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add printing of dictentry objects values

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This commit is contained in:
Edward Emelianov 2020-07-08 11:29:11 +03:00
parent f709c1d68d
commit 1e5a01f0b3
7 changed files with 145 additions and 85 deletions
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1
commandline/cmdlnopts.c
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@ -75,6 +75,7 @@ static myoption cmdlnopts[] = {
{"parse", NEED_ARG, NULL, 'p', arg_string, APTR(&G.parsefile), _("file with SDO data to send to device")},
{"check", NEED_ARG, 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")},
end_option
};

1
commandline/cmdlnopts.h
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@ -48,6 +48,7 @@ typedef struct{
int clearerr; // try to clear errors
int zeropos; // set position to zero
int disable; // disable motor
int showpars; // show values of some parameters
} glob_pars;

69
commandline/dicentries.h
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@ -1,69 +0,0 @@
/*
* This file is part of the stepper project.
* Copyright 2020 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/>.
*/
// this file can be included more than once!
// heartbeat time
DICENTRY(HEARTBTTIME, 0x1017, 0, 2, 0)
// node ID
DICENTRY(NODEID, 0x2002, 0, 1, 0)
// baudrate
DICENTRY(BAUDRATE, 0x2003, 0, 1, 0)
// system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings
DICENTRY(SYSCONTROL, 0x2007, 0, 1, 0)
// error state
DICENTRY(ERRSTATE, 0x6000, 0, 1, 0)
// controller status
DICENTRY(DEVSTATUS, 0x6001, 0, 1, 0)
// rotation direction
DICENTRY(ROTDIR, 0x6002, 0, 1, 0)
// maximal speed
DICENTRY(MAXSPEED, 0x6003, 0, 4, 1)
// relative displacement
DICENTRY(RELSTEPS, 0x6004, 0, 4, 0)
// operation mode
DICENTRY(OPMODE, 0x6005, 0, 1, 0)
// start speed
DICENTRY(STARTSPEED, 0x6006, 0, 2, 0)
// stop speed
DICENTRY(STOPSPEED, 0x6007, 0, 2, 0)
// acceleration coefficient
DICENTRY(ACCELCOEF, 0x6008, 0, 1, 0)
// deceleration coefficient
DICENTRY(DECELCOEF, 0x6009, 0, 1, 0)
// microstepping
DICENTRY(MICROSTEPS, 0x600A, 0, 2, 0)
// max current
DICENTRY(MAXCURNT, 0x600B, 0, 2, 0)
// current position
DICENTRY(POSITION, 0x600C, 0, 4, 0)
// motor enable
DICENTRY(ENABLE, 0x600E, 0, 1, 0)
// EXT emergency stop enable
DICENTRY(EXTENABLE, 0x600F, 1, 1, 0)
// EXT emergency stop trigger mode
DICENTRY(EXTTRIGMODE, 0x600F, 2, 1, 0)
// EXT emergency sensor type
DICENTRY(EXTSENSTYPE, 0x600F, 3, 1, 0)
// GPIO value
DICENTRY(GPIOVAL, 0x6012, 0, 2, 0)
// absolute displacement
DICENTRY(ABSSTEPS, 0x601C, 0, 4, 1)
// stop motor
DICENTRY(STOP, 0x6020, 0, 1, 0)

