x06, 0x06, 0x06, 0x01, 0x06, 0x06,
565 0x01, 0x06, 0x01, 0x06, 0x06, 0x01, 0x06, 0x01, 0x06, 0x01, 0x06, 0x01,
566 0x06, 0x01, 0x01, 0x06, 0x01, 0x06, 0x01, 0x01, 0x06, 0x01, 0x01, 0x06,
567 0x01, 0x01, 0x01, 0x06, 0x01, 0x01, 0x01, 0x06, 0x01, 0x01, 0x01, 0x01,
568 0x01, 0x06, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x06, 0x01, 0x01,
569 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
570 0x01, 0x01, 0x01, 0x51, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
571 0x51, 0x01, 0x01, 0x01, 0x01, 0x51, 0x01, 0x01, 0x01, 0x01, 0x51, 0x01,
572 0x01, 0x51, 0x01, 0x01, 0x51, 0x01, 0x01, 0x51, 0x01, 0x01, 0x51, 0x01,
573 0x51, 0x01, 0x51, 0x01, 0x51, 0x01, 0x51, 0x01, 0x51, 0x01, 0x51, 0x01,
574 0x51, 0x51, 0x01, 0x51, 0x51, 0x01, 0x51, 0x51, 0x51, 0x51, 0x01, 0x51,
575 0x51, 0x51, 0x51, 0x51, 0x51, 0x51, 0x51, 0x51, 0x51, 0x51, 0x51, 0x51,
576 0x51, 0xA1, 0x51, 0x51, 0x51, 0xA1, 0x51, 0xA1, 0x51, 0xA1, 0x51, 0xA1,
577 0x51, 0xA1, 0xA1, 0xA1, 0xA1, 0x51, 0xA1, 0xA1, 0xA1, 0x10, 0x1A, 0x1A,
578 0x1A, 0x0A, 0xA1, 0xA1, 0x10, 0x1A, 0x0A, 0xA1, 0x10, 0x0A, 0xA1, 0x10,
579 0x0A, 0xA1, 0x15, 0x0A, 0xA1, 0x15, 0x5A, 0xA1, 0x15, 0xAA, 0xA1, 0x15,
580 0xAA, 0xA1, 0x0A, 0xA1, 0x1A, 0xAA, 0x15, 0xAA, 0x15, 0xAA, 0x15, 0x0F,
581 0x10, 0x1F, 0x10, 0x3F, 0x10, 0x8F, 0x10, 0xFF, 0xA8, 0x00
582};
583#endif
584#endif
585
586#if defined(PPRZ_TRIG_INT_COMPR_FLASH)
587
588#if defined(PPRZ_TRIG_INT_COMPR_HIGHEST)
589uint8_t data_buf_4[TRIG_INT_SIZE / 2];
590uint16_t tree_buf_4[(1 << TREE_SIZE_4)];
591
592void table_encode_4(int16_t val, int16_t val_prev, int16_t cnt, int16_t *tab)
593{
594
595 /* build 4 bit table */
596 if ((cnt % 2) == 0) {
597 data_buf_4[cnt / 2] = val % 0x10;
598 } else {
599 data_buf_4[cnt / 2] |= (val % 0x10) << 4;
600 }
601 /* build 4 bit tree */
602 if (cnt == 0) {
603 tree_buf_4[(*tab)++] = cnt;
604 } else if ((val / 0x10) != (val_prev / 0x10)) {
605 tree_buf_4[(*tab)++] = cnt;
606 }
607}
608
609int16_t pprz_trig_int_4(int16_t val)
610{
611 int8_t j;
612 int16_t k;
613
614 /* search tree for the 4 bit data */
615 k = 1 << (TREE_SIZE_4 - 1);
616 for (j = TREE_SIZE_4 - 2; j >= 0; j--) {
617 if (val < tree_buf_4[k]) {
618 k -= (1 << j);
619 } else {
620 k += (1 << j);
621 }
622 }
623 if (val < tree_buf_4[k]) {
624 k -= 1;
625 }
626
627 return (k << 4) | ((data_buf_4[val / 2] >> ((val % 2) ? 4 : 0)) & 0xF);
628}
629#endif
630
631#if defined(PPRZ_TRIG_INT_COMPR_HIGH)
632uint8_t data_buf_8[TRIG_INT_SIZE];
633uint16_t tree_buf_8[(1 << TREE_SIZE_8)];
634
635void table_encode_8(int16_t val, int16_t val_prev, int16_t cnt, int16_t *tab)
