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improve ascii help string

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Oskar Weigl
2018-06-09 15:10:55 -07:00
parent 59549e9855
commit 8ff53f57e2
1 changed files with 19 additions and 7 deletions
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Firmware/communication/ascii_protocol.cpp
+19 -7
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@@ -8,6 +8,7 @@
/* Includes ------------------------------------------------------------------*/
#include "odrive_main.h"
#include "../build/version.h" // autogenerated based on Git state
#include "communication.h"
#include "ascii_protocol.hpp"
#include <utils.h>
@@ -127,10 +128,24 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
axes[motor_number]->controller_.set_current_setpoint(current_setpoint);
}
} else if (cmd[0] == 'h') { // Help
respond(response_channel, use_checksum, "Please see documentation for more details");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Available commands syntax reference:");
respond(response_channel, use_checksum, "Position: p axis pos vel-ff I-ff");
respond(response_channel, use_checksum, "Velocity: v axis vel I-ff");
respond(response_channel, use_checksum, "Current: c axis I");
respond(response_channel, use_checksum, "");
respond(response_channel, use_checksum, "Properties start at odrive root, such as axis0.requested_state");
respond(response_channel, use_checksum, "Read: r property");
respond(response_channel, use_checksum, "Write: w property value");
} else if (cmd[0] == 'i'){ // Dump device info
respond(response_channel, use_checksum, "Signature: %#x", STM_ID_GetSignature());
respond(response_channel, use_checksum, "Revision: %#x", STM_ID_GetRevision());
respond(response_channel, use_checksum, "Flash Size: %#x KiB", STM_ID_GetFlashSize());
// respond(response_channel, use_checksum, "Signature: %#x", STM_ID_GetSignature());
// respond(response_channel, use_checksum, "Revision: %#x", STM_ID_GetRevision());
// respond(response_channel, use_checksum, "Flash Size: %#x KiB", STM_ID_GetFlashSize());
respond(response_channel, use_checksum, "Hardware version: %d.%d-%dV", HW_VERSION_MAJOR, HW_VERSION_MINOR, HW_VERSION_VOLTAGE);
respond(response_channel, use_checksum, "Firmware version: %d.%d.%d", FW_VERSION_MAJOR, FW_VERSION_MINOR, FW_VERSION_REVISION);
respond(response_channel, use_checksum, "Serial number: %s", serial_number_str);
} else if (cmd[0] == 'r') { // read property
@@ -151,6 +166,7 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
respond(response_channel, use_checksum, response);
}
}
} else if (cmd[0] == 'w') { // write property
char name[MAX_LINE_LENGTH];
char value[MAX_LINE_LENGTH];
@@ -168,10 +184,6 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
}
}
} else if (cmd[0] == 'h') { // HALT
for(size_t i = 0; i < AXIS_COUNT; i++){
axes[i]->controller_.set_vel_setpoint(0.0f, 0.0f);
}
} else if (cmd[0] != 0) {
respond(response_channel, use_checksum, "unknown command");
}