Prevent double constants

Author: Candas1

src/common/base_classes/Sensor.cpp

@@ -19,7 +19,7 @@ void Sensor::update() {
  /** get current angular velocity (rad/s) */
 float Sensor::getVelocity() {
     // calculate sample time
-    float Ts = (angle_prev_ts - vel_angle_prev_ts)*1e-6;
+    float Ts = (angle_prev_ts - vel_angle_prev_ts)*1e-6f;
     if (Ts < 0.0f) {    // handle micros() overflow - we need to reset vel_angle_prev_ts
         vel_angle_prev = angle_prev;
         vel_full_rotations = full_rotations;

src/common/foc_utils.cpp

@@ -9,7 +9,7 @@ __attribute__((weak)) float _sin(float a){
   // 16 bit precision on sine value, 8 bit fractional value for interpolation, 6bit LUT size
   // resulting precision compared to stdlib sine is 0.00006480 (RMS difference in range -PI,PI for 3217 steps)
   static uint16_t sine_array[65] = {0,804,1608,2411,3212,4011,4808,5602,6393,7180,7962,8740,9512,10279,11039,11793,12540,13279,14010,14733,15447,16151,16846,17531,18205,18868,19520,20160,20788,21403,22006,22595,23170,23732,24279,24812,25330,25833,26320,26791,27246,27684,28106,28511,28899,29269,29622,29957,30274,30572,30853,31114,31357,31581,31786,31972,32138,32286,32413,32522,32610,32679,32729,32758,32768};
-  unsigned int i = (unsigned int)(a * (64*4*256.0 /_2PI));
+  unsigned int i = (unsigned int)(a * (64*4*256 /_2PI));
   int t1, t2, frac = i & 0xff;
   i = (i >> 8) & 0xff;
   if (i < 64) {

src/current_sense/InlineCurrentSense.cpp

@@ -156,9 +156,9 @@ int InlineCurrentSense::driverAlign(float voltage){
         // read the current 50 times
         for (int i = 0; i < 100; i++) {
             PhaseCurrent_s c1 = getPhaseCurrents();
-            c.a = c.a*0.6 + 0.4f*c1.a;
-            c.b = c.b*0.6 + 0.4f*c1.b;
-            c.c = c.c*0.6 + 0.4f*c1.c;
+            c.a = c.a*0.6f + 0.4f*c1.a;
+            c.b = c.b*0.6f + 0.4f*c1.b;
+            c.c = c.c*0.6f + 0.4f*c1.c;
             _delay(3);
         }
         driver->setPwm(0, 0, 0);
@@ -203,9 +203,9 @@ int InlineCurrentSense::driverAlign(float voltage){
         // read the adc voltage 500 times ( arbitrary number )
         for (int i = 0; i < 100; i++) {
             PhaseCurrent_s c1 = getPhaseCurrents();
-            c.a = c.a*0.6 + 0.4f*c1.a;
-            c.b = c.b*0.6 + 0.4f*c1.b;
-            c.c = c.c*0.6 + 0.4f*c1.c;
+            c.a = c.a*0.6f + 0.4f*c1.a;
+            c.b = c.b*0.6f + 0.4f*c1.b;
+            c.c = c.c*0.6f + 0.4f*c1.c;
             _delay(3);
         }
         driver->setPwm(0, 0, 0);

src/current_sense/LowsideCurrentSense.cpp

@@ -157,9 +157,9 @@ int LowsideCurrentSense::driverAlign(float voltage){
         // read the current 50 times
         for (int i = 0; i < 100; i++) {
             PhaseCurrent_s c1 = getPhaseCurrents();
-            c.a = c.a*0.6 + 0.4f*c1.a;
-            c.b = c.b*0.6 + 0.4f*c1.b;
-            c.c = c.c*0.6 + 0.4f*c1.c;
+            c.a = c.a*0.6f + 0.4f*c1.a;
+            c.b = c.b*0.6f + 0.4f*c1.b;
+            c.c = c.c*0.6f + 0.4f*c1.c;
             _delay(3);
         }
         driver->setPwm(0, 0, 0);
@@ -204,9 +204,9 @@ int LowsideCurrentSense::driverAlign(float voltage){
         // read the adc voltage 500 times ( arbitrary number )
         for (int i = 0; i < 100; i++) {
             PhaseCurrent_s c1 = getPhaseCurrents();
-            c.a = c.a*0.6 + 0.4f*c1.a;
-            c.b = c.b*0.6 + 0.4f*c1.b;
-            c.c = c.c*0.6 + 0.4f*c1.c;
+            c.a = c.a*0.6f + 0.4f*c1.a;
+            c.b = c.b*0.6f + 0.4f*c1.b;
+            c.c = c.c*0.6f + 0.4f*c1.c;
             _delay(3);
         }
         driver->setPwm(0, 0, 0);