From 71b2dc762a760d5fcef4006221896f2dbedaacc8 Mon Sep 17 00:00:00 2001
From: rusefillc <sdfsdfqsf2334234234>
Date: Fri, 14 Jan 2022 21:18:51 -0500
Subject: [PATCH] https://en.wikipedia.org/wiki/Pi

---
 firmware/controllers/actuators/electronic_throttle.cpp | 2 +-
 firmware/controllers/algo/rusefi_types.h               | 2 ++
 firmware/controllers/math/pid_auto_tune.h              | 1 -
 firmware/hw_layer/sensors/hip9011_logic.cpp            | 2 +-
 firmware/hw_layer/sensors/hip9011_logic.h              | 3 +--
 firmware/util/math/biquad.cpp                          | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index f3d56f2b17..f5b5afa04c 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -394,7 +394,7 @@ expected<percent_t> EtbController::getClosedLoopAutotune(percent_t target, perce
 		float b = 2 * autotuneAmplitude;
 
 		// Ultimate gain per A-H relay tuning rule
-		float ku = 4 * b / (3.14159f * m_a);
+		float ku = 4 * b / (CONST_PI * m_a);
 
 		// The multipliers below are somewhere near the "no overshoot" 
 		// and "some overshoot" flavors of the Ziegler-Nichols method
diff --git a/firmware/controllers/algo/rusefi_types.h b/firmware/controllers/algo/rusefi_types.h
index 0ddc459e79..23afea7af5 100644
--- a/firmware/controllers/algo/rusefi_types.h
+++ b/firmware/controllers/algo/rusefi_types.h
@@ -35,6 +35,8 @@ typedef unsigned int time_t;
 
 // gasoline E0
 #define STOICH_RATIO				14.7f
+#define CONST_PI           3.14159265358979323846
+
 
 // time in seconds
 typedef time_t efitimesec_t;
diff --git a/firmware/controllers/math/pid_auto_tune.h b/firmware/controllers/math/pid_auto_tune.h
index 1016b4237a..976d20766c 100644
--- a/firmware/controllers/math/pid_auto_tune.h
+++ b/firmware/controllers/math/pid_auto_tune.h
@@ -20,7 +20,6 @@ typedef unsigned char	byte;
 #endif
 
   // irrational constants
-#define CONST_PI           3.14159265358979323846
 #define CONST_SQRT2_DIV_2  0.70710678118654752440
 
 
diff --git a/firmware/hw_layer/sensors/hip9011_logic.cpp b/firmware/hw_layer/sensors/hip9011_logic.cpp
index 2a1b5d25a0..5d65161abe 100644
--- a/firmware/hw_layer/sensors/hip9011_logic.cpp
+++ b/firmware/hw_layer/sensors/hip9011_logic.cpp
@@ -110,7 +110,7 @@ float HIP9011::getRpmByAngleWindowAndTimeUs(int timeUs, float angleWindowWidth)
 	/**
 	 * TINT = TC * 2 * PI * VOUT
 	 */
-	float integrationTimeUs = timeUs * 2 * PIF * HIP9011_DESIRED_OUTPUT_VALUE;
+	float integrationTimeUs = timeUs * 2 * CONST_PI * HIP9011_DESIRED_OUTPUT_VALUE;
 	/**
 	 * rpm = 60 seconds / time
 	 * '60000000' because revolutions per MINUTE in uS conversion
diff --git a/firmware/hw_layer/sensors/hip9011_logic.h b/firmware/hw_layer/sensors/hip9011_logic.h
index 9beebc9df3..445d454cd1 100644
--- a/firmware/hw_layer/sensors/hip9011_logic.h
+++ b/firmware/hw_layer/sensors/hip9011_logic.h
@@ -15,8 +15,7 @@
 #define EFI_HIP_9011_DEBUG EFI_HIP_9011
 #endif
 
-#define PIF						3.14159f
-#define HIP9011_BAND(bore)		(900 / (PIF * (bore) / 2))
+#define HIP9011_BAND(bore)		(900 / (CONST_PI * (bore) / 2))
 #define HIP9011_DESIRED_OUTPUT_VALUE	5.0f
 #define HIP9011_DIGITAL_OUTPUT_MAX		0x03ff	/* 10 bit max value */
 #define HIP_INPUT_CHANNELS		2
diff --git a/firmware/util/math/biquad.cpp b/firmware/util/math/biquad.cpp
index 3ae911329f..4dff895059 100644
--- a/firmware/util/math/biquad.cpp
+++ b/firmware/util/math/biquad.cpp
@@ -22,7 +22,7 @@ void Biquad::reset() {
 }
 
 static float getK(float samplingFrequency, float cutoff) {
-	return tanf_taylor(3.14159f * cutoff / samplingFrequency);
+	return tanf_taylor(CONST_PI * cutoff / samplingFrequency);
 }
 
 static float getNorm(float K, float Q) {