STM3 ESC dual brushless motor controller. 10-60v, motor power rating tiny to kW. Ganged or independent motor control As used in 'The Brute' locomotive - www.jons-workshop.com
Dependencies: mbed BufferedSerial Servo FastPWM
cli_BLS_nortos.cpp@11:bfb73f083009, 2019-01-19 (annotated)
- Committer:
- JonFreeman
- Date:
- Sat Jan 19 11:45:01 2019 +0000
- Revision:
- 11:bfb73f083009
- Parent:
- 10:e40d8724268a
- Child:
- 12:d1d21a2941ef
Tidied class parameter passing, serial problem fixed (was hardware)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JonFreeman | 9:ac2412df01be | 1 | // DualBLS2018_06 |
JonFreeman | 6:f289a49c1eae | 2 | #include "mbed.h" |
JonFreeman | 6:f289a49c1eae | 3 | #include "BufferedSerial.h" |
JonFreeman | 11:bfb73f083009 | 4 | #include "FastPWM.h" |
JonFreeman | 11:bfb73f083009 | 5 | #include "DualBLS.h" |
JonFreeman | 11:bfb73f083009 | 6 | #include "brushless_motor.h" |
JonFreeman | 6:f289a49c1eae | 7 | |
JonFreeman | 6:f289a49c1eae | 8 | #include <cctype> |
JonFreeman | 6:f289a49c1eae | 9 | #include "DualBLS.h" |
JonFreeman | 6:f289a49c1eae | 10 | using namespace std; |
JonFreeman | 6:f289a49c1eae | 11 | |
JonFreeman | 6:f289a49c1eae | 12 | extern int I_Am () ; // Returns boards id number as ASCII char '0', '1' etc. Code for Broadcast = '\r' |
JonFreeman | 8:93203f473f6e | 13 | extern int WatchDog; |
JonFreeman | 8:93203f473f6e | 14 | extern bool WatchDogEnable; |
JonFreeman | 8:93203f473f6e | 15 | extern char mode_bytes[]; |
JonFreeman | 6:f289a49c1eae | 16 | |
JonFreeman | 11:bfb73f083009 | 17 | extern brushless_motor MotorA, MotorB; |
JonFreeman | 11:bfb73f083009 | 18 | |
JonFreeman | 6:f289a49c1eae | 19 | const int BROADCAST = '\r'; |
JonFreeman | 6:f289a49c1eae | 20 | const int MAX_PARAMS = 20; |
JonFreeman | 6:f289a49c1eae | 21 | struct parameters { |
JonFreeman | 7:6deaeace9a3e | 22 | struct kb_command const * command_list; |
JonFreeman | 7:6deaeace9a3e | 23 | BufferedSerial * com; // pc or com2 |
JonFreeman | 7:6deaeace9a3e | 24 | char cmd_line[120]; |
JonFreeman | 7:6deaeace9a3e | 25 | char * cmd_line_ptr; |
JonFreeman | 7:6deaeace9a3e | 26 | int32_t position_in_list, numof_dbls, target_unit, numof_menu_items, cl_index, gp_i; |
JonFreeman | 6:f289a49c1eae | 27 | double dbl[MAX_PARAMS]; |
JonFreeman | 7:6deaeace9a3e | 28 | bool respond, resp_always; |
JonFreeman | 6:f289a49c1eae | 29 | } ; |
JonFreeman | 6:f289a49c1eae | 30 | |
JonFreeman | 7:6deaeace9a3e | 31 | struct parameters pccom, lococom; |
JonFreeman | 6:f289a49c1eae | 32 | // WithOUT RTOS |
JonFreeman | 6:f289a49c1eae | 33 | extern BufferedSerial com2, pc; |
JonFreeman | 6:f289a49c1eae | 34 | extern void send_test () ; |
JonFreeman | 6:f289a49c1eae | 35 | extern void setVI (double v, double i) ; |
JonFreeman | 6:f289a49c1eae | 36 | extern void setV (double v) ; |
JonFreeman | 6:f289a49c1eae | 37 | extern void setI (double i) ; |
JonFreeman | 11:bfb73f083009 | 38 | //extern void last_VI (double * val) ; // only for test from cli |
JonFreeman | 6:f289a49c1eae | 39 | |
JonFreeman | 7:6deaeace9a3e | 40 | //BufferedSerial * com; |
JonFreeman | 8:93203f473f6e | 41 | extern double Read_DriverPot (); |
JonFreeman | 11:bfb73f083009 | 42 | extern double Read_BatteryVolts (); |
JonFreeman | 8:93203f473f6e | 43 | void pot_cmd (struct parameters & a) |
JonFreeman | 8:93203f473f6e | 44 | { |
JonFreeman | 8:93203f473f6e | 45 | pc.printf ("Driver's pot %.3f\r\n", Read_DriverPot ()); |
JonFreeman | 8:93203f473f6e | 46 | } |
JonFreeman | 6:f289a49c1eae | 47 | |
JonFreeman | 6:f289a49c1eae | 48 | void null_cmd (struct parameters & a) |
JonFreeman | 6:f289a49c1eae | 49 | { |
JonFreeman | 6:f289a49c1eae | 50 | if (a.respond) |
JonFreeman | 7:6deaeace9a3e | 51 | a.com->printf ("At null_cmd, board ID %c, parameters : First %.3f, second %.3f\r\n", I_Am(), a.dbl[0], a.dbl[1]); |
JonFreeman | 6:f289a49c1eae | 52 | } |
JonFreeman | 6:f289a49c1eae | 53 | |
JonFreeman | 8:93203f473f6e | 54 | // {"wden", "enable watchdog if modes allow", wden_lococmd}, |
JonFreeman | 8:93203f473f6e | 55 | // {"wddi", "disable watchdog always", wddi_lococmd}, |
JonFreeman | 8:93203f473f6e | 56 | |
JonFreeman | 8:93203f473f6e | 57 | void wden_lococmd (struct parameters & a) |
JonFreeman | 8:93203f473f6e | 58 | { |
JonFreeman | 8:93203f473f6e | 59 | if (mode_bytes[COMM_SRC] != 3) // When not hand pot control, allow watchdog enable |
JonFreeman | 8:93203f473f6e | 60 | WatchDogEnable = true; |
JonFreeman | 8:93203f473f6e | 61 | } |
JonFreeman | 8:93203f473f6e | 62 | void wden_pccmd (struct parameters & a) |
JonFreeman | 8:93203f473f6e | 63 | { |
JonFreeman | 8:93203f473f6e | 64 | wden_lococmd (a); |
JonFreeman | 8:93203f473f6e | 65 | a.com->printf ("Watchdog %sabled\r\n", WatchDogEnable ? "En":"Dis"); |
JonFreeman | 8:93203f473f6e | 66 | } |
JonFreeman | 8:93203f473f6e | 67 | |
JonFreeman | 8:93203f473f6e | 68 | void wddi_lococmd (struct parameters & a) |
