Cleanup + Documentation

Author: Ultrawipf

Firmware/FFBoard/Inc/Axis.h

@@ -17,15 +17,13 @@
 #include "LocalAnalog.h"
 #include "AnalogSource.h"
 
-#include "cppmain.h"
 #include "HidFFB.h"
 #include "ffb_defs.h"
 #include "TimerHandler.h"
 #include "ClassChooser.h"
 #include "ExtiHandler.h"
 #include "EffectsCalculator.h"
 #include "FastAvg.h"
-//#include "NormalizedAxis.h"
 
 
 struct Control_t {
@@ -87,7 +85,6 @@ class Axis : public PersistentStorage, public CommandHandler
 	const ClassIdentifier getInfo();
 	const ClassType getClassType() override {return ClassType::Axis;};
 
-	// TODO add new commands
 	virtual std::string getHelpstring() { return "FFB axis"	;}
 	void setupTMC4671();
 

Firmware/FFBoard/Inc/ChoosableClass.h

@@ -11,12 +11,8 @@
 #include "string"
 
 struct ClassIdentifier {
-	//const std::string name;	// Display name of this class
-	const char* name = nullptr;
-//	const std::string clsname; // Classname for addressing with string based commands (main or pwmdriver...)
-	uint16_t id;	// TODO replace with classchooser id. Unique id for this class. If multiple instances set unique char at runtime
-//	uint16_t clstypeId; // The id equivalent to clsname. Classes with the same clsname must have the same clstypeId
-//	uint8_t unique;
+	const char* name = nullptr; // Display name of this class
+	uint16_t id;	// The id equivalent to clsname. Classes with the same clsname must have the same id in this field. Classchooser can use this or a separate id for selection
 	bool hidden = false;	// Hide from classchooser listings?
 };
 

Firmware/FFBoard/Inc/HidCommandInterface.h

@@ -20,13 +20,13 @@ enum class HidCmdType : uint8_t {write = 0, request = 1, info = 2, writeAddr = 3
 // TODO: can only be 25B long. tinyusb will hang otherwise!
 typedef struct
 {
-	uint8_t		reportId = HID_ID_HIDCMD;
-	HidCmdType	type = HidCmdType::err;	// 0x01. Type of report. 0 = write, 1 = request, 2 = error
-	uint16_t	clsid = 0;
-	uint8_t 	instance = 0;		// Class ID. 16 bits class id, 8 bits used for unique instance number. 255 for broadcast
-	uint32_t	cmd = 0;				// 0x02 Use this as an identifier for the command. upper 16 bits for class type
-	uint64_t	data = 0;				// 0x03 Use this to transfer data or the primary value
-	uint64_t	addr = 0;				// 0x04 Use this to transfer an optional address or second value (CAN for example)
+	uint8_t		reportId = HID_ID_HIDCMD; // Report ID = 0xA1
+	HidCmdType	type = HidCmdType::err;	// 0x01. Type of report. 0 = write, 1 = request
+	uint16_t	clsid = 0;				// 0x02 Class ID identifies the target class type
+	uint8_t 	instance = 0;			// 0x03 Class instance number to target a specific instance (often 0). 0xff for broadcast to all instances
+	uint32_t	cmd = 0;				// 0x04 Use this as an identifier for the command. upper 16 bits for class type
+	uint64_t	data = 0;				// 0x05 Use this to transfer data or the primary value
+	uint64_t	addr = 0;				// 0x06 Use this to transfer an optional address or second value (CAN for example)
 
 } __attribute__((packed)) HID_CMD_Data_t;
 

Firmware/FFBoard/Inc/SPI.h

@@ -78,7 +78,7 @@ class SPIPort: public SpiHandler {
 	void endTransfer(SPIConfig* config);
 
 	SPI_HandleTypeDef &hspi;
-	SPIDevice* current_device;
+	SPIDevice* current_device = nullptr;
 	std::vector<OutputPin> csPins; // cs pins and bool true if pin is reserved
 	std::vector<OutputPin> freePins;
 

Firmware/FFBoard/Src/Axis.cpp

@@ -15,7 +15,6 @@
  */
 
 
-// TODO class type for parser? (Simhub for example)
 //////////////////////////////////////////////
 
