refine parameter (based on measurements)

Fix data type of a_phaAdvMax in CAN protocol

.github/workflows/workflow.yml

@@ -28,16 +28,6 @@ jobs:
           
       - name: Build
         id: build
-        continue-on-error: true
         run: |
           cmake -DCMAKE_BUILD_TYPE=Release .
           make -j$(nproc) ${{ matrix.config }}
-
-    # github artifacts
-      - name: Upload logs if failed
-        if: ${{ steps.build.outcome == 'failure' }}
-        uses: actions/upload-artifact@v2.2.4
-        with:
-          path: |
-            ./CMakeFiles/CMakeOutput.log
-            ./CMakeFiles/CMakeError.log

.gitignore

@@ -3,3 +3,20 @@ CMakeCache.txt
 CMakeFiles
 Makefile
 cmake_install.cmake
+
+build/
+
+# VS Code
+.vscode/
+.cache/
+
+# Jetbrains
+.idea/
+cmake-build-*/
+
+# other
+hover.map
+libemanuel_foc_model.a
+libstm32_hal.a
+/*.bin
+/*elf

CMakeLists.txt

@@ -80,6 +80,7 @@ target_compile_options(motortest.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
 #    -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -106,6 +107,7 @@ target_compile_options(motortest_peter.elf PRIVATE
     #    -DPWM_FREQ_12KHZ
     #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
     #     -DFEATURE_INVERT_HALL
     #    -DHUART2
     #    -DHUART3
@@ -134,6 +136,7 @@ target_compile_options(feedcode-front.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -160,6 +163,7 @@ target_compile_options(feedcode-back.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -186,6 +190,7 @@ target_compile_options(greyhash.elf PRIVATE
     -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
     -DHUART3
     -DFEATURE_SERIAL_CONTROL
@@ -200,8 +205,213 @@ 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(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
+        #    -DSHUNT_4_MILLIOHM
+        #    -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
+        #    -DSHUNT_4_MILLIOHM
+        #    -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
+        #    -DSHUNT_4_MILLIOHM
+        #    -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)
 
 
+#
+# commander v2 front
+#
+add_executable(commander_v2_front.elf config.h defines.h main.cpp)
+target_link_libraries(commander_v2_front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(commander_v2_front.elf PRIVATE
+        #-DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        -DSHUNT_4_MILLIOHM
+        #    -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 commander_v2_front.hex COMMAND arm-none-eabi-objcopy -O ihex commander_v2_front.elf commander_v2_front.hex DEPENDS commander_v2_front.elf)
+add_custom_command(OUTPUT commander_v2_front.bin COMMAND arm-none-eabi-objcopy -O binary -S commander_v2_front.elf commander_v2_front.bin DEPENDS commander_v2_front.elf)
+add_custom_target(commander_v2_front ALL SOURCES commander_v2_front.hex commander_v2_front.bin)
+add_custom_target(flash-commander_v2_front COMMAND st-flash --reset write commander_v2_front.bin 0x8000000 SOURCES commander_v2_front.bin DEPENDS commander_v2_front.bin)
+
+
+#
+# commander v2 back
+#
+add_executable(commander_v2_back.elf config.h defines.h main.cpp)
+target_link_libraries(commander_v2_back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(commander_v2_back.elf PRIVATE
+        #-DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        -DSHUNT_4_MILLIOHM
+        #    -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 commander_v2_back.hex COMMAND arm-none-eabi-objcopy -O ihex commander_v2_back.elf commander_v2_back.hex DEPENDS commander_v2_back.elf)
+add_custom_command(OUTPUT commander_v2_back.bin COMMAND arm-none-eabi-objcopy -O binary -S commander_v2_back.elf commander_v2_back.bin DEPENDS commander_v2_back.elf)
+add_custom_target(commander_v2_back ALL SOURCES commander_v2_back.hex commander_v2_back.bin)
+add_custom_target(flash-commander_v2_back COMMAND st-flash --reset write commander_v2_back.bin 0x8000000 SOURCES commander_v2_back.bin DEPENDS commander_v2_back.bin)
 
 
 # util targets

config.h

@@ -6,7 +6,10 @@
 #define PWM_FREQ            16000     // PWM frequency in Hz
 #endif
 #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
 #define ADC_CONV_TIME_1C5       (14)  //Total ADC clock cycles / conversion = (  1.5+12.5)

defines.h

@@ -24,57 +24,63 @@
 
 #ifdef PETERS_PLATINE
 
-#ifdef HALL_CAB
+#ifdef LEFT_HALL_CAB
     #define LEFT_HALL_U_PIN GPIO_PIN_11
     #define LEFT_HALL_V_PIN GPIO_PIN_12
     #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_V_PIN GPIO_PIN_10
     #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_V_PIN GPIO_PIN_12
     #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_V_PIN GPIO_PIN_11
     #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_V_PIN GPIO_PIN_10
     #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_V_PIN GPIO_PIN_11
     #define LEFT_HALL_W_PIN GPIO_PIN_10
 #endif
 
