Jon Freeman
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
Diff: cli_BLS_nortos.cpp
- Revision:
- 16:d1e4b9ad3b8b
- Parent:
- 14:acaa1add097b
- Child:
- 17:cc9b854295d6
--- a/cli_BLS_nortos.cpp Sat Nov 30 18:40:30 2019 +0000
+++ b/cli_BLS_nortos.cpp Tue Jun 09 09:20:19 2020 +0000
@@ -24,21 +24,20 @@
#include <cctype>
using namespace std;
-extern eeprom_settings mode ;
+extern eeprom_settings user_settings ;
extern error_handling_Jan_2019 ESC_Error ; // Provides array usable to store error codes.
extern int WatchDog; // from main
extern bool WatchDogEnable; // from main
-extern double rpm2mph ;
+extern bool read_temperature (float & t) ; // from main March 2020
extern brushless_motor MotorA, MotorB; // Controlling two motors together or individually
-extern char const_version_string[] ;
+extern const char * get_version () ; // Need this as extern const char can not be made to work. This returns & const_version_string
extern BufferedSerial com2, pc; // The two com ports used. There is also an unused com port, com3 setup @ 1200 baud
-extern void setVI (double v, double i) ; // Set motor voltage limit and current limit
+extern void setVI_both (double v, double i) ; // Set motor voltage limit and current limit
extern double Read_DriverPot ();
extern double Read_BatteryVolts ();
-extern void mode_set_both_motors (int mode, double val) ; // called from cli to set fw, re, rb, hb
-extern void rcin_report () ;
+extern void mode_set_motors_both (int mode) ; // called from cli to set fw, re, rb, hb
// All void func (struct parameters &) ; functions addressed by command line interpreter are together below here
@@ -49,12 +48,14 @@
*/
void ver_cmd (struct parameters & a)
{
- if (a.source == SOURCE_PC)
- pc.printf ("Version %s\r\n", const_version_string);
+ if (a.source == SOURCE_PC) {
+ pc.printf ("Version [%s]\r\n", get_version());
+ }
else {
if (a.source == SOURCE_TS)
- if (a.respond) // Only respond if this board addressed
- a.com->printf ("%s\r", const_version_string);
+ if (a.respond) { // Only respond if this board addressed
+ a.com->printf ("%s\r", get_version());
+ }
else
pc.printf ("Crap source %d in ver_cmd\r\n", a.source);
}
@@ -78,28 +79,13 @@
void null_cmd (struct parameters & a)
{
if (a.respond)
- a.com->printf ("At null_cmd, board ID %c\r\n", mode.rd(BOARD_ID));
+ a.com->printf ("Board ID %c\r\n", user_settings.rd(BOARD_ID));
}
-#ifdef USING_DC_MOTORS
-/**
-void mt_cmd (struct parameters & a)
- PC Only
- Responds YES, causes action NO
- report_motor_types () // Reports 'Brushless' if Hall inputs read 1 to 6, 'DC' if no Hall sensors connected, therefore DC motor assumed
-*/
-void mt_cmd (struct parameters & a)
-{
- if (a.source == SOURCE_PC)
- pc.printf ("Mot A is %s, Mot B is %s\r\n", MotorA.dc_motor ? "DC":"Brushless", MotorB.dc_motor ? "DC":"Brushless");
- else
- pc.printf ("Wrong use of mt_cmd\r\n");
-}
-#endif
/**
* void rdi_cmd (struct parameters & a) // read motor currents (uint32_t) and BatteryVolts (double)
-*/
+
void rdi_cmd (struct parameters & a) // read motor currents (uint32_t) and BatteryVolts (double)
