From 91f7b54cffd55cadeecea1aca239f5988cac8fa2 Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Mon, 16 Jan 2023 08:25:29 -0600
Subject: [PATCH 01/16] Adding null=v0

---
 motor/foc_math.c  | 171 ++++++++++++++++++----------------------------
 util/utils_math.h |   2 +
 2 files changed, 68 insertions(+), 105 deletions(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 7367ac179..0a392d95c 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -193,9 +193,14 @@ void foc_pll_run(float phase, float dt, float *phase_var,
 	*speed_var += conf->foc_pll_ki * delta_theta * dt;
 }
 
+//#define USE_ONBOARD_DSP
 /**
  * @brief svm Space vector modulation. Magnitude must not be larger than sqrt(3)/2, or 0.866 to avoid overmodulation.
  *        See https://github.com/vedderb/bldc/pull/372#issuecomment-962499623 for a full description.
+ *        Null=V0 variation (reduces switching losses by up to 33%)
+ *        See the follwoing links for a full description: 
+ *        https://youtu.be/5eQyoVMz1dY
+ *        https://go.gale.com/ps/i.do?id=GALE%7CA18320578&sid=sitemap&v=2.1&it=r&p=AONE&sw=w&userGroupName=anon%7E469317a7
  * @param alpha voltage
  * @param beta Park transformed and normalized voltage
  * @param PWMFullDutyCycle is the peak value of the PWM counter.
@@ -205,128 +210,84 @@ void foc_pll_run(float phase, float dt, float *phase_var,
  */
 void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 				uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, uint32_t *svm_sector) {
-	uint32_t sector;
-
-	if (beta >= 0.0f) {
-		if (alpha >= 0.0f) {
-			//quadrant I
-			if (ONE_BY_SQRT3 * beta > alpha) {
-				sector = 2;
-			} else {
-				sector = 1;
-			}
-		} else {
-			//quadrant II
-			if (-ONE_BY_SQRT3 * beta > alpha) {
-				sector = 3;
-			} else {
-				sector = 2;
-			}
-		}
-	} else {
-		if (alpha >= 0.0f) {
-			//quadrant IV5
-			if (-ONE_BY_SQRT3 * beta > alpha) {
-				sector = 5;
-			} else {
-				sector = 6;
-			}
-		} else {
-			//quadrant III
-			if (ONE_BY_SQRT3 * beta > alpha) {
-				sector = 4;
-			} else {
-				sector = 5;
-			}
-		}
-	}
-
-	// PWM timings
-	uint32_t tA, tB, tC;
-
-	switch (sector) {
 
-	// sector 1-2
+	uint32_t sector;
+	float angle, T1, T2, magnitude, temp;
+	uint32_t tA, tB, tC;	// PWM timings
+
+	// get angle
+#ifdef USE_ONBOARD_DSP
+	// requires at least v1.10.0 of the cmsis lib
+	// https://github.com/ARM-software/CMSIS-DSP/releases
+	(void)arm_atan2_f32(beta, alpha, &angle);
+#else
+	angle = atan2f(beta, alpha); // from math.h
+#endif
+
+	// convert from (-pi, pi) to (0, 2*pi) via branchless programming
+	angle = angle + (angle < 0.0f)*SIX_PI_OVER_3;
+	sector = ((uint32_t)(angle / PI_OVER_3) % 6u) + 1u;
+	angle = fmodf(angle, PI_OVER_3); // from math.h
+
+	// determine magnitude
+#ifdef USE_ONBOARD_DSP
+	(void)arm_sqrt_f32(SQ(alpha)+SQ(beta), &magnitude); // using onboard dsp
+#else
+	magnitude = hypotf(alpha, beta); // from math.h
+#endif
+
+	// temporary variable for intermediate math
+	temp = (float)PWMFullDutyCycle * magnitude * TWO_BY_SQRT3;
+
+#ifdef USE_ONBOARD_DSP
+	T1 = temp * arm_sin_f32(PI_OVER_3 - angle); // using arm dsp
+	T2 = temp * arm_sin_f32(angle); // using arm dsp
+#else
+	T1 = temp * sinf(PI_OVER_3 - angle); // from math.h
+	T2 = temp * sinf(angle); // from math.h
+#endif
+
+
+	switch(sector) {
 	case 1: {
-		// Vector on-times
-		uint32_t t1 = (alpha - ONE_BY_SQRT3 * beta) * PWMFullDutyCycle;
-		uint32_t t2 = (TWO_BY_SQRT3 * beta) * PWMFullDutyCycle;
-
-		// PWM timings
-		tA = (PWMFullDutyCycle + t1 + t2) / 2;
-		tB = tA - t1;
-		tC = tB - t2;
-
+		tA = (uint32_t)(T1+T2);
+		tB = (uint32_t)(T2);
+		tC = (uint32_t)(0);
 		break;
 	}
-
-	// sector 2-3
+	
 	case 2: {
-		// Vector on-times
-		uint32_t t2 = (alpha + ONE_BY_SQRT3 * beta) * PWMFullDutyCycle;
-		uint32_t t3 = (-alpha + ONE_BY_SQRT3 * beta) * PWMFullDutyCycle;
-
-		// PWM timings
-		tB = (PWMFullDutyCycle + t2 + t3) / 2;
-		tA = tB - t3;
-		tC = tA - t2;
-
+		tA = (uint32_t)(T1);
+		tB = (uint32_t)(T1+T2);
+		tC = (uint32_t)(0);
 		break;
 	}
-
-	// sector 3-4
+	
 	case 3: {
-		// Vector on-times
-		uint32_t t3 = (TWO_BY_SQRT3 * beta) * PWMFullDutyCycle;
-		uint32_t t4 = (-alpha - ONE_BY_SQRT3 * beta) * PWMFullDutyCycle;
-
-		// PWM timings
-		tB = (PWMFullDutyCycle + t3 + t4) / 2;
-		tC = tB - t3;
-		tA = tC - t4;
-
+		tA = (uint32_t)(0);
+		tB = (uint32_t)(T1+T2);
+		tC = (uint32_t)(T2);
 		break;
 	}
-
-	// sector 4-5
+	
 	case 4: {
-		// Vector on-times
-		uint32_t t4 = (-alpha + ONE_BY_SQRT3 * beta) * PWMFullDutyCycle;
-		uint32_t t5 = (-TWO_BY_SQRT3 * beta) * PWMFullDutyCycle;
-
-		// PWM timings
-		tC = (PWMFullDutyCycle + t4 + t5) / 2;
-		tB = tC - t5;
-		tA = tB - t4;
-
+		tA = (uint32_t)(0);
+		tB = (uint32_t)(T1);
+		tC = (uint32_t)(T1+T2);
 		break;
 	}
-
-	// sector 5-6
+	
 	case 5: {
-		// Vector on-times
-		uint32_t t5 = (-alpha - ONE_BY_SQRT3 * beta) * PWMFullDutyCycle;
-		uint32_t t6 = (alpha - ONE_BY_SQRT3 * beta) * PWMFullDutyCycle;
-
-		// PWM timings
-		tC = (PWMFullDutyCycle + t5 + t6) / 2;
-		tA = tC - t5;
-		tB = tA - t6;
-
+		tA = (uint32_t)(T2);
+		tB = (uint32_t)(0);
+		tC = (uint32_t)(T1+T2);
 		break;
 	}
-
-	// sector 6-1
+	
 	case 6: {
-		// Vector on-times
-		uint32_t t6 = (-TWO_BY_SQRT3 * beta) * PWMFullDutyCycle;
-		uint32_t t1 = (alpha + ONE_BY_SQRT3 * beta) * PWMFullDutyCycle;
-
-		// PWM timings
-		tA = (PWMFullDutyCycle + t6 + t1) / 2;
-		tC = tA - t1;
-		tB = tC - t6;
-
+		tA = (uint32_t)(T1+T2);
+		tB = (uint32_t)(0);
+		tC = (uint32_t)(T1);
 		break;
 	}
 	}
diff --git a/util/utils_math.h b/util/utils_math.h
index 19c3c4661..0312b5b62 100644
--- a/util/utils_math.h
+++ b/util/utils_math.h
@@ -119,6 +119,8 @@ void utils_rotate_vector3(float *input, float *rotation, float *output, bool rev
 #define COS_MINUS_30_DEG		(0.86602540378)
 #define SIN_MINUS_30_DEG		(-0.5)
 #define ONE_BY_SQRT2			(0.7071067811865475)
+#define PI_OVER_3				(1.0471975511965977f)	// 60 degrees
+#define SIX_PI_OVER_3			(6.0f*PI_OVER_3)		// 360 degrees
 