JonFreeman | 8:93203f473f6e | 69 | { |
JonFreeman | 8:93203f473f6e | 70 | WatchDogEnable = false; |
JonFreeman | 8:93203f473f6e | 71 | } |
JonFreeman | 8:93203f473f6e | 72 | void wddi_pccmd (struct parameters & a) |
JonFreeman | 8:93203f473f6e | 73 | { |
JonFreeman | 8:93203f473f6e | 74 | wddi_lococmd (a); |
JonFreeman | 8:93203f473f6e | 75 | a.com->printf ("Watchdog %sabled\r\n", WatchDogEnable ? "En":"Dis"); |
JonFreeman | 8:93203f473f6e | 76 | } |
JonFreeman | 8:93203f473f6e | 77 | |
JonFreeman | 8:93203f473f6e | 78 | extern void report_motor_types () ; |
JonFreeman | 8:93203f473f6e | 79 | void mt_cmd (struct parameters & a) |
JonFreeman | 8:93203f473f6e | 80 | { |
JonFreeman | 8:93203f473f6e | 81 | report_motor_types (); |
JonFreeman | 8:93203f473f6e | 82 | // if (a.respond) |
JonFreeman | 8:93203f473f6e | 83 | // a.com->printf ("At null_cmd, board ID %c, parameters : First %.3f, second %.3f\r\n", I_Am(), a.dbl[0], a.dbl[1]); |
JonFreeman | 8:93203f473f6e | 84 | } |
JonFreeman | 8:93203f473f6e | 85 | |
JonFreeman | 8:93203f473f6e | 86 | extern void mode_set_both_motors (int mode, double val) ; // called from cli to set fw, re, rb, hb |
JonFreeman | 6:f289a49c1eae | 87 | |
JonFreeman | 6:f289a49c1eae | 88 | void rdi_cmd (struct parameters & a) // read motor currents |
JonFreeman | 6:f289a49c1eae | 89 | { |
JonFreeman | 11:bfb73f083009 | 90 | if (a.respond) |
JonFreeman | 11:bfb73f083009 | 91 | a.com->printf ("rdi%.0f %.0f %.1f\r", MotorA.I.ave, MotorB.I.ave, Read_BatteryVolts ()); // Format good to be unpicked by cli in touch screen controller |
JonFreeman | 6:f289a49c1eae | 92 | } |
JonFreeman | 6:f289a49c1eae | 93 | |
JonFreeman | 6:f289a49c1eae | 94 | void rvi_cmd (struct parameters & a) // read last normalised values sent to pwms |
JonFreeman | 6:f289a49c1eae | 95 | { |
JonFreeman | 11:bfb73f083009 | 96 | if (a.respond) |
JonFreeman | 11:bfb73f083009 | 97 | a.com->printf ("rvi%.2f %.2f %.2f %.2f\r", MotorA.last_V, MotorA.last_I, MotorB.last_V, MotorB.last_I); |
JonFreeman | 6:f289a49c1eae | 98 | } |
JonFreeman | 6:f289a49c1eae | 99 | |
JonFreeman | 6:f289a49c1eae | 100 | void fw_cmd (struct parameters & a) // Forward command |
JonFreeman | 6:f289a49c1eae | 101 | { |
JonFreeman | 8:93203f473f6e | 102 | mode_set_both_motors (FORWARD, 0.0); |
JonFreeman | 6:f289a49c1eae | 103 | } |
JonFreeman | 6:f289a49c1eae | 104 | |
JonFreeman | 6:f289a49c1eae | 105 | void re_cmd (struct parameters & a) // Reverse command |
JonFreeman | 6:f289a49c1eae | 106 | { |
JonFreeman | 8:93203f473f6e | 107 | mode_set_both_motors (REVERSE, 0.0); |
JonFreeman | 6:f289a49c1eae | 108 | } |
JonFreeman | 6:f289a49c1eae | 109 | |
JonFreeman | 6:f289a49c1eae | 110 | void rb_cmd (struct parameters & a) // Regen brake command |
JonFreeman | 6:f289a49c1eae | 111 | { |
JonFreeman | 6:f289a49c1eae | 112 | double b = a.dbl[0] / 100.0; |
JonFreeman | 7:6deaeace9a3e | 113 | // a.com->printf ("Applying brake %.3f\r\n", b); |
JonFreeman | 8:93203f473f6e | 114 | mode_set_both_motors (REGENBRAKE, b); |
JonFreeman | 6:f289a49c1eae | 115 | // apply_brake (b); |
JonFreeman | 6:f289a49c1eae | 116 | } |
JonFreeman | 6:f289a49c1eae | 117 | |
JonFreeman | 6:f289a49c1eae | 118 | extern bool wr_24LC64 (int mem_start_addr, char * source, int length) ; |
JonFreeman | 6:f289a49c1eae | 119 | extern bool rd_24LC64 (int mem_start_addr, char * dest, int length) ; |
JonFreeman | 6:f289a49c1eae | 120 | |
JonFreeman | 6:f289a49c1eae | 121 | void erase_cmd (struct parameters & a) // Sets eeprom contents to all 0xff. 256 pages of 32 bytes to do |
JonFreeman | 6:f289a49c1eae | 122 | { |
JonFreeman | 6:f289a49c1eae | 123 | char t[36]; |
JonFreeman | 6:f289a49c1eae | 124 | for (int i = 0; i < 32; i++) |
JonFreeman | 6:f289a49c1eae | 125 | t[i] = 0xff; |
JonFreeman | 6:f289a49c1eae | 126 | for (int i = 0; i < 8191; i += 32) { |
JonFreeman | 7:6deaeace9a3e | 127 | a.com->printf ("."); |
JonFreeman | 6:f289a49c1eae | 128 | if (!wr_24LC64 (i, t, 32)) |
JonFreeman | 7:6deaeace9a3e | 129 | a.com->printf ("eeprom write prob\r\n"); |
JonFreeman | 6:f289a49c1eae | 130 | } |
JonFreeman | 6:f289a49c1eae | 131 | } |
JonFreeman | 6:f289a49c1eae | 132 | /*struct motorpairoptions { // This to be user settable in eeprom, 32 bytes |
JonFreeman | 6:f289a49c1eae | 133 | uint8_t MotA_dir, // 0 or 1 |
JonFreeman | 6:f289a49c1eae | 134 | MotB_dir, // 0 or 1 |
JonFreeman | 6:f289a49c1eae | 135 | gang, // 0 for separate control (robot mode), 1 for ganged loco bogie mode |
JonFreeman | 6:f289a49c1eae | 136 | serv1, // 0, 1, 2 = Not used, Input, Output |
JonFreeman | 6:f289a49c1eae | 137 | serv2, // 0, 1, 2 = Not used, Input, Output |
JonFreeman | 6:f289a49c1eae | 138 | cmd_source, // 0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2 |
JonFreeman | 6:f289a49c1eae | 139 | {'1', '9', '0', "Alternative ID ascii '1' to '9'"}, // defaults to '0' before eerom setup for first time |
