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Merge branch 'TM_nofloat' into TM-mergetest

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This commit is contained in:
Harald Barth
2022-06-11 22:14:56 +02:00
parent 5eb9678437 16fafccf15
commit 7fba96417f
11 changed files with 198 additions and 70 deletions
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19
MotorDriver.cpp
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@@ -88,16 +88,23 @@ MotorDriver::MotorDriver(VPIN power_pin, byte signal_pin, byte signal_pin2, int8
pinMode(faultPin, INPUT);
}
senseFactor=sense_factor;
// This conversion performed at compile time so the remainder of the code never needs
// float calculations or libraray code.
senseFactorInternal=sense_factor * senseScale;
tripMilliamps=trip_milliamps;
rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
rawCurrentTripValue=mA2raw(trip_milliamps);
if (currentPin==UNUSED_PIN)
DIAG(F("MotorDriver ** WARNING ** No current or short detection"));
else
else {
DIAG(F("MotorDriver currentPin=A%d, senseOffset=%d, rawCurrentTripValue(relative to offset)=%d"),
currentPin-A0, senseOffset,rawCurrentTripValue);
// self testing diagnostic for the non-float converters... may be removed when happy
// DIAG(F("senseFactorInternal=%d raw2mA(1000)=%d mA2Raw(1000)=%d"),
// senseFactorInternal, raw2mA(1000),mA2raw(1000));
}
// prepare values for current detection
sampleDelay = 0;
lastSampleTaken = millis();
@@ -213,10 +220,10 @@ int MotorDriver::getCurrentRawInInterrupt() {
}
unsigned int MotorDriver::raw2mA( int raw) {
return (unsigned int)(raw * senseFactor);
return (int32_t)raw * senseFactorInternal / senseScale;
}
int MotorDriver::mA2raw( unsigned int mA) {
return (int)(mA / senseFactor);
unsigned int MotorDriver::mA2raw( unsigned int mA) {
return (int32_t)mA * senseScale / senseFactorInternal;
}
void MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & result) {