Diff: main.cpp

Revision:

0:941e150e78b6

Child:

1:df6bbacb7bb9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 01 00:52:47 2017 +0000
@@ -0,0 +1,114 @@
+#include "mbed.h"
+#include "config.h"
+#include "config_driving.h"
+#include "config_inverter.h"
+#include "config_logging.h"
+#include "config_loop.h"
+#include "config_motor.h"
+#include "config_pins.h"
+#include "config_table.h"
+#include "PreferenceWriter.h"
+#include "FlashWriter.h"
+
+Serial pc(USBTX, USBRX);
+PreferenceWriter pref(6);
+
+int main() {
+    pc.baud(115200);
+    pc.printf("%s\n", "Serial Configuration Test");
+    
+    /*
+    DEFAULT(TORQUE_MODE);
+    DEFAULT(MAX_TQPCT_PLUS);
+    DEFAULT(MAX_TQPCT_MINUS);
+    DEFAULT(TORQUE_MAX);
+    DEFAULT(W_MAX);
+    DEFAULT(BUS_VOLTAGE);
+    DEFAULT(F_SW);
+    DEFAULT(K_LOOP_D);
+    DEFAULT(KI_BASE_D);
+    DEFAULT(K_LOOP_Q);
+    DEFAULT(KI_BASE_Q);
+    DEFAULT(F_SLOW_LOOP);
+    DEFAULT(INTEGRAL_MAX);
+    DEFAULT(W_FILTER_STRENGTH);
+    DEFAULT(DQ_FILTER_STRENGTH);
+    DEFAULT(THROTTLE_FILTER_STRENGTH);
+    DEFAULT(KP_D);
+    DEFAULT(KI_D);
+    DEFAULT(KP_Q);
+    DEFAULT(KI_Q);
+    DEFAULT(SLOW_LOOP_COUNTER);
+    DEFAULT(POLE_PAIRS);
+    DEFAULT(POS_OFFSET);
+    DEFAULT(RESOLVER_LOBES);
+    DEFAULT(CPR);
+    DEFAULT(Ld);
+    DEFAULT(Lq);
+    DEFAULT(FLUX_LINKAGE);
+    DEFAULT(Rs);
+    DEFAULT(KT);
+    DEFAULT(W_SAFE);
+    DEFAULT(W_CRAZY);
+    DEFAULT(TH_LIMIT_LOW);
+    DEFAULT(TH_LIMIT_HIGH);
+    DEFAULT(TH_LIMIT_CRAZY);
+    DEFAULT(ROWS);
+    DEFAULT(COLUMNS);
+    DEFAULT(W_STEP);
+
+    pref.open();
+    pref.flush();
+    pref.close();
+    
+    int offs;
+    for (offs = 0; offs < 64; offs++) {
+        __float_reg[offs] = 0.0f;
+        __int_reg[offs] = 0;
+    }
+    */
+    
+    pref.load();
+    
+    DPRINT(TORQUE_MODE);
+    FPRINT(MAX_TQPCT_PLUS);
+    FPRINT(MAX_TQPCT_MINUS);
+    FPRINT(TORQUE_MAX);
+    FPRINT(W_MAX);
+    FPRINT(BUS_VOLTAGE);
+    FPRINT(F_SW);
+    FPRINT(K_LOOP_D);
+    FPRINT(KI_BASE_D);
+    FPRINT(K_LOOP_Q);
+    FPRINT(KI_BASE_Q);
+    FPRINT(F_SLOW_LOOP);
+    FPRINT(INTEGRAL_MAX);
+    FPRINT(W_FILTER_STRENGTH);
+    FPRINT(DQ_FILTER_STRENGTH);
+    FPRINT(THROTTLE_FILTER_STRENGTH);
+    FPRINT(KP_D);
+    FPRINT(KI_D);
+    FPRINT(KP_Q);
+    FPRINT(KI_Q);
+    FPRINT(SLOW_LOOP_COUNTER);
+    FPRINT(POLE_PAIRS);
+    FPRINT(POS_OFFSET);
+    FPRINT(RESOLVER_LOBES);
+    DPRINT(CPR);
+    FPRINT(Ld);
+    FPRINT(Lq);
+    FPRINT(FLUX_LINKAGE);
+    FPRINT(Rs);
+    FPRINT(KT);
+    FPRINT(W_SAFE);
+    FPRINT(W_CRAZY);
+    DPRINT(TH_LIMIT_LOW);
+    DPRINT(TH_LIMIT_HIGH);
+    DPRINT(TH_LIMIT_CRAZY);
+    DPRINT(ROWS);
+    DPRINT(COLUMNS);
+    FPRINT(W_STEP);
+    
+    for(;;) {
+    }
+}