feedc0de/bobbycar-controller-firmware
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Cleanups

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0xFEEDC0DE64
2021-05-23 17:52:35 +02:00
parent d27eb54fe3
commit 20e7dce9e9
2 changed files with 27 additions and 33 deletions
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2
bobbycar-protocol

Submodule bobbycar-protocol updated: 059a98a1a5...99484cc91d

58
main.cpp
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@@ -164,6 +164,7 @@ int8_t dir = 1;
int16_t timeoutCntSerial = 0; // Timeout counter for Rx Serial command
Command command;
Feedback feedback;
#endif
#ifdef FEATURE_CAN
@@ -288,37 +289,34 @@ int main()
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
enum { CurrentMeasAB, CurrentMeasBC, CurrentMeasAC };
{
constexpr auto doit = [](auto &motor){
motor.rtP = defaultP;
motor.rtP.b_angleMeasEna = false;
motor.rtP.b_diagEna = DIAG_ENA;
motor.rtP.b_fieldWeakEna = FIELD_WEAK_ENA;
motor.rtP.r_fieldWeakHi = FIELD_WEAK_HI << 4;
motor.rtP.r_fieldWeakLo = FIELD_WEAK_LO << 4;
motor.rtM.defaultParam = &motor.rtP;
motor.rtM.dwork = &motor.rtDW;
motor.rtM.inputs = &motor.rtU;
motor.rtM.outputs = &motor.rtY;
};
doit(left);
doit(right);
enum { CurrentMeasAB, CurrentMeasBC, CurrentMeasAC };
left.rtP = defaultP;
left.rtP.b_angleMeasEna = 0;
#ifdef PETERS_PLATINE
left.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
left.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
#else
left.rtP.z_selPhaCurMeasABC = CurrentMeasAB;
left.rtP.z_selPhaCurMeasABC = CurrentMeasAB;
#endif
left.rtP.b_diagEna = DIAG_ENA;
left.rtP.b_fieldWeakEna = FIELD_WEAK_ENA;
left.rtP.r_fieldWeakHi = FIELD_WEAK_HI << 4;
left.rtP.r_fieldWeakLo = FIELD_WEAK_LO << 4;
right.rtP = defaultP;
right.rtP.b_angleMeasEna = 0;
right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
right.rtP.b_diagEna = DIAG_ENA;
right.rtP.b_fieldWeakEna = FIELD_WEAK_ENA;
right.rtP.r_fieldWeakHi = FIELD_WEAK_HI << 4;
right.rtP.r_fieldWeakLo = FIELD_WEAK_LO << 4;
left.rtM.defaultParam = &left.rtP;
left.rtM.dwork = &left.rtDW;
left.rtM.inputs = &left.rtU;
left.rtM.outputs = &left.rtY;
right.rtM.defaultParam = &right.rtP;
right.rtM.dwork = &right.rtDW;
right.rtM.inputs = &right.rtU;
right.rtM.outputs = &right.rtY;
right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
}
applyDefaultSettings();
@@ -1492,8 +1490,6 @@ void sendFeedback()
if (UART_DMA_CHANNEL->CNDTR != 0)
return;
static Feedback feedback;
feedback.start = Feedback::VALID_HEADER;
feedback.left.angle = left.rtY.a_elecAngle;
@@ -1508,10 +1504,8 @@ void sendFeedback()
feedback.left.current = left.rtU.i_DCLink;
feedback.right.current = right.rtU.i_DCLink;
feedback.left.chops = left.chops;
feedback.right.chops = right.chops;
left.chops = 0;
right.chops = 0;
feedback.left.chops = left.chops.exchange(0);
feedback.right.chops = right.chops.exchange(0);
feedback.left.hallA = left.rtU.b_hallA;
feedback.left.hallB = left.rtU.b_hallB;