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make encoder count parameter more visible

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Oskar Weigl
2017-02-08 19:57:29 +01:00
parent 4ca24d89b1
commit 538c02307c
1 changed files with 5 additions and 5 deletions
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MotorControl/low_level.c
+5 -5
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@@ -29,6 +29,10 @@
/* Global variables ----------------------------------------------------------*/
float vbus_voltage = 12.0f; //Arbitrary non-zero inital value to avoid division by zero if ADC reading is late
//@TODO stick parameter into struct
#define ENCODER_CPR (600*4)
static const float elec_rad_per_enc = 7.0 * 2 * M_PI * (1.0f / (float)ENCODER_CPR);
//@TODO: Migrate to C++, clearly we are actually doing object oriented code here...
Motor_t motors[] = {
{ //M0
@@ -498,16 +502,12 @@ static uint16_t check_timing(TIM_HandleTypeDef* htim, volatile uint16_t* log, vo
}
static void update_rotor(Rotor_t* rotor) {
//@TODO stick parameter into struct
#define QCPR (600*4)
static const float elec_rad_per_enc = 7.0 * 2 * M_PI * (1.0f / (float)QCPR);
//update internal encoder state
int16_t delta_enc = (int16_t)rotor->encoder_timer->Instance->CNT - (int16_t)rotor->encoder_state;
rotor->encoder_state += (int32_t)delta_enc;
//compute electrical phase
float ph = elec_rad_per_enc * ((rotor->encoder_state % QCPR) - rotor->encoder_offset);
float ph = elec_rad_per_enc * ((rotor->encoder_state % ENCODER_CPR) - rotor->encoder_offset);
ph = fmodf(ph, 2*M_PI);
rotor->phase = ph;