feedc0de/bobbycar-controller-firmware
1
0
Fork 0
Code Issues 8 Pull Requests 5 Actions Packages Projects Releases Wiki Activity

Made some updates

Browse Source
This commit is contained in:
CommanderRedYT
2022-08-27 16:53:03 +02:00
parent b307e1bc79
commit f01a34c109
5 changed files with 174 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
.gitignore vendored
View File

@ -9,3 +9,14 @@ build/
# VS Code # VS Code
.vscode/ .vscode/
.cache/ .cache/
# Jetbrains
.idea/
cmake-build-*/
# other
hover.map
libemanuel_foc_model.a
libstm32_hal.a
pcbv2_test.bin
pcbv2_test.elf

100
CMakeLists.txt
View File

@ -200,8 +200,108 @@ add_custom_command(OUTPUT greyhash.bin COMMAND arm-none-eabi-objcopy -O binary -
add_custom_target(greyhash ALL SOURCES greyhash.hex greyhash.bin) add_custom_target(greyhash ALL SOURCES greyhash.hex greyhash.bin)
add_custom_target(flash-greyhash COMMAND st-flash --reset write greyhash.bin 0x8000000 SOURCES greyhash.bin DEPENDS greyhash.bin) add_custom_target(flash-greyhash COMMAND st-flash --reset write greyhash.bin 0x8000000 SOURCES greyhash.bin DEPENDS greyhash.bin)
#
# peters platine v2 front
#
add_executable(pcbv2_front.elf config.h defines.h main.cpp)
target_link_libraries(pcbv2_front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
target_compile_options(pcbv2_front.elf PRIVATE
# -DMOTOR_TEST
-DFEATURE_IGNORE_OTHER_MOTOR
# -DHALL_BCA
# -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON
-DPETERS_PLATINE
# -DHUART2
# -DHUART3
# -DFEATURE_SERIAL_CONTROL
# -DFEATURE_SERIAL_FEEDBACK
# -DLOG_TO_SERIAL
-DFEATURE_CAN
# -DCAN_LOG_UNKNOWN_ADDR
# -DIS_BACK
-DAMPERE2BIT_CONV=28
)
add_custom_command(OUTPUT pcbv2_front.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_front.elf pcbv2_front.hex DEPENDS pcbv2_front.elf)
add_custom_command(OUTPUT pcbv2_front.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_front.elf pcbv2_front.bin DEPENDS pcbv2_front.elf)
add_custom_target(pcbv2_front ALL SOURCES pcbv2_front.hex pcbv2_front.bin)
add_custom_target(flash-pcbv2_front COMMAND st-flash --reset write pcbv2_front.bin 0x8000000 SOURCES pcbv2_front.bin DEPENDS pcbv2_front.bin)
#
# peters platine v2 back
#
add_executable(pcbv2_back.elf config.h defines.h main.cpp)
target_link_libraries(pcbv2_back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
target_compile_options(pcbv2_back.elf PRIVATE
# -DMOTOR_TEST
-DFEATURE_IGNORE_OTHER_MOTOR
# -DHALL_BCA
# -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON
-DPETERS_PLATINE
# -DHUART2
# -DHUART3
# -DFEATURE_SERIAL_CONTROL
# -DFEATURE_SERIAL_FEEDBACK
# -DLOG_TO_SERIAL
-DFEATURE_CAN
# -DCAN_LOG_UNKNOWN_ADDR
-DIS_BACK
-DAMPERE2BIT_CONV=28
)
add_custom_command(OUTPUT pcbv2_back.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_back.elf pcbv2_back.hex DEPENDS pcbv2_back.elf)
add_custom_command(OUTPUT pcbv2_back.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_back.elf pcbv2_back.bin DEPENDS pcbv2_back.elf)
add_custom_target(pcbv2_back ALL SOURCES pcbv2_back.hex pcbv2_back.bin)
add_custom_target(flash-pcbv2_back COMMAND st-flash --reset write pcbv2_back.bin 0x8000000 SOURCES pcbv2_back.bin DEPENDS pcbv2_back.bin)
#
# peters platine v2 motortest
#
add_executable(pcbv2_test.elf config.h defines.h main.cpp)
target_link_libraries(pcbv2_test.elf stm32_hal emanuel_foc_model bobbycar-protocol)
target_compile_options(pcbv2_test.elf PRIVATE
-DMOTOR_TEST
-DFEATURE_IGNORE_OTHER_MOTOR
# -DHALL_BCA
# -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON
-DPETERS_PLATINE
# -DHUART2
# -DHUART3
# -DFEATURE_SERIAL_CONTROL
# -DFEATURE_SERIAL_FEEDBACK
# -DLOG_TO_SERIAL
# -DFEATURE_CAN
# -DCAN_LOG_UNKNOWN_ADDR
# -DIS_BACK
-DAMPERE2BIT_CONV=28
-DLEFT_HALL_ABC
#-DLEFT_HALL_ACB
#-DLEFT_HALL_BAC
#-DLEFT_HALL_BCA
#-DLEFT_HALL_CAB
#-DLEFT_HALL_CBA
-DRIGHT_HALL_ABC
#-DRIGHT_HALL_ACB
#-DRIGHT_HALL_BAC
#-DRIGHT_HALL_BCA
#-DRIGHT_HALL_CAB
#-DRIGHT_HALL_CBA
-DFEATURE_BETTER_FOC_CONFIG
-DLEFT_PHASE_MEAS_AB
#-DLEFT_PHASE_MEAS_AC
#-DLEFT_PHASE_MEAS_BC
#-DRIGHT_PHASE_MEAS_AB
#-DRIGHT_PHASE_MEAS_AC
-DRIGHT_PHASE_MEAS_BC
)
add_custom_command(OUTPUT pcbv2_test.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_test.elf pcbv2_test.hex DEPENDS pcbv2_test.elf)
add_custom_command(OUTPUT pcbv2_test.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_test.elf pcbv2_test.bin DEPENDS pcbv2_test.elf)
add_custom_target(pcbv2_test ALL SOURCES pcbv2_test.hex pcbv2_test.bin)
add_custom_target(flash-pcbv2_test COMMAND st-flash --reset write pcbv2_test.bin 0x8000000 SOURCES pcbv2_test.bin DEPENDS pcbv2_test.bin)
# util targets # util targets