 // Tables
 extern const float utils_tab_sin_32_1[];

From c4e145dd54c93cc99aa98ed1157699ad837ee566 Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Mon, 16 Jan 2023 09:41:44 -0600
Subject: [PATCH 02/16] Updating foc_svm

---
 motor/foc_math.c | 27 ++++++++++++++-------------
 motor/foc_math.h |  1 +
 2 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 0a392d95c..6bbe722b2 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -193,7 +193,6 @@ void foc_pll_run(float phase, float dt, float *phase_var,
 	*speed_var += conf->foc_pll_ki * delta_theta * dt;
 }
 
-//#define USE_ONBOARD_DSP
 /**
  * @brief svm Space vector modulation. Magnitude must not be larger than sqrt(3)/2, or 0.866 to avoid overmodulation.
  *        See https://github.com/vedderb/bldc/pull/372#issuecomment-962499623 for a full description.
@@ -216,12 +215,12 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 	uint32_t tA, tB, tC;	// PWM timings
 
 	// get angle
-#ifdef USE_ONBOARD_DSP
-	// requires at least v1.10.0 of the cmsis lib
+#ifdef USE_MATH_H
+	angle = atan2f(beta, alpha);
+#else
+	// using onboard dsp (requires at least v1.10.0 of the cmsis lib)
 	// https://github.com/ARM-software/CMSIS-DSP/releases
 	(void)arm_atan2_f32(beta, alpha, &angle);
-#else
-	angle = atan2f(beta, alpha); // from math.h
 #endif
 
 	// convert from (-pi, pi) to (0, 2*pi) via branchless programming
@@ -230,21 +229,23 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 	angle = fmodf(angle, PI_OVER_3); // from math.h
 
 	// determine magnitude
-#ifdef USE_ONBOARD_DSP
-	(void)arm_sqrt_f32(SQ(alpha)+SQ(beta), &magnitude); // using onboard dsp
+#ifdef USE_MATH_H
+	magnitude = hypotf(alpha, beta);
 #else
-	magnitude = hypotf(alpha, beta); // from math.h
+	// using onboard dsp
+	(void)arm_sqrt_f32(SQ(alpha)+SQ(beta), &magnitude);
 #endif
 
 	// temporary variable for intermediate math
 	temp = (float)PWMFullDutyCycle * magnitude * TWO_BY_SQRT3;
 
-#ifdef USE_ONBOARD_DSP
-	T1 = temp * arm_sin_f32(PI_OVER_3 - angle); // using arm dsp
-	T2 = temp * arm_sin_f32(angle); // using arm dsp
+#ifdef USE_MATH_H
+	T1 = temp * sinf(PI_OVER_3 - angle);
+	T2 = temp * sinf(angle);
 #else
-	T1 = temp * sinf(PI_OVER_3 - angle); // from math.h
-	T2 = temp * sinf(angle); // from math.h
+	// using onboard dsp
+	T1 = temp * arm_sin_f32(PI_OVER_3 - angle);
+	T2 = temp * arm_sin_f32(angle);
 #endif
 
 
diff --git a/motor/foc_math.h b/motor/foc_math.h
index a2210829a..e7d3cd08e 100644
--- a/motor/foc_math.h
+++ b/motor/foc_math.h
@@ -20,6 +20,7 @@
 #ifndef FOC_MATH_H_
 #define FOC_MATH_H_
 
+#include <arm_math.h>
 #include "datatypes.h"
 
 // Types

From ceb64076fb5d0bf88afddc819836cb56be00c1c5 Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Mon, 16 Jan 2023 09:47:01 -0600
Subject: [PATCH 03/16] Adding define

---
 motor/foc_math.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 6bbe722b2..7e543dad9 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -207,6 +207,7 @@ void foc_pll_run(float phase, float dt, float *phase_var,
  * @param tBout PWM duty cycle phase B
  * @param tCout PWM duty cycle phase C
  */
+#define USE_MATH_H
 void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 				uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, uint32_t *svm_sector) {
 
@@ -220,6 +221,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 #else
 	// using onboard dsp (requires at least v1.10.0 of the cmsis lib)
 	// https://github.com/ARM-software/CMSIS-DSP/releases
+	// 
 	(void)arm_atan2_f32(beta, alpha, &angle);
 #endif
 

From 23ab62e8d56e07c70bfc0796bc4894a6691266a6 Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Mon, 16 Jan 2023 09:52:22 -0600
Subject: [PATCH 04/16] Wrapping arm_math with #ifndef

---
 motor/foc_math.c | 1 -
 motor/foc_math.h | 6 ++++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 7e543dad9..1049067a9 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -207,7 +207,6 @@ void foc_pll_run(float phase, float dt, float *phase_var,
  * @param tBout PWM duty cycle phase B
  * @param tCout PWM duty cycle phase C
  */
-#define USE_MATH_H
 void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 				uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, uint32_t *svm_sector) {
 
diff --git a/motor/foc_math.h b/motor/foc_math.h
index e7d3cd08e..4ebc7e97a 100644
--- a/motor/foc_math.h
+++ b/motor/foc_math.h
@@ -20,7 +20,13 @@
 #ifndef FOC_MATH_H_
 #define FOC_MATH_H_
 
+// comment this to enable usage of the onboard dsp
+#define USE_MATH_H
+
+#ifndef USE_MATH_H
 #include <arm_math.h>
+#endif
+
 #include "datatypes.h"
 
 // Types

From 4c228eaa8a8b4b93bccee1b8e3542ee15206d764 Mon Sep 17 00:00:00 2001
From: Alex <32419459+Rampagy@users.noreply.github.com>
Date: Mon, 16 Jan 2023 11:54:30 -0600
Subject: [PATCH 05/16] Updating gale link

Co-authored-by: kalvdans <github@kalvdans.no-ip.org>
---
 motor/foc_math.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 1049067a9..6b04885a8 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -199,7 +199,7 @@ void foc_pll_run(float phase, float dt, float *phase_var,
  *        Null=V0 variation (reduces switching losses by up to 33%)
  *        See the follwoing links for a full description: 
  *        https://youtu.be/5eQyoVMz1dY
- *        https://go.gale.com/ps/i.do?id=GALE%7CA18320578&sid=sitemap&v=2.1&it=r&p=AONE&sw=w&userGroupName=anon%7E469317a7
+ *        https://link.gale.com/apps/doc/A18320578/AONE
  * @param alpha voltage
  * @param beta Park transformed and normalized voltage
  * @param PWMFullDutyCycle is the peak value of the PWM counter.

