The software documentation is divided in modules, in particular:

Entry-point function: describes the documentation for the entry-point function, i.e. main()
Configurations: contains general configurations, mainly using the*Define* directive. This module is in turn divided in sub-modules:
- Bus settings: configuration parameters for buses (e.g. SPI, UART, etc.)
- Pin settings: configuration parameters for pin used
- Constants: factors and constants
- Macro: definition of macros used
- User parametets: general user-defined parameters
Variables: declaration of the variables and objects
User functions: general user functions used in main(). These deals with sensor reading, control loop execution, driver setting, and error checking
Data logging: functions for data logging
MTP: functions for the MTP mode
Debugging: functions for debugging and signal straming to and from PC

Basic code

Todo: Basic code description (i.e. the user functions)

Data logging

By default the microcontroller logs the input and output signal of the control loop. THe log file has extension *.sbb and is saved in the internal SD memory, which can be read using the MTP mode. The log file is a binary file, containing a number of data chunk consisting of 64-floats, each of them having 4 bytes. For example, the data may be read from MATLAB using

fid = fopen(logfilename); %id of the log file (extension *.sbb)
data_vector = fread(fid,'single'); %vectorized data (single, i.e. float)
N = numel(data_vector)/64; %number of samples logged
data_matrix = reshape(data_vector, [64, N])'; %reshape to have N x 64 matrix data, i.e. each column is a signal

MTP mode

MTP mode allows to recognize the microcontroller as an MTP device (see e.g. https://en.wikipedia.org/wiki/Media_Transfer_Protocol), in order to be capable of getting log files (with extension *.sbb) from the internal SD memory. To enter in MTP mode, it is sufficient to keep the on/off button pressed for at least 3s when turning on. To get the MTP mode working in the PC side:

Windows: no additional operation is usually necessary, the microcontroller should be automatically recognized as an MTP device
Linux: install*gMTP* (fromhttps://gmtp.sourceforge.io/downloads.htmls), which is a MTP client for UNIX and UNIX like systems (this should include the*libmtp* library)

Debugging

Todo: Describe signal streaming and debugging to and from PC