Diff: main.cpp

Revision:

56:48a8a5a65b82

Parent:

55:f4ec445c42fe

Child:

57:ec69651c8c21

--- a/main.cpp	Tue Jun 12 15:41:51 2018 +0000
+++ b/main.cpp	Tue Jun 12 16:20:03 2018 +0000
@@ -30,6 +30,10 @@
         - Motor direction was opposite the BCE motor (because of gearing) 
         - BMM P gain is now positive 0.02 (from -0.10)
         
+    Modified FSG PCB V2.5
+        - added timing code for interrupt that drives the rudder (testing with o-scope)
+        -
+        
 */
  
 #include "mbed.h"
@@ -45,6 +49,26 @@
 void loop_trigger() { loop = true;} // loop trigger (used in while loop)
 void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop)
 
+/****************** for rudder servo    ******************/
+Ticker systemTicker;
+
+volatile unsigned int timer_counter = 0;
+
+bool setup_complete = false;
+
+static void system_timer(void) {    
+    timer_counter++;
+    
+    //only start these updates when everything is properly setup (through setup function)
+    if (setup_complete) {
+            if ( (timer_counter % 20) == 0 ) {    // 0.02 second intervals
+                rudder().runServo();
+            }
+    }
+}
+
+/****************** for rudder servo    ******************/
+
 void setup() {
     pc().baud(57600);
     pc().printf("\n\n\rFSG PCB V1.5 2018-06-06 \n\n\r");
@@ -129,10 +153,16 @@
     mbedLogger().initializeLogFile();
 //    sdLogger().initializeLogFile();
 
+    setup_complete = true;  //used for interrupt timing
+
 } 
  
 int main() {
     setup();
+    
+    //this is used to control timing on the rudder servo, it's based on the new timing model in the 5/29/18 code with one interrupt running everything...may or may not work here
+    
+    systemTicker.attach_us(&system_timer, 1000);         // Interrupt timer running at 0.001 seconds       (slower than original ADC time interval)
 
     while(1) {
         static int current_state = 0;