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Dependencies:   mbed MODSERIAL FATFileSystem

System/config_functions.cpp

Committer:
danstrider
Date:
2017-10-27
Revision:
11:3b241ecb75ed
Parent:
10:085ab7328054

File content as of revision 11:3b241ecb75ed:

#include "config_functions.h"
#include "StaticDefs.hpp"

int load_BCE_config()
{
    ConfigFile cfg;
    int count = 0;
    if (!cfg.read("/local/bce.txt")) {
            error("File Read Error");
    }
    char value[BUFSIZ];
 
    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
        bce().setControllerP(atof(value));
        count++;
    }
    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
        bce().setControllerI(atof(value));
        count++;
    }
    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
        bce().setControllerD(atof(value));
        count++;
    }
    if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
        bce().setZeroCounts(atoi(value));
        count++;
    }
    if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
        bce().setTravelLimit(atof(value));
        count++;
    }
    if (cfg.getValue("slope", &value[0], sizeof(value))) {
        bce().setPotSlope(atof(value));
        count++;
    }
    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
        bce().setFilterFrequency(atof(value));
        count++;
    }
    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
        bce().setDeadband(atof(value));
        count++;
    }
    
    return count;     
}

int load_BATT_config()
{
    ConfigFile cfg;
    int count = 0;
    if (!cfg.read("/local/batt.txt")) {
            error("File Read Error");
    }
    char value[BUFSIZ];
 
    
    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
        batt().setControllerP(atof(value));
        count++;
    }
    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
        batt().setControllerI(atof(value));
        count++;
    }
    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
        batt().setControllerD(atof(value));
        count++;
    }
    if (cfg.getValue("zeroCounts", &value[0],sizeof(value))) {
        batt().setZeroCounts(atoi(value));
        count++;
    }
    if (cfg.getValue("PistonTravelLimit", &value[0], sizeof(value))) {
        batt().setTravelLimit(atof(value));
        count++;
    }
    if (cfg.getValue("slope", &value[0], sizeof(value))) {
        batt().setPotSlope(atof(value));
        count++;
    }
    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
        batt().setFilterFrequency(atof(value));
        count++;
    }
    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
        batt().setDeadband(atof(value));
        count++;
    }
    
    return count;     
}

int load_DEPTH_config()
{
    ConfigFile cfg;
    int count = 0;
    if (!cfg.read("/local/depth.txt")) {
            error("File Read Error");
    }
    char value[BUFSIZ];
    
    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
        depthLoop().setControllerP(atof(value));
        count++;
    }
    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
        depthLoop().setControllerI(atof(value));
        count++;
    }
    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
        depthLoop().setControllerD(atof(value));
        count++;
    }
    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
        depthLoop().setFilterFrequency(atof(value));
        count++;
    }
    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
        depthLoop().setDeadband(atof(value));
        count++;
    }
    if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
        depthLoop().setOutputOffset(atof(value));
        count++;
    }    
    return count;
}

int load_PITCH_config()
{
    ConfigFile cfg;
    int count = 0;
    if (!cfg.read("/local/pitch.txt")){
            error("File Read Error");
    }
    char value[BUFSIZ];
    
    if (cfg.getValue("PGain", &value[0] , sizeof(value))) {
        pitchLoop().setControllerP(atof(value));
        count++;
    }
    if (cfg.getValue("IGain", &value[0] ,sizeof(value))) {
        pitchLoop().setControllerI(atof(value));
        count++;
    }
    if (cfg.getValue("DGain", &value[0] , sizeof(value))) {
        pitchLoop().setControllerD(atof(value));
        count++;
    }
    if (cfg.getValue("filterWn", &value[0], sizeof(value))) {
        pitchLoop().setFilterFrequency(atof(value));
        count++;
    }
    if (cfg.getValue("deadband", &value[0], sizeof(value))) {
        pitchLoop().setDeadband(atof(value));
        count++;
    }
    if (cfg.getValue("zeroOffset", &value[0], sizeof(value))) {
        pitchLoop().setOutputOffset(atof(value));
        count++;
    }     
    return count;
}