ready to loop roll

firmware/cl-step-controller/src/drivers/step_cl.cpp

@@ -106,11 +106,6 @@ void Step_CL::print_table(void){
 
 // the calib routine 
 boolean Step_CL::calibrate(void){
-    flash_write_init();
-    for(uint32_t i = 0; i < ENCODER_COUNTS; i ++){
-        flash_write_value(i * 1.1F);
-    }
-    return true;
     // (1) first, build a table for 200 full steps w/ encoder averaged values at each step 
     float phase_angle = 0.0F;
     for(uint8_t i = 0; i < 200; i ++){ 
@@ -167,7 +162,7 @@ boolean Step_CL::calibrate(void){
     // now to build the actual table... 
     // want to start with the 0 indice, 
     flash_write_init();
-    for(uint16_t e = 0; e < 4; e ++){
+    for(uint16_t e = 0; e < ENCODER_COUNTS; e ++){
         // find the interval that spans this sample
         boolean bi = false; 
         int16_t interval = -1;
@@ -258,7 +253,7 @@ boolean Step_CL::calibrate(void){
             delay(10);            
         }
         // ok, have the real angle (ra) at the encoder tick (e), now write it 
-        //flash_write_value(ra); // this just happens in order, we zeroe'd out global counters at the start 
+        flash_write_value(ra); // this just happens in order, we zeroe'd out global counters at the start 
     } // end sweep thru 2^14 pts 
     sysError("calib complete");
     return true; // went OK 

log/cl-step-control-log.md

@@ -899,7 +899,69 @@ OK this is crazy, I have every fn in the class commented out, and the thing stil
 
 So, tried my way around that, I have honestly no idea what is going on here. I'm going to try writing from the base class again. 
 
-OK, did that and seems like I'm writing into the thing. 
+OK, did that and seems like I'm writing into the thing. Crazy. Here's the code:
 
-- neil suggests watching the power rails, flash req 
-- nuclear option is asking neil to chat w/ microchip contacts 
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+```cpp
+#define BYTES_PER_BLOCK 8192
+#define FLOATS_PER_BLOCK 2048
+
+const float __attribute__((__aligned__(8192))) lut[16834] = {};
+FlashClass flashClass((const uint8_t*)lut);
+
+// write mechanics
+const void* block_ptr;
+
+// write buffer 
+static float buffer[FLOATS_PER_BLOCK];
+
+uint32_t bfi = 0; // buffer indice 
+uint32_t bli = 0; // block indice 
+
+//FlashStorage(flash_storage, flts);
+
+void flash_write_init(void){
+    block_ptr = (const uint8_t*) lut;
+    bfi = 0;
+    bli = 0;
+}
+
+void flash_write_page(void){
+    sysError("erasing");
+    flashClass.erase(block_ptr, BYTES_PER_BLOCK);
+    sysError("writing");
+    flashClass.write(block_ptr, (const uint8_t*)buffer, BYTES_PER_BLOCK);
+    delay(100);
+}
+
+void flash_write_value(float val){
+    buffer[bfi ++] = val;
+    if(bfi >= FLOATS_PER_BLOCK){
+        flash_write_page();
+        bfi = 0;
+        bli ++;
+        block_ptr = ((const uint8_t *)(&(lut[bli * FLOATS_PER_BLOCK])));
+    }
+}
+
+void Step_CL::print_table(void){
+    sysError("reading from lut");
+    for(uint32_t i = 0; i < ENCODER_COUNTS; i ++){
+        float ra = lut[i];
+        sysError(String(ra));
+        delay(5);
+    }
+}
+
+// the calib routine 
+boolean Step_CL::calibrate(void){
+    flash_write_init();
+    for(uint32_t i = 0; i < ENCODER_COUNTS; i ++){
+        flash_write_value(i * 1.1F);
+    }
+    return true;
+}
+```
+
+So I think now I'll carry on actually running the calibration, then see if I can send a 'torque' command down / operate a control loop. 
+
+Great, this calibrates, so now I can roll a tiny control loop, yeah? 
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