parser changes in progress

deploy.sh

@@ -1,8 +1,8 @@
 #!/bin/bash
-rsync -av --exclude='build/' ~/code/FireWatchTower_2axis/host/ ggs@10.11.12.111:/home/ggs/projects/FireWatchTower_2axis/host
+rsync -av --exclude='build/' ~/code/FireWatchTower_2axis/ ggs@10.11.12.111:/home/ggs/projects/FireWatchTower_2axis
-ssh ggs@10.11.12.111 "
+#ssh ggs@10.11.12.111 "
-    mkdir -p /home/ggs/projects/FireWatchTower_2axis/host/build &&
+#    mkdir -p /home/ggs/projects/FireWatchTower_2axis/build &&
-    cd /home/ggs/projects/FireWatchTower_2axis/host/build &&
+#    cd /home/ggs/projects/FireWatchTower_2axis/build &&
-    cmake .. &&
+#    cmake .. &&
-    make -j\$(nproc)
+#    make -j\$(nproc)
 "

firmware/src/main.cpp

@@ -25,8 +25,7 @@ void loop() {
     endstop_routine();
 
     if (Serial.available()) {
-        char in = Serial.read();
+        read_command()
-        parser(in);
     }
 
     if (millis() - s_last_loop > INFO_PRINT_INTERVAL_MS) {

firmware/src/serial/CommandParser.cpp

@@ -8,10 +8,43 @@
 
 #include "TMC5160.h"
 
-void parser(char &c) {
+void read_command() {
+    // Command format: <cmd>[y|p][d]<arg1>,<arg2>,...
+    // Axis specifier: y=Yaw only, p=Pitch only
+    // Base specifier: d=decimal (default hex)
+
+    // Get first character of recieved command
+    char c = Serial.read();
+
+    // Parse optional axis specifier: y (yaw) or p (pitch)
+    uint8_t target_yaw   = 1;
+    uint8_t target_pitch = 1;
+    const __FlashStringHelper* axis_str; // string to hold the suffix for terminal messages
+    if (Serial.peek() == 'y') { 
+        Serial.read(); 
+        target_pitch = 0;
+        axis_str = F(" [YAW]");
+    }
+    else if (Serial.peek() == 'p') {
+        Serial.read(); 
+        target_yaw = 0;
+        axis_str = F(" [PITCH]") 
+    }
+    else {
+        axis_str = F(" [YAW+PITCH]");
+    }
+
+    // Check if a "d" follows, for decimal values instead of hex
+    uint8_t base = 16;
+    if (Serial.peek() == 'd') {
+        Serial.read();
+        base = 10;
+    }
+
+    // Create a stactic buffer for reading the rest of the command
     static char buffer[32];
     size_t len = Serial.readBytesUntil('\n', buffer, sizeof(buffer) - 1);
-    buffer[len] = '\0';
+    buffer[len] = '\0'; // Add termination character to string
 
     int32_t args[4] = {0};
     uint8_t argc = 0;
@@ -25,27 +58,40 @@ void parser(char &c) {
     switch (c) {
     
     case 'r': // power cycle the motors
-        init_motor_params();
+        Serial.print(F("Reseting"));
-        motor_power_on(MotorPitch);
+        Serial.println(axis_str); // targeted motor axis
+
+        if (target_yaw) {
+            write_regs_yaw(); 
             motor_power_on(MotorYaw);
-        ax_pitch.driver_status = GIMBAL_STATUS_RESET;
             ax_yaw.driver_status = GIMBAL_STATUS_RESET;
-        Serial.println(F("Reset"));
+        }
+        if (target_pitch) {
+            write_regs_pitch(); 
+            motor_power_on(MotorPitch);
+            ax_pitch.driver_status = GIMBAL_STATUS_RESET;
+        }
         break;
 
     case 'q': // find endstop
-        do_endstop(MotorYaw);
+        Serial.print(F("Finding endstops"));
-        do_endstop(MotorPitch);
+        Serial.println(axis_str); // targeted motor axis
+        if (target_yaw) do_endstop(MotorYaw);
+        if (target_pitch) do_endstop(MotorPitch);
         break;
 
     case '!': // turn motors off
-        motor_power_off(MotorPitch);
+        Serial.print(F("Turning motors off"));
-        motor_power_off(MotorYaw);
+        Serial.println(axis_str); // targeted motor axis
+        if (target_yaw) motor_power_off(MotorPitch);
+        if (target_pitch) motor_power_off(MotorYaw);
         break;
 
     case '*': // turn motors on
-        motor_power_on(MotorPitch);
+        Serial.print(F("Turning motors on"));
-        motor_power_on(MotorYaw);
+        Serial.println(axis_str); // targeted motor axis
+        if (target_yaw) motor_power_on(MotorPitch);
+        if (target_pitch) motor_power_on(MotorYaw);
         break;
 
     case 'm': // move to a specific position in yawl
@@ -94,7 +140,7 @@ void parser(char &c) {
         }
         break;
 
-    case 'h': {
+    case 'h': 
         if (args[0] == MotorYaw) {
             ax_yaw.c_hdg = (float)args[1];
             ax_yaw.hdg_constant = ax_yaw.X_enc;
@@ -106,7 +152,6 @@ void parser(char &c) {
             EEPROM.put(ee, dist);
         }
         break;
-    }
 
     case 'y': {
         if (args[0] == MotorYaw) {

firmware/src/serial/CommandParser.h

@@ -3,6 +3,6 @@
 
 #include <Arduino.h>
 
-void parser(char &c);
+void read_command();
 
 #endif