Merge pull request #373 from runger1101001/dev

Fix bug in ATMega sine computation
simplefoc · Jan 26, 2024 · 77ba3fe · 77ba3fe
2 parents e891cd7 + 36e3da8
commit 77ba3fe
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/common/foc_utils.cpp b/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/_2PI));
+  unsigned int i = (unsigned int)(a * (64*4*256.0f/_2PI));
   int t1, t2, frac = i & 0xff;
   i = (i >> 8) & 0xff;
   if (i < 64) {