Ascii Debug updates

- added missing pointer to UART2 input user processing
- added comms.c to Makefile
- fixed #134 : uncomment #define AUTO_CALIBRATION_ENA to disable auto-calibration
- small styling adjustments

Inc/comms.h

@@ -23,6 +23,7 @@
 
 #include "stm32f1xx_hal.h"
 
+#if defined(DEBUG_SERIAL_PROTOCOL)
 
 enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
 #define typename(x) _Generic((x), \
@@ -32,7 +33,7 @@ enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
     int8_t:     INT8_T, \
     int16_t:    INT16_T, \
     int32_t:    INT32_T, \
-	  int:	    	INT, \
+    int:        INT, \
     float:      FLOAT)
 
 #define PARAM_SIZE(param) sizeof(param) / sizeof(parameter_entry)
@@ -93,20 +94,20 @@ typedef struct parameter_entry_struct parameter_entry;
 struct parameter_entry_struct {
   const uint8_t type;
   const char *name;
-	const uint8_t datatype;
+  const uint8_t datatype;
   void *valueL;
   void *valueR;
   const uint16_t addr;
-	const int32_t init;
+  const int32_t init;
   const uint8_t initFormat;
   const int32_t min;
-	const int32_t max;
+  const int32_t max;
   const uint8_t div;
   const uint8_t mul;
   const uint8_t fix;
-	void (*callback_function)();
+  void (*callback_function)();
-	const char *help;
+  const char *help;
 };
 
-
+#endif  // DEBUG_SERIAL_PROTOCOL
-#endif
+#endif  // COMMS_H

Inc/config.h

@@ -172,6 +172,7 @@
 #define ADC_MARGIN                100     // ADC input margin applied on the raw ADC min and max to make sure the MIN and MAX values are reached even in the presence of noise
 #define ADC_PROTECT_TIMEOUT       100     // ADC Protection: number of wrong / missing input commands before safety state is taken
 #define ADC_PROTECT_THRESH        200     // ADC Protection threshold below/above the MIN/MAX ADC values
+#define AUTO_CALIBRATION_ENA              // Enable/Disable input auto-calibration by holding power button pressed. Un-comment this if auto-calibration is not needed.
 
 /* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
  * Value of COEFFICIENT is in fixdt(1,16,14)
@@ -227,7 +228,7 @@
  * enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
  *
  *
- * DEBUG_SERIAL_ASCII output is:
+ * DEBUG ASCII output is:
  * // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
  *
  * in1:     (int16_t)input1[inIdx].raw);                                        raw input1: ADC1, UART, PWM, PPM, iBUS
@@ -243,6 +244,7 @@
 
 // #define DEBUG_SERIAL_USART2          // left sensor board cable, disable if ADC or PPM is used!
 // #define DEBUG_SERIAL_USART3          // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
+// #define DEBUG_SERIAL_PROTOCOL        // uncomment this to send user commands to the board, change parameters and print specific signals (see comms.c for the user commands)
 // ########################### END OF DEBUG SERIAL ############################
 
 
@@ -291,7 +293,6 @@
     #define DEBUG_SERIAL_USART3           // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
   #endif
 
-  #define DEBUG_SERIAL_PROTOCOL
   // #define SUPPORT_BUTTONS_LEFT            // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT           // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
 #endif

Makefile

@@ -38,6 +38,7 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
 Src/system_stm32f1xx.c \
 Src/setup.c \
 Src/control.c \
+Src/comms.c \
 Src/util.c \
 Src/main.c \
 Src/bldc.c \

Src/comms.c

@@ -17,7 +17,6 @@
   * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-
 // Includes
 #include <stdio.h>
 #include <stdlib.h>
@@ -30,6 +29,7 @@
 #include "util.h"
 #include "comms.h"
 
+#if defined(DEBUG_SERIAL_PROTOCOL)
 #if defined(DEBUG_SERIAL_PROTOCOL) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3))
 
 #ifdef CONTROL_ADC
@@ -635,4 +635,6 @@ void process_debug()
   }
 }
 
-#endif
+#endif
+#endif  // DEBUG_SERIAL_PROTOCOL
+

Src/main.c

@@ -200,7 +200,7 @@ int main(void) {
   int16_t board_temp_deg_c;
 
   // Loop until button is released
-  while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) HAL_Delay(10);
+  while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
 
   while(1) {
     HAL_Delay(DELAY_IN_MAIN_LOOP);        // delay in ms
@@ -424,7 +424,9 @@ int main(void) {
     // ####### DEBUG SERIAL OUT #######
     #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
       if (main_loop_counter % 25 == 0) {    // Send data periodically every 125 ms      
-        #ifndef DEBUG_SERIAL_PROTOCOL
+        #if defined(DEBUG_SERIAL_PROTOCOL)
+          process_debug();
+        #else
           printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
             input1[inIdx].raw,        // 1: INPUT1
             input2[inIdx].raw,        // 2: INPUT2
@@ -434,8 +436,6 @@ int main(void) {
             batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
             board_temp_adcFilt,       // 7: for board temperature calibration
             board_temp_deg_c);        // 8: for verifying board temperature calibration
-        #else
-          process_debug();
         #endif
       }
     #endif

