Tinymovr

//  * This file is part of the Tinymovr-Firmware distribution
//  * (https://github.com/yconst/tinymovr-firmware).
//  * 
//  *  *except* for the function "SVM()", which is Copyright (c) 2016-2018 Oskar Weigl
//  * 
//  * Copyright (c) 2020-2023 Ioannis Chatzikonstantinou.
//  * 
//  * This program is free software: you can redistribute it and/or modify  
//  * it under the terms of the GNU General Public License as published by  
//  * the Free Software Foundation, version 3.
//  *
//  * This program is distributed in the hope that it will be useful, but 
//  * WITHOUT ANY WARRANTY; without even the implied warranty of 
//  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
//  * General Public License for more details.
//  *
//  * You should have received a copy of the GNU General Public License 
//  * along with this program. If not, see <http://www.gnu.org/licenses/>.

#pragma once

#include "src/common.h"

#if __ARM_FEATURE_FMA && __ARM_FP&4 && !__SOFTFP__ && !BROKEN_VFP_ASM

static inline float fast_sqrt(float x)
{
	__asm__ ("vsqrt.f32 %0, %1" : "=t"(x) : "t"(x));
	return x;
}

static inline float our_fabsf(float x)
{
    __asm__ ("vabs.f32 %0, %1" : "=t"(x) : "t"(x));
    return x;
}

#else

#error No math implemented without Arm FPU!

#endif

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wstrict-aliasing"
#pragma GCC diagnostic ignored "-Wuninitialized"
static inline float fast_inv_sqrt(float n)
{
	long i;
	float y;

	const float x = n * 0.5f;
	y = n;
	i = *(long *)&y;
	i = 0x5f3759df - (i >> 1);
	y = *(float *)&i;
	y = y * (1.5f - (x * y * y));

	return y;
}
#pragma GCC diagnostic pop

static inline float our_fminf(float a, float b)
{
    return a > b ? b : a;
}

static inline float our_fmaxf(float a, float b)
{
    return a > b ? a : b;
}

static inline float sgnf(float v)
{
    return (v > 0.0f) - (v < 0.0f);
}

static inline void delay_us(uint32_t us)
{
    pac_delay_asm(us * 16u);
}

static inline bool our_clampc(float *d, float min, float max)
{
    const float t = *d < min ? min : *d;
    *d = t > max ? max : t;
    return (*d == min) || (*d == max);
}

static inline float our_clamp(float d, float min, float max)
{
    const float t = d < min ? min : d;
    return t > max ? max : t;
}

static inline float our_floorf(float x)
{
	if (x >= 0.0f)
	{
		return (float)((int)x);
	}
	return (float)((int)x - 1);
}


// based on https://github.com/divideconcept/FastTrigo/blob/master/fasttrigo.cpp
static inline float cos_32s(float x)
{
    const float c1= 0.99940307f;
    const float c2=-0.49558072f;
    const float c3= 0.03679168f;
    float x2;      // The input argument squared
    x2=x * x;
    return (c1 + x2*(c2 + c3 * x2));
}

static inline float fast_cos(float angle)
{
    //clamp to the range 0..2pi
    angle=angle-our_floorf(angle * INVTWOPI) * TWOPI;
    angle=angle>0.f?angle:-angle;

    if(angle<halfpi) return cos_32s(angle);
    if(angle<pi) return -cos_32s(pi-angle);
    if(angle<threehalfpi) return -cos_32s(angle-pi);
    return cos_32s(TWOPI - angle);
}

static inline float fast_sin(float angle)
{
    return fast_cos(halfpi-angle);
}

static inline uint16_t crc16_ccitt(const uint32_t block[], uint16_t blockLength, uint16_t crc)
{
    PAC55XX_CRC->SEED.CRCSEED = crc;

    // Compute CRC using 32-bit input on memory that is 32-bit aligned 
    while(blockLength)    
    {
        PAC55XX_CRC->DATAIN = *block++;             // Input a 32-bit word
        blockLength = blockLength - 4;              // Decrement Length by 4 bytes
    }
    
