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Reorganize config parameters

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All configurable parameters are now exposed on the protocol in objects called "[...].config". Those are the same parameters that are saved to NVM.
This commit is contained in:
Samuel Sadok
2018-02-25 19:59:29 -08:00
parent facb3f33e7
commit 50436709db
6 changed files with 136 additions and 55 deletions
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Firmware/MotorControl/config.cpp
+5 -5
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@@ -42,7 +42,7 @@ typedef struct {
float encoder_idx_search_speed;
int32_t encoder_cpr;
int32_t encoder_offset;
int32_t motor_dir;
int32_t encoder_motor_dir;
} MotorConfig_t;
/* Global constant data ------------------------------------------------------*/
@@ -182,7 +182,7 @@ void set_motor_config(const MotorConfig_t* config, Motor_t* motor) {
motor->encoder.idx_search_speed = config->encoder_idx_search_speed;
motor->encoder.encoder_cpr = config->encoder_cpr;
motor->encoder.encoder_offset = config->encoder_offset;
motor->encoder.motor_dir = config->motor_dir;
motor->encoder.motor_dir = config->encoder_motor_dir;
}
// This function is obviously stupid and should go away (make MotorConfig_t a member of Motor_t)
@@ -209,14 +209,14 @@ void get_motor_config(const Motor_t* motor, MotorConfig_t* config) {
config->encoder_idx_search_speed = motor->encoder.idx_search_speed;
config->encoder_cpr = motor->encoder.encoder_cpr;
config->encoder_offset = motor->encoder.encoder_offset;
config->motor_dir = motor->encoder.motor_dir;
config->encoder_motor_dir = motor->encoder.motor_dir;
}
void init_configuration(void) {
MotorConfig_t motor_config[2];
//TODO: we really shouldn't be hardcoding like this
if (NVM_init() || Config<MotorConfig_t, MotorConfig_t, AxisConfig, AxisConfig>::load_config(&motor_config[0], &motor_config[1], &axis_configs[0], &axis_configs[1])) {
if (NVM_init() || Config<MotorConfig_t, MotorConfig_t, AxisConfig, AxisConfig, float>::load_config(&motor_config[0], &motor_config[1], &axis_configs[0], &axis_configs[1], &brake_resistance)) {
//printf("no config found\r\n"); osDelay(5);
// load default config
// motor_config[0] = MotorConfig_t();
@@ -237,7 +237,7 @@ void save_configuration(void) {
get_motor_config(&motors[0], &motor_config[0]);
get_motor_config(&motors[1], &motor_config[1]);
//TODO: we really shouldn't be hardcoding like this
if (Config<MotorConfig_t, MotorConfig_t, AxisConfig, AxisConfig>::store_config(&motor_config[0], &motor_config[1], &axis_configs[0], &axis_configs[1])) {
if (Config<MotorConfig_t, MotorConfig_t, AxisConfig, AxisConfig, float>::store_config(&motor_config[0], &motor_config[1], &axis_configs[0], &axis_configs[1], &brake_resistance)) {
//printf("saving configuration failed\r\n"); osDelay(5);
}
}