File content as of revision 13:79e247e54d78:

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

#define dbg_d_filtered debug_registers[0]
#define dbg_q_filtered debug_registers[1]
#define dbg_angle debug_registers[3]

void fast(Context *c) {
    float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
    float I_b, I_c, angle;
    I_b = c->motor->GetCurrentB();
    I_c = c->motor->GetCurrentC();
    angle = c->motor->GetPosition();
    c->dbg_angle = angle;
    
    Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform
    Parke(alpha, beta, angle, &d, &q);
    
    float d_filtered = c->filter_d->Update(d);
    float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal
    
    c->dbg_d_filtered = d_filtered;
    c->dbg_q_filtered = q_filtered;

    c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
    
    float vd = c->pid_d->Update(ref_d, d_filtered);
    float vq = c->pid_q->Update(ref_q, q_filtered);
    
    vd = 0.0f;
    vq = c->user->throttle;
    
    InverseParke(vd, vq, angle, &valpha, &vbeta);
    
    c->modulator->Update(valpha, vbeta); 
}

void slow(Context *c) {
    c->user->UpdateThrottle();
}

void debug(Context *c) {
    //c->serial->printf("%f \n\r", c->dbg_angle);
}