Jon Freeman / Mbed 2 deprecated Alternator2020_06

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Dependencies:   mbed BufferedSerial Servo2 PCT2075 I2CEeprom FastPWM

cli.cpp@1:450090bdb6f4, 2020-04-25 (annotated)

Committer:
JonFreeman
Date:
Sat Apr 25 15:35:58 2020 +0000
Revision:
1:450090bdb6f4
Parent:
0:77803b3ee157
Child:
2:8e7b51353f32
About to pick this up again late Apr 2020.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 0:77803b3ee157 1 /*
JonFreeman 0:77803b3ee157 2 Command Line Interpreter code module.
JonFreeman 0:77803b3ee157 3 Purpose -
JonFreeman 0:77803b3ee157 4 Provides easy interface to pc terminal programme for use during programme development, debug etc.
JonFreeman 0:77803b3ee157 5 Also usable as comms subsystem in finished code for accepting commands, reporting data etc.
JonFreeman 0:77803b3ee157 6 */
JonFreeman 0:77803b3ee157 7 #include "mbed.h"
JonFreeman 0:77803b3ee157 8 #include "Alternator.h"
JonFreeman 0:77803b3ee157 9 //#include "BufferedSerial.h"
JonFreeman 0:77803b3ee157 10 #include <cctype>
JonFreeman 0:77803b3ee157 11 using namespace std;
JonFreeman 0:77803b3ee157 12
JonFreeman 1:450090bdb6f4 13 extern eeprom_settings user_settings ;
JonFreeman 0:77803b3ee157 14 //eeprom_settings mode ;
JonFreeman 0:77803b3ee157 15
JonFreeman 1:450090bdb6f4 16 //extern int ver, vef, measured_pw_us;
JonFreeman 1:450090bdb6f4 17 extern void set_throttle_limit (struct parameters & a) ;
JonFreeman 1:450090bdb6f4 18 extern void speed_control_factor_set (struct parameters & a) ;
JonFreeman 1:450090bdb6f4 19 extern void query_system (struct parameters & a) ;
JonFreeman 0:77803b3ee157 20 extern uint32_t ReadEngineRPM () ;
JonFreeman 0:77803b3ee157 21 extern double Read_BatteryVolts () ;
JonFreeman 1:450090bdb6f4 22 extern void Read_Ammeter (double *) ;
JonFreeman 0:77803b3ee157 23
JonFreeman 0:77803b3ee157 24
JonFreeman 0:77803b3ee157 25
JonFreeman 0:77803b3ee157 26
JonFreeman 0:77803b3ee157 27
JonFreeman 0:77803b3ee157 28 // WithOUT RTOS
JonFreeman 0:77803b3ee157 29 //extern BufferedSerial pc;
JonFreeman 1:450090bdb6f4 30
JonFreeman 1:450090bdb6f4 31 #ifdef TARGET_NUCLEO_L432KC //
JonFreeman 0:77803b3ee157 32 extern Serial pc;
JonFreeman 1:450090bdb6f4 33 #else
JonFreeman 1:450090bdb6f4 34 extern BufferedSerial pc;
JonFreeman 1:450090bdb6f4 35 #endif
JonFreeman 1:450090bdb6f4 36 //extern double test_pot; // These used in knifeandfork code testing only
JonFreeman 0:77803b3ee157 37
JonFreeman 0:77803b3ee157 38 //extern int numof_eeprom_options2 ;
JonFreeman 0:77803b3ee157 39 //extern struct optpar const option_list2[] ;
JonFreeman 0:77803b3ee157 40 extern struct optpar option_list2[] ;
JonFreeman 0:77803b3ee157 41
JonFreeman 0:77803b3ee157 42 /**void mode_cmd (struct parameters & a) // With no params, reads eeprom contents. With params sets eeprom contents
JonFreeman 0:77803b3ee157 43 * mode_cmd called only from pc comms. No sense calling from Touch Screen Controller
JonFreeman 0:77803b3ee157 44 *
JonFreeman 0:77803b3ee157 45 * Called without parameters - Lists to pc terminal current settings
JonFreeman 0:77803b3ee157 46 *
JonFreeman 0:77803b3ee157 47 */
JonFreeman 0:77803b3ee157 48 void mode19_cmd (struct parameters & a) // With no params, reads eeprom contents. With params sets eeprom contents
JonFreeman 0:77803b3ee157 49 {
JonFreeman 1:450090bdb6f4 50
JonFreeman 0:77803b3ee157 51 char temps[36];
