From 0728904359dc77ee5cd2d9bd37b5c5a65e54b3a4 Mon Sep 17 00:00:00 2001
From: Rene Hopf <renehopf@mac.com>
Date: Mon, 5 Dec 2016 17:04:48 +0100
Subject: [PATCH] comments, cleanup

---
 shared/defines.h       |  1 +
 src/comps/enc_cmd.comp | 57 ------------------------------------------
 src/link.c             |  1 +
 src/main.c             |  2 +-
 stm32f103/src/main.c   |  8 +++---
 5 files changed, 7 insertions(+), 62 deletions(-)

diff --git a/shared/defines.h b/shared/defines.h
index 515a35fd..80202d30 100644
--- a/shared/defines.h
+++ b/shared/defines.h
@@ -48,6 +48,7 @@ extern "C" {
 #define STRINGIFY(x)        STRINGIFY_(x)
 
 //TODO: change type to typeof()
+//TODO: change __old_val__ to something more useful 
 #define RISING_EDGE(sig)\
 ({static float __old_val__ = 0.0; uint8_t ret = (sig) > __old_val__; __old_val__ = (sig); ret;})
 
diff --git a/src/comps/enc_cmd.comp b/src/comps/enc_cmd.comp
index 4377bca6..8c0d9dab 100644
--- a/src/comps/enc_cmd.comp
+++ b/src/comps/enc_cmd.comp
@@ -92,60 +92,3 @@ RT(
 );
 
 ENDCOMP;
-
-//http://stackoverflow.com/questions/32947972/stm32-how-to-make-pulse-count-up-down-with-timer
-// #include "mbed.h"
-// #include "stm32f4xx.h"
-// #include "stm32f4xx_hal_tim_ex.h"
-//
-// TIM_HandleTypeDef timer;
-// TIM_Encoder_InitTypeDef encoder;
-//
-// //direction to PA_9 -- step to PA_8
-//
-// int main(){
-//      GPIO_InitTypeDef GPIO_InitStruct;
-//         __TIM1_CLK_ENABLE();
-//         __GPIOA_CLK_ENABLE();
-//         GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
-//         GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-//         GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-//         GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
-//         GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
-//         HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-//
-//     timer.Instance = TIM1;
-//     timer.Init.Period = 0xffff;
-//     timer.Init.Prescaler = 1;
-//     timer.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-//     timer.Init.CounterMode = TIM_COUNTERMODE_UP;
-//
-//
-//     encoder.EncoderMode = TIM_ENCODERMODE_TI1;
-//     encoder.IC1Filter = 0x0f;
-//     encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING; //step signal
-//     encoder.IC1Prescaler = TIM_ICPSC_DIV1;
-//     encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
-//
-//     encoder.IC2Filter = 0x0f;
-//     encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;  //check direction
-//     encoder.IC2Prescaler = TIM_ICPSC_DIV1;
-//     encoder.IC2Selection = TIM_ICSELECTION_INDIRECTTI;
-//
-//     HAL_TIM_Encoder_Init(&timer, &encoder);
-//     HAL_TIM_Encoder_Start(&timer,TIM_CHANNEL_1);
-//
-//
-//     TIM1->EGR = 1;           // Generate an update event
-//     TIM1->CR1 = 1;           // Enable the counter
-//
-//
-//  while (1) {
-//         int16_t count1;
-//         count1=TIM1->CNT;
-//
-//         printf("%d\r\n", count1);
-//         wait(1.0);
-//
-//  };
-// }
diff --git a/src/link.c b/src/link.c
index dcc851aa..69bb4959 100644
--- a/src/link.c
+++ b/src/link.c
@@ -153,6 +153,7 @@ void link_pid(){
    hal_link_pins("fault0.brake", "io0.brake");
    hal_link_pins("fault0.hv_fan", "io0.fan");
 
+   //TODO: merge enable_out and enable_pid
    hal_link_pins("fault0.enable_out", "hv0.enable");
    hal_link_pins("fault0.enable_pid", "pid0.enable");
 
diff --git a/src/main.c b/src/main.c
index d643d7dd..48963828 100644
--- a/src/main.c
+++ b/src/main.c
@@ -313,7 +313,7 @@ int main(void)
    frt_period_time_hal_pin = hal_map_pin("net0.frt_period");
    
    link_pid();
-   hal_comp_init();
+   hal_comp_init();//call init function of all comps
 
    if(hal.pin_errors + hal.comp_errors == 0){
       hal_start();
diff --git a/stm32f103/src/main.c b/stm32f103/src/main.c
index ae6dfccf..246efe04 100644
--- a/stm32f103/src/main.c
+++ b/stm32f103/src/main.c
@@ -20,7 +20,7 @@
 #define ACS_DOWN 3000.0
 #define ACS_OFFSET 2.5
 
-#define AMP(a) ((a * AREF / ARES * (ACS_DOWN + ACS_UP) / ACS_DOWN - ACS_OFFSET) / ACS_VPA)
+#define AMP(a) (((a) * AREF / ARES * (ACS_DOWN + ACS_UP) / ACS_DOWN - ACS_OFFSET) / ACS_VPA)
 
 #else //iramx v3.1-v3.3 hardware
 #define RCUR 0.0181//shunt
@@ -34,12 +34,12 @@
 #define PWM_V TIM1->CCR2
 #define PWM_W TIM1->CCR3
 
-#define AMP(a) ((a * AREF / ARES - AREF / (R10 + R11) * R11) / (RCUR * R10) * (R10 + R11))
-#define TEMP(a) (log10f(a * AREF / ARES * TPULLUP / (AREF - a * AREF / ARES)) * (-53) + 290)
+#define AMP(a) (((a) * AREF / ARES - AREF / (R10 + R11) * R11) / (RCUR * R10) * (R10 + R11))
+#define TEMP(a) (log10f((a) * AREF / ARES * TPULLUP / (AREF - a * AREF / ARES)) * (-53) + 290)
 
 #endif
 
-#define VOLT(a) (a / ARES * AREF / VDIVDOWN * (VDIVUP + VDIVDOWN))
+#define VOLT(a) ((a) / ARES * AREF / VDIVDOWN * (VDIVUP + VDIVDOWN))
 
 volatile uint16_t ADCConvertedValue[100];//DMA buffer for ADC
 volatile uint8_t rxbuf[50];//DMA buffer for UART RX