Improvements
This commit is contained in:
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69ed548823
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7a6dc017a6
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@ -0,0 +1,100 @@
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/**
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* This file is part of the hoverboard-firmware-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Define to prevent recursive inclusion
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#ifndef COMMS_H
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#define COMMS_H
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#include "stm32f1xx_hal.h"
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enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
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#define typename(x) _Generic((x), \
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uint8_t: UINT8_T, \
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uint16_t: UINT16_T, \
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uint32_t: UINT32_T, \
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int8_t: INT8_T, \
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int16_t: INT16_T, \
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int32_t: INT32_T, \
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int: INT, \
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float: FLOAT)
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#define PARAM_SIZE(param) sizeof(param) / sizeof(parameter_entry)
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#define COMMAND_SIZE(command) sizeof(command) / sizeof(command_entry)
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#define SIZEP(x) ((char*)(&(x) + 1) - (char*)&(x))
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#define ADD_PARAM(var) typename(var),&var
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int32_t ExtToInt(uint8_t index,int32_t value);
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int8_t setParamValInt(uint8_t index, int32_t newValue);
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int8_t setParamValExt(uint8_t index, int32_t newValue);
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int32_t IntToExt(uint8_t index,int32_t value);
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int32_t getParamValInt(uint8_t index);
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int32_t getParamValExt(uint8_t index);
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int8_t initParamVal(uint8_t index);
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int8_t incrParamVal(uint8_t index);
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int8_t saveParamVal(uint8_t index);
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int16_t getParamInitInt(uint8_t index);
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int32_t getParamInitExt(uint8_t index);
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int8_t printCommandHelp(uint8_t index);
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int8_t printParamHelp(uint8_t index);
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int8_t printAllParamHelp();
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int8_t printParamVal();
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int8_t printParamDef(uint8_t index);
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int8_t printAllParamDef();
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int8_t watchParamVal(uint8_t index);
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int8_t findCommand(uint8_t *userCommand, uint32_t len);
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int8_t findParam(uint8_t *userCommand, uint32_t len);
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void handle_input(uint8_t *userCommand, uint32_t len);
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typedef struct command_entry_struct command_entry;
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struct command_entry_struct {
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const char *name;
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int8_t (*callback_function0)();
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int8_t (*callback_function1)(uint8_t index);
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int8_t (*callback_function2)(uint8_t index,int32_t value);
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const char *help;
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};
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typedef struct parameter_entry_struct parameter_entry;
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struct parameter_entry_struct {
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const uint8_t type;
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const char *name;
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const uint8_t datatype;
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void *valueL;
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void *valueR;
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const int32_t addr;
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const int32_t init;
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const int32_t min;
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const int32_t max;
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const uint8_t div;
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const uint8_t mul;
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const uint8_t fix;
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void (*callback_function)();
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uint8_t watch;
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const char *help;
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};
