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industry/foc: use b16sign() instead of custom ABS() macro

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fixedmath now supports sign functions so we no longer need to use a dedicated macro
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raiden00pl 2023-10-19 09:20:26 +02:00 committed by Xiang Xiao
parent 1c922f2d2d
commit ce2ee9bb3f
1 changed files with 1 additions and 3 deletions
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4
industry/foc/fixed16/foc_ang_onfo.c
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@ -35,8 +35,6 @@
* Pre-processor Definitions
****************************************************************************/
#define SIGN(x) ((x > 0) ? b16ONE : -b16ONE)
#define LINEAR_MAP(x, in_min, in_max, out_min, out_max) \
(b16divb16(b16mulb16((x - in_min), (out_max - out_min)), \
(in_max - in_min)) + out_min)
@ -299,7 +297,7 @@ static int foc_angle_onfo_run_b16(FAR foc_angle_b16_t *h,
/* Update duty cycle now */
duty_now = b16mulb16(SIGN(in->state->vdq.q),
duty_now = b16mulb16(b16sign(in->state->vdq.q),
vector2d_mag_b16(v_dq_mod.d, v_dq_mod.q));
/* Update and the observer gain. */