nhan pham an / Hobbyking_Cheetah_Compact_DRV8323_StepDir

Fork and fix for mwork

Dependencies:   mbed-dev-f303 FastPWM3 millis

PreferenceWriter/PrefrenceWriter.cpp@59:568e7be5232f, 2020-06-29 (annotated)

Committer:
annhandt09
Date:
Mon Jun 29 09:36:26 2020 +0000
Revision:
59:568e7be5232f
Parent:
24:58c2d7571207 
add controller.p_des = controller.theta_mech - (controller.t_ff / controller.kp) ;  for first enable.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 23:2adf23ee0305 1 #include "PreferenceWriter.h"
benkatz 23:2adf23ee0305 2 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 3 #include "user_config.h"
benkatz 23:2adf23ee0305 4 #include "mbed.h"
benkatz 23:2adf23ee0305 5
benkatz 23:2adf23ee0305 6 PreferenceWriter::PreferenceWriter(uint32_t sector) {
benkatz 23:2adf23ee0305 7 writer = new FlashWriter(sector);
benkatz 23:2adf23ee0305 8 __sector = sector;
benkatz 23:2adf23ee0305 9 __ready = false;
benkatz 23:2adf23ee0305 10 }
benkatz 23:2adf23ee0305 11
benkatz 23:2adf23ee0305 12 void PreferenceWriter::open() {
benkatz 23:2adf23ee0305 13 writer->open();
benkatz 23:2adf23ee0305 14 __ready = true;
benkatz 23:2adf23ee0305 15 }
benkatz 23:2adf23ee0305 16
benkatz 23:2adf23ee0305 17 bool PreferenceWriter::ready() {
benkatz 23:2adf23ee0305 18 return __ready;
benkatz 23:2adf23ee0305 19 }
benkatz 23:2adf23ee0305 20
benkatz 23:2adf23ee0305 21 void PreferenceWriter::write(int x, int index) {
benkatz 23:2adf23ee0305 22 __int_reg[index] = x;
benkatz 23:2adf23ee0305 23 }
benkatz 23:2adf23ee0305 24
benkatz 23:2adf23ee0305 25 void PreferenceWriter::write(float x, int index) {
benkatz 23:2adf23ee0305 26 __float_reg[index] = x;
benkatz 23:2adf23ee0305 27 }
benkatz 23:2adf23ee0305 28
benkatz 23:2adf23ee0305 29 void PreferenceWriter::flush() {
benkatz 23:2adf23ee0305 30 int offs;
benkatz 23:2adf23ee0305 31 for (offs = 0; offs < 256; offs++) {
benkatz 23:2adf23ee0305 32 writer->write(offs, __int_reg[offs]);
benkatz 23:2adf23ee0305 33 }
benkatz 23:2adf23ee0305 34 for (; offs < 320; offs++) {
benkatz 23:2adf23ee0305 35 writer->write(offs, __float_reg[offs - 256]);
benkatz 23:2adf23ee0305 36 }
benkatz 24:58c2d7571207 37 __ready = false;
benkatz 23:2adf23ee0305 38 }
benkatz 23:2adf23ee0305 39
benkatz 23:2adf23ee0305 40 void PreferenceWriter::load() {
benkatz 23:2adf23ee0305 41 int offs;
benkatz 23:2adf23ee0305 42 for (offs = 0; offs < 256; offs++) {
benkatz 23:2adf23ee0305 43 __int_reg[offs] = flashReadInt(__sector, offs);
benkatz 23:2adf23ee0305 44 }
benkatz 23:2adf23ee0305 45 for(; offs < 320; offs++) {
benkatz 23:2adf23ee0305 46 __float_reg[offs - 256] = flashReadFloat(__sector, offs);
benkatz 23:2adf23ee0305 47 }
benkatz 23:2adf23ee0305 48 }
benkatz 23:2adf23ee0305 49
benkatz 23:2adf23ee0305 50 void PreferenceWriter::close() {
benkatz 24:58c2d7571207 51 __ready = false;
benkatz 23:2adf23ee0305 52 writer->close();
benkatz 23:2adf23ee0305 53 }