{ // Voltage reading true volts, currents only useful as relative values
if (a.respond)
@@ -107,16 +93,16 @@
a.com->printf ("rdi%.1f %.1f %.1f\r%s", MotorA.Idbl, MotorB.Idbl, Read_BatteryVolts (), a.source == SOURCE_PC ? "\n" : "");
// Format good to be unpicked by cli in touch screen controller
}
-
+*/
/**
* void rvi_cmd (struct parameters & a) // read last normalised motor voltage and current values sent to pwms
*
*/
-void rvi_cmd (struct parameters & a) // read last normalised values sent to pwms
-{
- if (a.respond)
- a.com->printf ("rvi%.2f %.2f %.2f %.2f\r%s", MotorA.last_V, MotorA.last_I, MotorB.last_V, MotorB.last_I, a.source == SOURCE_PC ? "\n" : "");
-}
+//void rvi_cmd (struct parameters & a) // read last normalised values sent to pwms
+//{
+// if (a.respond)
+// a.com->printf ("rvi%.2f %.2f %.2f %.2f\r%s", MotorA.last_V, MotorA.last_I, MotorB.last_V, MotorB.last_I, a.source == SOURCE_PC ? "\n" : "");
+//}
/**
* void fw_cmd (struct parameters & a) // Forward command
@@ -124,7 +110,9 @@
*/
void fw_cmd (struct parameters & a) // Forward command
{
- mode_set_both_motors (MOTOR_FORWARD, 0.0);
+// MotorA.set_mode (MOTOR_FORWARD);
+// MotorB.set_mode (MOTOR_FORWARD);
+ mode_set_motors_both (MOTOR_FORWARD);
if (a.source == SOURCE_PC)
pc.printf ("fw\r\n"); // Show response to action if command from pc terminal
}
@@ -135,7 +123,7 @@
*/
void re_cmd (struct parameters & a) // Reverse command
{
- mode_set_both_motors (MOTOR_REVERSE, 0.0);
+ mode_set_motors_both (MOTOR_REVERSE);
if (a.source == SOURCE_PC)
pc.printf ("re\r\n");
}
@@ -146,9 +134,11 @@
*/
void rb_cmd (struct parameters & a) // Regen brake command
{
- mode_set_both_motors (MOTOR_REGENBRAKE, a.dbl[0] / 100.0);
+ double tmp = a.dbl[0] / 100.0;
+ MotorA.brake (tmp);
+ MotorB.brake (tmp); // Corrected May 2020 - previously MotorA twice
if (a.source == SOURCE_PC)
- pc.printf ("rb %.2f\r\n", a.dbl[0] / 100.0);
+ pc.printf ("rb %.2f\r\n", tmp);
}
/**
@@ -156,136 +146,72 @@
* Broadcast to all STM3_ESC boards, required to ACT but NOT respond
*
* NOTE Jan 2019 Hand brake not implemented
-*
+* May 2020 - Implemented, but not very good
*/
void hb_cmd (struct parameters & a) // Hand brake command
{
+ double tmp;
+ if (a.numof_dbls != 0) tmp = a.dbl[0] / 100.0; // a.numof_dbls is int32_t
+ else tmp = 0.33;
if (a.respond) {
- a.com->printf ("numof params = %d\r\n", a.numof_dbls);
- a.com->printf ("Hand Brake : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]);
+// a.com->printf ("numof params = %d\r\n", a.numof_dbls);
+ a.com->printf ("Hand Brake : Force 0 to 99 %.0f\r\n", tmp * 100.0);
}
- mode_set_both_motors (MOTOR_HANDBRAKE, 0.0);
+ mode_set_motors_both (MOTOR_HANDBRAKE);
+ if (tmp < 0.0) tmp = 0.0;
+ if (tmp > 1.0) tmp = 1.0;
+ setVI_both (tmp / 5.0, 0.99);
}
-extern int numof_eeprom_options2 ;
-extern struct optpar const option_list2[] ;
-/**void mode_cmd (struct parameters & a) // With no params, reads eeprom contents. With params sets eeprom contents
-* mode_cmd called only from pc comms. No sense calling from Touch Screen Controller
+
+
