Revision 55:081470dee393, committed 2020-01-02

Comitter:

monkey61

Date:

Thu Jan 02 09:11:07 2020 +0000

Branch:

Cheetah_noflash

Parent:

54:59575833d16f

Commit message:

test

Changed in this revision

diff -r 59575833d16f -r 081470dee393 PositionSensor/PositionSensor.cpp
--- a/PositionSensor/PositionSensor.cpp	Thu Aug 08 17:39:43 2019 +0000
+++ b/PositionSensor/PositionSensor.cpp	Thu Jan 02 09:11:07 2020 +0000
@@ -30,7 +30,9 @@
     //raw = spi->write(readAngleCmd);
     //raw &= 0x3FFF;   
     raw = spi->write(0);
-    raw = raw>>2;                                                             //Extract last 14 bits
+    //raw = raw>>2;                                                             //Extract last 14 bits
+    raw &= 0x7FFF;
+    raw = raw>>1;
     GPIOA->ODR |= (1 << 15);
     int off_1 = offset_lut[raw>>7];
     int off_2 = offset_lut[((raw>>7)+1)%128];

diff -r 59575833d16f -r 081470dee393 main.cpp
--- a/main.cpp	Thu Aug 08 17:39:43 2019 +0000
+++ b/main.cpp	Thu Jan 02 09:11:07 2020 +0000
@@ -101,7 +101,13 @@
     wait_us(10);
     printf(" z - Set Zero Position\n\r");
     wait_us(10);
-    printf(" esc - Exit to Menu\n\r");
+    printf(" p - Print flash data\n\r");
+    wait_us(10);
+    printf(" o - Write flash data\n\r");
+    wait_us(10);
+    printf(" i - Read flash data\n\r");
+    wait_us(10);
+    printf(" q - Exit to Menu\n\r");
     wait_us(10);
     state_change = 0;
     gpio.led->write(0);
@@ -150,7 +156,7 @@
     calibrate(&spi, &gpio, &controller, &prefs);                                // Perform calibration procedure
     gpio.led->write(0);;                                                     // Turn off status LED
     wait(.2);
-    printf("\n\r Calibration complete.  Press 'esc' to return to menu\n\r");
+    printf("\n\r Calibration complete.  Press 'q' to return to menu\n\r");
     drv.disable_gd();
     //gpio.enable->write(0);
      state_change = 0;
@@ -253,7 +259,8 @@
 void serial_interrupt(void){
     while(pc.readable()){
         char c = pc.getc();
-        if(c == 27){
+        //if(c == 27){
+        if(c == 'q'){
                 state = REST_MODE;
                 state_change = 1;
                 char_count = 0;
@@ -279,6 +286,24 @@
                     state = SETUP_MODE;
                     state_change = 1;
                     break;
+                case 'p':
+                    printf("__int_reg\r\n");
+                    for(int i = 0; i<=132; i++){printf("i:%d,int:%d\n\r", i,__int_reg[i]);}
+                    printf("__float_reg\r\n");
+                    for(int i = 0; i<=9; i++){printf("i:%d,float:%0.5f\n\r", i,__float_reg[i]);}
+                    printf("Print data over");
+                    break;
+                case 'o':
+                    if (!prefs.ready()) prefs.open();
+                        prefs.flush();                                                  // Write new prefs to flash
+                        prefs.close();    
+                        prefs.load(); 
+                    printf("Write flash data over");
+                    break;
+                case 'i':
+                    prefs.load(); 
+                    printf("Read flash data over");
+                    break;
                 case 'z':
                     spi.SetMechOffset(0);
                     spi.Sample(DT);
@@ -342,7 +367,7 @@
             }
         else if (state == ENCODER_MODE){
             switch (c){
-                case 27:
+                case 'q':
                     state = REST_MODE;
                     state_change = 1;
                     break;
@@ -363,8 +388,8 @@
     controller.v_bus = V_BUS;
     controller.mode = 0;
     Init_All_HW(&gpio);                                                         // Setup PWM, ADC, GPIO
-    wait(.1);
-    
+    //wait(.1);
+    wait(1);    
     gpio.enable->write(1);
     wait_us(100);
     drv.calibrate();
@@ -435,8 +460,9 @@
     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));
@@ -463,6 +489,7 @@
             wait(.002);
         }
         */
+        
 
     }
 }