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ascii_protocol.c
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ascii_protocol.c
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/*
* This file is part of the hoverboard-firmware-hack project.
*
* Copyright (C) 2018 Simon Hailes <[email protected]>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "stm32f1xx_hal.h"
#include "defines.h"
#include "config.h"
#ifdef CONTROL_SENSOR
#include "sensorcoms.h"
#endif
#include "protocol.h"
#ifdef HALL_INTERRUPTS
#include "hallinterrupts.h"
#endif
#ifdef SOFTWARE_SERIAL
#include "softwareserial.h"
#endif
#include "bldc.h"
#ifdef FLASH_STORAGE
#include "flashcontent.h"
#include "flashaccess.h"
#endif
#include "comms.h"
#include "setup.h"
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
//////////////////////////////////////////////////////////
// from protocol.c
extern int control_type;
extern POSN_DATA PosnData;
extern SPEED_DATA SpeedData;
//////////////////////////////////////////////////////////
#if (INCLUDE_PROTOCOL == INCLUDE_PROTOCOL2)
//////////////////////////////////////////////////////////
//
// ASCII protocol:
// this accepts command sup to 10 bytes long terminated with CR.
// one of these commands (I) can enable an 'immediate' mode.
// In 'immediate' mode, keypresses cause immediate action;
// for example, controlling speed, or getting real-time feedback.
//
//////////////////////////////////////////////////////////
///////////////////////////////////////////////
// extern variables you want to read/write here
#ifdef CONTROL_SENSOR
extern SENSOR_DATA sensor_data[2];
extern int sensor_control;
extern int sensor_stabilise;
#endif
#ifdef FLASH_STORAGE
// from main.c
extern void change_PID_constants();
#endif
extern uint8_t enable; // global variable for motor enable
extern volatile uint32_t timeout; // global variable for timeout
extern int dspeeds[2];
extern int pwms[2];
// from filled in hallinterrupt.c
extern volatile unsigned bldc_count_per_hall[2];
extern uint8_t debug_out;
extern uint8_t disablepoweroff;
extern int powerofftimer;
extern uint8_t buzzerFreq; // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t buzzerPattern; // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...
extern uint16_t buzzerLen;
extern uint8_t enablescope; // enable scope on values
static int speedB = 0;
static int steerB = 0;
int8_t asciiProtocolUnlocked = 0;
int enable_immediate = 0;
static char *control_types[]={
"none",
"Position",
"Speed (disabled)",
"PWM Direct"
};
///////////////////////////////////////////////
extern int protocol_post(PROTOCOL_STAT *s, PROTOCOL_MSG2 *msg);
// from protocol.c
extern POSN Position;
extern POSN RawPosition;
extern POSN_INCR PositionIncr;
///////////////////////////////////////////////////
// from protocol.c
extern PARAMSTAT params[];
extern int paramcount;
///////////////////////////////////////////////////
// used in machine_protocol.c
void ascii_byte(PROTOCOL_STAT *s, unsigned char byte );
///////////////////////////////////////////////////
// local functions, not really for external usage
static int ascii_process_immediate(PROTOCOL_STAT *s, unsigned char byte);
static void ascii_process_msg(PROTOCOL_STAT *s, char *cmd, int len);
///////////////////////////////////////////////////
// local variables for handling the 'human' protocol,
// not really for external usage
//
static char ascii_cmd[20];
static char ascii_out[512];
static int ascii_posn = 0;
void ascii_byte(PROTOCOL_STAT *s, unsigned char byte ){
int skipchar = 0;
// only if no characters buffered, process single keystorkes
if (enable_immediate && (ascii_posn == 0)){
// returns 1 if char should not be kept in command buffer
skipchar = ascii_process_immediate(s, byte);
}
if (!skipchar){
// on CR or LF, process gathered messages
if ((byte == '\r') || (byte == '\n')){
s->send_serial_data((unsigned char *) &byte, 1);
ascii_cmd[ascii_posn] = 0;
ascii_process_msg(s, ascii_cmd, ascii_posn);
ascii_posn = 0;
// send prompt
byte = '>';
} else {
if (ascii_posn < 20){
ascii_cmd[ascii_posn++] = byte;
} else {
//byte = '#';
}
}
} else {
// no echo for immediate.