From b1b2325d4b9ad065506fb2e9677ce4e9d32659af Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Mon, 16 Jan 2023 12:06:17 -0600
Subject: [PATCH 06/16] renaming define

---
 motor/foc_math.c  | 3 +--
 util/utils_math.h | 2 +-
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 1049067a9..bb95e44e9 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -220,12 +220,11 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 #else
 	// using onboard dsp (requires at least v1.10.0 of the cmsis lib)
 	// https://github.com/ARM-software/CMSIS-DSP/releases
-	// 
 	(void)arm_atan2_f32(beta, alpha, &angle);
 #endif
 
 	// convert from (-pi, pi) to (0, 2*pi) via branchless programming
-	angle = angle + (angle < 0.0f)*SIX_PI_OVER_3;
+	angle = angle + (angle < 0.0f)*TWO_PI;
 	sector = ((uint32_t)(angle / PI_OVER_3) % 6u) + 1u;
 	angle = fmodf(angle, PI_OVER_3); // from math.h
 
diff --git a/util/utils_math.h b/util/utils_math.h
index 0312b5b62..cc5065334 100644
--- a/util/utils_math.h
+++ b/util/utils_math.h
@@ -120,7 +120,7 @@ void utils_rotate_vector3(float *input, float *rotation, float *output, bool rev
 #define SIN_MINUS_30_DEG		(-0.5)
 #define ONE_BY_SQRT2			(0.7071067811865475)
 #define PI_OVER_3				(1.0471975511965977f)	// 60 degrees
-#define SIX_PI_OVER_3			(6.0f*PI_OVER_3)		// 360 degrees
+#define TWO_PI					(6.0f*PI_OVER_3)		// 360 degrees
 
 // Tables
 extern const float utils_tab_sin_32_1[];

From 66d7a81b94b33663fa214fd37965d80dc085c620 Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Mon, 16 Jan 2023 21:14:57 -0600
Subject: [PATCH 07/16] Redoing the Null=V0 implementation

---
 motor/foc_math.c  | 84 +++++++++++++++++++++++------------------------
 motor/foc_math.h  |  7 ----
 util/utils_math.h |  2 --
 3 files changed, 41 insertions(+), 52 deletions(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index b92f7d21e..06b358524 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -210,82 +210,80 @@ void foc_pll_run(float phase, float dt, float *phase_var,
 void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 				uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, uint32_t *svm_sector) {
 
-	uint32_t sector;
-	float angle, T1, T2, magnitude, temp;
-	uint32_t tA, tB, tC;	// PWM timings
-
-	// get angle
-#ifdef USE_MATH_H
-	angle = atan2f(beta, alpha);
-#else
-	// using onboard dsp (requires at least v1.10.0 of the cmsis lib)
-	// https://github.com/ARM-software/CMSIS-DSP/releases
-	(void)arm_atan2_f32(beta, alpha, &angle);
-#endif
-
-	// convert from (-pi, pi) to (0, 2*pi) via branchless programming
-	angle = angle + (angle < 0.0f)*TWO_PI;
-	sector = ((uint32_t)(angle / PI_OVER_3) % 6u) + 1u;
-	angle = fmodf(angle, PI_OVER_3); // from math.h
-
-	// determine magnitude
-#ifdef USE_MATH_H
-	magnitude = hypotf(alpha, beta);
-#else
-	// using onboard dsp
-	(void)arm_sqrt_f32(SQ(alpha)+SQ(beta), &magnitude);
-#endif
-
-	// temporary variable for intermediate math
-	temp = (float)PWMFullDutyCycle * magnitude * TWO_BY_SQRT3;
-
-#ifdef USE_MATH_H
-	T1 = temp * sinf(PI_OVER_3 - angle);
-	T2 = temp * sinf(angle);
-#else
-	// using onboard dsp
-	T1 = temp * arm_sin_f32(PI_OVER_3 - angle);
-	T2 = temp * arm_sin_f32(angle);
-#endif
+	uint8_t sector;
+	uint32_t tA, tB, tC, N;	// PWM timings
+	float T1, T2, a, b, c, temp = 0.0f;
+	const uint8_t sector_LUT[6] = {6u, 2u, 1u, 4u, 5u, 3u};
 
 
+	a = SQRT3_BY_2*alpha - 0.5f*beta;
+	b = beta;
+
+	temp = (float)PWMFullDutyCycle/SQRT3_BY_2;
+
+	a *= temp;
+	b *= temp;
+	c = -1.0f*(a+b); // kirchhoff current law (current in = current out)
+
+
+	N = (((int32_t)a)>=0) + 2u*(((int32_t)b) >= 0) + 4u*(((int32_t)c) >= 0);
+	sector = sector_LUT[N-1];
+
 	switch(sector) {
 	case 1: {
+		T1 = a;
+		T2 = b;
+
 		tA = (uint32_t)(T1+T2);
 		tB = (uint32_t)(T2);
 		tC = (uint32_t)(0);
 		break;
 	}
-	
+
 	case 2: {
+		T1 = -c;
+		T2 = -a;
+
 		tA = (uint32_t)(T1);
 		tB = (uint32_t)(T1+T2);
 		tC = (uint32_t)(0);
 		break;
 	}
-	
+
 	case 3: {
+		T1 = b;
+		T2 = c;
+
 		tA = (uint32_t)(0);
 		tB = (uint32_t)(T1+T2);
 		tC = (uint32_t)(T2);
 		break;
 	}
-	
+
 	case 4: {
+		T1 = -a;
+		T2 = -b;
+
 		tA = (uint32_t)(0);
 		tB = (uint32_t)(T1);
 		tC = (uint32_t)(T1+T2);
 		break;
 	}
-	
+
 	case 5: {
+		T1 = c;
+		T2 = a;
+
 		tA = (uint32_t)(T2);
 		tB = (uint32_t)(0);
 		tC = (uint32_t)(T1+T2);
 		break;
 	}
-	
+
 	case 6: {
+		T1 = -b;
+		T2 = -c;
+
 		tA = (uint32_t)(T1+T2);
 		tB = (uint32_t)(0);
 		tC = (uint32_t)(T1);
@@ -296,7 +294,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 	*tAout = tA;
 	*tBout = tB;
 	*tCout = tC;
-	*svm_sector = sector;
+	*svm_sector = (uint32_t)sector;
 }
 
 void foc_run_pid_control_pos(bool index_found, float dt, motor_all_state_t *motor) {
diff --git a/motor/foc_math.h b/motor/foc_math.h
index 4ebc7e97a..a2210829a 100644
--- a/motor/foc_math.h
+++ b/motor/foc_math.h
@@ -20,13 +20,6 @@
 #ifndef FOC_MATH_H_
 #define FOC_MATH_H_
 
