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revert numerical static_cast to C style casts

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As per https://github.com/madcowswe/ODrive/pull/410#discussion_r427725994
This commit is contained in:
Samuel Sadok
2020-05-20 13:26:14 +02:00
parent 3d07325022
commit b3912d58c2
5 changed files with 16 additions and 16 deletions
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Firmware/MotorControl/axis.cpp
+1 -1
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@@ -377,7 +377,7 @@ bool Axis::run_homing() {
controller_.vel_setpoint_ = 0.0f; // Change directions without decelerating
// Set our current position in encoder counts to make control more logical
encoder_.set_linear_count(static_cast<int32_t>(controller_.pos_setpoint_));
encoder_.set_linear_count((int32_t)controller_.pos_setpoint_);
controller_.config_.control_mode = Controller::CTRL_MODE_POSITION_CONTROL;
controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
Firmware/MotorControl/controller.cpp
+1 -1
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@@ -293,7 +293,7 @@ bool Controller::update(float* current_setpoint_output) {
// We get the current position and apply a current feed-forward
// ensuring that we handle negative encoder positions properly (-1 == motor->encoder.encoder_cpr - 1)
if (anticogging_valid_ && config_.anticogging.enable) {
Iq += config_.anticogging.cogging_map[std::clamp(mod(static_cast<int>(anticogging_pos), 3600), 0, 3600)];
Iq += config_.anticogging.cogging_map[std::clamp(mod((int)anticogging_pos, 3600), 0, 3600)];
}
float v_err = 0.0f;
Firmware/MotorControl/encoder.cpp
+12 -12
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@@ -110,7 +110,7 @@ void Encoder::set_linear_count(int32_t count) {
// Update states
shadow_count_ = count;
pos_estimate_ = static_cast<float>(count);
pos_estimate_ = (float)count;
tim_cnt_sample_ = count;
//Write hardware last
@@ -132,7 +132,7 @@ void Encoder::set_circular_count(int32_t count, bool update_offset) {
// Update states
count_in_cpr_ = mod(count, config_.cpr);
pos_cpr_ = static_cast<float>(count_in_cpr_);
pos_cpr_ = (float)count_in_cpr_;
cpu_exit_critical(prim);
}
@@ -182,7 +182,7 @@ bool Encoder::run_direction_find() {
// TODO: Do the scan with current, not voltage!
bool Encoder::run_offset_calibration() {
static const float start_lock_duration = 1.0f;
static const int num_steps = (int)(config_.calib_scan_distance / config_.calib_scan_omega * static_cast<float>(current_meas_hz));
static const int num_steps = (int)(config_.calib_scan_distance / config_.calib_scan_omega * (float)current_meas_hz);
// Require index found if enabled
if (config_.use_index && !index_found_) {
@@ -219,7 +219,7 @@ bool Encoder::run_offset_calibration() {
// scan forward
i = 0;
axis_->run_control_loop([&]() {
float phase = wrap_pm_pi(config_.calib_scan_distance * static_cast<float>(i) / static_cast<float>(num_steps) - config_.calib_scan_distance / 2.0f);
float phase = wrap_pm_pi(config_.calib_scan_distance * (float)i / (float)num_steps - config_.calib_scan_distance / 2.0f);
float v_alpha = voltage_magnitude * our_arm_cos_f32(phase);
float v_beta = voltage_magnitude * our_arm_sin_f32(phase);
if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta))
@@ -248,7 +248,7 @@ bool Encoder::run_offset_calibration() {
//TODO avoid recomputing elec_rad_per_enc every time
// Check CPR
float elec_rad_per_enc = axis_->motor_.config_.pole_pairs * 2 * M_PI * (1.0f / static_cast<float>(config_.cpr));
float elec_rad_per_enc = axis_->motor_.config_.pole_pairs * 2 * M_PI * (1.0f / (float)(config_.cpr));
float expected_encoder_delta = config_.calib_scan_distance / elec_rad_per_enc;
calib_scan_response_ = std::abs(shadow_count_ - init_enc_val);