+/**void user_settings_cmd (struct parameters & a) // With no params, reads eeprom contents. With params sets eeprom contents
+* user_settings_cmd called only from pc comms. No sense calling from Touch Screen Controller
*
* Called without parameters - Lists to pc terminal current settings
*
*/
-void mode19_cmd (struct parameters & a) // With no params, reads eeprom contents. With params sets eeprom contents
+void user_settings_cmd (struct parameters & a) // With no params, reads eeprom contents. With params sets eeprom contents
{
- char temps[36];
- int i;
- double topspeed; // New Jan 2019 - set max loco speed
- pc.printf ("\r\nmode - Set system data in EEPROM - Jan 2019\r\nSyntax 'mode' with no parameters lists current state.\r\n");
- if (a.numof_dbls) { // If more than 0 parameters supplied
- for (i = 0; i < a.numof_dbls; i++)
- temps[i] = (char)a.dbl[i]; // recast doubles to char
- while (i < 33)
- temps[i++] = 0;
- switch ((int)a.dbl[0]) {
- case 0: // MotorA_dir [0 or 1], MotorB_dir [0 or 1]
- if (temps[1] == 0 || temps[1] == 1)
- mode.wr(temps[1], MOTADIR);
- if (temps[2] == 0 || temps[2] == 1)
- mode.wr(temps[2], MOTBDIR);
- break;
- case 1: // MotorA_poles [4,6,8], MotorB_poles [4,6,8]
- if (temps[1] == 4 || temps[1] == 6 || temps[1] == 8)
- mode.wr(temps[1], MOTAPOLES);
- if (temps[2] == 4 || temps[2] == 6 || temps[2] == 8)
- mode.wr(temps[2], MOTBPOLES);
- break;
- case 2: // MotorA_ current sense resistors [1 to 4], MotorB_ current sense resistors [1 to 4]
- if (temps[1] > 0 && temps[1] < 5)
- mode.wr(temps[1], ISHUNTA); // Corrected since published
- if (temps[2] > 0 && temps[2] < 5)
- mode.wr(temps[2], ISHUNTB);
- break;
- case 3: // 2 Servo1 [0 or 1], Servo2 [0 or 1]
- if (temps[1] == 0 || temps[1] == 1)
- mode.wr(temps[1], SVO1);
- if (temps[2] == 0 || temps[2] == 1)
- mode.wr(temps[2], SVO2);
- break;
- case 4: // 3 RCIn1 [0 or 1], RCIn2 [0 or 1]
- if (temps[1] == 0 || temps[1] == 1)
- mode.wr(temps[1], RCIN1);
- if (temps[2] == 0 || temps[2] == 1)
- mode.wr(temps[2], RCIN2);
- break;
- case 5: // 4 Board ID '0' to '9'
- if (temps[1] <= 9) // pointless to compare unsigned integer with zero
- mode.wr('0' | temps[1], BOARD_ID);
- break;
- case 6: // TOP_SPEED
- topspeed = a.dbl[1];
- if (topspeed > 25.0) topspeed = 25.0;
- if (topspeed < 1.0) topspeed = 1.0;
- mode.wr((char)(topspeed * 10.0), TOP_SPEED);
- break;
- case 7: // 5 Wheel dia mm, Motor pinion teeth, Wheel gear teeth
- mode.wr(temps[1], WHEELDIA);
- mode.wr(temps[2], MOTPIN);
- mode.wr(temps[3], WHEELGEAR);
- break;
- case 8: // {2, 5, 2, "Command source 2= COM2 (Touch Screen), 3= Pot, 4= RC Input1, 5= RC Input2"},
- if (temps[1] > 1 && temps[1] < 6)
- mode.wr(temps[1], COMM_SRC);
- break;
- case 83: // set to defaults
- mode.set_defaults ();
- break;
- case 9: // 9 Save settings
- mode.save ();
- pc.printf ("Saving settings to EEPROM\r\n");
- break;
- default:
- break;
- } // endof switch
- } // endof // If more than 0 parameters supplied
- else {
- pc.printf ("No Changes\r\n");
- }
