From f232660cc0b790206d06ef9d4e80e3a52f39f4b5 Mon Sep 17 00:00:00 2001
From: Peter Poetzi <peter.poetzi@gmail.com>
Date: Sun, 25 Oct 2020 02:27:18 +0200
Subject: [PATCH] fix peters platine

---
 config.h  |  2 +-
 defines.h | 55 ++++++++++++++++++++++++++++++++++---------------------
 main.cpp  |  8 ++++----
 3 files changed, 39 insertions(+), 26 deletions(-)

diff --git a/config.h b/config.h
index ab0efdc..a0cc685 100644
--- a/config.h
+++ b/config.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #ifdef PETERS_PLATINE
-#define PWM_FREQ            10000     // PWM frequency in Hz
+#define PWM_FREQ            12000     // PWM frequency in Hz
 #else
 #define PWM_FREQ            16000     // PWM frequency in Hz
 #endif
diff --git a/defines.h b/defines.h
index a621dc7..67e30e4 100644
--- a/defines.h
+++ b/defines.h
@@ -22,21 +22,41 @@
 #pragma once
 #include "stm32f1xx_hal.h"
 
-#define LEFT_HALL_U_PIN GPIO_PIN_5
-#define LEFT_HALL_V_PIN GPIO_PIN_6
-#define LEFT_HALL_W_PIN GPIO_PIN_7
+#ifdef PETERS_PLATINE
+    #define LEFT_HALL_U_PIN GPIO_PIN_12
+    #define LEFT_HALL_V_PIN GPIO_PIN_11
+    #define LEFT_HALL_W_PIN GPIO_PIN_10
 
-#define LEFT_HALL_U_PORT GPIOB
-#define LEFT_HALL_V_PORT GPIOB
-#define LEFT_HALL_W_PORT GPIOB
+    #define LEFT_HALL_U_PORT GPIOC
+    #define LEFT_HALL_V_PORT GPIOC
+    #define LEFT_HALL_W_PORT GPIOC
+
+    #define RIGHT_HALL_U_PIN GPIO_PIN_5
+    #define RIGHT_HALL_V_PIN GPIO_PIN_6
+    #define RIGHT_HALL_W_PIN GPIO_PIN_7
+
+    #define RIGHT_HALL_U_PORT GPIOB
+    #define RIGHT_HALL_V_PORT GPIOB
+    #define RIGHT_HALL_W_PORT GPIOB
+#else
+    #define LEFT_HALL_U_PIN GPIO_PIN_5
+    #define LEFT_HALL_V_PIN GPIO_PIN_6
+    #define LEFT_HALL_W_PIN GPIO_PIN_7
+
+    #define LEFT_HALL_U_PORT GPIOB
+    #define LEFT_HALL_V_PORT GPIOB
+    #define LEFT_HALL_W_PORT GPIOB
+
+    #define RIGHT_HALL_U_PIN GPIO_PIN_10
+    #define RIGHT_HALL_V_PIN GPIO_PIN_11
+    #define RIGHT_HALL_W_PIN GPIO_PIN_12
+
+    #define RIGHT_HALL_U_PORT GPIOC
+    #define RIGHT_HALL_V_PORT GPIOC
+    #define RIGHT_HALL_W_PORT GPIOC
+#endif
 
-#define RIGHT_HALL_U_PIN GPIO_PIN_10
-#define RIGHT_HALL_V_PIN GPIO_PIN_11
-#define RIGHT_HALL_W_PIN GPIO_PIN_12
 
-#define RIGHT_HALL_U_PORT GPIOC
-#define RIGHT_HALL_V_PORT GPIOC
-#define RIGHT_HALL_W_PORT GPIOC
 
 #define LEFT_TIM TIM8
 #define LEFT_TIM_U CCR1
@@ -44,24 +64,17 @@
 #define LEFT_TIM_UH_PORT GPIOC
 #define LEFT_TIM_UL_PIN GPIO_PIN_7
 #define LEFT_TIM_UL_PORT GPIOA
+
 #define LEFT_TIM_V CCR2
-#ifdef PETERS_PLATINE
-#define LEFT_TIM_VH_PIN GPIO_PIN_8
-#define LEFT_TIM_VL_PIN GPIO_PIN_1
-#else
 #define LEFT_TIM_VH_PIN GPIO_PIN_7
 #define LEFT_TIM_VL_PIN GPIO_PIN_0
-#endif
 #define LEFT_TIM_VH_PORT GPIOC
 #define LEFT_TIM_VL_PORT GPIOB
+
 #define LEFT_TIM_W CCR3
 #define LEFT_TIM_WH_PIN GPIO_PIN_8
 #define LEFT_TIM_WH_PORT GPIOC
-#ifdef PETERS_PLATINE
-#define LEFT_TIM_WL_PIN GPIO_PIN_0
-#else
 #define LEFT_TIM_WL_PIN GPIO_PIN_1
-#endif
 #define LEFT_TIM_WL_PORT GPIOB
 
 #define RIGHT_TIM TIM1
diff --git a/main.cpp b/main.cpp
index 2c2b757..6673bc8 100644
--- a/main.cpp
+++ b/main.cpp
@@ -236,16 +236,16 @@ int main()
 
 #ifdef MOTOR_TEST
         left.state.enable = true;
-        left.state.ctrlMod = ControlMode::Torque;
+        left.state.ctrlMod = ControlMode::Voltage;
         left.state.ctrlTyp = ControlType::FieldOrientedControl;
         left.state.pwm = pwm;
-        left.state.iMotMax = 10;
+        left.state.iMotMax = 2;
 
         right.state.enable = true;
-        right.state.ctrlMod = ControlMode::Torque;
+        right.state.ctrlMod = ControlMode::Voltage;
         right.state.ctrlTyp = ControlType::FieldOrientedControl;
         right.state.pwm = pwm;
-        right.state.iMotMax = 10;
+        right.state.iMotMax = 2;
 
         constexpr auto pwmMax = 500;