Diff: main.cpp

Revision:

75:591556ce033d

Parent:

74:f10cb573d7ca

Child:

76:c66014e50384

--- a/main.cpp	Fri Feb 24 13:03:34 2017 +0000
+++ b/main.cpp	Fri Feb 24 21:37:14 2017 +0000
@@ -47,7 +47,7 @@
     read.w = update_filter(read.w, w_raw, W_FILTER_STRENGTH);
 }
 
-void commutate() {
+void commutate() {    
     /*safety checks, do we do anything this cycle?*/
     if (!control_enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) {
         go_enabled();
@@ -124,11 +124,8 @@
 
 void slow_loop() {
     float x = io.throttle_in->get_throttle();
-    if (x < THROTTLE_FILTER_THRESHOLD) {
-        control.torque_percent = update_filter(control.torque_percent, th->map(io.throttle_in->get_throttle(), read.w), THROTTLE_FILTER_STRENGTH_LOW);
-    } else {
-        control.torque_percent = update_filter(control.torque_percent, th->map(io.throttle_in->get_throttle(), read.w), THROTTLE_FILTER_STRENGTH_HI);
-    }
+    control.torque_percent = update_filter(control.torque_percent, th->map(io.throttle_in->get_throttle(), read.w), THROTTLE_FILTER_STRENGTH);
+    
     dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
 }
 
@@ -155,12 +152,13 @@
 void log() {
     //io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), 
     //                    (int) (255 * foc.vd), (int) (255 * foc.vq));
-    io.pc->printf("%d\n", (int) (255 * control.torque_percent));
+    io.pc->printf("%d\n", io.throttle_in->get_usecs());
     wait(1.0f / LOG_FREQUENCY);
 }
         
 
 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
+    int start_state = io.throttle_in->state();
     if (TIM1->SR & TIM_SR_UIF ) {
         ADC1->CR2  |= 0x40000000; 
         volatile int delay;
@@ -170,6 +168,8 @@
         commutate();
     }
     TIM1->SR = 0x00;
+    int end_state = io.throttle_in->state();
+    if (start_state != end_state) io.throttle_in->block();
 }
 
 int main() {