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Merge pull request #3 from bobbycar-graz/shrink-structs

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Shrink structs, make fields unsigned where only positive values are used
This commit is contained in:
Michael Ehrenreich
2020-10-25 02:05:09 +02:00
committed by GitHub
parent 39f76cb62b dfa9e2178e
commit 8c6b432d7e
1 changed files with 69 additions and 6 deletions
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75
protocol.h
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@ -22,11 +22,11 @@ struct MotorState {
int16_t pwm = 0;
ControlType ctrlTyp = ControlType::FieldOrientedControl;
ControlMode ctrlMod = ControlMode::OpenMode;
int16_t iMotMax = 15; // [A] Maximum motor current limit
int16_t iDcMax = 17; // [A] Maximum DC Link current limit (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A)
int16_t nMotMax = 1000; // [rpm] Maximum motor speed limit
int16_t fieldWeakMax = 10; // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed.
int16_t phaseAdvMax = 40; // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
uint8_t iMotMax = 15; // [A] Maximum motor current limit
uint8_t iDcMax = 17; // [A] Maximum DC Link current limit (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A)
uint16_t nMotMax = 1000; // [rpm] Maximum motor speed limit
uint8_t fieldWeakMax = 10; // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed.
uint8_t phaseAdvMax = 40; // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
};
uint16_t calculateChecksum(MotorState state) {
@ -81,7 +81,7 @@ struct MotorFeedback {
int16_t speed = 0;
uint8_t error = 0;
int16_t current = 0;
uint32_t chops = 0;
uint16_t chops = 0;
bool hallA = false,
hallB = false,
hallC = false;
@ -119,4 +119,67 @@ uint16_t calculateChecksum(Feedback feedback) {
feedback.timeoutCntSerial;
}
#define ASSERT_LAYOUT(st, memb, off) \
static_assert(offsetof(st, memb) == off, "struct layout wrong");
ASSERT_LAYOUT(Feedback, start, 0);
ASSERT_LAYOUT(Feedback, left, 2);
ASSERT_LAYOUT(Feedback, left.angle, 2);
ASSERT_LAYOUT(Feedback, left.speed, 4);
ASSERT_LAYOUT(Feedback, left.error, 6);
ASSERT_LAYOUT(Feedback, left.current, 8);
ASSERT_LAYOUT(Feedback, left.chops, 10);
ASSERT_LAYOUT(Feedback, left.hallA, 12);
ASSERT_LAYOUT(Feedback, left.hallB, 13);
ASSERT_LAYOUT(Feedback, left.hallC, 14);
ASSERT_LAYOUT(Feedback, right, 16);
ASSERT_LAYOUT(Feedback, right.angle, 16);
ASSERT_LAYOUT(Feedback, right.speed, 18);
ASSERT_LAYOUT(Feedback, right.error, 20);
ASSERT_LAYOUT(Feedback, right.current, 22);
ASSERT_LAYOUT(Feedback, right.chops, 24);
ASSERT_LAYOUT(Feedback, right.hallA, 26);
ASSERT_LAYOUT(Feedback, right.hallB, 27);
ASSERT_LAYOUT(Feedback, right.hallC, 28);
ASSERT_LAYOUT(Feedback, batVoltage, 30);
ASSERT_LAYOUT(Feedback, boardTemp, 32);
ASSERT_LAYOUT(Feedback, timeoutCntSerial, 34);
ASSERT_LAYOUT(Feedback, checksum, 36);
static_assert(sizeof(Command) == 32, "sizeof(Command) wrong");
ASSERT_LAYOUT(Command, start, 0);
ASSERT_LAYOUT(Command, left, 2);
ASSERT_LAYOUT(Command, left.enable, 2);
ASSERT_LAYOUT(Command, left.pwm, 4);
ASSERT_LAYOUT(Command, left.ctrlTyp, 6);
ASSERT_LAYOUT(Command, left.ctrlMod, 7);
ASSERT_LAYOUT(Command, left.iMotMax, 8);
ASSERT_LAYOUT(Command, left.iDcMax, 9);
ASSERT_LAYOUT(Command, left.nMotMax, 10);
ASSERT_LAYOUT(Command, left.fieldWeakMax, 12);
ASSERT_LAYOUT(Command, left.phaseAdvMax, 13);
ASSERT_LAYOUT(Command, right.enable, 14);
ASSERT_LAYOUT(Command, right.pwm, 16);
ASSERT_LAYOUT(Command, right.ctrlTyp, 18);
ASSERT_LAYOUT(Command, right.ctrlMod, 19);
ASSERT_LAYOUT(Command, right.iMotMax, 20);
ASSERT_LAYOUT(Command, right.iDcMax, 21);
ASSERT_LAYOUT(Command, right.nMotMax, 22);
ASSERT_LAYOUT(Command, right.fieldWeakMax, 24);
ASSERT_LAYOUT(Command, right.phaseAdvMax, 25);
ASSERT_LAYOUT(Command, buzzer, 26);
ASSERT_LAYOUT(Command, buzzer.freq, 26);
ASSERT_LAYOUT(Command, buzzer.pattern, 27);
ASSERT_LAYOUT(Command, poweroff, 28);
ASSERT_LAYOUT(Command, led, 29);
ASSERT_LAYOUT(Command, checksum, 30);
}