cmd_set_get.cpp

00001 #include "mbed.h"
00002 #include "CommandProcessor.h"
00003 #include "PreferenceWriter.h"
00004 #include "globals.h"
00005 
00006 #include "config.h"
00007 #include "config_driving.h"
00008 #include "config_inverter.h"
00009 #include "config_logging.h"
00010 #include "config_loop.h"
00011 #include "config_motor.h"
00012 #include "config_pins.h"
00013 #include "config_table.h"
00014 
00015 void cmd_ls(Serial *pc) {
00016     DPRINT(TORQUE_MODE);
00017     FPRINT(MAX_TQPCT_PLUS);
00018     FPRINT(MAX_TQPCT_MINUS);
00019     FPRINT(TORQUE_MAX);
00020     FPRINT(W_MAX);
00021     FPRINT(BUS_VOLTAGE);
00022     FPRINT(F_SW);
00023     FPRINT(K_LOOP_D);
00024     FPRINT(KI_BASE_D);
00025     FPRINT(K_LOOP_Q);
00026     FPRINT(KI_BASE_Q);
00027     FPRINT(F_SLOW_LOOP);
00028     FPRINT(INTEGRAL_MAX);
00029     FPRINT(W_FILTER_STRENGTH);
00030     FPRINT(DQ_FILTER_STRENGTH);
00031     FPRINT(THROTTLE_FILTER_STRENGTH);
00032     FPRINT(KP_D);
00033     FPRINT(KI_D);
00034     FPRINT(KP_Q);
00035     FPRINT(KI_Q);
00036     FPRINT(SLOW_LOOP_COUNTER);
00037     FPRINT(POLE_PAIRS);
00038     FPRINT(POS_OFFSET);
00039     FPRINT(RESOLVER_LOBES);
00040     DPRINT(CPR);
00041     FPRINT(Ld);
00042     FPRINT(Lq);
00043     FPRINT(FLUX_LINKAGE);
00044     FPRINT(Rs);
00045     FPRINT(KT);
00046     FPRINT(W_SAFE);
00047     FPRINT(W_CRAZY);
00048     DPRINT(TH_LIMIT_LOW);
00049     DPRINT(TH_LIMIT_HIGH);
00050     DPRINT(TH_LIMIT_CRAZY);
00051     DPRINT(ROWS);
00052     DPRINT(COLUMNS);
00053     FPRINT(W_STEP);
00054 }
00055 
00056 void cmd_ls2(Serial *pc, char *buf) {
00057     if (strcmp(buf, "mode") == 0) {
00058         pc->printf("%s\n", mode_to_str(BREMS_mode));
00059         return;
00060     }
00061     if (strcmp(buf, "src") == 0) {
00062         pc->printf("%s\n", src_to_str(BREMS_src));
00063         return;
00064     }
00065     if (strcmp(buf, "op") == 0) {
00066         pc->printf("%s\n", op_to_str(BREMS_op));
00067         return;
00068     }
00069     
00070     float *fptr = checkf(buf);
00071     if (fptr != NULL) pc->printf("%s: %f\n", buf, *fptr);
00072     int *nptr = NULL;
00073     if (fptr == NULL) nptr = checkn(buf);
00074     if (nptr != NULL) pc->printf("%s: %d\n", buf, *nptr);
00075     if (nptr == NULL && fptr == NULL) pc->printf("%s\n", "No Such Parameter");
00076 }
00077 
00078 void cmd_defaults(Serial *pc) {
00079     DEFAULT(TORQUE_MODE);
00080     DEFAULT(MAX_TQPCT_PLUS);
00081     DEFAULT(MAX_TQPCT_MINUS);
00082     DEFAULT(TORQUE_MAX);
00083     DEFAULT(W_MAX);
00084     DEFAULT(BUS_VOLTAGE);
00085     DEFAULT(F_SW);
00086     DEFAULT(K_LOOP_D);
00087     DEFAULT(KI_BASE_D);
00088     DEFAULT(K_LOOP_Q);
00089     DEFAULT(KI_BASE_Q);
00090     DEFAULT(F_SLOW_LOOP);
00091     DEFAULT(INTEGRAL_MAX);
00092     DEFAULT(W_FILTER_STRENGTH);
00093     DEFAULT(DQ_FILTER_STRENGTH);
00094     DEFAULT(THROTTLE_FILTER_STRENGTH);
00095     DEFAULT(KP_D);
00096     DEFAULT(KI_D);
00097     DEFAULT(KP_Q);
00098     DEFAULT(KI_Q);
00099     DEFAULT(SLOW_LOOP_COUNTER);
00100     DEFAULT(POLE_PAIRS);
00101     DEFAULT(POS_OFFSET);
00102     DEFAULT(RESOLVER_LOBES);
00103     DEFAULT(CPR);
00104     DEFAULT(Ld);
00105     DEFAULT(Lq);
00106     DEFAULT(FLUX_LINKAGE);
00107     DEFAULT(Rs);
00108     DEFAULT(KT);
00109     DEFAULT(W_SAFE);
00110     DEFAULT(W_CRAZY);
00111     DEFAULT(TH_LIMIT_LOW);
00112     DEFAULT(TH_LIMIT_HIGH);
00113     DEFAULT(TH_LIMIT_CRAZY);
00114     DEFAULT(ROWS);
00115     DEFAULT(COLUMNS);
00116     DEFAULT(W_STEP);
00117     pc->printf("Defaults Loaded\n");
00118 }
00119 
00120 void cmd_reload(Serial *pc, PreferenceWriter *pref) {
00121     pref->load();
00122     pc->printf("Flash Values Loaded\n");
00123 }
00124 
00125 void cmd_set(Serial *pc, char *buf, char *val) {
00126     float *fptr = checkf(buf);
00127     if (fptr != NULL) *fptr = (float) (atof(val));
00128     int *nptr = NULL;
00129     if (fptr == NULL) nptr = checkn(buf);
00130     if (nptr != NULL) *nptr = (int) (atoi(val));
00131     cmd_ls2(pc, buf);
00132     if (nptr == NULL && fptr == NULL) pc->printf("%s\n", "No Such Parameter");
00133 }
00134 
00135 void cmd_flush(Serial *pc, PreferenceWriter *pref) {
00136     if (!pref->ready()) pref->open();
00137     pref->flush();
00138 }