JonFreeman | 6:f289a49c1eae | 140 | {50, 250, 98, "Wheel diameter mm"}, // New 01/06/2018 |
JonFreeman | 6:f289a49c1eae | 141 | {10, 250, 27, "Motor pinion"}, // New 01/06/2018 |
JonFreeman | 6:f289a49c1eae | 142 | {50, 250, 85, "Wheel gear"}, // New 01/06/2018 |
JonFreeman | 6:f289a49c1eae | 143 | // last; |
JonFreeman | 6:f289a49c1eae | 144 | } ; |
JonFreeman | 6:f289a49c1eae | 145 | */ |
JonFreeman | 8:93203f473f6e | 146 | |
JonFreeman | 8:93203f473f6e | 147 | // New 22 June 2018 |
JonFreeman | 8:93203f473f6e | 148 | // get bogie bytes - report back to touch controller |
JonFreeman | 8:93203f473f6e | 149 | void gbb_cmd (struct parameters & a) // |
JonFreeman | 8:93203f473f6e | 150 | { |
JonFreeman | 8:93203f473f6e | 151 | if (a.target_unit == BROADCAST || !a.resp_always) { |
JonFreeman | 8:93203f473f6e | 152 | // a.com->printf ("At mode_cmd, can not use BROADCAST with mode_cmd\r\n"); |
JonFreeman | 8:93203f473f6e | 153 | } else { |
JonFreeman | 8:93203f473f6e | 154 | pc.printf ("At gbb\r\n"); |
JonFreeman | 8:93203f473f6e | 155 | char eeprom_contents[36]; // might need to be unsigned? |
JonFreeman | 8:93203f473f6e | 156 | memset (eeprom_contents, 0, 36); |
JonFreeman | 8:93203f473f6e | 157 | a.com->printf ("gbb"); |
JonFreeman | 8:93203f473f6e | 158 | rd_24LC64 (0, eeprom_contents, 32); |
JonFreeman | 8:93203f473f6e | 159 | for (int i = 0; i < numof_eeprom_options; i++) |
JonFreeman | 8:93203f473f6e | 160 | a.com->printf (" %d", eeprom_contents[i]); |
JonFreeman | 8:93203f473f6e | 161 | a.com->putc ('\r'); |
JonFreeman | 8:93203f473f6e | 162 | a.com->putc ('\n'); |
JonFreeman | 8:93203f473f6e | 163 | } |
JonFreeman | 8:93203f473f6e | 164 | } |
JonFreeman | 6:f289a49c1eae | 165 | |
JonFreeman | 6:f289a49c1eae | 166 | void mode_cmd (struct parameters & a) // With no params, reads eeprom contents. With params sets eeprom contents |
JonFreeman | 6:f289a49c1eae | 167 | { |
JonFreeman | 7:6deaeace9a3e | 168 | if (a.target_unit == BROADCAST || !a.resp_always) { |
JonFreeman | 7:6deaeace9a3e | 169 | // a.com->printf ("At mode_cmd, can not use BROADCAST with mode_cmd\r\n"); |
JonFreeman | 6:f289a49c1eae | 170 | } else { |
JonFreeman | 6:f289a49c1eae | 171 | char t[36]; |
JonFreeman | 7:6deaeace9a3e | 172 | a.com->printf ("At mode_cmd with node %d\r\n", a.target_unit); |
JonFreeman | 6:f289a49c1eae | 173 | rd_24LC64 (0, t, 32); |
JonFreeman | 7:6deaeace9a3e | 174 | a.com->printf ("Numof params=%d\r\n", a.numof_dbls); |
JonFreeman | 6:f289a49c1eae | 175 | for (int i = 0; i < numof_eeprom_options; i++) |
JonFreeman | 7:6deaeace9a3e | 176 | a.com->printf ("%2x\t%s\r\n", t[i], option_list[i].t); |
JonFreeman | 6:f289a49c1eae | 177 | if (a.numof_dbls == 0) { // Read present contents, do not write |
JonFreeman | 7:6deaeace9a3e | 178 | a.com->printf ("That's it\r\n"); |
JonFreeman | 6:f289a49c1eae | 179 | } else { // Write new shit to eeprom |
JonFreeman | 7:6deaeace9a3e | 180 | a.com->printf ("\r\n"); |
JonFreeman | 6:f289a49c1eae | 181 | if (a.numof_dbls != numof_eeprom_options) { |
JonFreeman | 7:6deaeace9a3e | 182 | a.com->printf ("params required = %d, you offered %d\r\n", numof_eeprom_options, a.numof_dbls); |
JonFreeman | 6:f289a49c1eae | 183 | } else { // Have been passed correct number of parameters |
JonFreeman | 6:f289a49c1eae | 184 | int b; |
JonFreeman | 7:6deaeace9a3e | 185 | a.com->printf("Ready to write params to eeprom\r\n"); |
JonFreeman | 6:f289a49c1eae | 186 | for (int i = 0; i < numof_eeprom_options; i++) { |
JonFreeman | 6:f289a49c1eae | 187 | b = (int)a.dbl[i]; // parameter value to check against limits |
JonFreeman | 6:f289a49c1eae | 188 | if (i == 6) // Alternative ID must be turned to ascii |
JonFreeman | 6:f289a49c1eae | 189 | b |= '0'; |
JonFreeman | 6:f289a49c1eae | 190 | if ((b < option_list[i].min) || (b > option_list[i].max)) { // if parameter out of range |
JonFreeman | 7:6deaeace9a3e | 191 | a.com->printf("Warning - Parameter = %d, out of range, setting to default %d\r\n", b, option_list[i].def); |
JonFreeman | 6:f289a49c1eae | 192 | b = option_list[i].def; |
JonFreeman | 6:f289a49c1eae | 193 | } |
JonFreeman | 7:6deaeace9a3e | 194 | a.com->printf ("0x%2x\t%s\r\n", (t[i] = b), option_list[i].t); |
JonFreeman | 6:f289a49c1eae | 195 | } |
JonFreeman | 6:f289a49c1eae | 196 | wr_24LC64 (0, t, numof_eeprom_options); |
JonFreeman | 6:f289a49c1eae | 197 | memcpy (mode_bytes,t,32); |
JonFreeman | 7:6deaeace9a3e | 198 | a.com->printf("Parameters set in eeprom\r\n"); |
JonFreeman | 6:f289a49c1eae | 199 | } |
JonFreeman | 6:f289a49c1eae | 200 | } |
JonFreeman | 6:f289a49c1eae | 201 | } |
JonFreeman | 6:f289a49c1eae | 202 | } |
JonFreeman | 6:f289a49c1eae | 203 | /*void coast_cmd (struct parameters & a) { // Coast |
JonFreeman | 6:f289a49c1eae | 204 | |
JonFreeman | 6:f289a49c1eae | 205 | } |
JonFreeman | 6:f289a49c1eae | 206 | */ |