-// comment this to enable usage of the onboard dsp
-#define USE_MATH_H
-
-#ifndef USE_MATH_H
-#include <arm_math.h>
-#endif
-
 #include "datatypes.h"
 
 // Types
diff --git a/util/utils_math.h b/util/utils_math.h
index cc5065334..19c3c4661 100644
--- a/util/utils_math.h
+++ b/util/utils_math.h
@@ -119,8 +119,6 @@ void utils_rotate_vector3(float *input, float *rotation, float *output, bool rev
 #define COS_MINUS_30_DEG		(0.86602540378)
 #define SIN_MINUS_30_DEG		(-0.5)
 #define ONE_BY_SQRT2			(0.7071067811865475)
-#define PI_OVER_3				(1.0471975511965977f)	// 60 degrees
-#define TWO_PI					(6.0f*PI_OVER_3)		// 360 degrees
 
 // Tables
 extern const float utils_tab_sin_32_1[];

From 53fb62d5ccb68632fbe85b1e38539418a6b05165 Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Tue, 17 Jan 2023 22:12:08 -0600
Subject: [PATCH 08/16] Adding additional foc methods

---
 datatypes.h       |   8 +++
 motor/foc_math.c  | 177 ++++++++++++++++++++++++++++++++++++++--------
 motor/foc_math.h  |   3 +-
 motor/mcpwm_foc.c |   5 +-
 4 files changed, 160 insertions(+), 33 deletions(-)

diff --git a/datatypes.h b/datatypes.h
index 5fec09244..4a19a4363 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -25,6 +25,14 @@
 #include "ch.h"
 
 // Data types
+typedef enum {
+	SVM_ARS = 0,		// default (previous implementation)
+	NULL_V0,			// flat bottom
+	NULL_V7,			// flat top
+	V7_ODD_V0_EVEN,		// v7 in [1,3,5] v0 in [2,4,6]
+	V0_ODD_V7_EVEN,		// v0 in [1,3,5] v7 in [2,4,6]
+} commutation_technique_t;
+
 typedef enum {
 	HW_TYPE_VESC = 0,
 	HW_TYPE_VESC_BMS,
diff --git a/motor/foc_math.c b/motor/foc_math.c
index 06b358524..b9c450df3 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -208,13 +208,11 @@ void foc_pll_run(float phase, float dt, float *phase_var,
  * @param tCout PWM duty cycle phase C
  */
 void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
-				uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, uint32_t *svm_sector) {
-
+				uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, 
+				uint32_t *svm_sector, commutation_technique_t comm_tech) {
 	uint8_t sector;
 	uint32_t tA, tB, tC, N;	// PWM timings
-	float T1, T2, a, b, c, temp = 0.0f;
-	const uint8_t sector_LUT[6] = {6u, 2u, 1u, 4u, 5u, 3u};
-
+	float T0, T1, T2, a, b, c, temp = 0.0f;
 
 	a = SQRT3_BY_2*alpha - 0.5f*beta;
 	b = beta;
@@ -225,7 +223,6 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 	b *= temp;
 	c = -1.0f*(a+b); // kirchhoff current law (current in = current out)
 
-
 	N = (((int32_t)a)>=0) + 2u*(((int32_t)b) >= 0) + 4u*(((int32_t)c) >= 0);
 	sector = sector_LUT[N-1];
 
@@ -233,60 +230,180 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 	case 1: {
 		T1 = a;
 		T2 = b;
-
-		tA = (uint32_t)(T1+T2);
-		tB = (uint32_t)(T2);
-		tC = (uint32_t)(0);
+		T0 = (float)PWMFullDutyCycle - T1 - T2;
+
+		switch (comm_tech) {
+		case SVM_ARS:
+		default:
+			tA = (uint32_t)(T1+T2+0.5f*T0);
+			tB = (uint32_t)(T2+0.5f*T0);
+			tC = (uint32_t)(0.5f*T0);
+			break;
+
+		case V0_ODD_V7_EVEN:
+		case NULL_V0:
+			tA = (uint32_t)(T1+T2);
+			tB = (uint32_t)(T2);
+			tC = (uint32_t)(0);
+			break;
+
+		case V7_ODD_V0_EVEN:
+		case NULL_V7:
+			tA = (uint32_t)(PWMFullDutyCycle);
+			tB = (uint32_t)(T0+T2);
+			tC = (uint32_t)(T0);
+			break;
+		}
 		break;
 	}
 
 	case 2: {
 		T1 = -c;
 		T2 = -a;
-
-		tA = (uint32_t)(T1);
-		tB = (uint32_t)(T1+T2);
-		tC = (uint32_t)(0);
+		T0 = (float)PWMFullDutyCycle - T1 - T2;
+
+		switch (comm_tech) {
+		case SVM_ARS:
+		default:
+			tA = (uint32_t)(T1+0.5f*T0);
+			tB = (uint32_t)(T1+T2+0.5f*T0);
+			tC = (uint32_t)(0.5f*T0);
+			break;
+
+		case V7_ODD_V0_EVEN:
+		case NULL_V0:
+			tA = (uint32_t)(T1);
+			tB = (uint32_t)(T1+T2);
+			tC = (uint32_t)(0);
+			break;
+
+		case V0_ODD_V7_EVEN:
+		case NULL_V7:
+			tA = (uint32_t)(T0+T1);
+			tB = (uint32_t)(PWMFullDutyCycle);
+			tC = (uint32_t)(T0);
+			break;
+		}
 		break;
 	}
 
 	case 3: {
 		T1 = b;
 		T2 = c;
-
-		tA = (uint32_t)(0);
-		tB = (uint32_t)(T1+T2);
-		tC = (uint32_t)(T2);
+		T0 = (float)PWMFullDutyCycle - T1 - T2;
+
+		switch (comm_tech) {
+		case SVM_ARS:
+		default:
+			tA = (uint32_t)(0.5f*T0);
+			tB = (uint32_t)(T1+T2+0.5f*T0);
+			tC = (uint32_t)(T2+0.5f*T0);
+			break;
+
+		case V0_ODD_V7_EVEN:
+		case NULL_V0:
+			tA = (uint32_t)(0);
+			tB = (uint32_t)(T1+T2);
+			tC = (uint32_t)(T2);
+			break;
+
+		case V7_ODD_V0_EVEN:
+		case NULL_V7:
+			tA = (uint32_t)(T0);
+			tB = (uint32_t)(PWMFullDutyCycle);
+			tC = (uint32_t)(T0+T2);
+			break;
+		}
 		break;
 	}
 
