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Motors: unify types for PWM to be uint16_t #1380

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Motors: unify types for PWM to be uint16_t #1380

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e5eafd5
Log motor.{m1,m2,m3,m4}: change type from uint32->uint16
whoenig May 29, 2024
c82b64b
motorsGetRatio: match docstring and implementation
whoenig May 29, 2024
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4 changes: 2 additions & 2 deletions src/drivers/interface/motors.h
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Original file line number Diff line number Diff line change
Expand Up @@ -322,9 +322,9 @@ void motorsBurstDshot();
void motorsSetRatio(uint32_t id, uint16_t ratio);

/**
* Get the PWM ratio of the motor 'id'. Return -1 if wrong ID.
* Get the PWM ratio of the motor 'id'.
*/
int motorsGetRatio(uint32_t id);
uint16_t motorsGetRatio(uint32_t id);

/**
* FreeRTOS Task to test the Motors driver
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12 changes: 6 additions & 6 deletions src/drivers/src/motors.c
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@

static uint8_t motorSetEnable = 0;
static uint16_t motorPowerSet[] = {0, 0, 0, 0}; // user-requested PWM signals (overrides)
static uint32_t motor_ratios[] = {0, 0, 0, 0}; // actual PWM signals
static uint16_t motor_ratios[] = {0, 0, 0, 0}; // actual PWM signals

#ifdef CONFIG_MOTORS_ESC_PROTOCOL_DSHOT
static DMA_InitTypeDef DMA_InitStructureShare;
Expand Down Expand Up @@ -584,7 +584,7 @@ int motorsESCIsLo(uint32_t id)
return GPIO_ReadInputDataBit(motorMap[id]->gpioPort, motorMap[id]->gpioPin) == Bit_RESET;
}

int motorsGetRatio(uint32_t id)
uint16_t motorsGetRatio(uint32_t id)
{
ASSERT(id < NBR_OF_MOTORS);

Expand Down Expand Up @@ -740,17 +740,17 @@ LOG_GROUP_START(motor)
/**
* @brief Motor power (PWM value) for M1 [0 - UINT16_MAX]
*/
LOG_ADD_CORE(LOG_UINT32, m1, &motor_ratios[MOTOR_M1])
LOG_ADD_CORE(LOG_UINT16, m1, &motor_ratios[MOTOR_M1])
/**
* @brief Motor power (PWM value) for M2 [0 - UINT16_MAX]
*/
LOG_ADD_CORE(LOG_UINT32, m2, &motor_ratios[MOTOR_M2])
LOG_ADD_CORE(LOG_UINT16, m2, &motor_ratios[MOTOR_M2])
/**
* @brief Motor power (PWM value) for M3 [0 - UINT16_MAX]
*/
LOG_ADD_CORE(LOG_UINT32, m3, &motor_ratios[MOTOR_M3])
LOG_ADD_CORE(LOG_UINT16, m3, &motor_ratios[MOTOR_M3])
/**
* @brief Motor power (PWM value) for M4 [0 - UINT16_MAX]
*/
LOG_ADD_CORE(LOG_UINT32, m4, &motor_ratios[MOTOR_M4])
LOG_ADD_CORE(LOG_UINT16, m4, &motor_ratios[MOTOR_M4])
LOG_GROUP_STOP(motor)
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