From 2238ffa9f34c572a8789bc8d6e84f380cd2b929a Mon Sep 17 00:00:00 2001
From: Atsushi Watanabe <atsushi.w@ieee.org>
Date: Tue, 19 Dec 2023 18:26:46 +0900
Subject: [PATCH] Store max value in DriverState

---
 tfrog-motordriver/controlPWM.c      | 11 +++++------
 tfrog-motordriver/controlVelocity.h |  1 +
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/tfrog-motordriver/controlPWM.c b/tfrog-motordriver/controlPWM.c
index 7c46818..d91a628 100644
--- a/tfrog-motordriver/controlPWM.c
+++ b/tfrog-motordriver/controlPWM.c
@@ -56,13 +56,12 @@ int32_t PWM_resolution = 0;
 int32_t PWM_thinning = 0;
 int32_t PWM_deadtime;
 int32_t PWM_cpms;
-int32_t brake_cnt_max;
 
 void FIQ_PWMPeriod() RAMFUNC;
 
 void soft_brake(const int m)
 {
-  if (brake_cnt_max == 0)
+  if (driver_state.brake_cnt_max == 0)
   {
     for (int8_t i = 0; i < 3; i++)
     {
@@ -72,16 +71,16 @@ void soft_brake(const int m)
     return;
   }
 
-  const int32_t pwm = PWM_resolution * motor[m].brake_cnt / brake_cnt_max;
+  const int32_t pwm = PWM_resolution * motor[m].brake_cnt / driver_state.brake_cnt_max;
   for (int8_t i = 0; i < 3; i++)
   {
     THEVA.MOTOR[m].PWM[i].H = PWM_resolution;
     THEVA.MOTOR[m].PWM[i].L = pwm;
   }
   motor[m].brake_cnt++;
-  if (motor[m].brake_cnt > brake_cnt_max)
+  if (motor[m].brake_cnt > driver_state.brake_cnt_max)
   {
-    motor[m].brake_cnt = brake_cnt_max;
+    motor[m].brake_cnt = driver_state.brake_cnt_max;
   }
 }
 
@@ -692,7 +691,7 @@ void controlPWM_init()
   THEVA.GENERAL.PWM.HALF_PERIOD = PWM_resolution;
   THEVA.GENERAL.PWM.DEADTIME = PWM_deadtime;
 
-  brake_cnt_max =
+  driver_state.brake_cnt_max =
       48000 * (int32_t)saved_param.soft_brake_ms /
       (PWM_resolution * 2 * (PWM_thinning + 1));
 
diff --git a/tfrog-motordriver/controlVelocity.h b/tfrog-motordriver/controlVelocity.h
index 1be41d8..8c14c00 100644
--- a/tfrog-motordriver/controlVelocity.h
+++ b/tfrog-motordriver/controlVelocity.h
@@ -180,6 +180,7 @@ typedef struct _DriverState
   uint32_t ping_request;
   uint32_t odom_drop;
   int32_t vsrc_max;
+  int32_t brake_cnt_max;
 } DriverState;
 
 #ifdef static_assert