JonFreeman 0:77803b3ee157 52 int i;
JonFreeman 0:77803b3ee157 53 pc.printf ("\r\nmode - Set system data in EEPROM - Jan 2019\r\nSyntax 'mode' with no parameters lists current state.\r\n");
JonFreeman 0:77803b3ee157 54 if (a.numof_dbls) { // If more than 0 parameters supplied
JonFreeman 0:77803b3ee157 55 for (i = 0; i < a.numof_dbls; i++)
JonFreeman 0:77803b3ee157 56 temps[i] = (char)a.dbl[i]; // recast doubles to char
JonFreeman 0:77803b3ee157 57 while (i < 33)
JonFreeman 0:77803b3ee157 58 temps[i++] = 0;
JonFreeman 0:77803b3ee157 59 i = (int)a.dbl[0];
JonFreeman 0:77803b3ee157 60 switch (i) {
JonFreeman 0:77803b3ee157 61 case 0: case 1: case 2: case 3: case 4:
JonFreeman 0:77803b3ee157 62 case 5: case 6: case 7: case 8:
JonFreeman 0:77803b3ee157 63 if (temps[1] >= option_list2[i].min && temps[1] <= option_list2[i].max)
JonFreeman 1:450090bdb6f4 64 user_settings.wr(temps[1], RPM0 + i);
JonFreeman 0:77803b3ee157 65 break;
JonFreeman 0:77803b3ee157 66 case 37: // set pwm scale factor
JonFreeman 0:77803b3ee157 67 if (temps[1] >= option_list2[PWM_SCALE].min && temps[1] <= option_list2[PWM_SCALE].max)
JonFreeman 1:450090bdb6f4 68 user_settings.wr(temps[1], PWM_SCALE);
JonFreeman 0:77803b3ee157 69 break;
JonFreeman 0:77803b3ee157 70 case 83: // set to defaults
JonFreeman 1:450090bdb6f4 71 user_settings.set_defaults ();
JonFreeman 0:77803b3ee157 72 break;
JonFreeman 0:77803b3ee157 73 case 9: // 9 Save settings
JonFreeman 1:450090bdb6f4 74 user_settings.save ();
JonFreeman 0:77803b3ee157 75 pc.printf ("Saving settings to EEPROM\r\n");
JonFreeman 0:77803b3ee157 76 break;
JonFreeman 0:77803b3ee157 77 default:
JonFreeman 0:77803b3ee157 78 break;
JonFreeman 0:77803b3ee157 79 } // endof switch
JonFreeman 0:77803b3ee157 80 } // endof // If more than 0 parameters supplied
JonFreeman 0:77803b3ee157 81 else {
JonFreeman 0:77803b3ee157 82 pc.printf ("No Changes\r\n");
JonFreeman 0:77803b3ee157 83 }
JonFreeman 1:450090bdb6f4 84 pc.printf ("mode 0\t%s, [%d]\r\n", option_list2[0].t, user_settings.rd(RPM0));
JonFreeman 1:450090bdb6f4 85 pc.printf ("mode 1\t%s, [%d]\r\n", option_list2[1].t, user_settings.rd(RPM1));
JonFreeman 1:450090bdb6f4 86 pc.printf ("mode 2\t%s, [%d]\r\n", option_list2[2].t, user_settings.rd(RPM2));
JonFreeman 1:450090bdb6f4 87 pc.printf ("mode 3\t%s, [%d]\r\n", option_list2[3].t, user_settings.rd(RPM3));
JonFreeman 1:450090bdb6f4 88 pc.printf ("mode 4\t%s, [%d]\r\n", option_list2[4].t, user_settings.rd(RPM4));
JonFreeman 1:450090bdb6f4 89 pc.printf ("mode 5\t%s, [%d]\r\n", option_list2[5].t, user_settings.rd(RPM5));
JonFreeman 1:450090bdb6f4 90 pc.printf ("mode 6\t%s, [%d]\r\n", option_list2[6].t, user_settings.rd(RPM6));
JonFreeman 1:450090bdb6f4 91 pc.printf ("mode 7\t%s, [%d]\r\n", option_list2[7].t, user_settings.rd(RPM7));
JonFreeman 1:450090bdb6f4 92 pc.printf ("mode 8\t%s, [%d]\r\n", option_list2[8].t, user_settings.rd(RPM8));
JonFreeman 0:77803b3ee157 93
JonFreeman 1:450090bdb6f4 94 pc.printf ("mode 37\t%s, [%d]\r\n", option_list2[PWM_SCALE].t, user_settings.rd(PWM_SCALE));
JonFreeman 0:77803b3ee157 95 pc.printf ("mode 83\tSet to defaults\r\n");
JonFreeman 0:77803b3ee157 96 pc.printf ("mode 9\tSave settings\r\r\n");
JonFreeman 0:77803b3ee157 97
JonFreeman 0:77803b3ee157 98 }
JonFreeman 0:77803b3ee157 99
JonFreeman 0:77803b3ee157 100 void gpcmd (struct parameters & a) {