JonFreeman | 6:f289a49c1eae | 207 | void hb_cmd (struct parameters & a) |
JonFreeman | 6:f289a49c1eae | 208 | { |
JonFreeman | 6:f289a49c1eae | 209 | if (a.respond) { |
JonFreeman | 7:6deaeace9a3e | 210 | a.com->printf ("numof params = %d\r\n", a.numof_dbls); |
JonFreeman | 7:6deaeace9a3e | 211 | a.com->printf ("Hand Brake : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]); |
JonFreeman | 6:f289a49c1eae | 212 | } |
JonFreeman | 8:93203f473f6e | 213 | mode_set_both_motors (HANDBRAKE, 0.0); |
JonFreeman | 6:f289a49c1eae | 214 | } |
JonFreeman | 6:f289a49c1eae | 215 | |
JonFreeman | 6:f289a49c1eae | 216 | extern uint32_t last_temp_count; |
JonFreeman | 6:f289a49c1eae | 217 | void temperature_cmd (struct parameters & a) { |
JonFreeman | 6:f289a49c1eae | 218 | if (a.respond) { |
JonFreeman | 7:6deaeace9a3e | 219 | a.com->printf ("tem%c %d\r\n", mode_bytes[ID], (last_temp_count / 16) - 50); |
JonFreeman | 6:f289a49c1eae | 220 | } |
JonFreeman | 6:f289a49c1eae | 221 | } |
JonFreeman | 6:f289a49c1eae | 222 | |
JonFreeman | 6:f289a49c1eae | 223 | void bogie_constants_report_cmd (struct parameters & a) { |
JonFreeman | 6:f289a49c1eae | 224 | if (a.respond) { |
JonFreeman | 7:6deaeace9a3e | 225 | a.com->printf ("bc%c %d %d %d\r\n", mode_bytes[ID], mode_bytes[WHEELDIA], mode_bytes[MOTPIN], mode_bytes[WHEELGEAR]); |
JonFreeman | 6:f289a49c1eae | 226 | } |
JonFreeman | 6:f289a49c1eae | 227 | } |
JonFreeman | 6:f289a49c1eae | 228 | |
JonFreeman | 6:f289a49c1eae | 229 | void rpm_cmd (struct parameters & a) // to report e.g. RPM 1000 1000 ; speed for both motors |
JonFreeman | 6:f289a49c1eae | 230 | { |
JonFreeman | 11:bfb73f083009 | 231 | if (a.respond) |
JonFreeman | 11:bfb73f083009 | 232 | a.com->printf ("rpm%d %d\r", MotorA.RPM, MotorB.RPM); |
JonFreeman | 6:f289a49c1eae | 233 | } |
JonFreeman | 6:f289a49c1eae | 234 | |
JonFreeman | 7:6deaeace9a3e | 235 | extern double rpm2mph ; |
JonFreeman | 7:6deaeace9a3e | 236 | void mph_cmd (struct parameters & a) // to report miles per hour |
JonFreeman | 7:6deaeace9a3e | 237 | { |
JonFreeman | 11:bfb73f083009 | 238 | if (a.respond) |
JonFreeman | 11:bfb73f083009 | 239 | a.com->printf ("mph%c %.3f\r", mode_bytes[ID], (double)(MotorA.RPM + MotorB.RPM) * rpm2mph / 2.0); |
JonFreeman | 7:6deaeace9a3e | 240 | } |
JonFreeman | 7:6deaeace9a3e | 241 | |
JonFreeman | 6:f289a49c1eae | 242 | void menucmd (struct parameters & a); |
JonFreeman | 6:f289a49c1eae | 243 | |
JonFreeman | 6:f289a49c1eae | 244 | void vi_cmd (struct parameters & a) |
JonFreeman | 6:f289a49c1eae | 245 | { |
JonFreeman | 6:f289a49c1eae | 246 | // if (a.respond) |
JonFreeman | 6:f289a49c1eae | 247 | // com->printf ("In setVI, setting V to %.2f, I %.2f\r\n", a.dbl[0], a.dbl[1]); |
JonFreeman | 6:f289a49c1eae | 248 | setVI (a.dbl[0] / 100.0, a.dbl[1] / 100.0); |
JonFreeman | 6:f289a49c1eae | 249 | } |
JonFreeman | 6:f289a49c1eae | 250 | |
JonFreeman | 6:f289a49c1eae | 251 | void v_cmd (struct parameters & a) |
JonFreeman | 6:f289a49c1eae | 252 | { |
JonFreeman | 6:f289a49c1eae | 253 | // if (a.respond) |
JonFreeman | 6:f289a49c1eae | 254 | // com->printf ("In setV, setting V to %.2f\r\n", a.dbl[0]); |
JonFreeman | 6:f289a49c1eae | 255 | setV (a.dbl[0] / 100.0); |
JonFreeman | 6:f289a49c1eae | 256 | } |
JonFreeman | 6:f289a49c1eae | 257 | |
JonFreeman | 6:f289a49c1eae | 258 | void i_cmd (struct parameters & a) |
JonFreeman | 6:f289a49c1eae | 259 | { |
JonFreeman | 6:f289a49c1eae | 260 | // if (a.respond) |
JonFreeman | 7:6deaeace9a3e | 261 | // a.com->printf ("In setI, setting I to %.2f\r\n", a.dbl[0]); |
JonFreeman | 6:f289a49c1eae | 262 | setI (a.dbl[0] / 100.0); |
JonFreeman | 6:f289a49c1eae | 263 | } |
JonFreeman | 6:f289a49c1eae | 264 | |
JonFreeman | 6:f289a49c1eae | 265 | void kd_cmd (struct parameters & a) // kick the watchdog |
JonFreeman | 6:f289a49c1eae | 266 | { |
JonFreeman | 6:f289a49c1eae | 267 | WatchDog = WATCHDOG_RELOAD + (I_Am() & 0x0f); |
JonFreeman | 7:6deaeace9a3e | 268 | // a.com->printf ("Poked %d up Dog\r\n", WatchDog); |
JonFreeman | 6:f289a49c1eae | 269 | } |
JonFreeman | 6:f289a49c1eae | 270 | |
JonFreeman | 6:f289a49c1eae | 271 | void who_cmd (struct parameters & a) |
JonFreeman | 6:f289a49c1eae | 272 | { |
JonFreeman | 6:f289a49c1eae | 273 | int i = I_Am (); |
JonFreeman | 6:f289a49c1eae | 274 | if (I_Am() == a.target_unit) |
JonFreeman | 7:6deaeace9a3e | 275 | a.com->printf ("who%c\r\n", a.target_unit); |
JonFreeman | 6:f289a49c1eae | 276 | } |
JonFreeman | 6:f289a49c1eae | 277 | |
JonFreeman | 10:e40d8724268a | 278 | extern void rcin_report () ; |
JonFreeman | 10:e40d8724268a | 279 | void rcin_pccmd (struct parameters & a) |
JonFreeman | 10:e40d8724268a | 280 | { |
JonFreeman | 10:e40d8724268a | 281 | rcin_report (); |
JonFreeman | 10:e40d8724268a | 282 | } |
JonFreeman | 10:e40d8724268a | 283 | |
JonFreeman | 6:f289a49c1eae | 284 | struct kb_command { |