- pc.printf ("mode 0\tMotorA_dir [0 or 1]=%d, MotorB_dir [0 or 1]=%d\r\n", mode.rd(MOTADIR), mode.rd(MOTBDIR));
- pc.printf ("mode 1\tMotorA_poles [4,6,8]=%d, MotorB_poles [4,6,8]=%d\r\n", mode.rd(MOTAPOLES), mode.rd(MOTBPOLES));
- pc.printf ("mode 2\tMotorA I 0R05 sense Rs [1to4]=%d, MotorB I 0R05 sense Rs [1to4]=%d\r\n", mode.rd(ISHUNTA), mode.rd(ISHUNTB));
- pc.printf ("mode 3\tServo1 [0 or 1]=%d, Servo2 [0 or 1]=%d\r\n", mode.rd(SVO1), mode.rd(SVO2));
- pc.printf ("mode 4\tRCIn1 [0 or 1]=%d, RCIn2 [0 or 1]=%d\r\n", mode.rd(RCIN1), mode.rd(RCIN2));
- pc.printf ("mode 5\tBoard ID ['0' to '9']='%c'\r\n", mode.rd(BOARD_ID));
- pc.printf ("mode 6\tTop Speed MPH [1.0 to 25.0]=%.1f\r\n", double(mode.rd(TOP_SPEED)) / 10.0);
- pc.printf ("mode 7\tWheel dia mm=%d, Motor pinion teeth=%d, Wheel gear teeth=%d\r\n", mode.rd(WHEELDIA), mode.rd(MOTPIN), mode.rd(WHEELGEAR));
- pc.printf ("mode 8\tCommand Src [%d] - 2=COM2 (Touch Screen), 3=Pot, 4=RC In1, 5=RC In2\r\n", mode.rd(COMM_SRC));
- pc.printf ("mode 83\tSet to defaults\r\n");
- pc.printf ("mode 9\tSave settings\r\r\n");
+ user_settings.edit (a.dbl, a.numof_dbls);
+}
+
+extern struct optpar option_list[] ; //= {
+void brake_eff_set_cmd (struct parameters & a) { // set brake effectiveness from TS May 2020
+ char be = (char) a.dbl[0];
+ pc.printf ("BRAKE_EFFECTIVENESS min = %d, max = %d\r\n", option_list[BRAKE_EFFECTIVENESS].min, option_list[BRAKE_EFFECTIVENESS].max);
+ if (be > option_list[BRAKE_EFFECTIVENESS].max) be = option_list[BRAKE_EFFECTIVENESS].max;
+ if (be < option_list[BRAKE_EFFECTIVENESS].min) be = option_list[BRAKE_EFFECTIVENESS].min;
+ user_settings.wr(be, BRAKE_EFFECTIVENESS);
+ user_settings.save ();
+ pc.printf ("Set brake effectiveness to %d pct\r\n", be);
}
-
-void ssl_cmd (struct parameters & a) { // set speed limit NEW and untested July 2019
- if (a.dbl[0] > 25.0) a.dbl[0] = 25.0;
- if (a.dbl[0] < 1.0) a.dbl[0] = 1.0;
- mode.wr((char)(a.dbl[0] * 10.0), TOP_SPEED);
- mode.save ();
+void ssl_cmd (struct parameters & a) { // set speed limit NEW and untested July 2019. Stored as speed * 10 to get 1dec place
+ char sp = (char) (a.dbl[0] * 10.0);
+ if (sp > option_list[TOP_SPEED].max) sp = option_list[TOP_SPEED].max;
+ if (sp < option_list[TOP_SPEED].min) sp = option_list[TOP_SPEED].min;
+ user_settings.wr(sp, TOP_SPEED);
+ user_settings.save ();
+ pc.printf ("Set speed limit to %.1f mph\r\n", a.dbl[0]);
}
-#ifdef TEMP_SENSOR_ENABLE
-
-extern uint32_t last_temperature_count;
/**
* void temperature_cmd (struct parameters & a) {
-* Few boards have temperature sensor fitted. Non-preferred feature
+* Few boards have temperature sensor fitted. Now only supports LM75B i2c sensor
*/
-void temperature_cmd (struct parameters & a) {
+void read_temperature_cmd (struct parameters & a) {
+ float t = -99.25;
if (a.respond) {
- a.com->printf ("tem%c %d\r\n", mode.rd(BOARD_ID), (last_temperature_count / 16) - 50);
+ a.com->printf ("tem%c ", user_settings.rd(BOARD_ID));
+ if (read_temperature(t))
+ a.com->printf ("Temperature = %7.3f\r\n", t);
+ else
+ a.com->printf ("Temp sensor not fitted\r\n");
}
}
-#endif
/**
