fixed some little problems in commandline

canserver/socket.c

@@ -53,12 +53,12 @@ message ServerMessages = {0};
  */
 static size_t send_data(int sock, const char *textbuf){
     ssize_t Len = strlen(textbuf);
-    if(Len != write(sock, textbuf, Len)){
+    if(Len != send(sock, textbuf, Len, MSG_NOSIGNAL)){
         WARN("write()");
         LOGERR("send_data(): write() failed");
         return 0;
     }else LOGDBG("send_data(): sent '%s'", textbuf);
-    if(textbuf[Len-1] != '\n') Len += write(sock, "\n", 1);
+    if(textbuf[Len-1] != '\n') Len += send(sock, "\n", 1, MSG_NOSIGNAL);
     return (size_t)Len;
 }
 

commandline/CMakeLists.txt

@@ -20,7 +20,7 @@ set(CMAKE_COLOR_MAKEFILE ON)
 # here is one of two variants: all .c in directory or .c files in list
 aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
 
-# cmake -DDEBUG=1 -> debugging
+# cmake -DEBUG=1 -> debugging
 if(DEFINED EBUG)
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wextra -Wall -Werror -W")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wextra -Wall -Werror -W")

commandline/OfflinePrgmng.cfg

@@ -0,0 +1,6 @@
+# Turn off offline programming
+0x6018, 1, 0
+0x6018, 2, 0
+# Save parameters
+0x2007, 0, 2
+

commandline/Readme.md

@@ -9,28 +9,32 @@ Usage: steppermove [args]
 Where args are:
 
   -0, --zeropos          set current position to zero
+  -A, --disablesw        disable end-switches
   -D, --disable          disable motor
-    -E, --enablesw         enable end-switches 1 and 2
+  -E, --enablesw=arg     enable end-switches with given mask
   -I, --nodeid=arg       node ID (1..127)
   -P, --pidfile=arg      pidfile (default: /tmp/steppersmng.pid)
   -R, --readvals         read values of used parameters
   -S, --stop             stop motor
-    -a, --abs=arg          move to absolute position (steps)
+  -a, --abs=arg          move to absolute position (in encoder ticks)
   -c, --clearerr         clear errors
   -d, --device=arg       serial device name (default: /dev/ttyUSB0)
   -h, --help             show this help
-    -k, --check=arg        check SDO data file
+  -k, --check            check SDO data file
   -l, --logfile=arg      file to save logs
-    -m, --maxspd=arg       maximal motor speed (steps per second)
+  -m, --maxspd=arg       maximal motor speed (enc ticks per second)
-    -p, --parse=arg        file with SDO data to send to device
+  -p, --parse            file[s] with SDO data to send to device
   -q, --quick            directly send command without getting status
-    -r, --rel=arg          move to relative position (steps)
+  -r, --rel=arg          move to relative position (in encoder ticks)
   -s, --canspd=arg       CAN bus speed
   -t, --serialspd=arg    serial (tty) device speed (default: 115200)
-    -u, --microsteps=arg   microstepping (0..256)
+  -u, --microsteps=arg   set microstepping (0..256)
+  -v, --verbose          verbosity level for logging (each -v increases level)
   -w, --wait             wait while motor is busy
 
 
 ## Some usefull information
 
 Factory settings of pusirobot drivers: 125kBaud, nodeID=5
+
+Speed 6553.6 == 1rev/s

commandline/canopen.c

@@ -144,7 +144,7 @@ SDO *parseSDO(CANmesg *mesg){
     return &sdo;
 }
 
-// send request to read SDO
+// send request to read SDO, return 0 if all OK
 static int ask2read(uint16_t idx, uint8_t subidx, uint8_t NID){
     SDO sdo;
     sdo.NID = NID;
@@ -153,7 +153,10 @@ static int ask2read(uint16_t idx, uint8_t subidx, uint8_t NID){
     sdo.index = idx;
     sdo.subindex = subidx;
     CANmesg *mesg = mkMesg(&sdo);
-    return canbus_write(mesg);
+    int ans = 1; //  error
+    for(int i = 0; i < NTRIES; ++i)
+        if(!(ans = canbus_write(mesg))) return 0;
+    return ans;
 }
 
