From 161651ae484dd5dfccda5370f8a6c9ba59406e02 Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Wed, 22 Nov 2017 21:11:38 -0500
Subject: [PATCH] Move max_allowed_current to current_control struct

---
 Firmware/MotorControl/low_level.c | 10 +++++-----
 Firmware/MotorControl/low_level.h |  2 +-
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c
index 79617b44..a4fe5379 100644
--- a/Firmware/MotorControl/low_level.c
+++ b/Firmware/MotorControl/low_level.c
@@ -104,6 +104,7 @@ Motor_t motors[] = {
             .final_v_alpha = 0.0f,
             .final_v_beta = 0.0f,
             .Iq = 0.0f,
+            .max_allowed_current = 0.0f,
         },
         // .rotor_mode = ROTOR_MODE_SENSORLESS,
         // .rotor_mode = ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS,
@@ -144,7 +145,6 @@ Motor_t motors[] = {
             .calib_pos_threshold = 1.0f,
             .calib_vel_threshold = 1.0f,
         },
-        .max_allowed_current = 0.0f,
     },
     {   // M1
         .control_mode = CTRL_MODE_POSITION_CONTROL, //see: Motor_control_mode_t
@@ -197,6 +197,7 @@ Motor_t motors[] = {
             .final_v_alpha = 0.0f,
             .final_v_beta = 0.0f,
             .Iq = 0.0f,
+            .max_allowed_current = 0.0f,
         },
         .rotor_mode = ROTOR_MODE_ENCODER,
         .encoder = {
@@ -234,8 +235,7 @@ Motor_t motors[] = {
             .calib_anticogging = false,
             .calib_pos_threshold = 1.0f,
             .calib_vel_threshold = 1.0f,
-        },
-        .max_allowed_current = 0.0f,
+        }
     }
 };
 const int num_motors = sizeof(motors)/sizeof(motors[0]);
@@ -422,7 +422,7 @@ static void DRV8301_setup(Motor_t* motor) {
         float margin = 0.95f;
         float max_input = margin * 0.3f * motor->shunt_conductance;
         float max_swing = margin * 1.6f * motor->shunt_conductance * motor->phase_current_rev_gain;
-        motor->max_allowed_current = MACRO_MIN(max_input, max_swing);
+        motor->current_control.max_allowed_current = MACRO_MIN(max_input, max_swing);
 
         local_regs->SndCmd = true;
         DRV8301_writeData(gate_driver, local_regs);
@@ -1309,7 +1309,7 @@ static void control_motor_loop(Motor_t* motor) {
         }
 
         // Current limiting
-        float Ilim = MACRO_MIN(motor->current_control.current_lim, motor->max_allowed_current);
+        float Ilim = MACRO_MIN(motor->current_control.current_lim, motor->current_control.max_allowed_current);
         bool limited = false;
         if (Iq > Ilim) {
             limited = true;
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index 4293f935..4806bbcb 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -71,6 +71,7 @@ typedef struct {
     float final_v_alpha; // [V]
     float final_v_beta; // [V]
     float Iq;
+    float max_allowed_current;
 } Current_control_t;
 
 typedef enum {
@@ -146,7 +147,6 @@ typedef struct {
     int timing_log_index;
     uint16_t timing_log[TIMING_LOG_SIZE];
     Anticogging_t anticogging;
-    float max_allowed_current;
 } Motor_t;
 
 typedef struct{