Jon Freeman / Mbed 2 deprecated Brute_TS_Controller_2018_11

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Dependencies:   TS_DISCO_F746NG mbed Servo LCD_DISCO_F746NG BSP_DISCO_F746NG QSPI_DISCO_F746NG AsyncSerial FastPWM

cli_nortos.cpp@4:67478861c670, 2018-04-09 (annotated)

Committer:
JonFreeman
Date:
Mon Apr 09 07:51:37 2018 +0000
Revision:
4:67478861c670
Child:
5:21a8ac83142c
First edit of code from 2017 for new Twin BLDC controller boards

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 4:67478861c670 1 #include "mbed.h"
JonFreeman 4:67478861c670 2 //#include "BufferedSerial.h"
JonFreeman 4:67478861c670 3 #include <cctype>
JonFreeman 4:67478861c670 4 #include "Electric_Loco.h"
JonFreeman 4:67478861c670 5 using namespace std;
JonFreeman 4:67478861c670 6
JonFreeman 4:67478861c670 7 //extern int I_Am () ; // Returns boards id number as ASCII char '0', '1' etc. Code for Broadcast = '\r'
JonFreeman 4:67478861c670 8 //typedef double fl_typ; //
JonFreeman 4:67478861c670 9
JonFreeman 4:67478861c670 10 const int BROADCAST = '\r';
JonFreeman 4:67478861c670 11 const int MAX_PARAMS = 20;
JonFreeman 4:67478861c670 12 struct parameters {
JonFreeman 4:67478861c670 13 // int32_t times[numof_menu_items];
JonFreeman 4:67478861c670 14 // int32_t times[50];
JonFreeman 4:67478861c670 15 int32_t position_in_list, last_time, numof_dbls, target_unit;
JonFreeman 4:67478861c670 16 double dbl[MAX_PARAMS];
JonFreeman 4:67478861c670 17 bool respond;
JonFreeman 4:67478861c670 18 } ;
JonFreeman 4:67478861c670 19
JonFreeman 4:67478861c670 20 // WithOUT RTOS
JonFreeman 4:67478861c670 21 extern Serial pc;
JonFreeman 4:67478861c670 22 //extern void set_I_limit (double p) ; // Sets max motor current
JonFreeman 4:67478861c670 23 //extern void set_V_limit (double p) ; // Sets max motor voltage
JonFreeman 4:67478861c670 24 extern void send_test () ;
JonFreeman 4:67478861c670 25
JonFreeman 4:67478861c670 26 void null_cmd (struct parameters & a) {
JonFreeman 4:67478861c670 27 pc.printf ("At null_cmd, parameters : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]);
JonFreeman 4:67478861c670 28 }
JonFreeman 4:67478861c670 29
JonFreeman 4:67478861c670 30
JonFreeman 4:67478861c670 31 /*struct motorpairoptions { // This to be user settable in eeprom, 32 bytes
JonFreeman 4:67478861c670 32 uint8_t MotA_dir, // 0 or 1
JonFreeman 4:67478861c670 33 MotB_dir, // 0 or 1
JonFreeman 4:67478861c670 34 gang, // 0 for separate control (robot mode), 1 for ganged loco bogie mode
JonFreeman 4:67478861c670 35 serv1, // 0, 1, 2 = Not used, Input, Output
JonFreeman 4:67478861c670 36 serv2, // 0, 1, 2 = Not used, Input, Output
JonFreeman 4:67478861c670 37 cmd_source, // 0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2
JonFreeman 4:67478861c670 38 last;
JonFreeman 4:67478861c670 39 } ;
JonFreeman 4:67478861c670 40 */
JonFreeman 4:67478861c670 41 /*struct optpar {
JonFreeman 4:67478861c670 42 int min, max, def;
JonFreeman 4:67478861c670 43 const char * t;
JonFreeman 4:67478861c670 44 } ;
JonFreeman 4:67478861c670 45 struct optpar const option_list[] = {
JonFreeman 4:67478861c670 46 {0, 1, 1, "MotorA direction 0 or 1"},
JonFreeman 4:67478861c670 47 {0, 1, 0, "MotorB direction 0 or 1"},
JonFreeman 4:67478861c670 48 {0, 1, 1, "gang 0 for separate control (robot mode), 1 for ganged loco bogie mode"},
JonFreeman 4:67478861c670 49 {0, 2, 2, "Servo1 0, 1, 2 = Not used, Input, Output"},
JonFreeman 4:67478861c670 50 {0, 2, 2, "Servo2 0, 1, 2 = Not used, Input, Output"},
JonFreeman 4:67478861c670 51 {1, 5, 2, "Command source 0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2"},
JonFreeman 4:67478861c670 52 {0, 9, 0, "Alternative ID 0 to 9"},
JonFreeman 4:67478861c670 53 } ;
JonFreeman 4:67478861c670 54 */
JonFreeman 4:67478861c670 55 void menucmd (struct parameters & a);
JonFreeman 4:67478861c670 56
JonFreeman 4:67478861c670 57 void kd_cmd (struct parameters & a) // kick the watchdog
JonFreeman 4:67478861c670 58 {
JonFreeman 4:67478861c670 59 }
JonFreeman 4:67478861c670 60
JonFreeman 4:67478861c670 61
JonFreeman 4:67478861c670 62 /*void who_cmd (struct parameters & a)
JonFreeman 4:67478861c670 63 {
JonFreeman 4:67478861c670 64 int i = I_Am ();
JonFreeman 4:67478861c670 65 if (I_Am() == a.target_unit)
