Diff: main.cpp

Revision:

58:c66bedfe3688

Parent:

57:57a108e15b52

--- a/main.cpp	Sat Feb 27 17:50:10 2021 -0800
+++ b/main.cpp	Sat Feb 27 22:57:54 2021 -0800
@@ -49,7 +49,6 @@
 
 SPI drv_spi(PA_7, PA_6, PA_5);
 DigitalOut drv_cs(PA_4);
-//DigitalOut drv_en_gate(PA_11);
 DRV832x drv(&drv_spi, &drv_cs);
 
 static BufferedSerial pc{PA_2, PA_3, CONFIG_BAUD};
@@ -137,7 +136,7 @@
     
 void enter_torque_mode(void){
     drv.enable_gd();
-    //gpio.enable->write(1);
+
     controller.ovp_flag = 0;
     reset_foc(&controller);  
     wait_us(1 * 1000);                                                   // Tesets integrators, and other control loop parameters
@@ -150,7 +149,6 @@
     
 void calibrate(void){
     drv.enable_gd();
-    //gpio.enable->write(1);
     gpio.led->write(1);                                                    // Turn on status LED
     order_phases(&spi, &gpio, &controller, &prefs);                             // Check phase ordering
     calibrate(&spi, &gpio, &controller, &prefs);                                // Perform calibration procedure
@@ -158,13 +156,11 @@
     wait_us(200 * 1000);
     printf("\n\r Calibration complete.  Press 'esc' to return to menu\n\r");
     drv.disable_gd();
-    //gpio.enable->write(0);
      state_change = 0;
     }
     
 void print_encoder(void){
-    printf(" Mechanical Angle:  %f    Electrical Angle:  %f    Raw:  %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
-    //printf("%d\n\r", spi.GetRawPosition());
+    printf(" Mechanical Angle:  %f.4    Electrical Angle:  %f.4    Raw:  %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
     wait_us(1 * 1000);
     }
 
@@ -175,8 +171,6 @@
         static volatile int count{0};                                           // Initialize count variable as static
         ///Sample current always ///
         ADC1->CR2  |= 0x40000000;                                               // Begin sample and conversion
-        //volatile int delay;   
-        //for (delay = 0; delay < 55; delay++);
 
         spi.Sample(DT);                                                           // sample position sensor
         controller.adc2_raw = ADC2->DR;                                         // Read ADC Data Registers
@@ -384,13 +378,7 @@
     drv.disable_gd();
 
     wait_us(100 * 1000);
-    /*
-    gpio.enable->write(1);
-    TIM1->CCR3 = 0x708*(1.0f);                        // Write duty cycles
-    TIM1->CCR2 = 0x708*(1.0f);
-    TIM1->CCR1 = 0x708*(1.0f);
-    gpio.enable->write(0);
-    */
+
     reset_foc(&controller);                                                     // Reset current controller
     reset_observer(&observer);                                                 // Reset observer
     TIM1->CR1 ^= TIM_CR1_UDIS;
@@ -423,7 +411,7 @@
     memcpy(&lut, &ENCODER_LUT, sizeof(lut));
     spi.WriteLUT(lut);                                                          // Set potision sensor nonlinearity lookup table
     init_controller_params(&controller);
-                                                           // set serial baud rate
+
     wait_us(10 * 1000);
     printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
     wait_us(10 * 1000);
@@ -434,16 +422,6 @@
     printf(" Output Zero Position:  %.4f\n\r", M_OFFSET);
     printf(" CAN ID:  %d\n\r", CAN_ID);
     
-
-
-
-    //printf(" %d\n\r", drv.read_register(DCR));
-    //wait_us(100);
-    //printf(" %d\n\r", drv.read_register(CSACR));
-    //wait_us(100);
-    //printf(" %d\n\r", drv.read_register(OCPCR));
-    //drv.disable_gd();
-    
     pc.sigio(callback(serial_interrupt));                                               // attach serial interrupt
     
     state_change = 1;
@@ -452,7 +430,7 @@
     int counter = 0;
     while(1) {
         drv.print_faults();
-        wait_us(100 * 1000);       //printf("%.4f\n\r", controller.v_bus);
+        wait_us(100 * 1000);
        /*
         if(state == MOTOR_MODE)
         {