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#endif
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@ -291,6 +291,7 @@
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#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
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#endif
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#define DEBUG_SERIAL_PROTOCOL
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// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
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// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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#endif
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43
Inc/util.h
43
Inc/util.h
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@ -127,48 +127,5 @@ typedef struct {
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} MultipleTap;
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void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
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#define SIZEP(x) ((char*)(&(x) + 1) - (char*)&(x))
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enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
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#define typename(x) _Generic((x), \
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uint8_t: UINT8_T, \
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uint16_t: UINT16_T, \
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uint32_t: UINT32_T, \
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int8_t: INT8_T, \
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int16_t: INT16_T, \
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int32_t: INT32_T, \
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int: INT, \
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float: FLOAT)
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#define PARAM_SIZE(param) sizeof(param) / sizeof(parameter_entry)
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#define ADD_PARAM(var) typename(var),&var
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uint8_t setParamVal(uint8_t index, int32_t newValue);
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uint8_t initParamVal(uint8_t index);
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uint32_t getParamVal(uint8_t index);
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uint8_t incrParamVal(uint8_t index);
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uint8_t saveParamVal(uint8_t index);
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void saveAllParamVal();
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void dumpParamVal();
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void dumpParamDef();
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typedef struct parameter_entry_struct parameter_entry;
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struct parameter_entry_struct {
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const uint8_t type;
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const char *name;
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const uint8_t datatype;
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void *valueL;
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void *valueR;
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const int32_t addr;
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const int32_t init;
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const int32_t min;
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const int32_t max;
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const uint8_t div;
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const uint8_t fix;
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void (*callback_function)();
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const char *help;
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};
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#endif
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@ -0,0 +1,458 @@
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/**
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* This file is part of the hoverboard-firmware-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Includes
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#include <string.h>
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#include "stm32f1xx_hal.h"
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#include "config.h"
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#include "defines.h"
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#include "eeprom.h"
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#include "BLDC_controller.h"
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#include "util.h"
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#include "comms.h"
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#if defined(DEBUG_SERIAL_PROTOCOL)
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extern ExtY rtY_Left; /* External outputs */
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extern ExtU rtU_Left; /* External inputs */
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extern P rtP_Left;
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extern ExtY rtY_Right; /* External outputs */
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extern ExtU rtU_Right; /* External inputs */
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extern P rtP_Right;
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extern uint16_t VirtAddVarTab[NB_OF_VAR];
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extern int16_t speedAvg; // average measured speed
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extern int16_t speedAvgAbs; // average measured speed in absolute
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extern uint8_t ctrlModReqRaw;
