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params bounds checking

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This commit is contained in:
Thaddeus Hughes
2026-03-12 20:37:04 -05:00
parent ff1ea6615c
commit cdb3b11db1
10 changed files with 215 additions and 139 deletions
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19
main/control_fsm.c
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@@ -83,8 +83,6 @@ void pulse_override(fsm_override_t cmd) {
}
int64_t fsm_cal_t, fsm_cal_e;
float fsm_cal_val;
void fsm_set_cal_val(float v) {fsm_cal_val = v;}
int64_t fsm_get_cal_t(){return fsm_cal_t;}
int64_t fsm_get_cal_e(){return fsm_cal_e;}
@@ -290,14 +288,6 @@ void control_task(void *param) {
log = true;
}
break;
case FSM_CMD_CALIBRATE_JACK_FINISH:
set_param_value_t(PARAM_JACK_KT,
(param_value_t){.f32 = fsm_cal_t / fsm_cal_val});
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_JACK_FINISH -> %f", get_param_value_t(PARAM_JACK_KT).f32);
break;
case FSM_CMD_CALIBRATE_DRIVE_PREP:
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_DRIVE_PREP");
if (current_state == STATE_IDLE
@@ -326,15 +316,6 @@ void control_task(void *param) {
log = true;
}
break;
case FSM_CMD_CALIBRATE_DRIVE_FINISH:
set_param_value_t(PARAM_DRIVE_KT,
(param_value_t){.f32 = fsm_cal_t / fsm_cal_val});
set_param_value_t(PARAM_DRIVE_KE,
(param_value_t){.f32 = fsm_cal_e / fsm_cal_val});
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_DRIVE_FINISH -> %f / %f",
get_param_value_t(PARAM_DRIVE_KT).f32,
get_param_value_t(PARAM_DRIVE_KE).f32);
break;
}
}