Diff: CMSerial.cpp

Revision:

0:8a420ac6394e

diff -r 000000000000 -r 8a420ac6394e CMSerial.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CMSerial.cpp	Mon Jun 19 15:55:51 2017 +0000
@@ -0,0 +1,247 @@
+
+#include "CMSerial.h"
+#include "DeviceProperties.h"
+
+const char VERSION_STRING[] = "0.6";
+
+
+CMSerial::CMSerial(void) : led(LED2), serial(p13, p14)
+{
+    lineLength = 0;
+    serial.baud(115200);
+    threadSerial.start(this, &CMSerial::ThreadEntry);
+}
+
+void CMSerial::ThreadEntry(void)
+{
+    while(true)
+    {
+        char c = serial.getc();
+        led = !led;
+        if( c == '\n' )
+            continue;
+        if (c == '\r')
+        {
+            line[lineLength] = 0;
+            ProcessCommand();
+            lineLength = 0;
+            continue;
+        }
+        if (lineLength < sizeof(line) - 1)
+            line[lineLength++] = c;
+    }
+}
+
+void CMSerial::ProcessCommand(void)
+{
+    
+    if (CommandIs("status"))
+    {
+	    serial.printf("<status");
+	    serial.printf(" version=\"%s\"", VERSION_STRING);
+	    serial.printf(" AcquisitionNumber=\"%d\"", Device.GetAcquisitionNumber());
+	    serial.printf(" AcquisitionSamples=\"%d\"", Device.GetAcquisitionSampleCount());
+        // Control Parameters
+	    serial.printf(" OutputMode=\"%d\"", (int)Device.deviceConfig.outputMode);
+	    serial.printf(" ConstantVoltage=\"%f\"", Device.deviceConfig.constantVoltage);
+	    serial.printf(" ConstantPower=\"%f\"", Device.deviceConfig.constantPower);
+	    serial.printf(" KP=\"%lf\"", Device.deviceConfig.kp);
+	    serial.printf(" KI=\"%lf\"", Device.deviceConfig.ki);
+	    serial.printf(" KD=\"%lf\"", Device.deviceConfig.kd);
+	    serial.printf(" VoltageCal=\"%lf\"", Device.deviceConfig.voltageCal);
+	    serial.printf(" CurrentCal=\"%lf\"", Device.deviceConfig.currentCal);
+	    serial.printf(" vLim=\"%lf\"", Device.deviceConfig.vLim);
+	    serial.printf(" iLim=\"%lf\"", Device.deviceConfig.iLim);
+        // Activation Parameters
+	    serial.printf(" PwmFrequency=\"%lf\"", Device.GetActualPWMFrequency());
+	    serial.printf(" OpenLoopDuration=\"%d\"", Device.deviceConfig.msOpenLoopDuration);
+	    serial.printf(" TotalDuration=\"%lf\"", Device.deviceConfig.TotalDurationSeconds);
+	    serial.printf(" RampDuration=\"%lf\"", Device.deviceConfig.msRampDuration);
+	    serial.printf(" RampStartPower=\"%lf\"", Device.deviceConfig.rampStartPower);
+	    serial.printf(" RampEndPower=\"%lf\"", Device.deviceConfig.rampEndPower);
+	    serial.printf(" StartVoltage=\"%lf\"", Device.deviceConfig.startVoltage);
+	    serial.printf(" SamplePeriod=\"%d\"", Device.deviceConfig.msSamplePeriod);  
+        serial.printf("/>\r\n");
+        return;
+    }
+    
+    if( CommandIs("GetSample"))
+    {
+        int acquisition = (int)GetNumericArgument(1, 0);
+        int sample = (int)GetNumericArgument(2, 0);
+        AcquisitionData sampleData = Device.GetAcquisitionSample(acquisition, sample);
+        serial.printf("<sample");
+        serial.printf(" Time=\"%f\"", sampleData.timestampMilliseconds);
+        serial.printf(" TargetVoltage=\"%f\"", Device.deviceConfig.constantVoltage);
+        serial.printf(" Isns=\"%f\"", sampleData.iSense);
+        serial.printf(" Vsns=\"%f\"", sampleData.vSense);
+        serial.printf(" Irms=\"%f\"", sampleData.iRMS);
+        serial.printf(" Vrms=\"%f\"", sampleData.vRMS);
+        serial.printf("/>\r\n");
+        return;
+    }
+    
+    if (CommandIs("version"))
+    {
+        serial.printf("%s\r\n", VERSION_STRING);
+        return;
+    }
+
+    if( CommandIs("OutputMode"))
+    {   
+        Device.deviceConfig.outputMode = (OutputMode) (int)GetNumericArgument(1, (int)Device.deviceConfig.outputMode);
+        serial.printf("%d\r\n", Device.deviceConfig.outputMode);
+        return;
+    }   
+    
+    if( CommandIs("ConstantVoltage"))
+    {
+        Device.deviceConfig.constantVoltage = GetNumericArgument(1, Device.deviceConfig.constantVoltage);
+        serial.printf("%lf\r\n", Device.deviceConfig.constantVoltage);
+        return;
+    } 
+
+    if( CommandIs("ConstantPower"))
+    {
+        Device.deviceConfig.constantPower = GetNumericArgument(1, Device.deviceConfig.constantPower);
+        serial.printf("%lf\r\n", Device.deviceConfig.constantPower);
+        return;
+    }