JonFreeman | 6:f289a49c1eae | 285 | const char * cmd_word; // points to text e.g. "menu" |
JonFreeman | 6:f289a49c1eae | 286 | const char * explan; |
JonFreeman | 6:f289a49c1eae | 287 | void (*f)(struct parameters &); // points to function |
JonFreeman | 6:f289a49c1eae | 288 | } ; |
JonFreeman | 6:f289a49c1eae | 289 | |
JonFreeman | 9:ac2412df01be | 290 | |
JonFreeman | 9:ac2412df01be | 291 | /** |
JonFreeman | 9:ac2412df01be | 292 | struct kb_command const loco_command_list[] = { |
JonFreeman | 9:ac2412df01be | 293 | List of commands accepted from external controller through opto isolated com port 9600, 8,n,1 |
JonFreeman | 9:ac2412df01be | 294 | */ |
JonFreeman | 7:6deaeace9a3e | 295 | struct kb_command const loco_command_list[] = { |
JonFreeman | 6:f289a49c1eae | 296 | {"ls", "Lists available commands", menucmd}, |
JonFreeman | 6:f289a49c1eae | 297 | {"?", "Lists available commands, same as ls", menucmd}, |
JonFreeman | 6:f289a49c1eae | 298 | {"fw", "forward", fw_cmd}, |
JonFreeman | 6:f289a49c1eae | 299 | {"re", "reverse", re_cmd}, |
JonFreeman | 6:f289a49c1eae | 300 | {"rb", "regen brake 0 to 99 %", rb_cmd}, |
JonFreeman | 6:f289a49c1eae | 301 | {"hb", "hand brake", hb_cmd}, |
JonFreeman | 6:f289a49c1eae | 302 | {"v", "set motors V percent RANGE 0 to 100", v_cmd}, |
JonFreeman | 6:f289a49c1eae | 303 | {"i", "set motors I percent RANGE 0 to 100", i_cmd}, |
JonFreeman | 6:f289a49c1eae | 304 | {"vi", "set motors V and I percent RANGE 0 to 100", vi_cmd}, |
JonFreeman | 8:93203f473f6e | 305 | {"who", "search for connected units, e.g. 3who returs 'who3' if found", who_cmd}, |
JonFreeman | 6:f289a49c1eae | 306 | {"mode", "read or set params in eeprom", mode_cmd}, |
JonFreeman | 6:f289a49c1eae | 307 | {"erase", "set eeprom contents to all 0xff", erase_cmd}, |
JonFreeman | 6:f289a49c1eae | 308 | {"tem", "report temperature", temperature_cmd}, |
JonFreeman | 6:f289a49c1eae | 309 | {"kd", "kick the dog, reloads WatchDog", kd_cmd}, |
JonFreeman | 8:93203f473f6e | 310 | {"wden", "enable watchdog if modes allow", wden_lococmd}, |
JonFreeman | 8:93203f473f6e | 311 | {"wddi", "disable watchdog always", wddi_lococmd}, |
JonFreeman | 6:f289a49c1eae | 312 | {"rpm", "read motor pair speeds", rpm_cmd}, |
JonFreeman | 8:93203f473f6e | 313 | {"mph", "read loco speed miles per hour", mph_cmd}, |
JonFreeman | 6:f289a49c1eae | 314 | {"rvi", "read most recent values sent to pwms", rvi_cmd}, |
JonFreeman | 6:f289a49c1eae | 315 | {"rdi", "read motor currents and power voltage", rdi_cmd}, |
JonFreeman | 8:93203f473f6e | 316 | {"bc", "bogie constants - wheel dia, motor pinion, wheel gear", bogie_constants_report_cmd}, // OBSOLETE, replaced by 'gbb' |
JonFreeman | 8:93203f473f6e | 317 | {"gbb", "get bogie bytes from eeprom and report", gbb_cmd}, |
JonFreeman | 6:f289a49c1eae | 318 | {"nu", "do nothing", null_cmd}, |
JonFreeman | 6:f289a49c1eae | 319 | }; |
JonFreeman | 6:f289a49c1eae | 320 | |
JonFreeman | 7:6deaeace9a3e | 321 | //const int numof_loco_menu_items = sizeof(loco_command_list) / sizeof(kb_command); |
JonFreeman | 7:6deaeace9a3e | 322 | |
JonFreeman | 7:6deaeace9a3e | 323 | |
JonFreeman | 9:ac2412df01be | 324 | /** |
JonFreeman | 9:ac2412df01be | 325 | struct kb_command const loco_command_list[] = { |
JonFreeman | 9:ac2412df01be | 326 | List of commands accepted from external pc through non-opto isolated com port 9600, 8,n,1 |
JonFreeman | 9:ac2412df01be | 327 | */ |
JonFreeman | 7:6deaeace9a3e | 328 | struct kb_command const pc_command_list[] = { |
JonFreeman | 7:6deaeace9a3e | 329 | {"ls", "Lists available commands", menucmd}, |
JonFreeman | 7:6deaeace9a3e | 330 | {"?", "Lists available commands, same as ls", menucmd}, |
JonFreeman | 8:93203f473f6e | 331 | {"mtypes", "report types of motors found", mt_cmd}, |
JonFreeman | 8:93203f473f6e | 332 | {"pot", "read drivers control pot", pot_cmd}, |
JonFreeman | 7:6deaeace9a3e | 333 | {"fw", "forward", fw_cmd}, |
JonFreeman | 7:6deaeace9a3e | 334 | {"re", "reverse", re_cmd}, |
JonFreeman | 7:6deaeace9a3e | 335 | {"rb", "regen brake 0 to 99 %", rb_cmd}, |
JonFreeman | 7:6deaeace9a3e | 336 | {"hb", "hand brake", hb_cmd}, |
JonFreeman | 7:6deaeace9a3e | 337 | {"v", "set motors V percent RANGE 0 to 100", v_cmd}, |
JonFreeman | 7:6deaeace9a3e | 338 | {"i", "set motors I percent RANGE 0 to 100", i_cmd}, |
JonFreeman | 7:6deaeace9a3e | 339 | {"vi", "set motors V and I percent RANGE 0 to 100", vi_cmd}, |
JonFreeman | 8:93203f473f6e | 340 | {"who", "search for connected units, e.g. 3who returs 'who3' if found", who_cmd}, |
JonFreeman | 7:6deaeace9a3e | 341 | {"mode", "read or set params in eeprom", mode_cmd}, |
JonFreeman | 7:6deaeace9a3e | 342 | {"erase", "set eeprom contents to all 0xff", erase_cmd}, |
JonFreeman | 7:6deaeace9a3e | 343 | {"tem", "report temperature", temperature_cmd}, |
