Replace double literals and fns with floats.

src/common/base_classes/CurrentSense.cpp

@@ -202,12 +202,12 @@ int CurrentSense::alignBLDCDriver(float voltage, BLDCDriver* bldc_driver, bool m
     bool phases_inverted = 0;
 
     float zero = 0;
-    if(modulation_centered) zero = driver->voltage_limit/2.0;
+    if(modulation_centered) zero = driver->voltage_limit/2.0f;
 
     // set phase A active and phases B and C down
     // 300 ms of ramping
     for(int i=0; i < 100; i++){
-        bldc_driver->setPwm(voltage/100.0*((float)i)+zero , zero, zero);
+        bldc_driver->setPwm(voltage/100.0f*((float)i)+zero , zero, zero);
         _delay(3);
     }
     _delay(500);
@@ -318,7 +318,7 @@ int CurrentSense::alignBLDCDriver(float voltage, BLDCDriver* bldc_driver, bool m
     // set phase B active and phases A and C down
     // 300 ms of ramping
     for(int i=0; i < 100; i++){
-        bldc_driver->setPwm(zero, voltage/100.0*((float)i)+zero, zero);
+        bldc_driver->setPwm(zero, voltage/100.0f*((float)i)+zero, zero);
         _delay(3);
     }
     _delay(500);
@@ -430,7 +430,7 @@ int CurrentSense::alignStepperDriver(float voltage, StepperDriver* stepper_drive
     // set phase A active and phases B down
     // ramp 300ms
     for(int i=0; i < 100; i++){
-        stepper_driver->setPwm(voltage/100.0*((float)i), 0);
+        stepper_driver->setPwm(voltage/100.0f*((float)i), 0);
         _delay(3);
     }
     _delay(500);
@@ -465,7 +465,7 @@ int CurrentSense::alignStepperDriver(float voltage, StepperDriver* stepper_drive
     // set phase B active and phases A down
     // ramp 300ms
     for(int i=0; i < 100; i++){
-        stepper_driver->setPwm(0, voltage/100.0*((float)i));
+        stepper_driver->setPwm(0, voltage/100.0f*((float)i));
         _delay(3);
     }
     _delay(500);
@@ -511,7 +511,7 @@ int CurrentSense::alignHybridDriver(float voltage, BLDCDriver* bldc_driver, bool
     // set phase A active and phases B active, and C down
     // ramp 300ms
     for(int i=0; i < 100; i++){
-        bldc_driver->setPwm(voltage/100.0*((float)i), voltage/100.0*((float)i), 0);
+        bldc_driver->setPwm(voltage/100.0f*((float)i), voltage/100.0f*((float)i), 0);
         _delay(3);
     }
     _delay(500);
@@ -601,7 +601,7 @@ int CurrentSense::alignHybridDriver(float voltage, BLDCDriver* bldc_driver, bool
     // set phase A active and phases B down
     // ramp 300ms
     for(int i=0; i < 100; i++){
-        bldc_driver->setPwm(voltage/100.0*((float)i), 0, 0);
+        bldc_driver->setPwm(voltage/100.0f*((float)i), 0, 0);
         _delay(3);
     }
     _delay(500);
@@ -682,7 +682,7 @@ int CurrentSense::alignHybridDriver(float voltage, BLDCDriver* bldc_driver, bool
     // set phase B active and phases A down
     // ramp 300ms
     for(int i=0; i < 100; i++){
-        bldc_driver->setPwm(0, voltage/100.0*((float)i), 0);
+        bldc_driver->setPwm(0, voltage/100.0f*((float)i), 0);
         _delay(3);
     }
     _delay(500);

src/common/base_classes/FOCMotor.cpp

@@ -122,7 +122,7 @@ int FOCMotor::characteriseMotor(float voltage, float correction_factor=1.0f){
     // 300 ms of ramping
     current_electric_angle = electricalAngle();
     for(int i=0; i < 100; i++){
-        setPhaseVoltage(0, voltage/100.0*((float)i), current_electric_angle);
+        setPhaseVoltage(0, voltage/100.0f*((float)i), current_electric_angle);
         _delay(3);
     }
     _delay(10);
@@ -205,7 +205,7 @@ int FOCMotor::characteriseMotor(float voltage, float correction_factor=1.0f){
             continue;
           }
 
