[FOC] Eliminate a few divisions by introducing p_inv_inv_ld_lq

vedderb · Apr 11, 2022 · 0e17cef · 0e17cef
1 parent 702706e
commit 0e17cef
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/foc_math.c b/foc_math.c
@@ -613,6 +613,6 @@ void foc_precalc_values(motor_all_state_t *motor) {
 	const mc_configuration *conf_now = motor->m_conf;
 	motor->p_lq = conf_now->foc_motor_l + conf_now->foc_motor_ld_lq_diff * 0.5;
 	motor->p_ld = conf_now->foc_motor_l - conf_now->foc_motor_ld_lq_diff * 0.5;
-	motor->p_inv_ld_lq = (1.0 / motor->p_lq - 1.0 / motor->p_ld);
+	motor->p_inv_inv_ld_lq = 1.0 / (1.0 / motor->p_lq - 1.0 / motor->p_ld);
 	motor->p_v2_v3_inv_avg_half = (0.5 / motor->p_lq + 0.5 / motor->p_ld) * IND_SCALE_FACTOR; // With the `* IND_SCALE_FACTOR` we undo the adjustment from the detection
 }
diff --git a/foc_math.h b/foc_math.h
@@ -191,7 +191,7 @@ typedef struct {
 	// Pre-calculated values
 	float p_lq;
 	float p_ld;
-	float p_inv_ld_lq; // (1.0/lq - 1.0/ld)
+	float p_inv_inv_ld_lq; // 1.0 / (1.0/lq - 1.0/ld)
 	float p_v2_v3_inv_avg_half; // (0.5/ld + 0.5/lq)
 } motor_all_state_t;
 

diff --git a/mcpwm_foc.c b/mcpwm_foc.c
@@ -3847,7 +3847,7 @@ static void control_current(motor_all_state_t *motor, float dt) {
 					}
 #endif
 					foc_hfi_adjust_angle(
-							(di * conf_now->foc_f_zv) / (hfi_voltage * motor->p_inv_ld_lq),
+							((di * conf_now->foc_f_zv) / hfi_voltage) * motor->p_inv_inv_ld_lq,
 							motor, hfi_dt
 					);
 				}
@@ -3899,7 +3899,7 @@ static void control_current(motor_all_state_t *motor, float dt) {
 #endif
 					foc_hfi_adjust_angle(
 							motor->m_hfi.sign_last_sample * ((conf_now->foc_f_zv * di) /
-									hfi_voltage - motor->p_v2_v3_inv_avg_half) / motor->p_inv_ld_lq,
+									hfi_voltage - motor->p_v2_v3_inv_avg_half) * motor->p_inv_inv_ld_lq,
 							motor, hfi_dt
 					);
 				}