Diff: cli.cpp

Revision:

3:43cb067ecd00

Parent:

2:8e7b51353f32

Child:

5:6ca3e7ffc553

--- a/cli.cpp	Mon Jun 08 13:46:52 2020 +0000
+++ b/cli.cpp	Mon Jul 27 08:44:59 2020 +0000
@@ -5,38 +5,62 @@
     Also usable as comms subsystem in finished code for accepting commands, reporting data etc.
 */
 #include "mbed.h"
+#include "field.h"
 #include "Alternator.h"
-//#include "BufferedSerial.h"
+#include "BufferedSerial.h"
 #include <cctype>
 using namespace std;
 
-extern  eeprom_settings     user_settings     ;
-//eeprom_settings     mode     ;
+ee_settings_2020 user_settings     ;
 
-//extern  int ver, vef, measured_pw_us;
-extern  void    set_throttle_limit    (struct parameters & a)    ;
-//extern  void    speed_control_factor_set    (struct parameters & a)    ;
+extern  BufferedSerial pc;
+extern  void    maketable   ()  ;
 extern  void    query_system    (struct parameters & a)    ;
 extern  uint32_t    ReadEngineRPM  ()   ;
-extern  double  Read_BatteryVolts   ()  ;
-//extern  void Read_Ammeter   (double *)  ;
-
-
-
-
-
-//  WithOUT RTOS
-//extern  BufferedSerial pc;
+extern  double  Read_Link_Volts   ()  ;
+extern  double  Read_Field_Volts   ()  ;
+extern  double  Read_Ammeter        ()  ;
 
-#ifdef  TARGET_NUCLEO_L432KC    //
-extern  Serial pc;
-#else
-extern  BufferedSerial pc;
-#endif
-//extern  double  test_pot;    //  These used in knifeandfork code testing only
-extern  void    maketable   ()  ;
+//bool    ee_settings_2020::wr   (char c, uint32_t i)  {           //  Write one setup char value to private buffer 'settings'
+/*
+void    slope_cmd   (struct parameters & a)   {
+    Provides a quick way of filling lookup table.
+    Sets percent at 3000 RPM with first parameter 0 to 100
+*/
+void    slope_cmd   (struct parameters & a)   {     //  Requires two params. First %@ 3000 rpm, second slope MAX +/-20 % per krpm above
+    const   int startat = 1800; //  rpm to start at
+    const   int rpm_per = 200; //  rpm per lookup table step
+    const   int threshold = startat / rpm_per;
+    signed char    at_power_beyond, slope;
+    pc.printf   ("Slope - set pct = %d @ 3krpm, slope %d pct above\r\n", (int32_t)a.dbl[0], (int32_t)a.dbl[1]);
+    if  (a.numof_dbls != 2) 
+        pc.printf   ("Need 2 params in slope, got %d, ", a.numof_dbls);
+    else    {
+        pc.printf   ("Got slope params %.1f, %.1f\r\n", a.dbl[0], a.dbl[1]);
+        if  (a.dbl[0] > 100.0)  a.dbl[0] = 100.0;
+        if  (a.dbl[0] < 0.0)    a.dbl[0] = 0.0;
+        if  (a.dbl[1] > +20.0)  a.dbl[1] = +20.0;
+        if  (a.dbl[1] < -20.0)  a.dbl[1] = -20.0;
+        at_power_beyond    = (signed char)a.dbl[0];
+        slope   = (signed char)a.dbl[1];
+        pc.printf   ("Setting slope ");
+        for (int i = 0; i < threshold; i++) {   //  Zero all very low speed settings
+            user_settings.wr    (0, i);
+        }
+        for (int i = threshold; i < 21; i++)    {
+            user_settings.wr    (at_power_beyond, i);
+            pc.printf   ("%d, ", at_power_beyond);
+            at_power_beyond += slope;
+            if  (at_power_beyond < 0)      at_power_beyond = 0;
+            if  (at_power_beyond > 100)    at_power_beyond = 100;
+        }
+        pc.printf   ("\r\nDone\r\n");
+        user_settings.save  ();
+        maketable   ();
+    }
+}
 
