Diff: CommandProcessor/cmd_helpers.cpp

Revision:

3:82c00c8e2cb4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CommandProcessor/cmd_helpers.cpp	Tue Mar 07 08:06:39 2017 +0000
@@ -0,0 +1,154 @@
+#include "mbed.h"
+#include "CommandProcessor.h"
+#include "PreferenceWriter.h"
+#include "globals.h"
+
+#include "config.h"
+#include "config_driving.h"
+#include "config_inverter.h"
+#include "config_logging.h"
+#include "config_loop.h"
+#include "config_motor.h"
+#include "config_pins.h"
+#include "config_table.h"
+
+int tokenize(char *buf, char **out, int max) {
+    char* tok;
+    int k = 0;
+    
+    tok = strtok(buf, " ");
+    
+    while(tok != NULL && k < max) {
+        out[k] = tok;
+        k++;
+        tok = strtok(NULL, " ");
+    }
+    return k;
+}
+
+#define __check(x) if(strcmp(s, #x) == 0) return &_##x
+#define __check2(x) if (strcmp(s, #x) == 0) return &x
+
+float* checkf(char *s) {
+    __check(MAX_TQPCT_PLUS);
+    __check(MAX_TQPCT_MINUS);
+    __check(TORQUE_MAX);
+    __check(W_MAX);
+    __check(BUS_VOLTAGE);
+    __check(F_SW);
+    __check(K_LOOP_D);
+    __check(KI_BASE_D);
+    __check(K_LOOP_Q);
+    __check(KI_BASE_Q);
+    __check(F_SLOW_LOOP);
+    __check(INTEGRAL_MAX);
+    __check(W_FILTER_STRENGTH);
+    __check(DQ_FILTER_STRENGTH);
+    __check(THROTTLE_FILTER_STRENGTH);
+    __check(KP_D);
+    __check(KI_D);
+    __check(KP_Q);
+    __check(KI_Q);
+    __check(POLE_PAIRS);
+    __check(POS_OFFSET);
+    __check(RESOLVER_LOBES);
+    __check(Ld);
+    __check(Lq);
+    __check(FLUX_LINKAGE);
+    __check(Rs);
+    __check(KT);
+    __check(W_SAFE);
+    __check(W_CRAZY);
+    __check(W_STEP);
+    return NULL;
+}
+
+int* checkn(char *s) {
+    __check(TORQUE_MODE);
+    __check(CPR);
+    __check(TH_LIMIT_LOW);
+    __check(TH_LIMIT_HIGH);
+    __check(TH_LIMIT_CRAZY);
+    __check(ROWS);
+    __check(COLUMNS);
+    __check2(BREMS_mode);
+    __check2(BREMS_src);
+    __check2(BREMS_op);
+    return NULL;
+}
+
+#define __strcase(in, out) case in:strcpy(result, out);break
+#define __intcase(in, out) if (strcmp(buf, in) == 0) return out
+
+char* mode_to_str(int n) {
+    static char result[12];
+    switch (n) {
+        __strcase(MODE_RUN, "Run");
+        __strcase(MODE_CFG, "Config");
+        __strcase(MODE_ZERO, "Zero");
+        __strcase(MODE_CHR, "Wizard");
+    default:
+        strcpy(result, "Invalid");
+        break;
+    }
+    return result;
+}
+
+int str_to_mode(char *buf) {
+    __intcase("run", MODE_RUN);
+    __intcase("cfg", MODE_CFG);
+    __intcase("zero", MODE_ZERO);
+    __intcase("char", MODE_CHR);
+    __intcase("wizard", MODE_CHR);
+    return -1;
+}
+ 
+char* src_to_str(int n) {
+    static char result[12];
+    switch (n) {
+        __strcase(CMD_SRC_RC, "RC");
+        __strcase(CMD_SRC_ANALOG, "Analog");
+        __strcase(CMD_SRC_TERMINAL, "Terminal");
+        __strcase(CMD_SRC_SERIAL, "Serial");
+        __strcase(CMD_SRC_CAN, "CAN");
+        __strcase(CMD_SRC_INTERNAL, "Internal");
+    default:
+        strcpy(result, "Invalid");
+        break;
+    }
+    return result;
+}
+
+int str_to_src(char *buf) {
+    __intcase("rc", CMD_SRC_RC);
+    __intcase("analog", CMD_SRC_ANALOG);
+    __intcase("terminal", CMD_SRC_TERMINAL);
+    __intcase("serial", CMD_SRC_SERIAL);
+    __intcase("can", CMD_SRC_CAN);
+    __intcase("internal", CMD_SRC_INTERNAL);
+    return -1;
+}
+
+char* op_to_str(int n) {
+    static char result[24];
+    switch(n) {
+        __strcase(OP_TORQUE, "Torque loop");
+        __strcase(OP_DRIVING, "Driving map");
+        __strcase(OP_SPEED, "Speed loop");
+        __strcase(OP_POSITION, "Position loop");
+    default:
+        strcpy(result, "Invalid");
+        break;
+    }
+    return result;
+}
+
+int str_to_op(char *buf) {
+    __intcase("torque", OP_TORQUE);
+    __intcase("driving", OP_DRIVING);
+    __intcase("speed", OP_SPEED);
+    __intcase("pos", OP_POSITION);
+    __intcase("position", OP_POSITION);
+    return -1;
+}
+    
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