-          inductanced += fabsf(- (resistance * dt) / log((voltage - resistance * (l_currents.d - zerocurrent.d)) / voltage))/correction_factor;
+          inductanced += fabsf(- (resistance * dt) / logf((voltage - resistance * (l_currents.d - zerocurrent.d)) / voltage))/correction_factor;
 
           qcurrent+= l_currents.q - zerocurrent.q; // average the measured currents
           dcurrent+= l_currents.d - zerocurrent.d;
@@ -217,7 +217,7 @@ int FOCMotor::characteriseMotor(float voltage, float correction_factor=1.0f){
 
 
         inductanced /= cycles;
-        Ltemp = i < 2 ? inductanced : Ltemp * 0.6 + inductanced * 0.4;
+        Ltemp = i < 2 ? inductanced : Ltemp * 0.6f + inductanced * 0.4f;
 
         float timeconstant = fabsf(Ltemp / resistance); // Timeconstant of an RL circuit (L/R) 
         // SIMPLEFOC_MOTOR_DEBUG("Estimated time constant in us: ", 1000000.0f * timeconstant);
@@ -254,7 +254,7 @@ int FOCMotor::characteriseMotor(float voltage, float correction_factor=1.0f){
         // Average the d-axis angle further for calculating the electrical zero later
         if (axis)
         {
-          d_electrical_angle = i < 2 ? current_electric_angle : d_electrical_angle * 0.9 + current_electric_angle * 0.1;
+          d_electrical_angle = i < 2 ? current_electric_angle : d_electrical_angle * 0.9f + current_electric_angle * 0.1f;
         }
 
       }
@@ -883,7 +883,7 @@ int FOCMotor::alignSensor() {
     // setPhaseVoltage(0, 0, 0);
     _delay(200);
     // determine the direction the sensor moved
-    float moved =  fabs(mid_angle - end_angle);
+    float moved =  fabsf(mid_angle - end_angle);
     if (moved<MIN_ANGLE_DETECT_MOVEMENT) { // minimum angle to detect movement
       SIMPLEFOC_MOTOR_ERROR("Failed to notice movement");
       return 0; // failed calibration
@@ -895,7 +895,7 @@ int FOCMotor::alignSensor() {
       sensor_direction = Direction::CW;
     }
     // check pole pair number
-    pp_check_result = !(fabs(moved*pole_pairs - _2PI) > 0.5f);  // 0.5f is arbitrary number it can be lower or higher!
+    pp_check_result = !(fabsf(moved*pole_pairs - _2PI) > 0.5f);  // 0.5f is arbitrary number it can be lower or higher!
     if( pp_check_result==false ) {
       SIMPLEFOC_MOTOR_WARN("PP check: fail - est. pp: ", _2PI/moved);
     } else {

src/common/base_classes/FOCMotor.h

@@ -260,7 +260,7 @@ class FOCMotor
     PIDController PID_velocity{DEF_PID_VEL_P,DEF_PID_VEL_I,DEF_PID_VEL_D,DEF_PID_VEL_RAMP,DEF_PID_VEL_LIMIT};//!< parameter determining the velocity PID configuration
     PIDController P_angle{DEF_P_ANGLE_P,0,0,0,DEF_VEL_LIM};	//!< parameter determining the position PID configuration 
     LowPassFilter LPF_velocity{DEF_VEL_FILTER_Tf};//!<  parameter determining the velocity Low pass filter configuration 
-    LowPassFilter LPF_angle{0.0};//!<  parameter determining the angle low pass filter configuration 
+    LowPassFilter LPF_angle{0.0f};//!<  parameter determining the angle low pass filter configuration 
     unsigned int motion_downsample = DEF_MOTION_DOWNSMAPLE; //!< parameter defining the ratio of downsampling for move commad
     unsigned int motion_cnt = 0; //!< counting variable for downsampling for move commad
 

