Revision 204:74714d52a936, committed 2018-02-12

Comitter:

bwang

Date:

Mon Feb 12 04:12:07 2018 +0000

Parent:

203:cb2a3ea31dce

Child:

205:5cfe6d7e08a3

Commit message:

02/11/2018 21:11 - further improvements to mode handling, output overrides and output disabling now live in their own functions

Changed in this revision

--- a/CHANGELOG.txt	Mon Feb 12 03:41:12 2018 +0000
+++ b/CHANGELOG.txt	Mon Feb 12 04:12:07 2018 +0000
@@ -42,6 +42,7 @@
 02/10/2018 01:35 - can now switch command source to terminal, added 'clear' command (which clears the screen on POSIX-compliant terminals)
 02/10/2018 17:00 - fixed a bug in BREMSConfig where the delay was in the wrong spot
 02/11/2018 02:11 - added BREMS_mode. most modes are stubs right now (BREMS_CFG does a rudimentary encoder zero-ing, BREMS_CFG disables outputs)
-02/11/2017 02:54 - long commands can no longer be executed while control.enabled == true, invalid BREMS_src now sets control.user_cmd to 0
-02/11/2017 03:16 - blocked switching modes when motor is running
-02/11/2017 20:13 - scrambled the mode and error handling code in commutate() to be cleaner
\ No newline at end of file
+02/11/2018 02:54 - long commands can no longer be executed while control.enabled == true, invalid BREMS_src now sets control.user_cmd to 0
+02/11/2018 03:16 - blocked switching modes when motor is running
+02/11/2018 20:13 - scrambled the mode and error handling code in commutate() to be cleaner
+02/11/2018 21:11 - further improvements to mode handling, output overrides and output disabling now live in their own functions
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Transforms/modes.cpp	Mon Feb 12 04:12:07 2018 +0000
@@ -0,0 +1,27 @@
+#include "prefs.h"
+
+bool mode_enables_logging() {
+    switch(BREMS_mode) {
+    case MODE_RUN:
+        return true;
+    case MODE_CFG:
+    case MODE_ZERO:
+    case MODE_CHR:
+        return false;
+    default:
+        return false;
+    }
+}
+
+bool mode_enables_output() {
+    switch(BREMS_mode) {
+    case MODE_RUN:
+    case MODE_ZERO:
+    case MODE_CHR:
+        return true;
+    case MODE_CFG:
+        return false;
+    default:
+        return false;
+    }
+}
\ No newline at end of file

--- a/errors.cpp	Mon Feb 12 03:41:12 2018 +0000
+++ b/errors.cpp	Mon Feb 12 04:12:07 2018 +0000
@@ -35,32 +35,6 @@
     return control.torque_percent > 0.01f || fabsf(read.w) > _W_SAFE;
 }
 
-bool mode_enables_logging() {
-    switch(BREMS_mode) {
-    case MODE_RUN:
-        return true;
-    case MODE_CFG:
-    case MODE_ZERO:
-    case MODE_CHR:
-        return false;
-    default:
-        return false;
-    }
-}
-
-bool mode_enables_output() {
-    switch(BREMS_mode) {
-    case MODE_RUN:
-    case MODE_ZERO:
-    case MODE_CHR:
-        return true;
-    case MODE_CFG:
-        return false;
-    default:
-        return false;
-    }
-}
-
 #define _seterr(x) errors |= (1 << x)
 #define _unseterr(x) errors &= ~(1 << x)
 #define _upderr(x) _unseterr(x) : _seterr(x)

--- a/main.cpp	Mon Feb 12 03:41:12 2018 +0000
+++ b/main.cpp	Mon Feb 12 04:12:07 2018 +0000
@@ -87,6 +87,16 @@
         
     /*set outputs*/
     float va, vb, vc, voff;
+    
+    invclarke(foc.valpha, foc.vbeta, &va, &vb);
+    vc = -va - vb;
+    
+    /*SVPWM*/
+    voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
+    va = va - voff;
+    vb = vb - voff;
+    vc = vc - voff;
+        
     switch (BREMS_mode) {
     case MODE_CFG:
         va = 0.0f;
@@ -94,13 +104,6 @@
         vc = 0.0f;
         break;
     case MODE_RUN:
-        invclarke(foc.valpha, foc.vbeta, &va, &vb);
-        vc = -va - vb;
-        /*SVPWM*/
-        voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
-        va = va - voff;
-        vb = vb - voff;
-        vc = vc - voff;
         break;
     case MODE_ZERO:
         va = 0.9f;
@@ -113,27 +116,12 @@
     }
     
     /*safety checks, reset integral*/
-    if (!checks_passed()) {
-        /*do this even in disabled state, to keep integral down*/
-        go_disabled();
-    }
-    
-    /*some modes disable output*/
-    switch (BREMS_mode) {
-    case MODE_CFG:
+    if (!checks_passed() || !mode_enables_output()) {
         go_disabled();
-        break;
-    case MODE_RUN:
-    case MODE_ZERO:
-    case MODE_CHR:
-        break;
-    default:
-        go_disabled();
-        break;
     }
         
     /*log data*/
-    if (_ENABLE_LOGGING) log();
+    if (_ENABLE_LOGGING && mode_enables_logging()) log();
     
     /*disable outputs if necessary*/
     if (!control.enabled) {
@@ -171,19 +159,6 @@
 }
 
 void log() {
-    switch (BREMS_mode) {
-    case MODE_RUN:
-        send_packet();
-        break;
-    case MODE_CFG:
-    case MODE_ZERO:
-    case MODE_CHR:
-    default:
-        break;
-    }
-}
-
-void send_packet() {
     float packet[8];
     packet[0] = read.w / 8.0f;
     packet[1] = control.d_ref / 2.0f + 128.0f;

--- a/main.h	Mon Feb 12 03:41:12 2018 +0000
+++ b/main.h	Mon Feb 12 04:12:07 2018 +0000
@@ -15,5 +15,4 @@
 
 void update_velocity();
 void log();
-void send_packet();
 void rxCallback();
\ No newline at end of file