 static SDO *getSDOans(uint16_t idx, uint8_t subidx, uint8_t NID){
@@ -277,7 +280,10 @@ int SDO_writeArr(const SDO_dic_entry *e, uint8_t NID, const uint8_t *data){
     sdo.subindex = e->subindex;
     CANmesg *mesgp = mkMesg(&sdo);
     DBG("Canbus write..");
-    if(canbus_write(mesgp)){
+    int ans = 1;
+    for(int i = 0; i < NTRIES; ++i)
+        if(!(ans = canbus_write(mesgp))) break;
+    if(ans){
         WARNX("SDO_write(): Can't initiate download");
         return 2;
     }

commandline/canopen.h

@@ -24,7 +24,9 @@
 #include "pusirobot.h"
 
 // timeout for answer from the SDO, seconds
-#define SDO_ANS_TIMEOUT     (1.)
+#define SDO_ANS_TIMEOUT     (2.5)
+// N tries to write CAN message
+#define NTRIES              (15)
 
 // COB-ID base:
 #define NMT_COBID           0

commandline/cfg/Acceleration.cfg

@@ -0,0 +1,10 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# Set acceleration (0 - no, 1 - highest, 8 - lowest)
+0x6008, 0, 3
+# Set deceleration
+0x6009, 0, 3
+
+# Save parameters
+0x2007, 0, 2

commandline/cfg/NoPDOmapping.cfg

@@ -0,0 +1,2 @@
+# set number of mapped objects to 0
+0x1A00, 0, 0

commandline/cfg/SetCurnt0.6.cfg

@@ -0,0 +1,8 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# Set max phase current to 600mA
+0x600B, 0, 600
+
+# Save parameters
+0x2007, 0, 2

commandline/cfg/Start_settings.cfg

@@ -4,16 +4,23 @@
 # Set heartbeat time to 0
 0x1017, 0, 0
 
-# Set Node ID to 1
+# Turn off offline programming
-0x2002, 0, 2
+0x6018, 1, 0
+0x6018, 2, 0
+
+# Set Node ID to 10
+0x2002, 0, 10
 # Set speed to 250 (0-20, 1-25, 2-50, 3-100, 4-125, 5-250, 6-500, 7-800, 8-1000)
 0x2003, 0, 5
 
+# Set max phase current to 1.5A
+0x600B, 0, 1500
+
 # EXT1&EXT2 emergency stop: EXT1@falling edge (normal state == 1), EXT2@rising edge (normal state == 0)
 # Falling edge for trigger #1 
-0x600F, 2, 0
+#0x600F, 2, 0
 # Enable EXT1, EXT2
-0x600F, 1, 1
+#0x600F, 1, 1
 
 # Save parameters
 0x2007, 0, 2

commandline/cfg/Start_settingsEXT1.cfg

@@ -0,0 +1,27 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# Set heartbeat time to 0
+0x1017, 0, 0
+
+# Set Node ID to 1
+0x2002, 0, 1
+# Set speed to 250 (0-20, 1-25, 2-50, 3-100, 4-125, 5-250, 6-500, 7-800, 8-1000)
+0x2003, 0, 5
+# Set microstepping to 32
+0x600A, 0, 32
+# Set max phase current to 1.0A
+0x600B, 0, 1000
+# Set acceleration (0 - no, 1 - highest, 8 - lowest)
+0x6008, 0, 6
+# Set deceleration
+0x6009, 0, 7
+
+# EXT1&EXT2 emergency stop: EXT1@falling edge (normal state == 1), EXT2@rising edge (normal state == 0)
+# Rising edge trigger for #2, falling for #1 (inverted!)
+0x600F, 2, 1
+# Enable EXT1
+0x600F, 1, 1
+
+# Save parameters
+0x2007, 0, 2

commandline/cmdlnopts.c

@@ -49,7 +49,7 @@ static glob_pars const Gdefault = {
     .absmove = INT_MIN,
     .relmove = INT_MIN,
     .microsteps = -1,
-    .maxspeed = INT_MIN
+    .maxspeed = INT_MIN,
 };
 
