/*

Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se

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/>.

*/

/*

* terminal.c

*

* Created on: 26 dec 2013

* Author: benjamin

*/

#include "ch.h"

#include "hal.h"

#include "terminal.h"

#include "comm.h"

#include "mcpwm.h"

#include "main.h"

#include <string.h>

#include <stdio.h>

void terminal_process_string(char *str) {

enum { kMaxArgs = 64 };

int argc = 0;

char *argv[kMaxArgs];

static char buffer[256];

char *p2 = strtok(str, " ");

while (p2 && argc < kMaxArgs) {

argv[argc++] = p2;

p2 = strtok(0, " ");

}

if (argc == 0) {

comm_print("No command received\n");

return;

}

if (strcmp(argv[0], "ping") == 0) {

comm_print("pong\n");

} else if (strcmp(argv[0], "stop") == 0) {

mcpwm_set_duty(0);

comm_print("Motor stopped\n");

} else if (strcmp(argv[0], "last_adc_duration") == 0) {

sprintf(buffer, "Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0));

comm_print(buffer);

sprintf(buffer, "Latest injected ADC duration: %.4f ms", (double)(mcpwm_get_last_inj_adc_isr_duration() * 1000.0));

comm_print(buffer);

sprintf(buffer, "Latest main ADC duration: %.4f ms\n", (double)(main_get_last_adc_isr_duration() * 1000.0));

comm_print(buffer);

} else if (strcmp(argv[0], "kv") == 0) {

sprintf(buffer, "Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered());

comm_print(buffer);

} else if (strcmp(argv[0], "mem") == 0) {

size_t n, size;

n = chHeapStatus(NULL, &size);

sprintf(buffer, "core free memory : %u bytes", chCoreStatus());

comm_print(buffer);

sprintf(buffer, "heap fragments : %u", n);

comm_print(buffer);

sprintf(buffer, "heap free total : %u bytes\n", size);

comm_print(buffer);

} else if (strcmp(argv[0], "threads") == 0) {

Thread *tp;

static const char *states[] = {THD_STATE_NAMES};

comm_print(" addr stack prio refs state name time ");

comm_print("-------------------------------------------------------------");

tp = chRegFirstThread();

do {

sprintf(buffer, "%.8lx %.8lx %4lu %4lu %9s %14s %lu",

(uint32_t)tp, (uint32_t)tp->p_ctx.r13,

(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),

states[tp->p_state], tp->p_name, (uint32_t)tp->p_time);

comm_print(buffer);

tp = chRegNextThread(tp);

} while (tp != NULL);

comm_print("");

} else if (strcmp(argv[0], "fault") == 0) {

comm_print_fault_code(mcpwm_get_fault());

} else if (strcmp(argv[0], "rpm") == 0) {

sprintf(buffer, "Electrical RPM: %.2f rpm\n", (double)mcpwm_get_rpm());

comm_print(buffer);

} else if (strcmp(argv[0], "tacho") == 0) {

sprintf(buffer, "Tachometer counts: %i\n", mcpwm_get_tachometer_value(0));

comm_print(buffer);

} else if (strcmp(argv[0], "tim") == 0) {

TIM_Cmd(TIM1, DISABLE);

int t1_cnt = TIM1->CNT;

int t8_cnt = TIM8->CNT;

int duty = TIM1->CCR1;

int top = TIM1->ARR;

int voltage_samp = TIM8->CCR1;

int current1_samp = TIM1->CCR4;

int current2_samp = TIM8->CCR2;

TIM_Cmd(TIM1, ENABLE);

sprintf(buffer, "Tim1 CNT: %i", t1_cnt);

comm_print(buffer);

sprintf(buffer, "Tim8 CNT: %u", t8_cnt);

comm_print(buffer);

sprintf(buffer, "Duty cycle: %u", duty);

comm_print(buffer);

sprintf(buffer, "Top: %u", top);

comm_print(buffer);

sprintf(buffer, "Voltage sample: %u", voltage_samp);

comm_print(buffer);

sprintf(buffer, "Current 1 sample: %u", current1_samp);

comm_print(buffer);

sprintf(buffer, "Current 2 sample: %u\n", current2_samp);

comm_print(buffer);

} else if (strcmp(argv[0], "help") == 0) {

comm_print("Valid commands are:");

comm_print("help");

comm_print(" Show this help");

comm_print("ping");

comm_print(" Print pong here to see if the reply works");

comm_print("stop");

comm_print(" Stop the motor");

comm_print("last_adc_duration");

comm_print(" The time the latest ADC interrupt consumed");

comm_print("kv");

comm_print(" The calculated kv of the motor");

comm_print("mem");

comm_print(" Show memory usage");

comm_print("threads");

comm_print(" List all threads");

comm_print("fault");

comm_print(" Prints the current fault code");

comm_print("rpm");

comm_print(" Prints the current electrical RPM");

comm_print("tacho");

comm_print(" Prints tachometer value");

comm_print("tim");

comm_print(" Prints tim1 and tim8 settings\n");

} else {

sprintf(buffer, "Invalid command: %s\n"

"type help to list all available commands\n", argv[0]);

comm_print(buffer);

}

}