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// Function0 - Function with 0 parameter
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// Function1 - Function with 1 parameter (e.g. GET PARAM)
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// Function2 - Function with 2 parameter (e.g. SET PARAM XXXX)
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command_entry commands[] = {
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// Name Function0 Function1 Function2 Help
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{"GET" ,printAllParamDef ,printParamDef ,NULL ,"Get Parameter/Variable Values"},
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{"SET" ,NULL ,NULL ,setParamValExt ,"Set Parameter with Value"},
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{"INIT" ,NULL ,initParamVal ,NULL ,"Init Parameter with Value from EEPROM or CONFIG.H"},
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{"SAVE" ,NULL ,saveParamVal ,NULL ,"Save Parameter Value to EEPROM"},
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{"HELP" ,printAllParamHelp ,printParamHelp ,NULL ,"Show Help"},
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{"WATCH" ,NULL ,watchParamVal ,NULL ,"Enable/Disable Watch for Parameter/Variable"},
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};
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enum paramTypes {PARAMETER,VARIABLE};
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// Keywords to match with param index
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enum parameters {PCTRL_MOD_REQ,
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PCTRL_TYP_SEL,
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PI_MOT_MAX,
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PN_MOT_MAX,
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PFIELD_WEAK_ENA,
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PFIELD_WEAK_HI,
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PFIELD_WEAK_LO,
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PFIELD_WEAK_MAX,
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PPHASE_ADV_MAX,
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VI_DC_LINK,
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VSPEED_AVG,
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VRATE,
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VSPEED_COEF,
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VSTEER_COEF,
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};
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parameter_entry params[] = {
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// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Watch ,Help text
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{PARAMETER ,"CTRL_MOD_REQ" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,1 ,3 ,0 ,0 ,0 ,NULL ,0 ,"Ctrl mode [1] voltage [2] Speed [3] Torque"},
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{PARAMETER ,"CTRL_TYP_SEL" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,2 ,0 ,0 ,0 ,NULL ,0 ,"Ctrl type [0] Commutation [1] Sinusoidal [2] FOC"},
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{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max) ,&rtP_Right.i_max ,1 ,I_MOT_MAX ,1 ,40 ,A2BIT_CONV ,0 ,4 ,NULL ,0 ,"Maximum phase current [A]"},
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{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,10 ,2000 ,0 ,0 ,4 ,NULL ,0 ,"Maximum motor [RPM]"},
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{PARAMETER ,"FIELD_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,1 ,0 ,0 ,0 ,NULL ,0 ,"Enable field weakening"},
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{PARAMETER ,"FIELD_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,0 ,1500 ,0 ,0 ,4 ,Input_Lim_Init ,0 ,"Field weak high [RPM]"},
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{PARAMETER ,"FIELD_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,0 ,1000 ,0 ,0 ,4 ,Input_Lim_Init ,0 ,"Field weak low [RPM)"},
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{PARAMETER ,"FIELD_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,0 ,20 ,A2BIT_CONV ,0 ,4 ,NULL ,0 ,"Field weak max current [A](only for FOC)"},
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{PARAMETER ,"PHASE_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,0 ,55 ,0 ,0 ,4 ,NULL ,0 ,"Maximum Phase Advance angle [Deg](only for SIN)"},
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{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink) ,&rtU_Right.i_DCLink ,0 ,0 ,0 ,0 ,A2BIT_CONV ,0 ,0 ,NULL ,0 ,"DC Link current [A]"},
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{VARIABLE ,"SPEED_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Motor Measured Average Speed [RPM]"},
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{VARIABLE ,"SPEEDL" ,ADD_PARAM(rtY_Left.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Left Motor Measured Speed [RPM]"},
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{VARIABLE ,"SPEEDR" ,ADD_PARAM(rtY_Right.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Right Motor Measured Speed [RPM]"},
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{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,0 ,4 ,NULL ,0 ,"Rate *10"},
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{VARIABLE ,"SPEED_COEF" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,10 ,14 ,NULL ,0 ,"Speed Coefficient *10"},
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{VARIABLE ,"STEER_COEF" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,10 ,14 ,NULL ,0 ,"Steer Coefficient *10"},
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//{VARIABLE ,"BATV" ,ADD_PARAM(adc_buffer.batt1) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Battery voltage [V]*100"},