-void    table_tweak_cmd   (struct parameters & a)   {     //  Requires two params. First '20', '25' etc representing hundreds RPM. Second 0 to 99 percent
+void    table_tweak_cmd   (struct parameters & a)   {     //  Requires two params. First '20', '22' etc representing hundreds RPM. Second 0 to 99 percent
     char    txt[100];
     uint32_t    d[3];
     txt[0] = 0;
@@ -44,9 +68,9 @@
         sprintf   (txt, "Need 2 params, got %d, ", a.numof_dbls);
     else    {
         d[2] = (uint32_t)a.dbl[0];
-        d[0] = d[2] / 5;
+        d[0] = d[2] / 2;
         d[1] = (uint32_t)a.dbl[1];
-        if  (d[0] > 16 || d[1] > 99 || d[2] != d[0] * 5)
+        if  (d[0] > 20 || d[1] > 100 || d[2] != d[0] * 2)
             sprintf (txt + strlen(txt), "Param out of range %d, %d, ", d[2], d[1]);
         else    {
             pc.printf   ("Off to reset table %d RPM, %d percent\r\n", d[2] * 100, d[1]);
@@ -61,115 +85,169 @@
         pc.printf   ("Good in table_tweak_cmd, RPM=%d, percentage=%d\r\n", d[0] * 500, d[1]);
 }
 
-//extern  int numof_eeprom_options2    ;
-//extern  struct  optpar const option_list2[]  ;
-extern  struct optpar  option_list2[]    ;
+
+//extern  VEXT_Data   Field;
+extern  FieldControl   Field;
+
+extern  int32_t set_engine_RPM_lit  (uint32_t   RPMrequest) ;   //  Returns speed error pos or neg
+extern  int32_t set_engine_RPM_pct  (uint32_t   RPMrequest) ;   //  Returns speed error pos or neg
+void    ss_cmd   (struct parameters & a)   {     //  Set engine Speed 0 - 8000 RPM
+    uint32_t    v = (uint32_t) a.dbl[0];
+    pc.printf   ("Setting engine RPM to %d, measured RPM returned = %d\r\n", v, set_engine_RPM_lit  (v));
+}
 
-/**void    mode_cmd (struct parameters & a)       //  With no params, reads eeprom contents. With params sets eeprom contents
-*   mode_cmd called only from pc comms. No sense calling from Touch Screen Controller
-*
-*   Called without parameters - Lists to pc terminal current settings
-*
-*/
-void    mode19_cmd (struct parameters & a)       //  With no params, reads eeprom contents. With params sets eeprom contents
-{
+void    sp_cmd   (struct parameters & a)   {     //  Set engine Speed 0 - 8000 RPM
+    uint32_t    v = (uint32_t) a.dbl[0];
+    pc.printf   ("Setting engine RPM percent to %d, measured RPM returned = %d\r\n", v, set_engine_RPM_pct  (v));
+}
+
+void    rfcmd   (struct parameters & a)   {     //  
+//    pc.printf   ("Field.measured_period = %u", (uint32_t)Field.get_measured_period());
+//    pc.printf   (", Field.measured_pw_us = %u, duty_cycle = %.3f\r\n", (uint32_t)Field.measured_pw_us, Field.duty_cycle());
+    pc.printf   ("Field duty cycle measured = %.3f\r\n", Field.get_duty_ratio());
+}
+
+void    vcmd    (struct parameters & a)   {
+    pc.printf   ("link volts %.2f, field volts %.2f\r\n", Read_Link_Volts(), Read_Field_Volts());
+}
+
+void    acmd    (struct parameters & a)   {
+    pc.printf   ("amps %.2f\r\n", Read_Ammeter());
+}
+
 
