foc_utils.h

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#ifndef FOCUTILS_LIB_H
#define FOCUTILS_LIB_H
 
#include "Arduino.h"
 
// sign function
#define _sign(a) ( ( (a) < 0 )  ?  -1   : ( (a) > 0 ) )
#define _round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
#define _constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
#define _sqrt(a) (_sqrtApprox(a))
#define _isset(a) ( (a) != (NOT_SET) )
 
// utility defines
#define _2_SQRT3 1.15470053838
#define _SQRT3 1.73205080757
#define _1_SQRT3 0.57735026919
#define _SQRT3_2 0.86602540378
#define _SQRT2 1.41421356237
#define _120_D2R 2.09439510239
#define _PI 3.14159265359
#define _PI_2 1.57079632679
#define _PI_3 1.0471975512
#define _2PI 6.28318530718
#define _3PI_2 4.71238898038
#define _PI_6 0.52359877559
 
#define NOT_SET -12345.0
#define _HIGH_IMPEDANCE 0
#define _HIGH_Z _HIGH_IMPEDANCE
#define _ACTIVE 1
 
// dq current structure 
struct DQCurrent_s
{
    float d;
    float q;
};
// phase current structure 
struct PhaseCurrent_s
{
    float a;
    float b;
    float c;
};
// dq voltage structs
struct DQVoltage_s
{
    float d;
    float q;
};
 
 
float _sin(float a);
float _cos(float a);
 
float _normalizeAngle(float angle);
 
    
float _electricalAngle(float shaft_angle, int pole_pairs);
 
float _sqrtApprox(float value);
 
#endif