// send prompt after immediate
byte = '>';
}
// echo or prompt after processing
s->send_serial_data((unsigned char *) &byte, 1);
}
/////////////////////////////////////////////
// single byte commands at start of command
// - i.e. only after CR of LF and ascii buffer empty
int ascii_process_immediate(PROTOCOL_STAT *s, unsigned char byte){
int processed = 0;
ascii_out[0] = 0;
int dir = 1;
switch(byte){
case 'S':
case 's':
dir = -1;
case 'W':
case 'w':
processed = 1;
if (!enable) { speedB = 0; steerB = 0; }
enable = 1;
timeout = 0;
switch (control_type){
#ifdef FLASH_STORAGE
case CONTROL_TYPE_POSITION:
#ifdef HALL_INTERRUPTS
PosnData.wanted_posn_mm[0] += dir * 100;
PosnData.wanted_posn_mm[1] += dir * 100;
sprintf(ascii_out, "wanted_posn now %ldmm %ldmm\r\n", PosnData.wanted_posn_mm[0], PosnData.wanted_posn_mm[1]);
#endif
break;
case CONTROL_TYPE_SPEED:
speedB += 10*dir;
SpeedData.wanted_speed_mm_per_sec[1] = CLAMP(speedB * SPEED_COEFFICIENT - steerB * STEER_COEFFICIENT, -1000, 1000);
SpeedData.wanted_speed_mm_per_sec[0] = CLAMP(speedB * SPEED_COEFFICIENT + steerB * STEER_COEFFICIENT, -1000, 1000);
sprintf(ascii_out, "speed now %d, steer now %d, speedL %ld, speedR %ld\r\n", speedB, steerB, SpeedData.wanted_speed_mm_per_sec[0], SpeedData.wanted_speed_mm_per_sec[1]);
break;
#endif
case CONTROL_TYPE_PWM:
speedB += 10*dir;
PWMData.pwm[1] = CLAMP(speedB * SPEED_COEFFICIENT - steerB * STEER_COEFFICIENT, -1000, 1000);
PWMData.pwm[0] = CLAMP(speedB * SPEED_COEFFICIENT + steerB * STEER_COEFFICIENT, -1000, 1000);
sprintf(ascii_out, "speed now %d, steer now %d, pwm %ld, pwm %ld\r\n", speedB, steerB, PWMData.pwm[0], PWMData.pwm[1]);
break;
}
break;
case 'A':
case 'a':
dir = -1;
case 'D':
case 'd':
processed = 1;
if (!enable) { speedB = 0; steerB = 0; }
enable = 1;
timeout = 0;
switch (control_type){
#ifdef FLASH_STORAGE
case CONTROL_TYPE_POSITION:
#ifdef HALL_INTERRUPTS
PosnData.wanted_posn_mm[0] += dir * 100;
PosnData.wanted_posn_mm[1] -= dir * 100;
sprintf(ascii_out, "wanted_posn now %ldmm %ldmm\r\n", PosnData.wanted_posn_mm[0], PosnData.wanted_posn_mm[1]);
#endif
break;
case CONTROL_TYPE_SPEED:
steerB += 10*dir;
SpeedData.wanted_speed_mm_per_sec[1] = CLAMP(speedB * SPEED_COEFFICIENT - steerB * STEER_COEFFICIENT, -1000, 1000);
SpeedData.wanted_speed_mm_per_sec[0] = CLAMP(speedB * SPEED_COEFFICIENT + steerB * STEER_COEFFICIENT, -1000, 1000);
sprintf(ascii_out, "speed now %d, steer now %d, speedL %ld, speedR %ld\r\n", speedB, steerB, SpeedData.wanted_speed_mm_per_sec[0], SpeedData.wanted_speed_mm_per_sec[1]);
break;
#endif
case CONTROL_TYPE_PWM:
steerB += 10*dir;
PWMData.pwm[1] = CLAMP(speedB * SPEED_COEFFICIENT - steerB * STEER_COEFFICIENT, -1000, 1000);
PWMData.pwm[0] = CLAMP(speedB * SPEED_COEFFICIENT + steerB * STEER_COEFFICIENT, -1000, 1000);
