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hoverboard-firmware-hack-fo.../Src/comms.c

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/**
* This file is part of the hoverboard-firmware-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
*
* 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/>.
*/
// Includes
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#include <stdio.h>
#include <stdlib.h>
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#include <string.h>
#include "stm32f1xx_hal.h"
#include "config.h"
#include "defines.h"
#include "eeprom.h"
#include "BLDC_controller.h"
#include "util.h"
#include "comms.h"
#if defined(DEBUG_SERIAL_PROTOCOL)
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#define MAX_PARAM_WATCH 15
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extern ExtY rtY_Left; /* External outputs */
extern ExtU rtU_Left; /* External inputs */
extern P rtP_Left;
extern ExtY rtY_Right; /* External outputs */
extern ExtU rtU_Right; /* External inputs */
extern P rtP_Right;
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extern InputStruct input1[]; // input structure
extern InputStruct input2[]; // input structure
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extern uint16_t VirtAddVarTab[NB_OF_VAR];
extern int16_t speedAvg; // average measured speed
extern int16_t speedAvgAbs; // average measured speed in absolute
extern uint8_t ctrlModReqRaw;
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extern adc_buf_t adc_buffer;
extern int16_t board_temp_deg_c;
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enum commandTypes {READ,WRITE};
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// Function0 - Function with 0 parameter
// Function1 - Function with 1 parameter (e.g. GET PARAM)
// Function2 - Function with 2 parameter (e.g. SET PARAM XXXX)
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const command_entry commands[] = {
// Type ,Name ,Function0 ,Function1 ,Function2 ,Help
{READ ,"GET" ,printAllParamDef ,printParamDef ,NULL ,"Get Parameter/Variable"},
{READ ,"HELP" ,printAllParamHelp ,printParamHelp ,NULL ,"Command/Parameter/Variable Help"},
{READ ,"WATCH" ,NULL ,watchParamVal ,NULL ,"Toggle Parameter/Variable Watch"},
{WRITE ,"SET" ,NULL ,NULL ,setParamValExt ,"Set Parameter"},
{WRITE ,"INIT" ,NULL ,initParamVal ,NULL ,"Init Parameter from EEPROM or CONFIG.H"},
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{WRITE ,"SAVE" ,saveAllParamVal ,NULL ,NULL ,"Save Parameters to EEPROM"},
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};
enum paramTypes {PARAMETER,VARIABLE};
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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)"},
// 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"},
#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"},
#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"},
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};
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debug_command command;
int8_t watchParamList[MAX_PARAM_WATCH] = {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
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// 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
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if(params[index].mul) value /= params[index].mul;
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return value;
}
// Set Param with Value from external format
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int8_t setParamValExt(uint8_t index, int32_t value) {
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int8_t ret = 0;
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// check min and max before conversion to internal values
if (IN_RANGE(value,params[index].min,params[index].max)){
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ret = setParamValInt(index,ExtToInt(index,value));
printParamDef(index);
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}else{
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printf("! Value %li out of range [min:%li max:%li]\r\n",value,params[index].min,params[index].max);
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}
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return ret;
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}
// 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){
// 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;
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;
}
// Get Parameter Internal value and translate to external
int32_t getParamValExt(uint8_t index) {
return IntToExt(index,getParamValInt(index));
}
// Get Parameter Internal Value
int32_t getParamValInt(uint8_t index) {
int32_t value = 0;
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int8_t countVar = 0;
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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;
}else{
// No variable was provided, return init value that might contain a macro
value = params[index].init;
}
return value;
}
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// Add or remove parameter from watch list
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int8_t watchParamVal(uint8_t index){
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int8_t i,found = 0;
for(i=0;i < MAX_PARAM_WATCH && watchParamList[i]>-1;i++){
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if (watchParamList[i] == index) found = 1;
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if (found) watchParamList[i] = (i < MAX_PARAM_WATCH-1)?watchParamList[i+1]:-1;
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}
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if (!found){
if (watchParamList[i] == -1){
watchParamList[i] = index;
return 1;
}
printf("! Watch list is full\r\n");
return 0;
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}
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return 1;
}
// Print value for all parameters with watch flag
int8_t printParamVal(){
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int8_t i = 0;
for(i=0;i < MAX_PARAM_WATCH && watchParamList[i]>-1;i++){
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printf("%s:%li ",params[watchParamList[i]].name,getParamValExt(watchParamList[i]));
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}
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if (i>0) printf("\r\n");
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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(){
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printf("? Commands\r\n");
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for(int i=0;i<COMMAND_SIZE(commands);i++)
printCommandHelp(i);
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printf("?\r\n");
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printf("? Parameters\r\n");