src/common/base_classes/Sensor.h

@@ -106,7 +106,7 @@ class Sensor{
         /**
          * Minimum time between updates to velocity. If time elapsed is lower than this, the velocity is not updated.
          */
-        float min_elapsed_time = 0.000100; // default is 100 microseconds, or 10kHz
+        float min_elapsed_time = 0.000100f; // default is 100 microseconds, or 10kHz
 
     protected:
         /** 

src/current_sense/hardware_specific/esp32/esp32_mcpwm_mcu.cpp

@@ -187,7 +187,7 @@ void* IRAM_ATTR _driverSyncLowSide(void* driver_params, void* cs_params){
   if (cs->pretrig_comparator){
     // Calculate pwm duty cycle ticks for pre-trigger channel
     // TODO: verify the timing it seems to be correct between 15 and 20kHz (but needs better testing)
-    uint32_t pwm_duty_cycle  = p->mcpwm_period * (0.75 - ((float)p->pwm_frequency*SIMPLEFOC_CS_PRETRIGGER_US)/1e6/2.0); 
+    uint32_t pwm_duty_cycle  = p->mcpwm_period * (0.75f - ((float)p->pwm_frequency*SIMPLEFOC_CS_PRETRIGGER_US)/1e6f/2.0f); 
     // set up the comparator duty cycle
     CHECK_CS_ERR(mcpwm_comparator_set_compare_value((mcpwm_cmpr_handle_t)cs->pretrig_comparator, pwm_duty_cycle),
                 "Failed to set pretrigger compare value");

src/current_sense/hardware_specific/generic_mcu.cpp

@@ -26,7 +26,7 @@ __attribute__((weak))  void* _configureADCInline(const void* driver_params, cons
 // function reading an ADC value and returning the read voltage
 __attribute__((weak))  float _readADCVoltageLowSide(const int pinA, const void* cs_params){
   SIMPLEFOC_DEBUG("ERR: Low-side cs not supported!");
-  return 0.0;
+  return 0.0f;
 }
 
 // Configure low side for generic mcu

src/current_sense/hardware_specific/samd/samd21_mcu.cpp

@@ -161,7 +161,7 @@ float _readADCVoltageLowSide(const int pin, const void* cs_params) {
     i++;
   }
 
-  return 0.0; // pin not available
+  return 0.0f; // pin not available
 }
 
 void* _driverSyncLowSide(void* driver_params, void* cs_params) {

src/current_sense/hardware_specific/teensy/teensy4_mcu.cpp

@@ -143,7 +143,7 @@ void adc_etc_init(int pin1, int pin2, int pin3=NOT_SET) {
 // function reading an ADC value and returning the read voltage
 float _readADCVoltageLowSide(const int pinA, const void* cs_params){
 
-    if(!_isset(pinA)) return 0.0; // if the pin is not set return 0
+    if(!_isset(pinA)) return 0.0f; // if the pin is not set return 0
     GenericCurrentSenseParams* params = (GenericCurrentSenseParams*) cs_params;
     float adc_voltage_conv = params->adc_voltage_conv;
     if (pinA == params->pins[0]) {
@@ -153,7 +153,7 @@ float _readADCVoltageLowSide(const int pinA, const void* cs_params){
     }else if (pinA == params->pins[2]) {
         return val2 * adc_voltage_conv;
     }
-    return 0.0;
+    return 0.0f;
 }
 
 // Configure low side for generic mcu

src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp

@@ -17,7 +17,7 @@ void _pinHighFrequency(const int pin, const long frequency){
   bool high_fq = false;
   // set 32kHz frequency if requested freq is higher than the middle of the range (14kHz)
   // else set the 4kHz
-  if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN))  high_fq=true; 
+  if(frequency >= 0.5f*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN))  high_fq=true; 
   //  High PWM frequency
   //  https://sites.google.com/site/qeewiki/books/avr-guide/timers-on-the-ATmega2560
   //  https://forum.arduino.cc/index.php?topic=72092.0
@@ -170,7 +170,7 @@ int _configureComplementaryPair(const int pinH,const int pinL, long frequency) {
   bool high_fq = false;
   // set 32kHz frequency if requested freq is higher than the middle of the range (14kHz)
   // else set the 4kHz
-  if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN))  high_fq=true; 
+  if(frequency >= 0.5f*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN))  high_fq=true; 
 
