Diff: main.cpp

Revision:

91:f58472ac3fae

Parent:

90:2ef53b1a22de

Child:

92:a9dac72d8cac

--- a/main.cpp	Tue Apr 04 04:05:37 2017 +0000
+++ b/main.cpp	Wed Apr 05 20:57:18 2017 +0000
@@ -151,33 +151,31 @@
 }
 
 void log() {
-    io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), 
-                        (int) (255 * foc.vd), (int) (255 * foc.vq));
-    //io.pc->printf("%d\n", io.throttle_in->get_usecs());
+    //io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent), 
+    //                    (int) (255 * foc.vd), (int) (255 * foc.vq));
+    io.pc->printf("%d\n", (int) (control.d_filtered));//io.throttle_in->get_usecs());
     wait(1.0f / LOG_FREQUENCY);
 }
         
 
 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
-    test = 1;
     int start_state = io.throttle_in->state();
+    
     if (TIM1->SR & TIM_SR_UIF ) {
+        test = 1;
         ADC1->CR2  |= 0x40000000; 
-        //volatile int delay;
-        //for (delay = 0; delay < 35; delay++);
-        volatile int eoc1, eoc2;
-        while (!eoc1 && !eoc2) {
-            eoc1 = ADC1->SR & ADC_SR_EOC;
-            eoc2 = ADC2->SR & ADC_SR_EOC;
-        }
+        volatile int delay;
+        for (delay = 0; delay < 35; delay++);
+        
         read.adval1 = ADC1->DR;
         read.adval2 = ADC2->DR;
+        test = 0;
+
         commutate();
     }
     TIM1->SR = 0x00;
     int end_state = io.throttle_in->state();
     if (start_state != end_state) io.throttle_in->block();
-    test = 0;
 }
 
 int main() {