message: fix float literals, safer margin, extra instruction
diff: @@ -41,9 +41,9 @@ static float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_C
  #if HW_VERSION_MAJOR == 3
  #if HW_VERSION_MINOR < 4
  - #define SHUNT_RESISTANCE (666e-6)
  + #define SHUNT_RESISTANCE (666e-6f)
  #else
  - #define SHUNT_RESISTANCE (500e-6)
  + #define SHUNT_RESISTANCE (500e-6f)
  #endif
  #endif
  @@ -401,10 +401,12 @@ static void DRV8301_setup(Motor_t* motor) {
  local_regs->Ctrl_Reg_1.OC_ADJ_SET = DRV8301_VdsLevel_0p730_V;
  // 20V/V on 500uOhm gives a range of +/- 150A
  // 40V/V on 500uOhm gives a range of +/- 75A
  + // 20V/V on 666uOhm gives a range of +/- 110A
  + // 40V/V on 666uOhm gives a range of +/- 55A
  local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_40VpV;
  + // local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_20VpV;
  switch (local_regs->Ctrl_Reg_2.GAIN) {
  -
  case DRV8301_ShuntAmpGain_10VpV:
  motor->phase_current_rev_gain = 1.0f/10.0f;
  break;
  @@ -419,7 +421,7 @@ static void DRV8301_setup(Motor_t* motor) {
  break;
  }
  - float margin = 0.95f;
  + float margin = 0.90f;
  float max_input = margin * 0.3f * motor->shunt_conductance;
  float max_swing = margin * 1.6f * motor->shunt_conductance * motor->phase_current_rev_gain;
  motor->current_control.max_allowed_current = MACRO_MIN(max_input, max_swing);
  