95
commandline/dicentries.in Normal file
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@ -0,0 +1,95 @@
/*
* This file is part of the stepper project.
* Copyright 2020 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/>.
*/
// this file can be included more than once!
// variable name / index / subindex / datasize / issigned / name
// heartbeat time
DICENTRY(HEARTBTTIME, 0x1017, 0, 2, 0, "heartbeat time")
// node ID
DICENTRY(NODEID, 0x2002, 0, 1, 0, "node ID")
// baudrate
DICENTRY(BAUDRATE, 0x2003, 0, 1, 0, "baudrate")
// system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings
DICENTRY(SYSCONTROL, 0x2007, 0, 1, 0, "system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings")
// error status
DICENTRY(ERRSTATE, 0x6000, 0, 1, 0, "error status")
// controller status
DICENTRY(DEVSTATUS, 0x6001, 0, 1, 0, "controller status")
// rotation direction
DICENTRY(ROTDIR, 0x6002, 0, 1, 0, "rotation direction")
// maximal speed
DICENTRY(MAXSPEED, 0x6003, 0, 4, 1, "maximal speed")
// relative displacement
DICENTRY(RELSTEPS, 0x6004, 0, 4, 0, "relative displacement")
// operation mode
DICENTRY(OPMODE, 0x6005, 0, 1, 0, "operation mode")
// start speed
DICENTRY(STARTSPEED, 0x6006, 0, 2, 0, "start speed")
// stop speed
DICENTRY(STOPSPEED, 0x6007, 0, 2, 0, "stop speed")
// acceleration coefficient
DICENTRY(ACCELCOEF, 0x6008, 0, 1, 0, "acceleration coefficient")
// deceleration coefficient
DICENTRY(DECELCOEF, 0x6009, 0, 1, 0, "deceleration coefficient")
// microstepping
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")
// current reduction
DICENTRY(CURRREDUCT, 0x600D, 0, 1, 0, "current reduction")
// motor enable
DICENTRY(ENABLE, 0x600E, 0, 1, 0, "motor enable")
// EXT emergency stop enable
DICENTRY(EXTENABLE, 0x600F, 1, 1, 0, "EXT emergency stop enable")
// EXT emergency stop trigger mode
DICENTRY(EXTTRIGMODE, 0x600F, 2, 1, 0, "EXT emergency stop trigger mode")
// EXT emergency sensor type
DICENTRY(EXTSENSTYPE, 0x600F, 3, 1, 0, "EXT emergency sensor type")
// GPIO direction
DICENTRY(GPIODIR, 0x6011, 1, 2, 0, "GPIO direction")
// GPIO configuration
DICENTRY(GPIOCONF, 0x6011, 2, 4, 0, "GPIO configuration")
// GPIO value
DICENTRY(GPIOVAL, 0x6012, 0, 2, 0, "GPIO value")
// stall parameters
DICENTRY(STALLPARS, 0x6017, 0, 2, 0, "stall parameters (open loop)")
// stall set
DICENTRY(STALLSET, 0x601B, 0, 1, 0, "stall set (open loop)")
// absolute displacement
DICENTRY(ABSSTEPS, 0x601C, 0, 4, 1, "absolute displacement")
// stop motor
DICENTRY(STOP, 0x6020, 0, 1, 0, "stop motor")
// encoder resolution
DICENTRY(ENCRESOL, 0x6021, 0, 2, 0, "encoder resolution (closed loop)")
// stall length parameter
DICENTRY(STALLLEN, 0x6028, 0, 2, 0, "stall length parameter (closed loop)")
// torque ring enable
DICENTRY(TORQRING, 0x6029, 0, 1, 0, "torque ring enable (closed loop)")
// autosave position
DICENTRY(POSAUTOSAVE, 0x602A, 0, 1, 0, "autosave position (closed loop)")
// real time speed
DICENTRY(REALTIMESPD, 0x6030, 0, 2, 1, "real time speed (closed loop)")
// calibration zero
DICENTRY(CALIBZERO, 0x6034, 0, 4, 1, "calibration zero")
// encoder position
DICENTRY(ENCPOS, 0x6035, 0, 4, 1, "encoder position")