 ClassIdentifier Axis::info = {
@@ -57,25 +56,24 @@ Axis::~Axis()
 }
 
 const ClassIdentifier Axis::getInfo() {
-//	ClassIdentifier newinfo = Axis::info;
-//	newinfo.unique = axis+'X';
+
 	return info;
 }
 
 void Axis::registerCommands(){
-	registerCommand("power", Axis_commands::power, "Overall force strength");
-	registerCommand("degrees", Axis_commands::degrees, "Rotation range in deg.");
-	registerCommand("esgain", Axis_commands::esgain, "Endstop stiffness");
-	registerCommand("zeroenc", Axis_commands::zeroenc, "Zero axis");
-	registerCommand("invert", Axis_commands::invert, "Invert axis");
-	registerCommand("idlespring", Axis_commands::idlespring, "Idle spring strength");
-	registerCommand("axisdamper", Axis_commands::axisdamper, "Independent damper effect");
-	registerCommand("enctype", Axis_commands::enctype, "Encoder type get/set/list");
-	registerCommand("drvtype", Axis_commands::drvtype, "Motor driver type get/set/list");
-	registerCommand("pos", Axis_commands::pos, "Axis position");
-	registerCommand("maxspeed", Axis_commands::maxspeed, "Speed limit in deg/s");
-	registerCommand("maxtorquerate", Axis_commands::maxtorquerate, "Torque rate limit in counts/ms");
-	registerCommand("fxratio", Axis_commands::fxratio, "Effect ratio. Reduces effects excluding endstop. 255=100%");
+	registerCommand("power", Axis_commands::power, "Overall force strength",CMDFLAG_GET | CMDFLAG_SET);
+	registerCommand("degrees", Axis_commands::degrees, "Rotation range in deg",CMDFLAG_GET | CMDFLAG_SET);
+	registerCommand("esgain", Axis_commands::esgain, "Endstop stiffness",CMDFLAG_GET | CMDFLAG_SET);
+	registerCommand("zeroenc", Axis_commands::zeroenc, "Zero axis",CMDFLAG_GET);
+	registerCommand("invert", Axis_commands::invert, "Invert axis",CMDFLAG_GET | CMDFLAG_SET);
+	registerCommand("idlespring", Axis_commands::idlespring, "Idle spring strength",CMDFLAG_GET | CMDFLAG_SET);
+	registerCommand("axisdamper", Axis_commands::axisdamper, "Independent damper effect",CMDFLAG_GET | CMDFLAG_SET);
+	registerCommand("enctype", Axis_commands::enctype, "Encoder type get/set/list",CMDFLAG_GET | CMDFLAG_SET | CMDFLAG_INFOSTRING);
+	registerCommand("drvtype", Axis_commands::drvtype, "Motor driver type get/set/list",CMDFLAG_GET | CMDFLAG_SET | CMDFLAG_INFOSTRING);
+	registerCommand("pos", Axis_commands::pos, "Axis position",CMDFLAG_GET);
+	registerCommand("maxspeed", Axis_commands::maxspeed, "Speed limit in deg/s",CMDFLAG_GET | CMDFLAG_SET);
+	registerCommand("maxtorquerate", Axis_commands::maxtorquerate, "Torque rate limit in counts/ms",CMDFLAG_GET | CMDFLAG_SET);
+	registerCommand("fxratio", Axis_commands::fxratio, "Effect ratio. Reduces effects excluding endstop. 255=100%",CMDFLAG_GET | CMDFLAG_SET);
 }
 