636{
637
638 /* build 8 bit table */
639 data_buf_8[cnt] = val % 0x100;
640 /* build tree for 8 bit */
641 if (cnt == 0) {
642 tree_buf_8[(*tab)++] = cnt;
643 } else if ((val / 0x100) != (val_prev / 0x100)) {
644 tree_buf_8[(*tab)++] = cnt;
645 }
646}
647
648int16_t pprz_trig_int_8(int16_t val)
649{
650 int8_t j, k;
651
652 /* search the tree for 8 bit data */
653 k = 1 << (TREE_SIZE_8 - 1);
654 for (j = TREE_SIZE_8 - 2; j >= 0; j--) {
655 if (val < tree_buf_8[k]) {
656 k -= (1 << j);
657 } else {
658 k += (1 << j);
659 }
660 }
661 if (val < tree_buf_8[k]) {
662 k -= 1;
663 }
664
665 return (k << 8) | data_buf_8[val];
666}
667#endif
668
669#if defined(PPRZ_TRIG_INT_COMPR_LOW)
670uint8_t data_buf_12[(TRIG_INT_SIZE * 3) / 2];
671#if USE_REAL_TABLE_12_USE
672uint16_t tree_buf_12[(1 << TREE_SIZE_12)];
673#endif
674
675void table_encode_12(int16_t val, int16_t val_prev, int16_t cnt, int16_t *tab)
676{
677
678 /* build 12 bit table */
679 data_buf_12[cnt] = val % 0x100;
680 if ((cnt % 2) == 0) {
681 data_buf_12[TRIG_INT_SIZE + (cnt / 2)] = (val & 0xF00) >> 8 ;
682 } else {
683 data_buf_12[TRIG_INT_SIZE + (cnt / 2)] |= (val & 0xF00) >> 4;
684 }
685#if USE_REAL_TABLE_12_USE
686 /* USE_REAL_TABLE_12_USE uses the original table instead of unrolled "if".
687 * Unrolling makes it faster but uses slightly more code.
688 * For the higher compressions it is not faster/creates more code.
689 * The option is for debugging/understanding only.
690 */
691 /* build tree for 12 bit */
692 if (cnt == 0) {
693 tree_buf_12[(*tab)++] = cnt;
694 } else if ((val / 0x1000) != (val_prev / 0x1000)) {
695 tree_buf_12[(*tab)++] = cnt;
696 }
697#else
698 // suppress unused-parameter warning
699 (void)val_prev;
700 (void)tab;
701#endif
702}
703
704int16_t pprz_trig_int_12(int16_t val)
705{
706#if USE_REAL_TABLE_12_USE
707 int8_t k;
708
709 /* search tree for the 12 bit data */
710 k = 1 << (TREE_SIZE_12 - 1);
711 if (val < tree_buf_12[k]) {
712 k -= 1;
713 } else {
714 k += 1;
715 }
716 if (val < tree_buf_12[k]) {
717 k -= 1;
718 }
719 return (k << 12) | ((data_buf_12[TRIG_INT_SIZE + (val / 2)] << ((val % 2) ? 4 : 8)) & 0xF00) | (data_buf_12[val]);
720#else
721 int16_t k;
722
723 /* search tree for the 12 bit data */
724 if (val < TREE_BUF_12_2) {
725 if (val < TREE_BUF_12_1) {
726 k = (0 << 12);
727 } else {
728 k = (1 << 12);
729 }
730 } else {
731 if (val < TREE_BUF_12_3) {
732 k = (2 << 12);
733 } else {
734 k = (3 << 12);
735 }
736 }
737
738 return k | ((data_buf_12[TRIG_INT_SIZE + (val >> 1)] << ((val % 2) ? 4 : 8)) & 0xF00) | (data_buf_12[val]);