-    #define LEFT_HALL_U_PORT GPIOC
-    #define LEFT_HALL_V_PORT GPIOC
-    #define LEFT_HALL_W_PORT GPIOC
+#define LEFT_HALL_U_PORT GPIOC
+#define LEFT_HALL_V_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_V_PIN GPIO_PIN_5
     #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_V_PIN GPIO_PIN_7
     #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_V_PIN GPIO_PIN_5
     #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_V_PIN GPIO_PIN_6
     #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_V_PIN GPIO_PIN_7
     #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_V_PIN GPIO_PIN_6
     #define RIGHT_HALL_W_PIN GPIO_PIN_7
@@ -83,7 +89,7 @@
     #define RIGHT_HALL_U_PORT GPIOB
     #define RIGHT_HALL_V_PORT GPIOB
     #define RIGHT_HALL_W_PORT GPIOB
-#else
+#else // defined(PETERS_PLATINE)
 #ifdef HALL_BCA
     #define LEFT_HALL_U_PIN GPIO_PIN_7
     #define LEFT_HALL_V_PIN GPIO_PIN_6

main.cpp

@@ -24,6 +24,7 @@
 #include <algorithm>
 #include <atomic>
 #include <bit>
+#include <cstdint>
 #include <cstring>
 
 #include "stm32f1xx_hal.h"
@@ -317,6 +318,7 @@ int main()
 
         enum { CurrentMeasAB, CurrentMeasBC, CurrentMeasAC };
 
+#ifndef FEATURE_BETTER_FOC_CONFIG
 #ifdef PETERS_PLATINE
         left.rtP.z_selPhaCurMeasABC  = CurrentMeasBC;
 #else
@@ -324,6 +326,23 @@ int main()
 #endif
 
         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();
@@ -445,15 +464,15 @@ void updateMotors()
     static int16_t offsetdcl{2000};
     static int16_t offsetdcr{2000};
 
-    if (offsetcount < 2000) // calibrate ADC offsets
+    if (offsetcount < 20000) // calibrate ADC offsets
     {
         offsetcount++;
-        offsetrl1 = (adc_buffer.rl1 + offsetrl1) / 2;
-        offsetrl2 = (adc_buffer.rl2 + offsetrl2) / 2;
-        offsetrr1 = (adc_buffer.rr1 + offsetrr1) / 2;
-        offsetrr2 = (adc_buffer.rr2 + offsetrr2) / 2;
-        offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
-        offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
+        offsetrl1 = (adc_buffer.rl1 + offsetrl1 * 9) / 10;
+        offsetrl2 = (adc_buffer.rl2 + offsetrl2 * 9) / 10;
+        offsetrr1 = (adc_buffer.rr1 + offsetrr1 * 9) / 10;
+        offsetrr2 = (adc_buffer.rr2 + offsetrr2 * 9) / 10;
+        offsetdcl = (adc_buffer.dcl + offsetdcl * 9) / 10;
+        offsetdcr = (adc_buffer.dcr + offsetdcr * 9) / 10;
         return;
     }
 
@@ -477,11 +496,17 @@ void updateMotors()
 #endif
     int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
 
-    const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * A2BIT_CONV);
+
+#ifdef SHUNT_4_MILLIOHM
+    curL_DC *= 2.276;
+    curR_DC *= 2.276;
+#endif
+
+    const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
     if (chopL)
         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)
         right.chops++;
 
@@ -1404,21 +1429,21 @@ void doMotorTest()
     left.enable = true;
     left.rtU.r_inpTgt            = pwm;
     left.rtP.z_ctrlTypSel        = uint8_t(ControlType::FieldOrientedControl);
-    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Torque);
-    left.rtP.i_max               = (2 * A2BIT_CONV) << 4;
+    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Voltage);
+    left.rtP.i_max               = (2 * AMPERE2BIT_CONV) << 4;
     left.iDcMax                  = 8;
     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;
 
     right.enable = true;
     right.rtU.r_inpTgt           = -pwm;
     right.rtP.z_ctrlTypSel       = uint8_t(ControlType::FieldOrientedControl);
-    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Torque);
-    right.rtP.i_max              = (2 * A2BIT_CONV) << 4;
+    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Voltage);
+    right.rtP.i_max              = (2 * AMPERE2BIT_CONV) << 4;
     right.iDcMax                 = 8;
     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;
 
     constexpr auto pwmMax = 400;
@@ -1471,9 +1496,9 @@ void parseCommand()
         left.iDcMax = command.left.iDcMax;
 
         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.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.rtU.z_ctrlModReq    = uint8_t(command.left.ctrlMod);
         left.rtU.r_inpTgt        = command.left.pwm;
@@ -1481,9 +1506,9 @@ void parseCommand()
         right.iDcMax = command.right.iDcMax;
 
         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.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.rtU.z_ctrlModReq    = uint8_t(command.right.ctrlMod);
         right.rtU.r_inpTgt        = command.right.pwm;
@@ -1624,16 +1649,16 @@ 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           = (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::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)) * AMPERE2BIT_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 = (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::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)) * AMPERE2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, false>::Command::PhaseAdvMax:   left .rtP.a_phaAdvMax     = ((uint16_t)*((uint8_t*)buf)) << 4; break;
+    case MotorController<isBackBoard, true> ::Command::PhaseAdvMax:   right.rtP.a_phaAdvMax     = ((uint16_t)*((uint8_t*)buf)) << 4; break;
     case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left .rtP.b_cruiseCtrlEna = *((bool*)buf);          break;
     case MotorController<isBackBoard, true> ::Command::CruiseCtrlEna: right.rtP.b_cruiseCtrlEna = *((bool*)buf);          break;
     case MotorController<isBackBoard, false>::Command::CruiseMotTgt:  left .rtP.n_cruiseMotTgt  = *((int16_T*)buf);       break;
@@ -1815,10 +1840,10 @@ void applyDefaultSettings()
         motor.rtU.r_inpTgt            = 0;
         motor.rtP.z_ctrlTypSel        = uint8_t(ControlType::FieldOrientedControl);
         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.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.b_cruiseCtrlEna     = false;
         motor.rtP.n_cruiseMotTgt      = 0;