if (std::abs(calib_scan_response_ - expected_encoder_delta) / expected_encoder_delta > config_.calib_range) {
@@ -259,7 +259,7 @@ bool Encoder::run_offset_calibration() {
// scan backwards
i = 0;
axis_->run_control_loop([&]() {
float phase = wrap_pm_pi(-config_.calib_scan_distance * static_cast<float>(i) / static_cast<float>(num_steps) + config_.calib_scan_distance / 2.0f);
float phase = wrap_pm_pi(-config_.calib_scan_distance * (float)i / (float)num_steps + config_.calib_scan_distance / 2.0f);
float v_alpha = voltage_magnitude * our_arm_cos_f32(phase);
float v_beta = voltage_magnitude * our_arm_sin_f32(phase);
if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta))
@@ -275,7 +275,7 @@ bool Encoder::run_offset_calibration() {
config_.offset = encvaluesum / (num_steps * 2);
int32_t residual = encvaluesum - ((int64_t)config_.offset * (int64_t)(num_steps * 2));
config_.offset_float = static_cast<float>(residual) / static_cast<float>(num_steps * 2) + 0.5f; // add 0.5 to center-align state to phase
config_.offset_float = (float)residual / (float)(num_steps * 2) + 0.5f; // add 0.5 to center-align state to phase
is_ready_ = true;
return true;
@@ -508,13 +508,13 @@ bool Encoder::update() {
pos_estimate_ += current_meas_period * vel_estimate_;
pos_cpr_ += current_meas_period * vel_estimate_;
// discrete phase detector
float delta_pos = static_cast<float>(shadow_count_) - static_cast<int32_t>(std::floor(pos_estimate_));
float delta_pos_cpr = static_cast<float>(count_in_cpr_) - static_cast<int32_t>(std::floor(pos_cpr_));
delta_pos_cpr = wrap_pm(delta_pos_cpr, 0.5f * static_cast<float>(config_.cpr));
float delta_pos = (float)(shadow_count_ - (int32_t)std::floor(pos_estimate_));
float delta_pos_cpr = (float)(count_in_cpr_ - (int32_t)std::floor(pos_cpr_));
delta_pos_cpr = wrap_pm(delta_pos_cpr, 0.5f * (float)(config_.cpr));
// pll feedback
pos_estimate_ += current_meas_period * pll_kp_ * delta_pos;
pos_cpr_ += current_meas_period * pll_kp_ * delta_pos_cpr;
pos_cpr_ = fmodf_pos(pos_cpr_, static_cast<float>(config_.cpr));
pos_cpr_ = fmodf_pos(pos_cpr_, (float)(config_.cpr));
vel_estimate_ += current_meas_period * pll_ki_ * delta_pos_cpr;
bool snap_to_zero_vel = false;
if (std::abs(vel_estimate_) < 0.5f * current_meas_period * pll_ki_) {
@@ -543,7 +543,7 @@ bool Encoder::update() {
//// compute electrical phase
//TODO avoid recomputing elec_rad_per_enc every time
float elec_rad_per_enc = axis_->motor_.config_.pole_pairs * 2 * M_PI * (1.0f / static_cast<float>(config_.cpr));
float elec_rad_per_enc = axis_->motor_.config_.pole_pairs * 2 * M_PI * (1.0f / (float)(config_.cpr));
float ph = elec_rad_per_enc * (interpolated_enc - config_.offset_float);
// ph = fmodf(ph, 2*M_PI);
phase_ = wrap_pm_pi(ph);
Firmware/MotorControl/low_level.cpp
+1 -1
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@@ -647,7 +647,7 @@ void update_brake_current() {
return;
}
int high_on = static_cast<int>(TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty));
int high_on = (int)(TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty));
int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;
if (low_off < 0) low_off = 0;
safety_critical_apply_brake_resistor_timings(low_off, high_on);
Firmware/MotorControl/motor.cpp
+1 -1
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@@ -216,7 +216,7 @@ float Motor::phase_current_from_adcval(uint32_t ADCValue) {
// TODO check Ibeta balance to verify good motor connection
bool Motor::measure_phase_resistance(float test_current, float max_voltage) {
static const float kI = 10.0f; // [(V/s)/A]
static const int num_test_cycles = static_cast<int>(3.0f / CURRENT_MEAS_PERIOD); // Test runs for 3s
static const int num_test_cycles = (int)(3.0f / CURRENT_MEAS_PERIOD); // Test runs for 3s
float test_voltage = 0.0f;
size_t i = 0;