File content as of revision 0:9753f3c2e5ca:

#include "constants.h"
#include "shared.h"
#include "isr.h"
#include <stdlib.h>

void initTimers() {
    dtc_upd_ticker.attach_us(&dtc_update, 20);    
    pha.period_us(200);
    phb.period_us(200);
    phc.period_us(200);
    pha = 0;
    phb = 1.0f;
    phc = 0;

}

void initPins() {    
    halla.mode(PullUp);
    hallb.mode(PullUp);
    hallc.mode(PullUp);
    
    en = 0;
}

void initData() {
    motor = (Motor*) malloc(sizeof(Motor));
    motor->hall = (halla.read() << 2) + (hallb.read() << 1) + hallc.read();
    motor->last_hall = 0;
    motor->reverses = 0;
    motor->last_time = 3000.0f;
    motor->major_pos = 60.0f * ATable[motor->hall];
    motor->ticks = 0.0f;
    motor->sensor_phase = SENSOR_PHASE;
    motor->halt = 1;
    motor->whangle =0;
    motor->analoga = analoga;
    motor->analogb = analogb;
    
    float throttle_raw;
    do {
        throttle_raw = throttle;
        throttle_raw = (throttle_raw - THROTTLE_DB) / (1.0f - THROTTLE_DB);
        if (throttle_raw < 0.0f) throttle_raw = 0.0f;
    } while (throttle_raw > 0.05f);
    
    motor->throttle = (1.0f - THROTTLE_LPF) * throttle_raw + THROTTLE_LPF * motor->throttle;
    if (motor->throttle < 0.05f) {
        motor->halt = 1;
    } else {
        motor->halt = 0;
    }
}