Bayley Wang / Mbed 2 deprecated flash_configuration

flash based config testing

Dependencies:   mbed

CommandProcessor/cmd_set_get.cpp@3:82c00c8e2cb4, 2017-03-07 (annotated)

Committer:
bwang
Date:
Tue Mar 07 08:06:39 2017 +0000
Revision:
3:82c00c8e2cb4
lot's more commands

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 3:82c00c8e2cb4 1 #include "mbed.h"
bwang 3:82c00c8e2cb4 2 #include "CommandProcessor.h"
bwang 3:82c00c8e2cb4 3 #include "PreferenceWriter.h"
bwang 3:82c00c8e2cb4 4 #include "globals.h"
bwang 3:82c00c8e2cb4 5
bwang 3:82c00c8e2cb4 6 #include "config.h"
bwang 3:82c00c8e2cb4 7 #include "config_driving.h"
bwang 3:82c00c8e2cb4 8 #include "config_inverter.h"
bwang 3:82c00c8e2cb4 9 #include "config_logging.h"
bwang 3:82c00c8e2cb4 10 #include "config_loop.h"
bwang 3:82c00c8e2cb4 11 #include "config_motor.h"
bwang 3:82c00c8e2cb4 12 #include "config_pins.h"
bwang 3:82c00c8e2cb4 13 #include "config_table.h"
bwang 3:82c00c8e2cb4 14
bwang 3:82c00c8e2cb4 15 void cmd_ls(Serial *pc) {
bwang 3:82c00c8e2cb4 16 DPRINT(TORQUE_MODE);
bwang 3:82c00c8e2cb4 17 FPRINT(MAX_TQPCT_PLUS);
bwang 3:82c00c8e2cb4 18 FPRINT(MAX_TQPCT_MINUS);
bwang 3:82c00c8e2cb4 19 FPRINT(TORQUE_MAX);
bwang 3:82c00c8e2cb4 20 FPRINT(W_MAX);
bwang 3:82c00c8e2cb4 21 FPRINT(BUS_VOLTAGE);
bwang 3:82c00c8e2cb4 22 FPRINT(F_SW);
bwang 3:82c00c8e2cb4 23 FPRINT(K_LOOP_D);
bwang 3:82c00c8e2cb4 24 FPRINT(KI_BASE_D);
bwang 3:82c00c8e2cb4 25 FPRINT(K_LOOP_Q);
bwang 3:82c00c8e2cb4 26 FPRINT(KI_BASE_Q);
bwang 3:82c00c8e2cb4 27 FPRINT(F_SLOW_LOOP);
bwang 3:82c00c8e2cb4 28 FPRINT(INTEGRAL_MAX);
bwang 3:82c00c8e2cb4 29 FPRINT(W_FILTER_STRENGTH);
bwang 3:82c00c8e2cb4 30 FPRINT(DQ_FILTER_STRENGTH);
bwang 3:82c00c8e2cb4 31 FPRINT(THROTTLE_FILTER_STRENGTH);
bwang 3:82c00c8e2cb4 32 FPRINT(KP_D);
bwang 3:82c00c8e2cb4 33 FPRINT(KI_D);
bwang 3:82c00c8e2cb4 34 FPRINT(KP_Q);
bwang 3:82c00c8e2cb4 35 FPRINT(KI_Q);
bwang 3:82c00c8e2cb4 36 FPRINT(SLOW_LOOP_COUNTER);
bwang 3:82c00c8e2cb4 37 FPRINT(POLE_PAIRS);
bwang 3:82c00c8e2cb4 38 FPRINT(POS_OFFSET);
bwang 3:82c00c8e2cb4 39 FPRINT(RESOLVER_LOBES);
bwang 3:82c00c8e2cb4 40 DPRINT(CPR);
bwang 3:82c00c8e2cb4 41 FPRINT(Ld);
bwang 3:82c00c8e2cb4 42 FPRINT(Lq);
bwang 3:82c00c8e2cb4 43 FPRINT(FLUX_LINKAGE);
