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Simplify foc fpu math #372

Merged
merged 2 commits into from
Nov 7, 2021
Merged

Simplify foc fpu math #372

merged 2 commits into from
Nov 7, 2021

Commits on Nov 7, 2021

  1. [MCPWM_FOC] Eliminate repeated divisions 

    `/((2.0/3.0) * v_bus)` is the same as `* 1.5/V_bus`. Abstracting this out
saves at least one division per loop, and in some cases as many as three.

Each STM32F4 FPU division takes 14 cycles.
    @kubark42
    kubark42 committed Nov 7, 2021
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  2. [MCPWM_FOC] Condense math in order to save on FPU operations

    @kubark42
    kubark42 committed Nov 7, 2021
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