Issue #17: correction of parameters

Author: makssvelichko

KPI_Rover/Motors/PCA9685.c

@@ -2,7 +2,7 @@
 #include "stm32f4xx_hal.h"
 
 /* I2C Handle defined in main.c */
-extern I2C_HandleTypeDef hi2c1;
+extern I2C_HandleTypeDef hi2c3;
 
 /* PCA9685 I2C address */
 /* 0x40 is the 7-bit address. HAL requires it shifted left by 1 (0x80) */
@@ -18,7 +18,7 @@ extern I2C_HandleTypeDef hi2c1;
  */
 static void pca9685_write(uint8_t reg, uint8_t data)
 {
-    HAL_I2C_Mem_Write(&hi2c1,
+    HAL_I2C_Mem_Write(&hi2c3,
                       PCA9685_ADDR,
                       reg,
                       I2C_MEMADD_SIZE_8BIT,
@@ -40,7 +40,7 @@ static void pca9685_write4(uint8_t reg, uint16_t on, uint16_t off)
     buf[2] = off & 0xFF;      // OFF_L
     buf[3] = off >> 8;        // OFF_H
 
-    HAL_I2C_Mem_Write(&hi2c1,
+    HAL_I2C_Mem_Write(&hi2c3,
                       PCA9685_ADDR,
                       reg,
                       I2C_MEMADD_SIZE_8BIT,

KPI_Rover/Motors/ulMotorsController.c

@@ -160,8 +160,6 @@ void ulMotorsController_Init(ulMotorsController_t* ctrl)
 
 void ulMotorsController_Run(ulMotorsController_t* ctrl)
 {
-    static char teleplot_buf[512];
-    teleplot_buf[0] = '\0';
     const float MAX_RPM_CONST = 250.0f;
 
     for (int i = 0; i < ULMOTORS_NUM_MOTORS; i++) {
@@ -210,24 +208,6 @@ void ulMotorsController_Run(ulMotorsController_t* ctrl)
             &ctrl->pids[i].kp,
             &ctrl->pids[i].ki
         );
-
-
-//             TELEPLOT
-        char tmp[64];
-		snprintf(tmp, sizeof(tmp), ">M%d_SP:%d\n>M%d_RPM:%d\n>M%d_PWM:%lu\n>M%d_P:%.4f\n>M%d_I:%.4f\n",
-				 i, (int)sp,
-				 i, (int)rpm,
-				 i, pwm_hw,
-				 i, ctrl->pids[i].kp,
-				 i, ctrl->pids[i].ki);
-
-        if (strlen(teleplot_buf) + strlen(tmp) < sizeof(teleplot_buf) - 1) {
-             strcat(teleplot_buf, tmp);
-        }
-    }
-
-    if (strlen(teleplot_buf) > 0) {
-        CDC_Transmit_FS((uint8_t*)teleplot_buf, strlen(teleplot_buf));
     }
 }
 

KPI_Rover/Motors/ulMotorsController.h

@@ -30,6 +30,7 @@ typedef enum
     MOTORS_STATE_INIT = 0,
     MOTORS_STATE_IDLE,
     MOTORS_STATE_RUN,
+	MOTORS_STATE_TEST, // TEST
     MOTORS_STATE_ERROR
 } MotorsCtrlState_t;