sprintf(ascii_out, "speed now %d, steer now %d, pwm %d->%ld, pwm %d->%ld\r\n", speedB, steerB, pwms[0], PWMData.pwm[0], pwms[1], PWMData.pwm[1]);
break;
}
break;
case 'X':
case 'x':
processed = 1;
speedB = 0;
steerB = 0;
PWMData.pwm[1] = CLAMP(speedB * SPEED_COEFFICIENT - steerB * STEER_COEFFICIENT, -1000, 1000);
PWMData.pwm[0] = CLAMP(speedB * SPEED_COEFFICIENT + steerB * STEER_COEFFICIENT, -1000, 1000);
SpeedData.wanted_speed_mm_per_sec[0] = SpeedData.wanted_speed_mm_per_sec[1] = speedB;
#ifdef HALL_INTERRUPTS
HallData[0].HallSpeed_mm_per_s = HallData[1].HallSpeed_mm_per_s = 0;
#endif
dspeeds[0] = dspeeds[1] = speedB;
pwms[0] = pwms[1] = speedB;
#ifdef HALL_INTERRUPTS
PosnData.wanted_posn_mm[0] = HallData[0].HallPosn_mm;
PosnData.wanted_posn_mm[1] = HallData[1].HallPosn_mm;
#endif
#ifdef CONTROL_SENSOR
sensor_control = 0;
#endif
enable = 0;
sprintf(ascii_out, "Stop set\r\n");
break;
case 'Q':
case 'q':
processed = 1;
enable_immediate = 0;
speedB = 0;
steerB = 0;
PWMData.pwm[1] = CLAMP(speedB * SPEED_COEFFICIENT - steerB * STEER_COEFFICIENT, -1000, 1000);
PWMData.pwm[0] = CLAMP(speedB * SPEED_COEFFICIENT + steerB * STEER_COEFFICIENT, -1000, 1000);
SpeedData.wanted_speed_mm_per_sec[0] = SpeedData.wanted_speed_mm_per_sec[1] = speedB;
#ifdef HALL_INTERRUPTS
HallData[0].HallSpeed_mm_per_s = HallData[1].HallSpeed_mm_per_s = 0;
#endif
dspeeds[0] = dspeeds[1] = speedB;
pwms[0] = pwms[1] = speedB;
#ifdef HALL_INTERRUPTS
PosnData.wanted_posn_mm[0] = HallData[0].HallPosn_mm;
PosnData.wanted_posn_mm[1] = HallData[1].HallPosn_mm;
#endif
#ifdef CONTROL_SENSOR
sensor_control = 0;
#endif
control_type = 0;
enable = 0;
sprintf(ascii_out, "Immediate commands disabled\r\n");
break;
#ifdef CONTROL_SENSOR
case 'R':
case 'r':
processed = 1;
sensor_stabilise ^= 1;
sprintf(ascii_out, "Sensor Stabilisation is now %d\r\n", sensor_stabilise);
break;
#endif
#ifdef HALL_INTERRUPTS
case 'V':
case 'v': // display stats from main timing
// we don't have float printing
processed = 1;
sprintf(ascii_out, "Main loop interval_us %d; lates %d, processing_us %d, interval by tick %d\r\n"\
"bldc freq %d, bldc_us %d, bldc overruns %d, bldc cycles %d, bld100k %d, cpu freq %d, bldcperhallL/R %d/%d\r\n",
(int)(timeStats.f_main_interval_ms * 1000),
timeStats.main_late_count,
(int)(timeStats.f_main_processing_ms*1000),
(int)timeStats.f_main_interval_ms,
timeStats.bldc_freq,
(int)timeStats.bldc_us,
BldcControllerParams.overruns,
timeStats.bldc_cycles,
timeStats.bldc_100k,
timeStats.hclkFreq,
bldc_count_per_hall[0],
bldc_count_per_hall[1]
);
break;
#endif
case 'H':
case 'h':
#ifdef HALL_INTERRUPTS
processed = 1;
sprintf(ascii_out,
"L: P:%ld(%ldmm) S:%ld(%ldmm/s) dT:%lu Skip:%lu Dma:%d\r\n"\
"R: P:%ld(%ldmm) S:%ld(%ldmm/s) dT:%lu Skip:%lu Dma:%d\r\n",
HallData[0].HallPosn, HallData[0].HallPosn_mm, HallData[0].HallSpeed, HallData[0].HallSpeed_mm_per_s, HallData[0].HallTimeDiff, HallData[0].HallSkipped, local_hall_params[0].dmacount,
