From ddbe4178de6601b71e5dad8173bb1a223832eec7 Mon Sep 17 00:00:00 2001
From: TonyZhang <mcerztn@gmail.com>
Date: Wed, 13 Mar 2024 23:21:45 +0800
Subject: [PATCH] modify flash configs and adjust pa_hero's feedback for pid
 params

---
 config/RM_Board_Linux.cfg                     | 22 -------------------
 config/RM_Board_Mac.cfg                       | 22 -------------------
 config/{RM_Board_Win.cfg => RM_F4_Stlink.cfg} |  0
 config/openocd_flash.sh                       |  4 ++--
 .../param_adjusts/pa_hero/pa_hero.cpp         |  3 ++-
 5 files changed, 4 insertions(+), 47 deletions(-)
 delete mode 100644 config/RM_Board_Linux.cfg
 delete mode 100644 config/RM_Board_Mac.cfg
 rename config/{RM_Board_Win.cfg => RM_F4_Stlink.cfg} (100%)

diff --git a/config/RM_Board_Linux.cfg b/config/RM_Board_Linux.cfg
deleted file mode 100644
index 383254da..00000000
--- a/config/RM_Board_Linux.cfg
+++ /dev/null
@@ -1,22 +0,0 @@
-source [find interface/stlink-v2.cfg]
-
-set WORKAREASIZE 0x8000
-
-transport select hla_swd
-
-# Enable debug when in low power modes
-set ENABLE_LOW_POWER 1
-
-# Stop Watchdog counters when halt
-set STOP_WATCHDOG 1
-
-# STLink Debug clock frequency
-set CLOCK_FREQ 1800
-
-# Use software system reset
-reset_config trst_only combined
-set CONNECT_UNDER_RESET 0
-
-source [find target/stm32f4x.cfg]
-
-stm32f4x.cpu configure -rtos ChibiOS
\ No newline at end of file
diff --git a/config/RM_Board_Mac.cfg b/config/RM_Board_Mac.cfg
deleted file mode 100644
index 78e37136..00000000
--- a/config/RM_Board_Mac.cfg
+++ /dev/null
@@ -1,22 +0,0 @@
-source [find interface/stlink-V2.cfg]
-
-set WORKAREASIZE 0x8000
-
-transport select hla_swd
-
-# Enable debug when in low power modes
-set ENABLE_LOW_POWER 1
-
-# Stop Watchdog counters when halt
-set STOP_WATCHDOG 1
-
-# STLink Debug clock frequency
-set CLOCK_FREQ 1800
-
-# Use software system reset
-reset_config trst_only combined
-set CONNECT_UNDER_RESET 0
-
-source [find target/stm32f4x.cfg]
-
-stm32f4x.cpu configure -rtos chibios
\ No newline at end of file
diff --git a/config/RM_Board_Win.cfg b/config/RM_F4_Stlink.cfg
similarity index 100%
rename from config/RM_Board_Win.cfg
rename to config/RM_F4_Stlink.cfg
diff --git a/config/openocd_flash.sh b/config/openocd_flash.sh
index 02687f62..4766621b 100755
--- a/config/openocd_flash.sh
+++ b/config/openocd_flash.sh
@@ -16,8 +16,8 @@ cd "$config_base"
 exit_cmd="exit"
 # default flash file: hero
 flash_file="../build/HERO.elf"
-# default flash config file: RM_Board_Win.cfg
-config_file="RM_Board_Win.cfg"
+# default flash config file: RM_F4_Stlink.cfg
+config_file="RM_F4_Stlink.cfg"
 
 
 
diff --git a/dev/application/param_adjusts/pa_hero/pa_hero.cpp b/dev/application/param_adjusts/pa_hero/pa_hero.cpp
index 0a58698d..7ce42739 100644
--- a/dev/application/param_adjusts/pa_hero/pa_hero.cpp
+++ b/dev/application/param_adjusts/pa_hero/pa_hero.cpp
@@ -204,13 +204,14 @@ DEF_SHELL_CMD_START(cmd_echo_param)
 
     unsigned pid_id = Shell::atoi(argv[1]);
     if (pid_id > 1) {
+        // TODO, pid_id=2 for autostraightening
         Shell::printf("Invalid pid ID %d" SHELL_NEWLINE_STR, pid_id);
         return false;
     }
 
     PIDController::pid_params_t pid_param = {0,0,0,0,0};
     pid_param = CANMotorController::getPIDParams((CANMotorCFG::motor_id_t)motor_id, (pid_id == 0));
-    Shell::printf("kp: %.2f, ki: %.2f, kd: %.2f, i_limit: %.2f, out_limit: %.2f" SHELL_NEWLINE_STR,
+    Shell::printf("!kp:%u,%.2f,ki:%.2f,kd:%.2f,il:%.2f,ol:%.2f" SHELL_NEWLINE_STR,pid_id,
                  pid_param.kp, pid_param.ki, pid_param.kd, pid_param.i_limit, pid_param.out_limit);
     return true; // command executed successfully
 DEF_SHELL_CMD_END