gTemperatureLimit bug fixed, version incremented to 3.3.26

MSECode · Jan 15, 2024 · 6611c34 · 6611c34
1 parent 1ba883c
commit 6611c34
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Showing 4 changed files with 8 additions and 6 deletions.
diff --git a/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/can_icubProto.h b/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/can_icubProto.h
@@ -29,7 +29,7 @@
 /************ FIRMWARE AND CAN PROTOCOL VERSION DEFINITION *******************************************/
 #define FW_VERSION_MAJOR          3
 #define FW_VERSION_MINOR          3
-#define FW_VERSION_BUILD          24
+#define FW_VERSION_BUILD          26
 
 #define CAN_PROTOCOL_VERSION_MAJOR      1
 #define CAN_PROTOCOL_VERSION_MINOR      6

diff --git a/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/can_icubProto_parser.c b/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/can_icubProto_parser.c
@@ -183,8 +183,6 @@ static int s_canIcubProtoParser_parse_pollingMsg(tCanData *rxpayload, unsigned c
             int nom  = ((int)rxpayload->b[2])|(((int)rxpayload->b[3])<<8);
             int peak = ((int)rxpayload->b[4])|(((int)rxpayload->b[5])<<8);
             int ovr  = ((int)rxpayload->b[6])|(((int)rxpayload->b[7])<<8);
-
-            gTemperatureLimit = ovr;
 
             setMaxCurrent(nom, peak, ovr);
 

diff --git a/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/i2cTsens.c b/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/i2cTsens.c
@@ -339,11 +339,15 @@ int readI2CTsens(volatile int* temperature)
 
     __delay32(400);
 
+    config_sensor();
+
     return I2Cerrcode;
 
 fatal_error:
 
     I2Cdead = TRUE;
 
+    config_sensor();
+
     return I2Cerrcode;
 }
diff --git a/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/qep.c b/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/qep.c
@@ -158,16 +158,16 @@ inline int QEgetPos()
             {
                 QE_RISE_WARNING(index_broken);
 
-                while (poscnt < 0)              poscnt += QE_RESOLUTION;
-                while (poscnt >= QE_RESOLUTION) poscnt -= QE_RESOLUTION;
+                if (poscnt < 0)              poscnt += QE_RESOLUTION;
+                if (poscnt >= QE_RESOLUTION) poscnt -= QE_RESOLUTION;
 
                 POSCNT = (unsigned int)poscnt;
             }
 
             poscnt_old = poscnt;
         }
     }
-
+    
     return __builtin_divsd(((long)poscnt)<<16,QE_RESOLUTION);
 }