JonFreeman 1:450090bdb6f4 101 pc.printf ("pwm=%.3f\r\n", user_settings.get_pwm ((int)a.dbl[0]));
JonFreeman 0:77803b3ee157 102 }
JonFreeman 0:77803b3ee157 103
JonFreeman 1:450090bdb6f4 104 extern VEXT_Data Field;
JonFreeman 1:450090bdb6f4 105
JonFreeman 0:77803b3ee157 106 void rfcmd (struct parameters & a) {
JonFreeman 1:450090bdb6f4 107 pc.printf ("Field.measured_period = %d, Field.measured_pw_us = %d, duty_cycle = %.3f\r\n", Field.measured_period, Field.measured_pw_us, Field.duty_cycle());
JonFreeman 0:77803b3ee157 108 }
JonFreeman 0:77803b3ee157 109
JonFreeman 0:77803b3ee157 110 extern void set_RPM_demand (uint32_t d) ;
JonFreeman 0:77803b3ee157 111
JonFreeman 0:77803b3ee157 112 void set_rpm_cmd (struct parameters & a) {
JonFreeman 0:77803b3ee157 113 pc.printf ("setting RPM to %d\r\n",(int)a.dbl[0]);
JonFreeman 0:77803b3ee157 114 set_RPM_demand ((uint32_t)a.dbl[0]);
JonFreeman 0:77803b3ee157 115 }
JonFreeman 0:77803b3ee157 116
JonFreeman 0:77803b3ee157 117 void speedcmd (struct parameters & a) {
JonFreeman 0:77803b3ee157 118 int s = ReadEngineRPM ();
JonFreeman 1:450090bdb6f4 119 pc.printf ("speed %d, pwm %.3f\r\n", s, user_settings.get_pwm(s));
JonFreeman 0:77803b3ee157 120 }
JonFreeman 0:77803b3ee157 121
JonFreeman 0:77803b3ee157 122 void vcmd (struct parameters & a) {
JonFreeman 0:77803b3ee157 123 pc.printf ("volts %.2f\r\n", Read_BatteryVolts());
JonFreeman 0:77803b3ee157 124 }
JonFreeman 0:77803b3ee157 125
JonFreeman 1:450090bdb6f4 126 void icmd (struct parameters & a) {
JonFreeman 1:450090bdb6f4 127 double results[4];
JonFreeman 1:450090bdb6f4 128 //double * ampsptr =
JonFreeman 1:450090bdb6f4 129 Read_Ammeter(results) ;
JonFreeman 1:450090bdb6f4 130 pc.printf ("amps %.3f, offset %.3f\r\n", results[0], results[1]);
JonFreeman 1:450090bdb6f4 131 }
JonFreeman 1:450090bdb6f4 132
JonFreeman 0:77803b3ee157 133 extern void set_servo (double p) ; // Only for test, called from cli
JonFreeman 0:77803b3ee157 134
JonFreeman 0:77803b3ee157 135 void set_servo_cmd (struct parameters & a) {
JonFreeman 0:77803b3ee157 136 double p = a.dbl[0] / 100.0;
JonFreeman 0:77803b3ee157 137 pc.printf ("servo %.2f\r\n", p);
JonFreeman 0:77803b3ee157 138 set_servo (p);
JonFreeman 0:77803b3ee157 139 }
JonFreeman 0:77803b3ee157 140
JonFreeman 1:450090bdb6f4 141 extern bool set_pwm (double) ; // Range 0.0 to 1.0
JonFreeman 1:450090bdb6f4 142 void p_cmd (struct parameters & a) {
JonFreeman 1:450090bdb6f4 143 // int32_t i = (int32_t)a.dbl[0];
JonFreeman 1:450090bdb6f4 144 pc.printf ("Setting PWM to %d percent\r\n", (int)(a.dbl[0] * 100.0));
JonFreeman 1:450090bdb6f4 145 set_pwm (a.dbl[0]);
JonFreeman 1:450090bdb6f4 146 }
JonFreeman 1:450090bdb6f4 147
JonFreeman 0:77803b3ee157 148 void null_cmd (struct parameters & a) {
JonFreeman 0:77803b3ee157 149 pc.printf ("At null_cmd, parameters : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]);
JonFreeman 0:77803b3ee157 150 }
JonFreeman 0:77803b3ee157 151
JonFreeman 0:77803b3ee157 152 void menucmd (struct parameters & a);
JonFreeman 0:77803b3ee157 153
JonFreeman 0:77803b3ee157 154 struct kb_command {
JonFreeman 0:77803b3ee157 155 const char * cmd_word; // points to text e.g. "menu"
JonFreeman 0:77803b3ee157 156 const char * explan;
JonFreeman 0:77803b3ee157 157 void (*f)(struct parameters &); // points to function
JonFreeman 0:77803b3ee157 158 } ;
JonFreeman 0:77803b3ee157 159
JonFreeman 0:77803b3ee157 160 struct kb_command const command_list[] = {
