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Handle usart overflow mode

This commit is contained in:
Candas1 2021-01-11 21:34:17 +01:00
parent d14a7c9d67
commit aa5cb18aea
3 changed files with 221 additions and 244 deletions
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6
Inc/comms.h
View File

@ -42,10 +42,10 @@ enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
#define ADD_PARAM(var) typename(var),&var
int32_t ExtToInt(uint8_t index,int32_t value);
int32_t extToInt(uint8_t index,int32_t value);
int8_t setParamValInt(uint8_t index, int32_t newValue);
int8_t setParamValExt(uint8_t index, int32_t newValue);
int32_t IntToExt(uint8_t index,int32_t value);
int32_t intToExt(uint8_t index,int32_t value);
int32_t getParamValInt(uint8_t index);
int32_t getParamValExt(uint8_t index);
@ -61,6 +61,7 @@ int8_t printAllParamHelp();
int8_t printParamVal();
int8_t printParamDef(uint8_t index);
int8_t printAllParamDef();
void printError(uint8_t errornum );
int8_t watchParamVal(uint8_t index);
int8_t findCommand(uint8_t *userCommand, uint32_t len);
@ -97,6 +98,7 @@ struct parameter_entry_struct {
void *valueR;
const uint16_t addr;
const int32_t init;
const uint8_t initFormat;
const int32_t min;
const int32_t max;
const uint8_t div;

448
Src/comms.c
View File

@ -30,7 +30,16 @@
#include "util.h"
#include "comms.h"
#if defined(DEBUG_SERIAL_PROTOCOL)
#if defined(DEBUG_SERIAL_PROTOCOL) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3))
#ifdef CONTROL_ADC
#define RAW_MIN 0
#define RAW_MAX 4095
#else
#define RAW_MIN -1000
#define RAW_MAX 1000
#endif
#define MAX_PARAM_WATCH 15
@ -71,116 +80,125 @@ const command_entry commands[] = {
enum paramTypes {PARAMETER,VARIABLE};
const parameter_entry params[] = {
// CONTROL PARAMETERS
// Type ,Name ,Datatype ,ValueL ptr ,ValueR ,EEPRM Addr ,Init ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{PARAMETER ,"CTRL_MOD" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,1 ,3 ,0 ,0 ,0 ,NULL ,"Ctrl mode 1:VLT 2:SPD 3:TRQ"},
{PARAMETER ,"CTRL_TYP" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,2 ,0 ,0 ,0 ,NULL ,"Ctrl type 0:COM 1:SIN 2:FOC"},
{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 ,"Max phase current A"},
{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,10 ,2000 ,0 ,0 ,4 ,NULL ,"Max motor RPM"},
{PARAMETER ,"FI_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,1 ,0 ,0 ,0 ,NULL ,"Enable field weak"},
{PARAMETER ,"FI_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,0 ,1500 ,0 ,0 ,4 ,Input_Lim_Init ,"Field weak high RPM"},
{PARAMETER ,"FI_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,0 ,1000 ,0 ,0 ,4 ,Input_Lim_Init ,"Field weak low RPM"},
{PARAMETER ,"FI_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,0 ,20 ,A2BIT_CONV ,0 ,4 ,NULL ,"Field weak max current A(FOC)"},
{PARAMETER ,"PHA_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,0 ,55 ,0 ,0 ,4 ,NULL ,"Max Phase Adv angle Deg(SIN)"},
// Type ,Name ,Datatype ,ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{PARAMETER ,"CTRL_MOD" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,0 ,1 ,3 ,0 ,0 ,0 ,NULL ,"Ctrl mode 1:VLT 2:SPD 3:TRQ"},
{PARAMETER ,"CTRL_TYP" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,0 ,2 ,0 ,0 ,0 ,NULL ,"Ctrl type 0:COM 1:SIN 2:FOC"},
{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max) ,&rtP_Right.i_max ,1 ,I_MOT_MAX ,1 ,1 ,40 ,A2BIT_CONV ,0 ,4 ,NULL ,"Max phase current A"},
{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,1 ,10 ,2000 ,0 ,0 ,4 ,NULL ,"Max motor RPM"},
{PARAMETER ,"FI_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,0 ,1 ,0 ,0 ,0 ,NULL ,"Enable field weak"},
{PARAMETER ,"FI_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,1 ,0 ,1500 ,0 ,0 ,4 ,Input_Lim_Init ,"Field weak high RPM"},
{PARAMETER ,"FI_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,1 ,0 ,1000 ,0 ,0 ,4 ,Input_Lim_Init ,"Field weak low RPM"},
{PARAMETER ,"FI_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,1 ,0 ,20 ,A2BIT_CONV ,0 ,4 ,NULL ,"Field weak max current A(FOC)"},
