Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

CommandProcessor/cmd_helpers.cpp@179:935f9d78d936, 2018-02-08 (annotated)

Committer:
bwang
Date:
Thu Feb 08 02:42:16 2018 +0000
Revision:
179:935f9d78d936
02/07/2017 21:39 - updated BREMS*.h/cpp to include PreferenceWriter functionality, updated CommandProcessor to match current config variables

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 179:935f9d78d936 1 #include "mbed.h"
bwang 179:935f9d78d936 2 #include "CommandProcessor.h"
bwang 179:935f9d78d936 3 #include "PreferenceWriter.h"
bwang 179:935f9d78d936 4
bwang 179:935f9d78d936 5 #include "prefs.h"
bwang 179:935f9d78d936 6 #include "globals.h"
bwang 179:935f9d78d936 7
bwang 179:935f9d78d936 8 #include "config_driving.h"
bwang 179:935f9d78d936 9 #include "config_inverter.h"
bwang 179:935f9d78d936 10 #include "config_logging.h"
bwang 179:935f9d78d936 11 #include "config_loop.h"
bwang 179:935f9d78d936 12 #include "config_motor.h"
bwang 179:935f9d78d936 13 #include "config_pins.h"
bwang 179:935f9d78d936 14 #include "config_table.h"
bwang 179:935f9d78d936 15
bwang 179:935f9d78d936 16 int tokenize(char *buf, char **out, int max) {
bwang 179:935f9d78d936 17 char* tok;
bwang 179:935f9d78d936 18 int k = 0;
bwang 179:935f9d78d936 19
bwang 179:935f9d78d936 20 tok = strtok(buf, " ");
bwang 179:935f9d78d936 21
bwang 179:935f9d78d936 22 while(tok != NULL && k < max) {
bwang 179:935f9d78d936 23 out[k] = tok;
bwang 179:935f9d78d936 24 k++;
bwang 179:935f9d78d936 25 tok = strtok(NULL, " ");
bwang 179:935f9d78d936 26 }
bwang 179:935f9d78d936 27 return k;
bwang 179:935f9d78d936 28 }
bwang 179:935f9d78d936 29
bwang 179:935f9d78d936 30 #define __check(x) if(strcmp(s, #x) == 0) return &_##x
bwang 179:935f9d78d936 31 #define __check2(x) if (strcmp(s, #x) == 0) return &x
bwang 179:935f9d78d936 32
bwang 179:935f9d78d936 33 float* checkf(char *s) {
bwang 179:935f9d78d936 34 __check(MAX_TQPCT_PLUS);
bwang 179:935f9d78d936 35 __check(MAX_TQPCT_MINUS);
bwang 179:935f9d78d936 36 __check(TORQUE_MAX);
bwang 179:935f9d78d936 37 __check(W_MAX);
bwang 179:935f9d78d936 38 __check(BUS_VOLTAGE);
bwang 179:935f9d78d936 39 __check(F_SW);
bwang 179:935f9d78d936 40 __check(K_LOOP_D);
bwang 179:935f9d78d936 41 __check(KI_BASE_D);
bwang 179:935f9d78d936 42 __check(K_LOOP_Q);
bwang 179:935f9d78d936 43 __check(KI_BASE_Q);
bwang 179:935f9d78d936 44 __check(F_SLOW_LOOP);
bwang 179:935f9d78d936 45 __check(INTEGRAL_MAX);
bwang 179:935f9d78d936 46 __check(DQ_FILTER_STRENGTH);
bwang 179:935f9d78d936 47 __check(KP_D);
bwang 179:935f9d78d936 48 __check(KI_D);
bwang 179:935f9d78d936 49 __check(KP_Q);
bwang 179:935f9d78d936 50 __check(KI_Q);
bwang 179:935f9d78d936 51 __check(POLE_PAIRS);
bwang 179:935f9d78d936 52 __check(POS_OFFSET);
bwang 179:935f9d78d936 53 __check(RESOLVER_LOBES);
bwang 179:935f9d78d936 54 __check(Ld);
bwang 179:935f9d78d936 55 __check(Lq);
bwang 179:935f9d78d936 56 __check(FLUX_LINKAGE);
bwang 179:935f9d78d936 57 __check(Rs);
bwang 179:935f9d78d936 58 __check(KT);
bwang 179:935f9d78d936 59 __check(W_SAFE);
bwang 179:935f9d78d936 60 __check(W_CRAZY);
bwang 179:935f9d78d936 61 __check(W_STEP);
bwang 179:935f9d78d936 62 return NULL;
bwang 179:935f9d78d936 63 }
bwang 179:935f9d78d936 64
bwang 179:935f9d78d936 65 int* checkn(char *s) {
bwang 179:935f9d78d936 66 __check(TORQUE_MODE);
bwang 179:935f9d78d936 67 __check(CPR);
bwang 179:935f9d78d936 68 __check(W_FILTER_WINDOW);
bwang 179:935f9d78d936 69 __check(THROTTLE_FILTER_WINDOW);
bwang 179:935f9d78d936 70 __check(TH_LIMIT_LOW);
bwang 179:935f9d78d936 71 __check(TH_LIMIT_HIGH);
bwang 179:935f9d78d936 72 __check(ROWS);
bwang 179:935f9d78d936 73 __check(COLUMNS);
bwang 179:935f9d78d936 74 __check2(BREMS_mode);
bwang 179:935f9d78d936 75 __check2(BREMS_src);