JonFreeman | 7:6deaeace9a3e | 344 | {"kd", "kick the dog, reloads WatchDog", kd_cmd}, |
JonFreeman | 8:93203f473f6e | 345 | {"wden", "enable watchdog if modes allow", wden_pccmd}, |
JonFreeman | 8:93203f473f6e | 346 | {"wddi", "disable watchdog always", wddi_pccmd}, |
JonFreeman | 10:e40d8724268a | 347 | {"rcin", "Report Radio Control Input stuff", rcin_pccmd}, |
JonFreeman | 7:6deaeace9a3e | 348 | {"rpm", "read motor pair speeds", rpm_cmd}, |
JonFreeman | 7:6deaeace9a3e | 349 | {"mph", "read loco speed miles per hour", mph_cmd}, |
JonFreeman | 7:6deaeace9a3e | 350 | {"rvi", "read most recent values sent to pwms", rvi_cmd}, |
JonFreeman | 7:6deaeace9a3e | 351 | {"rdi", "read motor currents and power voltage", rdi_cmd}, |
JonFreeman | 7:6deaeace9a3e | 352 | {"bc", "bogie constants - wheel dia, motor pinion, wheel gear", bogie_constants_report_cmd}, |
JonFreeman | 8:93203f473f6e | 353 | {"gbb", "get bogie bytes from eeprom and report", gbb_cmd}, // OBSOLETE, replaced by 'gbb' |
JonFreeman | 7:6deaeace9a3e | 354 | {"nu", "do nothing", null_cmd}, |
JonFreeman | 7:6deaeace9a3e | 355 | }; |
JonFreeman | 7:6deaeace9a3e | 356 | |
JonFreeman | 7:6deaeace9a3e | 357 | void setup_comms () { |
JonFreeman | 7:6deaeace9a3e | 358 | pccom.com = & pc; |
JonFreeman | 7:6deaeace9a3e | 359 | pccom.command_list = pc_command_list; |
JonFreeman | 7:6deaeace9a3e | 360 | pccom.numof_menu_items = sizeof(pc_command_list) / sizeof(kb_command); |
JonFreeman | 7:6deaeace9a3e | 361 | pccom.cl_index = 0; |
JonFreeman | 7:6deaeace9a3e | 362 | pccom.gp_i = 0; // general puropse integer, not used to 30/4/2018 |
JonFreeman | 7:6deaeace9a3e | 363 | pccom.resp_always = true; |
JonFreeman | 7:6deaeace9a3e | 364 | lococom.com = & com2; |
JonFreeman | 7:6deaeace9a3e | 365 | lococom.command_list = loco_command_list; |
JonFreeman | 7:6deaeace9a3e | 366 | lococom.numof_menu_items = sizeof(loco_command_list) / sizeof(kb_command); |
JonFreeman | 7:6deaeace9a3e | 367 | lococom.cl_index = 0; |
JonFreeman | 7:6deaeace9a3e | 368 | lococom.gp_i = 0; // general puropse integer, toggles 0 / 1 to best guess source of rpm |
JonFreeman | 7:6deaeace9a3e | 369 | lococom.resp_always = false; |
JonFreeman | 7:6deaeace9a3e | 370 | } |
JonFreeman | 7:6deaeace9a3e | 371 | |
JonFreeman | 7:6deaeace9a3e | 372 | |
JonFreeman | 6:f289a49c1eae | 373 | void menucmd (struct parameters & a) |
JonFreeman | 6:f289a49c1eae | 374 | { |
JonFreeman | 6:f289a49c1eae | 375 | if (a.respond) { |
JonFreeman | 10:e40d8724268a | 376 | a.com->printf("\r\n\nDual BLDC ESC type STM3 2018\r\nAt menucmd function - listing commands:-\r\n"); |
JonFreeman | 7:6deaeace9a3e | 377 | for(int i = 0; i < a.numof_menu_items; i++) |
JonFreeman | 7:6deaeace9a3e | 378 | a.com->printf("[%s]\t\t%s\r\n", a.command_list[i].cmd_word, a.command_list[i].explan); |
JonFreeman | 7:6deaeace9a3e | 379 | a.com->printf("End of List of Commands\r\n"); |
JonFreeman | 6:f289a49c1eae | 380 | } |
JonFreeman | 6:f289a49c1eae | 381 | } |
JonFreeman | 6:f289a49c1eae | 382 | |
JonFreeman | 6:f289a49c1eae | 383 | /* |
JonFreeman | 6:f289a49c1eae | 384 | New - March 2018 |
JonFreeman | 6:f289a49c1eae | 385 | Using opto isolated serial port, paralleled up using same pair to multiple boards running this code. |
JonFreeman | 6:f289a49c1eae | 386 | New feature - commands have optional prefix digit 0-9 indicating which unit message is addressed to. |
JonFreeman | 6:f289a49c1eae | 387 | Commands without prefix digit - broadcast to all units, all to obey but none to respond. |
JonFreeman | 6:f289a49c1eae | 388 | Only units recognising its address from prefix digit may respond. This avoids bus contention. |
JonFreeman | 6:f289a49c1eae | 389 | But for BROADCAST commands, '0' may respond on behalf of the group |
JonFreeman | 6:f289a49c1eae | 390 | */ |
JonFreeman | 6:f289a49c1eae | 391 | //void command_line_interpreter (void const *argument) |
JonFreeman | 7:6deaeace9a3e | 392 | void cli_core (struct parameters & a) { |
JonFreeman | 11:bfb73f083009 | 393 | const int MAX_CMD_LEN = 180; |
JonFreeman | 7:6deaeace9a3e | 394 | int ch, IAm = I_Am(); |
JonFreeman | 7:6deaeace9a3e | 395 | char * pEnd;//, * cmd_line_ptr; |
JonFreeman | 7:6deaeace9a3e | 396 | while (a.com->readable()) { |
JonFreeman | 7:6deaeace9a3e | 397 | ch = a.com->getc(); |
JonFreeman | 7:6deaeace9a3e | 398 | if (a.cl_index > MAX_CMD_LEN) { // trap out stupidly long command lines |
JonFreeman | 7:6deaeace9a3e | 399 | a.com->printf ("Error!! Stupidly long cmd line\r\n"); |
JonFreeman | 7:6deaeace9a3e | 400 | a.cl_index = 0; |
JonFreeman | 7:6deaeace9a3e | 401 | } |
JonFreeman | 11:bfb73f083009 | 402 | if(ch != '\r') { // was this the 'Enter' key? |
JonFreeman | 11:bfb73f083009 | 403 | if (ch != '\n') // Ignore line feeds |
JonFreeman | 11:bfb73f083009 | 404 | a.cmd_line[a.cl_index++] = ch; // added char to command being assembled |
JonFreeman | 11:bfb73f083009 | 405 | } |
