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hoverboard-firmware-hack-foc-serial-esc
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Fix

This commit is contained in:
Candas1 2021-01-06 22:15:29 +01:00
parent cd40425e99
commit 10a359a142
2 changed files with 38 additions and 38 deletions
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2
Inc/comms.h
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@ -52,7 +52,7 @@ int32_t getParamValExt(uint8_t index);
int8_t initParamVal(uint8_t index); int8_t initParamVal(uint8_t index);
int8_t incrParamVal(uint8_t index); int8_t incrParamVal(uint8_t index);
int8_t saveParamVal(uint8_t index); int8_t saveAllParamVal();
int16_t getParamInitInt(uint8_t index); int16_t getParamInitInt(uint8_t index);
int32_t getParamInitExt(uint8_t index); int32_t getParamInitExt(uint8_t index);
int8_t printCommandHelp(uint8_t index); int8_t printCommandHelp(uint8_t index);

74
Src/comms.c
View File

@ -63,7 +63,7 @@ const command_entry commands[] = {
{READ ,"WATCH" ,NULL ,watchParamVal ,NULL ,"Toggle Parameter/Variable Watch"}, {READ ,"WATCH" ,NULL ,watchParamVal ,NULL ,"Toggle Parameter/Variable Watch"},
{WRITE ,"SET" ,NULL ,NULL ,setParamValExt ,"Set Parameter"}, {WRITE ,"SET" ,NULL ,NULL ,setParamValExt ,"Set Parameter"},
{WRITE ,"INIT" ,NULL ,initParamVal ,NULL ,"Init Parameter from EEPROM or CONFIG.H"}, {WRITE ,"INIT" ,NULL ,initParamVal ,NULL ,"Init Parameter from EEPROM or CONFIG.H"},
{WRITE ,"SAVE" ,NULL ,saveParamVal ,NULL ,"Save Parameter to EEPROM"}, {WRITE ,"SAVE" ,saveAllParamVal ,NULL ,NULL ,"Save Parameters to EEPROM"},
}; };
enum paramTypes {PARAMETER,VARIABLE}; enum paramTypes {PARAMETER,VARIABLE};
@ -122,6 +122,7 @@ const parameter_entry params[] = {
}; };
uint8_t * watchParamList; uint8_t * watchParamList;
uint8_t watchParamListSize = 0;
// Translate from External format to Internal Format // Translate from External format to Internal Format
int32_t ExtToInt(uint8_t index,int32_t value){ int32_t ExtToInt(uint8_t index,int32_t value){
@ -136,13 +137,15 @@ int32_t ExtToInt(uint8_t index,int32_t value){
// Set Param with Value from external format // Set Param with Value from external format
int8_t setParamValExt(uint8_t index, int32_t value) { int8_t setParamValExt(uint8_t index, int32_t value) {
int8_t ret = 0;
// check min and max before conversion to internal values // check min and max before conversion to internal values
if (IN_RANGE(value,params[index].min,params[index].max)){ if (IN_RANGE(value,params[index].min,params[index].max)){
return setParamValInt(index,ExtToInt(index,value)); ret = setParamValInt(index,ExtToInt(index,value));
printParamDef(index);
}else{ }else{
printf("! Value %li out of range [min:%li max:%li]",value,params[index].min,params[index].max); printf("! Value %li out of range [min:%li max:%li]\r\n",value,params[index].min,params[index].max);
return 0;
} }
return ret;
} }
// Set Param with value from internal format // Set Param with value from internal format
@ -242,31 +245,31 @@ int32_t getParamValInt(uint8_t index) {
// Set watch flag for parameter // Set watch flag for parameter
int8_t watchParamVal(uint8_t index){ int8_t watchParamVal(uint8_t index){
boolean_T found = 0; boolean_T found = 0;
uint8_t size = sizeof(watchParamList); for(int i=0;i<watchParamListSize;i++){
for(int i=0;i<size;i++){
if (watchParamList[i] == index) found = 1; if (watchParamList[i] == index) found = 1;
if ( found && i < size - 1 ) watchParamList[i] = watchParamList[i+1]; if ( found && i < watchParamListSize - 1 ) watchParamList[i] = watchParamList[i+1];
} }
if (found){size--;}else{size++;} if (found){watchParamListSize--;}else{watchParamListSize++;}
if (size == 0){ if (watchParamListSize == 0){
free(watchParamList); free(watchParamList);
}else{ }else{
watchParamList = (uint8_t*) realloc(watchParamList, size * sizeof(uint8_t)); watchParamList = (uint8_t*) realloc(watchParamList, watchParamListSize * sizeof(uint8_t));