 /*
@@ -65,22 +65,22 @@ static myoption cmdlnopts[] = {
     {"logfile", NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   _("file to save logs")},
     {"pidfile", NEED_ARG,   NULL,   'P',    arg_string, APTR(&G.pidfile),   _("pidfile (default: " DEFAULT_PIDFILE ")")},
     {"nodeid",  NEED_ARG,   NULL,   'I',    arg_int,    APTR(&G.NodeID),    _("node ID (1..127)")},
-    {"microsteps", NEED_ARG,NULL,   'u',    arg_int,    APTR(&G.microsteps),_("microstepping (0..256)")},
+    {"microsteps", NEED_ARG,NULL,   'u',    arg_int,    APTR(&G.microsteps),_("set microstepping (0..256)")},
-    {"rel",     NEED_ARG,   NULL,   'r',    arg_int,    APTR(&G.relmove),   _("move to relative position (full steps)")},
+    {"rel",     NEED_ARG,   NULL,   'r',    arg_int,    APTR(&G.relmove),   _("move to relative position (in encoder ticks)")},
-    {"abs",     NEED_ARG,   NULL,   'a',    arg_int,    APTR(&G.absmove),   _("move to absolute position (full steps)")},
+    {"abs",     NEED_ARG,   NULL,   'a',    arg_int,    APTR(&G.absmove),   _("move to absolute position (in encoder ticks)")},
-    {"maxspd",  NEED_ARG,   NULL,   'm',    arg_int,    APTR(&G.maxspeed),  _("maximal motor speed (full steps per second)")},
+    {"maxspd",  NEED_ARG,   NULL,   'm',    arg_int,    APTR(&G.maxspeed),  _("maximal motor speed (enc ticks per second)")},
     {"stop",    NO_ARGS,    NULL,   'S',    arg_int,    APTR(&G.stop),      _("stop motor")},
     {"clearerr",NO_ARGS,    NULL,   'c',    arg_int,    APTR(&G.clearerr),  _("clear errors")},
     {"zeropos", NO_ARGS,    NULL,   '0',    arg_int,    APTR(&G.zeropos),   _("set current position to zero")},
-    {"parse",   NEED_ARG,   NULL,   'p',    arg_string, APTR(&G.parsefile), _("file with SDO data to send to device")},
+    {"parse",   MULT_PAR,   NULL,   'p',    arg_string, APTR(&G.parsefile), _("file[s] with SDO data to send to device")},
-    {"check",   NEED_ARG,   NULL,   'k',    arg_string, APTR(&G.checkfile), _("check SDO data file")},
+    {"check",   MULT_PAR,   NULL,   'k',    arg_string, APTR(&G.checkfile), _("check SDO data file")},
     {"disable", NO_ARGS,    NULL,   'D',    arg_int,    APTR(&G.disable),   _("disable motor")},
     {"readvals",NO_ARGS,    NULL,   'R',    arg_int,    APTR(&G.showpars),  _("read values of used parameters")},
     {"enablesw",NEED_ARG,   NULL,   'E',    arg_int,    APTR(&G.enableESW), _("enable end-switches with given mask")},
     {"disablesw",NO_ARGS,   NULL,   'A',    arg_int,    APTR(&G.disableESW),_("disable end-switches")},
     {"wait",    NO_ARGS,    NULL,   'w',    arg_int,    APTR(&G.wait),      _("wait while motor is busy")},
     {"quick",   NO_ARGS,    NULL,   'q',    arg_int,    APTR(&G.quick),     _("directly send command without getting status")},
-    {"fracsteps",NO_ARGS,   NULL,   'F',    arg_int,    APTR(&G.fracsteps), _("move to steps fractions amount instead of full steps")},
+    {"verbose", NO_ARGS,    NULL,   'v',    arg_none,   APTR(&G.verblevel), _("verbosity level for logging (each -v increases level)")},
    end_option
 };
 

