feedc0de/bobbycar-controller-firmware
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fixed iMotMax and fieldWeakMax overflow (with ~40A)

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0xFEEDC0DE64
2021-09-17 17:35:10 +02:00
parent c21ad44f9c
commit 3b4e67d740
2 changed files with 9 additions and 9 deletions
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2
bobbycar-protocol

Submodule bobbycar-protocol updated: 2e0f97d6dd...2c6fb114f2

16
main.cpp
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@ -1440,9 +1440,9 @@ void parseCommand()
left.iDcMax = command.left.iDcMax;
left.rtP.z_ctrlTypSel = uint8_t(command.left.ctrlTyp);
left.rtP.i_max = (command.left.iMotMax * A2BIT_CONV) << 4;
left.rtP.i_max = (int16_t(command.left.iMotMax) * A2BIT_CONV) << 4;
left.rtP.n_max = command.left.nMotMax << 4;
left.rtP.id_fieldWeakMax = (command.left.fieldWeakMax * A2BIT_CONV) << 4;
left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * A2BIT_CONV) << 4;
left.rtP.a_phaAdvMax = command.left.phaseAdvMax << 4;
left.rtU.z_ctrlModReq = uint8_t(command.left.ctrlMod);
left.rtU.r_inpTgt = command.left.pwm;
@ -1450,9 +1450,9 @@ void parseCommand()
right.iDcMax = command.right.iDcMax;
right.rtP.z_ctrlTypSel = uint8_t(command.right.ctrlTyp);
right.rtP.i_max = (command.right.iMotMax * A2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.i_max = (int16_t(command.right.iMotMax) * A2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.n_max = command.right.nMotMax << 4; // fixdt(1,16,4)
right.rtP.id_fieldWeakMax = (command.right.fieldWeakMax * A2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * A2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.a_phaAdvMax = command.right.phaseAdvMax << 4; // fixdt(1,16,4)
right.rtU.z_ctrlModReq = uint8_t(command.right.ctrlMod);
right.rtU.r_inpTgt = command.right.pwm;
@ -1593,14 +1593,14 @@ void applyIncomingCanMessage()
case MotorController<isBackBoard, true> ::Command::CtrlTyp: right.rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::CtrlMod: left .rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true> ::Command::CtrlMod: right.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::IMotMax: left .rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true> ::Command::IMotMax: right.rtP.i_max = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::IMotMax: left .rtP.i_max = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true> ::Command::IMotMax: right.rtP.i_max = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::IDcMax: left .iDcMax = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true> ::Command::IDcMax: right.iDcMax = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::NMotMax: left .rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, true> ::Command::NMotMax: right.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::FieldWeakMax: left .rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true> ::Command::FieldWeakMax: right.rtP.id_fieldWeakMax = (*((uint8_t*)buf) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::FieldWeakMax: left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true> ::Command::FieldWeakMax: right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::PhaseAdvMax: left .rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, true> ::Command::PhaseAdvMax: right.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left .rtP.b_cruiseCtrlEna = *((bool*)buf); break;