JonFreeman | 7:6deaeace9a3e | 406 | else { // key was CR, may or may not be command to lookup |
JonFreeman | 7:6deaeace9a3e | 407 | a.target_unit = BROADCAST; // Set to BROADCAST default once found command line '\r' |
JonFreeman | 7:6deaeace9a3e | 408 | a.cmd_line_ptr = a.cmd_line; |
JonFreeman | 7:6deaeace9a3e | 409 | a.cmd_line[a.cl_index] = 0; // null terminate command string |
JonFreeman | 7:6deaeace9a3e | 410 | if(a.cl_index) { // If have got some chars to lookup |
JonFreeman | 7:6deaeace9a3e | 411 | int i, wrdlen; |
JonFreeman | 7:6deaeace9a3e | 412 | if (isdigit(a.cmd_line[0])) { // Look for command with prefix digit |
JonFreeman | 7:6deaeace9a3e | 413 | a.cmd_line_ptr++; // point past identified digit prefix |
JonFreeman | 7:6deaeace9a3e | 414 | a.target_unit = a.cmd_line[0]; // '0' to '9' |
JonFreeman | 7:6deaeace9a3e | 415 | //com->printf ("Got prefix %c\r\n", cmd_line[0]); |
JonFreeman | 7:6deaeace9a3e | 416 | } |
JonFreeman | 7:6deaeace9a3e | 417 | for (i = 0; i < a.numof_menu_items; i++) { // Look for input match in command list |
JonFreeman | 7:6deaeace9a3e | 418 | wrdlen = strlen(a.command_list[i].cmd_word); |
JonFreeman | 7:6deaeace9a3e | 419 | if(strncmp(a.command_list[i].cmd_word, a.cmd_line_ptr, wrdlen) == 0 && !isalpha(a.cmd_line_ptr[wrdlen])) { // If match found |
JonFreeman | 7:6deaeace9a3e | 420 | for (int k = 0; k < MAX_PARAMS; k++) { |
JonFreeman | 7:6deaeace9a3e | 421 | a.dbl[k] = 0.0; |
JonFreeman | 7:6deaeace9a3e | 422 | } |
JonFreeman | 7:6deaeace9a3e | 423 | a.position_in_list = i; |
JonFreeman | 7:6deaeace9a3e | 424 | a.numof_dbls = 0; |
JonFreeman | 7:6deaeace9a3e | 425 | pEnd = a.cmd_line_ptr + wrdlen; |
JonFreeman | 7:6deaeace9a3e | 426 | while (*pEnd) { // Assemble all numerics as doubles |
JonFreeman | 7:6deaeace9a3e | 427 | a.dbl[a.numof_dbls++] = strtod (pEnd, &pEnd); |
JonFreeman | 7:6deaeace9a3e | 428 | while (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd) { |
JonFreeman | 7:6deaeace9a3e | 429 | pEnd++; |
JonFreeman | 7:6deaeace9a3e | 430 | } |
JonFreeman | 7:6deaeace9a3e | 431 | } |
JonFreeman | 7:6deaeace9a3e | 432 | //com->printf ("\r\n"); // Not allowed as many may output this. |
JonFreeman | 7:6deaeace9a3e | 433 | //for (int k = 0; k < param_block.numof_dbls; k++) |
JonFreeman | 7:6deaeace9a3e | 434 | // com->printf ("Read %.3f\r\n", param_block.dbl[k]); |
JonFreeman | 7:6deaeace9a3e | 435 | // param_block.times[i] = clock(); |
JonFreeman | 7:6deaeace9a3e | 436 | // a.respond = false; |
JonFreeman | 7:6deaeace9a3e | 437 | a.respond = a.resp_always; |
JonFreeman | 7:6deaeace9a3e | 438 | if (((a.target_unit == BROADCAST) && (IAm == '0')) || (IAm == a.target_unit)) |
JonFreeman | 7:6deaeace9a3e | 439 | a.respond = true; // sorted 26/4/18 |
JonFreeman | 7:6deaeace9a3e | 440 | // All boards to obey BROADCAST command, only specific board to obey number prefixed command |
JonFreeman | 7:6deaeace9a3e | 441 | if ((a.target_unit == BROADCAST) || (IAm == a.target_unit)) |
JonFreeman | 7:6deaeace9a3e | 442 | a.command_list[i].f(a); // execute command if addressed to this unit |
JonFreeman | 7:6deaeace9a3e | 443 | i = a.numof_menu_items + 1; // to exit for loop |
JonFreeman | 7:6deaeace9a3e | 444 | } // end of match found |
JonFreeman | 7:6deaeace9a3e | 445 | } // End of for numof_menu_items |
JonFreeman | 7:6deaeace9a3e | 446 | if(i == a.numof_menu_items) |
JonFreeman | 7:6deaeace9a3e | 447 | a.com->printf("No Match Found for CMD [%s]\r\n", a.cmd_line); |
JonFreeman | 7:6deaeace9a3e | 448 | } // End of If have got some chars to lookup |
JonFreeman | 7:6deaeace9a3e | 449 | //com->printf("\r\n>"); |
JonFreeman | 7:6deaeace9a3e | 450 | a.cl_index = 0; |
JonFreeman | 7:6deaeace9a3e | 451 | } // End of else key was CR, may or may not be command to lookup |
JonFreeman | 7:6deaeace9a3e | 452 | } // End of while (com->readable()) |
JonFreeman | 7:6deaeace9a3e | 453 | } |
JonFreeman | 7:6deaeace9a3e | 454 | |
JonFreeman | 7:6deaeace9a3e | 455 | void command_line_interpreter_pc () { |
JonFreeman | 7:6deaeace9a3e | 456 | cli_core (pccom); |
JonFreeman | 7:6deaeace9a3e | 457 | } |
JonFreeman | 7:6deaeace9a3e | 458 | void command_line_interpreter_loco () { |
JonFreeman | 7:6deaeace9a3e | 459 | cli_core (lococom); |
JonFreeman | 7:6deaeace9a3e | 460 | } |
JonFreeman | 7:6deaeace9a3e | 461 | |
JonFreeman | 6:f289a49c1eae | 462 | void command_line_interpreter () |
JonFreeman | 6:f289a49c1eae | 463 | { |
JonFreeman | 7:6deaeace9a3e | 464 | /* const int MAX_CMD_LEN = 120; |
JonFreeman | 6:f289a49c1eae | 465 | static char cmd_line[MAX_CMD_LEN + 4]; |
JonFreeman | 6:f289a49c1eae | 466 | static int cl_index = 0; |
JonFreeman | 6:f289a49c1eae | 467 | int ch, IAm = I_Am(); |
JonFreeman | 6:f289a49c1eae | 468 | char * pEnd, * cmd_line_ptr; |
JonFreeman | 6:f289a49c1eae | 469 | static struct parameters param_block ; |
JonFreeman | 6:f289a49c1eae | 470 | com = &com2; |