commandline/cmdlnopts.h

@@ -35,13 +35,14 @@ typedef struct{
     char *device;           // serial device name
     char *pidfile;          // name of PID file
     char *logfile;          // logging to this file
-    char *parsefile;        // file to parse
+    char **parsefile;       // file[s] to parse
-    char *checkfile;        // SDO data filename to check
+    char **checkfile;       // SDO data filename[s] to check
+    int verblevel;          // verbose level for logfile
     int canspeed;           // CAN bus speed
     int serialspeed;        // serial device speed (CAN-bus to USB)
     int NodeID;             // node ID to work with
-    int absmove;            // absolute position to move
+    int absmove;            // absolute position to move (in encoder's ticks)
-    int relmove;            // relative position to move
+    int relmove;            // relative position to move (in encoder's ticks)
     int microsteps;         // set microstepping
     int maxspeed;           // max speed
     int stop;               // stop motor
@@ -53,7 +54,6 @@ typedef struct{
     int disableESW;         // --//-- disable
     int wait;               // wait while device is busy
     int quick;              // directly send command without getting status
-    int fracsteps;          // move in steps fractions instead of full steps
 } glob_pars;
 
 

commandline/dataparser.c

@@ -16,15 +16,16 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "canopen.h"
-#include "dataparser.h"
-#include "pusirobot.h"
-
 #include <libgen.h> // basename
 #include <stdio.h>  // fopen
 #include <string.h> // strchr
 #include <usefull_macros.h>
 
+#include "canopen.h"
+#include "dataparser.h"
+#include "pusirobot.h"
+#include "verblog.h"
+
 #define BUFSZ 256
 
 char *getl(char *str, long long *lp){
@@ -101,7 +102,7 @@ int parse_data_file(const char *fname, uint8_t nid){
             }
             data = (int64_t) l;
             DBG("Got: idx=0x%04X, subidx=0x%02X, data=0x%lX", idx, sidx, data);
-            if(nid == 0) printf("line #%d: read SDO with index=0x%04X, subindex=0x%02X, data=0x%lX (dec: %ld)\n", lineno, idx, sidx, data, data);
+            if(nid == 0) message(1, "line #%d: read SDO with index=0x%04X, subindex=0x%02X, data=0x%lX (dec: %ld)", lineno, idx, sidx, data, data);
             SDO_dic_entry *entry = dictentry_search(idx, sidx);
             if(!entry){
                 WARNX("SDO 0x%04X/0x%02X isn't in dictionary", idx, sidx);
@@ -127,7 +128,7 @@ int parse_data_file(const char *fname, uint8_t nid){
             }
             if(nid){
                 if(SDO_write(entry, nid, data)) WARNX("Can't write SDO idx=0x%04X", entry->index);
-                else printf("Send to NID=%d SDO [0x%04X, 0x%02X] with data 0x%lX\n", nid, entry->index, entry->subindex, data);
+                else message(1, "Send to NID=%d SDO [0x%04X, 0x%02X] with data 0x%lX", nid, entry->index, entry->subindex, data);
             }
         }while(0);
         if(!isgood){

commandline/dicentries.in

@@ -98,7 +98,7 @@ DICENTRY(MICROSTEPS,    0x600A, 0, 2, 0, "microstepping")
 // max current
 DICENTRY(MAXCURNT,      0x600B, 0, 2, 0, "maximum phase current")
 // current position
-DICENTRY(POSITION,      0x600C, 0, 4, 0, "current position")
+DICENTRY(POSITION,      0x600C, 0, 4, 1, "current position")
 // current reduction
 DICENTRY(CURRREDUCT,    0x600D, 0, 1, 0, "current reduction")
 // motor enable

commandline/main.c

@@ -28,15 +28,15 @@
 #include "cmdlnopts.h"
 #include "dataparser.h"
 #include "pusirobot.h"
+#include "verblog.h"
 
 static glob_pars *GP = NULL;  // for GP->pidfile need in `signals`
 static uint8_t ID = 0;
-static uint16_t microstepping = 0;
 static uint8_t devstat = 0; // device status after chkstat()
 
 // default signal handler
 void signals(int sig){
-    putlog("Exit with status %d", sig);
+    LOGERR("Exit with status %d", sig);
     DBG("Exit with status %d", sig);
     if(GP->pidfile) // remove unnesessary PID file
         unlink(GP->pidfile);
@@ -66,7 +66,7 @@ static inline void chkerr(int64_t es){
 // device status check
 static inline void chkstat(int64_t es){
     if(es) red("DEVSTATUS=%d\n", (int)es);
-    else green("DEVSTATUS=0\n");
+    else message(1, "DEVSTATUS=0");
     devstat = (uint8_t)es;
     if(devstat){
         for(uint8_t i = 0; i < 8; ++i){
@@ -80,6 +80,7 @@ static inline void chkstat(int64_t es){
     }
 }
 
