Diff: callbacks.cpp

Revision:

187:523cf8c962e4

Child:

191:66861311bdcd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/callbacks.cpp	Fri Feb 09 23:24:25 2018 +0000
@@ -0,0 +1,61 @@
+#include "CommandProcessor.h"
+
+#include "defaults.h"
+#include "globals.h"
+#include "main.h"
+
+char linebuf[128];
+int index = 0;
+
+void rxCallback() {
+    while (io.pc->readable()) {
+        char c = io.pc->getc();
+        if (c != 127 && c != '\r' && c != '\t') {
+            linebuf[index] = c;
+            index++;
+            io.pc->putc(c);
+        } else if (c == 127) {
+            if (index > 0) {
+                index--;
+                io.pc->putc(c);
+            }
+        } else if (c == '\r') {
+            linebuf[index] = 0;
+            io.pc->putc(c);
+            processCmd(io.pc, io.pref, linebuf);
+            index = 0;
+            io.pc->putc('>');
+        }
+    }
+}
+
+extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
+    int start_state = io.throttle_in->state();
+    
+    if (TIM1->SR & TIM_SR_UIF ) {
+        ADC1->CR2  |= 0x40000000; 
+        volatile int delay;
+        for (delay = 0; delay < 35; delay++);
+        
+        read.adval1 = ADC1->DR;
+        read.adval2 = ADC2->DR;
+
+        commutate();
+    }
+    TIM1->SR = 0x00;
+    int end_state = io.throttle_in->state();
+    if (start_state != end_state) io.throttle_in->block();
+}
+
+void update_velocity() {
+    read.last_p_mech = read.p_mech;
+    read.p_mech = io.pos->GetMechPosition();
+    
+    float dp_mech = read.p_mech - read.last_p_mech;
+    if (dp_mech < -PI) dp_mech += 2 * PI;
+    if (dp_mech >  PI) dp_mech -= 2 * PI;
+    
+    float w_raw = dp_mech * F_SW; //rad/s
+    
+    read.w = control.velocity_filter->update(w_raw);
+}
\ No newline at end of file