From 6654b3a37576aad6a96bcbfff87c25e54fb1037c Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Sat, 25 May 2019 17:29:25 +0200
Subject: [PATCH] Just fetch the cogging ratio every time we need it

---
 Firmware/MotorControl/controller.cpp | 7 ++++---
 Firmware/MotorControl/encoder.cpp    | 4 ----
 Firmware/MotorControl/encoder.hpp    | 9 +++++----
 3 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index 65c9a2bb..1199682a 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -5,7 +5,8 @@
 
 Controller::Controller(Config_t& config) :
     config_(config)
-{}
+{
+}
 
 void Controller::reset() {
     pos_setpoint_ = 0.0f;
@@ -90,7 +91,7 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
             config_.anticogging.cogging_map[std::clamp<uint32_t>(config_.anticogging.index++, 0, 3600)] = vel_integrator_current_;
         }
         if (config_.anticogging.index < 3600) {
-            set_pos_setpoint(config_.anticogging.index * config_.anticogging.cogging_ratio, 0.0f, 0.0f);
+            set_pos_setpoint(config_.anticogging.index * axis_->encoder_.getCoggingRatio(), 0.0f, 0.0f);
             return false;
         } else {
             config_.anticogging.index = 0;
@@ -106,7 +107,7 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
 bool Controller::update(float pos_estimate, float vel_estimate, float* current_setpoint_output) {
     // Only runs if config_.anticogging.calib_anticogging is true; non-blocking
     anticogging_calibration(pos_estimate, vel_estimate);
-    float anticogging_pos = pos_estimate / config_.anticogging.cogging_ratio;
+    float anticogging_pos = pos_estimate / axis_->encoder_.getCoggingRatio();
 
     // Trajectory control
     if (config_.control_mode == CTRL_MODE_TRAJECTORY_CONTROL) {
diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 27679c33..95dc91f9 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -99,10 +99,6 @@ void Encoder::set_linear_count(int32_t count) {
     cpu_exit_critical(prim);
 }
 
-void Encoder::cpr_changed_callback(){
-    axis_->controller_.config_.anticogging.cogging_ratio = config_.cpr / 3600.0f;
-}
-
 // Function that sets the CPR circular tracking encoder count to a desired 32-bit value.
 // Note that this will get mod'ed down to [0, cpr)
 void Encoder::set_circular_count(int32_t count, bool update_offset) {
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index b6a3b3d8..9d2c272c 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -67,9 +67,6 @@ public:
     void sample_now();
     bool update();
 
-    void cpr_changed_callback();
-
-
     const EncoderHardwareConfig_t& hw_config_;
     Config_t& config_;
     Axis* axis_ = nullptr; // set by Axis constructor
@@ -94,6 +91,10 @@ public:
     float sincos_sample_s_ = 0.0f;
     float sincos_sample_c_ = 0.0f;
 
+    constexpr float getCoggingRatio(){
+        return config_.cpr / 3600.0f;
+    }
+
     // Communication protocol definitions
     auto make_protocol_definitions() {
         return make_protocol_member_list(
@@ -120,7 +121,7 @@ public:
                 make_protocol_property("pre_calibrated", &config_.pre_calibrated,
                     [](void* ctx) { static_cast<Encoder*>(ctx)->check_pre_calibrated(); }, this),
                 make_protocol_property("zero_count_on_find_idx", &config_.zero_count_on_find_idx),
-                make_protocol_property("cpr", &config_.cpr, [](void* ctx) { static_cast<Encoder*>(ctx)->cpr_changed_callback(); }, this),
+                make_protocol_property("cpr", &config_.cpr),
                 make_protocol_property("offset", &config_.offset),
                 make_protocol_property("offset_float", &config_.offset_float),
                 make_protocol_property("enable_phase_interpolation", &config_.enable_phase_interpolation),