+/*
 // setup microstepping
 static inline void setusteps(int64_t es){
     DBG("es=%zd", es);
@@ -94,7 +95,7 @@ static inline void setusteps(int64_t es){
     }
     microstepping = es > 0 ? (uint16_t) es : 1;
     green("MICROSTEPPING=%u\n", microstepping);
-}
+}*/
 
 // setup maximal speed
 static inline void setmaxspd(int64_t es){
@@ -102,14 +103,14 @@ static inline void setmaxspd(int64_t es){
     if(es == 0 && (GP->absmove != INT_MIN || GP->relmove != INT_MIN) && (GP->maxspeed == INT_MIN || GP->maxspeed == 0))
         ERRX("Can't move when MAXSPEED==0");
     if(GP->maxspeed != INT_MIN){
-        GP->maxspeed *= microstepping;
+        GP->maxspeed *= SPEED_MULTIPLIER;
-        if(GP->maxspeed < MAX_SPEED_MIN || GP->maxspeed > MAX_SPEED_MAX)
+        if(GP->maxspeed < MAX_SPEED_MIN|| GP->maxspeed > MAX_SPEED_MAX)
-            ERRX("MAXSPEED should be from %d to %d", MAX_SPEED_MIN/microstepping, MAX_SPEED_MAX/microstepping);
+            ERRX("MAXSPEED should be from %d to %d", MAX_SPEED_MIN / SPEED_MULTIPLIER, MAX_SPEED_MAX / SPEED_MULTIPLIER);
         DBG("Try to change max speed");
         if(SDO_write(&MAXSPEED, ID, GP->maxspeed) || INT64_MIN == (es = SDO_read(&MAXSPEED, ID)))
             ERRX("Can't change max speed");
     }
-    if(es) green("MAXSPEED=%d\n", (int)es/microstepping);
+    if(es) message(1, "MAXSPEED=%d", (int)es);
     else red("MAXSPEED=0\n");
 }
 
@@ -172,17 +173,17 @@ int main(int argc, char *argv[]){
     initial_setup();
     char *self = strdup(argv[0]);
     GP = parse_args(argc, argv);
+    if(GP->verblevel) maxmesglevl(GP->verblevel);
     if(GP->checkfile){ // just check and exit
-        return parse_data_file(GP->checkfile, 0);
+        char **c = GP->checkfile;
+        int r = 0;
+        while(*c){
+            message(1, "\nCheck data file %s", *c);
+            r += parse_data_file(*c, 0);
+            ++c;
+        }
+        return r;
     }
-    check4running(self, GP->pidfile);
-    free(self);
-    signal(SIGTERM, signals); // kill (-15) - quit
-    signal(SIGHUP, SIG_IGN);  // hup - ignore
-    signal(SIGINT, signals);  // ctrl+C - quit
-    signal(SIGQUIT, signals); // ctrl+\ - quit
-    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
-
     if(GP->NodeID != 1){
         if(GP->NodeID < 1 || GP->NodeID > 127) ERRX("Node ID should be a number from 1 to 127");
     }
@@ -195,45 +196,55 @@ int main(int argc, char *argv[]){
         if(GP->maxspeed == 0)
             ERRX("Set non-zero MAXSPEED");
     }
+    if(GP->enableESW && GP->disableESW) ERRX("Enable & disable ESW can't meet together");
 