   // configure pin pairs
   if( (pinH == 4 && pinL == 13 ) || (pinH == 13 && pinL == 4 ) ){
@@ -274,9 +274,9 @@ void _setPwmPair(int pinH, int pinL, float val, int dead_time, PhaseState ps)
 //  - hardware specific
 // supports Arduino/ATmega328
 void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, PhaseState *phase_state, void* params){
-  _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[0]);
-  _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[1]);
-  _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[2]);
+  _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0f, ((GenericDriverParams*)params)->dead_zone*255.0f, phase_state[0]);
+  _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0f, ((GenericDriverParams*)params)->dead_zone*255.0f, phase_state[1]);
+  _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0f, ((GenericDriverParams*)params)->dead_zone*255.0f, phase_state[2]);
 }
 
 #endif

src/drivers/hardware_specific/atmega/atmega328_mcu.cpp

@@ -15,7 +15,7 @@ void _pinHighFrequency(const int pin, const long frequency){
   bool high_fq = false;
   // set 32kHz frequency if requested freq is higher than the middle of the range (14kHz)
   // else set the 4kHz
-  if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN))  high_fq=true; 
+  if(frequency >= 0.5f*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN))  high_fq=true; 
   //  High PWM frequency
   //  https://www.arxterra.com/9-atmega328p-timers/
   if (pin == 5 || pin == 6  ) {
@@ -167,7 +167,7 @@ int _configureComplementaryPair(const int pinH, const int pinL, long frequency)
   bool high_fq = false;
   // set 32kHz frequency if requested freq is higher than the middle of the range (14kHz)
   // else set the 4kHz
-  if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN))  high_fq=true; 
+  if(frequency >= 0.5f*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN))  high_fq=true; 
 
   // configure pins
   if( (pinH == 5 && pinL == 6 ) || (pinH == 6 && pinL == 5 ) ){
@@ -251,9 +251,9 @@ void _setPwmPair(int pinH, int pinL, float val, int dead_time, PhaseState ps)
 //  - hardware specific
 // supports Arduino/ATmega328
 void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, PhaseState *phase_state, void* params){
-  _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[0]);
-  _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[1]);
-  _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[2]);
+  _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0f, ((GenericDriverParams*)params)->dead_zone*255.0f, phase_state[0]);
+  _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0f, ((GenericDriverParams*)params)->dead_zone*255.0f, phase_state[1]);
+  _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0f, ((GenericDriverParams*)params)->dead_zone*255.0f, phase_state[2]);
 }
 
 #endif

src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp

@@ -216,9 +216,9 @@ void _setPwmPair(int pinH, int pinL, float val, int dead_time)
 //  - hardware specific
 // supports Arudino/ATmega328 
 void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, PhaseState *phase_state, void* params){
-  _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0, ((GenericDriverParams*)params)->dead_zone*255.0);
-  _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0, ((GenericDriverParams*)params)->dead_zone*255.0);
-  _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0);
+  _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0f, ((GenericDriverParams*)params)->dead_zone*255.0f);
+  _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0f, ((GenericDriverParams*)params)->dead_zone*255.0f);
+  _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0f, ((GenericDriverParams*)params)->dead_zone*255.0f);
 
   _UNUSED(phase_state);
 }

src/drivers/hardware_specific/esp32/esp32_driver_mcpwm.cpp

@@ -452,7 +452,7 @@ void* _configurePinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no, int
     shared_timer = true;
   }
 
-  uint8_t no_operators = ceil(no_pins / 2.0);
+  uint8_t no_operators = ceil(no_pins / 2.0f);
   SIMPLEFOC_ESP32_DRV_DEBUG("Configuring " + String(no_operators) + " operators.");
   mcpwm_operator_config_t operator_config = { .group_id = mcpwm_group };
   operator_config.intr_priority = 0;
@@ -510,7 +510,7 @@ void* _configurePinsMCPWM(long pwm_frequency, int mcpwm_group, int timer_no, int
 