*void rpm_cmd (struct parameters & a) // to report e.g. RPM 1000 1000 ; speed for both motors
@@ -293,18 +219,31 @@
void rpm_cmd (struct parameters & a) // to report e.g. RPM 1000 1000 ; speed for both motors
{
if (a.respond)
-// a.com->printf ("rpm%c %d %d\r%s", mode.rd(BOARD_ID), MotorA.RPM, MotorB.RPM, a.source == SOURCE_PC ? "\n" : "");
- a.com->printf ("rpm%c %.0f %.0f\r%s", mode.rd(BOARD_ID), MotorA.dRPM, MotorB.dRPM, a.source == SOURCE_PC ? "\n" : "");
+// a.com->printf ("rpm%c %d %d\r%s", user_settings.rd(BOARD_ID), MotorA.RPM, MotorB.RPM, a.source == SOURCE_PC ? "\n" : "");
+ a.com->printf ("rpm%c %.0f %.0f\r%s", user_settings.rd(BOARD_ID), MotorA.dRPM, MotorB.dRPM, a.source == SOURCE_PC ? "\n" : "");
}
/**
*void mph_cmd (struct parameters & a) // to report miles per hour
*/
-void mph_cmd (struct parameters & a) // to report miles per hour to 1 decimal place
+void mph_cmd (struct parameters & a) // to report miles per hour to 1 decimal place - now 2dp May 2020
{
+ int j = 0;
+ double speedmph = 0.0;
+ if (MotorA.exists ()) {
+ j |= 1;
+ speedmph = MotorA.dMPH;
+ }
+ if (MotorB.exists ()) {
+ j |= 2;
+ speedmph += MotorB.dMPH;
+ }
+ if (j == 3)
+ speedmph /= 2.0;
if (a.respond)
-// a.com->printf ("mph%c %.1f\r%s", mode.rd(BOARD_ID), (double)(MotorA.RPM + MotorB.RPM) * rpm2mph / 2.0, a.source == SOURCE_PC ? "\n" : "");
- a.com->printf ("mph%c %.1f\r%s", mode.rd(BOARD_ID), (double)(MotorA.dMPH + MotorB.dMPH) / 2.0, a.source == SOURCE_PC ? "\n" : "");
+// May 17th 2020 modified line below - removed superfluous cast, upped to 2 decimal places
+// a.com->printf ("mph%c %.2f\r%s", user_settings.rd(BOARD_ID), speedmph, a.source == SOURCE_PC ? "\n" : "");
+ a.com->printf ("?s%c %.2f\r%s", user_settings.rd(BOARD_ID), speedmph, a.source == SOURCE_PC ? "\n" : "");
}
/**
@@ -314,7 +253,7 @@
void sysV_report (struct parameters & a) //
{
if (a.respond)
- a.com->printf ("?v%c %.1f\r%s", mode.rd(BOARD_ID), Read_BatteryVolts(), a.source == SOURCE_PC ? "\n" : "");
+ a.com->printf ("?v%c %.1f\r%s", user_settings.rd(BOARD_ID), Read_BatteryVolts(), a.source == SOURCE_PC ? "\n" : "");
}
/**
@@ -323,12 +262,46 @@
*/
void sysI_report (struct parameters & a) //
{
- if (a.respond) // Calibration, refinement of 6000.0 (not miles out) first guess possible.
-// a.com->printf ("?i%c %.2f %.2f\r%s", mode_bytes[BOARD_ID], (double)MotorA.I.ave / 6000.0, (double)MotorB.I.ave / 6000.0, a.source == SOURCE_PC ? "\n" : "");
-// a.com->printf ("?i%c %.2f %.2f\r%s", mode.rd(BOARD_ID), (double)MotorA.I.ave / 6000.0, MotorA.I.dblave2 / 6000.0, a.source == SOURCE_PC ? "\n" : "");
- a.com->printf ("?i%c %.2f %.2f\r%s", mode.rd(BOARD_ID), MotorA.Idbl, MotorB.Idbl, a.source == SOURCE_PC ? "\n" : "");
+ if (a.respond)
+ a.com->printf ("?i%c %.2f %.2f\r%s", user_settings.rd(BOARD_ID), MotorA.Idbl, MotorB.Idbl, a.source == SOURCE_PC ? "\n" : "");
}
+/*
+
+New December 2019 - possible for implementation
+ Having implemented radio control inputs and driver pot, there is some sense in moving slider handler from touch screen controller
+ into STM3_ESC code.
