remove bad comments, change func signature to uint16, edit documentation

Core/Inc/dti.h

@@ -78,7 +78,7 @@ void dti_set_torque(int16_t torque);
  * 
  * @param current_target The desired AC current to do regenerative braking at. Must be positive.
  */
-void dti_set_regen(int16_t current_target);
+void dti_set_regen(uint16_t current_target);
 
 /**
  * @brief Send a CAN message containing the AC current target for regenerative braking.

Core/Src/dti.c

@@ -68,7 +68,7 @@ void dti_set_torque(int16_t torque)
 	dti_set_current(ac_current);
 }
 
-void dti_set_regen(int16_t current_target)
+void dti_set_regen(uint16_t current_target)
 {
 	/* Simple moving average to smooth change in braking target */
 
@@ -93,7 +93,6 @@ void dti_set_regen(int16_t current_target)
 		average = 0;
 	}
 
-	/* DTI CAN manual page 18, scale = 10 */
 	dti_send_brake_current(average);
 }
 

Core/Src/monitor.c

@@ -56,7 +56,6 @@ void vLVMonitor(void *pv_params)
 		// get final voltage
 		v_int = (uint32_t)(v_dec * 10.0);
 
-		//endian_swap(&v_int, sizeof(v_int));
 		memcpy(msg.data, &v_int, msg.len);
 		if (queue_can_msg(msg)) {
 			fault_data.diag =
@@ -247,33 +246,19 @@ void vPedalsMonitor(void *pv_params)
 		eval_pedal_fault(adc_data[ACCELPIN_1], adc_data[ACCELPIN_2],
 				 &diff_timer_accelerator, &sc_timer_accelerator,
 				 &oc_timer_accelerator, &fault_data);
-		//eval_pedal_fault(adc_data[BRAKEPIN_1], adc_data[BRAKEPIN_1], &diff_timer_brake, &sc_timer_brake, &oc_timer_brake, &fault_data);
 
 		/* Offset adjusted per pedal sensor, clamp to be above 0 */
 		uint16_t accel_val1 = adjust_pedal_val(
 			adc_data[ACCELPIN_1], ACCEL1_OFFSET, ACCEL1_MAX_VAL);
-		//printf("Accel 1: %d\r\n", max_pedal1);
 		uint16_t accel_val2 = adjust_pedal_val(
-			adc_data[ACCELPIN_2], ACCEL2_OFFSET,
-			ACCEL2_MAX_VAL); //printf("Accel 2: %d\r\n",max_pedal2);
+			adc_data[ACCELPIN_2], ACCEL2_OFFSET, ACCEL2_MAX_VAL);
 
 		uint16_t accel_val = (uint16_t)(accel_val1 + accel_val2) / 2;
-		//printf("Avg Pedal Val: %d\r\n\n", accel_val);
-
-		/* Raw ADC for tuning */
-		//printf("Accel 1: %ld\r\n", adc_data[ACCELPIN_1]);
-		//printf("Accel 2: %ld\r\n", adc_data[ACCELPIN_2]);
-
-		/* Brakelight Control */
-		// printf("Brake 1: %ld\r\n", adc_data[BRAKEPIN_1]);
-		// printf("Brake 2: %ld\r\n", adc_data[BRAKEPIN_2]);
 
 		is_braking = (adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) / 2;
 		brake_state = is_braking;
 
 		osMessageQueuePut(brakelight_signal, &is_braking, 0U, 0U);
-		//osMessageQueueReset(break_state_queue);
-		//osMessageQueuePut(break_state_queue, &is_braking, 0U, 0U);
 
 		/* Low Pass Filter */
 		sensor_data.accelerator_value =
@@ -284,7 +269,6 @@ void vPedalsMonitor(void *pv_params)
 			num_samples;
 
 		/* Publish to Onboard Pedals Queue */
-		//printf("Accel pedal queue %d",  sensor_data.accelerator_value);
 		osStatus_t check = osMessageQueuePut(pedal_data_queue,
 						     &sensor_data, 0U, 0U);
 

Core/Src/torque.c

@@ -98,7 +98,7 @@ void decrease_torque_limit()
 	}
 }
 
-// comment out to use single pedal mode
+/* Comment out to use single pedal mode */
 //#define USE_BRAKE_REGEN 1
 
 /**
@@ -112,7 +112,6 @@ void decrease_torque_limit()
  */
 void handle_endurance(dti_t *mc, float mph, float accel_val, float brake_val)
 {
-	// max ac current to brake with
 	/* Maximum AC braking current */
 	static const int8_t max_curr = 20;
 #ifdef USE_BRAKE_REGEN
@@ -140,23 +139,25 @@ void handle_endurance(dti_t *mc, float mph, float accel_val, float brake_val)
 	static const float regen_thresh = 0.01;
 	static const float accel_thresh = 0.05;
 	static const float mph_to_kmh = 1.609;
-	// if the rescaled accel is positive then convert it to torque, and full send
+	/* Pedal is in acceleration range. Set forward torque target. */
 	if (accel_val >= accel_thresh) {
 		/* Coefficient to map accel pedal travel % to the max torque */
 		const float coeff = MAX_TORQUE / (1 - accel_thresh);
 		/* Makes acceleration pedal more sensitive since domain is compressed but range is the same */
 		uint16_t torque =
 			coeff * accel_val - (accel_val * accel_thresh);
+
 		if (torque > MAX_TORQUE) {
 			torque = MAX_TORQUE;
 		}
+
 		dti_set_torque(torque);
 	} else if (mph * mph_to_kmh > 2 && accel_val < regen_thresh) {
 		float regen_current =
 			(max_curr / regen_thresh) * (regen_thresh - accel_val);
 
 		/* Send regen current to motor controller */
-		dti_set_regen((int16_t)regen_current);
+		dti_set_regen((uint16_t)regen_current);
 	} else {
 		/* Pedal travel is between thresholds, so there should not be acceleration or braking */
 		dti_set_torque(0);
@@ -194,9 +195,7 @@ void vCalcTorque(void *pv_params)
 		/* If we receive a new message within the time frame, calc new torque */
 		if (stat == osOK) {
 			int32_t rpm = dti_get_rpm(mc);
-			//printf("rpm %ld", rpm);
 			mph = rpm_to_mph(rpm);
-			//printf("mph %d", (int8_t) mph);
 			set_mph(mph);
 
 			func_state_t func_state = get_func_state();