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Fix static in encoder.cpp, constexpr the things

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2020-07-11 22:19:41 -04:00
parent 4d7bf9ec21
commit 883dd27a17
4 changed files with 10 additions and 10 deletions
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Firmware/MotorControl/low_level.cpp
+4 -4
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@@ -28,8 +28,8 @@
/* Private macros ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Global constant data ------------------------------------------------------*/
const float adc_full_scale = (float)(1 << 12);
const float adc_ref_voltage = 3.3f;
constexpr float adc_full_scale = static_cast<float>(1UL << 12UL);
constexpr float adc_ref_voltage = 3.3f;
/* Global variables ----------------------------------------------------------*/
// This value is updated by the DC-bus reading ADC.
@@ -439,7 +439,7 @@ float get_adc_voltage(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin) {
//--------------------------------
void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
static const float voltage_scale = adc_ref_voltage * VBUS_S_DIVIDER_RATIO / adc_full_scale;
constexpr float voltage_scale = adc_ref_voltage * VBUS_S_DIVIDER_RATIO / adc_full_scale;
// Only one conversion in sequence, so only rank1
uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
vbus_voltage = ADCValue * voltage_scale;
@@ -478,7 +478,7 @@ static void decode_hall_samples(Encoder& enc, uint16_t GPIO_samples[num_GPIO]) {
// TODO: Document how the phasing is done, link to timing diagram
void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
#define calib_tau 0.2f //@TOTO make more easily configurable
static const float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau;
constexpr float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau;
// Ensure ADCs are expected ones to simplify the logic below
if (!(hadc == &hadc2 || hadc == &hadc3)) {