/*

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 "hw.h"

#include <string.h>

#include <stdio.h>

void terminal_process_string(char *str) {

enum { kMaxArgs = 64 };

int argc = 0;

char *argv[kMaxArgs];

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

while (p2 && argc < kMaxArgs) {

argv[argc++] = p2;

p2 = strtok(0, " ");

}

if (argc == 0) {

comm_printf("No command received\n");

return;

}

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

comm_printf("pong\n");

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

mcpwm_set_duty(0);

comm_printf("Motor stopped\n");

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

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

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

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

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

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

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

size_t n, size;

n = chHeapStatus(NULL, &size);

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

comm_printf("heap fragments : %u", n);

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

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

Thread *tp;

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

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

comm_printf("-------------------------------------------------------------");

tp = chRegFirstThread();

do {

comm_printf("%.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);

tp = chRegNextThread(tp);

} while (tp != NULL);

comm_printf("");

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

comm_print_fault_code(mcpwm_get_fault());

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

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

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

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

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

TIM_Cmd(TIM_PWM, DISABLE);

int t_pwm_cnt = TIM_PWM->CNT;

int t_adc_cnt = TIM_ADC->CNT;

int duty = TIM_PWM->CCR1;

int top = TIM_PWM->ARR;

int voltage_samp = TIM_ADC->CCR1;

int current1_samp = TIM_PWM->CCR4;

int current2_samp = TIM_ADC->CCR4;

TIM_Cmd(TIM_PWM, ENABLE);

comm_printf("TIM_PWM CNT: %i", t_pwm_cnt);

comm_printf("TIM_ADC CNT: %u", t_adc_cnt);

comm_printf("Duty cycle: %u", duty);

comm_printf("Top: %u", top);

comm_printf("Voltage sample: %u", voltage_samp);

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

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

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

comm_printf("Input voltage: %.2f\n", (double)GET_INPUT_VOLTAGE());

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

comm_printf("reset driver\n");

mcpwm_reset_driver();

}

// Setters

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

if (argc == 4) {

int dir = -1;

int fwd_add = -1;

int rev_add = -1;

sscanf(argv[1], "%i", &dir);

sscanf(argv[2], "%i", &fwd_add);

sscanf(argv[3], "%i", &rev_add);

if (dir >= 0 && fwd_add >= 0 && rev_add >= 0) {

mcpwm_init_hall_table(dir, fwd_add, rev_add);

comm_printf("New hall sensor dir: %i fwd_add %i rev_add %i\n",

dir, fwd_add, rev_add);

} else {

comm_printf("Invalid argument(s).\n");

}

} else {

comm_printf("This command requires three arguments.\n");

}

}

// The help command

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

comm_printf("Valid commands are:");

comm_printf("help");

comm_printf(" Show this help");

comm_printf("ping");

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

comm_printf("stop");

comm_printf(" Stop the motor");

comm_printf("last_adc_duration");

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

comm_printf("kv");

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

comm_printf("mem");

comm_printf(" Show memory usage");

comm_printf("threads");

comm_printf(" List all threads");

comm_printf("fault");

comm_printf(" Prints the current fault code");

comm_printf("rpm");

comm_printf(" Prints the current electrical RPM");

comm_printf("tacho");

comm_printf(" Prints tachometer value");

comm_printf("tim");

comm_printf(" Prints TIM_PWM and TIM_ADC settings");

comm_printf("reset_drv");

comm_printf(" Short pulse on EN_GATE to reset latched driver fault");

comm_printf("set_hall_table [dir] [fwd_add] [rev_add]");

comm_printf(" Update the hall sensor lookup table");

comm_printf("volt");

comm_printf(" Prints different voltages\n");

} else {

comm_printf("Invalid command: %s\n"

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

}

}