HallData[1].HallPosn, HallData[1].HallPosn_mm, HallData[1].HallSpeed, HallData[1].HallSpeed_mm_per_s, HallData[1].HallTimeDiff, HallData[1].HallSkipped, local_hall_params[1].dmacount
);
#else
sprintf(ascii_out, "Hall Data not available\r\n");
#endif
break;
case 'N':
case 'n':
#ifdef CONTROL_SENSOR
processed = 1;
sprintf(ascii_out,
"L: OK:%d Foot:%d Angle:%d Roll:%d Accel:%d\r\n"\
"R: OK:%d Foot:%d Angle:%d Roll:%d Accel:%d\r\n",
sensor_data[0].sensor_ok, (sensor_data[0].complete.AA_55 == 0x55)?1:0, sensor_data[0].complete.Angle, sensor_data[0].complete.Roll, sensor_data[0].complete.Accelleration,
sensor_data[1].sensor_ok, (sensor_data[1].complete.AA_55 == 0x55)?1:0, sensor_data[1].complete.Angle, sensor_data[1].complete.Roll, sensor_data[1].complete.Accelleration
);
#else
sprintf(ascii_out, "Sensor Data not available\r\n");
#endif
break;
case 'C':
case 'c':
processed = 1;
sprintf(ascii_out,
"Bat: %dmV(%d) Temp:%dC(%d)\r\n"
"L: Current:%dmA Avg:%dmA r1:%d r2:%d\r\n"\
"R: Current:%dmA Avg:%dmA r1:%d r2:%d\r\n",
(int)(electrical_measurements.batteryVoltage*1000), electrical_measurements.bat_raw,
(int)electrical_measurements.board_temp_deg_c, electrical_measurements.board_temp_raw,
(int)(electrical_measurements.motors[0].dcAmps*1000.0), (int)(electrical_measurements.motors[0].dcAmpsAvg*1000.0), electrical_measurements.motors[0].r1, electrical_measurements.motors[0].r2,
(int)(electrical_measurements.motors[1].dcAmps*1000.0), (int)(electrical_measurements.motors[1].dcAmpsAvg*1000.0), electrical_measurements.motors[1].r1, electrical_measurements.motors[1].r2
);
break;
#ifndef SKIP_STM32SPECIFIC
case 'G':
case 'g':
processed = 1;
sprintf(ascii_out,
"A:%04X B:%04X C:%04X D:%04X E:%04X\r\n"\
"Button: %d Charge:%d\r\n",
(int)GPIOA->IDR, (int)GPIOB->IDR, (int)GPIOC->IDR, (int)GPIOD->IDR, (int)GPIOE->IDR,
(int)(BUTTON_PORT->IDR & BUTTON_PIN)?1:0,
(int)(CHARGER_PORT->IDR & CHARGER_PIN)?1:0
);
break;
#endif
case 'O':
case 'o':{
int control_old = control_type;
//stop all
ascii_process_immediate(s, 'x');
processed = 1;
control_type = (control_old+1) % CONTROL_TYPE_MAX;
sprintf(ascii_out, "control type now %d (%s)\r\n", control_type, control_types[control_type]);
}
break;
default:
break;
}
s->send_serial_data((unsigned char *) ascii_out, strlen(ascii_out));
return processed;
}
/////////////////////////////////////////////
/////////////////////////////////////////////
// process commands which ended CR or LF
void ascii_process_msg(PROTOCOL_STAT *s, char *cmd, int len){
char password[] = "unlockASCII"; // unlock password, has to start with an 'u'
ascii_out[0] = 0;
// skip nuls, observed at startup
while (((*cmd) == 0) && (len > 0)){
cmd++;
len--;
}
if (len == 0){ // makes double prompt if /r/n is sent by terminal
//sprintf(ascii_out, "\r\n>");
//s->send_serial_data((unsigned char *) ascii_out, strlen(ascii_out));
