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Commit 054957a

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askuricaskuric
committed
FEAT memory reduction strings
1 parent 683177f commit 054957a

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2 files changed

+39
-27
lines changed

2 files changed

+39
-27
lines changed

‎src/BLDCMotor.cpp‎

Lines changed: 36 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -60,14 +60,14 @@ BLDCMotor::BLDCMotor(int phA, int phB, int phC, int pp, int en)
6060

6161
// init hardware pins
6262
void BLDCMotor::init() {
63-
if(monitor_port) monitor_port->println("MONITOR: Initialize the motor pins.");
63+
if(monitor_port) monitor_port->println("MOT: Init pins.");
6464
// PWM pins
6565
pinMode(pwmA, OUTPUT);
6666
pinMode(pwmB, OUTPUT);
6767
pinMode(pwmC, OUTPUT);
6868
if(hasEnable()) pinMode(enable_pin, OUTPUT);
6969

70-
if(monitor_port) monitor_port->println("MONITOR: Set high frequency PWM.");
70+
if(monitor_port) monitor_port->println("MOT: PWM config.");
7171
// Increase PWM frequency to 32 kHz
7272
// make silent
7373
_setPwmFrequency(pwmA);
@@ -79,7 +79,7 @@ void BLDCMotor::init() {
7979

8080
_delay(500);
8181
// enable motor
82-
if(monitor_port) monitor_port->println("MONITOR: Enabling motor.");
82+
if(monitor_port) monitor_port->println("MOT: Enable.");
8383
enable();
8484
_delay(500);
8585

@@ -115,7 +115,7 @@ void BLDCMotor::linkSensor(Sensor* _sensor) {
115115

116116
// Encoder alignment to electrical 0 angle
117117
int BLDCMotor::alignSensor() {
118-
if(monitor_port) monitor_port->println("MONITOR: Align the sensor's and motor electrical 0 angle.");
118+
if(monitor_port) monitor_port->println("MOT: Align sensor.");
119119
// align the electrical phases of the motor and sensor
120120
// set angle -90 degrees
121121
setPhaseVoltage(voltage_sensor_align, _3PI_2);
@@ -131,9 +131,9 @@ int BLDCMotor::alignSensor() {
131131
int exit_flag = absoluteZeroAlign();
132132
_delay(500);
133133
if(monitor_port){
134-
if(exit_flag< 0 ) monitor_port->println("MONITOR: Error: Absolute zero not found!");
135-
if(exit_flag> 0 ) monitor_port->println("MONITOR: Success: Absolute zero found!");
136-
else monitor_port->println("MONITOR: Absolute zero not available!");
134+
if(exit_flag< 0 ) monitor_port->println("MOT: Error: Not found!");
135+
if(exit_flag> 0 ) monitor_port->println("MOT: Success!");
136+
else monitor_port->println("MOT: Not available!");
137137
}
138138
return exit_flag;
139139
}
@@ -145,9 +145,9 @@ int BLDCMotor::absoluteZeroAlign() {
145145
// if no absolute zero return
146146
if(!sensor->hasAbsoluteZero()) return 0;
147147

148-
if(monitor_port) monitor_port->println("MONITOR: Aligning the absolute zero.");
148+
if(monitor_port) monitor_port->println("MOT: Absolute zero align.");
149149

150-
if(monitor_port && sensor->needsAbsoluteZeroSearch()) monitor_port->println("MONITOR: Searching for absolute zero.");
150+
if(monitor_port && sensor->needsAbsoluteZeroSearch()) monitor_port->println("MOT: Searching...");
151151
// search the absolute zero with small velocity
152152
while(sensor->needsAbsoluteZeroSearch() && shaft_angle < _2PI){
153153
loopFOC();
@@ -204,7 +204,7 @@ int BLDCMotor::initFOC() {
204204
int exit_flag = alignSensor();
205205
_delay(500);
206206

207-
if(monitor_port) monitor_port->println("MONITOR: FOC init finished - motor ready.");
207+
if(monitor_port) monitor_port->println("MOT: Motor ready.");
208208

209209
return exit_flag;
210210
}
@@ -434,7 +434,7 @@ float BLDCMotor::positionP(float ek) {
434434
// function implementing the monitor_port setter
435435
void BLDCMotor::useMonitoring(Print &print){
436436
monitor_port = &print; //operate on the address of print
437-
if(monitor_port ) monitor_port->println("MONITOR: Serial monitor enabled!");
437+
if(monitor_port ) monitor_port->println("MOT: Monitor enabled!");
438438
}
439439
// utility function intended to be used with serial plotter to monitor motor variables
440440
// significantly slowing the execution down!!!!
@@ -478,51 +478,63 @@ int BLDCMotor::command(String user_command) {
478478
// parse command values
479479
float value = user_command.substring(1).toFloat();
480480