bwang 179:935f9d78d936 76 __check2(BREMS_op);
bwang 179:935f9d78d936 77 return NULL;
bwang 179:935f9d78d936 78 }
bwang 179:935f9d78d936 79
bwang 179:935f9d78d936 80 #define __strcase(in, out) case in:strcpy(result, out);break
bwang 179:935f9d78d936 81 #define __intcase(in, out) if (strcmp(buf, in) == 0) return out
bwang 179:935f9d78d936 82
bwang 179:935f9d78d936 83 char* mode_to_str(int n) {
bwang 179:935f9d78d936 84 static char result[12];
bwang 179:935f9d78d936 85 switch (n) {
bwang 179:935f9d78d936 86 __strcase(MODE_RUN, "Run");
bwang 179:935f9d78d936 87 __strcase(MODE_CFG, "Config");
bwang 179:935f9d78d936 88 __strcase(MODE_ZERO, "Zero");
bwang 179:935f9d78d936 89 __strcase(MODE_CHR, "Wizard");
bwang 179:935f9d78d936 90 default:
bwang 179:935f9d78d936 91 strcpy(result, "Invalid");
bwang 179:935f9d78d936 92 break;
bwang 179:935f9d78d936 93 }
bwang 179:935f9d78d936 94 return result;
bwang 179:935f9d78d936 95 }
bwang 179:935f9d78d936 96
bwang 179:935f9d78d936 97 int str_to_mode(char *buf) {
bwang 179:935f9d78d936 98 __intcase("run", MODE_RUN);
bwang 179:935f9d78d936 99 __intcase("cfg", MODE_CFG);
bwang 179:935f9d78d936 100 __intcase("zero", MODE_ZERO);
bwang 179:935f9d78d936 101 __intcase("char", MODE_CHR);
bwang 179:935f9d78d936 102 __intcase("wizard", MODE_CHR);
bwang 179:935f9d78d936 103 return -1;
bwang 179:935f9d78d936 104 }
bwang 179:935f9d78d936 105
bwang 179:935f9d78d936 106 char* src_to_str(int n) {
bwang 179:935f9d78d936 107 static char result[12];
bwang 179:935f9d78d936 108 switch (n) {
bwang 179:935f9d78d936 109 __strcase(CMD_SRC_RC, "RC");
bwang 179:935f9d78d936 110 __strcase(CMD_SRC_ANALOG, "Analog");
bwang 179:935f9d78d936 111 __strcase(CMD_SRC_TERMINAL, "Terminal");
bwang 179:935f9d78d936 112 __strcase(CMD_SRC_SERIAL, "Serial");
bwang 179:935f9d78d936 113 __strcase(CMD_SRC_CAN, "CAN");
bwang 179:935f9d78d936 114 __strcase(CMD_SRC_INTERNAL, "Internal");
bwang 179:935f9d78d936 115 default:
bwang 179:935f9d78d936 116 strcpy(result, "Invalid");
bwang 179:935f9d78d936 117 break;
bwang 179:935f9d78d936 118 }
bwang 179:935f9d78d936 119 return result;
bwang 179:935f9d78d936 120 }
bwang 179:935f9d78d936 121
bwang 179:935f9d78d936 122 int str_to_src(char *buf) {
bwang 179:935f9d78d936 123 __intcase("rc", CMD_SRC_RC);
bwang 179:935f9d78d936 124 __intcase("analog", CMD_SRC_ANALOG);
bwang 179:935f9d78d936 125 __intcase("terminal", CMD_SRC_TERMINAL);
bwang 179:935f9d78d936 126 __intcase("serial", CMD_SRC_SERIAL);
bwang 179:935f9d78d936 127 __intcase("can", CMD_SRC_CAN);
bwang 179:935f9d78d936 128 __intcase("internal", CMD_SRC_INTERNAL);
bwang 179:935f9d78d936 129 return -1;
bwang 179:935f9d78d936 130 }
bwang 179:935f9d78d936 131
bwang 179:935f9d78d936 132 char* op_to_str(int n) {
bwang 179:935f9d78d936 133 static char result[24];
bwang 179:935f9d78d936 134 switch(n) {
bwang 179:935f9d78d936 135 __strcase(OP_TORQUE, "Torque loop");
bwang 179:935f9d78d936 136 __strcase(OP_DRIVING, "Driving map");
bwang 179:935f9d78d936 137 __strcase(OP_SPEED, "Speed loop");
bwang 179:935f9d78d936 138 __strcase(OP_POSITION, "Position loop");
bwang 179:935f9d78d936 139 default:
bwang 179:935f9d78d936 140 strcpy(result, "Invalid");
bwang 179:935f9d78d936 141 break;
bwang 179:935f9d78d936 142 }
bwang 179:935f9d78d936 143 return result;
bwang 179:935f9d78d936 144 }
bwang 179:935f9d78d936 145
bwang 179:935f9d78d936 146 int str_to_op(char *buf) {
bwang 179:935f9d78d936 147 __intcase("torque", OP_TORQUE);
bwang 179:935f9d78d936 148 __intcase("driving", OP_DRIVING);
bwang 179:935f9d78d936 149 __intcase("speed", OP_SPEED);
bwang 179:935f9d78d936 150 __intcase("pos", OP_POSITION);
bwang 179:935f9d78d936 151 __intcase("position", OP_POSITION);
bwang 179:935f9d78d936 152 return -1;
bwang 179:935f9d78d936 153 }
bwang 179:935f9d78d936 154