Diff: main.cpp

Revision:

55:fee62d8fd8fb

Parent:

54:3e056b097c52

Child:

56:eaf75bcad361

--- a/main.cpp	Tue Mar 03 00:53:49 2020 +0000
+++ b/main.cpp	Fri Jun 26 01:26:53 2020 +0000
@@ -13,16 +13,11 @@
 #define VERSION_NUM "2.0.0"
 
 // this sets up the 2 IO modes of the UART connector (UART and Step/Dir)
-#define IO_MODE_NONE 0
-#define IO_MODE_SERIAL 1
-#define IO_MODE_STEP_DIR 2
+
 #define UART_TX PA_2 // define the pins on the connector
 #define UART_RX PA_3 // define the pins on the connector
 #define UART_BAUD 230400
-int io_mode = IO_MODE_NONE; // the default mode is serial
-
-float __float_reg[64];                                                          // Floats stored in flash
-int __int_reg[256];                                                             // Ints stored in flash.  Includes position sensor calibration lookup table                                                                                
+                                                           // Ints stored in flash.  Includes position sensor calibration lookup table                                                                                
 
 #include "mbed.h"
 #include "PositionSensor.h"
@@ -40,7 +35,12 @@
 #include "PreferenceWriter.h"
 #include "CAN_com.h"
 #include "DRV.h"
- 
+#include "mode.h"
+
+int io_mode = IO_MODE_NONE; // the default mode is serial
+
+float __float_reg[64];                                                          // Floats stored in flash
+int __int_reg[256];  
 PreferenceWriter prefs(6);
 
 GPIOStruct gpio;
@@ -107,13 +107,13 @@
     
 }
 
+/*
 // Checks to see if in Serial mode before printing
 void cond_printf(const char *format, ...)
 {    
     if (io_mode != IO_MODE_SERIAL) {
         return;
     }
-    
     char loc_buf[64];
     char * temp = loc_buf;
     va_list arg;
@@ -136,6 +136,8 @@
     }    
 }
 
+*/
+
 // Interupt function for receiving step signal
 void stepInt() {
     if (dir) {
@@ -147,7 +149,7 @@
 
 // CAN message received
 void onMsgReceived() {
-    //msgAvailable = true;
+    //msgAvailable = true; //0A FF FF FF FF FF 
     //cond_printf("%df\n\r", rxMsg.id);
     can.read(rxMsg);  
     if((rxMsg.id == CAN_ID)){
@@ -187,8 +189,8 @@
         }
         else if(state == MOTOR_MODE){
             unpack_cmd(rxMsg, &controller);
-            }
-            
+        }
+        cond_printf("CAN BUS:  %f ,%f, %f\n\r", rxMsg.data[0], rxMsg.data[1], rxMsg.data[2]);    
         pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
         can.write(txMsg);
         }    
@@ -471,16 +473,20 @@
                     controller.i_d_ref = 0;
                     break;
                 case 'f': // move forward                    
-                    controller.p_des += 0.02f;
+                    controller.p_des += 0.2f;
                     cond_printf("p_des: %.3f\r\n", controller.p_des);
                     break;
-                case 'r': // move back
-                    controller.p_des -= 0.02f;
+                case 'b': // move back
+                    controller.p_des -= 0.2f;
                     cond_printf("p_des: %.3f\r\n", controller.p_des);
                     break;
                 case 'p': // show posiiton                                                               
                     cond_printf("Pos: %.3f Vel: %.3f Cur: %.3f\r\n", controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
                     break;    
+                case 's': // show posiiton                                                               
+                    pack_reply(&txMsg, 0, 0 ,1);
+                    can.write(txMsg);
+                    break;                        
                 }
                 
             }
@@ -551,7 +557,7 @@
     init_controller_params(&controller);
 
     
-    set_io_mode(IO_MODE_SERIAL);
+    set_io_mode(IO_MODE_STEP_DIR);
     wait_us(100);
     cond_printf("\n\r\n\r Hobby King Cheetah\n\r\n\r");
     wait_us(10);