+    
+    if( CommandIs("KP"))
+    {
+        Device.deviceConfig.kp = GetNumericArgument(1, Device.deviceConfig.kp);
+        serial.printf("%lf\r\n", Device.deviceConfig.kp);
+        return;
+    }
+
+    if( CommandIs("KI"))
+    {
+        Device.deviceConfig.ki = GetNumericArgument(1, Device.deviceConfig.ki);
+        serial.printf("%lf\r\n", Device.deviceConfig.ki);
+        return;
+    }
+    
+    if( CommandIs("KD"))
+    {
+        Device.deviceConfig.kd = GetNumericArgument(1, Device.deviceConfig.kd);
+        serial.printf("%lf\r\n", Device.deviceConfig.kd);
+        return;
+    }
+    
+    if( CommandIs("VoltageCal"))
+    {
+        Device.deviceConfig.voltageCal = GetNumericArgument(1, Device.deviceConfig.voltageCal);
+        serial.printf("%lf\r\n", Device.deviceConfig.voltageCal);
+        return;
+    }
+    
+    if( CommandIs("CurrentCal"))
+    {
+        Device.deviceConfig.currentCal = GetNumericArgument(1, Device.deviceConfig.currentCal);
+        serial.printf("%lf\r\n", Device.deviceConfig.currentCal);
+        return;
+    }
+    
+    if( CommandIs("vLim"))
+    {
+        Device.deviceConfig.vLim = GetNumericArgument(1, Device.deviceConfig.vLim);
+        serial.printf("%lf\r\n", Device.deviceConfig.vLim);
+        return;
+    }
+    
+    if( CommandIs("iLim"))
+    {
+        Device.deviceConfig.iLim = GetNumericArgument(1, Device.deviceConfig.iLim);
+        serial.printf("%lf\r\n", Device.deviceConfig.iLim);
+        return;
+    }
+    
+    // Activation Parameters
+    if( CommandIs("PwmFrequency"))
+    {
+        Device.deviceConfig.pwmFrequency = GetNumericArgument(1, Device.deviceConfig.pwmFrequency);
+        serial.printf("%lf\r\n", Device.deviceConfig.pwmFrequency);
+        return;
+    }
+    
+    if( CommandIs("OpenLoopDuration"))
+    {
+        Device.deviceConfig.msOpenLoopDuration = GetNumericArgument(1, Device.deviceConfig.msOpenLoopDuration);
+        serial.printf("%lf\r\n", Device.deviceConfig.msOpenLoopDuration);
+        return;
+    }
+    
+    if( CommandIs("TotalDuration"))
+    {
+        Device.deviceConfig.TotalDurationSeconds = GetNumericArgument(1, Device.deviceConfig.TotalDurationSeconds);
+        serial.printf("%lf\r\n", Device.deviceConfig.TotalDurationSeconds);
+        return;
+    }
+    
+    if( CommandIs("RampDuration"))
+    {
+        Device.deviceConfig.msRampDuration = GetNumericArgument(1, Device.deviceConfig.msRampDuration);
+        serial.printf("%lf\r\n", Device.deviceConfig.msRampDuration);
+        return;
+    }
+    
+    if( CommandIs("RampStartPower"))
+    {
+        Device.deviceConfig.rampStartPower = GetNumericArgument(1, Device.deviceConfig.rampStartPower);
+        serial.printf("%lf\r\n", Device.deviceConfig.rampStartPower);
+        return;
+    }
+    
+    if( CommandIs("RampEndPower"))
+    {
+        Device.deviceConfig.rampEndPower = GetNumericArgument(1, Device.deviceConfig.rampEndPower);
+        serial.printf("%lf\r\n", Device.deviceConfig.rampEndPower);
+        return;
+    }
+    
+    if( CommandIs("StartVoltage"))
+    {
+        Device.deviceConfig.startVoltage = GetNumericArgument(1, Device.deviceConfig.startVoltage);
+        serial.printf("%lf\r\n", Device.deviceConfig.startVoltage);
+        return;
+    }
+    
+    if( CommandIs("SamplePeriod"))
+    {
+        Device.deviceConfig.msSamplePeriod = GetNumericArgument(1, Device.deviceConfig.msSamplePeriod);
+        serial.printf("%lf\r\n", Device.deviceConfig.msSamplePeriod);
+        return;
+    }
+
+    serial.printf("Unrecognized command: %s\r\n", line);
+}
+
+bool CMSerial::CommandIs(const char *command)
+{
+    int length = strlen(command);
+    if (strncmp(command, line, length) != 0)
+        return false;
+    if (line[length]!=0 && line[length]!=' ')
+        return false;
+    return true;
+}
+
+double CMSerial::GetNumericArgument(int index, double defaultValue)
+{
+    // for the moment we just require that arguments be separated by a single space
+    const char *start = line;
+    for (int i=0; i<index; ++i)
+    {
+        start = strchr(start, ' ');
+        if (start == NULL)
+            return defaultValue;
+        ++start;
+    }
+    
+    double result;
+    if (1 != sscanf(start, "%lf", &result))
+        return defaultValue;
+    return result;
+}
+