refactor: rename constants to UPPERCASE and use constexpr

Author: manoukianv

Firmware/FFBoard/UserExtensions/Inc/TMC4671.h

@@ -545,7 +545,7 @@ friend class TMCDebugBridge;
 	uint16_t maxPowerAxis = 0;
 
 	int16_t controlFluxDissipate();
-	const float fluxDissipationLimit = 1000;
+	static constexpr float FLUX_DISSIPATION_LIMIT = 1000.0f;
 
 	void setTorque(int16_t torque);
 
@@ -680,10 +680,10 @@ friend class TMCDebugBridge;
 private:
 	uint8_t drv_address = 0;
 	OutputPin enablePin = OutputPin(*DRV_ENABLE_GPIO_Port,DRV_ENABLE_Pin);
-	const Error indexNotHitError = Error(ErrorCode::encoderIndexMissed,ErrorType::critical,"Encoder index missed");
-	const Error lowVoltageError = Error(ErrorCode::undervoltage,ErrorType::warning,"Low motor voltage");
-	const Error communicationError = Error(ErrorCode::tmcCommunicationError, ErrorType::warning, "TMC not responding");
-	const Error estopError = Error(ErrorCode::emergencyStop, ErrorType::critical, "TMC emergency stop triggered");
+	const Error INDEX_NOT_HIT_ERROR = Error(ErrorCode::encoderIndexMissed,ErrorType::critical,"Encoder index missed");
+	const Error LOW_VOLTAGE_ERROR = Error(ErrorCode::undervoltage,ErrorType::warning,"Low motor voltage");
+	const Error COMMUNICATION_ERROR = Error(ErrorCode::tmcCommunicationError, ErrorType::warning, "TMC not responding");
+	const Error ESTOP_ERROR = Error(ErrorCode::emergencyStop, ErrorType::critical, "TMC emergency stop triggered");
 
 	TMC_ControlState state = TMC_ControlState::uninitialized;
 	TMC_ControlState laststate = TMC_ControlState::uninitialized;
@@ -721,7 +721,7 @@ friend class TMCDebugBridge;
 	bool recalibrationRequired = false;
 
 	uint8_t enc_retry = 0;
-	uint8_t enc_retry_max = 3;
+	static constexpr uint8_t ENC_RETRY_MAX = 3;
 
 	uint32_t lastStatTime = 0;
 
@@ -786,7 +786,7 @@ friend class TMCDebugBridge;
 
 	TMC4671Biquad_conf torqueFilterConf;
 	TMC4671BiquadFilters curFilters;
-	const float fluxFilterFreq = 350.0;
+	static constexpr float FLUX_FILTER_FREQ = 350.0f;
 
 	// External encoder timer fires interrupts to trigger a new commutation position update
 #ifdef TIM_TMC

Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp

@@ -302,7 +302,7 @@ bool TMC4671::initialize(){
 //	}
 	// Check if a TMC4671 is active and replies correctly
 	if(!pingDriver()){
-		ErrorHandler::addError(communicationError);
+		ErrorHandler::addError(COMMUNICATION_ERROR);
 		return false;
 	}
 
@@ -345,7 +345,7 @@ bool TMC4671::initialize(){
 	setAdcOffset(conf.adc_I0_offset, conf.adc_I1_offset);
 	setAdcScale(conf.adc_I0_scale, conf.adc_I1_scale);
 	setTorqueFilter(torqueFilterConf);
-	setBiquadFlux(TMC4671Biquad(Biquad(BiquadType::lowpass, fluxFilterFreq / getPwmFreq(), 0.7,0.0), true)); // Create flux filter
+	setBiquadFlux(TMC4671Biquad(Biquad(BiquadType::lowpass, FLUX_FILTER_FREQ / getPwmFreq(), 0.7,0.0), true)); // Create flux filter
 
 	// Initial adc calibration and check without PWM if power off to get basic offsets. PWM is off!
 	if(!hasPower()){
@@ -542,7 +542,7 @@ void TMC4671::Run(){
 				bool tmc_en = ((pins >> 15) & 0x01) && pins != 0xffffffff;
 				if(tmc_en){
 					// Emergency stop reset
-					ErrorHandler::clearError(estopError);
+					ErrorHandler::clearError(ESTOP_ERROR);
 					this->estopTriggered = false; // TODO resume correctly
 					changeState(TMC_ControlState::uninitialized,true);
 				}
@@ -625,7 +625,7 @@ void TMC4671::Run(){
 		if(!hasPower() && state != TMC_ControlState::waitPower && initialized && powerInitialized){ // low voltage or overvoltage
 
 			requestedState = state;
-			ErrorHandler::addError(lowVoltageError);
+			ErrorHandler::addError(LOW_VOLTAGE_ERROR);
 			setMotionMode(MotionMode::stop,true); // Disable tmc
 			changeState(TMC_ControlState::waitPower,true);
 			allowStateChange = false;
@@ -753,7 +753,7 @@ bool TMC4671::findEncoderIndex(int32_t speed, uint16_t power,bool offsetPhiM,boo
 	runOpenLoop(0, 0, 0, 10, true);
 	if(!encoderIndexHitFlag){
 		pulseErrLed();
-		ErrorHandler::addError(indexNotHitError);
+		ErrorHandler::addError(INDEX_NOT_HIT_ERROR);
 	}
 
 	// If zero count on index write a phiM offset so that phiM is 0 on index and we don't need to change the raw encoder count (possible timing danger)
@@ -1368,7 +1368,7 @@ void TMC4671::encoderInit(){
 
 	// Check encoder
 	if(!checkEncoder()){
-		if(++enc_retry > enc_retry_max){
+		if(++enc_retry > ENC_RETRY_MAX){
 			encoderAligned = false;
 			Error err = Error(ErrorCode::encoderAlignmentFailed,ErrorType::critical,"Encoder alignment failed");
 			ErrorHandler::addError(err);
@@ -1613,7 +1613,7 @@ void TMC4671::emergencyStop(bool reset){
 int16_t TMC4671::controlFluxDissipate(){
 
 	int32_t vDiff = getIntV() - getExtV();
-	if(vDiff > fluxDissipationLimit){
+	if(vDiff > FLUX_DISSIPATION_LIMIT){
 		// Reaches limit at +5v if scaler is 1
 		return(clip<int32_t,int32_t>(vDiff * conf.hwconf.fluxDissipationScaler * curLimits.pid_torque_flux * 0.0002,0,curLimits.pid_torque_flux));
 	}
@@ -3236,7 +3236,7 @@ void TMC4671::handleStateRunning() {
 		if (!tmc_en && motorEnabledRequested) { // Hardware emergency.
 			this->estopTriggered = true;
 			this->emergencyStop(false);
-			ErrorHandler::addError(estopError);
+			ErrorHandler::addError(ESTOP_ERROR);
 		}
 
 		// Temperature sense