JonFreeman 4:67478861c670 66 pc.printf ("Hi there, I am %c\r\n", a.target_unit);
JonFreeman 4:67478861c670 67 }*/
JonFreeman 4:67478861c670 68
JonFreeman 4:67478861c670 69 struct kb_command {
JonFreeman 4:67478861c670 70 const char * cmd_word; // points to text e.g. "menu"
JonFreeman 4:67478861c670 71 const char * explan;
JonFreeman 4:67478861c670 72 void (*f)(struct parameters &); // points to function
JonFreeman 4:67478861c670 73 } ;
JonFreeman 4:67478861c670 74
JonFreeman 4:67478861c670 75 struct kb_command const command_list[] = {
JonFreeman 4:67478861c670 76 {"ls", "Lists available commands", menucmd},
JonFreeman 4:67478861c670 77 {"?", "Lists available commands, same as ls", menucmd},
JonFreeman 4:67478861c670 78 // {"s", "seredgetest", s_cmd},
JonFreeman 4:67478861c670 79 // {"fw", "forward", fw_cmd},
JonFreeman 4:67478861c670 80 // {"re", "reverse", re_cmd},
JonFreeman 4:67478861c670 81 // {"rb", "regen brake 0 to 99 %", rb_cmd},
JonFreeman 4:67478861c670 82 // {"hb", "hand brake", hb_cmd},
JonFreeman 4:67478861c670 83 // {"v", "set motors V percent RANGE 0 to 100", v_cmd},
JonFreeman 4:67478861c670 84 // {"i", "set motors I percent RANGE 0 to 100", i_cmd},
JonFreeman 4:67478861c670 85 // {"vi", "set motors V and I percent RANGE 0 to 100", vi_cmd},
JonFreeman 4:67478861c670 86 // {"who", "search for connected units, e.g. 3who returs 'Hi there' if found", who_cmd},
JonFreeman 4:67478861c670 87 // {"mode", "read or set params in eeprom", mode_cmd},
JonFreeman 4:67478861c670 88 // {"erase", "set eeprom contents to all 0xff", erase_cmd},
JonFreeman 4:67478861c670 89 {"kd", "kick the dog", kd_cmd},
JonFreeman 4:67478861c670 90 {"nu", "do nothing", null_cmd},
JonFreeman 4:67478861c670 91 };
JonFreeman 4:67478861c670 92
JonFreeman 4:67478861c670 93 const int numof_menu_items = sizeof(command_list) / sizeof(kb_command);
JonFreeman 4:67478861c670 94 void menucmd (struct parameters & a)
JonFreeman 4:67478861c670 95 {
JonFreeman 4:67478861c670 96 pc.printf("\r\n\nDouble Brushless Motor Driver 2018\r\nAt menucmd function - listing commands:-\r\n");
JonFreeman 4:67478861c670 97 for(int i = 0; i < numof_menu_items; i++)
JonFreeman 4:67478861c670 98 pc.printf("[%s]\t\t%s\r\n", command_list[i].cmd_word, command_list[i].explan);
JonFreeman 4:67478861c670 99 pc.printf("End of List of Commands\r\n");
JonFreeman 4:67478861c670 100 }
JonFreeman 4:67478861c670 101
JonFreeman 4:67478861c670 102
JonFreeman 4:67478861c670 103 /*
JonFreeman 4:67478861c670 104 New - March 2018
JonFreeman 4:67478861c670 105 Using opto isolated serial port, paralleled up using same pair to multiple boards running this code.
JonFreeman 4:67478861c670 106 New feature - commands have optional prefix digit 0-9 indicating which unit message is addressed to.
JonFreeman 4:67478861c670 107 Commands without prefix digit - broadcast to all units, none to respond.
JonFreeman 4:67478861c670 108 Only units recognising its address from prefix digit may respond. This avoids bus contention.
JonFreeman 4:67478861c670 109 But for BROADCAST commands, '0' may respond on behalf of the group
JonFreeman 4:67478861c670 110 */
JonFreeman 4:67478861c670 111 //void command_line_interpreter (void const *argument)
JonFreeman 4:67478861c670 112 void command_line_interpreter ()
JonFreeman 4:67478861c670 113 {
JonFreeman 4:67478861c670 114 const int MAX_CMD_LEN = 120;
JonFreeman 4:67478861c670 115 static char cmd_line[MAX_CMD_LEN + 4];
JonFreeman 4:67478861c670 116 static int cl_index = 0;
JonFreeman 4:67478861c670 117 int ch;
JonFreeman 4:67478861c670 118 char * pEnd, * cmd_line_ptr;
JonFreeman 4:67478861c670 119 static struct parameters param_block ;
JonFreeman 4:67478861c670 120 // com = &com2;
JonFreeman 4:67478861c670 121 // while (pc.readable()) {
JonFreeman 4:67478861c670 122 while (pc.readable()) {
JonFreeman 4:67478861c670 123 ch = tolower(pc.getc());
JonFreeman 4:67478861c670 124 if (cl_index > MAX_CMD_LEN) { // trap out stupidly long command lines
JonFreeman 4:67478861c670 125 pc.printf ("Error!! Stupidly long cmd line\r\n");
JonFreeman 4:67478861c670 126 cl_index = 0;
JonFreeman 4:67478861c670 127 }
JonFreeman 4:67478861c670 128 if(ch != '\r') // was this the 'Enter' key?