+ New instructions to be accepted from touch screen : -
+ {"w", "touch screen new slider touch", slider_touch_cmd},
+ {"x", "updated slider RANGE 0 to 99", slider_touch_position_cmd}, // max two digits
+ {"y", "touch_screen slider finger lifted clear", slider_untouch_cmd},
+*/
+bool finger_on_slider = false;
+/**void slider_touch_cmd (struct parameters & a)
+*
+* Message from touch screen controller, slider touched
+*/
+void slider_touch_cmd (struct parameters & a) {
+ finger_on_slider = true;
+}
+
+/**void slider_untouch_cmd (struct parameters & a)
+*
+* Message from touch screen controller, finger taken off slider
+*/
+void slider_untouch_cmd (struct parameters & a) {
+ finger_on_slider = false;
+}
+
+/**void slider_touch_position_cmd (struct parameters & a)
+*
+* Message from touch screen controller, latest slider touch position
+*/
+void slider_touch_position_cmd (struct parameters & a) {
+}
+
+// End of New December 2019
+
/**void vi_cmd (struct parameters & a)
*
@@ -336,8 +309,8 @@
*/
void vi_cmd (struct parameters & a)
{
- setVI (a.dbl[0] / 100.0, a.dbl[1] / 100.0);
- pc.printf ("setVI from %s\r\n", a.source == SOURCE_PC ? "PC" : "Touch Screen");
+ setVI_both (a.dbl[0] / 100.0, a.dbl[1] / 100.0);
+// pc.printf ("setVI_both from %s\r\n", a.source == SOURCE_PC ? "PC" : "Touch Screen");
}
/**
@@ -370,7 +343,7 @@
*/
void kd_cmd (struct parameters & a) // kick the watchdog. Reached from TS or pc.
{
- WatchDog = WATCHDOG_RELOAD + (mode.rd(BOARD_ID) & 0x0f); // Reload watchdog timeout. Counted down @ 8Hz
+ WatchDog = WATCHDOG_RELOAD + (user_settings.rd(BOARD_ID) & 0x0f); // Reload watchdog timeout. Counted down @ 8Hz
WatchDogEnable = true; // Receipt of this command sufficient to enable watchdog
}
@@ -387,8 +360,8 @@
*/
void who_cmd (struct parameters & a) // Reachable always from pc. Only addressed board responds to TS
{
- if (a.source == SOURCE_PC || mode.rd(BOARD_ID) == a.target_unit)
- a.com->printf ("who%c\r%s", mode.rd(BOARD_ID), a.source == SOURCE_PC ? "\n" : "");
+ if (a.source == SOURCE_PC || user_settings.rd(BOARD_ID) == a.target_unit)
+ a.com->printf ("who%c\r%s", user_settings.rd(BOARD_ID), a.source == SOURCE_PC ? "\n" : "");
}
/**
@@ -396,11 +369,11 @@
*
* For test, reports to pc terminal info about radio control input channels
*/
-void rcin_pccmd (struct parameters & a)
-{
- rcin_report ();
-}
-
+//void rcin_pccmd (struct parameters & a)
+//{
+// rcin_report ();
+//}
+/*
void scmd (struct parameters & a) // filter coefficient fiddler
{
switch ((int)a.dbl[0]) {
@@ -416,10 +389,6 @@
case 4:
MotorA.sdbl[4] = MotorB.sdbl[4] = a.dbl[1];
break;
- case 5:
- MotorA.set_speed (a.dbl[1]);
- MotorB.set_speed (a.dbl[1]);
- break;
default:
pc.printf ("Wrong use of scmd %f\r\n", a.dbl[0]);
}
@@ -429,9 +398,9 @@
pc.printf ("2 %.3f\tP_gain 1.0-1000.0\r\n", MotorA.sdbl[2]);
pc.printf ("3 %.3f\tDscale 0.01-0.5\r\n", MotorA.sdbl[3]);
pc.printf ("4 %.3f\tD_gain 1.0-1000.0\r\n", MotorA.sdbl[4]);
- pc.printf ("5 Set target_speed\r\n");
+// pc.printf ("5 Set target_speed\r\n");
}
-
+*/
struct kb_command { // Commands tabulated as list of these structures as seen below
const char * cmd_word; // points to text e.g. "menu"
const char * explan; // very brief explanation or clue as to purpose of function
@@ -446,7 +415,7 @@
void menucmd (struct parameters & a)
{
if (a.respond) {