{PARAMETER ,"PHA_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,1 ,0 ,55 ,0 ,0 ,4 ,NULL ,"Max Phase Adv angle Deg(SIN)"},
// INPUT PARAMETERS
// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{PARAMETER ,"PRI_IN1_TYP" ,ADD_PARAM(input1[0].typ) ,NULL ,3 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Input1 type"},
{PARAMETER ,"PRI_IN1_MIN" ,ADD_PARAM(input1[0].min) ,NULL ,4 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input1 min"},
{PARAMETER ,"PRI_IN1_MID" ,ADD_PARAM(input1[0].mid) ,NULL ,5 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input1 mid"},
{PARAMETER ,"PRI_IN1_MAX" ,ADD_PARAM(input1[0].max) ,NULL ,6 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input1 max"},
{PARAMETER ,"PRI_IN2_TYP" ,ADD_PARAM(input2[0].typ) ,NULL ,7 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Input2 type"},
{PARAMETER ,"PRI_IN2_MIN" ,ADD_PARAM(input2[0].min) ,NULL ,8 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input2 min"},
{PARAMETER ,"PRI_IN2_MID" ,ADD_PARAM(input2[0].mid) ,NULL ,9 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input2 mid"},
{PARAMETER ,"PRI_IN2_MAX" ,ADD_PARAM(input2[0].max) ,NULL ,10 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input2 max"},
{VARIABLE ,"PRI_IN1_RAW" ,ADD_PARAM(input1[0].raw) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input1 raw"},
{VARIABLE ,"PRI_IN2_RAW" ,ADD_PARAM(input2[0].raw) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input2 raw"},
{VARIABLE ,"PRI_IN1_CMD" ,ADD_PARAM(input1[0].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input1 cmd"},
{VARIABLE ,"PRI_IN2_CMD" ,ADD_PARAM(input2[0].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input2 cmd"},
// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{VARIABLE ,"IN1_RAW" ,ADD_PARAM(input1[0].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 raw"},
{PARAMETER ,"IN1_TYP" ,ADD_PARAM(input1[0].typ) ,NULL ,3 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Input1 type"},
{PARAMETER ,"IN1_MIN" ,ADD_PARAM(input1[0].min) ,NULL ,4 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 min"},
{PARAMETER ,"IN1_MID" ,ADD_PARAM(input1[0].mid) ,NULL ,5 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 mid"},
{PARAMETER ,"IN1_MAX" ,ADD_PARAM(input1[0].max) ,NULL ,6 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 max"},
{VARIABLE ,"IN1_CMD" ,ADD_PARAM(input1[0].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input1 cmd"},
{VARIABLE ,"IN2_RAW" ,ADD_PARAM(input2[0].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 raw"},
{PARAMETER ,"IN2_TYP" ,ADD_PARAM(input2[0].typ) ,NULL ,7 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Input2 type"},
{PARAMETER ,"IN2_MIN" ,ADD_PARAM(input2[0].min) ,NULL ,8 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 min"},
{PARAMETER ,"IN2_MID" ,ADD_PARAM(input2[0].mid) ,NULL ,9 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 mid"},
{PARAMETER ,"IN2_MAX" ,ADD_PARAM(input2[0].max) ,NULL ,10 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 max"},
{VARIABLE ,"IN2_CMD" ,ADD_PARAM(input2[0].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input2 cmd"},
#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
{PARAMETER ,"AUX_IN1_TYP" ,ADD_PARAM(input1[1].typ) ,NULL ,11 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Aux. input1 type"},
{PARAMETER ,"AUX_IN1_MIN" ,ADD_PARAM(input1[1].min) ,NULL ,12 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input1 min"},
{PARAMETER ,"AUX_IN1_MID" ,ADD_PARAM(input1[1].mid) ,NULL ,13 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input1 mid"},
{PARAMETER ,"AUX_IN1_MAX" ,ADD_PARAM(input1[1].max) ,NULL ,14 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input1 max"},
{PARAMETER ,"AUX_IN2_TYP" ,ADD_PARAM(input2[1].typ) ,NULL ,15 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Aux. input2 type"},
{PARAMETER ,"AUX_IN2_MIN" ,ADD_PARAM(input2[1].min) ,NULL ,16 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input2 min"},
{PARAMETER ,"AUX_IN2_MID" ,ADD_PARAM(input2[1].mid) ,NULL ,17 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input2 mid"},
