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Add uint16 variable IO

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This commit is contained in:
Oskar Weigl
2017-07-11 00:43:07 -07:00
parent 1050ced7f6
commit f88ca43135
1 changed files with 100 additions and 87 deletions
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MotorControl/low_level.c
+100 -87
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@@ -183,93 +183,95 @@ monitoring_slot monitoring_slots[20] = {0};
* ro/rw : read only/read write -> ro prevents the code generator from generating setter
* */
float * exposed_floats [] = {
&vbus_voltage, // ro
&elec_rad_per_enc, // ro
&motors[0].pos_setpoint, // rw
&motors[0].pos_gain, // rw
&motors[0].vel_setpoint, // rw
&motors[0].vel_gain, // rw
&motors[0].vel_integrator_gain, // rw
&motors[0].vel_integrator_current, // rw
&motors[0].vel_limit, // rw
&motors[0].current_setpoint, // rw
&motors[0].calibration_current, // rw
&motors[0].phase_inductance, // ro
&motors[0].phase_resistance, // ro
&motors[0].current_meas.phB, // ro
&motors[0].current_meas.phC, // ro
&motors[0].DC_calib.phB, // rw
&motors[0].DC_calib.phC, // rw
&motors[0].shunt_conductance, // rw
&motors[0].phase_current_rev_gain, // rw
&motors[0].current_control.current_lim, // rw
&motors[0].current_control.p_gain, // rw
&motors[0].current_control.i_gain, // rw
&motors[0].current_control.v_current_control_integral_d, // rw
&motors[0].current_control.v_current_control_integral_q, // rw
&motors[0].current_control.Ibus, // ro
&motors[0].rotor.phase, // ro
&motors[0].rotor.pll_pos, // rw
&motors[0].rotor.pll_vel, // rw
&motors[0].rotor.pll_kp, // rw
&motors[0].rotor.pll_ki, // rw
&motors[1].pos_setpoint, // rw
&motors[1].pos_gain, // rw
&motors[1].vel_setpoint, // rw
&motors[1].vel_gain, // rw
&motors[1].vel_integrator_gain, // rw
&motors[1].vel_integrator_current, // rw
&motors[1].vel_limit, // rw
&motors[1].current_setpoint, // rw
&motors[1].calibration_current, // rw
&motors[1].phase_inductance, // ro
&motors[1].phase_resistance, // ro
&motors[1].current_meas.phB, // ro
&motors[1].current_meas.phC, // ro
&motors[1].DC_calib.phB, // rw
&motors[1].DC_calib.phC, // rw
&motors[1].shunt_conductance, // rw
&motors[1].phase_current_rev_gain, // rw
&motors[1].current_control.current_lim, // rw
&motors[1].current_control.p_gain, // rw
&motors[1].current_control.i_gain, // rw
&motors[1].current_control.v_current_control_integral_d, // rw
&motors[1].current_control.v_current_control_integral_q, // rw
&motors[1].current_control.Ibus, // ro
&motors[1].rotor.phase, // ro
&motors[1].rotor.pll_pos, // rw
&motors[1].rotor.pll_vel, // rw
&motors[1].rotor.pll_kp, // rw
&motors[1].rotor.pll_ki, // rw
float* exposed_floats[] = {
&vbus_voltage, // ro
&elec_rad_per_enc, // ro
&motors[0].pos_setpoint, // rw
&motors[0].pos_gain, // rw
&motors[0].vel_setpoint, // rw
&motors[0].vel_gain, // rw
&motors[0].vel_integrator_gain, // rw
&motors[0].vel_integrator_current, // rw
&motors[0].vel_limit, // rw
&motors[0].current_setpoint, // rw
&motors[0].calibration_current, // rw
&motors[0].phase_inductance, // ro
&motors[0].phase_resistance, // ro
&motors[0].current_meas.phB, // ro
&motors[0].current_meas.phC, // ro
&motors[0].DC_calib.phB, // rw
&motors[0].DC_calib.phC, // rw
&motors[0].shunt_conductance, // rw
&motors[0].phase_current_rev_gain, // rw
&motors[0].current_control.current_lim, // rw
&motors[0].current_control.p_gain, // rw
&motors[0].current_control.i_gain, // rw
&motors[0].current_control.v_current_control_integral_d, // rw
&motors[0].current_control.v_current_control_integral_q, // rw
&motors[0].current_control.Ibus, // ro
&motors[0].rotor.phase, // ro
&motors[0].rotor.pll_pos, // rw
&motors[0].rotor.pll_vel, // rw
&motors[0].rotor.pll_kp, // rw
&motors[0].rotor.pll_ki, // rw
&motors[1].pos_setpoint, // rw
&motors[1].pos_gain, // rw
&motors[1].vel_setpoint, // rw
&motors[1].vel_gain, // rw
&motors[1].vel_integrator_gain, // rw
&motors[1].vel_integrator_current, // rw
&motors[1].vel_limit, // rw
&motors[1].current_setpoint, // rw
&motors[1].calibration_current, // rw
&motors[1].phase_inductance, // ro
&motors[1].phase_resistance, // ro
&motors[1].current_meas.phB, // ro
