Diff: main.cpp

Revision:

48:e9f6441bacf5

Parent:

47:f4ecf3e0576a

--- a/main.cpp	Wed May 13 09:53:27 2020 +0000
+++ b/main.cpp	Tue Dec 15 08:46:20 2020 +0000
@@ -41,7 +41,7 @@
 ObserverStruct observer;
 
 // Serial pc(PA_2, PA_3);
-Serial pc(PC_6, PC_7);
+Serial pc(PC_6, PC_7); //SPI1_MISO SPI1_MOSI?
 
 DataPackage datapackage;
 
@@ -51,7 +51,7 @@
 
 DigitalOut led_debug(PB_1);
 
-PositionSensorAM5147 spi(16384, 0.0, NPP);  
+PositionSensorAM5147 spi(16384, 0.0, NPP);  // int CPR, float offset, int ppairs
 
 //volatile int count = 0;
 volatile int state = REST_MODE;
@@ -150,7 +150,7 @@
     }
     
 void enter_torque_mode(void){
-    controller.ovp_flag = 0;
+    controller.ovp_flag = 0;                                                    // ???
     gpio.enable->write(1);                                                      // Enable gate drive
     reset_foc(&controller);                                                     // Tesets integrators, and other control loop parameters
     wait(.001);
@@ -166,7 +166,7 @@
     gpio.led->write(1);                                                    // Turn on status LED
     order_phases(&spi, &gpio, &controller, &prefs);                             // Check phase ordering
     calibrate(&spi, &gpio, &controller, &prefs);                                // Perform calibration procedure
-    gpio.led->write(0);;                                                     // Turn off status LED
+    gpio.led->write(0);                                                         // Turn off status LED
     wait(.2);
     gpio.enable->write(0);                                                      // Turn off gate drive
     pc.printf("\n\r Calibration complete.  Press 'esc' to return to menu\n\r");
@@ -229,6 +229,7 @@
                     enter_torque_mode();
 //                    count = 0;
                     }
+                
                 else{
                 /*
                 if(controller.v_bus>28.0f){         //Turn of gate drive if bus voltage is too high, to prevent FETsplosion if the bus is cut during regen
@@ -258,9 +259,8 @@
                      count = 0;
                      }
                      */
-                     
-            
-                }     
+                }
+                  
                 break;
             case SETUP_MODE:
                 if(state_change){
@@ -323,15 +323,18 @@
 /// Called when data received over serial ///
 void serial_interrupt(void){
     while(pc.readable()){
+        
         char c = pc.getc();
+        
         if(c == 27){
-                state = REST_MODE;
-                state_change = 1;
-                char_count = 0;
-                cmd_id = 0;
-                gpio.led->write(0);; 
-                for(int i = 0; i<8; i++){cmd_val[i] = 0;}
-                }
+            state = REST_MODE;
+            state_change = 1;
+            char_count = 0;
+            cmd_id = 0;
+            gpio.led->write(0);; 
+            for(int i = 0; i<8; i++){cmd_val[i] = 0;}
+        }
+        
         if(state == REST_MODE){
             switch (c){
                 case 'c':
@@ -367,9 +370,9 @@
                     // this state is used to test motor through GUI
                     state = TEST_MODE;
                     state_change = 1;
-                }
-                
-                }
+            }
+        }
+        
         else if(state == SETUP_MODE){
             if(c == 13){
                 switch (cmd_id){
@@ -391,7 +394,7 @@
                     default:
                         pc.printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
                         break;
-                    }
+                }
                     
                 if (!prefs.ready()) prefs.open();
                 prefs.flush();                                                  // Write new prefs to flash
@@ -401,7 +404,7 @@
                 char_count = 0;
                 cmd_id = 0;
                 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
-                }
+            }
             else{
                 if(char_count == 0){cmd_id = c;}
                 else{
@@ -412,14 +415,16 @@
                 char_count++;
                 }
             }
+        
         else if (state == ENCODER_MODE){
             switch (c){
                 case 27:
                     state = REST_MODE;
                     state_change = 1;
                     break;
-                    }
             }
+        }
+        
         else if(state == TEST_MODE){
             if(c == 13){
                 switch(cmd_id){
@@ -446,24 +451,25 @@
                     default:
                         // pc.printf("\n\r '%c' Not a valid command prefix\n\r", cmd_id);
                         break;
-                    }
+                }
                 state_change = 1;
                 char_count = 0;
                 cmd_id = 0;
                 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
-                }
+            }
+            
             else{
-                if(char_count == 0){cmd_id = c;}
+                if(char_count == 0){
+                    cmd_id = c;
+                }
                 else{
                     cmd_val[char_count-1] = c;
-                    
                 }
-                // pc.putc(c);
                 char_count++;
-                }
-            }    
-        }
+            }
+        }    
     }
+}
        
 int main() {
     
@@ -479,7 +485,7 @@
     zero_current(&controller.adc1_offset, &controller.adc2_offset);             // Measure current sensor zero-offset
     gpio.enable->write(0);
     reset_foc(&controller);                                                     // Reset current controller
-    TIM1->CR1 ^= TIM_CR1_UDIS;
+    TIM1->CR1 ^= TIM_CR1_UDIS;                                                  // ???
     //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
     
     wait(.1);
@@ -491,9 +497,9 @@
     txMsg.id = CAN_MASTER;
     txMsg.len = 6;
     rxMsg.len = 8;
-    can.attach(&onMsgReceived);                                     // attach 'CAN receive-complete' interrupt handler    
+    can.attach(&onMsgReceived);                                     // attach 'CAN receive-complete' interrupt handler    ???
     
-    prefs.load();                                                               // Read flash
+    prefs.load();                                                               // Read flash ???
     if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
     if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
     spi.SetElecOffset(E_OFFSET);                                                // Set position sensor offset
@@ -519,7 +525,7 @@
     
     // =============================================================================================================
     // add watch dog here
-//    Watchdog &watchdog = Watchdog::get_instance();
+    // Watchdog &watchdog = Watchdog::get_instance();
     // =============================================================================================================
     
     state_change = 1;
@@ -568,12 +574,10 @@
                 wait_us(300);
                 }
              //wait_us(5000);
-            }
+        }
         else{
             // can.write(txMsg);
             wait(1.0);
-            ;
         }
-
     }
 }