From 191a3304a333aef85bf78ec91c32fd4579225ff1 Mon Sep 17 00:00:00 2001
From: jsphuebner <dev@johanneshuebner.com>
Date: Thu, 3 Oct 2024 19:18:08 +0200
Subject: [PATCH] Code cleanup Removed CAN tests

---
 sinus.cbp                 |  6 ++++++
 src/pwmgeneration-foc.cpp | 14 +++++++++++---
 test/Makefile             |  2 +-
 3 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/sinus.cbp b/sinus.cbp
index 62c95c7..ed17cf7 100644
--- a/sinus.cbp
+++ b/sinus.cbp
@@ -142,6 +142,12 @@
 		<Unit filename="test/Makefile">
 			<Option target="Test" />
 		</Unit>
+		<Unit filename="test/stub_canhardware.cpp">
+			<Option target="Test" />
+		</Unit>
+		<Unit filename="test/stub_canhardware.h">
+			<Option target="Test" />
+		</Unit>
 		<Unit filename="test/test.h">
 			<Option target="Test" />
 		</Unit>
diff --git a/src/pwmgeneration-foc.cpp b/src/pwmgeneration-foc.cpp
index 50c13e9..e965a55 100644
--- a/src/pwmgeneration-foc.cpp
+++ b/src/pwmgeneration-foc.cpp
@@ -33,6 +33,7 @@
 
 #define FRQ_TO_ANGLE(frq) FP_TOINT((frq << SineCore::BITS) / pwmfrq)
 #define DIGIT_TO_DEGREE(a) FP_FROMINT(angle) / (65536 / 360)
+#define DEGREE_TO_DIGIT(a) (((a) * 65536) / 360)
 
 #ifndef QLIMIT_FREQUENCY
 #define QLIMIT_FREQUENCY FP_FROMINT(30)
@@ -276,15 +277,22 @@ static s32fp MeasureCoggingCurrent(uint16_t angle, s32fp id)
    return coggingCurrent;
 }
 
+/** \brief Generates a trapezoidal wave form to counter the cogging current of IPM motors
+ *
+ * \param angle rotor angle
+ * \param coggingCurrent magnitude of cogging current in A
+ * \return int32_t counter waveform as integer
+ *
+ */
 static int32_t GenerateAntiCoggingSignal(uint16_t angle, s32fp coggingCurrent)
 {
    angle += Param::GetInt(Param::cogph);
 
-   if (angle < 16384)
+   if (angle < DEGREE_TO_DIGIT(90))
       angle = angle; //no change
-   else if (angle < 32768) //90 to 180°
+   else if (angle < DEGREE_TO_DIGIT(180)) //90 to 180°
       angle = 32767 - angle;
-   else if (angle < 49152) //180 to 270°
+   else if (angle < DEGREE_TO_DIGIT(270)) //180 to 270°
       angle = angle - 32767;
    else //270 to 360°
       angle = 65535 - angle;
diff --git a/test/Makefile b/test/Makefile
index e030ea4..8ed3409 100644
--- a/test/Makefile
+++ b/test/Makefile
@@ -7,7 +7,7 @@ CPPFLAGS    = -ggdb -DSTM32F1 -DCTRL_FOC=1 -DCTRL_SINE=0 -DCTRL=CTRL_FOC -I../in
 LDFLAGS     = -g
 BINARY		= test_sine
 OBJS		= test_main.o fu.o test_fu.o test_fp.o test_vcu.o my_fp.o my_string.o params.o vehiclecontrol.o \
-			  test_throttle.o throttle.o sine_core.o temp_meas.o stub_canhardware.o test_canmap.o canmap.o \
+			  test_throttle.o throttle.o sine_core.o temp_meas.o stub_canhardware.o \
 			  stub_libopencm3.o
 VPATH = ../src ../libopeninv/src