File content as of revision 0:571a1835428e:

#include "mbed.h"
#include "struct.h"
#include "PositionSensor.h"
#include "PreferenceWriter.h"
#include "brake.h"
#include "user_config.h"
PreferenceWriter prefs(6);
float __float_reg[64];                                                          // Floats stored in flash
int __int_reg[256]; 
GPIOStruct gpio;
ControllerStruct controller;
Serial pc(PA_2, PA_3);
PositionSensorAM5147 spi(16384, 0.0, 0);    //14 bits encoder, 21 NPP

int brake_state=0;
int flag=0;
Ticker flipper;

void serial_interrupt(void){
    while(pc.readable()){
        char c = pc.getc();
            switch (c){
                case 'z':
                    spi.SetMechOffset(0);
                    spi.Sample(0.000025);
                    wait_us(20);
                    M_OFFSET = spi.GetMechPosition();
                    if (!prefs.ready()) prefs.open();
                        prefs.flush();                                                  // Write new prefs to flash
                        prefs.close();    
                        prefs.load(); 
                    spi.SetMechOffset(M_OFFSET);
                    printf("\n\r  Saved new zero position:  %.4f\n\r\n\r", M_OFFSET);
                    
                    break;
                }
                
                }
        }

void time1_check()
{
        spi.Sample(0.000025);   
        //pc.printf("%.3f\n\r",controller.theta_mech);                                                        // sample position sensor
        controller.theta_elec = spi.GetElecPosition();
        controller.theta_mech = spi.GetMechPosition();
        controller.dtheta_mech = spi.GetMechVelocity();  
        controller.dtheta_elec = spi.GetElecVelocity();
        /*
        if(gpio.indicate->read()==1)
        {
            gpio.brake->write(1);   
                } 
        else{
                gpio.brake->write(0);
                        }*/
        if(gpio.indicate->read()==1)
         {
            brake_state=1;   
         } 
        else{
                brake_state=0;
            }
        controller.loop_count++;
        if(controller.loop_count>80000)
        {
         controller.loop_count=80000;   
        }
        if(brake_state=1&&controller.loop_count>=80000)
        {
             flag=-flag;
             if(flag)
             {
                gpio.brake->write(1); 
                }
               if(flag)
               {
                 gpio.brake->write(0);   
                } 
        }
        if(brake_state=1&&controller.loop_count<80000)
        {
          gpio.brake->write(1);  
        }
        else
        {
           gpio.brake->write(0);   
        }
        
}

int main()
{
    Init_Brake(&gpio);
    controller.loop_count=0;
    prefs.load();                                                               // Read flash
    if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
    if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
    spi.SetElecOffset(E_OFFSET);                                                // Set position sensor offset
    spi.SetMechOffset(M_OFFSET);
    int lut[128] = {0};
    memcpy(&lut, &ENCODER_LUT, sizeof(lut));
    spi.WriteLUT(lut);                                                          // Set potision sensor nonlinearity lookup table
    pc.baud(115200);                                                          // set serial baud rate
    wait(.01);
    wait(.01);   
    pc.attach(&serial_interrupt);                                               // attach serial interrupt
    flipper.attach_us(&time1_check,25);
    while(1) {
     printf("%.3f\n\r",controller.theta_mech);
     printf("%.3d\n\r",spi.GetRawPosition());
     
     wait_ms(1000);
    }
}