return;
}
if (!asciiProtocolUnlocked && cmd[0]!='u') {
sprintf(ascii_out, "Locked. Enter unlockASCII to enable ASCII input mode.\r\n>");
s->send_serial_data((unsigned char *) ascii_out, strlen(ascii_out));
return;
}
switch(cmd[0]){
case '?':
// split, else too big for buffer
snprintf(ascii_out, sizeof(ascii_out)-1,
"Hoverboard Mk1\r\n"\
"Cmds (press return after):\r\n"\
" A n m l -set buzzer (freq, patt, len_ms) (e.g. A 4 0 1000)\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
#ifdef CONTROL_SENSOR
snprintf(ascii_out, sizeof(ascii_out)-1,
" B -toggle sensor Board control\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
#endif
snprintf(ascii_out, sizeof(ascii_out)-1,
" E - dEbug 'E'-disable all, EC-enable consoleLog, ES enable Scope\r\n"\
" P -power control\r\n"\
" P -disablepoweroff\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
snprintf(ascii_out, sizeof(ascii_out)-1,
" PE enable poweroff\r\n"\
" Pn power off in n seconds\r\n" \
" Pr software reset\r\n" \
" I -enable Immediate commands:\r\n"\
" W/S/A/D/X -Faster/Slower/Lefter/Righter/DisableDrive\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
#ifdef HALL_INTERRUPTS
snprintf(ascii_out, sizeof(ascii_out)-1,
" H/C/G/Q -read Hall posn,speed/read Currents/read GPIOs/Quit immediate mode\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
snprintf(ascii_out, sizeof(ascii_out)-1,
" S - timing stats\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
#endif
snprintf(ascii_out, sizeof(ascii_out)-1,
#ifdef CONTROL_SENSOR
" N/O/R - read seNsor data/toggle pOsitional control/dangeR\r\n");
#else
" O - toggle pOsitional control\r\n");
#endif
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
snprintf(ascii_out, sizeof(ascii_out)-1,
" Ip/Is/Iw - direct to posn/speed/pwm control\r\n"\
" T - send a test message A-ack N-nack T-test\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
#ifdef FLASH_STORAGE
snprintf(ascii_out, sizeof(ascii_out)-1,
" F - print/set a flash constant (Fa to print all, Fi to default all):\r\n"
" Fss - print, Fss<n> - set\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
#endif
for (int i = 0; i < paramcount; i++){
if (params[i].uistr){
snprintf(ascii_out, sizeof(ascii_out)-1,
" %s - F%s<n>\r\n",
(params[i].description)?params[i].description:"",
params[i].uistr
);
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
}
}
#ifdef FLASH_STORAGE
snprintf(ascii_out, sizeof(ascii_out)-1,
" M - dump memory\r\n"
" Mf - dump flash\r\n"
" M<hexaddr>,<hexlen> - dump mem\r\n"
" R! - Reset\r\n"
);
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
#endif
snprintf(ascii_out, sizeof(ascii_out)-1,
" L - Lock ASCII protocol\r\n"
" ? - show this\r\n"
);
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
ascii_out[0] = 0;
break;
case 'A':
case 'a':{
int a = 0;
int b = 0;
int c = 0;