{PARAMETER ,"AUX_IN2_MAX" ,ADD_PARAM(input2[1].max) ,NULL ,18 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input2 max"},
{VARIABLE ,"AUX_IN1_RAW" ,ADD_PARAM(input1[1].raw) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input1 raw"},
{VARIABLE ,"AUX_IN2_RAW" ,ADD_PARAM(input2[1].raw) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input2 raw"},
{VARIABLE ,"AUX_IN1_CMD" ,ADD_PARAM(input1[1].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input1 cmd"},
{VARIABLE ,"AUX_IN2_CMD" ,ADD_PARAM(input2[1].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input2 cmd"},
// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{VARIABLE ,"AUX_IN1_RAW" ,ADD_PARAM(input1[1].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 raw"},
{PARAMETER ,"AUX_IN1_TYP" ,ADD_PARAM(input1[1].typ) ,NULL ,11 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Aux. input1 type"},
{PARAMETER ,"AUX_IN1_MIN" ,ADD_PARAM(input1[1].min) ,NULL ,12 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 min"},
{PARAMETER ,"AUX_IN1_MID" ,ADD_PARAM(input1[1].mid) ,NULL ,13 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 mid"},
{PARAMETER ,"AUX_IN1_MAX" ,ADD_PARAM(input1[1].max) ,NULL ,14 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 max"},
{VARIABLE ,"AUX_IN1_CMD" ,ADD_PARAM(input1[1].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input1 cmd"},
{VARIABLE ,"AUX_IN2_RAW" ,ADD_PARAM(input2[1].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 raw"},
{PARAMETER ,"AUX_IN2_TYP" ,ADD_PARAM(input2[1].typ) ,NULL ,15 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Aux. input2 type"},
{PARAMETER ,"AUX_IN2_MIN" ,ADD_PARAM(input2[1].min) ,NULL ,16 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 min"},
{PARAMETER ,"AUX_IN2_MID" ,ADD_PARAM(input2[1].mid) ,NULL ,17 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 mid"},
{PARAMETER ,"AUX_IN2_MAX" ,ADD_PARAM(input2[1].max) ,NULL ,18 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 max"},
{VARIABLE ,"AUX_IN2_CMD" ,ADD_PARAM(input2[1].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input2 cmd"},
#endif
// FEEDBACK
// Type ,Name ,Datatype, ValueL ptr ,ValueR ,EEPRM Addr ,Init ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink) ,&rtU_Right.i_DCLink ,0 ,0 ,0 ,0 ,A2BIT_CONV ,0 ,0 ,NULL ,"DC Link current A"},
{VARIABLE ,"SPD_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Motor Measured Avg RPM"},
{VARIABLE ,"SPDL" ,ADD_PARAM(rtY_Left.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Left Motor Measured RPM"},
{VARIABLE ,"SPDR" ,ADD_PARAM(rtY_Right.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Right Motor Measured RPM"},
{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,0 ,4 ,NULL ,"Rate *10"},
{VARIABLE ,"SPD_COEF" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,10 ,14 ,NULL ,"Speed Coefficient *10"},
{VARIABLE ,"STR_COEF" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,10 ,14 ,NULL ,"Steer Coefficient *10"},
{VARIABLE ,"BATV" ,ADD_PARAM(adc_buffer.batt1) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Battery voltage *100"},
//{VARIABLE ,"TEMP" ,ADD_PARAM(board_temp_deg_c) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Temperature °C *10"},
// Type ,Name ,Datatype, ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink) ,&rtU_Right.i_DCLink ,0 ,0 ,0 ,0 ,0 ,A2BIT_CONV ,100 ,0 ,NULL ,"DC Link current A *100"},
{VARIABLE ,"SPD_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Motor Measured Avg RPM"},
{VARIABLE ,"SPDL" ,ADD_PARAM(rtY_Left.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Left Motor Measured RPM"},
{VARIABLE ,"SPDR" ,ADD_PARAM(rtY_Right.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Right Motor Measured RPM"},
{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,0 ,0 ,4 ,NULL ,"Rate *10"},
{VARIABLE ,"SPD_COEF" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,0 ,10 ,14 ,NULL ,"Speed Coefficient *10"},
{VARIABLE ,"STR_COEF" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,0 ,10 ,14 ,NULL ,"Steer Coefficient *10"},
{VARIABLE ,"BATV" ,ADD_PARAM(adc_buffer.batt1) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Battery voltage *100"},