 	case 4: {
 		T1 = -a;
 		T2 = -b;
-
-		tA = (uint32_t)(0);
-		tB = (uint32_t)(T1);
-		tC = (uint32_t)(T1+T2);
+		T0 = (float)PWMFullDutyCycle - T1 - T2;
+
+		switch (comm_tech) {
+		case SVM_ARS:
+		default:
+			tA = (uint32_t)(0.5f*T0);
+			tB = (uint32_t)(T1+0.5f*T0);
+			tC = (uint32_t)(T1+T2+0.5f*T0);
+			break;
+
+		case V7_ODD_V0_EVEN:
+		case NULL_V0:
+			tA = (uint32_t)(0);
+			tB = (uint32_t)(T1);
+			tC = (uint32_t)(T1+T2);
+			break;
+
+		case V0_ODD_V7_EVEN:
+		case NULL_V7:
+			tA = (uint32_t)(T0);
+			tB = (uint32_t)(T0+T1);
+			tC = (uint32_t)(PWMFullDutyCycle);
+			break;
+		}
 		break;
 	}
 
 	case 5: {
 		T1 = c;
 		T2 = a;
-
-		tA = (uint32_t)(T2);
-		tB = (uint32_t)(0);
-		tC = (uint32_t)(T1+T2);
+		T0 = (float)PWMFullDutyCycle - T1 - T2;
+
+		switch (comm_tech) {
+		case SVM_ARS:
+		default:
+			tA = (uint32_t)(T2+0.5f*T0);
+			tB = (uint32_t)(0.5f*T0);
+			tC = (uint32_t)(T1+T2+0.5f*T0);
+			break;
+
+		case V0_ODD_V7_EVEN:
+		case NULL_V0:
+			tA = (uint32_t)(T2);
+			tB = (uint32_t)(0);
+			tC = (uint32_t)(T1+T2);
+			break;
+
+		case V7_ODD_V0_EVEN:
+		case NULL_V7:
+			tA = (uint32_t)(T0+T2);
+			tB = (uint32_t)(T0);
+			tC = (uint32_t)(PWMFullDutyCycle);
+			break;
+		}
 		break;
 	}
 
 	case 6: {
 		T1 = -b;
 		T2 = -c;
-
-		tA = (uint32_t)(T1+T2);
-		tB = (uint32_t)(0);
-		tC = (uint32_t)(T1);
+		T0 = (float)PWMFullDutyCycle - T1 - T2;
+
+		switch (comm_tech) {
+		case SVM_ARS:
+		default:
+			tA = (uint32_t)(T1+T2+0.5f*T0);
+			tB = (uint32_t)(0.5f*T0);
+			tC = (uint32_t)(T1+0.5f*T0);
+			break;
+
+		case V7_ODD_V0_EVEN:
+		case NULL_V0:
+			tA = (uint32_t)(T1+T2);
+			tB = (uint32_t)(0);
+			tC = (uint32_t)(T1);
+			break;
+
+		case V0_ODD_V7_EVEN:
+		case NULL_V7:
+			tA = (uint32_t)(PWMFullDutyCycle);
+			tB = (uint32_t)(T0);
+			tC = (uint32_t)(T0+T1);
+			break;
+		}
 		break;
 	}
 	}
diff --git a/motor/foc_math.h b/motor/foc_math.h
index a2210829a..c0eb2321a 100644
--- a/motor/foc_math.h
+++ b/motor/foc_math.h
@@ -210,7 +210,8 @@ void foc_observer_update(float v_alpha, float v_beta, float i_alpha, float i_bet
 void foc_pll_run(float phase, float dt, float *phase_var,
 		float *speed_var, mc_configuration *conf);
 void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
-		uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, uint32_t *svm_sector);
+		uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, 
+		uint32_t *svm_sector, commutation_technique_t comm_tech);
 void foc_run_pid_control_pos(bool index_found, float dt, motor_all_state_t *motor);
 void foc_run_pid_control_speed(float dt, motor_all_state_t *motor);
 float foc_correct_encoder(float obs_angle, float enc_angle, float speed, float sl_erpm, motor_all_state_t *motor);
diff --git a/motor/mcpwm_foc.c b/motor/mcpwm_foc.c
index 120e3303a..a27e50ddc 100644
--- a/motor/mcpwm_foc.c
+++ b/motor/mcpwm_foc.c
@@ -4236,7 +4236,8 @@ static void control_current(motor_all_state_t *motor, float dt) {
 				(uint32_t*)&motor->m_duty1_next,
 				(uint32_t*)&motor->m_duty2_next,
 				(uint32_t*)&motor->m_duty3_next,
-				(uint32_t*)&state_m->svm_sector);
+				(uint32_t*)&state_m->svm_sector,
+				SVM_ARS);
 			motor->m_duty_next_set = true;
 		}
 	} else {
@@ -4262,7 +4263,7 @@ static void control_current(motor_all_state_t *motor, float dt) {
 
 	// Calculate the duty cycles for all the phases. This also injects a zero modulation signal to
 	// be able to fully utilize the bus voltage. See https://microchipdeveloper.com/mct5001:start
-	foc_svm(state_m->mod_alpha_raw, state_m->mod_beta_raw, top, &duty1, &duty2, &duty3, (uint32_t*)&state_m->svm_sector);
+	foc_svm(state_m->mod_alpha_raw, state_m->mod_beta_raw, top, &duty1, &duty2, &duty3, (uint32_t*)&state_m->svm_sector, SVM_ARS);
 
 	if (motor == &m_motor_1) {
 		TIMER_UPDATE_DUTY_M1(duty1, duty2, duty3);

From e0f8c7226a4dd1f4690b336d5f5fe53b22434cff Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Tue, 17 Jan 2023 22:15:19 -0600
Subject: [PATCH 09/16] Adding sector_LUT

---
 motor/foc_math.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index b9c450df3..6a7fb73f4 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -21,6 +21,10 @@
 #include "utils_math.h"
 #include <math.h>
 
+
+const uint8_t sector_LUT[6] = {6u, 2u, 1u, 4u, 5u, 3u};
+
+
 // See http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf
 void foc_observer_update(float v_alpha, float v_beta, float i_alpha, float i_beta,
 		float dt, observer_state *state, float *phase, motor_all_state_t *motor) {

From fb3490c7adba2df73db6ff387e639b79d0a069cf Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Wed, 15 Feb 2023 21:23:35 -0600
Subject: [PATCH 10/16] Fixing bug when a, b, c are all zero

---
 motor/foc_math.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 6a7fb73f4..5f5d36754 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -227,7 +227,8 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 	b *= temp;
 	c = -1.0f*(a+b); // kirchhoff current law (current in = current out)
 
-	N = (((int32_t)a)>=0) + 2u*(((int32_t)b) >= 0) + 4u*(((int32_t)c) >= 0);
+	N = (((int32_t)a) >= 0) + 2u*(((int32_t)b) >= 0) + 4u*(((int32_t)c) >= 0);
+	N = (N > 6) ? 3 : N; // if a, b, c are all zero set it to index 3, sector 1 (alpha & beta are zero)
 	sector = sector_LUT[N-1];
 
 	switch(sector) {

From 8a020da82d05f626f5410c1313a02897cd1cd7a4 Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Thu, 16 Feb 2023 20:55:37 -0600
Subject: [PATCH 11/16] code clean up

