Diff: cli_BLS_nortos.cpp

Revision:

6:f289a49c1eae

Child:

7:6deaeace9a3e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/cli_BLS_nortos.cpp	Tue Jun 05 07:19:39 2018 +0000
@@ -0,0 +1,334 @@
+//  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)  ;   //  called from cli to set fw, re, rb, hb
+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
+    {'1', '9', '0', "Alternative ID ascii '1' to '9'"}, //  defaults to '0' before eerom setup for first time
+    {50, 250, 98,  "Wheel diameter mm"},   //  New 01/06/2018
+    {10, 250, 27,  "Motor pinion"},   //  New 01/06/2018
+    {50, 250, 85,  "Wheel gear"},   //  New 01/06/2018
+//            last;
+}   ;
+*/
+extern  char mode_bytes[];
+
+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 < numof_eeprom_options; 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 != numof_eeprom_options) {
+                com->printf ("params required = %d, you offered %d\r\n", numof_eeprom_options, 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 < numof_eeprom_options; 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, numof_eeprom_options);
+                memcpy  (mode_bytes,t,32);
+                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  uint32_t    last_temp_count;
+void    temperature_cmd  (struct parameters & a)  {
+    if  (a.respond) {
+        com->printf ("tem%c %d\r\n", mode_bytes[ID], (last_temp_count / 16) - 50);
+    }
+}
+
+void    bogie_constants_report_cmd  (struct parameters & a)  {
+    if  (a.respond) {
+        com->printf ("bc%c %d %d %d\r\n", mode_bytes[ID], mode_bytes[WHEELDIA], mode_bytes[MOTPIN], mode_bytes[WHEELGEAR]);
+    }
+}
+
+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 ("who%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},
+    {"tem", "report temperature", temperature_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},
+    {"bc", "bogie constants - wheel dia, motor pinion, wheel gear", bogie_constants_report_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
+//    }
+}
+
+