739#endif
740}
741#endif
742
743#if defined(PPRZ_TRIG_INT_COMPR_NONE)
744int16_t data_buf_16[TRIG_INT_SIZE];
745
746inline int16_t pprz_trig_int_16(int32_t val)
747{
748 return data_buf_16[val];
749}
750
751void table_encode_16(int16_t val, int16_t cnt)
752{
753 data_buf_16[cnt] = val;
754}
755#endif
756
757uint8_t get_nibble(uint16_t pos)
758{
759 return (pprz_trig_int_compr[pos / 2] >> (4 * (pos % 2))) & 0xF;
760}
761
762int pprz_trig_int_init(void)
763{
764 int16_t i, j, k, cnt, temp, val, val_prev;
765
766#if defined(PPRZ_TRIG_INT_COMPR_HIGHEST)
767 int16_t tab_4 = 0;
768#endif
769#if defined(PPRZ_TRIG_INT_COMPR_HIGH)
770 int16_t tab_8 = 0;
771#endif
772#if defined(PPRZ_TRIG_INT_COMPR_LOW)
773 int16_t tab_12 = 0;
774#endif
775
776 cnt = 0;
777 val = 0;
778 val_prev = 0;
779 /* decode run length encoding */
780 for (i = 0; i < TRIG_INT_RLE_LEN;) {
781 temp = get_nibble(i++);
782 if (temp < 0xF) {
783 /* single */
784 for (j = 0; j < (temp / 5) + 1; j++) {
785#if defined(PPRZ_TRIG_INT_COMPR_HIGHEST)
786 table_encode_4(val, val_prev, cnt, &tab_4);
787#endif
788#if defined(PPRZ_TRIG_INT_COMPR_HIGH)
789 table_encode_8(val, val_prev, cnt, &tab_8);
790#endif
791#if defined(PPRZ_TRIG_INT_COMPR_LOW)
792 table_encode_12(val, val_prev, cnt, &tab_12);
793#endif
794#if defined(PPRZ_TRIG_INT_COMPR_NONE)
795 table_encode_16(val, cnt);
796#endif
797 val_prev = val;
798 cnt++;
799 val += temp % 5;
800 if (cnt > TRIG_INT_SIZE) {
801 return -1;
802 }
803 }
804 } else {
805 /* multi */
806 k = get_nibble(i++);
807 if (i > TRIG_INT_RLE_LEN) {
808 return -1;
809 }
810 temp = get_nibble(i++);
811 if (i > TRIG_INT_RLE_LEN) {
812 return -1;
813 }
814 k |= (temp & 0x8) << 1;
815 for (j = 0; j < k + ONE_MIN; j++) {
816#if defined(PPRZ_TRIG_INT_COMPR_HIGHEST)
817 table_encode_4(val, val_prev, cnt, &tab_4);
818#endif
819#if defined(PPRZ_TRIG_INT_COMPR_HIGH)
820 table_encode_8(val, val_prev, cnt, &tab_8);
821#endif
822#if defined(PPRZ_TRIG_INT_COMPR_LOW)
823 table_encode_12(val, val_prev, cnt, &tab_12);
824#endif
825#if defined(PPRZ_TRIG_INT_COMPR_NONE)
826 table_encode_16(val, cnt);
827#endif
828 val_prev = val;
829 cnt++;
830 val += temp & 7;
831 if (cnt > TRIG_INT_SIZE) {
832 return -1;
833 }
834 }
835 }
836 }
837 if (cnt != TRIG_INT_SIZE) {
838 return -1;
839 }
840
841 return 0;
842}
843
844inline int16_t pprz_trig_int_f(int32_t angle)
845{
846#if defined(PPRZ_TRIG_INT_COMPR_HIGHEST)
847 return pprz_trig_int_4(angle);
848#elif defined(PPRZ_TRIG_INT_COMPR_HIGH)
849 return pprz_trig_int_8(angle);
850#elif defined(PPRZ_TRIG_INT_COMPR_LOW)