---
 motor/foc_math.c | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 5f5d36754..682369a3a 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -200,7 +200,6 @@ void foc_pll_run(float phase, float dt, float *phase_var,
 /**
  * @brief svm Space vector modulation. Magnitude must not be larger than sqrt(3)/2, or 0.866 to avoid overmodulation.
  *        See https://github.com/vedderb/bldc/pull/372#issuecomment-962499623 for a full description.
- *        Null=V0 variation (reduces switching losses by up to 33%)
  *        See the follwoing links for a full description: 
  *        https://youtu.be/5eQyoVMz1dY
  *        https://link.gale.com/apps/doc/A18320578/AONE
@@ -208,14 +207,14 @@ void foc_pll_run(float phase, float dt, float *phase_var,
  * @param beta Park transformed and normalized voltage
  * @param PWMFullDutyCycle is the peak value of the PWM counter.
  * @param tAout PWM duty cycle phase A (0 = off all of the time, PWMFullDutyCycle = on all of the time)
- * @param tBout PWM duty cycle phase B
- * @param tCout PWM duty cycle phase C
+ * @param tBout PWM duty cycle phase B (0 = off all of the time, PWMFullDutyCycle = on all of the time)
+ * @param tCout PWM duty cycle phase C (0 = off all of the time, PWMFullDutyCycle = on all of the time)
  */
 void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 				uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, 
 				uint32_t *svm_sector, commutation_technique_t comm_tech) {
-	uint8_t sector;
-	uint32_t tA, tB, tC, N;	// PWM timings
+
+	uint32_t tA, tB, tC, N, sector = 0u;
 	float T0, T1, T2, a, b, c, temp = 0.0f;
 
 	a = SQRT3_BY_2*alpha - 0.5f*beta;
@@ -228,7 +227,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 	c = -1.0f*(a+b); // kirchhoff current law (current in = current out)
 
 	N = (((int32_t)a) >= 0) + 2u*(((int32_t)b) >= 0) + 4u*(((int32_t)c) >= 0);
-	N = (N > 6) ? 3 : N; // if a, b, c are all zero set it to index 3, sector 1 (alpha & beta are zero)
+	N = (N > 6u) ? 3u : N; // if a, b, c are all zero set it to index 3, sector 1 (alpha & beta are zero)
 	sector = sector_LUT[N-1];
 
 	switch(sector) {
@@ -416,7 +415,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 	*tAout = tA;
 	*tBout = tB;
 	*tCout = tC;
-	*svm_sector = (uint32_t)sector;
+	*svm_sector = sector;
 }
 
 void foc_run_pid_control_pos(bool index_found, float dt, motor_all_state_t *motor) {

From e42ce49944783fc406f53f7f2d5d6903545b9fdc Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Thu, 16 Feb 2023 21:01:28 -0600
Subject: [PATCH 12/16] Fixing -Wmaybe-uninitialized warning

---
 motor/foc_math.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 682369a3a..72c1d32d0 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -214,8 +214,8 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 				uint32_t* tAout, uint32_t* tBout, uint32_t* tCout, 
 				uint32_t *svm_sector, commutation_technique_t comm_tech) {
 
-	uint32_t tA, tB, tC, N, sector = 0u;
-	float T0, T1, T2, a, b, c, temp = 0.0f;
+	uint32_t tA = 0u, tB = 0u, tC = 0u, N = 0u, sector = 0u;
+	float T0 = 0.0f, T1 = 0.0f, T2 = 0.0f, a = 0.0f, b = 0.0f, c = 0.0f, temp = 0.0f;
 
 	a = SQRT3_BY_2*alpha - 0.5f*beta;
 	b = beta;

From bf5f22bf6586c8d2bbf074806fba6f315d962d4a Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Sun, 19 Feb 2023 13:29:50 -0600
Subject: [PATCH 13/16] Adding MCCONF parameter for commutation type

---
 confgenerator.c        |  3 +++
 datatypes.h            |  3 ++-
 motor/foc_math.c       | 12 ++++++------
 motor/mcconf_default.h |  3 +++
 motor/mcpwm_foc.c      |  4 ++--
 5 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/confgenerator.c b/confgenerator.c
index 5ed3e7eab..e71fee4d8 100644
--- a/confgenerator.c
+++ b/confgenerator.c
@@ -130,6 +130,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer[ind++] = conf->foc_phase_filter_disable_fault;
 	buffer_append_float32_auto(buffer, conf->foc_phase_filter_max_erpm, &ind);
 	buffer[ind++] = conf->foc_mtpa_mode;
+	buffer[ind++] = conf->foc_commutation_type;
 	buffer_append_float32_auto(buffer, conf->foc_fw_current_max, &ind);
 	buffer_append_float16(buffer, conf->foc_fw_duty_start, 10000, &ind);
 	buffer_append_float16(buffer, conf->foc_fw_ramp_time, 1000, &ind);
@@ -527,6 +528,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->foc_phase_filter_disable_fault = buffer[ind++];
 	conf->foc_phase_filter_max_erpm = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_mtpa_mode = buffer[ind++];
+	conf->foc_commutation_type = buffer[ind++];
 	conf->foc_fw_current_max = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_fw_duty_start = buffer_get_float16(buffer, 10000, &ind);
 	conf->foc_fw_ramp_time = buffer_get_float16(buffer, 1000, &ind);
@@ -920,6 +922,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->foc_phase_filter_disable_fault = MCCONF_FOC_PHASE_FILTER_DISABLE_FAULT;
 	conf->foc_phase_filter_max_erpm = MCCONF_FOC_PHASE_FILTER_MAX_ERPM;
 	conf->foc_mtpa_mode = MCCONF_FOC_MTPA_MODE;
+	conf->foc_commutation_type = MCCONF_FOC_COMMUTATION_TYPE;
 	conf->foc_fw_current_max = MCCONF_FOC_FW_CURRENT_MAX;
 	conf->foc_fw_duty_start = MCCONF_FOC_FW_DUTY_START;
 	conf->foc_fw_ramp_time = MCCONF_FOC_FW_RAMP_TIME;
diff --git a/datatypes.h b/datatypes.h
index 4a19a4363..4fc377415 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -26,7 +26,7 @@
 