//{VARIABLE ,"TEMP" ,ADD_PARAM(board_temp_deg_c) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Temperature °C *10"},
};
const char *errors[9] = {
"Command not found", // Err1
"Parameter not found", // Err2
"This command cannot be used with a Variable", // Err3
"Value not in range", // Err4
"Value expected", // Err5
"Start of line expected", // Err6
"End of line expected", // Err7
"Parameter expected", // Err8
"Uncaught error" // Err9
"Watch list is full" // Err10
};
debug_command command;
int8_t watchParamList[MAX_PARAM_WATCH] = {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
// Translate from External format to Internal Format
int32_t ExtToInt(uint8_t index,int32_t value){
// 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;
// Divide for small number
if(params[index].mul) value /= params[index].mul;
return value;
}
// Set Param with Value from external format
int8_t setParamValExt(uint8_t index, int32_t value) {
int8_t ret = 0;
// check min and max before conversion to internal values
if (IN_RANGE(value,params[index].min,params[index].max)){
ret = setParamValInt(index,ExtToInt(index,value));
ret = setParamValInt(index,extToInt(index,value));
printParamDef(index);
}else{
printf("! Value %li out of range [min:%li max:%li]\r\n",value,params[index].min,params[index].max);
printError(4); // Error - Value out of range
}
return ret;
}
// Set Param with value from internal format
int8_t setParamValInt(uint8_t index, int32_t newValue) {
int32_t value = newValue;
if (*(int32_t*)params[index].valueL != value){
int32_t oldValue = getParamValInt(index);
if (oldValue != newValue){
// if value is different, beep, cast and assign new value
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;
if (params[index].valueL != NULL) *(uint8_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(uint8_t*)params[index].valueR = newValue;
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;
if (params[index].valueL != NULL) *(uint16_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(uint16_t*)params[index].valueR = newValue;
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;
if (params[index].valueL != NULL) *(uint32_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(uint32_t*)params[index].valueR = newValue;
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;
if (params[index].valueL != NULL) *(int8_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(int8_t*)params[index].valueR = newValue;
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;
if (params[index].valueL != NULL) *(int16_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(int16_t*)params[index].valueR = newValue;
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;
if (params[index].valueL != NULL) *(int32_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(int32_t*)params[index].valueR = newValue;
break;
}
// Beep if value was modified
beepShort(5);
}
// Run callback function if assigned
@ -190,7 +208,7 @@ int8_t setParamValInt(uint8_t index, int32_t newValue) {
// Get Parameter Internal value and translate to external
int32_t getParamValExt(uint8_t index) {
return IntToExt(index,getParamValInt(index));
return intToExt(index,getParamValInt(index));
}
// Get Parameter Internal Value
@ -256,7 +274,7 @@ int8_t watchParamVal(uint8_t index){
watchParamList[i] = index;
return 1;
}
printf("! Watch list is full\r\n");
printError(10);
return 0;
}
return 1;
@ -272,15 +290,15 @@ int8_t printParamVal(){
return 1;
}
// Print help for parameter
// Print help for Command
int8_t printCommandHelp(uint8_t index){
printf("? %s:%s\r\n",commands[index].name,commands[index].help);
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);
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;
@ -308,9 +326,9 @@ int8_t printAllParamHelp(){
return 1;
}
// Print definition for parameter
// Print definition(name,value,initial value, min, max) for parameter
int8_t printParamDef(uint8_t index){
printf("# name:%s value:%li init:%li min:%li max:%li\r\n",
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
