add quiet option, fix something

commandline/Readme.md

@@ -1,7 +1,7 @@
 Command line motor management
 =============================
 
-CAN controller: my CAN-USB sniffer
+Works with [my CAN-USB sniffer](https://github.com/eddyem/stm32samples/tree/master/F0-nolib/usbcan).
 
 
 Usage: steppermove [args]
@@ -9,16 +9,28 @@ Usage: steppermove [args]
 Where args are:
 
     -0, --zeropos          set current position to zero
+    -D, --disable          disable motor
+    -E, --enablesw         enable end-switches 1 and 2
+    -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)
     -c, --clearerr         clear errors
     -d, --device=arg       serial device name (default: /dev/ttyUSB0)
     -h, --help             show this help
-    -i, --nodeid=arg       node ID (1..127)
+    -k, --check=arg        check SDO data file
     -l, --logfile=arg      file to save logs
     -m, --maxspd=arg       maximal motor speed (steps per second)
+    -p, --parse=arg        file with SDO data to send to device
+    -q, --quick            directly send command without getting status
     -r, --rel=arg          move to relative position (steps)
-    -s, --canspd=arg       CAN bus speed (default: DEFAULT_SPEED)
+    -s, --canspd=arg       CAN bus speed
-    -t, --serialspd=arg    serial (tty) device speed (default: DEFAULT_SPEED)
+    -t, --serialspd=arg    serial (tty) device speed (default: 115200)
     -u, --microsteps=arg   microstepping (0..256)
+    -w, --wait             wait while motor is busy
+
+
+## Some usefull information
+
+Factory settings of pusirobot drivers: 125kBaud, nodeID=5

commandline/canbus.c

@@ -147,7 +147,7 @@ int canbus_open(const char *devname){
 int canbus_setspeed(int speed){
     if(speed == 0) return 0; // default - not change
     char buff[BUFLEN];
-    if(speed<10 || speed>3000){
+    if(speed < 10 || speed > 3000){
         WARNX("Wrong CAN bus speed value: %d", speed);
         return 1;
     }

commandline/cfg/Fmove

@@ -0,0 +1,16 @@
+#!/bin/bash
+
+if [ $# -ne 1 ]; then
+	echo "Usage: $0 <steps>"
+	exit 1
+fi
+
+STEPS=$1
+NEGSTEPS=$((-$1))
+
+echo "Move focus to $STEPS steps"
+
+./steppermove -qI1 -r $NEGSTEPS
+./steppermove -qI2 -r $STEPS
+./steppermove -qI3 -r $STEPS
+

commandline/cfg/OfflinePrgmng.cfg

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

commandline/cmdlnopts.c

@@ -60,8 +60,8 @@ static myoption cmdlnopts[] = {
 // common options
     {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
     {"device",  NEED_ARG,   NULL,   'd',    arg_string, APTR(&G.device),    _("serial device name (default: " DEFAULT_PORTDEV ")")},
-    {"canspd",  NEED_ARG,   NULL,   's',    arg_int,    APTR(&G.canspeed),  _("CAN bus speed (default: " STR(DEFAULT_SPEED) ")")},
+    {"canspd",  NEED_ARG,   NULL,   's',    arg_int,    APTR(&G.canspeed),  _("CAN bus speed")},
-    {"serialspd",NEED_ARG,  NULL,   't',    arg_int,    APTR(&G.serialspeed),_("serial (tty) device speed (default: " STR(DEFAULT_SPEED) ")")},
+    {"serialspd",NEED_ARG,  NULL,   't',    arg_int,    APTR(&G.serialspeed),_("serial (tty) device speed (default: " STR(DEFAULT_SER_SPEED) ")")},
     {"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)")},
@@ -78,6 +78,7 @@ static myoption cmdlnopts[] = {
     {"readvals",NO_ARGS,    NULL,   'R',    arg_int,    APTR(&G.showpars),  _("read values of used parameters")},
     {"enablesw",NO_ARGS,    NULL,   'E',    arg_int,    APTR(&G.enableESW), _("enable end-switches 1 and 2")},
     {"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")},
    end_option
 };
 

commandline/cmdlnopts.h

@@ -51,6 +51,7 @@ typedef struct{
     int showpars;           // show values of some parameters
     int enableESW;          // send signal to enable end-switches
     int wait;               // wait while device is busy
+    int quick;              // directly send command without getting status
 } glob_pars;
 
 

commandline/dicentries.in

@@ -117,6 +117,9 @@ DICENTRY(GPIOCONF,      0x6011, 2, 4, 0, "GPIO configuration")
 DICENTRY(GPIOVAL,       0x6012, 0, 2, 0, "GPIO value")
 // stall parameters
 DICENTRY(STALLPARS,     0x6017, 0, 2, 0, "stall parameters (open loop)")
+// offline operation
+DICENTRY(OFFLNMBR,      0x6018, 1, 1, 0, "Number of offline programming command")
+DICENTRY(OFFLENBL,      0x6018, 2, 1, 0, "Offline automatic operation enable")
 // stall set
 DICENTRY(STALLSET,      0x601B, 0, 1, 0, "stall set (open loop)")
 // absolute displacement

