manabu kosaka
UVW 3 phases Brushless DC motor control
Dependencies: QEI mbed-rtos mbed
Fork of
DCmotor
by 
manabu kosaka
fast_math.h@14:7f83c4b96d34, 2013-06-07 (annotated)
- Committer:
- kosaka
- Date:
- Fri Jun 07 08:49:44 2013 +0000
- Revision:
- 14:7f83c4b96d34
- Parent:
- 13:791e20f1af43
mbed-rtos is updated
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| kosaka | 12:a4b17bb682eb | 1 | #ifndef __fast_math_h |
| kosaka | 12:a4b17bb682eb | 2 | #define __fast_math_h |
| kosaka | 12:a4b17bb682eb | 3 | |
| kosaka | 13:791e20f1af43 | 4 | #define PI 3.14159265358979 // π: def. of PI |
| kosaka | 13:791e20f1af43 | 5 | #define DEG60 512 // 60degを512に定義 |
| kosaka | 12:a4b17bb682eb | 6 | |
| kosaka | 12:a4b17bb682eb | 7 | extern unsigned short sin60[]; // sin table from 0 to 60 deg. (max precision error is 0.003%) |
| kosaka | 12:a4b17bb682eb | 8 | // sin(th) = (float)(_sin(th/(PI/3.)*(float)DEG60+0.5))/65535.; |
| kosaka | 12:a4b17bb682eb | 9 | extern long _sin(unsigned short); // return( 65535*sin(th) ), th=rad*DEG60/(PI/3)=rad*(512*3)/PI (0<=rad<2*PI) |
| kosaka | 12:a4b17bb682eb | 10 | extern long _cos(unsigned short); // return( 65535*sin(th) ), th=rad*DEG60/(PI/3)=rad*(512*3)/PI (0<=rad<2*PI) |
| kosaka | 12:a4b17bb682eb | 11 | extern void init_fast_math(); // call before using _sin(). sin0-sin60deg; 0deg=0, 60deg=512 |
| kosaka | 12:a4b17bb682eb | 12 | |
| kosaka | 12:a4b17bb682eb | 13 | //extern float norm(float); // ２ノルムを計算 |
| kosaka | 12:a4b17bb682eb | 14 | extern float sqrt2(float x); // √xのx=1まわりのテイラー展開 √x = 1 + 1/2*(x-1) -1/4*(x-1)^2 + ... |
| kosaka | 12:a4b17bb682eb | 15 | |
| kosaka | 12:a4b17bb682eb | 16 | #endif |