-    if(GP->logfile) openlogfile(GP->logfile);
+    check4running(self, GP->pidfile);
-    putlog(("Start application..."));
+    free(self);
-    putlog("Try to open CAN bus device %s", GP->device);
+    signal(SIGTERM, signals); // kill (-15) - quit
+    signal(SIGHUP, SIG_IGN);  // hup - ignore
+    signal(SIGINT, signals);  // ctrl+C - quit
+    signal(SIGQUIT, signals); // ctrl+\ - quit
+    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
+
+    if(GP->logfile){
+        sl_loglevel l = LOGLVL + GP->verblevel;
+        if(l > LOGLEVEL_ANY) l = LOGLEVEL_ANY;
+        OPENLOG(GP->logfile, l, 1);
+        LOGMSG(("Start application..."));
+        LOGMSG("Try to open CAN bus device %s", GP->device);
+    }
     setserialspeed(GP->serialspeed);
     if(canbus_open(GP->device)){
-        putlog("Can't open %s @ speed %d. Exit.", GP->device, GP->serialspeed);
+        LogAndErr("Can't open %s @ speed %d. Exit.", GP->device, GP->serialspeed);
-        ERRX("Can't open %s @ speed %d. Exit.", GP->device, GP->serialspeed);
     }
     if(canbus_setspeed(GP->canspeed)){
-        putlog("Can't set CAN speed %d. Exit.", GP->canspeed);
+        LogAndErr("Can't set CAN speed %d. Exit.", GP->canspeed);
-        ERRX("Can't set CAN speed %d. Exit.", GP->canspeed);
     }
 
     // print current position and state
     int64_t i64;
     ID = GP->NodeID;
-#define getSDOe(SDO, fn, e)  do{if(INT64_MIN != (i64 = SDO_read(&SDO, ID))) fn(i64); else ERRX(e);}while(0)
+#define getSDOe(SDO, fn, e)  do{if(INT64_MIN != (i64 = SDO_read(&SDO, ID))) fn(i64); else LogAndWarn(e); }while(0)
-#define getSDOw(SDO, fn, e)  do{if(INT64_MIN != (i64 = SDO_read(&SDO, ID))) fn(i64); else WARNX(e);}while(0)
+#define getSDOw(SDO, fn, e)  do{if(INT64_MIN != (i64 = SDO_read(&SDO, ID))) fn(i64); else LogAndErr(e); }while(0)
 
 #define Mesg(...)
 //#define Mesg(...)    green(__VA_ARGS__)
 //double d0 = dtime();
 