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//{VARIABLE ,"TEMP" ,ADD_PARAM(board_temp_deg_c) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Temperature [°C]*10"},
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};
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// Translate from External format to Internal Format
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int32_t ExtToInt(uint8_t index,int32_t value){
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// Multiply to translate to internal format
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if(params[index].div) value *= params[index].div;
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// Shift to translate to internal format
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if (params[index].fix) value <<= params[index].fix;
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// Divide for small number
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if(params[index].mul)value /= params[index].mul;
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return value;
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}
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// Set Param with Value from external format
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int8_t setParamValExt(uint8_t index, int32_t value) {
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// Only Parameters can be set
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if (params[index].type == VARIABLE){
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printf("! A variable cannot be SET\r\n");
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return 0;
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}
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// check min and max before conversion to internal values
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if (IN_RANGE(value,params[index].min,params[index].max)){
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return setParamValInt(index,ExtToInt(index,value));
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}else{
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printf("! Value %li not in range [min:%li max:%li]\r\n",value,params[index].min,params[index].max);
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return 0;
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}
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}
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// Set Param with value from internal format
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int8_t setParamValInt(uint8_t index, int32_t newValue) {
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int32_t value = newValue;
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if (*(int32_t*)params[index].valueL != value){
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// if value is different, beep, cast and assign new value
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switch (params[index].datatype){
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case UINT8_T:
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if (params[index].valueL != NULL) *(uint8_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(uint8_t*)params[index].valueR = value;
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break;
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case UINT16_T:
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if (params[index].valueL != NULL) *(uint16_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(uint16_t*)params[index].valueR = value;
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break;
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case UINT32_T:
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if (params[index].valueL != NULL) *(uint32_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(uint32_t*)params[index].valueR = value;
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break;
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case INT8_T:
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if (params[index].valueL != NULL) *(int8_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(int8_t*)params[index].valueR = value;
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break;
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case INT16_T:
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if (params[index].valueL != NULL) *(int16_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(int16_t*)params[index].valueR = value;
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break;
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case INT32_T:
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if (params[index].valueL != NULL) *(int32_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(int32_t*)params[index].valueR = value;
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break;
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}
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}
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// Run callback function if assigned
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if (params[index].callback_function) (*params[index].callback_function)();
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return 1;
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}
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// Get Parameter Internal value and translate to external
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int32_t getParamValExt(uint8_t index) {
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return IntToExt(index,getParamValInt(index));
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}
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// Get Parameter Internal Value
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int32_t getParamValInt(uint8_t index) {
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int32_t value = 0;