bwang 3:82c00c8e2cb4 44 FPRINT(Rs);
bwang 3:82c00c8e2cb4 45 FPRINT(KT);
bwang 3:82c00c8e2cb4 46 FPRINT(W_SAFE);
bwang 3:82c00c8e2cb4 47 FPRINT(W_CRAZY);
bwang 3:82c00c8e2cb4 48 DPRINT(TH_LIMIT_LOW);
bwang 3:82c00c8e2cb4 49 DPRINT(TH_LIMIT_HIGH);
bwang 3:82c00c8e2cb4 50 DPRINT(TH_LIMIT_CRAZY);
bwang 3:82c00c8e2cb4 51 DPRINT(ROWS);
bwang 3:82c00c8e2cb4 52 DPRINT(COLUMNS);
bwang 3:82c00c8e2cb4 53 FPRINT(W_STEP);
bwang 3:82c00c8e2cb4 54 }
bwang 3:82c00c8e2cb4 55
bwang 3:82c00c8e2cb4 56 void cmd_ls2(Serial *pc, char *buf) {
bwang 3:82c00c8e2cb4 57 if (strcmp(buf, "mode") == 0) {
bwang 3:82c00c8e2cb4 58 pc->printf("%s\n", mode_to_str(BREMS_mode));
bwang 3:82c00c8e2cb4 59 return;
bwang 3:82c00c8e2cb4 60 }
bwang 3:82c00c8e2cb4 61 if (strcmp(buf, "src") == 0) {
bwang 3:82c00c8e2cb4 62 pc->printf("%s\n", src_to_str(BREMS_src));
bwang 3:82c00c8e2cb4 63 return;
bwang 3:82c00c8e2cb4 64 }
bwang 3:82c00c8e2cb4 65 if (strcmp(buf, "op") == 0) {
bwang 3:82c00c8e2cb4 66 pc->printf("%s\n", op_to_str(BREMS_op));
bwang 3:82c00c8e2cb4 67 return;
bwang 3:82c00c8e2cb4 68 }
bwang 3:82c00c8e2cb4 69
bwang 3:82c00c8e2cb4 70 float *fptr = checkf(buf);
bwang 3:82c00c8e2cb4 71 if (fptr != NULL) pc->printf("%s: %f\n", buf, *fptr);
bwang 3:82c00c8e2cb4 72 int *nptr = NULL;
bwang 3:82c00c8e2cb4 73 if (fptr == NULL) nptr = checkn(buf);
bwang 3:82c00c8e2cb4 74 if (nptr != NULL) pc->printf("%s: %d\n", buf, *nptr);
bwang 3:82c00c8e2cb4 75 if (nptr == NULL && fptr == NULL) pc->printf("%s\n", "No Such Parameter");
bwang 3:82c00c8e2cb4 76 }
bwang 3:82c00c8e2cb4 77
bwang 3:82c00c8e2cb4 78 void cmd_defaults(Serial *pc) {
bwang 3:82c00c8e2cb4 79 DEFAULT(TORQUE_MODE);
bwang 3:82c00c8e2cb4 80 DEFAULT(MAX_TQPCT_PLUS);
bwang 3:82c00c8e2cb4 81 DEFAULT(MAX_TQPCT_MINUS);
bwang 3:82c00c8e2cb4 82 DEFAULT(TORQUE_MAX);
bwang 3:82c00c8e2cb4 83 DEFAULT(W_MAX);
bwang 3:82c00c8e2cb4 84 DEFAULT(BUS_VOLTAGE);
bwang 3:82c00c8e2cb4 85 DEFAULT(F_SW);
bwang 3:82c00c8e2cb4 86 DEFAULT(K_LOOP_D);
bwang 3:82c00c8e2cb4 87 DEFAULT(KI_BASE_D);
bwang 3:82c00c8e2cb4 88 DEFAULT(K_LOOP_Q);
bwang 3:82c00c8e2cb4 89 DEFAULT(KI_BASE_Q);
bwang 3:82c00c8e2cb4 90 DEFAULT(F_SLOW_LOOP);
bwang 3:82c00c8e2cb4 91 DEFAULT(INTEGRAL_MAX);
