add some missing registers

simplefoc · Feb 20, 2024 · 3a11d58 · 3a11d58
1 parent 0d149e5
commit 3a11d58
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Showing 2 changed files with 15 additions and 0 deletions.
diff --git a/src/comms/SimpleFOCRegisters.cpp b/src/comms/SimpleFOCRegisters.cpp
@@ -245,6 +245,12 @@ bool SimpleFOCRegisters::registerToComms(RegisterIO& comms, uint8_t reg, FOCMoto
         case SimpleFOCRegister::REG_DRIVER_VOLTAGE_LIMIT:
             comms << ((BLDCMotor*)motor)->driver->voltage_limit;  // TODO handle stepper motors
             break;
+        case SimpleFOCRegister::REG_DRIVER_VOLTAGE_PSU:
+            comms << (((BLDCMotor*)motor)->driver->voltage_power_supply);
+            return true;
+        case SimpleFOCRegister::REG_VOLTAGE_SENSOR_ALIGN:
+            comms << (((BLDCMotor*)motor)->voltage_sensor_align);
+            return true;            
         case SimpleFOCRegister::REG_PWM_FREQUENCY:
             comms << (uint32_t)((BLDCMotor*)motor)->driver->pwm_frequency; // TODO handle stepper motors
             break;
@@ -497,6 +503,12 @@ bool SimpleFOCRegisters::commsToRegister(RegisterIO& comms, uint8_t reg, FOCMoto
         case SimpleFOCRegister::REG_DRIVER_VOLTAGE_LIMIT:
             comms >> (((BLDCMotor*)motor)->driver->voltage_limit);
             return true;
+        case SimpleFOCRegister::REG_DRIVER_VOLTAGE_PSU:
+            comms >> (((BLDCMotor*)motor)->driver->voltage_power_supply);
+            return true;
+        case SimpleFOCRegister::REG_VOLTAGE_SENSOR_ALIGN:
+            comms >> (((BLDCMotor*)motor)->voltage_sensor_align);
+            return true;
         case SimpleFOCRegister::REG_PWM_FREQUENCY:
             comms >> val32;
             ((BLDCMotor*)motor)->driver->pwm_frequency = val32;
@@ -631,6 +643,8 @@ uint8_t SimpleFOCRegisters::sizeOfRegister(uint8_t reg){
         case SimpleFOCRegister::REG_VOLTAGE_LIMIT:
         case SimpleFOCRegister::REG_CURRENT_LIMIT:
         case SimpleFOCRegister::REG_DRIVER_VOLTAGE_LIMIT:
+        case SimpleFOCRegister::REG_DRIVER_VOLTAGE_PSU:
+        case SimpleFOCRegister::REG_VOLTAGE_SENSOR_ALIGN:
         case SimpleFOCRegister::REG_PWM_FREQUENCY:
         case SimpleFOCRegister::REG_ZERO_ELECTRIC_ANGLE:
         case SimpleFOCRegister::REG_ZERO_OFFSET:

diff --git a/src/comms/SimpleFOCRegisters.h b/src/comms/SimpleFOCRegisters.h
@@ -80,6 +80,7 @@ typedef enum : uint8_t  {
     REG_DRIVER_VOLTAGE_LIMIT = 0x53,// R/W - float
     REG_PWM_FREQUENCY = 0x54,       // R/W - uint32_t
     REG_DRIVER_VOLTAGE_PSU = 0x55,  // R/W - float
+    REG_VOLTAGE_SENSOR_ALIGN = 0x56,// R/W - float
     REG_MOTION_DOWNSAMPLE = 0x5F,   // R/W - uint32_t
 
     REG_ZERO_ELECTRIC_ANGLE = 0x60, // RO - float