[BUG] STM32 MagneticSensorSPI AS5048 configuration structure not initialized

[gbThreepwood]

Describe the bug

On a Nucleo L476RG initialization of the AS5048 does not work as expected.

The sensor works using:
MagneticSensorSPI as5048 = MagneticSensorSPI(10, 14, 0x3FFF);

But it does not work using:
MagneticSensorSPI as5048 = MagneticSensorSPI(AS5048_SPI, 10);

Inspection with GDB reveals that in the latter case the config struct AS5048_SPI is not properly initialized:

>>> p AS5147_SPI 
$13 = {
  spi_mode = 1,
  clock_speed = 1000000,
  bit_resolution = 14,
  angle_register = 16383,
  data_start_bit = 13,
  command_rw_bit = 14,
  command_parity_bit = 15
}
>>> p AS5048_SPI 
$14 = {
  spi_mode = 0,
  clock_speed = 0,
  bit_resolution = 0,
  angle_register = 0,
  data_start_bit = 0,
  command_rw_bit = 0,
  command_parity_bit = 0
}

I believe the issue to be on line 15 in MagneticSensorSPI.cpp, i.e.:

// AS5048 and AS5047 are the same as AS5147
MagneticSensorSPIConfig_s AS5048_SPI = AS5147_SPI;
MagneticSensorSPIConfig_s AS5047_SPI = AS5147_SPI;

By changing the code to the following (and also update the external declaration in the header) it seams to be working:

// AS5048 and AS5047 are the same as AS5147
MagneticSensorSPIConfig_s &AS5048_SPI = AS5147_SPI;
MagneticSensorSPIConfig_s &AS5047_SPI = AS5147_SPI;

The original assignment seems to be working in Arduino UNO though, although I have not connected GDB to the Arduino and looked into it in detail.

Describe the hardware setup

• Which motor
  GM3506
• Which driver
  SimpleFOCShield V3.2
• Which microcontroller
  STM32L476RG
• Which position sensor
  AS5048 with SPI communication

IDE you are using

• Platformio

[runger1101001]

Indeed, this is a kind of initialization error, and people have been bitten by it also on other platforms :-(

I think a better solution is to remove these constants altogether, and replace them with a preprocessor macro. This will prevent any kind of order of initialization errors, and also mean these constants aren't using up memory if they aren't used.

[askuric]

In the dev branch I've fixed this issue by redefining the structs instead of copying them. This will solve the issue for now. Not very nice, but it will work :D