    __asm__("NOP");
    __asm__("NOP");

    return PAC55XX_CRC->OUT.CRCOUT;
}

// https://github.com/madcowswe/ODrive/blob/3113aedf081cf40e942d25d3b0b36c8806f11f23/Firmware/MotorControl/utils.c
// Released under teh following license:
// The MIT License (MIT)

// Copyright (c) 2016-2018 Oskar Weigl

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

static inline int SVM(float alpha, float beta, float* tA, float* tB, float* tC)
{
    int Sextant;

    if (beta >= 0.0f)
    {
        if (alpha >= 0.0f)
        {
            //quadrant I
            if (one_by_sqrt3 * beta > alpha)
                Sextant = 2; //sextant v2-v3
            else
                Sextant = 1; //sextant v1-v2

        }
        else
        {
            //quadrant II
            if (-one_by_sqrt3 * beta > alpha)
                Sextant = 3; //sextant v3-v4
            else
                Sextant = 2; //sextant v2-v3
        }
    }
    else
    {
        if (alpha >= 0.0f)
        {
            //quadrant IV
            if (-one_by_sqrt3 * beta > alpha)
                Sextant = 5; //sextant v5-v6
            else
                Sextant = 6; //sextant v6-v1
        }
        else
        {
            //quadrant III
            if (one_by_sqrt3 * beta > alpha)
                Sextant = 4; //sextant v4-v5
            else
                Sextant = 5; //sextant v5-v6
        }
    }

    switch (Sextant)
    {
        // sextant v1-v2
        case 1:
        {
            // Vector on-times
            float t1 = alpha - one_by_sqrt3 * beta;
            float t2 = two_by_sqrt3 * beta;

            // PWM timings
            *tA = (1.0f - t1 - t2) * 0.5f;
            *tB = *tA + t1;
            *tC = *tB + t2;
        } break;

        // sextant v2-v3
        case 2:
        {
            // Vector on-times
            float t2 = alpha + one_by_sqrt3 * beta;
            float t3 = -alpha + one_by_sqrt3 * beta;

            // PWM timings
            *tB = (1.0f - t2 - t3) * 0.5f;
            *tA = *tB + t3;
            *tC = *tA + t2;
        } break;

        // sextant v3-v4
        case 3:
        {
            // Vector on-times
            float t3 = two_by_sqrt3 * beta;
            float t4 = -alpha - one_by_sqrt3 * beta;

            // PWM timings
            *tB = (1.0f - t3 - t4) * 0.5f;
            *tC = *tB + t3;
            *tA = *tC + t4;
        } break;

        // sextant v4-v5
        case 4:
        {
            // Vector on-times
            float t4 = -alpha + one_by_sqrt3 * beta;
            float t5 = -two_by_sqrt3 * beta;

            // PWM timings
            *tC = (1.0f - t4 - t5) * 0.5f;
            *tB = *tC + t5;
            *tA = *tB + t4;
        } break;

        // sextant v5-v6
        case 5:
        {
            // Vector on-times
            float t5 = -alpha - one_by_sqrt3 * beta;
            float t6 = alpha - one_by_sqrt3 * beta;

            // PWM timings
            *tC = (1.0f - t5 - t6) * 0.5f;
            *tA = *tC + t5;
            *tB = *tA + t6;
        } break;

        // sextant v6-v1
        case 6:
        {
            // Vector on-times
            float t6 = -two_by_sqrt3 * beta;
            float t1 = alpha + one_by_sqrt3 * beta;

            // PWM timings
            *tA = (1.0f - t6 - t1) * 0.5f;
            *tC = *tA + t1;
            *tB = *tC + t6;
        } break;
    }

    // if any of the results becomes NaN, result_valid will evaluate to false
    int result_valid =
            *tA >= 0.0f && *tA <= 1.0f
         && *tB >= 0.0f && *tB <= 1.0f
         && *tC >= 0.0f && *tC <= 1.0f;
    return result_valid ? 0 : -1;
}