5
config.h
View File

@ -6,7 +6,10 @@
#define PWM_FREQ 16000 // PWM frequency in Hz #define PWM_FREQ 16000 // PWM frequency in Hz
#endif #endif
#define DEAD_TIME 48 // PWM deadtime #define DEAD_TIME 48 // PWM deadtime
#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
#ifndef AMPERE2BIT_CONV
#define AMPERE2BIT_CONV 50 // Ampere to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
#endif
// ADC conversion time definitions // ADC conversion time definitions
#define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5) #define ADC_CONV_TIME_1C5 (14) //Total ADC clock cycles / conversion = ( 1.5+12.5)

38
defines.h
View File

@ -24,57 +24,63 @@
#ifdef PETERS_PLATINE #ifdef PETERS_PLATINE
#ifdef HALL_CAB #ifdef LEFT_HALL_CAB
#define LEFT_HALL_U_PIN GPIO_PIN_11 #define LEFT_HALL_U_PIN GPIO_PIN_11
#define LEFT_HALL_V_PIN GPIO_PIN_12 #define LEFT_HALL_V_PIN GPIO_PIN_12
#define LEFT_HALL_W_PIN GPIO_PIN_10 #define LEFT_HALL_W_PIN GPIO_PIN_10
#elif HALL_CBA #elif LEFT_HALL_CBA
#define LEFT_HALL_U_PIN GPIO_PIN_11 #define LEFT_HALL_U_PIN GPIO_PIN_11
#define LEFT_HALL_V_PIN GPIO_PIN_10 #define LEFT_HALL_V_PIN GPIO_PIN_10
#define LEFT_HALL_W_PIN GPIO_PIN_12 #define LEFT_HALL_W_PIN GPIO_PIN_12
#elif HALL_BAC #elif LEFT_HALL_BAC
#define LEFT_HALL_U_PIN GPIO_PIN_10 #define LEFT_HALL_U_PIN GPIO_PIN_10
#define LEFT_HALL_V_PIN GPIO_PIN_12 #define LEFT_HALL_V_PIN GPIO_PIN_12
#define LEFT_HALL_W_PIN GPIO_PIN_11 #define LEFT_HALL_W_PIN GPIO_PIN_11
#elif HALL_BCA #elif LEFT_HALL_BCA
#define LEFT_HALL_U_PIN GPIO_PIN_10 #define LEFT_HALL_U_PIN GPIO_PIN_10
#define LEFT_HALL_V_PIN GPIO_PIN_11 #define LEFT_HALL_V_PIN GPIO_PIN_11
#define LEFT_HALL_W_PIN GPIO_PIN_12 #define LEFT_HALL_W_PIN GPIO_PIN_12
#elif HALL_ABC #elif LEFT_HALL_ABC
#define LEFT_HALL_U_PIN GPIO_PIN_12 #define LEFT_HALL_U_PIN GPIO_PIN_12
#define LEFT_HALL_V_PIN GPIO_PIN_10 #define LEFT_HALL_V_PIN GPIO_PIN_10
#define LEFT_HALL_W_PIN GPIO_PIN_11 #define LEFT_HALL_W_PIN GPIO_PIN_11
#else //HALL_ACB #else //LEFT_HALL_ACB
#ifndef LEFT_HALL_ACB
#warning "No left Hall configuration defined, using default ACB"
#endif
#define LEFT_HALL_U_PIN GPIO_PIN_12 #define LEFT_HALL_U_PIN GPIO_PIN_12
#define LEFT_HALL_V_PIN GPIO_PIN_11 #define LEFT_HALL_V_PIN GPIO_PIN_11
