Revision 4:7620d21baef3, committed 2015-08-16

Comitter:

Mr_What

Date:

Sun Aug 16 22:46:25 2015 +0000

Parent:

3:502f90649834

Commit message:

seems to be running from app with reduced diagnostics

Changed in this revision

diff -r 502f90649834 -r 7620d21baef3 ASerial.h
--- a/ASerial.h	Thu Aug 13 17:50:28 2015 +0000
+++ b/ASerial.h	Sun Aug 16 22:46:25 2015 +0000
@@ -13,7 +13,7 @@
 #define EOLN "\r\n"
 
 // singleton serial command byte buffer
-#define CMDBUFLEN 16
+#define CMDBUFLEN 64
 int cbuf[CMDBUFLEN];
 static int bufIn=0;
 static int bufOut=0;
@@ -27,9 +27,9 @@
     //              decrements before bufIn, one hopes that the glitch will not be problematic.
     //       indication of char in the buffer remains correce, and one hopes that by the next
     //       time they check, both counts are accurate.
-    if (bufIn > 1001*CMDBUFLEN) {
-        bufOut -= 1000*CMDBUFLEN;
-        bufIn  -= 1000*CMDBUFLEN;
+    if (bufIn > 401*CMDBUFLEN) {
+        bufOut -= 400*CMDBUFLEN;
+        bufIn  -= 400*CMDBUFLEN;
     }    
 }
 
@@ -70,12 +70,13 @@
         if(bufOut < bufIn) {
             int c = cbuf[bufOut % CMDBUFLEN];
             bufOut++;
-            DiagSerial.printf("\r\n\t%d got %d(%c)\r\n",bufOut-1,c,c);
+            //DiagSerial.printf("\r\n\t%d got %d(%c)\r\n",bufOut-1,c,c);
             
             
             int n = bufIn-bufOut;
             if ((n > CMDBUFLEN-3) && (n < 800*CMDBUFLEN)) {
-                _serial->printf("\t\r\tCommand Buffer Overflow Warning!\r\n");   
+                DiagSerial.printf("\t\r\tCommand Buffer Overflow RESET!\r\n");
+                bufIn=bufOut=0;   
             }
             return(c);
         } else { return(-1); }

diff -r 502f90649834 -r 7620d21baef3 Command.h
--- a/Command.h	Thu Aug 13 17:50:28 2015 +0000
+++ b/Command.h	Sun Aug 16 22:46:25 2015 +0000
@@ -31,7 +31,7 @@
     int i = cSerial.cread();
     if (i < 0) return(false);  // no command yet
     char c = i;
-static int nc=0;DiagSerial.printf("%d got %d(%c)\r\n",nc++,i,i);
+//static int nc=0;DiagSerial.printf("%d got %d(%c)\r\n",nc++,i,i);
 //Serial.print('[');Serial.print(i);Serial.print(',');Serial.print(c);Serial.println(']');
     switch(c)
       {

diff -r 502f90649834 -r 7620d21baef3 MotorDrive298.h
--- a/MotorDrive298.h	Thu Aug 13 17:50:28 2015 +0000
+++ b/MotorDrive298.h	Sun Aug 16 22:46:25 2015 +0000
@@ -117,10 +117,10 @@
   MotorDrive (PinName namEN, PinName namIN1, PinName namIN2, PinName namCS) :
        IN1(namIN1),
        IN2(namIN2),
+#ifdef DBH1
+       CS(namCS),
+#endif
        EN(namEN)
-#ifdef DBH1
-       ,CS(namCS)
-#endif
   {
       EN.write(0.0f);
       IN2.write(0.0f);
@@ -153,10 +153,10 @@
     //BYTE EN;        // enable pin
     //SHORT _speed;     // current speed
     //SHORT _speedCmd;  // commanded speed
-    CmdSerial.printf("Decel %d ms from ful speed\r\n",_decel);
+    DiagSerial.printf("Decel %d ms from ful speed\r\n",_decel);
     //BYTE _mode;
     //unsigned long _doneTime;  // time when mode automatically transitions
-    CmdSerial.printf("Deadman Timeout %d ms\r\n",_deadTime);
+    DiagSerial.printf("Deadman Timeout %d ms\r\n",_deadTime);
   //SHORT _maxPWM;      // clip PWM commands to this magnitude
   //SHORT _startupTime; // ms of full-power pulse to start from dead stop
   //SHORT _stopTime;    // ms to lock-out commands after emergency stop
@@ -179,7 +179,7 @@
 
   virtual void emergencyStop()
   {
-    CmdSerial.puts("Emergency ");
+    DiagSerial.puts("Emergency ");
     _msgCount = 11;  // turn on diagnostics for a few commands
     stop();
     _speedCmd=0;
@@ -259,7 +259,7 @@
             _doneTime = t + _deadTime;
             setReverse(_mode == MOTOR_REV);  // make sure direction is correct
             EN.write(getPWM(_speedCmd));           // analogWrite(Pin.EN,getPWM(_speedCmd));
-            if(_msgCount>0){_msgCount--;CmdSerial.printf("Started %.3f\r\n",_speedCmd);}
+            if(_msgCount>0){_msgCount--;DiagSerial.printf("Started %.3f\r\n",_speedCmd);}
           }
         return;
       }

diff -r 502f90649834 -r 7620d21baef3 main.cpp
--- a/main.cpp	Thu Aug 13 17:50:28 2015 +0000
+++ b/main.cpp	Sun Aug 16 22:46:25 2015 +0000
@@ -97,7 +97,7 @@
   float cr, cl;
   cr = MotR.getCurrent();
   cl = MotL.getCurrent();
-  CmdSerial.printf("\tCurrent:  left=%.3f  right=%.3f\r\n",cl,cr);
+  DiagSerial.printf("\tCurrent:  left=%.3f  right=%.3f\r\n",cl,cr);
 }
 
 //void dumpSerialChar()
@@ -119,10 +119,12 @@
 
 int main()
 {
+    DiagSerial.baud(115200);   DiagSerial.puts("TankDrive Diagnostics\r");
+
+    // have been getting lock-ups when running app.  could 57600 be too fast for BT UART on K64F?
     CmdSerial.baud(57600);
     CmdSerial.puts("\r\nTankDrive for K64F with Bluetooth\r\n\n");
     CmdSerial.attach(&gotChar);  // singleton serial character buffer
-    DiagSerial.baud(115200);   DiagSerial.puts("TankDrive Diagnostics\r");
     
     // Set motor drive parameters
     initMotorDrive(MotL);