Jon Freeman
Electric Locomotive control system. Touch screen driver control, includes regenerative braking, drives 4 brushless motors, displays speed MPH, system volts and power
Dependencies: BSP_DISCO_F746NG FastPWM LCD_DISCO_F746NG SD_DISCO_F746NG TS_DISCO_F746NG mbed
Diff: cli_nortos.cpp
- Revision:
- 0:23cc72b18e74
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/cli_nortos.cpp Sun Nov 12 06:26:29 2017 +0000
@@ -0,0 +1,207 @@
+#include "mbed.h"
+#include <cctype>
+using namespace std;
+enum {FWD, REV} ;
+//typedef float fl_typ; //
+typedef double fl_typ; //
+struct singleGparam {
+ float flt;
+ unsigned long ul;
+ int i, c;
+ bool changed;
+} ;
+
+// Cleaned up version for use without RTOS
+extern Serial pc;
+
+void setpwm_cmd (struct singleGparam * a) {
+ //a[1].i // first param
+ pc.printf ("First %d, second %d\r\n", a[1].i, a[2].i);
+//?? set_pwm (a[1].i);
+}
+
+extern int SD_card_erase_all (void) ; // assumes sd card is 4 Gbyte, erases 4 Gbyte.
+void erase_SD_cmd (struct singleGparam * a) {
+ SD_card_erase_all () ;
+}
+
+void setvref_cmd (struct singleGparam * a) {
+ //a[1].i // first param
+ pc.printf ("First %d, second %d\r\n", a[1].i, a[2].i);
+//?? set_I_limit (a[1].i);
+}
+
+/*
+void setmotpwm_cmd (struct singleGparam * a) {
+ //a[1].i // first param
+ pc.printf ("First %d, second %d\r\n", a[1].i, a[2].i);
+// set_motor_pwm (a[1].i, a[2].i);
+}
+//extern void set_fwd_rev (int direction) ;
+void set_fwd_cmd (struct singleGparam * a) {
+// set_fwd_rev (FWD);
+}
+void set_rev_cmd (struct singleGparam * a) {
+// set_fwd_rev (REV);
+}
+
+void set_speed_cmd (struct singleGparam * a) {
+ pc.printf ("Speed entered %d\r\n", a[1].i);
+}
+
+void read_current_cmd (struct singleGparam * a) {
+ pc.printf ("Read current\r\n");
+}
+*/
+void menucmd (struct singleGparam * a);
+
+struct kb_command {
+ const char * cmd_word; // points to text e.g. "menu"
+ const char * explan;
+ void (*f)(struct singleGparam *); // points to function
+} ;
+
+struct kb_command const command_list[] = {
+ {"menu", "Lists available commands, same as ls", menucmd},
+ {"ls", "Lists available commands, same as menu", menucmd},
+ {"pw", "set pwm 0 to 999", setpwm_cmd},
+ {"vref", "set vref 0 to 999", setvref_cmd},
+ {"sd erase", "set motors in one direction", erase_SD_cmd},
+// {"rev", "set motors in tother direction", set_rev_cmd},
+// {"s", "set speed", set_speed_cmd},
+// {"i", "Read motor currents", read_current_cmd},
+};
+
+const int numof_menu_items = sizeof(command_list) / sizeof(kb_command);
+void menucmd (struct singleGparam * a)
+{
+ pc.printf("\r\n\nLoco_TS_2017\r\nAt menucmd function - listing commands:-\r\n");
+ for(int i = 0; i < numof_menu_items; i++)
+ pc.printf("[%s]\t\t%s\r\n", command_list[i].cmd_word, command_list[i].explan);
+ pc.printf("End of List of Commands\r\n");
+}
+
+
+void grain_clr (struct singleGparam & g) {
+ g.flt = 0.0;
+ g.ul = 0L;
+ g.i = g.c = 0;
+ g.changed = false;
+}
+
+//void command_line_interpreter (void const * name)
+void command_line_interpreter ()
+{
+const int MAX_PARAMS = 10, MAX_CMD_LEN = 120;
+static char cmd_line[MAX_CMD_LEN + 4];
+static struct singleGparam params[MAX_PARAMS + 1];
+static int cl_index = 0, lastalpha = 0;
+static fl_typ fracmul;
+int ch;
+////No RTOS while (true) {
+ while (pc.readable()) {
+ ch = tolower(pc.getc());
+ // pc.printf("%c", ch);
+ if (cl_index > MAX_CMD_LEN) { // trap out stupidly long command lines