481+
// a bit of optimisation of variable memory for Arduino UNO (atmega328)
482+
switch(cmd){
483+
case 'P': // velocity P gain change
484+
case 'I': // velocity I gain change
485+
case 'L': // velocity voltage limit change
486+
case 'R': // velocity voltage ramp change
487+
if(monitor_port) monitor_port->print(" PI velocity| ");
488+
break;
489+
case 'F': // velocity Tf low pass filter change
490+
if(monitor_port) monitor_port->print(" LPF velocity| ");
491+
break;
492+
case 'K': // angle loop gain P change
493+
case 'N': // angle loop gain velocity_limit change
494+
if(monitor_port) monitor_port->print(" P angle| ");
495+
break;
496+
}
497+
481498
// apply the the command
482499
switch(cmd){
483500
case 'P': // velocity P gain change
484-
if(monitor_port) monitor_port->print("PI velocity P: ");
501+
if(monitor_port) monitor_port->print("P: ");
485502
if(!GET) PI_velocity.P = value;
486503
if(monitor_port) monitor_port->println(PI_velocity.P);
487504
break;
488505
case 'I': // velocity I gain change
489-
if(monitor_port) monitor_port->print("PI velocity I: ");
506+
if(monitor_port) monitor_port->print("I: ");
490507
if(!GET) PI_velocity.I = value;
491508
if(monitor_port) monitor_port->println(PI_velocity.I);
492509
break;
493510
case 'L': // velocity voltage limit change
494-
if(monitor_port) monitor_port->print("PI velocity voltage limit: ");
511+
if(monitor_port) monitor_port->print("volt_limit: ");
495512
if(!GET)PI_velocity.voltage_limit = value;
496513
if(monitor_port) monitor_port->println(PI_velocity.voltage_limit);
497514
break;
498515
case 'R': // velocity voltage ramp change
499-
if(monitor_port) monitor_port->print("PI velocity voltage ramp: ");
516+
if(monitor_port) monitor_port->print("volt_ramp: ");
500517
if(!GET) PI_velocity.voltage_ramp = value;
501518
if(monitor_port) monitor_port->println(PI_velocity.voltage_ramp);
502519
break;
503520
case 'F': // velocity Tf low pass filter change
504-
if(monitor_port) monitor_port->print("LPF velocity time constant: ");
521+
if(monitor_port) monitor_port->print("Tf: ");
505522
if(!GET) LPF_velocity.Tf = value;
506523
if(monitor_port) monitor_port->println(LPF_velocity.Tf);
507524
break;
508525
case 'K': // angle loop gain P change
509-
if(monitor_port) monitor_port->print("P angle P value: ");
526+
if(monitor_port) monitor_port->print(" P: ");
510527
if(!GET) P_angle.P = value;
511528
if(monitor_port) monitor_port->println(P_angle.P);
512529
break;
513530
case 'N': // angle loop gain velocity_limit change
514-
if(monitor_port) monitor_port->print("P angle velocity limit: ");
515-
if(!GET) P_angle.velocity_limit = value;
516-
if(monitor_port) monitor_port->println(P_angle.velocity_limit);
517-
break;
518-
case 'T': // angle loop gain velocity_limit change
519-
if(monitor_port) monitor_port->print("P angle velocity limit: ");
531+
if(monitor_port) monitor_port->print("vel_limit: ");
520532
if(!GET) P_angle.velocity_limit = value;
521533
if(monitor_port) monitor_port->println(P_angle.velocity_limit);
522534
break;
523535
case 'C':
524536
// change control type
525-
if(monitor_port) monitor_port->print("Contoller type: ");
537+
if(monitor_port) monitor_port->print("Control: ");
526538

527539
if(GET){ // if get commang
528540
switch(controller){

‎src/FOCutils.cpp‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -32,11 +32,11 @@ void _delay(unsigned long ms){
3232
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
3333
// if arduino uno and other atmega328p chips
3434
// return the value based on the prescaler
35-
long t = _micros();
36-
while((_micros() - t)/1000 < ms){};
35+
unsigned long t = _micros();
36+
while(_round((_micros() - t)/1000) < ms){};
3737
#else
3838
// regular micros
39-
return delay(ms);
39+
delay(ms);
4040
#endif
4141
}
4242

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