static uint8_t Tune(const CLS1_StdIOType *io, uint8_t channel, MOT_MotorDevice *motorHandle) {
#define TUNE_MOTOR_PERCENT 20
uint16_t dac;
int i;
QuadTime_t timing;
uint8_t buf[48];
uint8_t res;
//#if PL_HAS_DRIVE
// DRV_SetMode(DRV_MODE_NONE); /* turn off drive mode */
//#endif
MOT_SetSpeedPercent(motorHandle, TUNE_MOTOR_PERCENT);
CLS1_SendStr((uint8_t*)"Tuning channel...\r\n", io->stdOut);
res = ERR_FAILED;
for(i=0,dac=0;dac<=MCP4728_MAX_DAC_VAL;i++) {
UTIL1_strcpy(buf, sizeof(buf), (uint8_t*)"Channel: ");
UTIL1_chcat(buf, sizeof(buf), (uint8_t)('A'+channel)); /* 0:A, 1:B, 2:C, 3:D */
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)" DAC: 0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), dac);
UTIL1_chcat(buf, sizeof(buf), ' ');
CLS1_SendStr(buf, io->stdOut);
if (MCP4728_FastWriteDAC(channel, dac)!=ERR_OK) { /* writes single channel DAC value, not updating EEPROM */
CLS1_SendStr((uint8_t*)"ERROR writing DAC channel!\r\n", io->stdErr);
res = ERR_FAILED;
break;
}
WAIT1_WaitOSms(100); /* wait some time to allow DAC and OP-Amp change */
if (Measure(channel, &timing)==ERR_OK) {
buf[0] = '\0';
UTIL1_strcatNum8u(buf, sizeof(buf), timing.highPercent);
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)"% high, low ");
UTIL1_strcatNum8u(buf, sizeof(buf), timing.lowPercent);
UTIL1_strcat(buf, sizeof(buf), (uint8_t*)"%\r\n");
CLS1_SendStr(buf, io->stdOut);
if (timing.highPercent==50 || timing.lowPercent==50) {
CLS1_SendStr((uint8_t*)"Set!\r\n", io->stdErr);
CLS1_SendStr((uint8_t*)"Writing to EEPROM...\r\n", io->stdOut);
if (MCP4728_WriteDACandEE(channel, dac)!=ERR_OK) {
CLS1_SendStr((uint8_t*)"ERROR writing DAC/EEPROM\r\n", io->stdErr);
res = ERR_FAILED;
break;
}
CLS1_SendStr((uint8_t*)"...done!\r\n", io->stdOut);
res = ERR_OK;
break; /* go to next channel */
}
dac += 0x1; /* smaller increase */
} else {
CLS1_SendStr((uint8_t*)"No signal\r\n", io->stdErr);
dac += 0x10; /* larger increase */
}
} /* for finding DAC value */
MOT_SetSpeedPercent(motorHandle, 0); /* turn off again */
if (res!=ERR_OK) {
CLS1_SendStr((uint8_t*)"ERROR!\r\n", io->stdErr);
}
CLS1_SendStr((uint8_t*)"Tuning finished!\r\n", io->stdOut);
return res;
}
byte MCP4728_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
const unsigned char *p;
if (UTIL1_strcmp((char*)cmd, CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, "MCP4728 help")==0) {
*handled = TRUE;
return PrintHelp(io);
} else if ((UTIL1_strcmp((char*)cmd, CLS1_CMD_STATUS)==0) || (UTIL1_strcmp((char*)cmd, "MCP4728 status")==0)) {
*handled = TRUE;
return PrintStatus(io);
} else if (UTIL1_strcmp((char*)cmd, "MCP4728 reset")==0) {
*handled = TRUE;