 // Data types
 typedef enum {
-	SVM_ARS = 0,		// default (previous implementation)
+	ALT_REV_SEQ = 0,	// alternating reversing sequence (previous implementation)
 	NULL_V0,			// flat bottom
 	NULL_V7,			// flat top
 	V7_ODD_V0_EVEN,		// v7 in [1,3,5] v0 in [2,4,6]
@@ -466,6 +466,7 @@ typedef struct {
 	bool foc_phase_filter_disable_fault;
 	float foc_phase_filter_max_erpm;
 	MTPA_MODE foc_mtpa_mode;
+	commutation_technique_t foc_commutation_type;
 	// Field Weakening
 	float foc_fw_current_max;
 	float foc_fw_duty_start;
diff --git a/motor/foc_math.c b/motor/foc_math.c
index 72c1d32d0..85e37138d 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -237,7 +237,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		T0 = (float)PWMFullDutyCycle - T1 - T2;
 
 		switch (comm_tech) {
-		case SVM_ARS:
+		case ALT_REV_SEQ:
 		default:
 			tA = (uint32_t)(T1+T2+0.5f*T0);
 			tB = (uint32_t)(T2+0.5f*T0);
@@ -267,7 +267,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		T0 = (float)PWMFullDutyCycle - T1 - T2;
 
 		switch (comm_tech) {
-		case SVM_ARS:
+		case ALT_REV_SEQ:
 		default:
 			tA = (uint32_t)(T1+0.5f*T0);
 			tB = (uint32_t)(T1+T2+0.5f*T0);
@@ -297,7 +297,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		T0 = (float)PWMFullDutyCycle - T1 - T2;
 
 		switch (comm_tech) {
-		case SVM_ARS:
+		case ALT_REV_SEQ:
 		default:
 			tA = (uint32_t)(0.5f*T0);
 			tB = (uint32_t)(T1+T2+0.5f*T0);
@@ -327,7 +327,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		T0 = (float)PWMFullDutyCycle - T1 - T2;
 
 		switch (comm_tech) {
-		case SVM_ARS:
+		case ALT_REV_SEQ:
 		default:
 			tA = (uint32_t)(0.5f*T0);
 			tB = (uint32_t)(T1+0.5f*T0);
@@ -357,7 +357,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		T0 = (float)PWMFullDutyCycle - T1 - T2;
 
 		switch (comm_tech) {
-		case SVM_ARS:
+		case ALT_REV_SEQ:
 		default:
 			tA = (uint32_t)(T2+0.5f*T0);
 			tB = (uint32_t)(0.5f*T0);
@@ -387,7 +387,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		T0 = (float)PWMFullDutyCycle - T1 - T2;
 
 		switch (comm_tech) {
-		case SVM_ARS:
+		case ALT_REV_SEQ:
 		default:
 			tA = (uint32_t)(T1+T2+0.5f*T0);
 			tB = (uint32_t)(0.5f*T0);
diff --git a/motor/mcconf_default.h b/motor/mcconf_default.h
index 8da59c572..5327e9ef9 100644
--- a/motor/mcconf_default.h
+++ b/motor/mcconf_default.h
@@ -472,6 +472,9 @@
 #ifndef MCCONF_FOC_SPEED_SOURCE
 #define MCCONF_FOC_SPEED_SOURCE			SPEED_SRC_OBSERVER // Position source for speed trackers
 #endif
+#ifndef MCCONF_FOC_COMMUTATION_TYPE
+#define MCCONF_FOC_COMMUTATION_TYPE		ALT_REV_SEQ // Commutation method during FOC
+#endif
 
 // GPD
 #ifndef MCCONF_GPD_BUFFER_NOTIFY_LEFT
diff --git a/motor/mcpwm_foc.c b/motor/mcpwm_foc.c
index a27e50ddc..7e49751af 100644
--- a/motor/mcpwm_foc.c
+++ b/motor/mcpwm_foc.c
@@ -4237,7 +4237,7 @@ static void control_current(motor_all_state_t *motor, float dt) {
 				(uint32_t*)&motor->m_duty2_next,
 				(uint32_t*)&motor->m_duty3_next,
 				(uint32_t*)&state_m->svm_sector,
-				SVM_ARS);
+				motor->m_conf->foc_commutation_type);
 			motor->m_duty_next_set = true;
 		}
 	} else {
@@ -4263,7 +4263,7 @@ static void control_current(motor_all_state_t *motor, float dt) {
 
 	// Calculate the duty cycles for all the phases. This also injects a zero modulation signal to
 	// be able to fully utilize the bus voltage. See https://microchipdeveloper.com/mct5001:start
-	foc_svm(state_m->mod_alpha_raw, state_m->mod_beta_raw, top, &duty1, &duty2, &duty3, (uint32_t*)&state_m->svm_sector, SVM_ARS);
+	foc_svm(state_m->mod_alpha_raw, state_m->mod_beta_raw, top, &duty1, &duty2, &duty3, (uint32_t*)&state_m->svm_sector, motor->m_conf->foc_commutation_type);
 
 	if (motor == &m_motor_1) {
 		TIMER_UPDATE_DUTY_M1(duty1, duty2, duty3);

From a120e30a97d4abf829dd60966c605a112784994e Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Sun, 19 Feb 2023 19:14:44 -0600
Subject: [PATCH 14/16] Updating option

---
 confgenerator.c | 6 +++---
 confgenerator.h | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/confgenerator.c b/confgenerator.c
index e71fee4d8..48b2b6e2a 100644
--- a/confgenerator.c
+++ b/confgenerator.c
@@ -130,12 +130,12 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer[ind++] = conf->foc_phase_filter_disable_fault;
 	buffer_append_float32_auto(buffer, conf->foc_phase_filter_max_erpm, &ind);
 	buffer[ind++] = conf->foc_mtpa_mode;
-	buffer[ind++] = conf->foc_commutation_type;
 	buffer_append_float32_auto(buffer, conf->foc_fw_current_max, &ind);
 	buffer_append_float16(buffer, conf->foc_fw_duty_start, 10000, &ind);
 	buffer_append_float16(buffer, conf->foc_fw_ramp_time, 1000, &ind);
 	buffer_append_float16(buffer, conf->foc_fw_q_current_factor, 10000, &ind);
 	buffer[ind++] = conf->foc_speed_soure;
+	buffer[ind++] = conf->foc_commutation_type;
 	buffer_append_int16(buffer, conf->gpd_buffer_notify_left, &ind);
 	buffer_append_int16(buffer, conf->gpd_buffer_interpol, &ind);
 	buffer_append_float16(buffer, conf->gpd_current_filter_const, 10000, &ind);
@@ -528,12 +528,12 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->foc_phase_filter_disable_fault = buffer[ind++];
 	conf->foc_phase_filter_max_erpm = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_mtpa_mode = buffer[ind++];
-	conf->foc_commutation_type = buffer[ind++];
 	conf->foc_fw_current_max = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_fw_duty_start = buffer_get_float16(buffer, 10000, &ind);
 	conf->foc_fw_ramp_time = buffer_get_float16(buffer, 1000, &ind);
 	conf->foc_fw_q_current_factor = buffer_get_float16(buffer, 10000, &ind);
 	conf->foc_speed_soure = buffer[ind++];
+	conf->foc_commutation_type = buffer[ind++];
 	conf->gpd_buffer_notify_left = buffer_get_int16(buffer, &ind);
 	conf->gpd_buffer_interpol = buffer_get_int16(buffer, &ind);
 	conf->gpd_current_filter_const = buffer_get_float16(buffer, 10000, &ind);
@@ -922,12 +922,12 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->foc_phase_filter_disable_fault = MCCONF_FOC_PHASE_FILTER_DISABLE_FAULT;
 	conf->foc_phase_filter_max_erpm = MCCONF_FOC_PHASE_FILTER_MAX_ERPM;
 	conf->foc_mtpa_mode = MCCONF_FOC_MTPA_MODE;
-	conf->foc_commutation_type = MCCONF_FOC_COMMUTATION_TYPE;
 	conf->foc_fw_current_max = MCCONF_FOC_FW_CURRENT_MAX;
 	conf->foc_fw_duty_start = MCCONF_FOC_FW_DUTY_START;
 	conf->foc_fw_ramp_time = MCCONF_FOC_FW_RAMP_TIME;
 	conf->foc_fw_q_current_factor = MCCONF_FOC_FW_Q_CURRENT_FACTOR;
 	conf->foc_speed_soure = MCCONF_FOC_SPEED_SOURCE;
+	conf->foc_commutation_type = MCCONF_FOC_COMMUTATION_TYPE;
 	conf->gpd_buffer_notify_left = MCCONF_GPD_BUFFER_NOTIFY_LEFT;
 	conf->gpd_buffer_interpol = MCCONF_GPD_BUFFER_INTERPOL;
 	conf->gpd_current_filter_const = MCCONF_GPD_CURRENT_FILTER_CONST;
diff --git a/confgenerator.h b/confgenerator.h
index 680c3d873..ecac92fd9 100644
--- a/confgenerator.h
+++ b/confgenerator.h
@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		776184161
+#define MCCONF_SIGNATURE		608083588
 #define APPCONF_SIGNATURE		486554156
 
