void parseUsart()
{
const char delimiters[] = " ";
char *param;
char *value;
if(strstr(recvbuffer, "STREAM")!=NULL)
{
strtok(recvbuffer,delimiters); //first param
value = strtok(NULL,delimiters);
if(strstr(value,"START"))
{
serial_stream_enabled=1;
usart_send_stream();
}
else
serial_stream_enabled=0;
}
if(strstr(recvbuffer, "SET")!=NULL)
{
strtok(recvbuffer,delimiters); //first param
param = strtok(NULL,delimiters);
value = strtok(NULL,delimiters);
if(param!=NULL && value!=NULL)
setConfig(param,atoi(value));
}
if(strstr(recvbuffer, "SAVE")!=NULL)
{
usart_sendStr("Saving:\n\r");
printConfiguration();
writeConfig(s);
usart_sendStr("SAVE OK\n\r");
}
if(strstr(recvbuffer, "GET")!=NULL)
{
//getConfig();
printConfiguration();
}
if(recvctr < 3)
{
uint16_t len =sprintf(txbuffer, "Count: %d, Hall: %d, error: %d, max_error: %d\n\r",(int)encoder_count, (int)hallpos, (int)position_error, (int)max_error);
max_error=0;
usart_startDMA(len);
}
}
void writeConfig()
{
uint16_t i;
int16_t *ptr = (int16_t *)&s;
for(i=0; i<sizeof(servoConfig)/2;i++)
{
if(EE_WriteVariable(EADDR_CONFIG_START+i, *ptr)!=FLASH_COMPLETE)
{
usart_sendStr("Flash Error\n\r");
}
ptr++;
}
}
void printConfiguration()
{
char buf[50];
sprintf(buf,"commutationMethod: %d\n\r",s.commutationMethod);
usart_sendStr(buf);
sprintf(buf,"inputMethod: %d\n\r",s.inputMethod);
usart_sendStr(buf);
sprintf(buf,"encoder_PPR: %d\n\r",s.encoder_PPR);
usart_sendStr(buf);
sprintf(buf,"encoder_poles: %d\n\r",s.encoder_poles);
usart_sendStr(buf);
sprintf(buf,"encoder_counts_per_step: %d\n\r",s.encoder_counts_per_step);
usart_sendStr(buf);
sprintf(buf,"pid_Kp: %d\n\r",s.pid_Kp);
usart_sendStr(buf);
sprintf(buf,"pid_Ki: %d\n\r",s.pid_Ki);
usart_sendStr(buf);
sprintf(buf,"pid_Kd: %d\n\r",s.pid_Kd);
usart_sendStr(buf);
sprintf(buf,"usart_baud: %d\n\r",s.usart_baud);
usart_sendStr(buf);
}
void getConfig()
{
FLASH_Unlock();
uint16_t i;
uint16_t *ptr;
EE_Init();
EE_ReadVariable(EADDR_IS_INITIALIZED,&i);
if(i != 0x5253)
{
//empty or corrupted EEPROM detected: write default config
//EE_Format();
EE_WriteVariable(EADDR_IS_INITIALIZED, 0x5253);
s.commutationMethod = commutationMethod_HALL;
s.inputMethod = inputMethod_stepDir;
s.encoder_PPR = 4000;
s.encoder_poles = 4;
s.encoder_counts_per_step = 10;
s.pid_Kp = 10;
s.pid_Ki = 0;
s.pid_Kd = 0;
s.usart_baud = 1152;
writeConfig(s);
return;
}
ptr = (uint16_t *)&s;
for(i=0; i<sizeof(servoConfig)/2;i++)
{
if(EE_ReadVariable(EADDR_CONFIG_START+i, ptr)!=0)
usart_sendStr("Flash Error\n\r");
ptr++;
}
return;
}
void setConfig(char* param, int16_t value)
{
if (strstr( param, "commutationMethod" ) != NULL)
{
s.commutationMethod = (uint16_t)value;
//writeConfig();
//this is taken into account on next boot
usart_sendStr("SET commutationMethod to ");
usart_sendChar(value + 48);
usart_sendStr("\n\r");
}
if (strstr( param, "inputMethod" ) != NULL)
{
s.inputMethod = (uint16_t)value;
//writeConfig();
//this is taken into account on next boot
usart_sendStr("SET OK");
}
if (strstr( param, "encoder_PPR" ) != NULL)
{
s.encoder_PPR = (uint16_t)value;
//writeConfig();
usart_sendStr("SET OK");
}
if (strstr( param, "encoder_poles" ) != NULL)
{
s.encoder_poles = (uint16_t)value;
//writeConfig();
usart_sendStr("SET OK");
}
if (strstr( param, "encoder_counts_per_step" ) != NULL)
{
s.encoder_counts_per_step = (uint16_t)value;
//writeConfig();
usart_sendStr("SET OK");
}
if (strstr( param, "pid_Kp" ) != NULL)
{
s.pid_Kp = (int16_t)value;
//writeConfig();
usart_sendStr("SET OK");
}
if (strstr( param, "pid_Ki" ) != NULL)
{
s.pid_Ki = (int16_t)value;
//writeConfig();
usart_sendStr("SET OK");
}
if (strstr( param, "pid_Kd" ) != NULL)
{
s.pid_Kd = (int16_t)value;
//writeConfig();
usart_sendStr("SET OK");
}
if (strstr( param, "usart_baud" ) != NULL)
{
s.usart_baud = (uint16_t)value;
//writeConfig();
//this is taken into account on next boot
usart_sendStr("SET OK");
}
}