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int countVar = 0;
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if (params[index].valueL != NULL) countVar++;
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if (params[index].valueR != NULL) countVar++;
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if (countVar > 0){
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// Read Left and Right values and calculate average
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// If left and right have to be summed up, DIV field could be adapted to multiply by 2
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// Cast to parameter datatype
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switch (params[index].datatype){
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case UINT8_T:
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if (params[index].valueL != NULL) value += *(uint8_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(uint8_t*)params[index].valueR;
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break;
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case UINT16_T:
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if (params[index].valueL != NULL) value += *(uint16_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(uint16_t*)params[index].valueR;
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break;
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case UINT32_T:
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if (params[index].valueL != NULL) value += *(uint32_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(uint32_t*)params[index].valueR;
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break;
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case INT8_T:
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if (params[index].valueL != NULL) value += *(int8_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(int8_t*)params[index].valueR;
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break;
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case INT16_T:
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if (params[index].valueL != NULL) value += *(int16_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(int16_t*)params[index].valueR;
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break;
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case INT32_T:
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if (params[index].valueL != NULL) value += *(int32_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(int32_t*)params[index].valueR;
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break;
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default:
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value = 0;
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}
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// Divide by number of values provided for the parameter
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value /= countVar;
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}else{
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// No variable was provided, return init value that might contain a macro
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value = params[index].init;
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}
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return value;
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}
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// Set watch flag for parameter
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int8_t watchParamVal(uint8_t index){
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params[index].watch = (params[index].watch==0);
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return 1;
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}
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|
||||
// Print value for all parameters with watch flag
|
||||
int8_t printParamVal(){
|
||||
int count = 0;
|
||||
for(int i=0;i<PARAM_SIZE(params);i++){
|
||||
if (params[i].watch){
|
||||
printf("%s:%li ",params[i].name,getParamValExt(i));
|
||||
count++;
|
||||
}
|
||||
}
|
||||
if (count) printf("\r\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print help for parameter
|
||||
int8_t printCommandHelp(uint8_t index){
|
||||
printf("? %s:%s\r\n",commands[index].name,commands[index].help);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print help for parameter
|
||||
int8_t printParamHelp(uint8_t index){
|
||||
printf("? %s:%s ",params[index].name,params[index].help);
|
||||
if (params[index].type == PARAMETER) printf("[min:%li max:%li]",params[index].min,params[index].max);
|
||||
printf("\r\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print help for all parameters
|
||||
int8_t printAllParamHelp(){
|
||||
printf("? Commands:\r\n");
|
||||
for(int i=0;i<COMMAND_SIZE(commands);i++)
|
||||
printCommandHelp(i);
|
||||
|
||||
printf("\r\n");
|
||||
|
||||
printf("? Parameters/Variable:\r\n");
|
||||
for(int i=0;i<PARAM_SIZE(params);i++)
|
||||
printParamHelp(i);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print definition for parameter
|
||||
int8_t printParamDef(uint8_t index){
|
||||
printf("# name:%s value:%li init:%li min:%li max:%li\r\n",
|
||||
params[index].name, // Parameter Name
|
||||
getParamValExt(index), // Parameter Value translated to external format
|
||||
getParamInitExt(index), // Parameter Init Value translated to external format
|
||||
params[index].min, // Parameter Min Value with External format
|
||||
params[index].max); // Parameter Max Value with External format
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Print definition for all parameters
|
||||
int8_t printAllParamDef(){
|
||||
for(int i=0;i<PARAM_SIZE(params);i++)
|
||||
printParamDef(i);
|
||||
return 1;
|
||||
}
|
||||
|
||||
int8_t incrParamVal(uint8_t index) {
|
||||
// Only Parameters can be set
