Revision 249:314c1b12d9c2, committed 2018-11-13

Comitter:

bwang

Date:

Tue Nov 13 17:23:50 2018 +0000

Parent:

248:c4539ee69052

Child:

250:ef028cbd0749

Commit message:

11/13/2018 12:33 - changes to rxCallback() - fast commands no longer print "\r>" after completion; non-ASCII chars are no longer echoed

Changed in this revision

--- a/CHANGELOG.txt	Tue Nov 13 16:21:06 2018 +0000
+++ b/CHANGELOG.txt	Tue Nov 13 17:23:50 2018 +0000
@@ -83,4 +83,6 @@
 11/12/2018 07:42 - PWM configured to be non-inverting in BREMSConfigRegisters, moved inverting code to hardware.h like it should be
 11/13/2018 10:05 - added io.cmd_busy flag to block execution of processCmd() during execution of processCmd()
 11/13/2018 11:04 - added fast commands (which have command and data > 127 and aren't issuable from a terminal)
-11/13/2018 11:20 - added COMMANDS.txt, added bounds check in OP_TORQUE
\ No newline at end of file
+11/13/2018 11:20 - added COMMANDS.txt, added bounds check in OP_TORQUE
+11/13/2018 12:00 - moved COMMANDS.txt to the right location
+11/13/2018 12:33 - changes to rxCallback() - fast commands no longer print "\r>" after completion; non-ASCII chars are no longer echoed
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/COMMANDS.txt	Tue Nov 13 17:23:50 2018 +0000
@@ -0,0 +1,41 @@
+MODE SWITCHING
+
+run: puts the controller in RUN mode
+cfg: puts the controller in CONFIG mode - necessary to run some commands
+zero: zeroes encoder, loading result into POS_OFFSET
+wizard: motor characterization, unimplemented.
+
+mode <run | cfg | zero | wizard>: same as above
+
+src <rc | analog | terminal | serial | can | internal>: sets control source
+
+op <torque | driving | speed | position>: sets operation. user command maps to percent max torque, speed, or position.
+
+setp <value>: sets user command
+
+SETTING AND GETTING PARAMETERS
+
+ls: list all flash-stored parameters and values
+ls <param name>: print the value of one parameter
+get <param_name>: same as ls
+
+load | reload: reload all parameters from flash
+flush: write current working parameter set to flash
+
+set <param_name> <value>: sets a parameter; new value is used immediately
+
+query <w | cmd | d | q | d_ref | q_ref | vd | vq | tq | ia | ib | ic>: displays a variable
+query errors: displays error status
+
+MISC
+
+clear: clears screen on compliant terminals
+exit: same as run
+
+FAST COMMANDS:
+
+These are non-printable commands that execute much faster than their printable equivalents
+
+[128] [value]: sets user command to (value - 127) / 128
+[129]: returns velocity as a signed 16-bit int
+[130]: sends back one logger data packet, containing useful information about current controller state
\ No newline at end of file

--- a/Transforms/COMMANDS.txt	Tue Nov 13 16:21:06 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,41 +0,0 @@
-MODE SWITCHING
-
-run: puts the controller in RUN mode
-cfg: puts the controller in CONFIG mode - necessary to run some commands
-zero: zeroes encoder, loading result into POS_OFFSET
-wizard: motor characterization, unimplemented.
-
-mode <run | cfg | zero | wizard>: same as above
-
-src <rc | analog | terminal | serial | can | internal>: sets control source
-
-op <torque | driving | speed | position>: sets operation. user command maps to percent max torque, speed, or position.
-
-setp <value>: sets user command
-
-SETTING AND GETTING PARAMETERS
-
-ls: list all flash-stored parameters and values
-ls <param name>: print the value of one parameter
-get <param_name>: same as ls
-
-load | reload: reload all parameters from flash
-flush: write current working parameter set to flash
-
-set <param_name> <value>: sets a parameter; new value is used immediately
-
-query <w | cmd | d | q | d_ref | q_ref | vd | vq | tq | ia | ib | ic>: displays a variable
-query errors: displays error status
-
-MISC
-
-clear: clears screen on compliant terminals
-exit: same as run
-
-FAST COMMANDS:
-
-These are non-printable commands that execute much faster than their printable equivalents
-
-[128] [value]: sets user command to (value - 127) / 128
-[129]: sends velocity as a signed 16-bit int
-[130]: sends back one logger data packet, containing useful information about current controller state
\ No newline at end of file

--- a/callbacks.cpp	Tue Nov 13 16:21:06 2018 +0000
+++ b/callbacks.cpp	Tue Nov 13 17:23:50 2018 +0000
@@ -14,7 +14,7 @@
         if (c != 127 && c != 8 && c != '\r' && c != '\t') {
             linebuf[index] = c;
             if (index < 127) index++;
-            io.pc->putc(c);
+            if (c < 128) io.pc->putc(c);
         } else if (c == 127 || c == 8) {
             if (index > 0) {
                 index--;
@@ -23,13 +23,14 @@
             }
         } else if (c == '\r') {
             linebuf[index] = 0;
-            io.pc->putc(c);
-            if (!io.cmd_busy) {
-                if (linebuf[0] > 127) processCmdFast(io.pc, io.pref, linebuf);
-                else processCmd(io.pc, io.pref, linebuf);
+            if (!io.cmd_busy && linebuf[0] > 127) {
+                processCmdFast(io.pc, io.pref, linebuf);
+            } else if (!io.cmd_busy) {
+                processCmd(io.pc, io.pref, linebuf);
+                io.pc->putc(c);
+                io.pc->putc('>');
             }
             index = 0;
-            io.pc->putc('>');
         }
     }
 }