Set PAS pins to UART RX and TX if they are undefined, made PAS config serialization more compact, added PAS to changelog

CHANGELOG

@@ -25,6 +25,7 @@
 * Added UAVCAN raw throttle drive mode (current or duty cycle control).
 * Added MT6816 encoder support. See https://github.com/vedderb/bldc/pull/238
 * Added modulation-based D axis current controller gain scaling. Addresses https://github.com/vedderb/bldc/pull/220
+* Added PAS app. See: https://github.com/vedderb/bldc/pull/243
 
 === FW 5.01 ===
 * Fixed PPM bug in previous release.

conf_general.h

@@ -200,6 +200,7 @@
 //#define APP_CUSTOM_TO_USE			"app_motor_heater.c"
 //#include "app_erockit_conf_v2.h"
 //#include "finn/app_finn_az_conf.h"
+//#include "vccu/app_vccu_conf.h"
 
 // CAN-plotter
 //#define APP_CUSTOM_TO_USE			"app_plot_can.c"

confgenerator.c

@@ -289,14 +289,14 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
 	buffer_append_uint16(buffer, conf->app_balance_conf.kd_pt1_frequency, &ind);
 	buffer[ind++] = conf->app_pas_conf.ctrl_type;
 	buffer[ind++] = conf->app_pas_conf.sensor_type;
-	buffer_append_float32_auto(buffer, conf->app_pas_conf.current_scaling, &ind);
+	buffer_append_float16(buffer, conf->app_pas_conf.current_scaling, 1000, &ind);
-	buffer_append_float32_auto(buffer, conf->app_pas_conf.pedal_rpm_start, &ind);
+	buffer_append_float16(buffer, conf->app_pas_conf.pedal_rpm_start, 10, &ind);
-	buffer_append_float32_auto(buffer, conf->app_pas_conf.pedal_rpm_end, &ind);
+	buffer_append_float16(buffer, conf->app_pas_conf.pedal_rpm_end, 10, &ind);
 	buffer[ind++] = conf->app_pas_conf.invert_pedal_direction;
 	buffer_append_uint16(buffer, conf->app_pas_conf.magnets, &ind);
 	buffer[ind++] = conf->app_pas_conf.use_filter;
-	buffer_append_float32_auto(buffer, conf->app_pas_conf.ramp_time_pos, &ind);
+	buffer_append_float16(buffer, conf->app_pas_conf.ramp_time_pos, 100, &ind);
-	buffer_append_float32_auto(buffer, conf->app_pas_conf.ramp_time_neg, &ind);
+	buffer_append_float16(buffer, conf->app_pas_conf.ramp_time_neg, 100, &ind);
 	buffer_append_uint16(buffer, conf->app_pas_conf.update_rate_hz, &ind);
 	buffer[ind++] = conf->imu_conf.type;
 	buffer[ind++] = conf->imu_conf.mode;
@@ -613,14 +613,14 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
 	conf->app_balance_conf.kd_pt1_frequency = buffer_get_uint16(buffer, &ind);
 	conf->app_pas_conf.ctrl_type = buffer[ind++];
 	conf->app_pas_conf.sensor_type = buffer[ind++];
-	conf->app_pas_conf.current_scaling = buffer_get_float32_auto(buffer, &ind);
+	conf->app_pas_conf.current_scaling = buffer_get_float16(buffer, 1000, &ind);
-	conf->app_pas_conf.pedal_rpm_start = buffer_get_float32_auto(buffer, &ind);
+	conf->app_pas_conf.pedal_rpm_start = buffer_get_float16(buffer, 10, &ind);
-	conf->app_pas_conf.pedal_rpm_end = buffer_get_float32_auto(buffer, &ind);
+	conf->app_pas_conf.pedal_rpm_end = buffer_get_float16(buffer, 10, &ind);
 	conf->app_pas_conf.invert_pedal_direction = buffer[ind++];
 	conf->app_pas_conf.magnets = buffer_get_uint16(buffer, &ind);
 	conf->app_pas_conf.use_filter = buffer[ind++];
-	conf->app_pas_conf.ramp_time_pos = buffer_get_float32_auto(buffer, &ind);
+	conf->app_pas_conf.ramp_time_pos = buffer_get_float16(buffer, 100, &ind);
-	conf->app_pas_conf.ramp_time_neg = buffer_get_float32_auto(buffer, &ind);
+	conf->app_pas_conf.ramp_time_neg = buffer_get_float16(buffer, 100, &ind);
 	conf->app_pas_conf.update_rate_hz = buffer_get_uint16(buffer, &ind);
 	conf->imu_conf.type = buffer[ind++];
 	conf->imu_conf.mode = buffer[ind++];

confgenerator.h

@@ -8,8 +8,8 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		789840453
+#define MCCONF_SIGNATURE		1050464887
-#define APPCONF_SIGNATURE		4074252355
+#define APPCONF_SIGNATURE		2237177524
 
 // Functions
 int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

hwconf/hw.h

@@ -460,6 +460,13 @@
 #endif
 #endif
 
+#ifndef HW_PAS1_PORT
+#define HW_PAS1_PORT			HW_UART_RX_PORT
+#define HW_PAS1_PIN				HW_UART_RX_PIN
+#define HW_PAS2_PORT			HW_UART_TX_PORT
+#define HW_PAS2_PIN				HW_UART_TX_PIN
+#endif
+
 // Functions
 void hw_init_gpio(void);
 void hw_setup_adc_channels(void);