-    char            temps[36];
-    int i;
-    pc.printf   ("\r\nmode - Set system data in EEPROM - Jan 2019\r\nSyntax 'mode' with no parameters lists current state.\r\n");
-    if  (a.numof_dbls)  {           //  If more than 0 parameters supplied
-        for (i = 0; i < a.numof_dbls; i++)
-            temps[i] = (char)a.dbl[i];          //  recast doubles to char
-        while   (i < 33)
-            temps[i++] = 0;
-        i = (int)a.dbl[0];
-        switch  (i) {
-            case    0:    case    1:    case    2:    case    3:    case    4:
-            case    5:    case    6:    case    7:    case    8:
-                if  (temps[1] >= option_list2[i].min && temps[1] <= option_list2[i].max)
-                    user_settings.wr(temps[1], RPM0 + i);
-                break;
-            case    37: //  set pwm scale factor
-                if  (temps[1] >= option_list2[PWM_SCALE].min && temps[1] <= option_list2[PWM_SCALE].max)
-                    user_settings.wr(temps[1], PWM_SCALE);
-                break;
-            case    83: //  set to defaults
-                user_settings.set_defaults   ();
-                break;
-            case    9:      //  9 Save settings
-                user_settings.save   ();
-                pc.printf   ("Saving settings to EEPROM\r\n");
-                break;
-            default:
-                break;
-        }       //  endof   switch
-    }           //  endof   //  If more than 0 parameters supplied
-    else    {
-        pc.printf   ("No Changes\r\n");
+extern  void    set_pwm (double)   ;    //  Range 0.0 to 1.0
+void    fls_cmd (struct parameters & a)   {
+    pc.printf   ("Setting field.limiter to %d percent\r\n", (int)a.dbl[0]);
+    set_pwm (a.dbl[0] / 100.0);
+}
+
+void    set_defaults_cmd (struct parameters & a)   {
+    struct  sldandt * p = NULL;
+    bool    flag = true;
+    int i = 0;
+    while   (flag)  {
+        p = user_settings.inform(i);    //  Returns NULL when i goes out of range
+        if  (p == NULL)
+            flag = false;
+        else    {
+            pc.printf   ("min %d, max %d, default %d, text %s\r\n", p->min, p->max, p->de_fault, p->txt);
+            user_settings.wr    (p->de_fault, i);
+            i++;
+        }
     }
-    pc.printf   ("mode 0\t%s, [%d]\r\n", option_list2[0].t, user_settings.rd(RPM0));
-    pc.printf   ("mode 1\t%s, [%d]\r\n", option_list2[1].t, user_settings.rd(RPM1));
-    pc.printf   ("mode 2\t%s, [%d]\r\n", option_list2[2].t, user_settings.rd(RPM2));
-    pc.printf   ("mode 3\t%s, [%d]\r\n", option_list2[3].t, user_settings.rd(RPM3));
-    pc.printf   ("mode 4\t%s, [%d]\r\n", option_list2[4].t, user_settings.rd(RPM4));
-    pc.printf   ("mode 5\t%s, [%d]\r\n", option_list2[5].t, user_settings.rd(RPM5));
-    pc.printf   ("mode 6\t%s, [%d]\r\n", option_list2[6].t, user_settings.rd(RPM6));
-    pc.printf   ("mode 7\t%s, [%d]\r\n", option_list2[7].t, user_settings.rd(RPM7));
-    pc.printf   ("mode 8\t%s, [%d]\r\n", option_list2[8].t, user_settings.rd(RPM8));
+    user_settings.save  ();
+}
 
-    pc.printf   ("mode 37\t%s, [%d]\r\n", option_list2[PWM_SCALE].t, user_settings.rd(PWM_SCALE));
-    pc.printf   ("mode 83\tSet to defaults\r\n");
-    pc.printf   ("mode 9\tSave settings\r\r\n");
-
+void    servodir_cmd (struct parameters & a)   {
+    char    ch = (char)a.dbl[0];
+    if  (a.numof_dbls != 1 || ch > 1) {
+        pc.printf   ("Wrong servodir set\r\n");
+        return  ;
+    }
+    if  (user_settings.rd(SERVO_DIR) != ch) {
+        pc.printf   ("Setting servo dir %.1f  \r\n", a.dbl[0]);
+        user_settings.wr(ch, SERVO_DIR);
+        user_settings.save();
+    }
 }
 
-/*void    gpcmd   (struct parameters & a)   {
-    pc.printf   ("pwm=%.3f\r\n", user_settings.get_pwm    ((int)a.dbl[0]));
-}*/
+char * modes_txt[] =    {
+    "0\tSafe nothing mode for cli cmd testing",
+    "1\tPot to Servo direct, field OFF",
+    "2\tVariable voltage",
+    "3\tFixed voltage",
+    "4\tEngine Revs Control",
+    "5\tSet Engine to Driver's Pot",
+    "6\tControl Engine by Current Load",
+    "7\tAuto Test",
+}   ;
+
+int numof_op_modes = sizeof(modes_txt) / sizeof(char *);
 
-extern  VEXT_Data   Field;
+char *  get_mode_text   (uint32_t mode)  {
+    if  (mode > numof_op_modes)   {
+        pc.printf   ("mode OOR in get_mode_text, %d\r\n", mode);
+        mode = numof_op_modes - 1;
+    }
+    return  modes_txt[mode];
+}
 