for(int i=0;i<PARAM_SIZE(params);i++){
if (params[i].type == PARAMETER) printParamHelp(i);
}
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printf("?\r\n");
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printf("? Variables\r\n");
for(int i=0;i<PARAM_SIZE(params);i++){
if (params[i].type == VARIABLE) printParamHelp(i);
}
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printf("?\r\n");
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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(){
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for(int i=0;i<PARAM_SIZE(params);i++) printParamDef(i);
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return 1;
}
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// Get Parameter in External format, check max value, increment, set Parameter
int8_t incrParamVal(uint8_t index) {
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uint32_t value = getParamValExt(index);
if (value < params[index].max){
return setParamValExt(index,value + 1);
}else{
return setParamValExt(index,(int32_t) params[index].min);
}
}
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// Get internal Parameter value and save it to EEprom for all paraemeter with an address assigned
int8_t saveAllParamVal() {
HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[0] , (uint16_t)FLASH_WRITE_KEY);
for(int i=0;i<PARAM_SIZE(params);i++){
// Only Parameters with eeprom address can be saved
if (params[i].addr){
EE_WriteVariable(VirtAddVarTab[params[i].addr] , (uint16_t)getParamValInt(i));
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}
}
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HAL_FLASH_Lock();
return 1;
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}
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) {
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return IntToExt(index,getParamInitInt(index));
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}
// Get Parameter value with EEprom data if address is avalaible, init value otherwise
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int16_t getParamInitInt(uint8_t index){
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if (params[index].addr){
// if EEPROM address is specified, init from EEPROM address
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uint16_t writeCheck, readVal;
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HAL_FLASH_Unlock();
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EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readVal);
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HAL_FLASH_Lock();
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// EEPROM was written, use stored value
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if (writeCheck == FLASH_WRITE_KEY){
return readVal;
}else{
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// Use init value from array
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return params[index].init;
}
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}else{
return params[index].init;
}
}
// initialize Parameter value with EEprom data if address is avalaible, init value otherwise
int8_t initParamVal(uint8_t index) {
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int8_t ret = 0;
ret = setParamValInt(index,(int32_t) getParamInitInt(index));
printParamDef(index);
return ret;
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}
// 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++){
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uint8_t param_len = strlen(params[index].name);
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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++){
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uint8_t command_len = strlen(commands[index].name);
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if (command_len < len){
if (memcmp(userCommand,commands[index].name,command_len)==0){
return index;
}
}
}
return -1; // Not found
}
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// Parse and save the command to be executed
void handle_input(uint8_t *userCommand, uint32_t len)
{
// If there is already an unprocessed command, exit
if (command.semaphore == 1) return;
int8_t cindex = -1;
int8_t pindex = -1;
uint8_t size = 0;
// Find Command
cindex = findCommand(userCommand,len);
if (cindex == -1){
// Error - Command not found
command.error = 1;
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){
// Command without parameter
command.semaphore = 1;
command.command_index = cindex;
command.param_index = -1;
command.param_value = 0;
return;
}
// Find parameter
pindex = findParam(userCommand,len);
if (pindex == -1){
// Error - Parameter not found
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;}
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++;
// Error - Value out of range
if (value>MAX_int16_T){command.error = 4;return;}
}
if (count == 0){
// Error - Value required
command.error = 5;
return;
}
// 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;
}
}
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;
}
if (command.error != 0){command.error = 0;return;};
if (command.semaphore == 0) return;
int8_t ret = 0;
if (commands[command.command_index].callback_function0 != NULL &&
command.param_index == -1){
// This function needs no parameter
ret = (*commands[command.command_index].callback_function0)();
if (ret==1){printf("OK\r\n");}
command.semaphore = 0;
return;
}
if (commands[command.command_index].callback_function1 != NULL &&
command.param_index != -1){
// This function needs only a parameter
ret = (*commands[command.command_index].callback_function1)(command.param_index);
if (ret==1){printf("OK\r\n");}
command.semaphore = 0;
return;
}
if (commands[command.command_index].callback_function2 != NULL &&
command.param_index != -1){
// This function needs an additional parameter
ret = (*commands[command.command_index].callback_function2)(command.param_index,command.param_value);
if (ret==1){printf("OK\r\n");}
command.semaphore = 0;
}
}
/*
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void handle_input(uint8_t *userCommand, uint32_t len)
{
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int8_t cindex = -1;
int8_t pindex = -1;
uint8_t size = 0;
int8_t ret = 0;
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// 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;
}
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if (commands[cindex].type == WRITE && params[pindex].type == VARIABLE){
printf("! This command cannot be used with a Variable\r\n");
return;
}
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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");}
}
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}*/
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#endif