#define LEFT_HALL_W_PIN GPIO_PIN_10 #define LEFT_HALL_W_PIN GPIO_PIN_10
#endif #endif
#define LEFT_HALL_U_PORT GPIOC #define LEFT_HALL_U_PORT GPIOC
#define LEFT_HALL_V_PORT GPIOC #define LEFT_HALL_V_PORT GPIOC
#define LEFT_HALL_W_PORT GPIOC #define LEFT_HALL_W_PORT GPIOC
#ifdef HALL_CAB #ifdef RIGHT_HALL_CAB
#define RIGHT_HALL_U_PIN GPIO_PIN_6 #define RIGHT_HALL_U_PIN GPIO_PIN_6
#define RIGHT_HALL_V_PIN GPIO_PIN_5 #define RIGHT_HALL_V_PIN GPIO_PIN_5
#define RIGHT_HALL_W_PIN GPIO_PIN_7 #define RIGHT_HALL_W_PIN GPIO_PIN_7
#elif HALL_CBA #elif RIGHT_HALL_CBA
#define RIGHT_HALL_U_PIN GPIO_PIN_6 #define RIGHT_HALL_U_PIN GPIO_PIN_6
#define RIGHT_HALL_V_PIN GPIO_PIN_7 #define RIGHT_HALL_V_PIN GPIO_PIN_7
#define RIGHT_HALL_W_PIN GPIO_PIN_5 #define RIGHT_HALL_W_PIN GPIO_PIN_5
#elif HALL_BAC #elif RIGHT_HALL_BAC
#define RIGHT_HALL_U_PIN GPIO_PIN_7 #define RIGHT_HALL_U_PIN GPIO_PIN_7
#define RIGHT_HALL_V_PIN GPIO_PIN_5 #define RIGHT_HALL_V_PIN GPIO_PIN_5
#define RIGHT_HALL_W_PIN GPIO_PIN_6 #define RIGHT_HALL_W_PIN GPIO_PIN_6
#elif HALL_BCA #elif RIGHT_HALL_BCA
#define RIGHT_HALL_U_PIN GPIO_PIN_7 #define RIGHT_HALL_U_PIN GPIO_PIN_7
#define RIGHT_HALL_V_PIN GPIO_PIN_6 #define RIGHT_HALL_V_PIN GPIO_PIN_6
#define RIGHT_HALL_W_PIN GPIO_PIN_5 #define RIGHT_HALL_W_PIN GPIO_PIN_5
#elif HALL_ABC #elif RIGHT_HALL_ABC
#define RIGHT_HALL_U_PIN GPIO_PIN_5 #define RIGHT_HALL_U_PIN GPIO_PIN_5
#define RIGHT_HALL_V_PIN GPIO_PIN_7 #define RIGHT_HALL_V_PIN GPIO_PIN_7
#define RIGHT_HALL_W_PIN GPIO_PIN_6 #define RIGHT_HALL_W_PIN GPIO_PIN_6
#else //HALL_ACB #else //RIGHT_HALL_ACB
#ifndef RIGHT_HALL_ACB
#warning "No right Hall configuration defined, using default ACB"
#endif
#define RIGHT_HALL_U_PIN GPIO_PIN_5 #define RIGHT_HALL_U_PIN GPIO_PIN_5
#define RIGHT_HALL_V_PIN GPIO_PIN_6 #define RIGHT_HALL_V_PIN GPIO_PIN_6
#define RIGHT_HALL_W_PIN GPIO_PIN_7 #define RIGHT_HALL_W_PIN GPIO_PIN_7
@ -83,7 +89,7 @@
#define RIGHT_HALL_U_PORT GPIOB #define RIGHT_HALL_U_PORT GPIOB
#define RIGHT_HALL_V_PORT GPIOB #define RIGHT_HALL_V_PORT GPIOB
#define RIGHT_HALL_W_PORT GPIOB #define RIGHT_HALL_W_PORT GPIOB
#else #else // defined(PETERS_PLATINE)
#ifdef HALL_BCA #ifdef HALL_BCA
#define LEFT_HALL_U_PIN GPIO_PIN_7 #define LEFT_HALL_U_PIN GPIO_PIN_7
#define LEFT_HALL_V_PIN GPIO_PIN_6 #define LEFT_HALL_V_PIN GPIO_PIN_6

