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start fixing of this shit

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This commit is contained in:
Edward Emelianov
2024-08-15 16:50:06 +03:00
parent eaf137b5b6
commit 018f0d4b33
15 changed files with 140 additions and 130 deletions
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74
F3:F303/Multistepper/commonproto.c
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@@ -53,22 +53,26 @@ errcodes cu_abspos(uint8_t _U_ par, int32_t _U_ *val){
errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){
if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
uint16_t acc = the_conf.accel[n];
the_conf.accel[n] = *val;
update_stepper(n);
if(!update_stepper(n)){
the_conf.accel[n] = acc;
ret = ERR_CANTRUN;
}
}
*val = the_conf.accel[n];
return ERR_OK;
return ret;
}
static const uint8_t extADCchnl[NUMBER_OF_EXT_ADC_CHANNELS] = {ADC_AIN0, ADC_AIN1, ADC_AIN2, ADC_AIN3};
// V*100
// V*1000
errcodes cu_adc(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > NUMBER_OF_EXT_ADC_CHANNELS - 1) return ERR_BADPAR;
float v = getADCvoltage(extADCchnl[n])*100.f;
*val = (int32_t)v;
*val = getADCvoltage(extADCchnl[n]);
return ERR_OK;
}
@@ -121,13 +125,18 @@ errcodes cu_esw(uint8_t par, int32_t *val){
errcodes cu_eswreact(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){
if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
uint8_t react = the_conf.ESW_reaction[n];
the_conf.ESW_reaction[n] = *val;
update_stepper(n);
if(!update_stepper(n)){
the_conf.ESW_reaction[n] = react;
ret = ERR_CANTRUN;
}
}
*val = geteswreact(n);
return ERR_OK;
return ret;
}
errcodes cu_goto(uint8_t _U_ par, int32_t _U_ *val){
@@ -201,13 +210,18 @@ static uint16_t getSPD(uint8_t n, int32_t speed){
errcodes cu_maxspeed(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){
if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
uint16_t maxspd = the_conf.maxspd[n];
the_conf.maxspd[n] = getSPD(n, *val);
update_stepper(n);
if(!update_stepper(n)){
the_conf.maxspd[n] = maxspd;
ret = ERR_CANTRUN;
}
}
*val = the_conf.maxspd[n];
return ERR_OK;
return ret;
}
errcodes cu_maxsteps(uint8_t _U_ par, int32_t _U_ *val){
@@ -222,15 +236,14 @@ errcodes cu_maxsteps(uint8_t _U_ par, int32_t _U_ *val){
errcodes cu_mcut(uint8_t par, int32_t *val){
NOPARCHK(par);
float f = getMCUtemp();
*val = (uint32_t)(f*10.f);
getMCUtemp();
*val = getMCUtemp();
return ERR_OK;
}
errcodes cu_mcuvdd(uint8_t par, int32_t *val){
NOPARCHK(par);
float f = getVdd();
*val = (uint32_t)(f*10.f);
*val = getVdd();
return ERR_OK;
}
@@ -241,7 +254,7 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
#if MICROSTEPSMAX > 512
#error "Change the code anywhere!"
#endif
uint16_t m = (uint16_t)*val;
uint16_t m = (uint16_t)*val, old = the_conf.microsteps[n];
if(m < 1 || m > MICROSTEPSMAX) return ERR_BADVAL;
// find most significant bit
if(m != 1<<MSB(m)) return ERR_BADVAL;
@@ -251,7 +264,10 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
if(f->drvtype == DRVTYPE_UART){
if(!pdnuart_microsteps(n, m)) return ERR_CANTRUN;
}
update_stepper(n);
if(!update_stepper(n)){
the_conf.microsteps[n] = old;
return ERR_CANTRUN;
}
}
*val = the_conf.microsteps[n];
return ERR_OK;
@@ -259,13 +275,18 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){
if(*val >= the_conf.maxspd[n] || *val < 0) return ERR_BADVAL;
uint16_t minspd = the_conf.minspd[n];
the_conf.minspd[n] = getSPD(n, *val);
update_stepper(n);
if(!update_stepper(n)){
the_conf.minspd[n] = minspd;
ret = ERR_CANTRUN;
}
}
*val = the_conf.minspd[n];
return ERR_OK;
return ret;
}
errcodes cu_motcurrent(uint8_t par, int32_t *val){
@@ -284,12 +305,17 @@ errcodes cu_motcurrent(uint8_t par, int32_t *val){
errcodes cu_motflags(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){
motflags_t flags = the_conf.motflags[n];
the_conf.motflags[n] = *((motflags_t*)val);
update_stepper(n);
if(!update_stepper(n)){
the_conf.motflags[n] = flags;
ret = ERR_CANTRUN;
}
}
*(motflags_t*)val = the_conf.motflags[n];
return ERR_OK;
return ret;
}
errcodes cu_motno(uint8_t _U_ par, int32_t _U_ *val){
@@ -370,7 +396,7 @@ errcodes cu_stop(uint8_t _U_ par, int32_t _U_ *val){
return ERR_OK;
}
static errcodes cu_time(uint8_t par, int32_t *val){
errcodes cu_time(uint8_t par, int32_t *val){
NOPARCHK(par);
*val = Tms;
return ERR_OK;
@@ -391,15 +417,13 @@ errcodes cu_usartstatus(uint8_t _U_ par, int32_t _U_ *val){
// V*10
errcodes cu_vdrive(uint8_t par, int32_t _U_ *val){
NOPARCHK(par);
float v = getADCvoltage(ADC_VDRIVE)*1000.f;
*val = (int32_t)v;
*val = getADCvoltage(ADC_VDRIVE);
return ERR_OK;
}
errcodes cu_vfive(uint8_t par, int32_t *val){
NOPARCHK(par);
float v = getADCvoltage(ADC_VFIVE)*200.f;
*val = (int32_t)v;
*val = getADCvoltage(ADC_VFIVE) * 2;
return ERR_OK;
}
@@ -475,7 +499,7 @@ const char* cancmds[CCMD_AMOUNT] = {
[CCMD_RELPOS] = "relpos",
[CCMD_RELSLOW] = "relslow",
[CCMD_EMERGSTOP] = "emstop N",
[CCMD_EMERGSTOPALL] = "emstop",
[CCMD_EMERGSTOPALL] = "emstop all",
[CCMD_STOP] = "stop",
[CCMD_REINITMOTORS] = "motreinit",
[CCMD_MOTORSTATE] = "state",