if (len > 1){
sscanf(cmd+1, "%d %d %d", &a, &b, &c);
}
if (a && (0==c)){
c = 1000;
}
buzzerFreq = a;
buzzerPattern = b;
buzzerLen = c/5; // roughly 5ms per main loop, so 1s default
sprintf(ascii_out, "Alarm set to %d %d %d\r\n", a, b, c);
break;
}
#ifdef CONTROL_SENSOR
case 'B':
case 'b':
sensor_control ^= 1;
control_type = 0;
speedB = 0;
steerB = 0;
SpeedData.wanted_speed_mm_per_sec[0] = SpeedData.wanted_speed_mm_per_sec[1] = speedB;
dspeeds[0] = dspeeds[1] = speedB;
#ifdef HALL_INTERRUPTS
PosnData.wanted_posn_mm[0] = HallData[0].HallPosn_mm;
PosnData.wanted_posn_mm[1] = HallData[1].HallPosn_mm;
#endif
sprintf(ascii_out, "Sensor control now %d\r\n", sensor_control);
break;
#endif
case 'C':
case 'c':
ascii_process_immediate(s, 'c');
// already sent
ascii_out[0] = 0;
break;
case '$':
#ifdef READ_SENSOR
getSensorBaudRate(0);
getSensorBaudRate(1);
#endif
break;
case '%':
setUSART2ToControl(0);
break;
#ifdef HALL_INTERRUPTS
case 'S':
case 's': // display stats from main timing
// we don't have float printing
sprintf(ascii_out, "Main loop interval_us %d; lates %d, processing_us %d, interval by tick %d\r\n"\
"bldc freq %d, bldc_us %d, bldc overruns %d, bldc cycles %d, bld100k %d, cpu freq %d, bldcperhallL/R %d/%d\r\n",
(int)(timeStats.f_main_interval_ms * 1000),
timeStats.main_late_count,
(int)(timeStats.f_main_processing_ms*1000),
(int)timeStats.f_main_interval_ms,
timeStats.bldc_freq,
(int)timeStats.bldc_us,
BldcControllerParams.overruns,
timeStats.bldc_cycles,
timeStats.bldc_100k,
timeStats.hclkFreq,
bldc_count_per_hall[0],
bldc_count_per_hall[1]
);
break;
#endif
case 'E':
case 'e':
if (len == 1){
debug_out = 0;
enablescope = 0;
} else {
if ((cmd[1] | 0x20) == 's'){
enablescope = 1;
debug_out = 1;
}
if ((cmd[1] | 0x20) == 'c'){
debug_out = 1;
}
}
sprintf(ascii_out, "debug_out now %d\r\nenablescope now %d\r\n", debug_out, enablescope);
break;
#ifdef FLASH_STORAGE
case 'F':
case 'f': // setting any parameter marked with uistr
if (len == 1){
sprintf(ascii_out, "no flash var given\r\n");
} else {
if ((cmd[1] | 0x20) == 'i'){ // initilaise
memset(&FlashContent, 0, sizeof(FlashContent));
memcpy(&FlashContent, &FlashDefaults, (sizeof(FlashContent) < sizeof(FlashDefaults))?sizeof(FlashContent) : sizeof(FlashDefaults)) ;
writeFlash( (unsigned char *)&FlashContent, sizeof(FlashContent) );
sprintf(ascii_out, "Flash initialised\r\n");
} else {
if ((cmd[1] | 0x20) == 'a'){
// read all
for (int i = 0; i < paramcount; i++){
if (params[i].uistr){
switch (params[i].ui_type){
case UI_SHORT:
// read it
if (params[i].fn) params[i].fn( s, ¶ms[i], FN_TYPE_PRE_READ, NULL, 0 );
sprintf(ascii_out, "%s(%s): %d\r\n",
(params[i].description)?params[i].description:"",
params[i].uistr,
(int)*(short *)params[i].ptr);
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
ascii_out[0] = 0; // don't print last one twice
