change float calculation to fixed point calculation #147
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Have you tested stall protection and PID loop functions? Do they work as intended. I have not been able to test this yet but the changes look good. |
AlkaMotors
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AlkaMotors
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Feb 21, 2025
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Cortex-M0/M0+/M4(not M4F)/M23 has no FPU, float calculations use soft abi implimentation.
This cause complex calculation process and large code size.
Change all float calculations to fixed point calculations can save about 4 kB Flash space, and more efficiency calculation process.
This change is only tested on GD32DEV_A_E230 target(I only have this).