38
commandline/main.c
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@ -33,6 +33,7 @@ static glob_pars *GP = NULL; // for GP->pidfile need in `signals`
static uint8_t ID = 0;
static uint16_t microstepping = 0;
// default signal handler
void signals(int sig){
putlog("Exit with status %d", sig);
DBG("Exit with status %d", sig);
@ -47,6 +48,7 @@ void iffound_default(pid_t pid){
ERRX("Another copy of this process found, pid=%d. Exit.", pid);
}
// error state check
static inline void chkerr(int64_t es){
if(!es) return;
red("ERRSTATE=%d\n", es);
@ -61,6 +63,7 @@ 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");
@ -77,6 +80,7 @@ static inline void chkstat(int64_t es){
}
}
// setup microstepping
static inline void setusteps(int64_t es){
if(GP->microsteps > -1 && GP->microsteps != (int) es){
DBG("Try to change microsteps");
@ -87,6 +91,7 @@ static inline void setusteps(int64_t es){
green("MICROSTEPPING=%u\n", microstepping);
}
// setup maximal speed
static inline void setmaxspd(int64_t es){
DBG("abs=%d, rel=%d", GP->absmove, GP->relmove);
if(es == 0 && (GP->absmove != INT_MIN || GP->relmove != INT_MIN) && (GP->maxspeed == INT_MIN || GP->maxspeed == 0))
@ -103,6 +108,7 @@ static inline void setmaxspd(int64_t es){
else red("MAXSPEED=0\n");
}
// get ESW values
static inline void gpioval(int64_t es){
uint16_t v = (uint16_t) es;
if(INT64_MIN == (es = SDO_read(&EXTENABLE, ID))){
@ -115,6 +121,23 @@ static inline void gpioval(int64_t es){
}
}
// show values of all parameters from dicentries.in
static inline void showAllPars(){
green("\nParameters' values:");
for(int i = 0; i < DEsz; ++i){
const SDO_dic_entry *entry = allrecords[i];
int64_t val = SDO_read(entry, GP->NodeID);
if(val == INT64_MIN){
WARNX("Can't read value of SDO 0x%04X/%d (%s)",
entry->index, entry->subindex, entry->name);
continue;
}
printf("\n# %s\n0x%04X, %d, %ld", entry->name, entry->index,
entry->subindex, val);
}
printf("\n\n");
}
int main(int argc, char *argv[]){
initial_setup();
char *self = strdup(argv[0]);
@ -154,11 +177,6 @@ int main(int argc, char *argv[]){
signals(2);
}
if(GP->parsefile){
green("Try to parse %s and send SDOs to device\n", GP->parsefile);
parse_data_file(GP->parsefile, GP->NodeID);
}
//setup_con();
// print current position and state
int64_t i64;
@ -167,6 +185,16 @@ int main(int argc, char *argv[]){
#define getSDOw(SDO, fn, e) do{if(INT64_MIN != (i64 = SDO_read(&SDO, ID))) fn(i64); else WARNX(e);}while(0)
getSDOe(ERRSTATE, chkerr, "Can't get error status");
getSDOe(DEVSTATUS, chkstat, "Can't get device status");
if(GP->parsefile){
green("Try to parse %s and send SDOs to device\n", GP->parsefile);
parse_data_file(GP->parsefile, GP->NodeID);
}
if(GP->showpars){
showAllPars();
}
getSDOe(MICROSTEPS, setusteps, "Can't get microstepping");
if(GP->zeropos){
if(SDO_write(&POSITION, ID, 0))

16
commandline/pusirobot.c
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@ -22,16 +22,18 @@
// we should init constants here!
#undef DICENTRY
#define DICENTRY(name, idx, sidx, sz, s) const SDO_dic_entry name = {idx, sidx, sz, s};
#include "dicentries.h"
#define DICENTRY(name, idx, sidx, sz, s, n) const SDO_dic_entry name = {idx, sidx, sz, s, n};
#include "dicentries.in"
// now init array with all dictionary
#undef DICENTRY
#define DICENTRY(name, idx, sidx, sz, s) {idx, sidx, sz, s},
static const SDO_dic_entry allrecords[] = {
#include "dicentries.h"
#define nnn(nm) nm
#define lnk(nm) & ## nnn(nm)
#define DICENTRY(name, idx, sidx, sz, s, n) &name,
const SDO_dic_entry* allrecords[] = {
#include "dicentries.in"
};
const int DEsz = sizeof(allrecords) / sizeof(SDO_dic_entry);
const int DEsz = sizeof(allrecords) / sizeof(SDO_dic_entry*);
// controller status for bits
static const char *DevStatus[] = {
@ -73,7 +75,7 @@ const char *errname(uint8_t error, uint8_t bit){
SDO_dic_entry *dictentry_search(uint16_t index, uint8_t subindex){
// the search is linear as dictionary can be unsorted!!!
for(int i = 0; i < DEsz; ++i){
const SDO_dic_entry *entry = &allrecords[i];
const SDO_dic_entry *entry = allrecords[i];
if(entry->index == index && entry->subindex == subindex) return (SDO_dic_entry*)entry;
}
return NULL;

10
commandline/pusirobot.h
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@ -27,13 +27,17 @@ typedef struct{
uint8_t subindex; // SDO subindex
uint8_t datasize; // data size: 1,2,3 or 4 bytes
uint8_t issigned; // signess: if issigned==1, then signed, else unsigned
const char *name; // dictionary entry name
} SDO_dic_entry;
#ifndef DICENTRY
#define DICENTRY(name, idx, sidx, sz, s) extern const SDO_dic_entry name;
#define DICENTRY(name, idx, sidx, sz, s, n) extern const SDO_dic_entry name;
#endif
#include "dicentries.h"
#include "dicentries.in"
extern const int DEsz;
extern const SDO_dic_entry* allrecords[];
#define MAX_SPEED_MIN -200000
#define MAX_SPEED_MAX 200000
@ -48,6 +52,4 @@ typedef struct{
const char *devstatus(uint8_t status, uint8_t bit);
const char *errname(uint8_t error, uint8_t bit);
SDO_dic_entry *dictentry_search(uint16_t index, uint8_t subindex);
//int get_current_position(uint8_t NID);
#endif // PUSIROBOT_H__