Changed to integer arithemtics and right shift

Author: stancecoke

ACAcontrollerState.c

@@ -41,6 +41,7 @@ float flt_s_pid_gain_p = 0.5;
 float flt_s_pid_gain_i = 0.2;
 float flt_s_motor_constant = 1.5;
 float flt_torquesensorCalibration = 0.0;
+uint32_t uint32_torquesensorCalibration = 0;
 uint16_t ui16_s_ramp_end = 1500;
 uint16_t ui16_s_ramp_start = 7000;
 uint8_t ui8_s_motor_angle = 214;
@@ -184,6 +185,7 @@ void controllerstate_init(void) {
 	ui8_current_cal_a = current_cal_a;
 	ui8_correction_at_angle = CORRECTION_AT_ANGLE;
 	flt_torquesensorCalibration = TQS_CALIB;
+	uint32_torquesensorCalibration = (uint32_t)flt_torquesensorCalibration;
 	ui8_gear_ratio = GEAR_RATIO;
 
 	// read in overrides from eeprom if they are > 0, assuming 0s are uninitialized
@@ -233,7 +235,9 @@ void controllerstate_init(void) {
 	eepromVal = eeprom_read(OFFSET_PAS_TRESHOLD);
 	if (eepromVal > 0) flt_s_pas_threshold = int2float(eepromVal, 4.0);
 	eepromVal = eeprom_read(OFFSET_TQ_CALIB);
-	if (eepromVal > 0) flt_torquesensorCalibration = int2float(eepromVal, 8000.0);
+	if (eepromVal > 0){ flt_torquesensorCalibration = int2float(eepromVal, 8000.0);
+	uint32_torquesensorCalibration = (uint32_t)flt_torquesensorCalibration;
+	}
 	eepromVal = eeprom_read(OFFSET_PID_GAIN_P);
 	if (eepromVal > 0) flt_s_pid_gain_p = int2float(eepromVal, 2.0);
 	eepromVal = eeprom_read(OFFSET_PID_GAIN_I);

ACAcontrollerState.h

@@ -119,6 +119,7 @@ extern uint8_t ui8_PAS_update_call_when_inactive_counter;
 
 
 extern float flt_torquesensorCalibration;
+extern uint32_t uint32_torquesensorCalibration;
 extern float flt_s_pas_threshold;
 extern float flt_s_pid_gain_p;
 extern float flt_s_pid_gain_i;

ACAsetPoint.c

@@ -233,23 +233,18 @@ uint16_t aca_setpoint(uint16_t ui16_time_ticks_between_pas_interrupt, uint16_t s
 			}
 		} else { // torque sensor mode
 
-			float_temp = (float) ui16_sum_torque;
-			float_temp *= ((float) ui8_assist_percent_actual / 100.0);
 
-			if (flt_torquesensorCalibration != 0.0) {
-				// flt_torquesensorCalibration is >fummelfactor * NUMBER_OF_PAS_MAGS * 64< (64 cause of <<6)
-				float_temp *= flt_torquesensorCalibration / ((float) ui16_time_ticks_between_pas_interrupt_smoothed); // influence of cadence
-				//printf("%lu, %u, %u, %u \r\n", uint32_current_target, ui16_sum_torque,(uint16_t) float_temp, ui16_time_ticks_between_pas_interrupt_smoothed );
+		             //erst mal alles aufmultiplizieren, damit beim Teilen was über 1 übrig bleibt. Bitte mal überschlagen, ob die int32 da nicht überlaufen kann...
+		             uint32_temp = ui16_sum_torque;
+		             uint32_temp *= ui8_assist_percent_actual;
+		             uint32_temp *= ui16_battery_current_max_value;
+		             uint32_temp *= uint32_torquesensorCalibration;
 
-			}
+		             uint32_temp /= ui16_time_ticks_between_pas_interrupt_smoothed; // hier lässt sich die geteilt-Operation nicht vermeiden :-(
 
-			//increase power linear with speed for convenient commuting :-)
-			if ((ui16_aca_flags & SPEED_INFLUENCES_TORQUESENSOR) == SPEED_INFLUENCES_TORQUESENSOR) {
-				float_temp *= (1.0 + ((float) ui16_virtual_erps_speed) / ((float) (ui16_speed_kph_to_erps_ratio * ((float) ui8_speedlimit_kph)) / 100.0)); // influence of current speed based on base speed limit
-			}
-			if(PAS_is_active)
-			uint32_current_target = (uint32_t) (float_temp * (float) (ui16_battery_current_max_value) / 255.0 + (float) ui16_current_cal_b);
-			else uint32_current_target =(uint32_t) ui16_current_cal_b;
+		             if(PAS_is_active)
+		             uint32_current_target = uint32_temp >>8 +  ui16_current_cal_b; //right shift 15 fasst die Operationen /100 (annähernd >>7) aus der assist_percent und /255 ( >>8) aus dem battery_current max zusammen, ist nicht ganz korrekt, ggf. nur >>14 nehmen -->/(256*128) vs. /(256*64)
+		             else uint32_current_target =(uint32_t) ui16_current_cal_b;
 
 
 			controll_state_temp += 4;

BOdisplay.c

@@ -533,6 +533,7 @@ void digestConfigRequest(uint8_t configAddress, uint8_t requestedCodeLowByte, ui
 			break;
 		case CODE_TQ_CALIB:
 			flt_torquesensorCalibration = int2float(requestedValue, 8000.0);
+			uint32_torquesensorCalibration = (uint32_t)flt_torquesensorCalibration;
 			if (configAddress == EEPROM_ADDRESS) {
 				eeprom_write(OFFSET_TQ_CALIB, requestedValue);
 			}