Diff: main.cpp

Revision:

27:846c08fb3697

Parent:

26:d00561c7bf43

Child:

29:cb03760ba9ea

--- a/main.cpp	Tue Mar 10 17:51:38 2015 +0000
+++ b/main.cpp	Sat Mar 14 18:51:36 2015 +0000
@@ -7,19 +7,66 @@
 #include "sensors.h"
 #include "callbacks.h"
 
+//NVIC_SetVector(ADC_IRQn, (uint32_t)ADC_IRQHandler);
+//NVIC->IntSelect &= ~(1 << USB_IRQn);
+//NVIC_EnableIRQ(TIM2_CC_IRQn);
+
+
+
+//NVIC_SetPriority(0); //(uint32_t)SPI_IRQn
+//NVIC_EnableIRQ((uint32_t)SPI_IRQn);
+
+int current1, current2;
+
+extern "C" void TIM2_Derpy_Handler()
+{
+  toggler = !toggler;
+  
+  ADC1->SQR3 = 0;  //clear the conversion sequence register
+  ADC1->SQR3 |= 1;  //set the first bit high (read PA_1 a.k.a ADC1_1 a.k.a. A1
+  ADC1->CR2 |= (1 << 30); //(SWSTART = 1) start the conversion
+  while ((ADC1->SR & 2) == 0){} // while bit 1 of ADC_SR is 0 (not done converting yet), do nothing.
+  current1 = ADC1->DR;
+  
+  ADC1->SQR3 |= 4;  //set the first bit high (read PA_4 a.k.a. ADC1_4 a.k.a A2
+  ADC1->CR2 |= (1 << 30); // (SWSTART = 1) start the conversion
+  while ((ADC1->SR & 2) == 0){} // while bit 1 of ADC_SR is 0 (not done converting yet), do nothing.
+  current2 = ADC1->DR;
+  
+  
+  
+  TIM2->SR &= ~1; //clear the LSB, that is the UIF - update interrupt flag.  The flag is set high each time tim_2 overflows and underflows.  we reset it here.
+  toggler = !toggler;
+} 
+
+
+
+
+DigitalOut toggler(D7);  //to check loop timing
+
 int main() { 
+    
+/*
+    ADC_SQR1 |= (1 << 20);  //we're doing 2 conversions. (p.231)
+    ADC_CR2 |= (1 << 30); //start conversion mode (p.227)
+*/
+    NVIC_EnableIRQ(TIM2_IRQn);
+    NVIC_SetVector(TIM2_IRQn, (uint32_t)TIM2_Derpy_Handler);  //just calling it this so it doesn't blend in with the other cryptic register-looking names.
+
+    
     Context *context = new Context();
     context->ConfigureOutputs(D6, D13, D3, D8);
-    context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.99995f);
-    context->ConfigureIdPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
-    context->ConfigureIqPidController(0.01f, 0.8f, 0.0f, 2.0f, -2.0f);
+    context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);  // I guess this configures the ADCs or something 
+    context->ConfigureIdPidController(0.0000f, 0.0f, 0.0f, 5.0f, -5.0f);
+    context->ConfigureIqPidController(0.0001f, 0.1f, 0.0f, 5.0f, -5.0f);
     context->ConfigureThrottle(A0, 0.8f, 3.0f);
-    context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
+    context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); 
     context->ConfigureReference(5.0f);
     context->ConfigureDebugger(2, 1000);
     context->AttachCallBack(&fast, 5000);
     context->AttachCallBack(&slow, 10);
     context->AttachCallBack(&debug, 10);
     context->AttachCallBack(&log, 500);
+    
     context->Start();
 }