     // get mircostepping (need this to properly calculate current position and move
-    if(GP->fracsteps) microstepping = 1; // Don't calculate microstepping in this case
+    /*if(!GP->fracsteps){
-    else{
         getSDOe(MICROSTEPS, setusteps, "Can't get microstepping");
         Mesg("MICROSTEPS: %g\n", dtime() - d0);
-    }
+    }*/
     if(!GP->quick){
         // check error status
         getSDOe(ERRSTATE, chkerr, "Can't get error status");
         Mesg("ERRSTATE: %g\n", dtime() - d0);
         // get current position
         if(INT64_MIN != (i64 = SDO_read(&POSITION, ID))){
-            int enc = (int)i64;
+            //int enc = (int)i64;
-            green("CURENCODER=%d\n", enc);
+            message(1, "CURENCODER=%d", i64);
-            green("CURSTEPS=%.2f\n", enc / ((double)microstepping));
+            //message(1, "CURSTEPS=%.2f", i64 / ((double)microstepping));
         }
         else WARNX("Can't read current position");
         Mesg("CURPOS: %g\n", dtime() - d0);
@@ -242,14 +253,20 @@ int main(int argc, char *argv[]){
         Mesg("GPIOVAL: %g\n", dtime() - d0);
         // get motor power status
         if(INT64_MIN != (i64 = SDO_read(&ENABLE, ID))){
-            if(i64) green("ENABLE=1\n");
+            if(i64) message(1, "ENABLE=1");
-            else red("ENABLE=0\n");
+            else message(1, "ENABLE=0");
             Mesg("Status: %g\n", dtime() - d0);
         }
         // get max speed
         getSDOe(MAXSPEED, setmaxspd, "Can't read max speed");
         Mesg("MAXSPEED: %g\n", dtime() - d0);
+        i64 = SDO_read(&MICROSTEPS, ID);
+        if(i64 == INT64_MIN) LogAndWarn("Can't get microstepping value");
+        else message(2, "MICROSTEPS=%u", i64);
     }
+    i64 = SDO_read(&ENCRESOL, ID);
+    if(i64 == INT64_MIN) LogAndWarn("Can't get encoder resolution value");
+    else message(2, "ENCRESOL=%u", 1 << i64);
     if(GP->absmove != INT_MIN || GP->relmove != INT_MIN || !GP->quick || GP->wait){
         // check device status
         getSDOe(DEVSTATUS, chkstat, "Can't get device status");
@@ -279,9 +296,13 @@ int main(int argc, char *argv[]){
     }
     // send values from external configuration file
     if(GP->parsefile){
-        green("Try to parse %s and send SDOs to device\n", GP->parsefile);
+        char **p = GP->parsefile;
-        parse_data_file(GP->parsefile, GP->NodeID);
+        while(*p){
+            message(1, "Try to parse %s and send SDOs to device", *p);
+            parse_data_file(*p, GP->NodeID);
             Mesg("parse_data_file: %g\n", dtime() - d0);
+            ++p;
+        }
     }
     // enable limit switches
     if(GP->enableESW){
@@ -300,12 +321,11 @@ int main(int argc, char *argv[]){
     }
     //int64_t es = SDO_read(&EXTENABLE, ID);
     //green("LIMITSW=%lld\n", es);
-    int multiplier = GP->fracsteps ? 1 : microstepping;
     // move to absolute position
     if(GP->absmove != INT_MIN){
         if(devstat == BUSY_STATE) ERRX("Can't move in BUSY state");
         SDO_write(&ENABLE, ID, 1);
-        if(SDO_write(&ABSSTEPS, ID, GP->absmove * multiplier))
+        if(SDO_write(&ABSSTEPS, ID, GP->absmove))
             ERRX("Can't move to absolute position %d", GP->absmove);
     }
     if(GP->relmove != INT_MIN && GP->relmove){
@@ -318,8 +338,7 @@ int main(int argc, char *argv[]){
         }
         if(SDO_write(&ROTDIR, ID, dir) || INT64_MIN == (i64 = SDO_read(&ROTDIR, ID)))
             ERRX("Can't change rotation direction");
-        DBG("i64=%ld, dir=%d", i64, dir);
+        if(SDO_write(&RELSTEPS, ID, GP->relmove))
-        if(SDO_write(&RELSTEPS, ID, GP->relmove * multiplier))
             ERRX("Can't move to relative position %d", GP->relmove);
         Mesg("RelMove: %g\n", dtime() - d0);
     }

commandline/pusirobot.h

@@ -39,8 +39,11 @@ typedef struct{
 extern const int DEsz;
 extern const SDO_dic_entry* allrecords[];
 
+// speed limits
 #define MAX_SPEED_MIN   -200000
 #define MAX_SPEED_MAX   200000
+// encoder ticks per rev * SPEED_MULTIPLIER = speed for 1 rev per second
+#define SPEED_MULTIPLIER    (1.6)
 
 // limit switches mask in GPIO status register (x=1,2,3)
 #define EXTMASK(x)      (1<<(6+x))

commandline/verblog.c

@@ -0,0 +1,38 @@
+/*
+ * This file is part of the stepper project.
+ * Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "verblog.h"
+#include <stdarg.h>
+#include <stdio.h>
+#include <usefull_macros.h>
+
+// show messages only with level <= maxlevel
+static int maxlevel = MAXVERBLVL;
+
+void message(int level, const char *fmt, ...){
+    if(level > maxlevel) return;
+    va_list ar;
+    va_start(ar, fmt);
+    vprintf(fmt, ar);
+    va_end(ar);
+    printf("\n");
+}
+
+void maxmesglevl(int level){
+    maxlevel = level;
+}

commandline/verblog.h

@@ -0,0 +1,32 @@
+/*
+ * This file is part of the stepper project.
+ * Copyright 2022 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef EBUG
+#define MAXVERBLVL  1
+#define LOGLVL      LOGLEVEL_DBG
+#else
+#define MAXVERBLVL  0
+#define LOGLVL      LOGLEVEL_WARN
+#endif
+
+#define LogAndWarn(...)     do{LOGWARN(__VA_ARGS__); WARNX(__VA_ARGS__);}while(0)
+#define LogAndErr(...)      do{LOGERR(__VA_ARGS__); ERRX(__VA_ARGS__);}while(0)
+void message(int level, const char *fmt, ...);
+void maxmesglevl(int level);