-void    rfcmd   (struct parameters & a)   {     //  Note casts all wrong here, values are 64 bit
-    pc.printf   ("Field.measured_period = %u", (uint32_t)Field.measured_period);
-    pc.printf   (", Field.measured_pw_us = %u, duty_cycle = %.3f\r\n", (uint32_t)Field.measured_pw_us, Field.duty_cycle());
+void    mode20_cmd (struct parameters & a)   ;
+void    mode_cmd (struct parameters & a)   {
+    if  (a.numof_dbls == 1 && (uint32_t) a.dbl[0] <= numof_op_modes)  {
+        a.dbl[1] = a.dbl[0];
+        a.dbl[0] = OP_MODE; //23.0;
+        a.numof_dbls = 2;
+        mode20_cmd  (a);
+        return;
+    }
+    pc.printf   ("Current mode is %d  \r\nTo set operating mode, use mode n :- where \r\n", user_settings.rd(OP_MODE));
+    for (int i = 0; i < numof_op_modes; i++)
+        pc.printf   ("%s\r\n", get_mode_text(i));
 }
 
-//extern  void    set_RPM_demand  (uint32_t   d)  ;
-
-/*void    set_rpm_cmd   (struct parameters & a)   {
-    pc.printf   ("setting RPM to %d\r\n",(int)a.dbl[0]);
-    set_RPM_demand  ((uint32_t)a.dbl[0]);
-}*/
-
-/*void    speedcmd   (struct parameters & a)   {
-    int s = ReadEngineRPM  ();
-    pc.printf   ("speed %d, pwm %.3f\r\n", s, user_settings.get_pwm(s));
-}*/
-
-void    vcmd    (struct parameters & a)   {
-    pc.printf   ("volts %.2f\r\n", Read_BatteryVolts());
+void    mode20_cmd (struct parameters & a)   {
+    struct  sldandt * p = NULL;     //  Pointer to struct containing max, min and default values, and brief text descriptor for a command
+    int i = 0;
+    bool    flag = true;
+    bool    save_settings = false;
+    int32_t    cmd_num = (int32_t) a.dbl[0], first_p = (int32_t) a.dbl[1];
+    pc.printf   ("At user setting, numofparams = %d, dbl[0]=%.2f, dbl[1]=%.2f\r\n", a.numof_dbls, a.dbl[0], a.dbl[1]);
+    if  (a.numof_dbls < 2)   {              //  Need at least command number followed by at least one parameter
+        pc.printf   ("Listing Setup\r\nTo alter, enter us param number, new value\r\n");
+        while (flag)    {
+            p = user_settings.inform(i);    //  Returns false when i goes out of range
+            if  (p == NULL)
+                flag = false;
+            else    {
+                pc.printf   ("%d\tval %d, min %d, max %d, default %d, text %s\r\n", i, user_settings.rd(i), p->min, p->max, p->de_fault, p->txt);
+                i++;
+            }
+        }
+        return  ;
+    }       //  When too few parameters, output list. Done.
+    p = user_settings.inform(cmd_num);  //  Set  pointer to min, max, default and text info
+    if  (p == NULL) {
+        pc.printf   ("Invalid command number %d in user setting entry\r\n", cmd_num);
+        return  ;
+    }
+    if  (first_p < p->min || first_p > p->max)  {
+        pc.printf   ("%s\r\nParameter min %d, max %d, you entered %d. Not setting\r\n", p->txt, p->min, p->max, first_p);
+        return  ;
+    }
+    pc.printf   ("Hoping to set [%s] to %d\r\n", p->txt, first_p);
+    switch  (cmd_num)    {
+        case    OP_MODE:    //  
+        case    WARM_UP_DELAY:
+        case    WARMUP_SERVO_POS:
+        case    SPEED_CTRL_P:
+        case    SERVO_DIR:
+            i = user_settings.rd(cmd_num);
+            if  (i == first_p)
+                pc.printf   ("No need, [%s] already set to %d\r\n", p->txt, i);
+            else    {
+                user_settings.wr((char)first_p, cmd_num);
+                save_settings = true;
+                pc.printf   ("Setting [%s] to %d\r\n", p->txt, first_p);
+            }
+            break;
+        default:
+            pc.printf   ("No code for [%s]\r\n", p->txt);
+            break;
+    }
+    if  (save_settings)
+        user_settings.save();
 }
 
