File content as of revision 27:846c08fb3697:

#include "includes.h"
#include "transforms.h"
#include "filters.h"
#include "context.h"
#include "core.h"
#include "meta.h"
#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, 0.7f);  // 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->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();
}