Implement review hints of rovo89

ClemensElflein · Oct 11, 2024 · 68ed301 · 68ed301
1 parent 9a50a05
commit 68ed301
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Showing 4 changed files with 9 additions and 12 deletions.
diff --git a/Firmware/LowLevel/include/config.h b/Firmware/LowLevel/include/config.h
@@ -2,10 +2,12 @@
 #define _CONFIG_H
 
 #define BATT_ABS_MAX 28.7f
-#define BATT_ABS_Min 21.7f
+#define BATT_ABS_MIN 21.7f
 
+#define BATT_EMPTY BATT_ABS_MIN + 0.3f
 #define BATT_FULL BATT_ABS_MAX - 0.3f
-#define BATT_EMPTY BATT_ABS_Min + 0.3f
+
+#define V_BATT_CUTOFF 29.0f
 
 #define TILT_EMERGENCY_MILLIS 2500  // Time for a single wheel to be lifted in order to count as emergency (0 disable). This is to filter uneven ground.
 #define LIFT_EMERGENCY_MILLIS 100   // Time for both wheels to be lifted in order to count as emergency (0 disable). This is to filter uneven ground.

diff --git a/Firmware/LowLevel/include/debug.h b/Firmware/LowLevel/include/debug.h
@@ -22,7 +22,6 @@
 
 #ifdef USB_DEBUG
 #define DEBUG_SERIAL Serial
-// #define DfMiniMp3Debug DEBUG_SERIAL // Also output DFPlayer IN/OUT cmd data
 
 // Some bloody simple debug macros which superfluous '#ifdef USB_DEBUG' ...
 #define DEBUG_BEGIN(b)     \
@@ -39,9 +38,5 @@
 #define DEBUG_PRINTF(fmt, ...)
 #endif
 
-#define PRINTF_BINARY_PATTERN_INT8 "%c%c%c%c%c%c%c%c"
-#define PRINTF_BYTE_TO_BINARY_INT8(i)                                                                               \
-    (((i)&0x80ll) ? '1' : '0'), (((i)&0x40ll) ? '1' : '0'), (((i)&0x20ll) ? '1' : '0'), (((i)&0x10ll) ? '1' : '0'), \
-        (((i)&0x08ll) ? '1' : '0'), (((i)&0x04ll) ? '1' : '0'), (((i)&0x02ll) ? '1' : '0'), (((i)&0x01ll) ? '1' : '0')
 
 #endif // _DEBUG_H_
diff --git a/Firmware/LowLevel/src/datatypes.h b/Firmware/LowLevel/src/datatypes.h
@@ -144,9 +144,9 @@ typedef char iso639_1[2]; // Two char ISO 639-1 language code
 
 enum class HallMode : uint8_t {
     off = 0,
-    emergency,  // lift & tilt
-    stop,
-    pause
+    emergency,  // Triggers emergency with lift & tilt functionality
+    stop,       // Stop mower
+    pause       // Pause the mower (not yet implemented in ROS)
 };
 
 // FIXME: Decide later which is more comfortable, activeLow = 0 | 1
@@ -176,7 +176,7 @@ struct ll_high_level_config {
     uint16_t rain_threshold = 700;                 // If (stock CoverUI) rain value < rain_threshold then it rains. Expected to differ between C500, SA and SC types
     float v_charge_cutoff = V_CHARGE_MAX;          // Protective max. charging voltage before charging get switched off
     float i_charge_cutoff = I_CHARGE_MAX;          // Protective max. charging current before charging get switched off
-    float v_battery_cutoff = 29.0f;                // Protective max. battery voltage before charging get switched off
+    float v_battery_cutoff = V_BATT_CUTOFF;          // Protective max. battery voltage before charging get switched off
     float v_battery_empty = BATT_EMPTY;            // Empty battery voltage used for % calc of capacity
     float v_battery_full = BATT_FULL;              // Full battery voltage used for % calc of capacity
     uint16_t lift_period = LIFT_EMERGENCY_MILLIS;  // Period (ms) for both wheels to be lifted in order to count as emergency (0 disable, 0xFFFF do not change). This is to filter uneven ground

diff --git a/Firmware/LowLevel/src/main.cpp b/Firmware/LowLevel/src/main.cpp
@@ -367,7 +367,7 @@ void setup() {
     rp2040.idleOtherCore();
 
 #ifdef USB_DEBUG
-    DEBUG_SERIAL.begin(9600);
+    DEBUG_BEGIN(9600);
 #endif
 
     emergency_latch = true;