JonFreeman 0:77803b3ee157 161 {"?", "Lists available commands, same as ls", menucmd},
JonFreeman 0:77803b3ee157 162 {"rf", "Check rise and fall on VEXT", rfcmd},
JonFreeman 0:77803b3ee157 163 {"s", "Speed, RPM", speedcmd},
JonFreeman 0:77803b3ee157 164 {"v", "Read Battery volts", vcmd},
JonFreeman 1:450090bdb6f4 165 {"i", "Read Ammeter", icmd},
JonFreeman 1:450090bdb6f4 166 {"p", "Set PWM 0 to 2400???", p_cmd},
JonFreeman 1:450090bdb6f4 167 {"q", "Query system - toggle message stream on/off", query_system},
JonFreeman 0:77803b3ee157 168 {"gp","Get pwm from RPM", gpcmd},
JonFreeman 0:77803b3ee157 169 {"mode", "See or set eeprom values", mode19_cmd},
JonFreeman 0:77803b3ee157 170 {"nu", "do nothing", null_cmd},
JonFreeman 1:450090bdb6f4 171 #ifndef SPEED_CONTROL_ENABLE // Includes engine revs servo control loop
JonFreeman 0:77803b3ee157 172 {"ser","set throttle servo direct 0 - 99", set_servo_cmd},
JonFreeman 1:450090bdb6f4 173 #endif
JonFreeman 1:450090bdb6f4 174 {"sf","set speed control factor", speed_control_factor_set},
JonFreeman 1:450090bdb6f4 175 {"sv","set engine RPM demand 2500 - 6000", set_rpm_cmd},
JonFreeman 1:450090bdb6f4 176 {"tl","set throttle_limit 0.0-1.0", set_throttle_limit},
JonFreeman 0:77803b3ee157 177 };
JonFreeman 0:77803b3ee157 178
JonFreeman 0:77803b3ee157 179 const int numof_menu_items = sizeof(command_list) / sizeof(kb_command);
JonFreeman 0:77803b3ee157 180 void menucmd (struct parameters & a)
JonFreeman 0:77803b3ee157 181 {
JonFreeman 1:450090bdb6f4 182 pc.printf("\r\nIntelligent Alternator Controller - Jon Freeman 2020\r\nAt menucmd function - listing commands:-\r\n");
JonFreeman 0:77803b3ee157 183 for(int i = 0; i < numof_menu_items; i++)
JonFreeman 0:77803b3ee157 184 pc.printf("[%s]\t\t%s\r\n", command_list[i].cmd_word, command_list[i].explan);
JonFreeman 0:77803b3ee157 185 pc.printf("End of List of Commands\r\n");
JonFreeman 0:77803b3ee157 186 }
JonFreeman 0:77803b3ee157 187
JonFreeman 0:77803b3ee157 188 void command_line_interpreter ()
JonFreeman 0:77803b3ee157 189 {
JonFreeman 1:450090bdb6f4 190
JonFreeman 0:77803b3ee157 191 const int MAX_CMD_LEN = 120;
JonFreeman 0:77803b3ee157 192 static char cmd_line[MAX_CMD_LEN + 4];
JonFreeman 0:77803b3ee157 193 static int cl_index = 0;
JonFreeman 0:77803b3ee157 194 int ch;
JonFreeman 0:77803b3ee157 195 char * pEnd;
JonFreeman 0:77803b3ee157 196 static struct parameters param_block ;
JonFreeman 0:77803b3ee157 197 while (pc.readable()) {
JonFreeman 0:77803b3ee157 198 ch = tolower(pc.getc());
JonFreeman 0:77803b3ee157 199 // pc.printf("%c", ch);
JonFreeman 0:77803b3ee157 200 if (cl_index > MAX_CMD_LEN) { // trap out stupidly long command lines
JonFreeman 0:77803b3ee157 201 pc.printf ("Error!! Stupidly long cmd line\r\n");
JonFreeman 0:77803b3ee157 202 cl_index = 0;
JonFreeman 0:77803b3ee157 203 }
JonFreeman 0:77803b3ee157 204 if (ch == '\r' || ch >= ' ' && ch <= 'z')
JonFreeman 0:77803b3ee157 205 pc.printf("%c", ch);
JonFreeman 0:77803b3ee157 206 else { // Using <Ctrl>+ 'F', 'B' for Y, 'L', 'R' for X, 'U', 'D' for Z
JonFreeman 0:77803b3ee157 207 cl_index = 0; // 6 2 12 18 21 4
JonFreeman 0:77803b3ee157 208 pc.printf("[%d]", ch);
JonFreeman 0:77803b3ee157 209 //nudger (ch); // was used on cnc to nudge axes a tad
JonFreeman 0:77803b3ee157 210 }
JonFreeman 0:77803b3ee157 211 if(ch != '\r') // was this the 'Enter' key?
