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eddyem 2017-12-15 15:27:58 +03:00
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STM32/steppers/Readme.md
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@ -27,13 +27,17 @@ Based on STM32F030F4P6
Any command have format "# CMD", where # is device ID (the_conf.devID) or "-1" if there's Any command have format "# CMD", where # is device ID (the_conf.devID) or "-1" if there's
only one device at the bus. After it can be any number of spaces and command symbols. only one device at the bus. After it can be any number of spaces and command symbols.
If the command recognized and it's right, `ALL OK` would be returnded. If the command is bad, answer
`BADCMD`. Error in command sintax: `ERR`. If the answer would take more than one line it would
be ends by `DATAEND`.
### First symbol of commands ### First symbol of commands
* (nothing except spaces) - *ping* command, device with given ID answers: `ALIVE` * (nothing except spaces) - *ping* command, device with given ID answers: `ALIVE`
* **G** - one of the *Getters* (depending on next text) * **G** - one of the *Getters* (depending on next text)
* **S** - one of the *Setters* * **M** - motors' manipulation
* **R** - make *MCU software reboot* (next `status` getter will return `SOFTRESET=1`) * **R** - make *MCU software reboot* (next `status` getter will return `SOFTRESET=1`)
* **S** - one of the *Setters*
* **W** - *write flash* command, use it to save new configuration data * **W** - *write flash* command, use it to save new configuration data
All wrong commands will return `BADCMD`, commands with bad format or wrong number return `ERR`. All wrong commands will return `BADCMD`, commands with bad format or wrong number return `ERR`.
@ -103,6 +107,20 @@ ESW11=HALL
* **T** - get *MCU temperature*, e.g. `TEMP=365` * **T** - get *MCU temperature*, e.g. `TEMP=365`
### Motors' manipulation
Next char should be '0' or '1' --- motor's number. If wrong, `Num>1` answer would be returned.
There's only two commands in this section:
* **Mnum** - move motor to *num* steps. Errors:
* **BadSteps** - *num* isn't a number
* **IsMoving** - motor is still moving, stop it before
* **OnEndSwitch** - the motor is on end-switch limiting moving in given direction
* **ZeroMove** - user wants to move for 0 steps
* **TooBigNumber** - amount of steps is greater than `MAXSTEPSx`
* **S** - stop motor
### Setters ### Setters
Change of any setter takes place in MCU RAM immediately. To store them permanently run Change of any setter takes place in MCU RAM immediately. To store them permanently run
*write flash* command. *write flash* command.