From d014abbf29afd74ed82d2b83bd9111f02d16ca59 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Tue, 12 May 2020 15:30:34 +0200
Subject: [PATCH] Revert "Add ramp input to the speed PID loop."

---
 confgenerator.c         | 1 -
 datatypes.h             | 1 -
 mcconf/mcconf_default.h | 3 ---
 mcpwm_foc.c             | 3 +--
 4 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/confgenerator.c b/confgenerator.c
index 5793bada2..ebb2fbb92 100644
--- a/confgenerator.c
+++ b/confgenerator.c
@@ -119,7 +119,6 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_float32_auto(buffer, conf->s_pid_kd_filter, &ind);
 	buffer_append_float32_auto(buffer, conf->s_pid_min_erpm, &ind);
 	buffer[ind++] = conf->s_pid_allow_braking;
-	buffer_append_float32_auto(buffer, conf->s_pid_ramp_erpms_s, &ind);
 	buffer_append_float32_auto(buffer, conf->p_pid_kp, &ind);
 	buffer_append_float32_auto(buffer, conf->p_pid_ki, &ind);
 	buffer_append_float32_auto(buffer, conf->p_pid_kd, &ind);
diff --git a/datatypes.h b/datatypes.h
index 6b57f435c..ed1c93a8d 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -322,7 +322,6 @@ typedef struct {
 	float s_pid_kd_filter;
 	float s_pid_min_erpm;
 	bool s_pid_allow_braking;
-	float s_pid_ramp_erpms_s;
 	// Pos PID
 	float p_pid_kp;
 	float p_pid_ki;
diff --git a/mcconf/mcconf_default.h b/mcconf/mcconf_default.h
index f2c0b6977..dabb0220a 100644
--- a/mcconf/mcconf_default.h
+++ b/mcconf/mcconf_default.h
@@ -136,9 +136,6 @@
 #ifndef MCCONF_S_PID_ALLOW_BRAKING
 #define MCCONF_S_PID_ALLOW_BRAKING		true	// Allow braking in speed control mode
 #endif
-#ifndef MCCONF_S_PID_RAMP_ERPMS_S
-#define MCCONF_S_PID_RAMP_ERPMS_S		-1.0	// Default Speed Input Ramp
-#endif
 
 // Position PID parameters
 #ifndef MCCONF_P_PID_KP
diff --git a/mcpwm_foc.c b/mcpwm_foc.c
index 1ea9a8bfc..2a339ebfc 100644
--- a/mcpwm_foc.c
+++ b/mcpwm_foc.c
@@ -111,7 +111,6 @@ typedef struct {
 	bool m_output_on;
 	float m_pos_pid_set;
 	float m_speed_pid_set_rpm;
-	float m_speed_command_rpm;
 	float m_phase_now_observer;
 	float m_phase_now_observer_override;
 	bool m_phase_observer_override;
@@ -166,7 +165,6 @@ typedef struct {
 	float m_hall_dt_diff_now;
 } motor_all_state_t;
 
-
 // Private variables
 static volatile bool m_dccal_done = false;
 static volatile float m_last_adc_isr_duration;
@@ -813,6 +811,7 @@ void mcpwm_foc_set_pid_speed(float rpm) {
 	}
 
 	motor_now()->m_control_mode = CONTROL_MODE_SPEED;
+	motor_now()->m_speed_pid_set_rpm = rpm;
 
 	if (motor_now()->m_state != MC_STATE_RUNNING) {
 		motor_now()->m_state = MC_STATE_RUNNING;