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Candas1Candas1
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Merge branch 'dev' into foc_refactoring
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‎.github/workflows/ccpp.yml

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@@ -58,15 +58,15 @@ jobs:
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sketch-names: single_full_control_example.ino
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- arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
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platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
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sketch-names: bldc_driver_3pwm_standalone.ino, stepper_driver_2pwm_standalone.ino, stepper_driver_4pwm_standalone
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platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
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sketch-names: bldc_driver_3pwm_standalone.ino,stepper_driver_2pwm_standalone.ino,stepper_driver_4pwm_standalone.ino
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- arduino-boards-fqbn: esp32:esp32:esp32s3 # esp32s3
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platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
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platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
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sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino
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- arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1 # esp32
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platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
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platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
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sketch-names: esp32_position_control.ino, esp32_i2c_dual_bus_example.ino, esp32_current_control_low_side.ino, esp32_spi_alt_example.ino
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- arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8 # bluepill - hs examples

‎.github/workflows/teensy.yml

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name: PlatformIO - Teensy build
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on: [push]
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: actions/cache@v3
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with:
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path: |
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~/.cache/pip
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~/.platformio/.cache
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key: ${{ runner.os }}-pio
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- uses: actions/setup-python@v4
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with:
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python-version: '3.9'
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- name: Install PlatformIO Core
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run: pip install --upgrade platformio
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- name: PIO Run Teensy 4
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run: pio ci --lib="." --board=teensy41 --board=teensy40
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env:
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PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino
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- name: PIO Run Teensy 4
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run: pio ci --lib="." --board=teensy41 --board=teensy40
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env:
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PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino
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- name: PIO Run Teensy 3
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run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36
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env:
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PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino
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- name: PIO Run Teensy 3
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run: pio ci --lib="." --board=teensy31 --board=teensy30 --board=teensy35 --board=teensy36
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env:
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PLATFORMIO_CI_SRC: examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino

‎README.md

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# SimpleFOClibrary - **Simple** Field Oriented Control (FOC) **library** <br>
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### A Cross-Platform FOC implementation for BLDC and Stepper motors<br> based on the Arduino IDE and PlatformIO
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![Library Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Compile/badge.svg)
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![Library Compile](https://github.com/simplefoc/Arduino-FOC/workflows/Library%20Compile/badge.svg) [![PlatformIO - Teensy build](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml/badge.svg)](https://github.com/simplefoc/Arduino-FOC/actions/workflows/teensy.yml)
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![GitHub release (latest by date)](https://img.shields.io/github/v/release/simplefoc/arduino-foc)
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![GitHub Release Date](https://img.shields.io/github/release-date/simplefoc/arduino-foc?color=blue)
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![GitHub commits since tagged version](https://img.shields.io/github/commits-since/simplefoc/arduino-foc/latest/dev)
@@ -24,20 +25,13 @@ Therefore this is an attempt to:
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- *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
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- See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
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> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.1
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> - Support for Arduino UNO R4 Minima (Renesas R7FA4M1 MCU - note UNO R4 WiFi is not yet supported)
29-
> - Support setting PWM polarity on ESP32 (thanks to [@mcells](https://github.com/mcells))
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> - Expose I2C errors in MagneticSensorI2C (thanks to [@padok](https://github.com/padok))
31-
> - Improved default trig functions (sine, cosine) - faster, smaller
32-
> - Overridable trig functions - plug in your own optimized versions
33-
> - Bugfix: microseconds overflow in velocity mode [#287](https://github.com/simplefoc/Arduino-FOC/issues/287)
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> - Bugfix: KV initialization ([5fc3128](https://github.com/simplefoc/Arduino-FOC/commit/5fc3128d282b65c141ca486327c6235089999627))
35-
> - And more bugfixes - see the [complete list of 2.3.1 fixes here](https://github.com/simplefoc/Arduino-FOC/issues?q=is%3Aissue+milestone%3A2.3.1_Release)
36-
> - Change: simplify initFOC() API ([d57d32d](https://github.com/simplefoc/Arduino-FOC/commit/d57d32dd8715dbed4e476469bc3de0c052f1d531). [5231e5e](https://github.com/simplefoc/Arduino-FOC/commit/5231e5e1d044b0cc33ede67664b6ef2f9d0a8cdf), [10c5b87](https://github.com/simplefoc/Arduino-FOC/commit/10c5b872672cab72df16ddd738bbf09bcce95d28))
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> - Change: check for linked driver in currentsense and exit gracefully ([5ef4d9d](https://github.com/simplefoc/Arduino-FOC/commit/5ef4d9d5a92e03da0dd5af7f624243ab30f1b688))
38-
> - Compatibility with newest versions of Arduino framework for STM32, Renesas, ESP32, Atmel SAM, Atmel AVR, nRF52 and RP2040
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## Arduino *SimpleFOClibrary* v2.3.1
28+
> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.2
29+
> - Improved [space vector modulation code](https://github.com/simplefoc/Arduino-FOC/pull/309) thanks to [@Candas1](https://github.com/Candas1)
30+
> - Bugfix for teensy3.2 - [#321](https://github.com/simplefoc/Arduino-FOC/pull/321)
31+
> - Added teensy3/4 compile to the github CI using platformio
32+
> - And more bugfixes - see the [complete list of 2.3.2 fixes here](https://github.com/simplefoc/Arduino-FOC/issues?q=is%3Aissue+milestone%3A2.3.2_Release)
33+
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## Arduino *SimpleFOClibrary* v2.3.2
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<p align="">
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<a href="https://youtu.be/Y5kLeqTc6Zk">

