Diff: cli_nortos.cpp

Revision:

6:f289a49c1eae

Parent:

5:ca86a7848d54

Child:

7:6deaeace9a3e

--- a/cli_nortos.cpp	Tue May 29 16:36:34 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,313 +0,0 @@
-//  DualBLS2018_03
-#include "mbed.h"
-#include "BufferedSerial.h"
-
-#include <cctype>
-#include "DualBLS.h"
-using namespace std;
-
-extern  int I_Am    ()  ;      //  Returns boards id number as ASCII char '0', '1' etc. Code for Broadcast = '\r'
-extern  int WatchDog;
-
-const int   BROADCAST   = '\r';
-const   int MAX_PARAMS = 20;
-struct  parameters  {
-    int32_t position_in_list,   //  set but not used Apr 2018, contains i for i'th menu item
-//            last_time,          //  gets reading from clock() ; not known to be useful or reliable
-            numof_dbls,
-            target_unit;
-    double  dbl[MAX_PARAMS];
-    bool    respond;
-}   ;
-
-//  WithOUT RTOS
-extern  BufferedSerial com2, pc;
-extern  void    send_test   ()  ;
-extern  void    setVI   (double v, double i)  ;
-extern  void    setV    (double v)  ;
-extern  void    setI    (double i)  ;
-extern  void    read_last_VI    (double * val)  ;   //  only for test from cli
-
-BufferedSerial * com;
-
-void    null_cmd (struct parameters & a)
-{
-    if  (a.respond) 
-        com->printf   ("At null_cmd, board ID %c, parameters : First %.3f, second %.3f\r\n", I_Am(), a.dbl[0], a.dbl[1]);
-}
-
-extern  void    mode_set   (int mode, double val)  ;
-extern  void    read_supply_vi   (double * val)  ;
-
-void    rdi_cmd (struct parameters & a)  //  read motor currents
-{
-    if  (a.respond) {
-        double  r[4];
-        read_supply_vi  (r);    //  get MotorA.I.ave, MotorB.I.ave, Battery volts
-        com->printf ("rdi%.0f %.0f %.1f\r", r[0], r[1], r[2]);  //  Format good to be unpicked by cli in touch screen controller
-    }
-}
-
-void    rvi_cmd (struct parameters & a)  //  read last normalised values sent to pwms
-{
-    if  (a.respond) {
-        double  r[6];
-        read_last_VI    (r);
-        com->printf ("rvi%.2f %.2f %.2f %.2f\r", r[0], r[1], r[2], r[3]);
-    }
-}
-
-void    fw_cmd (struct parameters & a)  //  Forward command
-{
-    mode_set   (FORWARD, 0.0);
-}
-
-void    re_cmd (struct parameters & a)  //  Reverse command
-{
-    mode_set   (REVERSE, 0.0);
-}
-
-void    rb_cmd (struct parameters & a)      //  Regen brake command
-{
-    double b = a.dbl[0] / 100.0;
-//    com->printf   ("Applying brake %.3f\r\n", b);
-    mode_set   (REGENBRAKE, b);
-//    apply_brake (b);
-}
-
-extern  bool    wr_24LC64  (int mem_start_addr, char * source, int length)   ;
-extern  bool    rd_24LC64  (int mem_start_addr, char * dest, int length)   ;
-
-void    erase_cmd (struct parameters & a)       //  Sets eeprom contents to all 0xff. 256 pages of 32 bytes to do
-{
-    char    t[36];
-    for (int i = 0; i < 32; i++)
-        t[i] = 0xff;
-    for (int i = 0; i < 8191; i += 32)  {
-        com->printf (".");
-        if  (!wr_24LC64   (i, t, 32))
-            com->printf ("eeprom write prob\r\n");
-    }
-}
-/*struct  motorpairoptions    {   //  This to be user settable in eeprom, 32 bytes
-    uint8_t MotA_dir,   //  0 or 1
-            MotB_dir,   //  0 or 1
-            gang,       //  0 for separate control (robot mode), 1 for ganged loco bogie mode
-            serv1,      //  0, 1, 2 = Not used, Input, Output
-            serv2,      //  0, 1, 2 = Not used, Input, Output
-            cmd_source, //  0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2
-            last;
-}   ;
-*/
-
-void    mode_cmd (struct parameters & a)       //  With no params, reads eeprom contents. With params sets eeprom contents
-{
-    if  (a.target_unit == BROADCAST) {
-//        com->printf ("At mode_cmd, can not use BROADCAST with mode_cmd\r\n");
-    } else    {
-        char    t[36];
-        com->printf ("At mode_cmd with node %d\r\n", a.target_unit);
-        rd_24LC64   (0, t, 32);
-        com->printf ("Numof params=%d\r\n", a.numof_dbls);
-        for (int i = 0; i < numofopts; i++)
-            com->printf ("%2x\t%s\r\n", t[i], option_list[i].t);
-        if  (a.numof_dbls == 0) {   //  Read present contents, do not write
-            com->printf ("That's it\r\n");
-        } else    { //  Write new shit to eeprom
-            com->printf ("\r\n");
-            if  (a.numof_dbls != numofopts) {
-                com->printf ("params required = %d, you offered %d\r\n", numofopts, a.numof_dbls);
