feedc0de/bobbycar-protocol
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Shrink structs, make fields unsigned where no sign needed

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This reduces sizeof(Command) from 40 to 32 and sizeof(Feedback) from 44 to 34
This commit is contained in:
Michael Ehrenreich
2020-09-01 23:35:25 +02:00
parent 39f76cb62b
commit c176bb40a2
1 changed files with 6 additions and 6 deletions
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12
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;