 // Functions

From 24745290c9b9332a4ec6de0ecee079c1b0d3061f Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Sun, 26 Feb 2023 11:44:02 -0600
Subject: [PATCH 15/16] Adding sector 0 protection and fixing null v7 pwm

---
 motor/foc_math.c | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 85e37138d..1facd3b06 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -227,8 +227,8 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 	c = -1.0f*(a+b); // kirchhoff current law (current in = current out)
 
 	N = (((int32_t)a) >= 0) + 2u*(((int32_t)b) >= 0) + 4u*(((int32_t)c) >= 0);
-	N = (N > 6u) ? 3u : N; // if a, b, c are all zero set it to index 3, sector 1 (alpha & beta are zero)
-	sector = sector_LUT[N-1];
+	N = (N > 6u || N == 0u) ? 2u : N-1; // if a, b, c are all zero (happens when alpha & beta are zero) or negative set it to index 2 (sector 1)
+	sector = sector_LUT[N];
 
 	switch(sector) {
 	case 1: {
@@ -253,7 +253,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 
 		case V7_ODD_V0_EVEN:
 		case NULL_V7:
-			tA = (uint32_t)(PWMFullDutyCycle);
+			tA = (uint32_t)(PWMFullDutyCycle+1);
 			tB = (uint32_t)(T0+T2);
 			tC = (uint32_t)(T0);
 			break;
@@ -284,7 +284,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		case V0_ODD_V7_EVEN:
 		case NULL_V7:
 			tA = (uint32_t)(T0+T1);
-			tB = (uint32_t)(PWMFullDutyCycle);
+			tB = (uint32_t)(PWMFullDutyCycle+1);
 			tC = (uint32_t)(T0);
 			break;
 		}
@@ -314,7 +314,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		case V7_ODD_V0_EVEN:
 		case NULL_V7:
 			tA = (uint32_t)(T0);
-			tB = (uint32_t)(PWMFullDutyCycle);
+			tB = (uint32_t)(PWMFullDutyCycle+1);
 			tC = (uint32_t)(T0+T2);
 			break;
 		}
@@ -345,7 +345,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		case NULL_V7:
 			tA = (uint32_t)(T0);
 			tB = (uint32_t)(T0+T1);
-			tC = (uint32_t)(PWMFullDutyCycle);
+			tC = (uint32_t)(PWMFullDutyCycle+1);
 			break;
 		}
 		break;
@@ -375,7 +375,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		case NULL_V7:
 			tA = (uint32_t)(T0+T2);
 			tB = (uint32_t)(T0);
-			tC = (uint32_t)(PWMFullDutyCycle);
+			tC = (uint32_t)(PWMFullDutyCycle+1);
 			break;
 		}
 		break;
@@ -403,7 +403,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 
 		case V0_ODD_V7_EVEN:
 		case NULL_V7:
-			tA = (uint32_t)(PWMFullDutyCycle);
+			tA = (uint32_t)(PWMFullDutyCycle+1);
 			tB = (uint32_t)(T0);
 			tC = (uint32_t)(T0+T1);
 			break;

From 0cc00630c86fba0c37470dfa25adca9ca3a463aa Mon Sep 17 00:00:00 2001
From: Rampagy <alexjsimon32@gmail.com>
Date: Wed, 3 May 2023 19:53:04 -0500
Subject: [PATCH 16/16] Removing +1 for full duty cycle

---
 motor/foc_math.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/motor/foc_math.c b/motor/foc_math.c
index 1facd3b06..5aaf94a7b 100644
--- a/motor/foc_math.c
+++ b/motor/foc_math.c
@@ -253,7 +253,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 
 		case V7_ODD_V0_EVEN:
 		case NULL_V7:
-			tA = (uint32_t)(PWMFullDutyCycle+1);
+			tA = (uint32_t)(PWMFullDutyCycle);
 			tB = (uint32_t)(T0+T2);
 			tC = (uint32_t)(T0);
 			break;
@@ -284,7 +284,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		case V0_ODD_V7_EVEN:
 		case NULL_V7:
 			tA = (uint32_t)(T0+T1);
-			tB = (uint32_t)(PWMFullDutyCycle+1);
+			tB = (uint32_t)(PWMFullDutyCycle);
 			tC = (uint32_t)(T0);
 			break;
 		}
@@ -314,7 +314,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		case V7_ODD_V0_EVEN:
 		case NULL_V7:
 			tA = (uint32_t)(T0);
-			tB = (uint32_t)(PWMFullDutyCycle+1);
+			tB = (uint32_t)(PWMFullDutyCycle);
 			tC = (uint32_t)(T0+T2);
 			break;
 		}
@@ -345,7 +345,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		case NULL_V7:
 			tA = (uint32_t)(T0);
 			tB = (uint32_t)(T0+T1);
-			tC = (uint32_t)(PWMFullDutyCycle+1);
+			tC = (uint32_t)(PWMFullDutyCycle);
 			break;
 		}
 		break;
@@ -375,7 +375,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 		case NULL_V7:
 			tA = (uint32_t)(T0+T2);
 			tB = (uint32_t)(T0);
-			tC = (uint32_t)(PWMFullDutyCycle+1);
+			tC = (uint32_t)(PWMFullDutyCycle);
 			break;
 		}
 		break;
@@ -403,7 +403,7 @@ void foc_svm(float alpha, float beta, uint32_t PWMFullDutyCycle,
 
 		case V0_ODD_V7_EVEN:
 		case NULL_V7:
-			tA = (uint32_t)(PWMFullDutyCycle+1);
+			tA = (uint32_t)(PWMFullDutyCycle);
 			tB = (uint32_t)(T0);
 			tC = (uint32_t)(T0+T1);
 			break;