} }
if (!found && watchParamList != NULL) watchParamList[size-1] = index; if (!found && watchParamList != NULL) watchParamList[watchParamListSize-1] = index;
return 1; return 1;
} }
// Print value for all parameters with watch flag // Print value for all parameters with watch flag
int8_t printParamVal(){ int8_t printParamVal(){
for(int i=0;i<sizeof(watchParamList);i++){ if (watchParamList == NULL) return 0;
printf("%s:%li ",params[watchParamList[i]].name,getParamValExt(i)); for(int i=0;i<watchParamListSize;i++){
printf("%s:%li ",params[watchParamList[i]].name,getParamValExt(watchParamList[i]));
} }
if (sizeof(watchParamList)>0) printf("\r\n"); if (watchParamListSize>0) printf("\r\n");
return 1; return 1;
} }
@ -289,19 +292,19 @@ int8_t printAllParamHelp(){
printf("? Commands\r\n"); printf("? Commands\r\n");
for(int i=0;i<COMMAND_SIZE(commands);i++) for(int i=0;i<COMMAND_SIZE(commands);i++)
printCommandHelp(i); printCommandHelp(i);
printf("\r\n"); printf("?\r\n");
printf("? Parameters\r\n"); printf("? Parameters\r\n");
for(int i=0;i<PARAM_SIZE(params);i++){ for(int i=0;i<PARAM_SIZE(params);i++){
if (params[i].type == PARAMETER) printParamHelp(i); if (params[i].type == PARAMETER) printParamHelp(i);
} }
printf("\r\n"); printf("?\r\n");
printf("? Variables\r\n"); printf("? Variables\r\n");
for(int i=0;i<PARAM_SIZE(params);i++){ for(int i=0;i<PARAM_SIZE(params);i++){
if (params[i].type == VARIABLE) printParamHelp(i); if (params[i].type == VARIABLE) printParamHelp(i);
} }
printf("\r\n"); printf("?\r\n");
return 1; return 1;
} }
@ -334,26 +337,18 @@ int8_t incrParamVal(uint8_t index) {
} }
} }
// Get internal Parameter value and save it to EEprom if address is assigned // Get internal Parameter value and save it to EEprom for all paraemeter with an address assigned
int8_t saveParamVal(uint8_t index) { int8_t saveAllParamVal() {
// Only Parameters with eeprom address can be saved HAL_FLASH_Unlock();
if (params[index].addr){ EE_WriteVariable(VirtAddVarTab[0] , (uint16_t)FLASH_WRITE_KEY);
uint16_t writeCheck; for(int i=0;i<PARAM_SIZE(params);i++){
// Only Parameters with eeprom address can be saved
HAL_FLASH_Unlock(); if (params[i].addr){
EE_ReadVariable(VirtAddVarTab[0], &writeCheck); EE_WriteVariable(VirtAddVarTab[params[i].addr] , (uint16_t)getParamValInt(i));
if (writeCheck != FLASH_WRITE_KEY){
// Flash Write Key is different, EEPROM should be wiped out
for(int i=0;i< sizeof(VirtAddVarTab)/sizeof(uint16_t);i++)
EE_WriteVariable(VirtAddVarTab[i] , 0);
EE_WriteVariable(VirtAddVarTab[0] , (uint16_t)FLASH_WRITE_KEY);
} }
EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)getParamValInt(index));
HAL_FLASH_Lock();
return 1;
}else{
return 0;
} }
HAL_FLASH_Lock();
return 1;
} }
int32_t IntToExt(uint8_t index,int32_t value){ int32_t IntToExt(uint8_t index,int32_t value){
@ -381,9 +376,11 @@ int16_t getParamInitInt(uint8_t index){
EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readVal); EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readVal);
HAL_FLASH_Lock(); HAL_FLASH_Lock();
// EEPROM was written, use stored value
if (writeCheck == FLASH_WRITE_KEY){ if (writeCheck == FLASH_WRITE_KEY){
return readVal; return readVal;
}else{ }else{
// Use init value from array
return params[index].init; return params[index].init;
} }
}else{ }else{
@ -394,7 +391,10 @@ int16_t getParamInitInt(uint8_t index){
// initialize Parameter value with EEprom data if address is avalaible, init value otherwise // initialize Parameter value with EEprom data if address is avalaible, init value otherwise
int8_t initParamVal(uint8_t index) { int8_t initParamVal(uint8_t index) {
return setParamValInt(index,(int32_t) getParamInitInt(index)); int8_t ret = 0;
ret = setParamValInt(index,(int32_t) getParamInitInt(index));
printParamDef(index);
return ret;
} }
// Find parameter in params array and return index // Find parameter in params array and return index