-            } else    { //  Have been passed correct number of parameters
-                int b;
-                com->printf("Ready to write params to eeprom\r\n");
-                for (int i = 0; i < numofopts; i++) {
-                    b = (int)a.dbl[i];  //  parameter value to check against limits
-                    if  (i == 6)    //  Alternative ID must be turned to ascii
-                        b |= '0';
-                    if  ((b < option_list[i].min) || (b > option_list[i].max))  {   //  if parameter out of range
-                        com->printf("Warning - Parameter = %d, out of range, setting to default %d\r\n", b, option_list[i].def);
-                        b = option_list[i].def;
-                    }
-                    com->printf ("0x%2x\t%s\r\n", (t[i] = b), option_list[i].t);
-                }
-                wr_24LC64   (0, t, numofopts);
-                com->printf("Parameters set in eeprom\r\n");
-            }
-        }
-    }
-}
-/*void    coast_cmd (struct parameters & a)   {   //  Coast
-
-}
-*/
-void    hb_cmd (struct parameters & a)
-{
-    if  (a.respond) {
-        com->printf   ("numof params = %d\r\n", a.numof_dbls);
-        com->printf   ("Hand Brake : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]);
-    }
-    mode_set   (HANDBRAKE, 0.0);
-}
-
-extern  void    read_RPM    (uint32_t * dest)  ;
-void    rpm_cmd (struct parameters & a) //  to report e.g. RPM 1000 1000 ; speed for both motors
-{
-    if  (a.respond) {
-        uint32_t dest[3];
-        read_RPM    (dest);
-        com->printf  ("rpm%d %d\r", dest[0], dest[1]);
-    }
-}
-
-void    menucmd (struct parameters & a);
-
-void    vi_cmd (struct parameters & a)
-{
-//    if  (a.respond)
-//        com->printf   ("In setVI, setting V to %.2f, I %.2f\r\n", a.dbl[0], a.dbl[1]);
-    setVI   (a.dbl[0] / 100.0, a.dbl[1] / 100.0);
-}
-
-void    v_cmd (struct parameters & a)
-{
-//    if  (a.respond)
-//        com->printf   ("In setV, setting V to %.2f\r\n", a.dbl[0]);
-    setV   (a.dbl[0] / 100.0);
-}
-
-void    i_cmd (struct parameters & a)
-{
-//    if  (a.respond)
-//        com->printf   ("In setI, setting I to %.2f\r\n", a.dbl[0]);
-    setI   (a.dbl[0] / 100.0);
-}
-
-void    kd_cmd (struct parameters & a)  //  kick the watchdog
-{
-    WatchDog = WATCHDOG_RELOAD + (I_Am() & 0x0f);
-//    com->printf ("Poked %d up Dog\r\n", WatchDog);
-}
-
-void    who_cmd (struct parameters & a)
-{
-    int i = I_Am    ();
-    if  (I_Am() == a.target_unit)
-        com->printf ("Hi there, I am %c\r\n", a.target_unit);
-}
-
-struct kb_command  {
-    const char * cmd_word;         //  points to text e.g. "menu"
-    const char * explan;
-    void (*f)(struct parameters &);   //  points to function
-}  ;
-
-struct  kb_command const command_list[] = {
-    {"ls", "Lists available commands", menucmd},
-    {"?", "Lists available commands, same as ls", menucmd},
-    {"fw", "forward", fw_cmd},
-    {"re", "reverse", re_cmd},
-    {"rb", "regen brake 0 to 99 %", rb_cmd},
-    {"hb", "hand brake", hb_cmd},
-    {"v", "set motors V percent RANGE 0 to 100", v_cmd},
-    {"i", "set motors I percent RANGE 0 to 100", i_cmd},
-    {"vi", "set motors V and I percent RANGE 0 to 100", vi_cmd},
-    {"who", "search for connected units, e.g. 3who returs 'Hi there' if found", who_cmd},
-    {"mode", "read or set params in eeprom", mode_cmd},
-    {"erase", "set eeprom contents to all 0xff", erase_cmd},
-    {"kd", "kick the dog, reloads WatchDog", kd_cmd},
-    {"rpm", "read motor pair speeds", rpm_cmd},
-    {"rvi", "read most recent values sent to pwms", rvi_cmd},
-    {"rdi", "read motor currents and power voltage", rdi_cmd},
-    {"nu", "do nothing", null_cmd},
-};
-
-const int numof_menu_items = sizeof(command_list) / sizeof(kb_command);
-void    menucmd (struct parameters & a)
-{
-    if  (a.respond) {
-        com->printf("\r\n\nDouble Brushless Motor Driver 2018\r\nAt menucmd function - listing commands:-\r\n");
-        for(int i = 0; i < numof_menu_items; i++)
-            com->printf("[%s]\t\t%s\r\n", command_list[i].cmd_word, command_list[i].explan);
-        com->printf("End of List of Commands\r\n");
-    }
-}
-
-/*
-New - March 2018
-Using opto isolated serial port, paralleled up using same pair to multiple boards running this code.
-New feature - commands have optional prefix digit 0-9 indicating which unit message is addressed to.
