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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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20
F3:F303/Multistepper/adc.c
View File

@ -132,18 +132,18 @@ uint16_t getADCval(int nch){
return p[4]; return p[4];
} }
// get voltage @input nch (V) // get voltage @input nch (V) *1000V
float getADCvoltage(int nch){ int32_t getADCvoltage(int nch){
float v = getADCval(nch) * 3.3; float v = getADCval(nch) * 3.3;
v /= 4096.f; // 12bit ADC v /= 4.096f; // 12bit ADC
#ifdef EBUG #ifdef EBUG
DBG("v="); printf(v); newline(); DBG("v="); printf(v); newline();
#endif #endif
return v; return (uint32_t) v;
} }
// return MCU temperature (degrees of celsius) // return MCU temperature (*1000 degrees of celsius)
float getMCUtemp(){ int32_t getMCUtemp(){
// make correction on Vdd value // make correction on Vdd value
int32_t ADval = getADCval(ADC_TS); int32_t ADval = getADCval(ADC_TS);
float temperature = (float) *TEMP30_CAL_ADDR - ADval; float temperature = (float) *TEMP30_CAL_ADDR - ADval;
@ -153,15 +153,15 @@ float getMCUtemp(){
#ifdef EBUG #ifdef EBUG
DBG("t="); printf(temperature); newline(); DBG("t="); printf(temperature); newline();
#endif #endif
return(temperature); return (uint32_t) (temperature*1000.f);
} }
// return ADC Vref (V) // return ADC Vref (V) *1000V
float getVdd(){ int32_t getVdd(){
float vdd = ((float) *VREFINT_CAL_ADDR) * 3.3f; // 3.3V float vdd = ((float) *VREFINT_CAL_ADDR) * 3.3f; // 3.3V
vdd /= getADCval(ADC_VREF); vdd /= getADCval(ADC_VREF);
#ifdef EBUG #ifdef EBUG
DBG("vdd="); printf(vdd); newline(); DBG("vdd="); printf(vdd); newline();
#endif #endif
return vdd; return (uint32_t) (vdd * 1000.f);
} }

6
F3:F303/Multistepper/adc.h
View File

@ -43,7 +43,7 @@
#define ADC2START (9*NUMBER_OF_ADC1_CHANNELS) #define ADC2START (9*NUMBER_OF_ADC1_CHANNELS)
void adc_setup(); void adc_setup();
float getMCUtemp(); int32_t getMCUtemp();
float getVdd(); int32_t getVdd();
uint16_t getADCval(int nch); uint16_t getADCval(int nch);
float getADCvoltage(int nch); int32_t getADCvoltage(int nch);