@ -319,15 +337,23 @@ int8_t printParamDef(uint8_t index){
return 1;
}
// Print definition for all parameters
// Print definition(name,value,initial value, min, max) for all parameters
int8_t printAllParamDef(){
for(int i=0;i<PARAM_SIZE(params);i++) printParamDef(i);
return 1;
}
void printError(uint8_t errornum ){
printf("! Err%i:\"%s\"\r\n",errornum,errors[errornum-1]);
}
// Function to increment a value
// Get Parameter in External format, check max value, increment, set Parameter
// Not used in the protocol yet
int8_t incrParamVal(uint8_t index) {
// This should be used only if min and max values are known
if (params[index].min == params[index].max) return 0;
uint32_t value = getParamValExt(index);
if (value < params[index].max){
return setParamValExt(index,value + 1);
@ -350,7 +376,8 @@ int8_t saveAllParamVal() {
return 1;
}
int32_t IntToExt(uint8_t index,int32_t value){
// Translate from Internal to External format
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
@ -360,11 +387,23 @@ int32_t IntToExt(uint8_t index,int32_t value){
return value;
}
int32_t getParamInitExt(uint8_t index) {
return IntToExt(index,getParamInitInt(index));
// Translate from External to Internal Format
int32_t extToInt(uint8_t index,int32_t value){
// 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;
// Divide for small number
if(params[index].mul) value /= params[index].mul;
return value;
}
// Get Parameter value with EEprom data if address is avalaible, init value otherwise
// Get Parameter Init value(EEPROM or init/config.h) and translate to external format
int32_t getParamInitExt(uint8_t index) {
return intToExt(index,getParamInitInt(index));
}
// Get Parameter value with EEprom data if address is avalaible, init/config.h value otherwise
int16_t getParamInitInt(uint8_t index){
if (params[index].addr){
// if EEPROM address is specified, init from EEPROM address
@ -380,15 +419,25 @@ int16_t getParamInitInt(uint8_t index){
return readVal;
}else{
// Use init value from array
return params[index].init;
if (params[index].initFormat){
// Init Value is in External format (e.g. PHA_ADV_MAX is 25 deg)
return extToInt(index,params[index].init);
}else{
return params[index].init;
}
}
}else{
return params[index].init;
if (params[index].initFormat){
// Init Value is in External format (e.g. PHA_ADV_MAX is 25 deg)
return extToInt(index,params[index].init);
}else{
return params[index].init;
}
}
}
// initialize Parameter value with EEprom data if address is avalaible, init value otherwise
// initialize Parameter value with EEprom data if address is avalaible, init/config.h value otherwise
int8_t initParamVal(uint8_t index) {
int8_t ret = 0;
ret = setParamValInt(index,(int32_t) getParamInitInt(index));
@ -396,19 +445,6 @@ int8_t initParamVal(uint8_t index) {
return ret;
}
// 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++){
uint8_t 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++){
@ -422,7 +458,18 @@ int8_t findCommand(uint8_t *userCommand, uint32_t len){
return -1; // Not found
}
// 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++){
uint8_t 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
}
// Parse and save the command to be executed
void handle_input(uint8_t *userCommand, uint32_t len)
@ -430,7 +477,15 @@ void handle_input(uint8_t *userCommand, uint32_t len)
// If there is already an unprocessed command, exit
if (command.semaphore == 1) return;
// Check end of line
userCommand+=len-1; // Go to last char
if (*userCommand != '\n' && *userCommand != '\r'){
command.error = 7; // Error - End of line expected
return;
}
userCommand-=len-1; // Come back
int8_t cindex = -1;
int8_t pindex = -1;
uint8_t size = 0;
@ -449,13 +504,16 @@ void handle_input(uint8_t *userCommand, uint32_t len)
// Skip if space
if (*userCommand == 0x20){len-=1;userCommand+=1;}
if ( (*userCommand == '\n' || *userCommand == '\r') &&
commands[cindex].callback_function0 != NULL){
// Command without parameter
command.semaphore = 1;
command.command_index = cindex;
command.param_index = -1;
command.param_value = 0;
if (*userCommand == '\n' || *userCommand == '\r'){