56
main.cpp
View File

@ -317,6 +317,7 @@ int main()
enum { CurrentMeasAB, CurrentMeasBC, CurrentMeasAC }; enum { CurrentMeasAB, CurrentMeasBC, CurrentMeasAC };
#ifndef FEATURE_BETTER_FOC_CONFIG
#ifdef PETERS_PLATINE #ifdef PETERS_PLATINE
left.rtP.z_selPhaCurMeasABC = CurrentMeasBC; left.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
#else #else
@ -324,6 +325,23 @@ int main()
#endif #endif
right.rtP.z_selPhaCurMeasABC = CurrentMeasBC; right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
#else
#ifdef LEFT_PHASE_MEAS_AB
left.rtP.z_selPhaCurMeasABC = CurrentMeasAB;
#elif LEFT_PHASE_MEAS_BC
left.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
#else
left.rtP.z_selPhaCurMeasABC = CurrentMeasAC;
#endif
#ifdef RIGHT_PHASE_MEAS_AB
right.rtP.z_selPhaCurMeasABC = CurrentMeasAB;
#elif RIGHT_PHASE_MEAS_BC
right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
#else
right.rtP.z_selPhaCurMeasABC = CurrentMeasAC;
#endif
#endif
} }
applyDefaultSettings(); applyDefaultSettings();
@ -477,11 +495,11 @@ void updateMotors()
#endif #endif
int16_t curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr); int16_t curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr);
const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * A2BIT_CONV); const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
if (chopL) if (chopL)
left.chops++; left.chops++;
const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * A2BIT_CONV); const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * AMPERE2BIT_CONV);
if (chopR) if (chopR)
right.chops++; right.chops++;
@ -1403,22 +1421,22 @@ void doMotorTest()
left.enable = true; left.enable = true;
left.rtU.r_inpTgt = pwm; left.rtU.r_inpTgt = pwm;
left.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl); left.rtP.z_ctrlTypSel = uint8_t(ControlType::Sinusoidal);
left.rtU.z_ctrlModReq = uint8_t(ControlMode::Torque); left.rtU.z_ctrlModReq = uint8_t(ControlMode::Voltage);
left.rtP.i_max = (2 * A2BIT_CONV) << 4; left.rtP.i_max = (2 * AMPERE2BIT_CONV) << 4;
left.iDcMax = 8; left.iDcMax = 8;
left.rtP.n_max = 1000 << 4; left.rtP.n_max = 1000 << 4;
left.rtP.id_fieldWeakMax = (0 * A2BIT_CONV) << 4; left.rtP.id_fieldWeakMax = (0 * AMPERE2BIT_CONV) << 4;
left.rtP.a_phaAdvMax = 40 << 4; left.rtP.a_phaAdvMax = 40 << 4;
right.enable = true; right.enable = true;
right.rtU.r_inpTgt = -pwm; right.rtU.r_inpTgt = -pwm;
right.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl); right.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
right.rtU.z_ctrlModReq = uint8_t(ControlMode::Torque); right.rtU.z_ctrlModReq = uint8_t(ControlMode::Voltage);
right.rtP.i_max = (2 * A2BIT_CONV) << 4; right.rtP.i_max = (2 * AMPERE2BIT_CONV) << 4;
right.iDcMax = 8; right.iDcMax = 8;
right.rtP.n_max = 1000 << 4; right.rtP.n_max = 1000 << 4;
right.rtP.id_fieldWeakMax = (0 * A2BIT_CONV) << 4; right.rtP.id_fieldWeakMax = (0 * AMPERE2BIT_CONV) << 4;
right.rtP.a_phaAdvMax = 40 << 4; right.rtP.a_phaAdvMax = 40 << 4;
constexpr auto pwmMax = 400; constexpr auto pwmMax = 400;
@ -1471,9 +1489,9 @@ void parseCommand()
left.iDcMax = command.left.iDcMax; left.iDcMax = command.left.iDcMax;
left.rtP.z_ctrlTypSel = uint8_t(command.left.ctrlTyp); left.rtP.z_ctrlTypSel = uint8_t(command.left.ctrlTyp);
left.rtP.i_max = (int16_t(command.left.iMotMax) * A2BIT_CONV) << 4; left.rtP.i_max = (int16_t(command.left.iMotMax) * AMPERE2BIT_CONV) << 4;
left.rtP.n_max = command.left.nMotMax << 4; left.rtP.n_max = command.left.nMotMax << 4;
left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * A2BIT_CONV) << 4; left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * AMPERE2BIT_CONV) << 4;
left.rtP.a_phaAdvMax = command.left.phaseAdvMax << 4; left.rtP.a_phaAdvMax = command.left.phaseAdvMax << 4;