&motors[1].current_meas.phC, // ro
&motors[1].DC_calib.phB, // rw
&motors[1].DC_calib.phC, // rw
&motors[1].shunt_conductance, // rw
&motors[1].phase_current_rev_gain, // rw
&motors[1].current_control.current_lim, // rw
&motors[1].current_control.p_gain, // rw
&motors[1].current_control.i_gain, // rw
&motors[1].current_control.v_current_control_integral_d, // rw
&motors[1].current_control.v_current_control_integral_q, // rw
&motors[1].current_control.Ibus, // ro
&motors[1].rotor.phase, // ro
&motors[1].rotor.pll_pos, // rw
&motors[1].rotor.pll_vel, // rw
&motors[1].rotor.pll_kp, // rw
&motors[1].rotor.pll_ki, // rw
};
int * exposed_ints [] = {
(int*)&motors[0].control_mode, // rw
(int*)&motors[0].control_deadline, // rw
(int*)&motors[0].last_cpu_time, // ro
&motors[0].rotor.encoder_offset, // rw
&motors[0].rotor.encoder_state, // ro
&motors[0].error, // rw
(int*)&motors[1].control_mode, // rw
(int*)&motors[1].control_deadline, // rw
(int*)&motors[1].last_cpu_time, // ro
&motors[1].rotor.encoder_offset, // rw
&motors[1].rotor.encoder_state, // ro
&motors[1].error, // rw
int* exposed_ints[] = {
(int*)&motors[0].control_mode, // rw
&motors[0].rotor.encoder_offset, // rw
&motors[0].rotor.encoder_state, // ro
&motors[0].error, // rw
(int*)&motors[1].control_mode, // rw
&motors[1].rotor.encoder_offset, // rw
&motors[1].rotor.encoder_state, // ro
&motors[1].error, // rw
};
bool * exposed_bools [] = {
&motors[0].thread_ready, // ro
&motors[0].enable_control, // rw
&motors[0].do_calibration, // rw
&motors[0].calibration_ok, // ro
&motors[1].thread_ready, // ro
&motors[1].enable_control, // rw
&motors[1].do_calibration, // rw
&motors[1].calibration_ok, // ro
bool* exposed_bools[] = {
&motors[0].thread_ready, // ro
&motors[0].enable_control, // rw
&motors[0].do_calibration, // rw
&motors[0].calibration_ok, // ro
&motors[1].thread_ready, // ro
&motors[1].enable_control, // rw
&motors[1].do_calibration, // rw
&motors[1].calibration_ok, // ro
};
uint16_t* exposed_uint16[] = {
&motors[0].control_deadline, // rw
&motors[0].last_cpu_time, // ro
&motors[1].control_deadline, // rw
&motors[1].last_cpu_time, // ro
};
/* Private function prototypes -----------------------------------------------*/
// Command Handling
@@ -317,11 +319,14 @@ static void print_monitoring(int limit) {
printf("%f\t",*exposed_floats[monitoring_slots[i].index]);
break;
case 1:
printf("%u\t",*exposed_ints[monitoring_slots[i].index]);
printf("%d\t",*exposed_ints[monitoring_slots[i].index]);
break;
case 2:
printf("%d\t",*exposed_bools[monitoring_slots[i].index]);
break;
case 3:
printf("%hu\t",*exposed_uint16[monitoring_slots[i].index]);
break;
default:
i=100;
}
@@ -388,7 +393,7 @@ void motor_parse_cmd(uint8_t* buffer, int len) {
set_current_setpoint(&motors[motor_number], current_feed_forward);
}
} else if (buffer[0] == 'g') { // GET
// g <0:float,1:int,2:bool> index
// g <0:float,1:int,2:bool,3:uint16> index
int type = 0;
int index = 0;
int numscan = sscanf((const char*)buffer, "g %u %u", &type, &index);
@@ -399,17 +404,21 @@ void motor_parse_cmd(uint8_t* buffer, int len) {
break;
};
case 1: {
printf("%u\n",*exposed_ints[index]);
printf("%d\n",*exposed_ints[index]);
break;
};
case 2: {
printf("%d\n",*exposed_bools[index]);
break;
};
case 3: {
printf("%hu\n",*exposed_uint16[index]);
break;
};
}
}
} else if (buffer[0] == 's') { // SET
// s <0:float,1:int,2:bool> index value
// s <0:float,1:int,2:bool,3:uint16> index value
int type = 0;
int index = 0;
int numscan = sscanf((const char*)buffer, "s %u %u", &type, &index);
@@ -420,7 +429,7 @@ void motor_parse_cmd(uint8_t* buffer, int len) {
break;
};
case 1: {
sscanf((const char*)buffer, "s %u %u %u", &type, &index, exposed_ints[index]);
sscanf((const char*)buffer, "s %u %u %d", &type, &index, exposed_ints[index]);
break;
};
case 2: {
@@ -429,10 +438,14 @@ void motor_parse_cmd(uint8_t* buffer, int len) {
*exposed_bools[index] = btmp ? true : false;
break;
};
case 3: {
sscanf((const char*)buffer, "s %u %u %hu", &type, &index, exposed_uint16[index]);
break;
};
}
}
} else if (buffer[0] == 'm') { // Setup Monitor
// m <0:float,1:int,2:bool> index monitoring_slot
// m <0:float,1:int,2:bool,3:uint16> index monitoring_slot
int type = 0;
int index = 0;
int slot = 0;