‎keywords.txt

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@@ -133,6 +133,7 @@ sensor_direction KEYWORD2
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sensor_offset KEYWORD2
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zero_electric_angle KEYWORD2
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verbose KEYWORD2
136+
verboseMode KEYWORD1
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decimal_places KEYWORD2
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phase_resistance KEYWORD2
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phase_inductance KEYWORD2

‎library.properties

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name=Simple FOC
2-
version=2.3.1
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version=2.3.2
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author=Simplefoc <[email protected]>
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maintainer=Simplefoc <[email protected]>
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sentence=A library demistifying FOC for BLDC motors

‎src/BLDCMotor.cpp

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@@ -422,7 +422,7 @@ void BLDCMotor::move(float new_target) {
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shaft_angle_sp = target;
423423
// calculate velocity set point
424424
shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
425-
shaft_angle_sp = _constrain(shaft_angle_sp,-velocity_limit, velocity_limit);
425+
shaft_velocity_sp = _constrain(shaft_velocity_sp,-velocity_limit, velocity_limit);
426426
// calculate the torque command - sensor precision: this calculation is ok, but based on bad value from previous calculation
427427
current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
428428
// if torque controlled through voltage
@@ -561,6 +561,8 @@ void BLDCMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) {
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562562
center = driver->voltage_limit/2;
563563
if (foc_modulation == FOCModulationType::SpaceVectorPWM){
564+
// discussed here: https://community.simplefoc.com/t/embedded-world-2023-stm32-cordic-co-processor/3107/165?u=candas1
565+
// a bit more info here: https://microchipdeveloper.com/mct5001:which-zsm-is-best
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// Midpoint Clamp
565567
float Umin = min(Ua, min(Ub, Uc));
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float Umax = max(Ua, max(Ub, Uc));

‎src/StepperMotor.cpp

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@@ -134,7 +134,7 @@ int StepperMotor::alignSensor() {
134134
SIMPLEFOC_DEBUG("MOT: Align sensor.");
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136136
// if unknown natural direction
137-
if(!_isset(sensor_direction)){
137+
if(sensor_direction == Direction::UNKNOWN){
138138
// check if sensor needs zero search
139139
if(sensor->needsSearch()) exit_flag = absoluteZeroSearch();
140140
// stop init if not found index
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311311
shaft_angle_sp = target;
312312
// calculate velocity set point
313313
shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
314-
shaft_angle_sp = _constrain(shaft_angle_sp, -velocity_limit, velocity_limit);
314+
shaft_velocity_sp = _constrain(shaft_velocity_sp, -velocity_limit, velocity_limit);
315315
// calculate the torque command
316316
current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
317317
// if torque controlled through voltage
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440440
open_loop_timestamp = now_us;
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return Uq;
443-
}
443+
}

‎src/common/base_classes/Sensor.cpp

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void Sensor::update() {
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float val = getSensorAngle();
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if (val<0) // sensor angles are strictly non-negative. Negative values are used to signal errors.
10+
return; // TODO signal error, e.g. via a flag and counter
911
angle_prev_ts = _micros();
1012
float d_angle = val - angle_prev;
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// if overflow happened track it as full rotation

‎src/common/foc_utils.cpp

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*c = _cos(a);
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}
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// fast_atan2 based on https://math.stackexchange.com/a/1105038/81278
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// Via Odrive project
49+
// https://github.com/odriverobotics/ODrive/blob/master/Firmware/MotorControl/utils.cpp
50+
// This function is MIT licenced, copyright Oskar Weigl/Odrive Robotics
51+
// The origin for Odrive atan2 is public domain. Thanks to Odrive for making
52+
// it easy to borrow.
53+
__attribute__((weak)) float _atan2(float y, float x) {
54+
// a := min (|x|, |y|) / max (|x|, |y|)
55+
float abs_y = fabsf(y);
56+
float abs_x = fabsf(x);
57+
// inject FLT_MIN in denominator to avoid division by zero
58+
float a = min(abs_x, abs_y) / (max(abs_x, abs_y));
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// s := a * a
60+
float s = a * a;
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// r := ((-0.0464964749 * s + 0.15931422) * s - 0.327622764) * s * a + a
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float r =
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((-0.0464964749f * s + 0.15931422f) * s - 0.327622764f) * s * a + a;
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// if |y| > |x| then r := 1.57079637 - r
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if (abs_y > abs_x) r = 1.57079637f - r;
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// if x < 0 then r := 3.14159274 - r
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if (x < 0.0f) r = 3.14159274f - r;
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// if y < 0 then r := -r
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if (y < 0.0f) r = -r;
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return r;
72+
}
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// normalizing radian angle to [0,2PI]
4976
__attribute__((weak)) float _normalizeAngle(float angle){
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// https://reprap.org/forum/read.php?147,219210
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// https://en.wikipedia.org/wiki/Fast_inverse_square_root
6289
__attribute__((weak)) float _sqrtApprox(float number) {//low in fat
63-
// float x;
64-
// const float f = 1.5F; // better precision
65-
66-
// x = number * 0.5F;
67-
float y = number;
68-
long i = * ( long * ) &y;
69-
i = 0x5f375a86 - ( i >> 1 );
70-
y = * ( float * ) &i;
71-
// y = y * ( f - ( x * y * y ) ); // better precision
72-
return number * y;
90+
union {
91+
float f;
92+
uint32_t i;
93+
} y = { .f = number };
94+
y.i = 0x5f375a86 - ( y.i >> 1 );
95+
return number * y.f;
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}

‎src/common/foc_utils.h

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*/
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void _sincos(float a, float* s, float* c);
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/**
89+
* Function approximating atan2
90+
*
91+
*/
92+
float _atan2(float y, float x);
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8994
/**
9095
* normalizing radian angle to [0,2PI]

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