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improve naming consistency between code and fibre

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Consistent naming makes code autogeneration easier.
This commit does not claim that the exported names of the variables were
more sensible than the in-code names. However changing the exported
names can break external tools and needs to happen in a controlled and
documented way.
This commit is contained in:
Samuel Sadok
2020-05-14 11:16:32 +02:00
parent bd26cc9ef3
commit da7f719283
25 changed files with 128 additions and 128 deletions
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Firmware/MotorControl/axis.cpp
+8 -8
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@@ -25,7 +25,7 @@ Axis::Axis(int axis_num,
sensorless_estimator_(sensorless_estimator),
controller_(controller),
motor_(motor),
trap_(trap),
trap_traj_(trap),
min_endstop_(min_endstop),
max_endstop_(max_endstop)
{
@@ -33,7 +33,7 @@ Axis::Axis(int axis_num,
sensorless_estimator_.axis_ = this;
controller_.axis_ = this;
motor_.axis_ = this;
trap_.axis_ = this;
trap_traj_.axis_ = this;
min_endstop_.axis_ = this;
max_endstop_.axis_ = this;
decode_step_dir_pins();
@@ -173,7 +173,7 @@ bool Axis::do_checks() {
// controller_.do_checks();
// Check for endstop presses
bool vel_dependent_stopping = (current_state_ == AXIS_STATE_HOMING) && (controller_.config_.control_mode >= Controller::CTRL_MODE_VELOCITY_CONTROL);
bool vel_dependent_stopping = (current_state_ == AXIS_STATE_HOMING) && (controller_.config_.control_mode >= Controller::CONTROL_MODE_VELOCITY_CONTROL);
if (min_endstop_.config_.enabled && min_endstop_.get_state() && (!vel_dependent_stopping || controller_.vel_setpoint_ < 0.0f)) {
error_ |= ERROR_MIN_ENDSTOP_PRESSED;
} else if (max_endstop_.config_.enabled && max_endstop_.get_state() && (!vel_dependent_stopping || controller_.vel_setpoint_ > 0.0f)) {
@@ -331,8 +331,8 @@ bool Axis::run_closed_loop_control_loop() {
// Slowly drive in the negative direction at homing_speed until the min endstop is pressed
// When pressed, set the linear count to the offset (default 0), and then go to position 0
bool Axis::run_homing() {
Controller::ControlMode_t stored_control_mode = controller_.config_.control_mode;
Controller::InputMode_t stored_input_mode = controller_.config_.input_mode;
Controller::ControlMode stored_control_mode = controller_.config_.control_mode;
Controller::InputMode stored_input_mode = controller_.config_.input_mode;
// TODO: theoretically this check should be inside the update loop,
// otherwise someone could disable the endstop while homing is in progress.
@@ -340,7 +340,7 @@ bool Axis::run_homing() {
return error_ |= ERROR_HOMING_WITHOUT_ENDSTOP, false;
}
controller_.config_.control_mode = Controller::CTRL_MODE_VELOCITY_CONTROL;
controller_.config_.control_mode = Controller::CONTROL_MODE_VELOCITY_CONTROL;
controller_.config_.input_mode = Controller::INPUT_MODE_VEL_RAMP;
controller_.input_pos_ = 0.0f;
@@ -381,7 +381,7 @@ bool Axis::run_homing() {
// Set our current position in encoder counts to make control more logical
encoder_.set_linear_count(static_cast<int32_t>(controller_.pos_setpoint_));
controller_.config_.control_mode = Controller::CTRL_MODE_POSITION_CONTROL;
controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
controller_.input_pos_ = 0.0f;
@@ -499,7 +499,7 @@ void Axis::run_state_machine_loop() {
case AXIS_STATE_LOCKIN_SPIN: {
if (!motor_.is_calibrated_ || motor_.config_.direction==0)
goto invalid_state_label;
status = run_lockin_spin(config_.lockin);
status = run_lockin_spin(config_.general_lockin);
} break;
case AXIS_STATE_SENSORLESS_CONTROL: {