if (params[i].fn) params[i].fn( s, ¶ms[i], FN_TYPE_POST_READ, NULL, 0 );
break;
default:
break;
}
}
}
} else {
int i = 0;
int count = paramcount;
for (i = 0; i < count; i++){
if (params[i].uistr){
if (!strncmp(params[i].uistr, &cmd[1], strlen(params[i].uistr))){
switch (params[i].ui_type){
case UI_SHORT:
// if number supplied, write
if ((cmd[1+strlen(params[i].uistr)] >= '0') && (cmd[1+strlen(params[i].uistr)] <= '9')){
if (params[i].fn) params[i].fn( s, ¶ms[i], FN_TYPE_PRE_WRITE, NULL, 0 );
*((short *)params[i].ptr) = atoi(&cmd[1+strlen(params[i].uistr)]);
if (params[i].fn) params[i].fn( s, ¶ms[i], FN_TYPE_POST_WRITE, NULL, 0 );
sprintf(ascii_out, "flash var %s(%s) now %d\r\n",
(params[i].description)?params[i].description:"",
params[i].uistr,
(int)*(short *)params[i].ptr);
} else {
// read it
if (params[i].fn) params[i].fn( s, ¶ms[i], FN_TYPE_PRE_READ, NULL, 0 );
sprintf(ascii_out, "%s(%s): %d\r\n",
(params[i].description)?params[i].description:"",
params[i].uistr,
(int)*(short *)params[i].ptr
);
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
ascii_out[0] = 0; // don't print last one twice
if (params[i].fn) params[i].fn( s, ¶ms[i], FN_TYPE_POST_READ, NULL, 0 );
}
break;
default:
sprintf(ascii_out, "flash var %s(%s) unsupported type\r\n",
(params[i].description)?params[i].description:"",
params[i].uistr
);
break;
}
break; // found our param, now leave
}
}
}
if (i == count){
sprintf(ascii_out, "unknown flash data %s\r\n", cmd);
}
}
}
}
break; // end generic read of flash or other variable
#endif
case 'G':
case 'g':
ascii_process_immediate(s, 'g');
// already sent
ascii_out[0] = 0;
break;
case 'H':
case 'h':
ascii_process_immediate(s, 'h');
// already sent
ascii_out[0] = 0;
break;
case 'I':
case 'i':
speedB = 0;
steerB = 0;
PWMData.pwm[1] = CLAMP(speedB * SPEED_COEFFICIENT - steerB * STEER_COEFFICIENT, -1000, 1000);
PWMData.pwm[0] = CLAMP(speedB * SPEED_COEFFICIENT + steerB * STEER_COEFFICIENT, -1000, 1000);
SpeedData.wanted_speed_mm_per_sec[0] = SpeedData.wanted_speed_mm_per_sec[1] = speedB;
dspeeds[0] = dspeeds[1] = speedB;
#ifdef HALL_INTERRUPTS
PosnData.wanted_posn_mm[0] = HallData[0].HallPosn_mm;
PosnData.wanted_posn_mm[1] = HallData[1].HallPosn_mm;
#endif
if (len == 1){
enable_immediate = 1;
sprintf(ascii_out, "Immediate commands enabled - WASDXHCGQ\r\n>");
} else {
switch (cmd[1] | 0x20){
#ifdef FLASH_STORAGE
case 's':
enable_immediate = 1;
control_type = CONTROL_TYPE_SPEED;
sprintf(ascii_out, "Immediate commands enabled - WASDXHCGQ - Speed control\r\n>");
break;
case 'p':
enable_immediate = 1;
control_type = CONTROL_TYPE_POSITION;
sprintf(ascii_out, "Immediate commands enabled - WASDXHCGQ - Position control\r\n>");
break;
#endif
case 'w':
enable_immediate = 1;
control_type = CONTROL_TYPE_PWM;
sprintf(ascii_out, "Immediate commands enabled - WASDXHCGQ - Power (pWm) control\r\n>");
break;