|
||||
if (params[index].type == VARIABLE) return 0;
|
||||
|
||||
uint32_t value = getParamValExt(index);
|
||||
if (value < params[index].max){
|
||||
return setParamValExt(index,value + 1);
|
||||
}else{
|
||||
return setParamValExt(index,(int32_t) params[index].min);
|
||||
}
|
||||
}
|
||||
|
||||
// Get internal Parameter value and save it to EEprom if address is assigned
|
||||
int8_t saveParamVal(uint8_t index) {
|
||||
HAL_FLASH_Unlock();
|
||||
int found = 0;
|
||||
for(int i=0;i<PARAM_SIZE(params);i++){
|
||||
if (params[i].type != VARIABLE && params[i].addr){
|
||||
EE_WriteVariable(VirtAddVarTab[params[i].addr] , (uint16_t)getParamValInt(i));
|
||||
found = 1;
|
||||
}
|
||||
}
|
||||
HAL_FLASH_Lock();
|
||||
return found;
|
||||
}
|
||||
|
||||
int32_t IntToExt(uint8_t index,int32_t value){
|
||||
// Multiply for small number
|
||||
if(params[index].mul) value *= params[index].mul;
|
||||
// Divide to translate to external format
|
||||
if(params[index].div) value /= params[index].div;
|
||||
// Shift to translate to external format
|
||||
if(params[index].fix) value >>= params[index].fix;
|
||||
return value;
|
||||
}
|
||||
|
||||
int32_t getParamInitExt(uint8_t index) {
|
||||
int32_t value = 0;
|
||||
value = IntToExt(index,getParamInitInt(index));
|
||||
return value;
|
||||
}
|
||||
|
||||
// Get Parameter value with EEprom data if address is avalaible, init value otherwise
|
||||
int16_t getParamInitInt(uint8_t index) {
|
||||
if (params[index].addr){
|
||||
// if EEPROM address is specified, init from EEPROM address
|
||||
uint16_t readEEPROMVal;
|
||||
HAL_FLASH_Unlock();
|
||||
EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readEEPROMVal);
|
||||
HAL_FLASH_Lock();
|
||||
return readEEPROMVal;
|
||||
}else{
|
||||
// Initialize from param array
|
||||
return params[index].init;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// initialize Parameter value with EEprom data if address is avalaible, init value otherwise
|
||||
int8_t initParamVal(uint8_t index) {
|
||||
// Only Parameters can be loaded from EEPROM
|
||||
if (params[index].type == VARIABLE) return 0;
|
||||
|
||||
return setParamValInt(index,(int32_t) getParamInitInt(index));
|
||||
}
|
||||
|
||||
// Find parameter in params array and return index
|
||||
int8_t findParam(uint8_t *userCommand, uint32_t len){
|
||||
for(int index=0;index<PARAM_SIZE(params);index++){
|
||||
int param_len = strlen(params[index].name);
|
||||
if (param_len < len){
|
||||
if (memcmp(userCommand,params[index].name,param_len)==0){
|
||||
return index;
|
||||
}
|
||||
}
|
||||
}
|
||||
return -1; // Not found
|
||||
}
|
||||
|
||||
// Find command in commands array and return index
|
||||
int8_t findCommand(uint8_t *userCommand, uint32_t len){
|
||||
for(int index=0;index<COMMAND_SIZE(commands);index++){
|
||||
int command_len = strlen(commands[index].name);
|
||||
if (command_len < len){
|
||||
if (memcmp(userCommand,commands[index].name,command_len)==0){
|
||||
return index;
|
||||
}
|
||||
}
|
||||
}
|
||||
return -1; // Not found
|
||||
}
|
||||
|
||||
void handle_input(uint8_t *userCommand, uint32_t len)
|
||||
{
|
||||
int8_t cindex = -1;
|
||||
int8_t pindex = -1;
|
||||
uint8_t size = 0;
|
||||
int8_t ret = 0;
|
||||
|
||||
// Find Command
|
||||
cindex = findCommand(userCommand,len);
|
||||
if (cindex == -1){
|
||||
printf("! Command not found\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// Skip command characters
|
||||
size = strlen(commands[cindex].name);
|
||||
{len-=size;userCommand+=size;}
|
||||
// Skip if space
|
||||
if (*userCommand == 0x20){len-=1;userCommand+=1;}
|
||||
|
||||
if ( (*userCommand == '\n' || *userCommand == '\r') &&
|
||||
commands[cindex].callback_function0 != NULL){
|
||||
// This function needs no parameter
|
||||
ret = (*commands[cindex].callback_function0)();
|
||||
if (ret==1){printf("OK\r\n");}
|
||||
return;
|
||||
}
|
||||
|
||||
// Find parameter
|
||||
pindex = findParam(userCommand,len);
|
||||
if (pindex == -1){
|
||||
printf("! Parameter not found\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
if (commands[cindex].callback_function1 != NULL){
|
||||
// This function needs only a parameter
|
||||
ret = (*commands[cindex].callback_function1)(pindex);
|
||||
if (ret==1){printf("OK\r\n");}
|
||||
return;
|
||||
}
|
||||
|
||||
// Skip parameter characters
|
||||
size = strlen(params[pindex].name);
|
||||
{len-=size;userCommand+=size;}
|
||||
// Skip if space
|
||||
if (*userCommand == 0x20){len-=1;userCommand+=1;}
|
||||
|
||||
|
||||
int32_t value = 0;
|
||||
int8_t sign = 1;
|
||||
int8_t count = 0;
|
||||
|
||||
// Read sign
|
||||
if (*userCommand == '-'){len-=1;userCommand+=1;sign =-1;}
|
||||
// Read value
|
||||
for (value=0; (unsigned)*userCommand-'0'<10; userCommand++){
|
||||
value=10*value+(*userCommand-'0');
|
||||
count++;
|
||||
if (value>MAX_int16_T){printf("! Value not in range\r\n");return;}
|
||||
}
|
||||
|
||||
if (count == 0){
|
||||
printf("! Value required\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// Apply sign
|
||||
value*= sign;
|
||||
|
||||
if (commands[cindex].callback_function2 != NULL){
|
||||
// This function needs an additional parameter
|
||||
ret = (*commands[cindex].callback_function2)(pindex,value);
|
||||
if (ret==1){printf("OK\r\n");}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
25
Src/main.c
25
Src/main.c
|
@ -29,6 +29,7 @@
|
|||
#include "util.h"
|
||||
#include "BLDC_controller.h" /* BLDC's header file */
|
||||
#include "rtwtypes.h"
|
||||
#include "comms.h"
|
||||
|
||||
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
|
||||
#include "hd44780.h"
|
||||
|
@ -420,16 +421,20 @@ int main(void) {
|
|||
|
||||
// ####### DEBUG SERIAL OUT #######
|
||||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
|
||||
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
|
||||
input1[inIdx].raw, // 1: INPUT1
|
||||