left.rtU.z_ctrlModReq = uint8_t(command.left.ctrlMod); left.rtU.z_ctrlModReq = uint8_t(command.left.ctrlMod);
left.rtU.r_inpTgt = command.left.pwm; left.rtU.r_inpTgt = command.left.pwm;
@ -1481,9 +1499,9 @@ void parseCommand()
right.iDcMax = command.right.iDcMax; right.iDcMax = command.right.iDcMax;
right.rtP.z_ctrlTypSel = uint8_t(command.right.ctrlTyp); right.rtP.z_ctrlTypSel = uint8_t(command.right.ctrlTyp);
right.rtP.i_max = (int16_t(command.right.iMotMax) * A2BIT_CONV) << 4; // fixdt(1,16,4) right.rtP.i_max = (int16_t(command.right.iMotMax) * AMPERE2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.n_max = command.right.nMotMax << 4; // fixdt(1,16,4) right.rtP.n_max = command.right.nMotMax << 4; // fixdt(1,16,4)
right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * A2BIT_CONV) << 4; // fixdt(1,16,4) right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * AMPERE2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.a_phaAdvMax = command.right.phaseAdvMax << 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.z_ctrlModReq = uint8_t(command.right.ctrlMod);
right.rtU.r_inpTgt = command.right.pwm; right.rtU.r_inpTgt = command.right.pwm;
@ -1624,14 +1642,14 @@ void applyIncomingCanMessage()
case MotorController<isBackBoard, true> ::Command::CtrlTyp: right.rtP.z_ctrlTypSel = *((uint8_t*)buf); break; 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, 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, true> ::Command::CtrlMod: right.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::IMotMax: left .rtP.i_max = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break; case MotorController<isBackBoard, false>::Command::IMotMax: left .rtP.i_max = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_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, true> ::Command::IMotMax: right.rtP.i_max = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::IDcMax: left .iDcMax = *((uint8_t*)buf); 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, 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, 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, true> ::Command::NMotMax: right.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::FieldWeakMax: left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break; case MotorController<isBackBoard, false>::Command::FieldWeakMax: left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_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, true> ::Command::FieldWeakMax: right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::PhaseAdvMax: left .rtP.a_phaAdvMax = *((uint16_t*)buf) << 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, 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; case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left .rtP.b_cruiseCtrlEna = *((bool*)buf); break;
@ -1815,10 +1833,10 @@ void applyDefaultSettings()
motor.rtU.r_inpTgt = 0; motor.rtU.r_inpTgt = 0;
motor.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl); motor.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
motor.rtU.z_ctrlModReq = uint8_t(ControlMode::OpenMode); motor.rtU.z_ctrlModReq = uint8_t(ControlMode::OpenMode);
motor.rtP.i_max = (5 * A2BIT_CONV) << 4; motor.rtP.i_max = (5 * AMPERE2BIT_CONV) << 4;
motor.iDcMax = 7; motor.iDcMax = 7;
motor.rtP.n_max = 1000 << 4; motor.rtP.n_max = 1000 << 4;
motor.rtP.id_fieldWeakMax = (1 * A2BIT_CONV) << 4; motor.rtP.id_fieldWeakMax = (1 * AMPERE2BIT_CONV) << 4;
motor.rtP.a_phaAdvMax = 40 << 4; motor.rtP.a_phaAdvMax = 40 << 4;
motor.rtP.b_cruiseCtrlEna = false; motor.rtP.b_cruiseCtrlEna = false;
motor.rtP.n_cruiseMotTgt = 0; motor.rtP.n_cruiseMotTgt = 0;