Src/util.c

@@ -483,6 +483,7 @@ void calcAvgSpeed(void) {
  * The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase.
  */
 void adcCalibLim(void) {
+#ifdef AUTO_CALIBRATION_ENA
   calcAvgSpeed();
   if (speedAvgAbs > 5) {    // do not enter this mode if motors are spinning
     return;
@@ -571,6 +572,7 @@ void adcCalibLim(void) {
   #endif
 
 #endif
+#endif  // AUTO_CALIBRATION_ENA
 }
  /*
  * Update Maximum Motor Current Limit (via ADC1) and Maximum Speed Limit (via ADC2)
@@ -1063,14 +1065,20 @@ void usart2_rx_check(void)
   #endif
 
   #if defined(DEBUG_SERIAL_USART2)
+  uint8_t *ptr;
   if (pos != old_pos) {                                                 // Check change in received data
     if (pos > old_pos) {                                                // "Linear" buffer mode: check if current position is over previous one
       usart_process_debug(&rx_buffer_L[old_pos], pos - old_pos);        // Process data
     } else {                                                            // "Overflow" buffer mode
-      usart_process_debug(&rx_buffer_L[old_pos], rx_buffer_L_len - old_pos); // First Process data from the end of buffer
+      ptr = (uint8_t *) malloc(sizeof(uint8_t) * (rx_buffer_L_len - old_pos + pos));
+      memcpy(ptr, &rx_buffer_L[old_pos], rx_buffer_L_len - old_pos);    // First copy data from the end of buffer
       if (pos > 0) {                                                    // Check and continue with beginning of buffer
-        usart_process_debug(&rx_buffer_L[0], pos);                      // Process remaining data
+        ptr += rx_buffer_L_len - old_pos;
+        memcpy(ptr, &rx_buffer_L[0], pos);                              // Copy remaining data
       }
+      ptr -= rx_buffer_L_len - old_pos;
+      usart_process_debug(ptr, rx_buffer_L_len - old_pos + pos);        // Process data
+      free(ptr);
     }
   }
   #endif // DEBUG_SERIAL_USART2
@@ -1134,26 +1142,25 @@ void usart3_rx_check(void)
 
   #if defined(DEBUG_SERIAL_USART3)
   uint8_t *ptr;
-  
   if (pos != old_pos) {                                                 // Check change in received data
     if (pos > old_pos) {                                                // "Linear" buffer mode: check if current position is over previous one
       usart_process_debug(&rx_buffer_R[old_pos], pos - old_pos);        // Process data
     } else {                                                            // "Overflow" buffer mode
-      ptr = (uint8_t *) malloc( sizeof(uint8_t) * (rx_buffer_R_len - old_pos + pos) );
+      ptr = (uint8_t *) malloc(sizeof(uint8_t) * (rx_buffer_R_len - old_pos + pos));
-      memcpy(ptr,&rx_buffer_R[old_pos],rx_buffer_R_len - old_pos);      // First Process data from the end of buffer 
+      memcpy(ptr, &rx_buffer_R[old_pos], rx_buffer_R_len - old_pos);    // First copy data from the end of buffer
       if (pos > 0) {                                                    // Check and continue with beginning of buffer
         ptr += rx_buffer_R_len - old_pos;
-        memcpy(ptr,&rx_buffer_R[0], pos);                               // Process remaining data
+        memcpy(ptr, &rx_buffer_R[0], pos);                              // Copy remaining data
       }
       ptr -= rx_buffer_R_len - old_pos;
-      usart_process_debug(ptr, rx_buffer_R_len - old_pos + pos);
+      usart_process_debug(ptr, rx_buffer_R_len - old_pos + pos);        // Process data
-      free( ptr );
+      free(ptr);
     }
   }
   #endif // DEBUG_SERIAL_USART3
 
   #ifdef CONTROL_SERIAL_USART3
-  uint8_t *ptr;	
+  uint8_t *ptr;
   if (pos != old_pos) {                                                 // Check change in received data
     ptr = (uint8_t *)&commandR_raw;                                     // Initialize the pointer with command_raw address
     if (pos > old_pos && (pos - old_pos) == commandR_len) {             // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length
@@ -1202,16 +1209,8 @@ void usart3_rx_check(void)
 #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
 void usart_process_debug(uint8_t *userCommand, uint32_t len)
 {
-  
+  #ifdef DEBUG_SERIAL_PROTOCOL
-  #ifndef DEBUG_SERIAL_PROTOCOL
+    handle_input(userCommand, len);
-    for (; len > 0; len--, userCommand++) {
-      if (*userCommand != '\n' && *userCommand != '\r') {   // Do not accept 'new line' and 'carriage return' commands
-        printf("Command = %c\r\n", *userCommand);
-        // handle_input(*userCommand);                      // -> Create this function to handle the user commands
-      }
-    }
-  #else
-    handle_input(userCommand,len);
   #endif
 }
 
@@ -1542,9 +1541,11 @@ void poweroffPressCheck(void) {
           updateCurSpdLim();
           beepShort(5);
         } else {                                          // Long press: Calibrate ADC Limits
+          #ifdef AUTO_CALIBRATION_ENA
           beepLong(16); 
           adcCalibLim();
           beepShort(5);
+          #endif
         }
       } else if (cnt_press > 8) {                         // Short press: power off (80 ms debounce)
         poweroff();