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FOCDriver: Replace the divisions with reciprocal multiplication. #494

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FOCDriver: Replace the divisions with reciprocal multiplication. #494

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1 change: 1 addition & 0 deletions src/common/base_classes/FOCDriver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@ class FOCDriver{
long pwm_frequency; //!< pwm frequency value in hertz
float voltage_power_supply; //!< power supply voltage
float voltage_limit; //!< limiting voltage set to the motor
float inverse_power_supply; //!< inverse of the power supply, very useful to replace divisions with reciprocal multiply which is faster

bool initialized = false; //!< true if driver was successfully initialized
void* params = 0; //!< pointer to hardware specific parameters of driver
Expand Down
10 changes: 6 additions & 4 deletions src/drivers/BLDCDriver3PWM.cpp
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Expand Up @@ -15,7 +15,7 @@ BLDCDriver3PWM::BLDCDriver3PWM(int phA, int phB, int phC, int en1, int en2, int
voltage_power_supply = DEF_POWER_SUPPLY;
voltage_limit = NOT_SET;
pwm_frequency = NOT_SET;

inverse_power_supply = 1.0f / voltage_power_supply;
}

// enable motor driver
Expand Down Expand Up @@ -53,6 +53,8 @@ int BLDCDriver3PWM::init() {

// sanity check for the voltage limit configuration
if(!_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply;
inverse_power_supply = 1.0f / voltage_power_supply;


// Set the pwm frequency to the pins
// hardware specific function - depending on driver and mcu
Expand Down Expand Up @@ -82,9 +84,9 @@ void BLDCDriver3PWM::setPwm(float Ua, float Ub, float Uc) {
Uc = _constrain(Uc, 0.0f, voltage_limit);
// calculate duty cycle
// limited in [0,1]
dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f );
dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f );
dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f );
dc_a = _constrain(Ua * inverse_power_supply, 0.0f , 1.0f );
dc_b = _constrain(Ub * inverse_power_supply, 0.0f , 1.0f );
dc_c = _constrain(Uc * inverse_power_supply, 0.0f , 1.0f );

// hardware specific writing
// hardware specific function - depending on driver and mcu
Expand Down
9 changes: 6 additions & 3 deletions src/drivers/BLDCDriver6PWM.cpp
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Expand Up @@ -16,6 +16,7 @@ BLDCDriver6PWM::BLDCDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h
voltage_power_supply = DEF_POWER_SUPPLY;
voltage_limit = NOT_SET;
pwm_frequency = NOT_SET;
inverse_power_supply = 1.0f / voltage_power_supply;

// dead zone initial - 2%
dead_zone = 0.02f;
Expand Down Expand Up @@ -60,6 +61,8 @@ int BLDCDriver6PWM::init() {
// sanity check for the voltage limit configuration
if( !_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply;

inverse_power_supply = 1.0f / voltage_power_supply;

// set phase state to disabled
phase_state[0] = PhaseState::PHASE_OFF;
phase_state[1] = PhaseState::PHASE_OFF;
Expand All @@ -84,9 +87,9 @@ void BLDCDriver6PWM::setPwm(float Ua, float Ub, float Uc) {
Uc = _constrain(Uc, 0, voltage_limit);
// calculate duty cycle
// limited in [0,1]
dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f );
dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f );
dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f );
dc_a = _constrain(Ua * inverse_power_supply, 0.0f , 1.0f );
dc_b = _constrain(Ub * inverse_power_supply, 0.0f , 1.0f );
dc_c = _constrain(Uc * inverse_power_supply, 0.0f , 1.0f );
// hardware specific writing
// hardware specific function - depending on driver and mcu
_writeDutyCycle6PWM(dc_a, dc_b, dc_c, phase_state, params);
Expand Down
7 changes: 5 additions & 2 deletions src/drivers/StepperDriver2PWM.cpp
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Expand Up @@ -17,6 +17,7 @@ StepperDriver2PWM::StepperDriver2PWM(int _pwm1, int* _in1, int _pwm2, int* _in2,
voltage_power_supply = DEF_POWER_SUPPLY;
voltage_limit = NOT_SET;
pwm_frequency = NOT_SET;
inverse_power_supply = 1.0f / voltage_power_supply;

}

Expand Down Expand Up @@ -77,6 +78,8 @@ int StepperDriver2PWM::init() {
// sanity check for the voltage limit configuration
if( !_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply;

inverse_power_supply = 1.0f / voltage_power_supply;

// Set the pwm frequency to the pins
// hardware specific function - depending on driver and mcu
params = _configure2PWM(pwm_frequency, pwm1, pwm2);
Expand All @@ -100,8 +103,8 @@ void StepperDriver2PWM::setPwm(float Ua, float Ub) {
Ua = _constrain(Ua, -voltage_limit, voltage_limit);
Ub = _constrain(Ub, -voltage_limit, voltage_limit);
// hardware specific writing
duty_cycle1 = _constrain(abs(Ua)/voltage_power_supply,0.0f,1.0f);
duty_cycle2 = _constrain(abs(Ub)/voltage_power_supply,0.0f,1.0f);
duty_cycle1 = _constrain(abs(Ua)* inverse_power_supply,0.0f,1.0f);
duty_cycle2 = _constrain(abs(Ub)* inverse_power_supply,0.0f,1.0f);

// phase 1 direction
digitalWrite(dir1a, Ua >= 0 ? LOW : HIGH);
Expand Down
13 changes: 8 additions & 5 deletions src/drivers/StepperDriver4PWM.cpp
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Expand Up @@ -15,6 +15,7 @@ StepperDriver4PWM::StepperDriver4PWM(int ph1A,int ph1B,int ph2A,int ph2B,int en1
voltage_power_supply = DEF_POWER_SUPPLY;
voltage_limit = NOT_SET;
pwm_frequency = NOT_SET;
inverse_power_supply = 1.0f / voltage_power_supply;

}

Expand Down Expand Up @@ -52,10 +53,12 @@ int StepperDriver4PWM::init() {
// sanity check for the voltage limit configuration
if( !_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply;

inverse_power_supply = 1.0f / voltage_power_supply;

// Set the pwm frequency to the pins
// hardware specific function - depending on driver and mcu
params = _configure4PWM(pwm_frequency, pwm1A, pwm1B, pwm2A, pwm2B);
initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED);
initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED);
return params!=SIMPLEFOC_DRIVER_INIT_FAILED;
}

Expand All @@ -77,14 +80,14 @@ void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta) {
Ubeta = _constrain(Ubeta, -voltage_limit, voltage_limit);
// hardware specific writing
if( Ualpha > 0 )
duty_cycle1B = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
duty_cycle1B = _constrain(abs(Ualpha) * inverse_power_supply,0.0f,1.0f);
else
duty_cycle1A = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
duty_cycle1A = _constrain(abs(Ualpha) * inverse_power_supply,0.0f,1.0f);

if( Ubeta > 0 )
duty_cycle2B = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
duty_cycle2B = _constrain(abs(Ubeta) * inverse_power_supply,0.0f,1.0f);
else
duty_cycle2A = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
duty_cycle2A = _constrain(abs(Ubeta) * inverse_power_supply,0.0f,1.0f);
// write to hardware
_writeDutyCycle4PWM(duty_cycle1A, duty_cycle1B, duty_cycle2A, duty_cycle2B, params);
}