JonFreeman 0:77803b3ee157 212 cmd_line[cl_index++] = ch; // added char to command being assembled
JonFreeman 0:77803b3ee157 213 else { // key was CR, may or may not be command to lookup
JonFreeman 0:77803b3ee157 214 cmd_line[cl_index] = 0; // null terminate command string
JonFreeman 0:77803b3ee157 215 if(cl_index) { // If have got some chars to lookup
JonFreeman 0:77803b3ee157 216 int i, wrdlen;
JonFreeman 0:77803b3ee157 217 for (i = 0; i < numof_menu_items; i++) { // Look for input match in command list
JonFreeman 0:77803b3ee157 218 wrdlen = strlen(command_list[i].cmd_word);
JonFreeman 0:77803b3ee157 219 if(strncmp(command_list[i].cmd_word, cmd_line, wrdlen) == 0 && !isalpha(cmd_line[wrdlen])) { // If match found
JonFreeman 0:77803b3ee157 220 for (int k = 0; k < MAX_PARAMS; k++) {
JonFreeman 0:77803b3ee157 221 param_block.dbl[k] = 0.0;
JonFreeman 0:77803b3ee157 222 }
JonFreeman 0:77803b3ee157 223 param_block.position_in_list = i;
JonFreeman 0:77803b3ee157 224 param_block.last_time = clock ();
JonFreeman 0:77803b3ee157 225 param_block.numof_dbls = 0;
JonFreeman 0:77803b3ee157 226 pEnd = cmd_line + wrdlen;
JonFreeman 0:77803b3ee157 227 while (*pEnd) { // Assemble all numerics as doubles
JonFreeman 0:77803b3ee157 228 param_block.dbl[param_block.numof_dbls++] = strtod (pEnd, &pEnd);
JonFreeman 0:77803b3ee157 229 while (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd) {
JonFreeman 0:77803b3ee157 230 pEnd++;
JonFreeman 0:77803b3ee157 231 }
JonFreeman 0:77803b3ee157 232 }
JonFreeman 0:77803b3ee157 233 pc.printf ("\r\n");
JonFreeman 0:77803b3ee157 234 // for (int k = 0; k < param_block.numof_dbls; k++)
JonFreeman 0:77803b3ee157 235 // pc.printf ("Read %.3f\r\n", param_block.dbl[k]);
JonFreeman 0:77803b3ee157 236 param_block.times[i] = clock();
JonFreeman 0:77803b3ee157 237 command_list[i].f(param_block); // execute command
JonFreeman 0:77803b3ee157 238 i = numof_menu_items + 1; // to exit for loop
JonFreeman 0:77803b3ee157 239 } // end of match found
JonFreeman 0:77803b3ee157 240 } // End of for numof_menu_items
JonFreeman 0:77803b3ee157 241 if(i == numof_menu_items)
JonFreeman 0:77803b3ee157 242 pc.printf("No Match Found for CMD [%s]\r\n", cmd_line);
JonFreeman 0:77803b3ee157 243 } // End of If have got some chars to lookup
JonFreeman 0:77803b3ee157 244 pc.printf("\r\n>");
JonFreeman 0:77803b3ee157 245 cl_index = 0;
JonFreeman 0:77803b3ee157 246 } // End of else key was CR, may or may not be command to lookup
JonFreeman 0:77803b3ee157 247 } // End of while (pc.readable())
JonFreeman 1:450090bdb6f4 248
JonFreeman 0:77803b3ee157 249 }
JonFreeman 0:77803b3ee157 250
JonFreeman 0:77803b3ee157 251