Diff: CommandProcessor/cmd_set_get.cpp

Revision:

3:82c00c8e2cb4

diff -r cfc39b0843ae -r 82c00c8e2cb4 CommandProcessor/cmd_set_get.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CommandProcessor/cmd_set_get.cpp	Tue Mar 07 08:06:39 2017 +0000
@@ -0,0 +1,138 @@
+#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"
+
+void cmd_ls(Serial *pc) {
+    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);
+}
+
+void cmd_ls2(Serial *pc, char *buf) {
+    if (strcmp(buf, "mode") == 0) {
+        pc->printf("%s\n", mode_to_str(BREMS_mode));
+        return;
+    }
+    if (strcmp(buf, "src") == 0) {
+        pc->printf("%s\n", src_to_str(BREMS_src));
+        return;
+    }
+    if (strcmp(buf, "op") == 0) {
+        pc->printf("%s\n", op_to_str(BREMS_op));
+        return;
+    }
+    
+    float *fptr = checkf(buf);
+    if (fptr != NULL) pc->printf("%s: %f\n", buf, *fptr);
+    int *nptr = NULL;
+    if (fptr == NULL) nptr = checkn(buf);
+    if (nptr != NULL) pc->printf("%s: %d\n", buf, *nptr);
+    if (nptr == NULL && fptr == NULL) pc->printf("%s\n", "No Such Parameter");
+}
+
+void cmd_defaults(Serial *pc) {
+    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);
+    pc->printf("Defaults Loaded\n");
+}
+
+void cmd_reload(Serial *pc, PreferenceWriter *pref) {
+    pref->load();
+    pc->printf("Flash Values Loaded\n");
+}
+
+void cmd_set(Serial *pc, char *buf, char *val) {
+    float *fptr = checkf(buf);
+    if (fptr != NULL) *fptr = (float) (atof(val));
+    int *nptr = NULL;
+    if (fptr == NULL) nptr = checkn(buf);
+    if (nptr != NULL) *nptr = (int) (atoi(val));
+    cmd_ls2(pc, buf);
+    if (nptr == NULL && fptr == NULL) pc->printf("%s\n", "No Such Parameter");
+}
+
+void cmd_flush(Serial *pc, PreferenceWriter *pref) {
+    if (!pref->ready()) pref->open();
+    pref->flush();
+}
\ No newline at end of file