851 return pprz_trig_int_12(angle);
852#elif defined(PPRZ_TRIG_INT_COMPR_NONE)
853 return pprz_trig_int_16(angle);
854#endif
855}
856
857#else
858
859// dummy init
860int pprz_trig_int_init(void) { return 0; }
861
862#endif // PPRZ_TRIG_INT_COMPR_FLASH
863
864
865int32_t pprz_itrig_sin(int32_t angle)
866{
867#if defined(PPRZ_TRIG_INT_USE_FLOAT)
868 float tmp;
869 tmp = ANGLE_FLOAT_OF_BFP(angle);
870 tmp = sinf(tmp);
871 angle = ANGLE_BFP_OF_REAL(tmp);
872 return angle;
873#else
874 INT32_ANGLE_NORMALIZE(angle);
875 if (angle > INT32_ANGLE_PI_2) {
876 angle = INT32_ANGLE_PI - angle;
877 } else if (angle < -INT32_ANGLE_PI_2) {
878 angle = -INT32_ANGLE_PI - angle;
879 }
880 if (angle >= 0) {
881#if defined(PPRZ_TRIG_INT_COMPR_FLASH)
882 return pprz_trig_int_f(angle);
883 } else {
884 return -pprz_trig_int_f(-angle);
885#else
886 return pprz_trig_int[angle];
887 } else {
888 return -pprz_trig_int[-angle];
889#endif
890 }
891#endif
892}
893
894int32_t pprz_itrig_cos(int32_t angle)
895{
896 return pprz_itrig_sin(angle + INT32_ANGLE_PI_2);
897}
898
899
900/* http://jet.ro/files/The_neglected_art_of_Fixed_Point_arithmetic_20060913.pdf */
901/* http://www.dspguru.com/dsp/tricks/fixed-point-atan2-with-self-normalization */
902
903#define R_FRAC 14
904
905int32_t int32_atan2(int32_t y, int32_t x)
906{
907 const int32_t c1 = INT32_ANGLE_PI_4;
908 const int32_t c2 = 3 * INT32_ANGLE_PI_4;
909 const int32_t abs_y = abs(y) + 1;
910 int32_t r;
911 int32_t a;
912 if (x >= 0) {
913 r = ((x - abs_y) << R_FRAC) / (x + abs_y);
914 a = c1 - ((c1 * r) >> R_FRAC);
915 } else {
916 r = ((x + abs_y) << R_FRAC) / (abs_y - x);
917 a = c2 - ((c1 * r) >> R_FRAC);
918 }
919 if (y < 0) {
920 return -a; // negate if in quad III or IV
921 } else {
922 return a;
923 }
924}
925
926
927int32_t int32_atan2_2(int32_t y, int32_t x)
928{
929 const int32_t c1 = INT32_ANGLE_PI_4;
930 const int32_t c2 = 3 * INT32_ANGLE_PI_4;
931 const int32_t abs_y = abs(y) + 1;
932 int32_t r;
933 int32_t a;
934 if (x >= 0) {
935 r = ((x - abs_y) << R_FRAC) / (x + abs_y);
936 int32_t r2 = (r * r) >> R_FRAC;
937 int32_t tmp1 = ((r2 * (int32_t)ANGLE_BFP_OF_REAL(0.1963)) >> INT32_ANGLE_FRAC) - ANGLE_BFP_OF_REAL(0.9817);
938 a = ((tmp1 * r) >> R_FRAC) + c1;
939 } else {
940 r = ((x + abs_y) << R_FRAC) / (abs_y - x);
941 a = c2 - ((c1 * r) >> R_FRAC);
942 }
943 if (y < 0) {
944 return -a; // negate if in quad III or IV
945 } else {
946 return a;
947 }
948}
c1
static uint16_t c1
Definition baro_MS5534A.c:203
c2
static uint16_t c2
Definition baro_MS5534A.c:203
INT32_ANGLE_PI_4