-Commands without prefix digit - broadcast to all units, all to obey but none to respond.
-Only units recognising its address from prefix digit may respond. This avoids bus contention.
-But for BROADCAST commands, '0' may respond on behalf of the group
-*/
-//void    command_line_interpreter    (void const *argument)
-void    command_line_interpreter    ()
-{
-    const int MAX_CMD_LEN = 120;
-    static  char    cmd_line[MAX_CMD_LEN + 4];
-    static  int     cl_index = 0;
-    int ch, IAm = I_Am();
-    char * pEnd, * cmd_line_ptr;
-    static struct  parameters  param_block  ;
-    com = &com2;
-    while  (com->readable()) {
-//        ch = tolower(com->getc());
-        ch = com->getc();
-        if  (cl_index > MAX_CMD_LEN)  {   //  trap out stupidly long command lines
-            com->printf   ("Error!! Stupidly long cmd line\r\n");
-            cl_index = 0;
-        }
-        if(ch != '\r')  //  was this the 'Enter' key?
-            cmd_line[cl_index++] = ch;  //  added char to command being assembled
-        else    {   //  key was CR, may or may not be command to lookup
-            param_block.target_unit = BROADCAST;    //  Set to BROADCAST default once found command line '\r'
-            cmd_line_ptr = cmd_line;
-            cmd_line[cl_index] = 0; //  null terminate command string
-            if(cl_index)    {   //  If have got some chars to lookup
-                int i, wrdlen;
-                if  (isdigit(cmd_line[0]))  {   //  Look for command with prefix digit
-                    cmd_line_ptr++;     //  point past identified digit prefix
-                    param_block.target_unit = cmd_line[0];  //  '0' to '9'
-                    //com->printf ("Got prefix %c\r\n", cmd_line[0]);
-                }
-                for (i = 0; i < numof_menu_items; i++)   {   //  Look for input match in command list
-                    wrdlen = strlen(command_list[i].cmd_word);
-                    if(strncmp(command_list[i].cmd_word, cmd_line_ptr, wrdlen) == 0 && !isalpha(cmd_line_ptr[wrdlen]))  {   //  If match found
-                        for (int k = 0; k < MAX_PARAMS; k++)    {
-                            param_block.dbl[k] = 0.0;
-                        }
-                        param_block.position_in_list = i;
-//                        param_block.last_time = clock    ();
-                        param_block.numof_dbls = 0;
-                        pEnd = cmd_line_ptr + wrdlen;
-                        while   (*pEnd)  {          //  Assemble all numerics as doubles
-                            param_block.dbl[param_block.numof_dbls++] = strtod    (pEnd, &pEnd);
-                            while   (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd)  {
-                                pEnd++;
-                            }
-                        }
-                        //com->printf   ("\r\n");   //  Not allowed as many may output this.
-                        //for (int k = 0; k < param_block.numof_dbls; k++)
-                        //    com->printf   ("Read %.3f\r\n", param_block.dbl[k]);
-//                            param_block.times[i] = clock();
-                        param_block.respond = false;
-                        if  (((param_block.target_unit == BROADCAST) && (IAm == '0')) || (IAm == param_block.target_unit))
-                            param_block.respond = true; //  sorted 26/4/18
-                        //  All boards to obey BROADCAST command, only specific board to obey number prefixed command
-                        if  ((param_block.target_unit == BROADCAST) || (IAm == param_block.target_unit))
-                            command_list[i].f(param_block);   //  execute command if addressed to this unit
-                        i = numof_menu_items + 1;    //  to exit for loop
-                    }   //  end of match found
-                }       // End of for numof_menu_items
-                if(i == numof_menu_items)
-                    com->printf("No Match Found for CMD [%s]\r\n", cmd_line);
-            }           //  End of If have got some chars to lookup
-            //com->printf("\r\n>");
-            cl_index = 0;
-        }               // End of else key was CR, may or may not be command to lookup
-    }                   //  End of while (com->readable())
-//        Thread::wait(20);  //  Using RTOS on this project
-//    }
-}
-
-