-/*void    icmd    (struct parameters & a)   {
-    double  results[4];
-    //double * ampsptr = 
-    Read_Ammeter(results)   ;
-    pc.printf   ("amps %.3f, offset %.3f\r\n", results[0], results[1]);
-}*/
-
-extern  void    set_servo   (double p)  ;   //  Only for test, called from cli
-
-void    set_servo_cmd    (struct parameters & a)   {
-    double p = a.dbl[0] / 100.0;
-    pc.printf   ("servo %.2f\r\n", p);
-    set_servo   (p);
+extern  void    auto_test_initiate  (int bulb_count)  ;
+void    auto_test_kickoff_cmd (struct parameters & a)   {
+    auto_test_initiate  ((int)a.dbl[0]);
 }
 
-extern  bool    set_pwm (double)   ;    //  Range 0.0 to 1.0
-void    p_cmd (struct parameters & a)   {
-//    int32_t    i = (int32_t)a.dbl[0];
-    pc.printf   ("Setting PWM to %d percent\r\n", (int)(a.dbl[0] * 100.0));
-    set_pwm (a.dbl[0]);
+void    test_Fsfs_cmd (struct parameters & a)   {
+    uint32_t    rpm = (uint32_t)a.dbl[0];
+    pc.printf   ("Field.set_for_speed %d returned %d\r\n", rpm, Field.set_for_speed(rpm));
 }
 
 void    null_cmd (struct parameters & a)   {
@@ -186,22 +264,23 @@
 
 struct  kb_command const command_list[] = {
     {"?", "Lists available commands, same as ls", menucmd},
-    {"tt", "Table Tweak - 2 params RPM/100, percentage 0-99", table_tweak_cmd},
+    {"ft", "Test Field.set_for_speed fn", test_Fsfs_cmd},
+    {"at", "Initiate Auto Test sequence", auto_test_kickoff_cmd},
+    {"svod", "Set servo sense 0 or 1", servodir_cmd},
+    {"sd", "Set User Settings Defaults", set_defaults_cmd},
+    {"us", "Set User Settings", mode20_cmd},
+    {"tt", "Table Tweak 0 - 100", table_tweak_cmd},
+    {"ss", "Set Speed 0 - 8000 RPM", ss_cmd},
+    {"sp", "Set Speed 0 - 100 percent", sp_cmd},
+//    {"tl", "Throttle logger tester, enter param 0.0 - 1.0", throt_log_cmd},
     {"rf", "Check rise and fall on VEXT", rfcmd},
-//    {"s", "Speed, RPM", speedcmd},
     {"v", "Read Battery volts", vcmd},
-//    {"i", "Read Ammeter", icmd},
-    {"p", "Set PWM 0 to 2400???", p_cmd},
+    {"i", "Read Ammeter", acmd},
+    {"fl", "Field limiter set 0 to 99 percent", fls_cmd},
+    {"mode", "Set operating mode - as us23", mode_cmd},
+    {"slope", "Field limiter set pct 0 to 99 @3k, slope pct per k above", slope_cmd},
     {"q", "Query system - toggle message stream on/off", query_system},
-//    {"gp","Get pwm from RPM", gpcmd},
-    {"mode", "See or set eeprom values", mode19_cmd},
     {"nu", "do nothing", null_cmd},
-#ifndef SPEED_CONTROL_ENABLE    //  Includes engine revs servo control loop
-    {"ser","set throttle servo direct 0 - 99", set_servo_cmd},
-#endif
-//    {"sf","set speed control factor", speed_control_factor_set},
-//    {"sv","set engine RPM demand 2500 - 6000", set_rpm_cmd},
-    {"tl","set throttle_limit 0.0-1.0", set_throttle_limit},
 };
 
 const int numof_menu_items = sizeof(command_list) / sizeof(kb_command);
@@ -249,7 +328,7 @@
                             param_block.dbl[k] = 0.0;
                         }
                         param_block.position_in_list = i;
-                        param_block.last_time = clock    ();
+                        //param_block.last_time = clock    ();
                         param_block.numof_dbls = 0;
                         pEnd = cmd_line + wrdlen;
                         while   (*pEnd)  {          //  Assemble all numerics as doubles
@@ -261,7 +340,7 @@
                         pc.printf   ("\r\n");
 //                        for (int k = 0; k < param_block.numof_dbls; k++)
 //                            pc.printf   ("Read %.3f\r\n", param_block.dbl[k]);
-                        param_block.times[i] = clock();
+//                        param_block.times[i] = clock();
                         command_list[i].f(param_block);   //  execute command
                         i = numof_menu_items + 1;    //  to exit for loop
                     }   //  end of match found