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Updated crank to use macros

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This commit is contained in:
Hector van der Aa
2026-06-03 11:48:40 +02:00
parent e75f21ccf6
commit 5fed925b7f
1 changed files with 2 additions and 5 deletions
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7
STM32/CM7/Core/Src/tasks/crank.c
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@@ -60,13 +60,10 @@ void crankHandler(void *argument) {
if (state_g.crank_state == CYCLE_COMPRESSION && if (state_g.crank_state == CYCLE_COMPRESSION &&
state_g.sync_state == SYNC_OK) { state_g.sync_state == SYNC_OK) {
DEBUG_LOG("Spark schedule reached, congrats\n\r"); DEBUG_LOG("Spark schedule reached, congrats\n\r");
uint32_t t_now = ringBufferRead(&state_g.crank_RB, 0); uint32_t d1a = CRANK(0) - CRANK(1);
uint32_t t_prev = ringBufferRead(&state_g.crank_RB, 1);
uint32_t d1a = t_now - t_prev;
// TODO: Map interpolation rather than SPARK_ADVANCE CONSTANT // TODO: Map interpolation rather than SPARK_ADVANCE CONSTANT
uint32_t d_spark = d1a * (45 - SPARK_ADVANCE) / 180; uint32_t d_spark = d1a * (45 - SPARK_ADVANCE) / 180;
uint32_t t_spark = t_now + d_spark; uint32_t t_spark = CRANK(0) + d_spark;
// TODO: schedule spark // TODO: schedule spark
} }
} }