#define INT32_ANGLE_PI_4
Definition pprz_algebra_int.h:118
ANGLE_BFP_OF_REAL
#define ANGLE_BFP_OF_REAL(_af)
Definition pprz_algebra_int.h:211
INT32_ANGLE_PI
#define INT32_ANGLE_PI
Definition pprz_algebra_int.h:120
INT32_ANGLE_PI_2
#define INT32_ANGLE_PI_2
Definition pprz_algebra_int.h:119
INT32_ANGLE_FRAC
#define INT32_ANGLE_FRAC
Definition pprz_algebra_int.h:116
ANGLE_FLOAT_OF_BFP
#define ANGLE_FLOAT_OF_BFP(_ai)
Definition pprz_algebra_int.h:212
INT32_ANGLE_NORMALIZE
#define INT32_ANGLE_NORMALIZE(_a)
Definition pprz_algebra_int.h:126
foo
uint16_t foo
Definition main_demo5.c:58
pprz_algebra_int.h
Paparazzi fixed point algebra.
pprz_trig_int
PPRZ_TRIG_CONST int16_t pprz_trig_int[6434]
Definition pprz_trig_int.c:31
pprz_trig_int_init
int pprz_trig_int_init(void)
Definition pprz_trig_int.c:860
int32_atan2
int32_t int32_atan2(int32_t y, int32_t x)
Definition pprz_trig_int.c:905
pprz_itrig_cos
int32_t pprz_itrig_cos(int32_t angle)
Definition pprz_trig_int.c:894
int32_atan2_2
int32_t int32_atan2_2(int32_t y, int32_t x)
Definition pprz_trig_int.c:927
pprz_itrig_sin
int32_t pprz_itrig_sin(int32_t angle)
Definition pprz_trig_int.c:865
R_FRAC
#define R_FRAC
Definition pprz_trig_int.c:903
pprz_trig_int.h
Paparazzi fixed point trig functions.
TRIG_INT_COMPR_LEN
#define TRIG_INT_COMPR_LEN
Definition pprz_trig_int.h:63
TREE_BUF_12_3
#define TREE_BUF_12_3
Definition pprz_trig_int.h:70
TREE_BUF_12_2
#define TREE_BUF_12_2
Definition pprz_trig_int.h:69
TREE_SIZE_4
#define TREE_SIZE_4
Definition pprz_trig_int.h:57
PPRZ_TRIG_CONST
#define PPRZ_TRIG_CONST
Allow makefile to define PPRZ_TRIG_CONST in case we want to make the trig tables const and store them...
Definition pprz_trig_int.h:40
TRIG_INT_SIZE
#define TRIG_INT_SIZE
Definition pprz_trig_int.h:55
TREE_SIZE_8
#define TREE_SIZE_8
Definition pprz_trig_int.h:58
TRIG_INT_RLE_LEN
#define TRIG_INT_RLE_LEN
Definition pprz_trig_int.h:62
ONE_MIN
#define ONE_MIN
Definition pprz_trig_int.h:66
TREE_SIZE_12
#define TREE_SIZE_12
Definition pprz_trig_int.h:59
TREE_BUF_12_1
#define TREE_BUF_12_1
Definition pprz_trig_int.h:68
val
uint16_t val[TCOUPLE_NB]
Definition temp_tcouple_adc.c:49
uint16_t
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
Definition vl53l1_types.h:88
int32_t
int int32_t
Typedef defining 32 bit int type.
Definition vl53l1_types.h:83
int16_t
short int16_t
Typedef defining 16 bit short type.
Definition vl53l1_types.h:93
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition vl53l1_types.h:98
int8_t
signed char int8_t
Typedef defining 8 bit char type.
Definition vl53l1_types.h:103