if (MCP4728_Reset()!=ERR_OK) {
return ERR_FAILED;
} else {
return ERR_OK;
}
} else if (UTIL1_strcmp((char*)cmd, "MCP4728 wakeup")==0) {
*handled = TRUE;
if (MCP4728_Wakeup()!=ERR_OK) {
return ERR_FAILED;
} else {
return ERR_OK;
}
} else if (UTIL1_strcmp((char*)cmd, "MCP4728 update")==0) {
*handled = TRUE;
if (MCP4728_Update()!=ERR_OK) {
return ERR_FAILED;
} else {
return ERR_OK;
}
} else if (UTIL1_strncmp((char*)cmd, "MCP4728 fastwrite all ", sizeof("MCP4728 fastwrite all ")-1)==0) {
uint16_t dac[4];
uint8_t pd[4];
int i;
*handled = TRUE;
p = cmd+sizeof("MCP4728 fastwrite all ")-1;
for(i=0;i<4;i++) { /* init */
dac[i] = 0;
pd[i] = 0;
}
for(i=0;i<4;i++) {
if (UTIL1_ScanHex16uNumber(&p, &dac[i])!=ERR_OK) {
break;
}
dac[i] &= MCP4728_MAX_DAC_VAL; /* ensure it is 12 bits */
}
if (i!=4) {
CLS1_SendStr((unsigned char*)"**** Not enough values, 4 expected!\r\n", io->stdErr);
return ERR_FAILED;
}
if (MCP4728_FastWriteAllDAC(dac, sizeof(dac), pd, sizeof(pd))!=ERR_OK) {
CLS1_SendStr((unsigned char*)"**** FastWrite failed.\r\n", io->stdErr);
return ERR_FAILED;
} else {
return ERR_OK;
}
} else if (UTIL1_strncmp((char*)cmd, "MCP4728 fastwrite ", sizeof("MCP4728 fastwrite ")-1)==0) {
/* e.g. MCP4728 fastwrite 2 0x512 */
uint16_t dac=0;
uint8_t channel=0;
*handled = TRUE;
p = cmd+sizeof("MCP4728 fastwrite ")-1;
if (UTIL1_ScanDecimal8uNumber(&p, &channel)!=ERR_OK || channel>3) {
CLS1_SendStr((unsigned char*)"**** error parsing channel, must be 0, 1, 2 or 3!\r\n", io->stdErr);
return ERR_FAILED;
}
if (UTIL1_ScanHex16uNumber(&p, &dac)!=ERR_OK || dac>MCP4728_MAX_DAC_VAL) {
CLS1_SendStr((unsigned char*)"**** error parsing 12bit hex value, must start with 0x!\r\n", io->stdErr);
return ERR_FAILED;
}
dac &= MCP4728_MAX_DAC_VAL; /* ensure it is 12 bits */
if (MCP4728_FastWriteDAC(channel, dac)!=ERR_OK) {
CLS1_SendStr((unsigned char*)"**** Write channel DAC failed!\r\n", io->stdErr);
return ERR_FAILED;
} else {
return ERR_OK;
}
} else if (UTIL1_strncmp((char*)cmd, "MCP4728 write ", sizeof("MCP4728 write ")-1)==0) {
uint16_t dac;
uint8_t ch, res;
*handled = TRUE;
res = ERR_OK;
p = cmd+sizeof("MCP4728 write ")-1;
if (UTIL1_ScanDecimal8uNumber(&p, &ch)!=ERR_OK || ch>3) {
CLS1_SendStr((unsigned char*)"**** Failed reading channel. Must be 0, 1, 2 or 3\r\n", io->stdErr);
res = ERR_FAILED;
} else {
if (UTIL1_ScanHex16uNumber(&p, &dac)!=ERR_OK) {
CLS1_SendStr((unsigned char*)"**** Failed DAC value, must start with 0x\r\n", io->stdErr);
res = ERR_FAILED;
} else {
if (MCP4728_WriteDACandEE(ch, dac)!=ERR_OK) {
CLS1_SendStr((unsigned char*)"**** Write failed.\r\n", io->stdErr);
res = ERR_FAILED;
}
}
}
return res;
}
return ERR_OK;
}