}
}
break;
case 'N':
case 'n':
ascii_process_immediate(s, 'n');
// already sent
ascii_out[0] = 0;
break;
case 'P':
case 'p':
if (len == 1){
disablepoweroff = 1;
powerofftimer = 0;
} else {
if ((cmd[1] | 0x20) == 'r'){
sprintf(ascii_out, "Reset in 500ms\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
HAL_Delay(500);
HAL_NVIC_SystemReset();
}
if ((cmd[1] | 0x20) == 'e'){
disablepoweroff = 0;
powerofftimer = 0;
} else {
int s = -1;
sscanf(cmd+1, "%d", &s);
if (s >= 0){
if (s == 0){
powerofftimer = 1; // immediate
} else {
powerofftimer = ((s*1000)/DELAY_IN_MAIN_LOOP);
}
}
}
}
sprintf(ascii_out,
"disablepoweroff now %d\r\n"\
"powerofftimer now %d\r\n",
disablepoweroff,
powerofftimer);
break;
case 'T':
case 't':
if (len < 2){
sprintf(ascii_out, "Test command needs A N or T qualifier\r\n");
} else {
// send a test message in machine protocol
switch (cmd[1]){
case 'A':
case 'a':
//protocol_send_ack();
break;
case 'N':
case 'n':
//protocol_send_nack();
break;
case 'T':
case 't':{
char tmp[] = { PROTOCOL_SOM_ACK, 0, 5, PROTOCOL_CMD_TEST, 'T', 'e', 's', 't' };
protocol_post(s, (PROTOCOL_MSG2*)tmp);
}
break;
}
// CR before prompt.... after message
sprintf(ascii_out, "\r\n");
}
break;
case 'u':
if (len < strlen(password)){
sprintf(ascii_out, "Wrong Password - Enter unlockASCII to enable ASCII input mode.\r\n");
} else {
for (int i = 0; i < 11; i++){
if(cmd[i] != password[i]) {
sprintf(ascii_out, "Wrong Password - Enter unlockASCII to enable ASCII input mode.\r\n");
break;
}
if(i == 10) {
asciiProtocolUnlocked = 1;
sprintf(ascii_out, "ASCII input active. Type ? for help\r\n");
}
}
}
break;
case 'l':
case 'L':
asciiProtocolUnlocked = 0;
sprintf(ascii_out, "ASCII protocol locked.\r\n");
break;
case 'r':
case 'R':
if (cmd[1] == '!'){
sprintf(ascii_out, "\r\n!!!!!Resetting!!!!!\r\n");
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
ascii_out[0] = 0;
HAL_Delay(500);
HAL_NVIC_SystemReset();
}
break;
#ifdef FLASH_STORAGE
// memory read hex address
case 'm':
case 'M':{
unsigned char tmp[100];
unsigned char *addr = 0;
unsigned int len = 4;
if (cmd[1] == 'f') {
int res = readFlash( tmp, 100 );
if (res > 0) {
addr = tmp;
len = res;
}
} else {
sscanf(&cmd[1], "%lx,%x", (unsigned long *)&addr, &len);
}
strcat( ascii_out, "\r\n" );
for (int a = 0; a < len; a++) {
char t[5];
sprintf(t, "%2.2X ", *(addr+a));
strcat( ascii_out, t );
if (!((a+1)&0xf)){
strcat( ascii_out, "\r\n" );
s->send_serial_data_wait((unsigned char *)ascii_out, strlen(ascii_out));
ascii_out[0] = 0;
}
}
strcat( ascii_out, "\r\n" );
break;
}
#endif
default:
sprintf(ascii_out, "Unknown cmd %c\r\n", cmd[0]);
break;
}
s->send_serial_data((unsigned char *) ascii_out, strlen(ascii_out));
// prompt
sprintf(ascii_out, "\r\n>");
s->send_serial_data((unsigned char *) ascii_out, strlen(ascii_out));
}
/////////////////////////////////////////////
#endif