74
F3:F303/Multistepper/commonproto.c
View File

@ -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){ errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par); uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){ if(ISSETTER(par)){
if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL; if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
uint16_t acc = the_conf.accel[n];
the_conf.accel[n] = *val; 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]; *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}; 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){ errcodes cu_adc(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par); uint8_t n = PARBASE(par);
if(n > NUMBER_OF_EXT_ADC_CHANNELS - 1) return ERR_BADPAR; if(n > NUMBER_OF_EXT_ADC_CHANNELS - 1) return ERR_BADPAR;
float v = getADCvoltage(extADCchnl[n])*100.f; *val = getADCvoltage(extADCchnl[n]);
*val = (int32_t)v;
return ERR_OK; 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){ errcodes cu_eswreact(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par); uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){ if(ISSETTER(par)){
if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL; if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
uint8_t react = the_conf.ESW_reaction[n];
the_conf.ESW_reaction[n] = *val; 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); *val = geteswreact(n);
return ERR_OK; return ret;
} }
errcodes cu_goto(uint8_t _U_ par, int32_t _U_ *val){ 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){ errcodes cu_maxspeed(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par); uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){ if(ISSETTER(par)){
if(*val <= the_conf.minspd[n]) return ERR_BADVAL; if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
uint16_t maxspd = the_conf.maxspd[n];
the_conf.maxspd[n] = getSPD(n, *val); 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]; *val = the_conf.maxspd[n];
return ERR_OK; return ret;
} }
errcodes cu_maxsteps(uint8_t _U_ par, int32_t _U_ *val){ 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){ errcodes cu_mcut(uint8_t par, int32_t *val){
NOPARCHK(par); NOPARCHK(par);
float f = getMCUtemp(); getMCUtemp();
*val = (uint32_t)(f*10.f); *val = getMCUtemp();
return ERR_OK; return ERR_OK;
} }
errcodes cu_mcuvdd(uint8_t par, int32_t *val){ errcodes cu_mcuvdd(uint8_t par, int32_t *val){
NOPARCHK(par); NOPARCHK(par);
float f = getVdd(); *val = getVdd();
*val = (uint32_t)(f*10.f);
return ERR_OK; return ERR_OK;
} }
@ -241,7 +254,7 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
#if MICROSTEPSMAX > 512 #if MICROSTEPSMAX > 512
#error "Change the code anywhere!" #error "Change the code anywhere!"
#endif #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; if(m < 1 || m > MICROSTEPSMAX) return ERR_BADVAL;
// find most significant bit // find most significant bit
if(m != 1<<MSB(m)) return ERR_BADVAL; 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(f->drvtype == DRVTYPE_UART){
if(!pdnuart_microsteps(n, m)) return ERR_CANTRUN; 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]; *val = the_conf.microsteps[n];
return ERR_OK; 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){ errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par); uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){ if(ISSETTER(par)){
if(*val >= the_conf.maxspd[n] || *val < 0) return ERR_BADVAL; 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); 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]; *val = the_conf.minspd[n];
return ERR_OK; return ret;
} }
errcodes cu_motcurrent(uint8_t par, int32_t *val){ 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){ errcodes cu_motflags(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par); uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){ if(ISSETTER(par)){
motflags_t flags = the_conf.motflags[n];
the_conf.motflags[n] = *((motflags_t*)val); 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]; *(motflags_t*)val = the_conf.motflags[n];
return ERR_OK; return ret;
} }
errcodes cu_motno(uint8_t _U_ par, int32_t _U_ *val){ 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; return ERR_OK;
} }
static errcodes cu_time(uint8_t par, int32_t *val){ errcodes cu_time(uint8_t par, int32_t *val){
NOPARCHK(par); NOPARCHK(par);
*val = Tms; *val = Tms;
return ERR_OK; return ERR_OK;
@ -391,15 +417,13 @@ errcodes cu_usartstatus(uint8_t _U_ par, int32_t _U_ *val){
// V*10 // V*10
errcodes cu_vdrive(uint8_t par, int32_t _U_ *val){ errcodes cu_vdrive(uint8_t par, int32_t _U_ *val){
NOPARCHK(par); NOPARCHK(par);
float v = getADCvoltage(ADC_VDRIVE)*1000.f; *val = getADCvoltage(ADC_VDRIVE);
*val = (int32_t)v;
return ERR_OK; return ERR_OK;
} }
errcodes cu_vfive(uint8_t par, int32_t *val){ errcodes cu_vfive(uint8_t par, int32_t *val){
NOPARCHK(par); NOPARCHK(par);
float v = getADCvoltage(ADC_VFIVE)*200.f; *val = getADCvoltage(ADC_VFIVE) * 2;
*val = (int32_t)v;
return ERR_OK; return ERR_OK;
} }
@ -475,7 +499,7 @@ const char* cancmds[CCMD_AMOUNT] = {
[CCMD_RELPOS] = "relpos", [CCMD_RELPOS] = "relpos",
[CCMD_RELSLOW] = "relslow", [CCMD_RELSLOW] = "relslow",
[CCMD_EMERGSTOP] = "emstop N", [CCMD_EMERGSTOP] = "emstop N",
[CCMD_EMERGSTOPALL] = "emstop", [CCMD_EMERGSTOPALL] = "emstop all",
[CCMD_STOP] = "stop", [CCMD_STOP] = "stop",
[CCMD_REINITMOTORS] = "motreinit", [CCMD_REINITMOTORS] = "motreinit",
[CCMD_MOTORSTATE] = "state", [CCMD_MOTORSTATE] = "state",

