File content as of revision 30:2b6d426f3bfc:

#include "includes.h"
#include "transforms.h"
#include "filters.h"
#include "context.h"
#include "core.h"
#include "meta.h"
#include "sensors.h"
#include "callbacks.h"

volatile unsigned short global_ib, global_ic;
uint32_t channel_ib, channel_ic;

extern "C" void TIM2_Derpy_Handler()
{
    TIM2->SR &= ~1;
    ADC1->SQR1 &= ~ADC_SQR1_L;
    ADC1->SQR3 = 0;
    ADC1->SQR3 |= channel_ib;
    ADC1->CR2 |= ADC_CR2_SWSTART;
    while ((ADC1->SR & 2) == 0){}
    global_ib = ADC1->DR;
    
    ADC1->SQR3 = 0;
    ADC1->SQR3 |= channel_ic;
    ADC1->CR2 |= ADC_CR2_SWSTART;
    while ((ADC1->SR & 2) == 0){}
    global_ic = ADC1->DR;
} 

int main() { 
    NVIC_EnableIRQ(TIM2_IRQn);
    NVIC_SetVector(TIM2_IRQn, (uint32_t)TIM2_Derpy_Handler);
        
    Context *context = new Context();
    context->ConfigureOutputs(D6, D13, D3, D8);
    context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f); 
    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->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f);  // I guess this configures the ADCs or something 
    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->InitData();
    context->Start();
}