Diff: context.cpp

Revision:

30:2b6d426f3bfc

Parent:

29:cb03760ba9ea

Child:

31:86b87913d8e1

--- a/context.cpp	Sat Mar 14 23:42:46 2015 +0000
+++ b/context.cpp	Sun Mar 15 01:45:22 2015 +0000
@@ -88,9 +88,17 @@
 }
 
 void Context::InitData() {
+    serial = new Serial(USBTX, USBRX);
+    serial->baud(115200);
+    serial->printf("%s\n\r", "Init Serial Communications");
+    
     sense_p = new AnalogHallPositionSensor(_pos_a_pin, _pos_b_pin, _cal1_a, _cal2_a, _cal1_b, _cal2_b, _offset);
     channel_ib = NativeAnalogIn::PinToAdcChannel(_ib_pin);
     channel_ic = NativeAnalogIn::PinToAdcChannel(_ic_pin);
+    AnalogIn dummyb = AnalogIn(_ib_pin);
+    AnalogIn dummyc = AnalogIn(_ic_pin);
+    _dummyb = dummyb;
+    _dummyc = dummyc;
     throttle = new Throttle(_throttle_pin, _min, _max);
     sense_bus = new VoltageSensor();
     sense_t_motor = new TempSensor();
@@ -107,10 +115,30 @@
     filter_d = new MeanFilter(_filter_strength);
     filter_q = new MeanFilter(_filter_strength);
     
+    wait_us(100000);
     
-    serial = new Serial(USBTX, USBRX);
-    serial->baud(115200);
-    serial->printf("%s\n\r", "Init Serial Communications");
+    float ib_mean, ic_mean;
+    TIM2->DIER = 0x0000;
+    for (int i = 0; i < 1000; i++) {
+        TIM2->SR &= ~1;
+        ADC1->SQR1 &= ~ADC_SQR1_L;
+        ADC1->SQR3 = 0;
+        ADC1->SQR3 |= channel_ib;
+        ADC1->CR2 |= ADC_CR2_SWSTART;
+        while ((ADC1->SR & 2) == 0){}
+        ib_mean += (float) ADC1->DR / 4095.0f;
+        
+        ADC1->SQR3 = 0;
+        ADC1->SQR3 |= channel_ic;
+        ADC1->CR2 |= ADC_CR2_SWSTART;
+        while ((ADC1->SR & 2) == 0){}
+        ic_mean += (float) ADC1->DR / 4095.0f;
+    }
+    TIM2->DIER = 0x0001;
+    ib_mean /= 1000.0f;
+    ic_mean /= 1000.0f;
+    
+    motor->InitSensors(ib_mean, ic_mean, _scale);
     
     debugger = new BufferedDebugger(this, _debugger_channels, _debugger_size);
 }