JonFreeman | 6:f289a49c1eae | 471 | while (com->readable()) { |
JonFreeman | 6:f289a49c1eae | 472 | // ch = tolower(com->getc()); |
JonFreeman | 6:f289a49c1eae | 473 | ch = com->getc(); |
JonFreeman | 6:f289a49c1eae | 474 | if (cl_index > MAX_CMD_LEN) { // trap out stupidly long command lines |
JonFreeman | 6:f289a49c1eae | 475 | com->printf ("Error!! Stupidly long cmd line\r\n"); |
JonFreeman | 6:f289a49c1eae | 476 | cl_index = 0; |
JonFreeman | 6:f289a49c1eae | 477 | } |
JonFreeman | 6:f289a49c1eae | 478 | if(ch != '\r') // was this the 'Enter' key? |
JonFreeman | 6:f289a49c1eae | 479 | cmd_line[cl_index++] = ch; // added char to command being assembled |
JonFreeman | 6:f289a49c1eae | 480 | else { // key was CR, may or may not be command to lookup |
JonFreeman | 6:f289a49c1eae | 481 | param_block.target_unit = BROADCAST; // Set to BROADCAST default once found command line '\r' |
JonFreeman | 6:f289a49c1eae | 482 | cmd_line_ptr = cmd_line; |
JonFreeman | 6:f289a49c1eae | 483 | cmd_line[cl_index] = 0; // null terminate command string |
JonFreeman | 6:f289a49c1eae | 484 | if(cl_index) { // If have got some chars to lookup |
JonFreeman | 6:f289a49c1eae | 485 | int i, wrdlen; |
JonFreeman | 6:f289a49c1eae | 486 | if (isdigit(cmd_line[0])) { // Look for command with prefix digit |
JonFreeman | 6:f289a49c1eae | 487 | cmd_line_ptr++; // point past identified digit prefix |
JonFreeman | 6:f289a49c1eae | 488 | param_block.target_unit = cmd_line[0]; // '0' to '9' |
JonFreeman | 6:f289a49c1eae | 489 | //com->printf ("Got prefix %c\r\n", cmd_line[0]); |
JonFreeman | 6:f289a49c1eae | 490 | } |
JonFreeman | 7:6deaeace9a3e | 491 | for (i = 0; i < a.numof_menu_items; i++) { // Look for input match in command list |
JonFreeman | 7:6deaeace9a3e | 492 | wrdlen = strlen(a.command_list[i].cmd_word); |
JonFreeman | 7:6deaeace9a3e | 493 | if(strncmp(a.command_list[i].cmd_word, a.cmd_line_ptr, wrdlen) == 0 && !isalpha(a.cmd_line_ptr[wrdlen])) { // If match found |
JonFreeman | 6:f289a49c1eae | 494 | for (int k = 0; k < MAX_PARAMS; k++) { |
JonFreeman | 6:f289a49c1eae | 495 | param_block.dbl[k] = 0.0; |
JonFreeman | 6:f289a49c1eae | 496 | } |
JonFreeman | 6:f289a49c1eae | 497 | param_block.position_in_list = i; |
JonFreeman | 6:f289a49c1eae | 498 | // param_block.last_time = clock (); |
JonFreeman | 6:f289a49c1eae | 499 | param_block.numof_dbls = 0; |
JonFreeman | 6:f289a49c1eae | 500 | pEnd = cmd_line_ptr + wrdlen; |
JonFreeman | 6:f289a49c1eae | 501 | while (*pEnd) { // Assemble all numerics as doubles |
JonFreeman | 6:f289a49c1eae | 502 | param_block.dbl[param_block.numof_dbls++] = strtod (pEnd, &pEnd); |
JonFreeman | 6:f289a49c1eae | 503 | while (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd) { |
JonFreeman | 6:f289a49c1eae | 504 | pEnd++; |
JonFreeman | 6:f289a49c1eae | 505 | } |
JonFreeman | 6:f289a49c1eae | 506 | } |
JonFreeman | 6:f289a49c1eae | 507 | //com->printf ("\r\n"); // Not allowed as many may output this. |
JonFreeman | 6:f289a49c1eae | 508 | //for (int k = 0; k < param_block.numof_dbls; k++) |
JonFreeman | 6:f289a49c1eae | 509 | // com->printf ("Read %.3f\r\n", param_block.dbl[k]); |
JonFreeman | 6:f289a49c1eae | 510 | // param_block.times[i] = clock(); |
JonFreeman | 6:f289a49c1eae | 511 | param_block.respond = false; |
JonFreeman | 6:f289a49c1eae | 512 | if (((param_block.target_unit == BROADCAST) && (IAm == '0')) || (IAm == param_block.target_unit)) |
JonFreeman | 6:f289a49c1eae | 513 | param_block.respond = true; // sorted 26/4/18 |
JonFreeman | 6:f289a49c1eae | 514 | // All boards to obey BROADCAST command, only specific board to obey number prefixed command |
JonFreeman | 6:f289a49c1eae | 515 | if ((param_block.target_unit == BROADCAST) || (IAm == param_block.target_unit)) |
JonFreeman | 6:f289a49c1eae | 516 | command_list[i].f(param_block); // execute command if addressed to this unit |
JonFreeman | 6:f289a49c1eae | 517 | i = numof_menu_items + 1; // to exit for loop |
JonFreeman | 6:f289a49c1eae | 518 | } // end of match found |
JonFreeman | 6:f289a49c1eae | 519 | } // End of for numof_menu_items |
JonFreeman | 6:f289a49c1eae | 520 | if(i == numof_menu_items) |
JonFreeman | 6:f289a49c1eae | 521 | com->printf("No Match Found for CMD [%s]\r\n", cmd_line); |
JonFreeman | 6:f289a49c1eae | 522 | } // End of If have got some chars to lookup |
JonFreeman | 6:f289a49c1eae | 523 | //com->printf("\r\n>"); |
JonFreeman | 6:f289a49c1eae | 524 | cl_index = 0; |
JonFreeman | 6:f289a49c1eae | 525 | } // End of else key was CR, may or may not be command to lookup |
JonFreeman | 6:f289a49c1eae | 526 | } // End of while (com->readable()) |
JonFreeman | 6:f289a49c1eae | 527 | // Thread::wait(20); // Using RTOS on this project |
JonFreeman | 7:6deaeace9a3e | 528 | // }*/ |
JonFreeman | 6:f289a49c1eae | 529 | } |
JonFreeman | 6:f289a49c1eae | 530 | |
JonFreeman | 6:f289a49c1eae | 531 |