JonFreeman 4:67478861c670 129 cmd_line[cl_index++] = ch; // added char to command being assembled
JonFreeman 4:67478861c670 130 else { // key was CR, may or may not be command to lookup
JonFreeman 4:67478861c670 131 param_block.target_unit = BROADCAST; // Broadcast
JonFreeman 4:67478861c670 132 cmd_line_ptr = cmd_line;
JonFreeman 4:67478861c670 133 cmd_line[cl_index] = 0; // null terminate command string
JonFreeman 4:67478861c670 134 if(cl_index) { // If have got some chars to lookup
JonFreeman 4:67478861c670 135 int i, wrdlen;
JonFreeman 4:67478861c670 136 if (isdigit(cmd_line[0])) { // Look for command with prefix digit
JonFreeman 4:67478861c670 137 cmd_line_ptr++; // point past identified digit prefix
JonFreeman 4:67478861c670 138 param_block.target_unit = cmd_line[0]; // '0' to '9'
JonFreeman 4:67478861c670 139 //pc.printf ("Got prefix %c\r\n", cmd_line[0]);
JonFreeman 4:67478861c670 140 }
JonFreeman 4:67478861c670 141 for (i = 0; i < numof_menu_items; i++) { // Look for input match in command list
JonFreeman 4:67478861c670 142 wrdlen = strlen(command_list[i].cmd_word);
JonFreeman 4:67478861c670 143 if(strncmp(command_list[i].cmd_word, cmd_line_ptr, wrdlen) == 0 && !isalpha(cmd_line_ptr[wrdlen])) { // If match found
JonFreeman 4:67478861c670 144 for (int k = 0; k < MAX_PARAMS; k++) {
JonFreeman 4:67478861c670 145 param_block.dbl[k] = 0.0;
JonFreeman 4:67478861c670 146 }
JonFreeman 4:67478861c670 147 param_block.position_in_list = i;
JonFreeman 4:67478861c670 148 param_block.last_time = clock ();
JonFreeman 4:67478861c670 149 param_block.numof_dbls = 0;
JonFreeman 4:67478861c670 150 pEnd = cmd_line_ptr + wrdlen;
JonFreeman 4:67478861c670 151 while (*pEnd) { // Assemble all numerics as doubles
JonFreeman 4:67478861c670 152 param_block.dbl[param_block.numof_dbls++] = strtod (pEnd, &pEnd);
JonFreeman 4:67478861c670 153 while (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd) {
JonFreeman 4:67478861c670 154 pEnd++;
JonFreeman 4:67478861c670 155 }
JonFreeman 4:67478861c670 156 }
JonFreeman 4:67478861c670 157 //pc.printf ("\r\n"); // Not allowed as many may output this.
JonFreeman 4:67478861c670 158 //for (int k = 0; k < param_block.numof_dbls; k++)
JonFreeman 4:67478861c670 159 // pc.printf ("Read %.3f\r\n", param_block.dbl[k]);
JonFreeman 4:67478861c670 160 // param_block.times[i] = clock();
JonFreeman 4:67478861c670 161 // if ((param_block.target_unit == BROADCAST) && (I_Am() == '0'))
JonFreeman 4:67478861c670 162 // param_block.respond = true;
JonFreeman 4:67478861c670 163 command_list[i].f(param_block); // execute command
JonFreeman 4:67478861c670 164 i = numof_menu_items + 1; // to exit for loop
JonFreeman 4:67478861c670 165 } // end of match found
JonFreeman 4:67478861c670 166 } // End of for numof_menu_items
JonFreeman 4:67478861c670 167 if(i == numof_menu_items)
JonFreeman 4:67478861c670 168 pc.printf("No Match Found for CMD [%s]\r\n", cmd_line);
JonFreeman 4:67478861c670 169 } // End of If have got some chars to lookup
JonFreeman 4:67478861c670 170 //pc.printf("\r\n>");
JonFreeman 4:67478861c670 171 cl_index = 0;
JonFreeman 4:67478861c670 172 } // End of else key was CR, may or may not be command to lookup
JonFreeman 4:67478861c670 173 } // End of while (pc.readable())
JonFreeman 4:67478861c670 174 // Thread::wait(20); // Using RTOS on this project
JonFreeman 4:67478861c670 175 // }
JonFreeman 4:67478861c670 176 }
JonFreeman 4:67478861c670 177
JonFreeman 4:67478861c670 178