Merge pull request #358 from runger1101001/dev

Fix some constants, update library files for next release

README.md

@@ -25,17 +25,8 @@ Therefore this is an attempt to:
    - *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
-> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.2
-> - Improved [space vector modulation code](https://github.com/simplefoc/Arduino-FOC/pull/309) thanks to [@Candas1](https://github.com/Candas1)
-> - Bugfix for stepper motor initialization
-> - Bugfix for current sensing when only 2 phase currents available - please re-check your current sense PID tuning
-> - Bugfix for teensy3.2 - [#321](https://github.com/simplefoc/Arduino-FOC/pull/321)
-> - Added teensy3/4 compile to the github CI using platformio
-> - Fix compile issues with recent versions of ESP32 framework
-> - Add ADC calibration on STM32 MCUs
-> - Bugfix for crash when using ADC2 on ESP32s - [thanks to @mcells](https://github.com/simplefoc/Arduino-FOC/pull/346)
-> - Bugfix for renesas PWM on UNO R4 WiFi - [thanks to @facchinm](https://github.com/simplefoc/Arduino-FOC/pull/322)
-> - And more bugfixes - see the complete list of 2.3.2 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/9?closed=1)
+> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.3
+> - And more bugfixes - see the complete list of 2.3.3 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/10?closed=1)
 
 
 ## Arduino *SimpleFOClibrary* v2.3.2

library.properties

@@ -1,5 +1,5 @@
 name=Simple FOC
-version=2.3.2
+version=2.3.3
 author=Simplefoc <info@simplefoc.com>
 maintainer=Simplefoc <info@simplefoc.com>
 sentence=A library demistifying FOC for BLDC motors

src/common/base_classes/Sensor.cpp

@@ -19,7 +19,7 @@ void Sensor::update() {
  /** get current angular velocity (rad/s) */
 float Sensor::getVelocity() {
     // calculate sample time
-    float Ts = (angle_prev_ts - vel_angle_prev_ts)*1e-6;
+    float Ts = (angle_prev_ts - vel_angle_prev_ts)*1e-6f;
     if (Ts < 0.0f) {    // handle micros() overflow - we need to reset vel_angle_prev_ts
         vel_angle_prev = angle_prev;
         vel_full_rotations = full_rotations;

src/common/defaults.h

@@ -43,7 +43,7 @@
 // align voltage
 #define DEF_VOLTAGE_SENSOR_ALIGN 3.0f //!< default voltage for sensor and motor zero alignemt
 // low pass filter velocity
-#define DEF_VEL_FILTER_Tf 0.005 //!< default velocity filter time constant
+#define DEF_VEL_FILTER_Tf 0.005f //!< default velocity filter time constant
 
 // current sense default parameters
 #define DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf 0.0f  //!< default currnet sense per phase low pass filter time constant 

src/common/foc_utils.cpp

@@ -9,7 +9,7 @@ __attribute__((weak)) float _sin(float a){
   // 16 bit precision on sine value, 8 bit fractional value for interpolation, 6bit LUT size
   // resulting precision compared to stdlib sine is 0.00006480 (RMS difference in range -PI,PI for 3217 steps)
   static uint16_t sine_array[65] = {0,804,1608,2411,3212,4011,4808,5602,6393,7180,7962,8740,9512,10279,11039,11793,12540,13279,14010,14733,15447,16151,16846,17531,18205,18868,19520,20160,20788,21403,22006,22595,23170,23732,24279,24812,25330,25833,26320,26791,27246,27684,28106,28511,28899,29269,29622,29957,30274,30572,30853,31114,31357,31581,31786,31972,32138,32286,32413,32522,32610,32679,32729,32758,32768};
-  unsigned int i = (unsigned int)(a * (64*4*256.0 /_2PI));
+  unsigned int i = (unsigned int)(a * (64*4*256/_2PI));
   int t1, t2, frac = i & 0xff;
   i = (i >> 8) & 0xff;
   if (i < 64) {