commands

Author: askuric

docs/simplefoc_library/digging_deeper/libray_source/communication.md

@@ -16,62 +16,61 @@ The command ids used by the commander interface are defined in the library sourc
 ```cpp
 
 // list of commands
- #define CMD_C_D_PID   'D' //!< current d PID & LPF
- #define CMD_C_Q_PID   'Q' //!< current q PID & LPF
- #define CMD_V_PID     'V' //!< velocity PID & LPF
- #define CMD_A_PID     'A' //!< angle PID & LPF
- #define CMD_STATUS    'E' //!< motor status enable/disable
- #define CMD_LIMITS    'L' //!< limits current/voltage/velocity
- #define CMD_MOTION_TYPE  'C' //!< motion control type
- #define CMD_TORQUE_TYPE  'T' //!< torque control type
- #define CMD_SENSOR    'S' //!< sensor offsets
- #define CMD_MONITOR   'M' //!< monitoring
- #define CMD_RESIST    'R' //!< motor phase resistance
- #define CMD_INDUCTANCE    'I' //!< motor phase inductance
- #define CMD_KV_RATING 'K' //!< motor kv rating
- #define CMD_PWMMOD   'W' //!< pwm modulation
- #define CMD_FOC_PARAMS 'F'  //!< time parameters
+#define CMD_C_D_PID   'D' //!< current d PID & LPF
+#define CMD_C_Q_PID   'Q' //!< current q PID & LPF
+#define CMD_V_PID     'V' //!< velocity PID & LPF
+#define CMD_A_PID     'A' //!< angle PID & LPF
+#define CMD_STATUS    'E' //!< motor status enable/disable
+#define CMD_LIMITS    'L' //!< limits current/voltage/velocity
+#define CMD_MOTION_TYPE  'C' //!< motion control type
+#define CMD_TORQUE_TYPE  'T' //!< torque control type
+#define CMD_SENSOR    'S' //!< sensor offsets
+#define CMD_MONITOR   'M' //!< monitoring
+#define CMD_RESIST    'R' //!< motor phase resistance
+#define CMD_INDUCTANCE    'I' //!< motor phase inductance
+#define CMD_KV_RATING 'K' //!< motor kv rating
+#define CMD_PWMMOD   'W' //!< pwm modulation
+#define CMD_FOC_PARAMS 'F'  //!< time parameters
 
- // commander configuration
- #define CMD_SCAN    '?' //!< command scaning the network - only for commander
- #define CMD_VERBOSE '@' //!< command setting output mode - only for commander
- #define CMD_DECIMAL '#' //!< command setting decimal places - only for commander
+// commander configuration
+#define CMD_SCAN    '?' //!< command scaning the network - only for commander
+#define CMD_VERBOSE '@' //!< command setting output mode - only for commander
+#define CMD_DECIMAL '#' //!< command setting decimal places - only for commander
 
- // subcomands
- //pid - lpf
- #define SCMD_PID_P     'P' //!< PID gain P
- #define SCMD_PID_I     'I' //!< PID gain I
- #define SCMD_PID_D     'D' //!< PID gain D
- #define SCMD_PID_RAMP  'R' //!< PID ramp
- #define SCMD_PID_LIM   'L' //!< PID limit
- #define SCMD_LPF_TF    'F' //!< LPF time constant
- // limits
- #define SCMD_LIM_CURR  'C' //!< Limit current
- #define SCMD_LIM_VOLT  'U' //!< Limit voltage
- #define SCMD_LIM_VEL   'V' //!< Limit velocity
- //sensor
- #define SCMD_SENS_MECH_OFFSET 'M' //!< Sensor offset
- #define SCMD_SENS_ELEC_OFFSET 'E' //!< Sensor electrical zero offset
- // monitoring
- #define SCMD_DOWNSAMPLE 'D' //!< Monitoring downsample value
- #define SCMD_CLEAR      'C' //!< Clear all monitored variables
- #define SCMD_GET        'G' //!< Get variable only one value
- #define SCMD_SET        'S' //!< Set variables to be monitored
+// subcomands
+//pid - lpf
+#define SCMD_PID_P     'P' //!< PID gain P
+#define SCMD_PID_I     'I' //!< PID gain I
+#define SCMD_PID_D     'D' //!< PID gain D
+#define SCMD_PID_RAMP  'R' //!< PID ramp
+#define SCMD_PID_LIM   'L' //!< PID limit
+#define SCMD_LPF_TF    'F' //!< LPF time constant
+// limits
+#define SCMD_LIM_CURR  'C' //!< Limit current
+#define SCMD_LIM_VOLT  'U' //!< Limit voltage
+#define SCMD_LIM_VEL   'V' //!< Limit velocity
+//sensor
+#define SCMD_SENS_MECH_OFFSET 'M' //!< Sensor offset
+#define SCMD_SENS_ELEC_OFFSET 'E' //!< Sensor electrical zero offset
+// monitoring
+#define SCMD_DOWNSAMPLE 'D' //!< Monitoring downsample value
+#define SCMD_CLEAR      'C' //!< Clear all monitored variables
+#define SCMD_GET        'G' //!< Get variable only one value
+#define SCMD_SET        'S' //!< Set variables to be monitored
+#define SCMD_TIME       'T' //!< Time between executions (filtered)
 
- // pwm modulation
- #define SCMD_PWMMOD_TYPE   'T'  //!<< Pwm modulation type
- #define SCMD_PWMMOD_CENTER 'C'  //!<< Pwm modulation center flag
+// pwm modulation
+#define SCMD_PWMMOD_TYPE   'T'  //!<< Pwm modulation type
+#define SCMD_PWMMOD_CENTER 'C'  //!<< Pwm modulation center flag
 
- // foc control parameters
- #define SCMD_LOOPFOC_TIME  'L' //!< loopFOC time between executions (filtered)
- #define SCMD_MOVE_TIME     'M' //!< move time between executions (filtered)
- #define SCMD_REINIT_FOC    'R' //!< reinitialize FOC
- #define SCMD_TUNE_CURR     'C' //!< tune current controller
- #define SCMD_MEAS_PARAMS   'P' //!< measure motor parameters (resistance and inductance)
+// foc control parameters
+#define SCMD_REINIT_FOC    'R' //!< reinitialize FOC
+#define SCMD_TUNE_CURR     'C' //!< tune current controller
+#define SCMD_MEAS_PARAMS   'P' //!< measure motor parameters (resistance and inductance)
 
- // subcommands for motor parameters measurement
- #define SCMD_INDUCT_D     'D' //!< inductance d axis
- #define SCMD_INDUCT_Q     'Q' //!< inductance q axis
+// subcommands for motor parameters measurement
+#define SCMD_INDUCT_D     'D' //!< inductance d axis
+#define SCMD_INDUCT_Q     'Q' //!< inductance q axis
 ```
 
 By modifying this header file you can modify the default command character for the whole library.