message: Shunt conductance depends on HW verison
diff: @@ -39,6 +39,14 @@ float vbus_voltage = 12.0f;
  #define POLE_PAIRS 7
  static float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_CPR);
  +#if HW_VERSION_MAJOR == 3
  + #if HW_VERSION_MINOR < 4
  + #define SHUNT_RESISTANCE (666e-6)
  + #else
  + #define SHUNT_RESISTANCE (500e-6)
  + #endif
  +#endif
  +
  // TODO: Migrate to C++, clearly we are actually doing object oriented code here...
  // TODO: For nice encapsulation, consider not having the motor objects public
  Motor_t motors[] = {
  @@ -83,7 +91,7 @@ Motor_t motors[] = {
  .enableTimeOut = false,
  },
  // .gate_driver_regs Init by DRV8301_setup
  - .shunt_conductance = 1.0f/0.0005f, //[S]
  + .shunt_conductance = 1.0f/SHUNT_RESISTANCE, //[S]
  .phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
  .current_control = {
  // .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic
  @@ -175,7 +183,7 @@ Motor_t motors[] = {
  .enableTimeOut = false,
  },
  // .gate_driver_regs Init by DRV8301_setup
  - .shunt_conductance = 1.0f/0.0005f, //[S]
  + .shunt_conductance = 1.0f/SHUNT_RESISTANCE, //[S]
  .phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
  .current_control = {
  // .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic
  