1
F3:F303/Multistepper/commonproto.h
View File

@ -140,6 +140,7 @@ errcodes cu_screen(uint8_t par, int32_t *val);
errcodes cu_speedlimit(uint8_t par, int32_t *val); errcodes cu_speedlimit(uint8_t par, int32_t *val);
errcodes cu_state(uint8_t par, int32_t *val); errcodes cu_state(uint8_t par, int32_t *val);
errcodes cu_stop(uint8_t par, int32_t *val); errcodes cu_stop(uint8_t par, int32_t *val);
errcodes cu_time(uint8_t par, int32_t *val);
errcodes cu_tmcbus(uint8_t par, int32_t *val); errcodes cu_tmcbus(uint8_t par, int32_t *val);
errcodes cu_udata(uint8_t par, int32_t *val); errcodes cu_udata(uint8_t par, int32_t *val);
errcodes cu_usartstatus(uint8_t par, int32_t *val); errcodes cu_usartstatus(uint8_t par, int32_t *val);

4
F3:F303/Multistepper/hashgen/hashgen.c
View File

@ -175,9 +175,7 @@ static const char *fhdr =
int i = 0;\n\ int i = 0;\n\
while(*str > '@' && i < CMD_MAXLEN){ cmd[i++] = *str++; }\n\ while(*str > '@' && i < CMD_MAXLEN){ cmd[i++] = *str++; }\n\
cmd[i] = 0;\n\ cmd[i] = 0;\n\
if(*str){\n\ while(*str && *str <= ' ') ++str;\n\
while(*str <= ' ') ++str;\n\
}\n\
char *args = (char*) str;\n\ char *args = (char*) str;\n\
uint32_t h = hashf(cmd);\n\ uint32_t h = hashf(cmd);\n\
switch(h){\n\n" switch(h){\n\n"

13
F3:F303/Multistepper/hashgen/hdr.c
View File

@ -8,6 +8,8 @@
#define WAL __attribute__ ((weak, alias ("__f1"))) #define WAL __attribute__ ((weak, alias ("__f1")))
#endif #endif
char lastcmd[CMD_MAXLEN + 1];
static int __f1(uint32_t _U_ h, char _U_ *a){return 1;} static int __f1(uint32_t _U_ h, char _U_ *a){return 1;}
int fn_abspos(uint32_t _U_ hash, char _U_ *args) WAL; // "abspos" (3056382221) int fn_abspos(uint32_t _U_ hash, char _U_ *args) WAL; // "abspos" (3056382221)
@ -137,16 +139,13 @@ static uint32_t hashf(const char *str){
} }
int parsecmd(const char *str){ int parsecmd(const char *str){
char cmd[CMD_MAXLEN + 1];
if(!str || !*str) return RET_CMDNOTFOUND; if(!str || !*str) return RET_CMDNOTFOUND;
int i = 0; int i = 0;
while(*str > '@' && i < CMD_MAXLEN){ cmd[i++] = *str++; } while(*str > '@' && i < CMD_MAXLEN){ lastcmd[i++] = *str++; }
cmd[i] = 0; lastcmd[i] = 0;
if(*str){ while(*str && *str <= ' ') ++str;
while(*str <= ' ') ++str;
}
char *args = (char*) str; char *args = (char*) str;
uint32_t h = hashf(cmd); uint32_t h = hashf(lastcmd);
switch(h){ switch(h){
case CMD_ABSPOS: case CMD_ABSPOS:

2
F3:F303/Multistepper/hashgen/hdr.h
View File

@ -13,6 +13,8 @@ enum{
int parsecmd(const char *cmdwargs); int parsecmd(const char *cmdwargs);
extern char lastcmd[];
#define CMD_ABSPOS (3056382221) #define CMD_ABSPOS (3056382221)
#define CMD_ACCEL (1490521981) #define CMD_ACCEL (1490521981)
#define CMD_ADC (2963026093) #define CMD_ADC (2963026093)

