Fixed initial condition bug

- the initial condition for the Battery and Board temperature was wrongly set
- the filter is fixdt(1,32,16), so the shift should be by 16 bits.

Src/bldc.c

@@ -77,7 +77,7 @@ static int16_t offsetdcl    = 2000;
 static int16_t offsetdcr    = 2000;
 
 int16_t        batVoltage       = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
-static int32_t batVoltageFixdt  = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 20;  // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
+static int32_t batVoltageFixdt  = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 16;  // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
 
 // =================================
 // DMA interrupt frequency =~ 16 kHz

Src/main.c

@@ -192,7 +192,7 @@ int main(void) {
   int16_t speedL     = 0, speedR     = 0;
   int16_t lastSpeedL = 0, lastSpeedR = 0;
 
-  int32_t board_temp_adcFixdt = adc_buffer.temp << 20;  // Fixed-point filter output initialized with current ADC converted to fixed-point
+  int32_t board_temp_adcFixdt = adc_buffer.temp << 16;  // Fixed-point filter output initialized with current ADC converted to fixed-point
   int16_t board_temp_adcFilt  = adc_buffer.temp;
   int16_t board_temp_deg_c;
 

Src/util.c

@@ -1186,10 +1186,10 @@ void sideboardSensors(uint8_t sensors) {
 
 /* =========================== Filtering Functions =========================== */
 
-  /* Low pass filter fixed-point 32 bits: fixdt(1,32,20)
-  * Max:  2047.9375
-  * Min: -2048
-  * Res:  0.0625
+  /* Low pass filter fixed-point 32 bits: fixdt(1,32,16)
+  * Max:  32767.99998474121
+  * Min: -32768
+  * Res:  1.52587890625e-05
   * 
   * Inputs:       u     = int16 or int32
   * Outputs:      y     = fixdt(1,32,16)