Merge pull request #21 from bobbycar-graz/wno-volatile

Ignore -Wvolatile warnings from STM32 HAL

CMakeLists.txt

@@ -11,7 +11,7 @@ SET(CMAKE_SYSTEM_NAME Generic)
 set(COMMON_FLAGS "-mcpu=cortex-m3 -mthumb -Wall -fdata-sections -ffunction-sections")
 set(CMAKE_ASM_FLAGS "${COMMON_FLAGS} -x assembler-with-cpp")
 set(CMAKE_C_FLAGS "${COMMON_FLAGS}")
-set(CMAKE_CXX_FLAGS "${COMMON_FLAGS}")
+set(CMAKE_CXX_FLAGS "${COMMON_FLAGS} -Wno-volatile")
 
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 20)
@@ -276,7 +276,6 @@ target_compile_options(pcbv2_front.elf PRIVATE
         #    -DCAN_LOG_UNKNOWN_ADDR
         #     -DIS_BACK
         -DAMPERE2BIT_CONV=28
-        -DFEATURE_UVLO
 )
 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)
@@ -304,7 +303,6 @@ target_compile_options(pcbv2_back.elf PRIVATE
         #    -DCAN_LOG_UNKNOWN_ADDR
         -DIS_BACK
         -DAMPERE2BIT_CONV=28
-        -DFEATURE_UVLO
 )
 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)

main.cpp

@@ -40,10 +40,6 @@
 #include "bobbycar-can.h"
 #endif
 
-#ifdef FEATURE_UVLO
-#include "uvlo.h"
-#endif
-
 extern "C" {
 #include "BLDC_controller.h"
 extern const P rtP_Left; // default settings defined in BLDC_controller_data.c
@@ -512,25 +508,17 @@ void updateMotors()
     const bool leftEnable = left.enable.load();
     const bool rightEnable = right.enable.load();
 
-    bool enableAny = timeoutVal <= 500;
-#ifdef FEATURE_UVLO
-    enableAny = enableAny && !UVLO::isLockedOut();
-#endif
-
-    bool enableL = enableAny && leftEnable && !chopL;
-    bool enableR = enableAny && rightEnable && !chopR;
-
     // Disable PWM when current limit is reached (current chopping)
     // This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
-    if (enableL)
-        LEFT_TIM->BDTR |= TIM_BDTR_MOE;
-    else
+    if (chopL || timeoutVal > 500 || !leftEnable)
         LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
-
-    if (enableR)
-        RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
     else
+        LEFT_TIM->BDTR |= TIM_BDTR_MOE;
+
+    if (chopR || timeoutVal > 500 || !rightEnable)
         RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
+    else
+        RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
 
     // ############################### MOTOR CONTROL ###############################
 
@@ -1836,10 +1824,6 @@ void updateSensors()
     static int32_t batVoltageFixdt  = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 20;
     filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, batVoltageFixdt);
     batVoltage = (int16_t)(batVoltageFixdt >> 20);  // convert fixed-point to integer
-
-#ifdef FEATURE_UVLO
-    UVLO::update(adc_buffer.batt1);
-#endif
 }
 
 void applyDefaultSettings()

uvlo.h

@@ -1,36 +0,0 @@
-#pragma once
-
-#include "config.h"
-
-namespace UVLO
-{
-static constexpr uint32_t NUM_MEASUREMENTS = 50;
-static constexpr uint32_t MIN_VOLTAGE = 1500 * BAT_CALIB_ADC / BAT_CALIB_REAL_VOLTAGE;
-
-static uint32_t measurements = 0;
-static uint32_t sum = 0;
-static bool locked_out = true;
-
-static void update(uint16_t voltage)
-{
-    if (measurements < NUM_MEASUREMENTS)
-    {
-        sum += voltage;
-        measurements++;
-
-        if (measurements == NUM_MEASUREMENTS && sum / NUM_MEASUREMENTS >= MIN_VOLTAGE)
-            locked_out = false;
-    }
-}
-
-static bool isDone()
-{
-    return measurements >= NUM_MEASUREMENTS;
-}
-
-static bool isLockedOut()
-{
-    return locked_out;
-}
-
-} // namespace