 /*
@@ -696,211 +694,7 @@ CommandStatus Axis::command(const ParsedCommand& cmd,std::vector<CommandReply>&
 	}
 	return CommandStatus::OK;
 }
-//
-//ParseStatus Axis::command(ParsedCommand_old *cmd, std::string *reply)
-//{
-//	if ((cmd->prefix & 0xDF) != axis){
-//		return ParseStatus::NOT_FOUND;
-//	}
-//
-//	ParseStatus flag = ParseStatus::OK;
-//
-//	if (cmd->cmd == "drvtype")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(this->getDrvType());
-//		}
-//		else if (cmd->type == CMDtype::set && this->drv_chooser.isValidClassId(cmd->val))
-//		{
-//			setDrvType((cmd->val));
-//		}
-//		else
-//		{
-//			*reply += drv_chooser.printAvailableClasses(this->conf.drvtype);
-//		}
-//	}
-//	else if (cmd->cmd == "zeroenc")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			this->setPos(0);
-//			*reply += "Zeroed";
-//		}
-//	}
-//	else if (cmd->cmd == "enctype")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(this->getEncType());
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			setEncType(cmd->val);
-//		}
-//		else
-//		{
-//			if(this->drv->hasIntegratedEncoder()){
-//				*reply += "255:0:"+std::string(this->drv->getInfo().name); // TODO dynamic?
-//			}else{
-//				*reply += enc_chooser.printAvailableClasses(this->conf.enctype);
-//			}
-//		}
-//	}
-//	else if (cmd->cmd == "pos")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(this->drv->getEncoder()->getPos());
-//		}
-//		else if (cmd->type == CMDtype::set && this->drv->getEncoder() != nullptr)
-//		{
-//			this->drv->getEncoder()->setPos(cmd->val);
-//		}
-//		else
-//		{
-//			flag = ParseStatus::ERR;
-//			*reply += "Err. Setup encoder first";
-//		}
-//	}
-//	else if (cmd->cmd == "maxspeed")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(maxSpeedDegS);
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			maxSpeedDegS = cmd->val;
-//			//speedScalerNormalized = getNormalizedSpeedScaler(maxSpeedDegS, degreesOfRotation);
-//
-//		}
-//	}else if (cmd->cmd == "maxtorquerate")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(maxTorqueRateMS);
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			maxTorqueRateMS = cmd->val;
-//			//speedScalerNormalized = getNormalizedSpeedScaler(maxSpeedDegS, degreesOfRotation);
-//
-//		}
-//	}
-////	else if (cmd->cmd == "maxaccel")
-////	{
-////		if (cmd->type == CMDtype::get)
-////		{
-////			*reply += std::to_string((uint16_t)(maxAccelDegSS*accelFactor));
-////		}
-////		else if (cmd->type == CMDtype::set)
-////		{
-////			maxAccelDegSS = cmd->val / accelFactor;
-////			//accelScalerNormalized = getNormalizedAccelScaler(maxAccelDegSS, degreesOfRotation);
-////		}
-////	}
-//	else if (cmd->cmd == "fxratio")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(fx_ratio_i);
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			setFxRatio(cmd->val);
-//		}
-//	}
-//	else if (cmd->cmd == "power")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(power);
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			setPower(cmd->val);
-//		}
-//	}
-//	else if (cmd->cmd == "degrees")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(degreesOfRotation);
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			setDegrees(cmd->val);
-//		}
-//	}
-//	else if (cmd->cmd == "esgain")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(endstop_gain);
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			endstop_gain = cmd->val;
-//		}
-//	}
-//	else if (cmd->cmd == "invert")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += invertAxis ? "1" : "0";
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			invertAxis = cmd->val >= 1 ? true : false;
-//		}
-//	}
-//	else if (cmd->cmd == "idlespring")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(idlespringstrength);
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			setIdleSpringStrength(cmd->val);
-//		}
-//	}
-//	else if (cmd->cmd == "axisdamper")
-//	{
-//		if (cmd->type == CMDtype::get)
-//		{
-//			*reply += std::to_string(damperIntensity);
-//		}
-//		else if (cmd->type == CMDtype::set)
-//		{
-//			setDamperStrength(cmd->val);
-//		}
-//	}
-////	else if (cmd->cmd == "calibmetrics")
-////	{
-////		if (cmd->type == CMDtype::get)
-////		{
-////			*reply += std::to_string(getSpeedRPMFromEncValue(calibMaxSpeedNormalized, degreesOfRotation)) + ':'
-////					+ std::to_string(getAccelFromEncValue(calibMaxAccelNormalized, degreesOfRotation));
-////		}
-////		else if (cmd->type == CMDtype::set)
-////		{
-////			if (cmd->val == 1) {
-////				calibrationInProgress = true;
-////				calibMaxAccelNormalized = 0.0;
-////				calibMaxSpeedNormalized = 0;
-////			} else {
-////				calibrationInProgress = false;
-////			}
-////		}
-////	}
-//	else{
-//		flag = ParseStatus::NOT_FOUND;
-//	}
-//
-//	return flag;
-//};
+
 
 
 /*

Firmware/FFBoard/Src/CAN.cpp

@@ -149,10 +149,17 @@ void CANPort::giveSemaphore(){
 	portYIELD_FROM_ISR(taskWoken);
 }
 
+/**
+ * Transmits a CAN frame on this port
+ * Wraps the internal transmit function
+ */
 bool CANPort::sendMessage(CAN_tx_msg msg){
 	return this->sendMessage(&msg.header,msg.data,&this->txMailbox);
 }
 
+/**
+ * Transmits a CAN frame with separate data and header settings
+ */
 bool CANPort::sendMessage(CAN_TxHeaderTypeDef *pHeader, uint8_t aData[],uint32_t *pTxMailbox){
 	if(pTxMailbox == nullptr){
 		pTxMailbox = &this->txMailbox;

Firmware/FFBoard/Src/CDCcomm.cpp

@@ -17,12 +17,11 @@ std::string CDCcomm::tString;
 cpp_freertos::BinarySemaphore CDCcomm::cdcSems[CFG_TUD_CDC] = {cpp_freertos::BinarySemaphore(true)};
 
 CDCcomm::CDCcomm() {
-	// TODO Auto-generated constructor stub
 
 }
 
 CDCcomm::~CDCcomm() {
-	// TODO Auto-generated destructor stub
+
 }
 
 
@@ -41,6 +40,7 @@ void CDCcomm::cdcFinished(uint8_t itf){
 
 /**
  * Sends a string via CDC
+ * If not everything can be sent it will be buffered for later in a new string
  */
 uint16_t CDCcomm::cdcSend(std::string* reply,uint8_t itf){
 	if(!tud_ready() || reply->empty()){
@@ -62,8 +62,5 @@ uint16_t CDCcomm::cdcSend(std::string* reply,uint8_t itf){
 		remainingStrs[itf].clear();
 	}
 
-
-
-
 	return cdc_sent;
 }