commandline/main.c

@@ -132,8 +132,8 @@ static inline void showAllPars(){
                   entry->index, entry->subindex, entry->name);
             continue;
         }
-        printf("# %s\n0x%04X, %d, %ld\n", entry->name, entry->index,
+        printf("# %s\n0x%04X, %d, %ld (0x%lX)\n", entry->name, entry->index,
-               entry->subindex, val);
+               entry->subindex, val, val);
         fflush(stdout);
     }
     printf("\n\n");
@@ -196,15 +196,13 @@ int main(int argc, char *argv[]){
     setserialspeed(GP->serialspeed);
     if(canbus_open(GP->device)){
         putlog("Can't open %s @ speed %d. Exit.", GP->device, GP->serialspeed);
-        signals(1);
+        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);
-        signals(2);
+        ERRX("Can't set CAN speed %d. Exit.", GP->canspeed);
     }
-    DBG("here");
 
-    //setup_con();
     // print current position and state
     int64_t i64;
     ID = GP->NodeID;
@@ -215,58 +213,63 @@ int main(int argc, char *argv[]){
 //#define Mesg(...)    green(__VA_ARGS__)
 //double d0 = dtime();
 
-    getSDOe(ERRSTATE, chkerr, "Can't get error status");
+    // get mircostepping (need this to properly calculate current position and move
-    Mesg("ERRSTATE: %g\n", dtime() - d0);
-
-    if(GP->stop){
-        if(SDO_write(&STOP, ID, 1)) ERRX("Can't stop motor");
-        Mesg("STOP: %g\n", dtime() - d0);
-    }
-
-    getSDOe(DEVSTATUS, chkstat, "Can't get device status");
-    Mesg("DEVSTATUS: %g\n", dtime() - d0);
-
-    if(GP->zeropos){
-        if(SDO_write(&POSITION, ID, 0))
-            ERRX("Can't clear position counter");
-            Mesg("POSITION: %g\n", dtime() - d0);
-    }
-
     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)))
             green("CURPOS=%d\n", (int)i64/microstepping);
         else WARNX("Can't read current position");
         Mesg("CURPOS: %g\n", dtime() - d0);
-
+        // get limit switches values
-    if(GP->showpars){
-        showAllPars();
-        Mesg("showAllPars: %g\n", dtime() - d0);
-    }
-
         getSDOe(GPIOVAL, gpioval, "Can't read GPIO values");
         Mesg("GPIOVAL: %g\n", dtime() - d0);
-
+        // get motor power status
-    if(GP->disable){
-        if(SDO_write(&ENABLE, ID, 0)) ERRX("Can't disable motor");
-        Mesg("DISABLE: %g\n", dtime() - d0);
-    }
-
         if(INT64_MIN != (i64 = SDO_read(&ENABLE, ID))){
             if(i64) green("ENABLE=1\n");
             else red("ENABLE=0\n");
             Mesg("Status: %g\n", dtime() - d0);
         }
-
+        // get max speed
+        getSDOe(MAXSPEED, setmaxspd, "Can't read max speed");
+        Mesg("MAXSPEED: %g\n", dtime() - d0);
+    }
+    // check device status
+    getSDOe(DEVSTATUS, chkstat, "Can't get device status");
+    Mesg("DEVSTATUS: %g\n", dtime() - d0);
     if(devstat == BUSY_STATE && GP->wait) wait_busy();
-
+    // stop motor
+    if(GP->stop){
+        if(SDO_write(&STOP, ID, 1)) ERRX("Can't stop motor");
+        Mesg("STOP: %g\n", dtime() - d0);
+    }
+    // turn off motor power
+    if(GP->disable){
+        if(SDO_write(&ENABLE, ID, 0)) ERRX("Can't disable motor");
+        Mesg("DISABLE: %g\n", dtime() - d0);
+    }
+    // zero position
+    if(GP->zeropos){
+        if(SDO_write(&POSITION, ID, 0))
+            ERRX("Can't clear position counter");
+            Mesg("POSITION: %g\n", dtime() - d0);
+    }
+    // show values of all known CanOpen parameters
+    if(GP->showpars){
+        showAllPars();
+        Mesg("showAllPars: %g\n", dtime() - d0);
+    }
+    // send values from external configuration file
     if(GP->parsefile){
         green("Try to parse %s and send SDOs to device\n", GP->parsefile);
         parse_data_file(GP->parsefile, GP->NodeID);
         Mesg("parse_data_file: %g\n", dtime() - d0);
     }
-
+    // enable limit switches
     if(GP->enableESW){
         if(SDO_write(&EXTENABLE, ID, 3)){
             WARNX("Error when trying to enable limit switches");
@@ -274,10 +277,7 @@ int main(int argc, char *argv[]){
         }
         Mesg("EXTENABLE: %g\n", dtime() - d0);
     }
-
+    // move to absolute position
-    getSDOe(MAXSPEED, setmaxspd, "Can't read max speed");
-    Mesg("MAXSPEED: %g\n", dtime() - d0);
-
     if(GP->absmove != INT_MIN){
         if(devstat == BUSY_STATE) ERRX("Can't move in BUSY state");
         SDO_write(&ENABLE, ID, 1);