- a.com->printf("\r\n\nDual BLDC ESC type STM3 2018-20, Ver %s\r\nAt menucmd function - listing commands, source %s:-\r\n", const_version_string, a.source == SOURCE_PC ? "PC" : "TS");
+ a.com->printf("\r\n\nDual BLDC ESC type STM3 2018-20, Ver %s\r\nAt menucmd function - listing commands, source %s:-\r\n", get_version(), a.source == SOURCE_PC ? "PC" : "TS");
for(int i = 0; i < a.numof_menu_items; i++)
a.com->printf("[%s]\t\t%s\r\n", a.command_list[i].cmd_word, a.command_list[i].explan);
a.com->printf("End of List of Commands\r\n");
@@ -464,23 +433,28 @@
// ***** Broadcast commands for all STM3_ESC boards to execute. Boards NOT to send serial response *****
{"fw", "forward", fw_cmd},
{"re", "reverse", re_cmd},
- {"rb", "regen brake 0 to 99 %", rb_cmd},
+ {"rb", "regen brake 0 to 99 %", rb_cmd}, // max two digits
{"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},
+ {"v", "set motors V percent RANGE 0 to 99", v_cmd},
+ {"i", "set motors I percent RANGE 0 to 99", i_cmd},
+ {"vi", "set motors V and I percent RANGE 0 to 99", vi_cmd},
+ {"w", "touch screen new slider touch", slider_touch_cmd},
+ {"x", "updated slider RANGE 0 to 99", slider_touch_position_cmd},
+ {"y", "touch_screen slider finger lifted clear", slider_untouch_cmd},
{"kd", "kick the dog, reloads WatchDog", kd_cmd},
+ {"ssl", "set speed limit e.g. 10.7", ssl_cmd}, // NEW July 2019
+ {"sbe", "set brake effectiveness 5 to 90 percent", brake_eff_set_cmd}, // NEW May 2020
// ***** Endof Broadcast commands for all STM3_ESC boards to execute. Boards NOT to send serial response *****
// ***** Following are rx'd requests for serial response from addressed STM3_ESC only
{"?v", "Report system bus voltage", sysV_report},
{"?i", "Report motor both currents", sysI_report},
{"who", "search for connected units, e.g. 3who returs 'who3' if found", who_cmd},
-#ifdef TEMP_SENSOR_ENABLE
- {"tem", "report temperature", temperature_cmd},
-#endif
+ {"tem", "report temperature", read_temperature_cmd},
{"mph", "read loco speed miles per hour", mph_cmd},
- {"ssl", "set speed limit e.g. 10.7", ssl_cmd}, // NEW July 2019
+ {"?s", "read loco speed miles per hour", mph_cmd}, // Shorter-hand added 17th May 2020
+// {"ssl", "set speed limit e.g. 10.7", ssl_cmd}, // NEW July 2019
+// {"sbe", "set brake effectiveness 5 to 90 percent", brake_eff_set_cmd}, // NEW May 2020
// {"rvi", "read most recent values sent to pwms", rvi_cmd},
// {"rdi", "read motor currents and power voltage", rdi_cmd},
// ***** Endof
@@ -494,10 +468,6 @@
struct kb_command const pc_command_list[] = {
{"ls", "Lists available commands", menucmd},
{"?", "Lists available commands, same as ls", menucmd},
-#ifdef USING_DC_MOTORS
- {"mtypes", "report types of motors found", mt_cmd},
-#endif
- {"s","1-4, RPM and speed filter param", scmd},
{"pot", "read drivers control pot", pot_cmd},
{"fw", "forward", fw_cmd},
{"re", "reverse", re_cmd},
@@ -510,19 +480,18 @@
{"?i", "Report motor both currents", sysI_report},
{"?w", "show WatchDog timer contents", wd_report},
{"who", "search for connected units, e.g. 3who returs 'who3' if found", who_cmd},
- {"mode", "read or set params in eeprom", mode19_cmd}, // Big change Jan 2019
+ {"us", "read or set user settings in eeprom", user_settings_cmd}, // Big change Jan 2019
{"ssl", "set speed limit e.g. 10.7", ssl_cmd}, // NEW July 2019 ONLY HERE FOR TEST, normal use is from Touch Screen only.
