more flexible monitoring + slight changes to the commander to be able to get monitoring_variables

Author: askuric

README.md

@@ -25,10 +25,13 @@ Therefore this is an attempt to:
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
 > NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.0
-> - Teensy 3.x inital support for 6pwm
-> - Teensy 4.x inital support for 6pwm
+> - Teensy 3.x initial support for 6pwm
+> - Teensy 4.x initial support for 6pwm
 > - Example for v3.1 SimpleFOCShield 
-> - bugfix - current sense align - added offset exchange when exchaning pins
+> - More flexible monitoring API 
+>   - start, end and separator characters
+>   - decimal places (settable through commander)
+> - bugfix - current sense align - added offset exchange when exchanging pins
 ## Arduino *SimpleFOClibrary* v2.2.3
 
 <p align="">

src/common/base_classes/FOCMotor.cpp

@@ -94,20 +94,19 @@ void FOCMotor::monitor() {
   bool printed = 0;
 
   if(monitor_variables & _MON_TARGET){
-    if(!printed) monitor_port->print(monitor_start_char);
-    else monitor_port->print(monitor_separation);
+    if(!printed && monitor_start_char) monitor_port->print(monitor_start_char);
     monitor_port->print(target,monitor_decimals);    
     printed= true;
   }
   if(monitor_variables & _MON_VOLT_Q) {
-    if(!printed) monitor_port->print(monitor_start_char);
-    else monitor_port->print(monitor_separation);
+    if(!printed && monitor_start_char) monitor_port->print(monitor_start_char);
+    else if(printed) monitor_port->print(monitor_separator);
     monitor_port->print(voltage.q,monitor_decimals);
     printed= true;
   }
   if(monitor_variables & _MON_VOLT_D) {
-    if(!printed) monitor_port->print(monitor_start_char);
-    else monitor_port->print(monitor_separation);
+    if(!printed && monitor_start_char) monitor_port->print(monitor_start_char);
+    else if(printed) monitor_port->print(monitor_separator);
     monitor_port->print(voltage.d,monitor_decimals);
     printed= true;
   }
@@ -120,32 +119,34 @@ void FOCMotor::monitor() {
       c.d = LPF_current_d(c.d);
     }
     if(monitor_variables & _MON_CURR_Q) {
-      if(!printed) monitor_port->print(monitor_start_char);
-      else monitor_port->print(monitor_separation);
+      if(!printed && monitor_start_char) monitor_port->print(monitor_start_char);
+      else if(printed) monitor_port->print(monitor_separator);
       monitor_port->print(c.q*1000, monitor_decimals); // mAmps
       printed= true;
     }
     if(monitor_variables & _MON_CURR_D) {
-      if(!printed) monitor_port->print(monitor_start_char);
-      else monitor_port->print(monitor_separation);
+      if(!printed && monitor_start_char) monitor_port->print(monitor_start_char);
+      else if(printed) monitor_port->print(monitor_separator);
       monitor_port->print(c.d*1000, monitor_decimals); // mAmps
       printed= true;
     }
   }
 
   if(monitor_variables & _MON_VEL) {
-    if(!printed) monitor_port->print(monitor_start_char);
-    else monitor_port->print(monitor_separation);
+    if(!printed && monitor_start_char) monitor_port->print(monitor_start_char);
+    else if(printed) monitor_port->print(monitor_separator);
     monitor_port->print(shaft_velocity,monitor_decimals);
     printed= true;
   }
   if(monitor_variables & _MON_ANGLE) {
-    if(!printed) monitor_port->print(monitor_start_char);
-    else monitor_port->print(monitor_separation);
+    if(!printed && monitor_start_char) monitor_port->print(monitor_start_char);
+    else if(printed) monitor_port->print(monitor_separator);
     monitor_port->print(shaft_angle,monitor_decimals);
     printed= true;
   }
-  if(printed) monitor_port->println(monitor_end_char);
-  
-}
+  if(printed){
+    if(monitor_end_char) monitor_port->println(monitor_end_char);
+    else monitor_port->println("");
+  }
+}   
 

src/common/base_classes/FOCMotor.h

@@ -223,9 +223,9 @@ class FOCMotor
      */
     void monitor();
     unsigned int monitor_downsample = DEF_MON_DOWNSMAPLE; //!< show monitor outputs each monitor_downsample calls 
-    char monitor_start_char = 0; //!< monitor starting character 
-    char monitor_end_char = 0; //!< monitor outputs ending character 
-    char monitor_separation = '\t'; //!< monitor outputs separation character
+    char monitor_start_char = '\0'; //!< monitor starting character 
+    char monitor_end_char = '\0'; //!< monitor outputs ending character 
+    char monitor_separator = '\t'; //!< monitor outputs separation character
     unsigned int  monitor_decimals = 4; //!< monitor outputs decimal places
     // initial monitoring will display target, voltage, velocity and angle
     uint8_t monitor_variables = _MON_TARGET | _MON_VOLT_Q | _MON_VEL | _MON_ANGLE; //!< Bit array holding the map of variables the user wants to monitor

src/communication/Commander.cpp

@@ -109,7 +109,7 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
   char cmd = user_command[0];
   char sub_cmd = user_command[1];
   // check if there is a subcommand or not
-  int value_index = (sub_cmd >= 'A'  && sub_cmd <= 'Z') ?  2 :  1;
+  int value_index = (sub_cmd >= 'A'  && sub_cmd <= 'Z') ||  (sub_cmd == '#') ?  2 :  1;
   // check if get command
   bool GET = isSentinel(user_command[value_index]);
   // parse command values
@@ -311,12 +311,23 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
           motor->monitor_variables = (uint8_t) 0;
           println(F("clear"));
           break;
+        case CMD_DECIMAL:
+          printVerbose(F("decimal: "));
+          motor->monitor_decimals = value;
+          println((int)motor->monitor_decimals);
+          break;
         case SCMD_SET:
-          if(!GET) motor->monitor_variables = (uint8_t) 0;
+          if(!GET){
+            // set the variables
+            motor->monitor_variables = (uint8_t) 0;
+            for(int i = 0; i < 7; i++){
+              if(isSentinel(user_command[value_index+i])) break;
+              motor->monitor_variables |=  (user_command[value_index+i] - '0') << (6-i);
+            }
+          }
+          // print the variables
           for(int i = 0; i < 7; i++){
-            if(isSentinel(user_command[value_index+i])) break;
-            if(!GET) motor->monitor_variables |=  (user_command[value_index+i] - '0') << (6-i);
-            print( (user_command[value_index+i] - '0') );
+            print( (motor->monitor_variables & (1 << 6-i)) >> (6-i));
           }
           println("");
           break;