Diff: main.cpp

Revision:

1:df6bbacb7bb9

Parent:

0:941e150e78b6

Child:

2:cfc39b0843ae

--- a/main.cpp	Wed Mar 01 00:52:47 2017 +0000
+++ b/main.cpp	Thu Mar 02 07:04:47 2017 +0000
@@ -1,113 +1,42 @@
 #include "mbed.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"
+
 #include "PreferenceWriter.h"
 #include "FlashWriter.h"
+#include "CommandProcessor.h"
 
 Serial pc(USBTX, USBRX);
 PreferenceWriter pref(6);
 
+int index = 0;
+char linebuf[128];
+
+void rxCallback() {
+    while (pc.readable()) {
+        char c = pc.getc();
+        if (c != 127 && c != '\r' && c != '\t') {
+            linebuf[index] = c;
+            index++;
+            pc.putc(c);
+        } else if (c == 127) {
+            if (index > 0) {
+                index--;
+                pc.putc(c);
+            }
+        } else if (c == '\r') {
+            linebuf[index] = 0;
+            pc.putc(c);
+            processCmd(&pc, &pref, linebuf);
+            index = 0;
+            pc.putc('>');
+        }
+    }
+}
+
 int main() {
     pc.baud(115200);
+    pc.attach(rxCallback);
     pc.printf("%s\n", "Serial Configuration Test");
-    
-    /*
-    DEFAULT(TORQUE_MODE);
-    DEFAULT(MAX_TQPCT_PLUS);
-    DEFAULT(MAX_TQPCT_MINUS);
-    DEFAULT(TORQUE_MAX);
-    DEFAULT(W_MAX);
-    DEFAULT(BUS_VOLTAGE);
-    DEFAULT(F_SW);
-    DEFAULT(K_LOOP_D);
-    DEFAULT(KI_BASE_D);
-    DEFAULT(K_LOOP_Q);
-    DEFAULT(KI_BASE_Q);
-    DEFAULT(F_SLOW_LOOP);
-    DEFAULT(INTEGRAL_MAX);
-    DEFAULT(W_FILTER_STRENGTH);
-    DEFAULT(DQ_FILTER_STRENGTH);
-    DEFAULT(THROTTLE_FILTER_STRENGTH);
-    DEFAULT(KP_D);
-    DEFAULT(KI_D);
-    DEFAULT(KP_Q);
-    DEFAULT(KI_Q);
-    DEFAULT(SLOW_LOOP_COUNTER);
-    DEFAULT(POLE_PAIRS);
-    DEFAULT(POS_OFFSET);
-    DEFAULT(RESOLVER_LOBES);
-    DEFAULT(CPR);
-    DEFAULT(Ld);
-    DEFAULT(Lq);
-    DEFAULT(FLUX_LINKAGE);
-    DEFAULT(Rs);
-    DEFAULT(KT);
-    DEFAULT(W_SAFE);
-    DEFAULT(W_CRAZY);
-    DEFAULT(TH_LIMIT_LOW);
-    DEFAULT(TH_LIMIT_HIGH);
-    DEFAULT(TH_LIMIT_CRAZY);
-    DEFAULT(ROWS);
-    DEFAULT(COLUMNS);
-    DEFAULT(W_STEP);
-
-    pref.open();
-    pref.flush();
-    pref.close();
-    
-    int offs;
-    for (offs = 0; offs < 64; offs++) {
-        __float_reg[offs] = 0.0f;
-        __int_reg[offs] = 0;
-    }
-    */
-    
-    pref.load();
-    
-    DPRINT(TORQUE_MODE);
-    FPRINT(MAX_TQPCT_PLUS);
-    FPRINT(MAX_TQPCT_MINUS);
-    FPRINT(TORQUE_MAX);
-    FPRINT(W_MAX);
-    FPRINT(BUS_VOLTAGE);
-    FPRINT(F_SW);
-    FPRINT(K_LOOP_D);
-    FPRINT(KI_BASE_D);
-    FPRINT(K_LOOP_Q);
-    FPRINT(KI_BASE_Q);
-    FPRINT(F_SLOW_LOOP);
-    FPRINT(INTEGRAL_MAX);
-    FPRINT(W_FILTER_STRENGTH);
-    FPRINT(DQ_FILTER_STRENGTH);
-    FPRINT(THROTTLE_FILTER_STRENGTH);
-    FPRINT(KP_D);
-    FPRINT(KI_D);
-    FPRINT(KP_Q);
-    FPRINT(KI_Q);
-    FPRINT(SLOW_LOOP_COUNTER);
-    FPRINT(POLE_PAIRS);
-    FPRINT(POS_OFFSET);
-    FPRINT(RESOLVER_LOBES);
-    DPRINT(CPR);
-    FPRINT(Ld);
-    FPRINT(Lq);
-    FPRINT(FLUX_LINKAGE);
-    FPRINT(Rs);
-    FPRINT(KT);
-    FPRINT(W_SAFE);
-    FPRINT(W_CRAZY);
-    DPRINT(TH_LIMIT_LOW);
-    DPRINT(TH_LIMIT_HIGH);
-    DPRINT(TH_LIMIT_CRAZY);
-    DPRINT(ROWS);
-    DPRINT(COLUMNS);
-    FPRINT(W_STEP);
+    pc.printf("%s", ">");
     
     for(;;) {
     }