Diff: main.cpp

Revision:

13:728ddd6939d3

Parent:

12:0811d08424e1

--- a/main.cpp	Mon Apr 18 21:06:26 2016 +0000
+++ b/main.cpp	Mon Apr 18 21:53:15 2016 +0000
@@ -46,17 +46,12 @@
 FastPWM *c;
 DigitalOut en(EN);
 
-InterruptIn throttle_interrupt(PB_8);
+DigitalIn throttle_in(PB_8);
 PositionSensorEncoder pos(CPR, 0);
 
 int adval1, adval2;
 float ia, ib, ic, alpha, beta, q;
 double vq = 0.0, q_integral = 0.0, last_q = 0.0;
-volatile float throttle = 0.0f, throttle_scaler = 0.0f;
-
-volatile int edge_seen = 0, watchdog_divider = 0;
-
-volatile int err_throttle_too_low = 0, err_throttle_too_high = 0;
  
 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
     if (TIM1->SR & TIM_SR_UIF) {
@@ -87,7 +82,7 @@
         
         q = -alpha * sin_p - beta * cos_p;
         
-        DAC->DHR12R2 = throttle;
+        float throttle_scaler = 1.0f;
         
         double q_err = Q_REF_MAX * (double) throttle_scaler - q;
                 
@@ -103,57 +98,16 @@
                         
         //DAC->DHR12R2 = (unsigned int) (vq * 2000 + 2048);
         //DAC->DHR12R2 = (unsigned int) (err_throttle_too_low * 2000 + 2048);
+        
+        vq = 1.0f;
                                             
         *a = 0.5f + 0.5f * vq * sinf(p);
         *b = 0.5f + 0.5f * vq * sinf(p + 2 * PI / 3);
         *c = 0.5f + 0.5f * vq * sinf(p - 2 * PI / 3);
-        
-        watchdog_divider++;
-        if (watchdog_divider == 15000) {
-            watchdog_divider = 0;
-            edge_seen = 0;
-        }
     }
     TIM1->SR = 0x00;
 }
 
-void throttle_rise() {
-    TIM5->CNT = 0;
-    edge_seen = 1;
-}
-
-void throttle_fall() {
-    throttle = TIM5->CNT;
-    
-    /*
-    if (throttle < THROTTLE_LOW) {
-        err_throttle_too_low = 1;
-    } else {
-        err_throttle_too_low = 0;
-    }
-    
-    if (throttle > THROTTLE_HIGH) {
-        err_throttle_too_high = 1;
-    } else {
-        err_throttle_too_high = 0;
-    }
-    */
-    
-    if (throttle < THROTTLE_MIN) throttle = THROTTLE_MIN;
-    if (throttle > THROTTLE_MAX) throttle = THROTTLE_MAX;
-    throttle_scaler = (throttle - THROTTLE_MIN) / (THROTTLE_MAX - THROTTLE_MIN);
-    
-    /*
-    if (err_throttle_too_low || err_throttle_too_high || !edge_seen) {
-        en = 0;
-    } else {
-        en = 1;
-    }
-    */
-    
-    edge_seen = 1;
-}
-
 int main() {
     //Enable clocks for GPIOs
     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
@@ -180,12 +134,6 @@
     TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
     TIM1->CR1 |= TIM_CR1_CEN;
     
-    TIM5->CR1 |= TIM_CR1_ARPE;
-    TIM5->EGR |= TIM_EGR_UG;
-    TIM5->PSC = 0x00;
-    TIM5->ARR = 0xFFFFFFFF;
-    TIM5->CR1 |= TIM_CR1_CEN;
-    
     //ADC Setup
     RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
     RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
@@ -224,11 +172,7 @@
     *b = 0.0f;
     *c = 0.0f;
     
-    en = 1;
+    throttle_in.mode(PullUp);
     
-    throttle_interrupt.rise(throttle_rise);
-    throttle_interrupt.fall(throttle_fall);
-    
-    for (;;) {
-    }
+    en = 1;
 }