input2[inIdx].raw, // 2: INPUT2
|
||||
cmdL, // 3: output command: [-1000, 1000]
|
||||
cmdR, // 4: output command: [-1000, 1000]
|
||||
adc_buffer.batt1, // 5: for battery voltage calibration
|
||||
batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
|
||||
board_temp_adcFilt, // 7: for board temperature calibration
|
||||
board_temp_deg_c); // 8: for verifying board temperature calibration
|
||||
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
|
||||
#ifndef DEBUG_SERIAL_PROTOCOL
|
||||
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
|
||||
input1[inIdx].raw, // 1: INPUT1
|
||||
input2[inIdx].raw, // 2: INPUT2
|
||||
cmdL, // 3: output command: [-1000, 1000]
|
||||
cmdR, // 4: output command: [-1000, 1000]
|
||||
adc_buffer.batt1, // 5: for battery voltage calibration
|
||||
batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
|
||||
board_temp_adcFilt, // 7: for board temperature calibration
|
||||
board_temp_deg_c); // 8: for verifying board temperature calibration
|
||||
#else
|
||||
printParamVal();
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
250
Src/util.c
250
Src/util.c
|
@ -29,6 +29,7 @@
|
|||
#include "util.h"
|
||||
#include "BLDC_controller.h"
|
||||
#include "rtwtypes.h"
|
||||
#include "comms.h"
|
||||
|
||||
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
|
||||
#include "hd44780.h"
|
||||
|
@ -231,239 +232,6 @@ static uint8_t standstillAcv = 0;
|
|||
#endif
|
||||
#endif
|
||||
|
||||
enum paramTypes {PARAMETER,VARIABLE};
|
||||
|
||||
// Keywords to match with param index
|
||||
enum parameters {PCTRL_MOD_REQ,
|
||||
PCTRL_TYP_SEL,
|
||||
PI_MOT_MAX,
|
||||
PN_MOT_MAX,
|
||||
PFIELD_WEAK_ENA,
|
||||
PFIELD_WEAK_HI,
|
||||
PFIELD_WEAK_LO,
|
||||
PFIELD_WEAK_MAX,
|
||||
PPHASE_ADV_MAX,
|
||||
VI_DC_LINK,
|
||||
VSPEED_AVG,
|
||||
VRATE,
|
||||
VSPEED_COEFFICIENT,
|
||||
VSTEER_COEFFICIENT,
|
||||
};
|
||||
|
||||
parameter_entry params[] = {
|
||||
// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init ,Min ,Max ,Div ,Fix ,Callback Function ,Help text
|
||||
{PARAMETER ,"CTRL_MOD_REQ" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,1 ,3 ,0 ,0 ,NULL ,"Ctrl mode [1] voltage [2] Speed [3] Torque"},
|
||||
{PARAMETER ,"CTRL_TYP_SEL" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,2 ,0 ,0 ,NULL ,"Ctrl type [0] Commutation [1] Sinusoidal [2] FOC"},
|
||||
{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max) ,&rtP_Right.i_max ,1 ,I_MOT_MAX ,0 ,40 ,A2BIT_CONV ,4 ,NULL ,"Maximum phase current [A]"},
|
||||
{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,0 ,2000 ,0 ,4 ,NULL ,"Maximum motor [RPM]"},
|
||||
{PARAMETER ,"FIELD_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,1 ,0 ,0 ,NULL ,"Enable field weakening"},
|
||||
{PARAMETER ,"FIELD_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,0 ,1500 ,0 ,4 ,Input_Lim_Init ,"Field weak high [RPM]"},
|
||||
{PARAMETER ,"FIELD_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,0 ,1000 ,0 ,4 ,Input_Lim_Init ,"Field weak low [RPM)"},
|
||||
{PARAMETER ,"FIEL_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,0 ,20 ,A2BIT_CONV ,4 ,NULL ,"Field weak max current [A](only for FOC)"},
|
||||
{PARAMETER ,"PHASE_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,0 ,55 ,0 ,4 ,NULL ,"Maximum Phase Advance angle [Deg](only for SIN)"},
|
||||
{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink) ,&rtU_Right.i_DCLink ,0 ,0 ,0 ,0 ,A2BIT_CONV ,0 ,NULL ,"DC Link current [A]"},
|
||||
{VARIABLE ,"SPEED_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Motor Speed Average [RPM]"},
|
||||
{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,4 ,NULL ,"Rate"},
|
||||
{VARIABLE ,"SPEED_COEFFICIENT" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,4 ,NULL ,"Speed Coefficient"},
|
||||
{VARIABLE ,"STEER_COEFFICIENT" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,4 ,NULL ,"Steer Coefficient"},
|
||||
};
|
||||
|
||||
uint8_t setParamVal(uint8_t index, int32_t newValue) {
|
||||
// Only Parameters can be set
|
||||
if (params[index].type == VARIABLE) return 0;
|
||||
|
||||
int32_t value = newValue;
|
||||
// check mean and max before conversion to internal values
|
||||
if (value >= params[index].min && value <= params[index].max){
|
||||
|
||||
// Multiply to translate to internal format
|
||||
if(params[index].div){
|
||||
value *= params[index].div;
|
||||
}
|
||||
|
||||
// Shift to translate to internal format
|
||||
if (params[index].fix){
|
||||
value <<= params[index].fix;
|
||||
}
|
||||
|
||||
if (*(int32_t*)params[index].valueL != value){
|
||||
// if value is different, beep, cast and assign new value
|
||||
beepShort(8);
|
||||
switch (params[index].datatype){
|
||||
case UINT8_T:
|
||||
if (params[index].valueL != NULL) *(uint8_t*)params[index].valueL = value;
|
||||
if (params[index].valueR != NULL) *(uint8_t*)params[index].valueR = value;
|
||||
break;
|
||||
case UINT16_T:
|
||||
if (params[index].valueL != NULL) *(uint16_t*)params[index].valueL = value;
|
||||
if (params[index].valueR != NULL) *(uint16_t*)params[index].valueR = value;
|
||||
break;
|
||||
case UINT32_T:
|
||||
if (params[index].valueL != NULL) *(uint32_t*)params[index].valueL = value;
|
||||
if (params[index].valueR != NULL) *(uint32_t*)params[index].valueR = value;
|
||||
break;
|
||||
case INT8_T:
|
||||
if (params[index].valueL != NULL) *(int8_t*)params[index].valueL = value;
|
||||
if (params[index].valueR != NULL) *(int8_t*)params[index].valueR = value;
|
||||
break;
|
||||
case INT16_T:
|
||||
if (params[index].valueL != NULL) *(int16_t*)params[index].valueL = value;
|
||||
if (params[index].valueR != NULL) *(int16_t*)params[index].valueR = value;
|
||||
break;
|
||||
case INT32_T:
|
||||
if (params[index].valueL != NULL) *(int32_t*)params[index].valueL = value;
|
||||
if (params[index].valueR != NULL) *(int32_t*)params[index].valueR = value;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// Run callback function if assigned