+ {"sbe", "set brake effectiveness 5 to 90 percent", brake_eff_set_cmd}, // NEW May 2020
// {"erase", "set eeprom contents to all 0xff", erase_cmd},
-#ifdef TEMP_SENSOR_ENABLE
- {"tem", "report temperature", temperature_cmd}, // Reports -50 when sensor not fitted
-#endif
+ {"tem", "report temperature", read_temperature_cmd}, // Reports -50 when sensor not fitted
{"kd", "kick the dog, reloads WatchDog", kd_cmd},
{"ver", "Version", ver_cmd},
- {"rcin", "Report Radio Control Input stuff", rcin_pccmd},
{"rpm", "read motor pair speeds", rpm_cmd},
{"mph", "read loco speed miles per hour", mph_cmd},
- {"rvi", "read most recent values sent to pwms", rvi_cmd},
- {"rdi", "read motor currents and power voltage", rdi_cmd},
+ {"?s", "read loco speed miles per hour", mph_cmd},
+// {"rvi", "read most recent values sent to pwms", rvi_cmd},
+// {"rdi", "read motor currents and power voltage", rdi_cmd},
// {"bc", "bogie constants - wheel dia, motor pinion, wheel gear", bogie_constants_report_cmd},
// {"gbb", "get bogie bytes from eeprom and report", gbb_cmd}, // OBSOLETE, replaced by 'gbb'
{"nu", "do nothing", null_cmd},
@@ -552,8 +521,11 @@
*
* Daft check that class instantiation worked
*/
-void cli_2019::test () {
- pc.printf ("At cli2019::test, source %d len %d,\r\n", a.source, a.numof_menu_items);
+void cli_2019::flush () {
+// char ch;
+ while (a.com->readable())
+ a.com->getc();
+ //pc.printf ("At cli2019::test, source %d len %d,\r\n", a.source, a.numof_menu_items);
}
/**
@@ -567,7 +539,7 @@
* Parameters available to functions from 'parameters' struct.
*/
void cli_2019::core () {
- int ch, IAm = mode.rd(BOARD_ID);
+ int ch, IAm = user_settings.rd(BOARD_ID);
char * pEnd;//, * cmd_line_ptr;
while (a.com->readable()) {
ch = a.com->getc();
@@ -594,17 +566,21 @@
for (i = 0; i < a.numof_menu_items; i++) { // Look for input match in command list
wrdlen = strlen(commandlist[i].cmd_word);
if(strncmp(commandlist[i].cmd_word, cmdline_ptr, wrdlen) == 0 && !isalpha(cmdline_ptr[wrdlen])) { // If match found
- for (int k = 0; k < MAX_PARAMS; k++) {
+ for (int k = 0; k < MAX_CLI_PARAMS; k++) {
a.dbl[k] = 0.0;
}
a.position_in_list = i;
a.numof_dbls = 0;
+// pEnd = cmdline + clindex; // does indeed point to null terminator
pEnd = cmdline_ptr + wrdlen;
- while (*pEnd) { // Assemble all numerics as doubles
+// while (*pEnd) { // Assemble all numerics as doubles
+ while (*pEnd && a.numof_dbls < MAX_CLI_PARAMS) { // Assemble all numerics as doubles
a.dbl[a.numof_dbls++] = strtod (pEnd, &pEnd);
- while (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd) {
+ while (*pEnd && (pEnd < cmdline + clindex) && *pEnd && !isdigit(*pEnd) && ('.' != *pEnd) && ('-' != *pEnd) && ('+' != *pEnd)) { // Can crash cli here with e.g. 'ls -l'
pEnd++;
- }
+ } // problem occurs with input such as "- ", or "-a", seemingly anything dodgy following a '-' or a '+'
+ if (((*pEnd == '-') || (*pEnd == '+')) &&(!isdigit(*(pEnd+1))) && ('.' !=*(pEnd+1)))
+ pEnd = cmdline + clindex; // fixed by aborting remainder of line
}
a.respond = a.resp_always;
if (((a.target_unit == BROADCAST) && (IAm == '0')) || (IAm == a.target_unit))