Diff: BREMS/BREMSConfig.cpp

Revision:

47:1c9868e226d0

Parent:

46:748aba7d111d

Child:

52:fd3d8df99287

--- a/BREMS/BREMSConfig.cpp	Tue Jan 10 04:47:38 2017 +0000
+++ b/BREMS/BREMSConfig.cpp	Tue Jan 10 05:35:24 2017 +0000
@@ -65,6 +65,10 @@
     
     GPIOA->MODER |= (1 << 10);
     GPIOA->MODER |= (1 << 11);
+    
+    set_dtc(io->a, 0.0f);
+    set_dtc(io->b, 0.0f);
+    set_dtc(io->c, 0.0f);
 }
 
 void BREMSZeroCurrent(ReadDataStruct *read) {
@@ -103,13 +107,10 @@
     
     io->pc = new Serial(USBTX, USBRX);
     io->pc->baud(115200);
-    BREMSStartupMsg(read, io->pc);
         
     io->throttle_in = new PwmIn(TH_PIN, TH_LIMIT_LOW, TH_LIMIT_HIGH);
     io->pos = new PositionSensorEncoder(CPR, 0);
     
-    BREMSConfigRegisters(io);
-    
     read->vbus = BUS_VOLTAGE;
     read->w = 0.0f;
     read->ia_supp_offset = 0.0f;
@@ -125,12 +126,10 @@
     control->d_ref = 0.0f;
     control->q_ref = 0.0f;
     
-    set_dtc(io->a, 0.0f);
-    set_dtc(io->b, 0.0f);
-    set_dtc(io->c, 0.0f);
-    
+    BREMSConfigRegisters(io);
     wait_ms(250);
     BREMSZeroCurrent(read);
+    BREMSStartupMsg(read, io->pc);
 
     io->en->write(1);
 }
\ No newline at end of file