|
||||
if (params[index].callback_function) (*params[index].callback_function)();
|
||||
return 1;
|
||||
}else{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t getParamVal(uint8_t index) {
|
||||
int32_t value = 0;
|
||||
|
||||
int countVar = 0;
|
||||
if (params[index].valueL != NULL) countVar++;
|
||||
if (params[index].valueR != NULL) countVar++;
|
||||
|
||||
if (countVar > 0){
|
||||
// Read Left and Right values and calculate average
|
||||
// If left and right have to be summed up, DIV field could be adapted to multiply by 2
|
||||
// Cast to parameter datatype
|
||||
switch (params[index].datatype){
|
||||
case UINT8_T:
|
||||
if (params[index].valueL != NULL) value += *(uint8_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(uint8_t*)params[index].valueR;
|
||||
break;
|
||||
case UINT16_T:
|
||||
if (params[index].valueL != NULL) value += *(uint16_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(uint16_t*)params[index].valueR;
|
||||
break;
|
||||
case UINT32_T:
|
||||
if (params[index].valueL != NULL) value += *(uint32_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(uint32_t*)params[index].valueR;
|
||||
break;
|
||||
case INT8_T:
|
||||
if (params[index].valueL != NULL) value += *(int8_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(int8_t*)params[index].valueR;
|
||||
break;
|
||||
case INT16_T:
|
||||
if (params[index].valueL != NULL) value += *(int16_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(int16_t*)params[index].valueR;
|
||||
break;
|
||||
case INT32_T:
|
||||
if (params[index].valueL != NULL) value += *(int32_t*)params[index].valueL;
|
||||
if (params[index].valueR != NULL) value += *(int32_t*)params[index].valueR;
|
||||
break;
|
||||
default:
|
||||
value = 0;
|
||||
}
|
||||
|
||||
// Divide by number of values provided for the parameter
|
||||
value /= countVar;
|
||||
|
||||
// Divide to translate to external format
|
||||
if(params[index].div){
|
||||
value /= params[index].div;
|
||||
}
|
||||
|
||||
// Shift to translate to external format
|
||||
if(params[index].fix){
|
||||
value >>= params[index].fix;
|
||||
}
|
||||
|
||||
return value;
|
||||
}else{
|
||||
// No variable was provided, return init value that might contain a macro
|
||||
return params[index].init;
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
void dumpParamVal(){
|
||||
printf("*");
|
||||
for(int index=0;index<PARAM_SIZE(params);index++){
|
||||
printf("%s:%li ",params[index].name,getParamVal(index));
|
||||
}
|
||||
printf("\r\n");
|
||||
}
|
||||
|
||||
void dumpParamDef(){
|
||||
for(int index=0;index<PARAM_SIZE(params);index++){
|
||||
printf("#name:%s help:%s value:%li init:%li min:%li max:%li\r\n",
|
||||
params[index].name,
|
||||
params[index].help,
|
||||
getParamVal(index),
|
||||
params[index].init,
|
||||
params[index].min,
|
||||
params[index].max);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t incrParamVal(uint8_t index) {
|
||||
// Only Parameters can be set
|
||||
if (params[index].type == VARIABLE) return 0;
|
||||
|
||||
uint32_t value = getParamVal(index);
|
||||
if (value < params[index].max){
|
||||
return setParamVal(index,value + 1);
|
||||
}else{
|
||||
return setParamVal(index,(int32_t) params[index].min);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t saveParamVal(uint8_t index) {
|
||||
// Only Parameters can be saved to EEPROM
|
||||
if (params[index].type == VARIABLE) return 0;
|
||||
|
||||
if (params[index].addr){
|
||||
HAL_FLASH_Unlock();
|
||||
EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)getParamVal(index));
|
||||
HAL_FLASH_Lock();
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t initParamVal(uint8_t index) {
|
||||
// Only Parameters can be loaded from EEPROM
|
||||
if (params[index].type == VARIABLE) return 0;
|
||||
|
||||
if (params[index].addr){
|
||||
// if EEPROM address is specified, init from EEPROM address
|
||||
uint16_t readEEPROMVal;
|
||||
HAL_FLASH_Unlock();
|
||||
EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readEEPROMVal);
|
||||
return setParamVal(index,(int32_t) readEEPROMVal);
|
||||
HAL_FLASH_Lock();
|
||||
return 1;
|
||||
}else{
|
||||
// Initialize from param array
|
||||
setParamVal(index,(int32_t) params[index].init);
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void saveAllParamVal() {
|
||||
HAL_FLASH_Unlock();
|
||||
for(int index=0;index<PARAM_SIZE(params);index++){
|
||||
if (params[index].type != VARIABLE && params[index].addr){
|
||||
EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)getParamVal(index));
|
||||
}
|
||||
}
|
||||
HAL_FLASH_Lock();
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* =========================== Initialization Functions =========================== */
|
||||
|
||||
|
@ -1427,13 +1195,19 @@ void usart3_rx_check(void)
|
|||
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
|
||||
void usart_process_debug(uint8_t *userCommand, uint32_t len)
|
||||
{
|
||||
for (; len > 0; len--, userCommand++) {
|
||||
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
|
||||
//printf("Command = %c\r\n", *userCommand);
|
||||
// handle_input(*userCommand); // -> Create this function to handle the user commands
|
||||
|
||||
#ifndef DEBUG_SERIAL_PROTOCOL
|
||||
for (; len > 0; len--, userCommand++) {
|
||||
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
|
||||
printf("Command = %c\r\n", *userCommand);
|
||||
// handle_input(*userCommand); // -> Create this function to handle the user commands
|
||||
}
|
||||
}
|
||||
}
|
||||
#else
|
||||
handle_input(userCommand,len);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif // SERIAL_DEBUG
|
||||
|
||||
/*
|
||||
|
|
|
@ -61,7 +61,7 @@ build_flags =
|
|||
-DSTM32F103xE
|
||||
-T./STM32F103RCTx_FLASH.ld
|
||||
-lc
|
||||
-lm
|
||||
-l
|
||||
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
|
||||
-D VARIANT_USART
|
||||
|
||||
|
|
Loading…
Reference in New Issue