bwang 3:82c00c8e2cb4 92 DEFAULT(W_FILTER_STRENGTH);
bwang 3:82c00c8e2cb4 93 DEFAULT(DQ_FILTER_STRENGTH);
bwang 3:82c00c8e2cb4 94 DEFAULT(THROTTLE_FILTER_STRENGTH);
bwang 3:82c00c8e2cb4 95 DEFAULT(KP_D);
bwang 3:82c00c8e2cb4 96 DEFAULT(KI_D);
bwang 3:82c00c8e2cb4 97 DEFAULT(KP_Q);
bwang 3:82c00c8e2cb4 98 DEFAULT(KI_Q);
bwang 3:82c00c8e2cb4 99 DEFAULT(SLOW_LOOP_COUNTER);
bwang 3:82c00c8e2cb4 100 DEFAULT(POLE_PAIRS);
bwang 3:82c00c8e2cb4 101 DEFAULT(POS_OFFSET);
bwang 3:82c00c8e2cb4 102 DEFAULT(RESOLVER_LOBES);
bwang 3:82c00c8e2cb4 103 DEFAULT(CPR);
bwang 3:82c00c8e2cb4 104 DEFAULT(Ld);
bwang 3:82c00c8e2cb4 105 DEFAULT(Lq);
bwang 3:82c00c8e2cb4 106 DEFAULT(FLUX_LINKAGE);
bwang 3:82c00c8e2cb4 107 DEFAULT(Rs);
bwang 3:82c00c8e2cb4 108 DEFAULT(KT);
bwang 3:82c00c8e2cb4 109 DEFAULT(W_SAFE);
bwang 3:82c00c8e2cb4 110 DEFAULT(W_CRAZY);
bwang 3:82c00c8e2cb4 111 DEFAULT(TH_LIMIT_LOW);
bwang 3:82c00c8e2cb4 112 DEFAULT(TH_LIMIT_HIGH);
bwang 3:82c00c8e2cb4 113 DEFAULT(TH_LIMIT_CRAZY);
bwang 3:82c00c8e2cb4 114 DEFAULT(ROWS);
bwang 3:82c00c8e2cb4 115 DEFAULT(COLUMNS);
bwang 3:82c00c8e2cb4 116 DEFAULT(W_STEP);
bwang 3:82c00c8e2cb4 117 pc->printf("Defaults Loaded\n");
bwang 3:82c00c8e2cb4 118 }
bwang 3:82c00c8e2cb4 119
bwang 3:82c00c8e2cb4 120 void cmd_reload(Serial *pc, PreferenceWriter *pref) {
bwang 3:82c00c8e2cb4 121 pref->load();
bwang 3:82c00c8e2cb4 122 pc->printf("Flash Values Loaded\n");
bwang 3:82c00c8e2cb4 123 }
bwang 3:82c00c8e2cb4 124
bwang 3:82c00c8e2cb4 125 void cmd_set(Serial *pc, char *buf, char *val) {
bwang 3:82c00c8e2cb4 126 float *fptr = checkf(buf);
bwang 3:82c00c8e2cb4 127 if (fptr != NULL) *fptr = (float) (atof(val));
bwang 3:82c00c8e2cb4 128 int *nptr = NULL;
bwang 3:82c00c8e2cb4 129 if (fptr == NULL) nptr = checkn(buf);
bwang 3:82c00c8e2cb4 130 if (nptr != NULL) *nptr = (int) (atoi(val));
bwang 3:82c00c8e2cb4 131 cmd_ls2(pc, buf);
bwang 3:82c00c8e2cb4 132 if (nptr == NULL && fptr == NULL) pc->printf("%s\n", "No Such Parameter");
bwang 3:82c00c8e2cb4 133 }
bwang 3:82c00c8e2cb4 134
bwang 3:82c00c8e2cb4 135 void cmd_flush(Serial *pc, PreferenceWriter *pref) {
bwang 3:82c00c8e2cb4 136 if (!pref->ready()) pref->open();
bwang 3:82c00c8e2cb4 137 pref->flush();
bwang 3:82c00c8e2cb4 138 }