From ce2ee9bb3f58390dd21a3290dd86ad5c22704fb2 Mon Sep 17 00:00:00 2001 From: raiden00pl Date: Thu, 19 Oct 2023 09:20:26 +0200 Subject: [PATCH] industry/foc: use b16sign() instead of custom ABS() macro fixedmath now supports sign functions so we no longer need to use a dedicated macro --- industry/foc/fixed16/foc_ang_onfo.c | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/industry/foc/fixed16/foc_ang_onfo.c b/industry/foc/fixed16/foc_ang_onfo.c index f5c2c453f..af1d7565f 100644 --- a/industry/foc/fixed16/foc_ang_onfo.c +++ b/industry/foc/fixed16/foc_ang_onfo.c @@ -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. */