 // function setting the duty cycle to the MCPWM pin
 void IRAM_ATTR _setDutyCycle(mcpwm_cmpr_handle_t cmpr, uint32_t mcpwm_period, float duty_cycle){
-  float duty = _constrain(duty_cycle, 0.0, 1.0);
+  float duty = _constrain(duty_cycle, 0.0f, 1.0f);
   mcpwm_comparator_set_compare_value(cmpr, (uint32_t)(mcpwm_period*duty));
 }
 

src/drivers/hardware_specific/esp32/esp32_ledc_mcu.cpp

@@ -303,7 +303,7 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
 
 
 void IRAM_ATTR _writeDutyCycle(float dc, void* params, int index){
-  ledc_set_duty_with_hpoint(((ESP32LEDCDriverParams*)params)->groups[index],((ESP32LEDCDriverParams*)params)->channels[index], _PWM_RES*dc, _PWM_RES/2.0*(1.0-dc));
+  ledc_set_duty_with_hpoint(((ESP32LEDCDriverParams*)params)->groups[index],((ESP32LEDCDriverParams*)params)->channels[index], _PWM_RES*dc, _PWM_RES/2.0f*(1.0f-dc));
   ledc_update_duty(((ESP32LEDCDriverParams*)params)->groups[index],((ESP32LEDCDriverParams*)params)->channels[index]);
 }
 
@@ -390,8 +390,8 @@ void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, cons
 }
 
 void IRAM_ATTR _setPwmPairDutyCycle( void* params, int ind_h, int ind_l, float val, float dead_time, PhaseState ps){
-  float pwm_h = _constrain(val - (dead_time * 0.5), 0, 1.0);
-  float pwm_l = _constrain(val + (dead_time * 0.5), 0, 1.0);
+  float pwm_h = _constrain(val - (dead_time * 0.5f), 0, 1.0f);
+  float pwm_l = _constrain(val + (dead_time * 0.5f), 0, 1.0f);
 
   // determine the phase state and set the pwm accordingly
   // deactivate phases if needed

src/drivers/hardware_specific/nrf52_mcu.cpp

@@ -13,7 +13,7 @@
 #define PWM_RESOLUTION (PWM_CLK/PWM_FREQ)
 #define PWM_MAX_FREQ (62500)
 #define DEAD_ZONE (250) // in ns
-#define DEAD_TIME (DEAD_ZONE  / (PWM_RESOLUTION * 0.25 * 62.5)) // 62.5ns resolution of PWM
+#define DEAD_TIME (DEAD_ZONE  / (PWM_RESOLUTION * 0.25f * 62.5f)) // 62.5ns resolution of PWM
 
 #ifdef NRF_PWM3
 #define PWM_COUNT 4

src/drivers/hardware_specific/portenta_h7_mcu.cpp

@@ -118,7 +118,7 @@ int _pwm_init(pwmout_t *obj, uint32_t pin, long frequency){
 #endif
     }
 
-    long period_us = 500000.0/((float)frequency);
+    long period_us = 500000.0f/((float)frequency);
     /* By default use, 1us as SW pre-scaler */
     obj->prescaler = 1;
     // TIMxCLK = PCLKx when the APB prescaler = 1 else TIMxCLK = 2 * PCLKx
@@ -212,13 +212,13 @@ void _pwm_write(pwmout_t *obj, float value){
 
   TimHandle.Instance = (TIM_TypeDef *)(obj->pwm);
 
-  if (value < (float)0.0) {
-      value = 0.0;
-  } else if (value > (float)1.0) {
-      value = 1.0;
+  if (value < (float)0.0f) {
+      value = 0.0f;
+  } else if (value > (float)1.0f) {
+      value = 1.0f;
   }
 
-  obj->pulse = (uint32_t)((float)obj->period * value + 0.5);
+  obj->pulse = (uint32_t)((float)obj->period * value + 0.5f);
 
   switch (obj->channel) {
       case 1: