pull/1/head
commit
886a86b047
@ -0,0 +1,21 @@
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---
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||||
name: Bug report
|
||||
about: Create a report to help us improve
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title: ''
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labels: bug
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||||
assignees: ''
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||||
---
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||||
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||||
### Your System
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- VARIANT:
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- CONTROL TYPE:
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- CONTROL MODE:
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||||
- What is your application?
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- Hovercar, Skateboard, RC platform, etc.
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||||
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||||
Describe the bug and how we can reproduce it.
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||||
```c
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// a code sample may improve communication
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```
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---
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||||
name: Idea / Feature request
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||||
about: Suggest an idea for this project
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||||
title: ''
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||||
labels: enhancement
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||||
assignees: ''
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||||
|
||||
---
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||||
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||||
**What can we do to make the firmware better?**
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Consider if code examples or images would help communicate your request.
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||||
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||||
**Describe suggestions or alternatives you have considered**
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||||
A clear and concise description of any alternative solutions or features you've considered.
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||||
@ -0,0 +1,26 @@
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||||
---
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||||
name: Question about the firmware
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||||
about: How to use the firmware to...
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||||
title: ''
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||||
labels: question
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||||
assignees: ''
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||||
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||||
---
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||||
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||||
### Your System
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||||
- VARIANT:
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||||
- CONTROL TYPE:
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||||
- CONTROL MODE:
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||||
- What is your application?
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||||
- Hovercar, Skateboard, RC platform, etc.
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||||
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||||
**Before asking a question** see if it is already answered in:
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||||
* [Wiki pages](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki)
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||||
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||||
**Indicate what you have tried:**
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If applicable, indicate what you tried that _doesn't_ work:
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```c
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input1[inIdx].raw = adc_buffer.l_rx2;
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input2[inIdx].raw = adc_buffer.l_tx2
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```
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@ -0,0 +1,113 @@
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/**
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||||
* This file is part of the hoverboard-firmware-hack project.
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||||
*
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||||
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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||||
*
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||||
* This program is free software: you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
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||||
*/
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||||
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// Define to prevent recursive inclusion
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#ifndef COMMS_H
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#define COMMS_H
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#include "stm32f1xx_hal.h"
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#if defined(DEBUG_SERIAL_PROTOCOL)
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enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
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#define typename(x) _Generic((x), \
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uint8_t: UINT8_T, \
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uint16_t: UINT16_T, \
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uint32_t: UINT32_T, \
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int8_t: INT8_T, \
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int16_t: INT16_T, \
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int32_t: INT32_T, \
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int: INT, \
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float: FLOAT)
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#define PARAM_SIZE(param) sizeof(param) / sizeof(parameter_entry)
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#define COMMAND_SIZE(command) sizeof(command) / sizeof(command_entry)
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#define SIZEP(x) ((char*)(&(x) + 1) - (char*)&(x))
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#define ADD_PARAM(var) typename(var),&var
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int32_t extToInt(uint8_t index,int32_t value);
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int8_t setParamValInt(uint8_t index, int32_t newValue);
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int8_t setParamValExt(uint8_t index, int32_t newValue);
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int32_t intToExt(uint8_t index,int32_t value);
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int32_t getParamValInt(uint8_t index);
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int32_t getParamValExt(uint8_t index);
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int8_t initParamVal(uint8_t index);
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int8_t incrParamVal(uint8_t index);
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int8_t saveAllParamVal();
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int16_t getParamInitInt(uint8_t index);
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int32_t getParamInitExt(uint8_t index);
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int8_t printCommandHelp(uint8_t index);
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int8_t printParamHelp(uint8_t index);
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int8_t printAllParamHelp();
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int8_t printParamVal();
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int8_t printParamDef(uint8_t index);
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int8_t printAllParamDef();
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void printError(uint8_t errornum );
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int8_t watchParamVal(uint8_t index);
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int8_t findCommand(uint8_t *userCommand, uint32_t len);
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int8_t findParam(uint8_t *userCommand, uint32_t len);
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void handle_input(uint8_t *userCommand, uint32_t len);
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void process_debug();
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typedef struct debug_command_struct debug_command;
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struct debug_command_struct {
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uint8_t semaphore;
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uint8_t error;
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int8_t command_index;
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int8_t param_index;
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int32_t param_value;
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};
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typedef struct command_entry_struct command_entry;
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struct command_entry_struct {
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const uint8_t type;
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const char *name;
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int8_t (*callback_function0)();
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int8_t (*callback_function1)(uint8_t index);
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int8_t (*callback_function2)(uint8_t index,int32_t value);
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const char *help;
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};
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typedef struct parameter_entry_struct parameter_entry;
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struct parameter_entry_struct {
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const uint8_t type;
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const char *name;
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const uint8_t datatype;
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void *valueL;
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void *valueR;
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const uint16_t addr;
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const int32_t init;
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const uint8_t initFormat;
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const int32_t min;
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const int32_t max;
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const uint8_t div;
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const uint8_t mul;
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const uint8_t fix;
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void (*callback_function)();
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const char *help;
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};
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#endif // DEBUG_SERIAL_PROTOCOL
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#endif // COMMS_H
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@ -0,0 +1,650 @@
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/**
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||||
* This file is part of the hoverboard-firmware-hack project.
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||||
*
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||||
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
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||||
*/
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// Includes
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "stm32f1xx_hal.h"
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#include "config.h"
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#include "defines.h"
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#include "eeprom.h"
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#include "BLDC_controller.h"
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#include "util.h"
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#include "comms.h"
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#if defined(DEBUG_SERIAL_PROTOCOL)
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#if defined(DEBUG_SERIAL_PROTOCOL) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3))
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#ifdef CONTROL_ADC
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#define RAW_MIN 0
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#define RAW_MAX 4095
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#else
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#define RAW_MIN -1000
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#define RAW_MAX 1000
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#endif
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#define MAX_PARAM_WATCH 15
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extern ExtY rtY_Left; /* External outputs */
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extern ExtU rtU_Left; /* External inputs */
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extern P rtP_Left;
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extern ExtY rtY_Right; /* External outputs */
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extern ExtU rtU_Right; /* External inputs */
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extern P rtP_Right;
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extern InputStruct input1[]; // input structure
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extern InputStruct input2[]; // input structure
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extern uint16_t VirtAddVarTab[NB_OF_VAR];
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extern int16_t speedAvg; // average measured speed
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extern int16_t speedAvgAbs; // average measured speed in absolute
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extern uint8_t ctrlModReqRaw;
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extern int16_t batVoltageCalib;
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extern int16_t board_temp_deg_c;
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extern int16_t left_dc_curr;
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extern int16_t right_dc_curr;
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extern int16_t dc_curr;
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extern int16_t cmdL;
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extern int16_t cmdR;
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enum commandTypes {READ,WRITE};
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// Function0 - Function with 0 parameter
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// Function1 - Function with 1 parameter (e.g. GET PARAM)
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// Function2 - Function with 2 parameter (e.g. SET PARAM XXXX)
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const command_entry commands[] = {
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// Type ,Name ,Function0 ,Function1 ,Function2 ,Help
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{READ ,"GET" ,printAllParamDef ,printParamDef ,NULL ,"Get Parameter/Variable"},
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{READ ,"HELP" ,printAllParamHelp ,printParamHelp ,NULL ,"Command/Parameter/Variable Help"},
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{READ ,"WATCH" ,NULL ,watchParamVal ,NULL ,"Toggle Parameter/Variable Watch"},
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{WRITE ,"SET" ,NULL ,NULL ,setParamValExt ,"Set Parameter"},
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{WRITE ,"INIT" ,NULL ,initParamVal ,NULL ,"Init Parameter from EEPROM or CONFIG.H"},
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{WRITE ,"SAVE" ,saveAllParamVal ,NULL ,NULL ,"Save Parameters to EEPROM"},
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};
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enum paramTypes {PARAMETER,VARIABLE};
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const parameter_entry params[] = {
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// CONTROL PARAMETERS
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// Type ,Name ,Datatype ,ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
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{PARAMETER ,"CTRL_MOD" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,0 ,1 ,3 ,0 ,0 ,0 ,NULL ,"Ctrl mode 1:VLT 2:SPD 3:TRQ"},
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{PARAMETER ,"CTRL_TYP" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,0 ,2 ,0 ,0 ,0 ,NULL ,"Ctrl type 0:COM 1:SIN 2:FOC"},
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{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max) ,&rtP_Right.i_max ,1 ,I_MOT_MAX ,1 ,1 ,40 ,A2BIT_CONV ,0 ,4 ,NULL ,"Max phase current A"},
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{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,1 ,10 ,2000 ,0 ,0 ,4 ,NULL ,"Max motor RPM"},
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{PARAMETER ,"FI_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,0 ,1 ,0 ,0 ,0 ,NULL ,"Enable field weak"},
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{PARAMETER ,"FI_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,1 ,0 ,1500 ,0 ,0 ,4 ,Input_Lim_Init ,"Field weak high RPM"},
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{PARAMETER ,"FI_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,1 ,0 ,1000 ,0 ,0 ,4 ,Input_Lim_Init ,"Field weak low RPM"},
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{PARAMETER ,"FI_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,1 ,0 ,20 ,A2BIT_CONV ,0 ,4 ,NULL ,"Field weak max current A(FOC)"},
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{PARAMETER ,"PHA_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,1 ,0 ,55 ,0 ,0 ,4 ,NULL ,"Max Phase Adv angle Deg(SIN)"},
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// INPUT PARAMETERS
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// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
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{VARIABLE ,"IN1_RAW" ,ADD_PARAM(input1[0].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 raw"},
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{PARAMETER ,"IN1_TYP" ,ADD_PARAM(input1[0].typ) ,NULL ,3 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Input1 type"},
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{PARAMETER ,"IN1_MIN" ,ADD_PARAM(input1[0].min) ,NULL ,4 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 min"},
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{PARAMETER ,"IN1_MID" ,ADD_PARAM(input1[0].mid) ,NULL ,5 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 mid"},
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{PARAMETER ,"IN1_MAX" ,ADD_PARAM(input1[0].max) ,NULL ,6 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 max"},
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{VARIABLE ,"IN1_CMD" ,ADD_PARAM(input1[0].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input1 cmd"},
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{VARIABLE ,"IN2_RAW" ,ADD_PARAM(input2[0].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 raw"},
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{PARAMETER ,"IN2_TYP" ,ADD_PARAM(input2[0].typ) ,NULL ,7 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Input2 type"},
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{PARAMETER ,"IN2_MIN" ,ADD_PARAM(input2[0].min) ,NULL ,8 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 min"},
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{PARAMETER ,"IN2_MID" ,ADD_PARAM(input2[0].mid) ,NULL ,9 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 mid"},
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{PARAMETER ,"IN2_MAX" ,ADD_PARAM(input2[0].max) ,NULL ,10 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 max"},
|
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{VARIABLE ,"IN2_CMD" ,ADD_PARAM(input2[0].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input2 cmd"},
|
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#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
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// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
|
||||
{VARIABLE ,"AUX_IN1_RAW" ,ADD_PARAM(input1[1].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 raw"},
|
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{PARAMETER ,"AUX_IN1_TYP" ,ADD_PARAM(input1[1].typ) ,NULL ,11 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Aux. input1 type"},
|
||||
{PARAMETER ,"AUX_IN1_MIN" ,ADD_PARAM(input1[1].min) ,NULL ,12 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 min"},
|
||||
{PARAMETER ,"AUX_IN1_MID" ,ADD_PARAM(input1[1].mid) ,NULL ,13 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 mid"},
|
||||
{PARAMETER ,"AUX_IN1_MAX" ,ADD_PARAM(input1[1].max) ,NULL ,14 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 max"},
|
||||
{VARIABLE ,"AUX_IN1_CMD" ,ADD_PARAM(input1[1].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input1 cmd"},
|
||||
|
||||
{VARIABLE ,"AUX_IN2_RAW" ,ADD_PARAM(input2[1].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 raw"},
|
||||
{PARAMETER ,"AUX_IN2_TYP" ,ADD_PARAM(input2[1].typ) ,NULL ,15 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Aux. input2 type"},
|
||||
{PARAMETER ,"AUX_IN2_MIN" ,ADD_PARAM(input2[1].min) ,NULL ,16 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 min"},
|
||||
{PARAMETER ,"AUX_IN2_MID" ,ADD_PARAM(input2[1].mid) ,NULL ,17 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 mid"},
|
||||
{PARAMETER ,"AUX_IN2_MAX" ,ADD_PARAM(input2[1].max) ,NULL ,18 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 max"},
|
||||
{VARIABLE ,"AUX_IN2_CMD" ,ADD_PARAM(input2[1].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input2 cmd"},
|
||||
#endif
|
||||
// FEEDBACK
|
||||
// Type ,Name ,Datatype, ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
|
||||
{VARIABLE ,"DC_CURR" ,ADD_PARAM(dc_curr) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Total DC Link current A *100"},
|
||||
{VARIABLE ,"RDC_CURR" ,ADD_PARAM(right_dc_curr) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Right DC Link current A *100"},
|
||||
{VARIABLE ,"LDC_CURR" ,ADD_PARAM(left_dc_curr) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Left DC Link current A *100"},
|
||||
{VARIABLE ,"CMDL" ,ADD_PARAM(cmdL) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Left Motor Command"},
|
||||
{VARIABLE ,"CMDR" ,ADD_PARAM(cmdR) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Right Motor Command"},
|
||||
{VARIABLE ,"SPD_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Motor Measured Avg RPM"},
|
||||
{VARIABLE ,"SPDL" ,ADD_PARAM(rtY_Left.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Left Motor Measured RPM"},
|
||||
{VARIABLE ,"SPDR" ,ADD_PARAM(rtY_Right.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Right Motor Measured RPM"},
|
||||
{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,0 ,0 ,4 ,NULL ,"Rate *10"},
|
||||
{VARIABLE ,"SPD_COEF" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,0 ,10 ,14 ,NULL ,"Speed Coefficient *10"},
|
||||
{VARIABLE ,"STR_COEF" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,0 ,10 ,14 ,NULL ,"Steer Coefficient *10"},
|
||||
{VARIABLE ,"BATV" ,ADD_PARAM(batVoltageCalib) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Calibrated Battery voltage *100"},
|
||||
{VARIABLE ,"TEMP" ,ADD_PARAM(board_temp_deg_c) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Calibrated Temperature °C *10"},
|
||||
|
||||
};
|
||||
|
||||
|
||||
const char *errors[9] = {
|
||||
"Command not found", // Err1
|
||||
"Parameter not found", // Err2
|
||||
"This command cannot be used with a Variable", // Err3
|
||||
"Value not in range", // Err4
|
||||
"Value expected", // Err5
|
||||
"Start of line expected", // Err6
|
||||
"End of line expected", // Err7
|
||||
"Parameter expected", // Err8
|
||||
"Uncaught error" // Err9
|
||||
"Watch list is full" // Err10
|
||||
};
|
||||
|
||||
debug_command command;
|
||||
int8_t watchParamList[MAX_PARAM_WATCH] = {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
|
||||
|
||||
// Set Param with Value from external format
|
||||
int8_t setParamValExt(uint8_t index, int32_t value) {
|
||||
int8_t ret = 0;
|
||||
// check min and max before conversion to internal values
|
||||
if (IN_RANGE(value,params[index].min,params[index].max)){
|
||||
ret = setParamValInt(index,extToInt(index,value));
|
||||
printParamDef(index);
|
||||
}else{
|
||||
printError(4); // Error - Value out of range
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Set Param with value from internal format
|
||||
int8_t setParamValInt(uint8_t index, int32_t newValue) {
|
||||
int32_t oldValue = getParamValInt(index);
|
||||
if (oldValue != newValue){
|
||||
// if value is different, beep, cast and assign new value
|
||||
switch (params[index].datatype){
|
||||
case UINT8_T:
|
||||
if (params[index].valueL != NULL) *(uint8_t*)params[index].valueL = newValue;
|
||||
if (params[index].valueR != NULL) *(uint8_t*)params[index].valueR = newValue;
|
||||
break;
|
||||
case UINT16_T:
|
||||
if (params[index].valueL != NULL) *(uint16_t*)params[index].valueL = newValue;
|
||||
if (params[index].valueR != NULL) *(uint16_t*)params[index].valueR = newValue;
|
||||
break;
|
||||
case UINT32_T:
|
||||
if (params[index].valueL != NULL) *(uint32_t*)params[index].valueL = newValue;
|
||||
if (params[index].valueR != NULL) *(uint32_t*)params[index].valueR = newValue;
|
||||
break;
|
||||
case INT8_T:
|
||||
if (params[index].valueL != NULL) *(int8_t*)params[index].valueL = newValue;
|
||||
if (params[index].valueR != NULL) *(int8_t*)params[index].valueR = newValue;
|
||||
break;
|
||||
case INT16_T:
|
||||
if (params[index].valueL != NULL) *(int16_t*)params[index].valueL = newValue;
|
||||
if (params[index].valueR != NULL) *(int16_t*)params[index].valueR = newValue;
|
||||
break;
|
||||
case INT32_T:
|
||||
if (params[index].valueL != NULL) *(int32_t*)params[index].valueL = newValue;
|
||||
if (params[index].valueR != NULL) *(int32_t*)params[index].valueR = newValue;
|
||||
break;
|
||||
}
|
||||
|
||||
// Beep if value was modified
|
||||
beepShort(5);
|
||||
}
|
||||
|
||||
// Run callback function if assigned
|
||||
if (params[index].callback_function) (*params[index].callback_function)();
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Get Parameter Internal value and translate to external
|
||||
int32_t getParamValExt(uint8_t index) {
|
||||
return intToExt(index,getParamValInt(index));
|
||||
}
|
||||
|
||||
// Get Parameter Internal Value
|
||||
int32_t getParamValInt(uint8_t index) {
|
||||
int32_t value = 0;
|
||||
|
||||
int8_t countVar = 0;
|
||||
if (params[index].valueL != NULL) countVar++;
|
||||
if (params[index].valueR != NULL) countVar++;
|
||||
|
||||
if (countVar > 0){
|
||||
// Read Left and Right values and calculate average
|
||||
// If left and right have to be summed up, DIV field could be adapted to multiply by 2
|
||||
// Cast to parameter datatype
|
||||
switch (params[index].datatype){
|
||||
case UINT8_T:
|
||||
if (params[index].valueL != NULL) value += *(uint8_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(uint8_t*)params[index].valueR;
|
||||
break;
|
||||
case UINT16_T:
|
||||
if (params[index].valueL != NULL) value += *(uint16_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(uint16_t*)params[index].valueR;
|
||||
break;
|
||||
case UINT32_T:
|
||||
if (params[index].valueL != NULL) value += *(uint32_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(uint32_t*)params[index].valueR;
|
||||
break;
|
||||
case INT8_T:
|
||||
if (params[index].valueL != NULL) value += *(int8_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(int8_t*)params[index].valueR;
|
||||
break;
|
||||
case INT16_T:
|
||||
if (params[index].valueL != NULL) value += *(int16_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(int16_t*)params[index].valueR;
|
||||
break;
|
||||
case INT32_T:
|
||||
if (params[index].valueL != NULL) value += *(int32_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(int32_t*)params[index].valueR;
|
||||
break;
|
||||
default:
|
||||
value = 0;
|
||||
}
|
||||
|
||||
// Divide by number of values provided for the parameter
|
||||
value /= countVar;
|
||||
}else{
|
||||
// No variable was provided, return init value that might contain a macro
|
||||
value = params[index].init;
|
||||
}
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
// Add or remove parameter from watch list
|
||||
int8_t watchParamVal(uint8_t index){
|
||||
int8_t i,found = 0;
|
||||
for(i=0;i < MAX_PARAM_WATCH && watchParamList[i]>-1;i++){
|
||||
if (watchParamList[i] == index) found = 1;
|
||||
if (found) watchParamList[i] = (i < MAX_PARAM_WATCH-1)?watchParamList[i+1]:-1;
|
||||
}
|
||||
if (!found){
|
||||
if (watchParamList[i] == -1){
|
||||
watchParamList[i] = index;
|
||||
return 1;
|
||||
}
|
||||
printError(10);
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print value for all parameters with watch flag
|
||||
int8_t printParamVal(){
|
||||
int8_t i = 0;
|
||||
for(i=0;i < MAX_PARAM_WATCH && watchParamList[i]>-1;i++){
|
||||
printf("%s:%li ",params[watchParamList[i]].name,getParamValExt(watchParamList[i]));
|
||||
}
|
||||
if (i>0) printf("\r\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print help for Command
|
||||
int8_t printCommandHelp(uint8_t index){
|
||||
printf("? %s:\"%s\"\r\n",commands[index].name,commands[index].help);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print help for parameter
|
||||
int8_t printParamHelp(uint8_t index){
|
||||
printf("? %s:\"%s\" ",params[index].name,params[index].help);
|
||||
if (params[index].type == PARAMETER) printf("[min:%li max:%li]",params[index].min,params[index].max);
|
||||
printf("\r\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print help for all parameters
|
||||
int8_t printAllParamHelp(){
|
||||
printf("? Commands\r\n");
|
||||
for(int i=0;i<COMMAND_SIZE(commands);i++)
|
||||
printCommandHelp(i);
|
||||
printf("?\r\n");
|
||||
|
||||
printf("? Parameters\r\n");
|
||||
for(int i=0;i<PARAM_SIZE(params);i++){
|
||||
if (params[i].type == PARAMETER) printParamHelp(i);
|
||||
}
|
||||
printf("?\r\n");
|
||||
|
||||
printf("? Variables\r\n");
|
||||
for(int i=0;i<PARAM_SIZE(params);i++){
|
||||
if (params[i].type == VARIABLE) printParamHelp(i);
|
||||
}
|
||||
printf("?\r\n");
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print definition(name,value,initial value, min, max) for parameter
|
||||
int8_t printParamDef(uint8_t index){
|
||||
printf("# name:\"%s\" value:%li init:%li min:%li max:%li\r\n",
|
||||
params[index].name, // Parameter Name
|
||||
getParamValExt(index), // Parameter Value translated to external format
|
||||
getParamInitExt(index), // Parameter Init Value translated to external format
|
||||
params[index].min, // Parameter Min Value with External format
|
||||
params[index].max); // Parameter Max Value with External format
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print definition(name,value,initial value, min, max) for all parameters
|
||||
int8_t printAllParamDef(){
|
||||
for(int i=0;i<PARAM_SIZE(params);i++) printParamDef(i);
|
||||
return 1;
|
||||
}
|
||||
|
||||
void printError(uint8_t errornum ){
|
||||
printf("! Err%i:\"%s\"\r\n",errornum,errors[errornum-1]);
|
||||
}
|
||||
|
||||
// Function to increment a value
|
||||
// Get Parameter in External format, check max value, increment, set Parameter
|
||||
// Not used in the protocol yet
|
||||
int8_t incrParamVal(uint8_t index) {
|
||||
// This should be used only if min and max values are known
|
||||
if (params[index].min == params[index].max) return 0;
|
||||
|
||||
uint32_t value = getParamValExt(index);
|
||||
if (value < params[index].max){
|
||||
return setParamValExt(index,value + 1);
|
||||
}else{
|
||||
return setParamValExt(index,(int32_t) params[index].min);
|
||||
}
|
||||
}
|
||||
|
||||
// Get internal Parameter value and save it to EEprom for all paraemeter with an address assigned
|
||||
int8_t saveAllParamVal() {
|
||||
HAL_FLASH_Unlock();
|
||||
EE_WriteVariable(VirtAddVarTab[0] , (uint16_t)FLASH_WRITE_KEY);
|
||||
for(int i=0;i<PARAM_SIZE(params);i++){
|
||||
// Only Parameters with eeprom address can be saved
|
||||
if (params[i].addr){
|
||||
EE_WriteVariable(VirtAddVarTab[params[i].addr] , (uint16_t)getParamValInt(i));
|
||||
}
|
||||
}
|
||||
HAL_FLASH_Lock();
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Translate from Internal to External format
|
||||
int32_t intToExt(uint8_t index,int32_t value){
|
||||
// Multiply for small number
|
||||
if(params[index].mul) value *= params[index].mul;
|
||||
// Divide to translate to external format
|
||||
if(params[index].div) value /= params[index].div;
|
||||
// Shift to translate to external format
|
||||
if(params[index].fix) value >>= params[index].fix;
|
||||
return value;
|
||||
}
|
||||
|
||||
// Translate from External to Internal Format
|
||||
int32_t extToInt(uint8_t index,int32_t value){
|
||||
// Multiply to translate to internal format
|
||||
if(params[index].div) value *= params[index].div;
|
||||
// Shift to translate to internal format
|
||||
if (params[index].fix) value <<= params[index].fix;
|
||||
// Divide for small number
|
||||
if(params[index].mul) value /= params[index].mul;
|
||||
return value;
|
||||
}
|
||||
|
||||
// Get Parameter Init value(EEPROM or init/config.h) and translate to external format
|
||||
int32_t getParamInitExt(uint8_t index) {
|
||||
return intToExt(index,getParamInitInt(index));
|
||||
}
|
||||
|
||||
// Get Parameter value with EEprom data if address is avalaible, init/config.h value otherwise
|
||||
int16_t getParamInitInt(uint8_t index){
|
||||
if (params[index].addr){
|
||||
// if EEPROM address is specified, init from EEPROM address
|
||||
uint16_t writeCheck, readVal;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
|
||||
EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readVal);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
// EEPROM was written, use stored value
|
||||
if (writeCheck == FLASH_WRITE_KEY){
|
||||
return readVal;
|
||||
}else{
|
||||
// Use init value from array
|
||||
if (params[index].initFormat){
|
||||
// Init Value is in External format (e.g. PHA_ADV_MAX is 25 deg)
|
||||
return extToInt(index,params[index].init);
|
||||
}else{
|
||||
return params[index].init;
|
||||
}
|
||||
}
|
||||
}else{
|
||||
if (params[index].initFormat){
|
||||
// Init Value is in External format (e.g. PHA_ADV_MAX is 25 deg)
|
||||
return extToInt(index,params[index].init);
|
||||
}else{
|
||||
return params[index].init;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// initialize Parameter value with EEprom data if address is avalaible, init/config.h value otherwise
|
||||
int8_t initParamVal(uint8_t index) {
|
||||
int8_t ret = 0;
|
||||
ret = setParamValInt(index,(int32_t) getParamInitInt(index));
|
||||
printParamDef(index);
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Find command in commands array and return index
|
||||
int8_t findCommand(uint8_t *userCommand, uint32_t len){
|
||||
for(int index=0;index<COMMAND_SIZE(commands);index++){
|
||||
uint8_t command_len = strlen(commands[index].name);
|
||||
if (command_len < len){
|
||||
if (memcmp(userCommand,commands[index].name,command_len)==0){
|
||||
return index;
|
||||
}
|
||||
}
|
||||
}
|
||||
return -1; // Not found
|
||||
}
|
||||
|
||||
// Find parameter in params array and return index
|
||||
int8_t findParam(uint8_t *userCommand, uint32_t len){
|
||||
for(int index=0;index<PARAM_SIZE(params);index++){
|
||||
uint8_t param_len = strlen(params[index].name);
|
||||
if (param_len < len){
|
||||
if (memcmp(userCommand,params[index].name,param_len)==0){
|
||||
return index;
|
||||
}
|
||||
}
|
||||
}
|
||||
return -1; // Not found
|
||||
}
|
||||
|
||||
// Parse and save the command to be executed
|
||||
void handle_input(uint8_t *userCommand, uint32_t len)
|
||||
{
|
||||
|
||||
// If there is already an unprocessed command, exit
|
||||
if (command.semaphore == 1) return;
|
||||
|
||||
// Check end of line
|
||||
userCommand+=len-1; // Go to last char
|
||||
if (*userCommand != '\n' && *userCommand != '\r'){
|
||||
command.error = 7; // Error - End of line expected
|
||||
return;
|
||||
}
|
||||
userCommand-=len-1; // Come back
|
||||
|
||||
int8_t cindex = -1;
|
||||
int8_t pindex = -1;
|
||||
uint8_t size = 0;
|
||||
|
||||
// Find Command
|
||||
cindex = findCommand(userCommand,len);
|
||||
if (cindex == -1){
|
||||
// Error - Command not found
|
||||
command.error = 1;
|
||||
return;
|
||||
}
|
||||
|
||||
// Skip command characters
|
||||
size = strlen(commands[cindex].name);
|
||||
{len-=size;userCommand+=size;}
|
||||
// Skip if space
|
||||
if (*userCommand == 0x20){len-=1;userCommand+=1;}
|
||||
|
||||
if (*userCommand == '\n' || *userCommand == '\r'){
|
||||
if (commands[cindex].callback_function0 != NULL){
|
||||
// Command without parameter
|
||||
command.semaphore = 1;
|
||||
command.command_index = cindex;
|
||||
command.param_index = -1;
|
||||
command.param_value = 0;
|
||||
}else{
|
||||
command.error = 8; // Error - Parameter expected
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
// Find parameter
|
||||
pindex = findParam(userCommand,len);
|
||||
if (pindex == -1){
|
||||
// Error - Parameter not found
|
||||
command.error = 2;
|
||||
return;
|
||||
}
|
||||
|
||||
// Skip parameter characters
|
||||
size = strlen(params[pindex].name);
|
||||
{len-=size;userCommand+=size;}
|
||||
// Skip if space
|
||||
if (*userCommand == 0x20){len-=1;userCommand+=1;}
|
||||
|
||||
if (commands[cindex].type == WRITE && params[pindex].type == VARIABLE){
|
||||
// Error - This command cannot be used with a Variable
|
||||
command.error = 3;
|
||||
return;
|
||||
}
|
||||
|
||||
if (commands[cindex].callback_function1 != NULL){
|
||||
if (*userCommand == '\n' || *userCommand == '\r'){
|
||||
// Command with parameter
|
||||
command.semaphore = 1;
|
||||
command.command_index = cindex;
|
||||
command.param_index = pindex;
|
||||
command.param_value = 0;
|
||||
}else{
|
||||
command.error = 7; // Error - End of line expected
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
int32_t value = 0;
|
||||
int8_t sign = 1;
|
||||
int8_t count = 0;
|
||||
|
||||
// Read sign
|
||||
if (*userCommand == '-'){len-=1;userCommand+=1;sign =-1;}
|
||||
// Read value
|
||||
for (value=0; (unsigned)*userCommand-'0'<10; userCommand++){
|
||||
value = 10*value+(*userCommand-'0');
|
||||
count++;
|
||||
// Error - Value out of range
|
||||
if (value>MAX_int16_T){command.error = 4;return;}
|
||||
}
|
||||
|
||||
if (count == 0){
|
||||
// Error - Value required
|
||||
command.error = 5;
|
||||
return;
|
||||
}
|
||||
|
||||
// Apply sign
|
||||
value*= sign;
|
||||
|
||||
// Command with parameter and value
|
||||
if (commands[cindex].callback_function2 != NULL){
|
||||
if (*userCommand == '\n' || *userCommand == '\r'){
|
||||
command.semaphore = 1;
|
||||
command.command_index = cindex;
|
||||
command.param_index = pindex;
|
||||
command.param_value = value;
|
||||
}else{
|
||||
command.error = 7; // Error - End of line expected
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
// Uncaught error
|
||||
command.error = 9;
|
||||
|
||||
}
|
||||
|
||||
void process_debug()
|
||||
{
|
||||
|
||||
// Print parameters from watch list
|
||||
printParamVal();
|
||||
|
||||
// Show Error if any
|
||||
if(command.error> 0){
|
||||
printError(command.error);
|
||||
command.error = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
// Nothing to do
|
||||
if (command.semaphore == 0) return;
|
||||
|
||||
int8_t ret = 0;
|
||||
if (commands[command.command_index].callback_function0 != NULL &&
|
||||
command.param_index == -1){
|
||||
// This function needs no parameter
|
||||
ret = (*commands[command.command_index].callback_function0)();
|
||||
if (ret==1){printf("OK\r\n");}
|
||||
command.semaphore = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
if (commands[command.command_index].callback_function1 != NULL &&
|
||||
command.param_index != -1){
|
||||
// This function needs only a parameter
|
||||
ret = (*commands[command.command_index].callback_function1)(command.param_index);
|
||||
if (ret==1){printf("OK\r\n");}
|
||||
command.semaphore = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
if (commands[command.command_index].callback_function2 != NULL &&
|
||||
command.param_index != -1){
|
||||
// This function needs an additional parameter
|
||||
ret = (*commands[command.command_index].callback_function2)(command.param_index,command.param_value);
|
||||
if (ret==1){printf("OK\r\n");}
|
||||
command.semaphore = 0;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif // DEBUG_SERIAL_PROTOCOL
|
||||
|
||||
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After Width: | Height: | Size: 467 KiB |
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After Width: | Height: | Size: 234 KiB |
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After Width: | Height: | Size: 574 KiB |
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Before Width: | Height: | Size: 42 KiB After Width: | Height: | Size: 42 KiB |
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Before Width: | Height: | Size: 44 KiB After Width: | Height: | Size: 44 KiB |
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Before Width: | Height: | Size: 21 KiB After Width: | Height: | Size: 21 KiB |
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Before Width: | Height: | Size: 49 KiB After Width: | Height: | Size: 49 KiB |
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Reference in new issue