if (commands[cindex].callback_function0 != NULL){
// Command without parameter
command.semaphore = 1;
command.command_index = cindex;
command.param_index = -1;
command.param_value = 0;
}else{
command.error = 8; // Error - Parameter expected
}
return;
}
@ -466,29 +524,31 @@ void handle_input(uint8_t *userCommand, uint32_t len)
command.error = 2;
return;
}
if (commands[cindex].type == WRITE && params[pindex].type == VARIABLE){
// Error - This command cannot be used with a Variable
command.error = 3;
return;
}
if ( //(*userCommand == '\n' || *userCommand == '\r') &&
commands[cindex].callback_function1 != NULL){
// Command with parameter
command.semaphore = 1;
command.command_index = cindex;
command.param_index = pindex;
command.param_value = 0;
return;
}
// Skip parameter characters
size = strlen(params[pindex].name);
{len-=size;userCommand+=size;}
// Skip if space
if (*userCommand == 0x20){len-=1;userCommand+=1;}
if (commands[cindex].type == WRITE && params[pindex].type == VARIABLE){
// Error - This command cannot be used with a Variable
command.error = 3;
return;
}
if (commands[cindex].callback_function1 != NULL){
if (*userCommand == '\n' || *userCommand == '\r'){
// Command with parameter
command.semaphore = 1;
command.command_index = cindex;
command.param_index = pindex;
command.param_value = 0;
}else{
command.error = 7; // Error - End of line expected
}
return;
}
int32_t value = 0;
int8_t sign = 1;
@ -513,18 +573,23 @@ void handle_input(uint8_t *userCommand, uint32_t len)
// Apply sign
value*= sign;
if ( //(*userCommand == '\n' || *userCommand == '\r') &&
commands[cindex].callback_function2 != NULL){
// Store command
// Command with parameter and value
command.semaphore = 1;
command.command_index = cindex;
command.param_index = pindex;
command.param_value = value;
// Command with parameter and value
if (commands[cindex].callback_function2 != NULL){
if (*userCommand == '\n' || *userCommand == '\r'){
command.semaphore = 1;
command.command_index = cindex;
command.param_index = pindex;
command.param_value = value;
}else{
command.error = 7; // Error - End of line expected
}
return;
}
}
// Uncaught error
command.error = 9;
}
void process_debug()
{
@ -532,26 +597,14 @@ void process_debug()
// Print parameters from watch list
printParamVal();
// Process errors
switch(command.error){
case 1:
printf("! Command not found\r\n");
break;
case 2:
printf("! Parameter not found\r\n");
break;
case 3:
printf("! This command cannot be used with a Variable\r\n");
break;
case 4:
printf("! Value not in range\r\n");
break;
case 5:
printf("! Value required\r\n");
break;
// Show Error if any
if(command.error> 0){
printError(command.error);
command.error = 0;
return;
}
if (command.error != 0){command.error = 0;return;};
// Nothing to do
if (command.semaphore == 0) return;
int8_t ret = 0;
@ -582,89 +635,4 @@ void process_debug()
}
}
/*
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].type == WRITE && params[pindex].type == VARIABLE){
printf("! This command cannot be used with a Variable\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

11
Src/util.c
View File

@ -1133,14 +1133,21 @@ void usart3_rx_check(void)
#endif
#if defined(DEBUG_SERIAL_USART3)
uint8_t *ptr;
if (pos != old_pos) { // Check change in received data
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
usart_process_debug(&rx_buffer_R[old_pos], pos - old_pos); // Process data
} else { // "Overflow" buffer mode
usart_process_debug(&rx_buffer_R[old_pos], rx_buffer_R_len - old_pos); // First Process data from the end of buffer
ptr = (uint8_t *) malloc( sizeof(uint8_t) * (rx_buffer_R_len - old_pos + pos) );
memcpy(ptr,&rx_buffer_R[old_pos],rx_buffer_R_len - old_pos); // First Process data from the end of buffer
if (pos > 0) { // Check and continue with beginning of buffer
usart_process_debug(&rx_buffer_R[0], pos); // Process remaining data
ptr += rx_buffer_R_len - old_pos;
memcpy(ptr,&rx_buffer_R[0], pos); // Process remaining data
}
ptr -= rx_buffer_R_len - old_pos;
usart_process_debug(ptr, rx_buffer_R_len - old_pos + pos);
free( ptr );
}
}
#endif // DEBUG_SERIAL_USART3