+ pc.printf ("Error!! Stupidly long cmd line\r\n");
+ cl_index = 0;
+ }
+ if (ch == '\r' || ch >= ' ' && ch <= 'z')
+ pc.printf("%c", ch);
+ else { // Using <Ctrl>+ 'F', 'B' for Y, 'L', 'R' for X, 'U', 'D' for Z
+ cl_index = 0; // 6 2 12 18 21 4
+ pc.printf("[%d]", ch);
+ //nudger (ch); // was used on cnc to nudge axes a tad
+ }
+ 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
+ cmd_line[cl_index] = 0; // null terminate command string
+ if(cl_index) { // If have got some chars to lookup
+ int i, wrdlen;
+ 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, wrdlen) == 0
+ && !isalpha(cmd_line[wrdlen])) { // If match found
+ bool negflag = false;
+ int state = 0, paramindex;
+ // pc.printf("Found match for word [%s]\r\n", kbc[i].wrd);
+ for(paramindex = 0; paramindex < MAX_PARAMS; paramindex++)
+ grain_clr (params[paramindex]);
+ paramindex = 0;
+ // read any parameters from command line here
+ // Using parameters[0] as count of parameters to follow
+ while (wrdlen <= cl_index) {
+ ch = cmd_line[wrdlen++];
+ if(isalpha(ch)) lastalpha = ch;
+ if(ch == '-') negflag = true;
+ if(ch == '+') negflag = false;
+ switch (state) {
+ case 0: // looking for start of a number string
+ if(isdigit(ch)) { // found first digit of a number string
+ paramindex++;
+ if(paramindex > MAX_PARAMS) {
+ wrdlen = cl_index; // exit condition
+ pc.printf("WARNING - too many parameters, ignoring extra\r\n");
+ } else {
+ params[paramindex].i = ch - '0';
+ params[paramindex].c = lastalpha;
+ state = 1; // Found first digit char of number string
+ }
+ }
+ break;
+ case 1: // looking for end of a number string
+ if(isdigit(ch)) { // accumulating integer from string
+ params[paramindex].i *= 10;
+ params[paramindex].i += ch - '0';
+ } else { // found non-digit terminating number
+ if (ch == '.') {
+ state = 2;
+ fracmul = 0.1;
+ params[paramindex].flt = (fl_typ)params[paramindex].i;
+ } else {
+ params[0].i++; // count of validated parameters
+ state = 0; // Have read past last digit of number string
+ if(negflag) {
+ params[paramindex].i = -params[paramindex].i;
+ negflag = false;
+ }
+ params[paramindex].flt = (fl_typ)params[paramindex].i;
+ }
+ }
+ break;
+ case 2: // looking for fractional part of double
+ if(isdigit(ch)) { // accumulating fractional part from string
+ params[paramindex].flt += (fl_typ)((ch - '0') * fracmul);
+ fracmul /= 10.0;
+ } else { // found non-digit terminating double precision number
+ params[0].i++; // count of validated parameters
+ state = 0; // Have read past last digit of number string
+ if(negflag) {
+ params[paramindex].i = -params[paramindex].i;
+ params[paramindex].flt = -params[paramindex].flt;
+ negflag = false;
+ }
+ }
+ break;
+ default:
+ break;
+ } // end of switch state
+ } // end of while wrdlen < cl_index
+ // pc.printf("Found match to [%s] with %d parameters\r\n", command_list_ptr[i].wrd, paramindex);
+ command_list[i].f(params); // execute command
+ i = numof_menu_items + 1; // to exit for loop
+ }
+ } // End of for numof_menu_items
+ if(i == numof_menu_items)
+ pc.printf("No Match Found for CMD [%s]\r\n", cmd_line);
+ } // End of If have got some chars to lookup
+ pc.printf("\r\n>");
+ cl_index = lastalpha = 0;
+ } // End of else key was CR, may or may not be command to lookup
+ } // End of while (pc.readable())
+//No RTOS osThreadYield(); // Using RTOS on this project
+// }
+}
+
+