4.10. Miscellaneous¶

A few other modules don’t have anything directly to do with the behavior of the MCAF but contribute to areas like math routines.

4.10.1. Implementation Notes¶

Module	Files	Description	Comments
`parameters/motor_params`	`parameters/motor_params.h`	Motor parameters (including R, L, Ke, J, etc.)
`parameters/operating_params`	`parameters/operating_params.h`	Operating parameters such as speed ranges and slew rates
`parameters/timing_params`	`parameters/timing_params.h`	various timing parameters
`atan2cordic`	`atan2cordic.s`	C-callable CORDIC implementation of arctangent, `atan2CORDIC()`	This contains an assembly implementation of a Q15 CORDIC based arctangent, and may be abandoned or replaced by a C implementation.
`math_asm`	`math_asm.h` `math_asm.s`	Utility math routines	This contains an assembly implementation of a Q15 fixed-point square root `Q15SQRT()` which is likely to be replaced by one of two alternatives: not using a square root at all (at present it is involved in saturation-handling logic in the vector current loop) using the `_Q15sqrt()` function found in the standard `libq` library in the 16-Bit Language Tools Libraries
`timing`	`timing.h`	Utility routines for timing
`util`	`util.h`	Miscellaneous utility and math functions	Contains numerous inline utility functions with the prefix `UTIL_` for things like squaring of Q15 numbers with a fixup for -32768, limiting a value between a minimum and maximum, etc. Essentially all small functions that had potential for reuse were refactored and placed in this module.