Jon Freeman / Mbed 2 deprecated Brushless_STM3_ESC_2019_10

Dual Brushless Motor ESC, 10-62V, up to 50A per motor. Motors ganged or independent, multiple control input methods, cycle-by-cycle current limit, speed mode and torque mode control. Motors tiny to kW. Speed limit and other parameters easily set in firmware. As used in 'The Brushless Brutalist' locomotive - www.jons-workshop.com. See also Model Engineer magazine June-October 2019.

Dependencies:   mbed BufferedSerial Servo PCT2075 FastPWM

Update 17th August 2020 Radio control inputs completed

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?

UserRevisionLine numberNew 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