4
F3:F303/Multistepper/main.c
View File

@ -42,9 +42,9 @@ int main(void){
StartHSI(); StartHSI();
SysTick_Config((uint32_t)48000); // 1ms SysTick_Config((uint32_t)48000); // 1ms
} }
hw_setup(); // GPIO, ADC, timers, watchdog etc.
USBPU_OFF(); // make a reconnection USBPU_OFF(); // make a reconnection
flashstorage_init(); flashstorage_init();
hw_setup(); // GPIO, ADC, timers, watchdog etc.
init_steppers(); init_steppers();
USB_setup(); USB_setup();
CAN_setup(the_conf.CANspeed); CAN_setup(the_conf.CANspeed);
@ -60,7 +60,7 @@ int main(void){
LED_blink(); LED_blink();
} }
CAN_proc(); CAN_proc();
USB_proc(); USB_proc(); // TODO: remove deprecated trash code!
process_steppers(); process_steppers();
if(CAN_get_status() == CAN_FIFO_OVERRUN){ if(CAN_get_status() == CAN_FIFO_OVERRUN){
USB_sendstr("CAN bus fifo overrun occured!\n"); USB_sendstr("CAN bus fifo overrun occured!\n");

BIN
F3:F303/Multistepper/multistepper.bin
View File

Binary file not shown.

58
F3:F303/Multistepper/multistepper.creator.user
View File

@ -1,14 +1,14 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject> <!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 8.0.2, 2023-01-18T20:42:42. --> <!-- Written by QtCreator 13.0.2, 2024-08-15T16:49:30. -->
<qtcreator> <qtcreator>
<data> <data>
<variable>EnvironmentId</variable> <variable>EnvironmentId</variable>
<value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value> <value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
</data> </data>
<data> <data>
<variable>ProjectExplorer.Project.ActiveTarget</variable> <variable>ProjectExplorer.Project.ActiveTarget</variable>
<value type="int">0</value> <value type="qlonglong">0</value>
</data> </data>
<data> <data>
<variable>ProjectExplorer.Project.EditorSettings</variable> <variable>ProjectExplorer.Project.EditorSettings</variable>
@ -28,7 +28,7 @@
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value> <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
</valuemap> </valuemap>
</valuemap> </valuemap>
<value type="int" key="EditorConfiguration.CodeStyle.Count">2</value> <value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value> <value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value> <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
<value type="int" key="EditorConfiguration.IndentSize">4</value> <value type="int" key="EditorConfiguration.IndentSize">4</value>
@ -37,10 +37,11 @@
<value type="bool" key="EditorConfiguration.MouseHiding">true</value> <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
<value type="bool" key="EditorConfiguration.MouseNavigation">true</value> <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
<value type="int" key="EditorConfiguration.PaddingMode">1</value> <value type="int" key="EditorConfiguration.PaddingMode">1</value>
<value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
<value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value> <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value> <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</value> <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value> <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value> <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value> <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value> <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@ -49,11 +50,12 @@
<value type="bool" key="EditorConfiguration.UseIndenter">false</value> <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value> <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value> <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
<value type="bool" key="EditorConfiguration.cleanIndentation">false</value> <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value> <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
<value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value> <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
<value type="bool" key="EditorConfiguration.inEntireDocument">false</value> <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
<value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value> <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
<value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
</valuemap> </valuemap>
</data> </data>
<data> <data>
@ -74,7 +76,8 @@
<value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value> <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
<value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value> <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
<value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value> <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
<value type="int" key="ClangTools.ParallelJobs">2</value> <value type="int" key="ClangTools.ParallelJobs">4</value>
<value type="bool" key="ClangTools.PreferConfigFile">true</value>
<valuelist type="QVariantList" key="ClangTools.SelectedDirs"/> <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
<valuelist type="QVariantList" key="ClangTools.SelectedFiles"/> <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
<valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/> <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
@ -88,12 +91,12 @@
<value type="QString" key="DeviceType">Desktop</value> <value type="QString" key="DeviceType">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
<value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value> <value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value> <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value> <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0"> <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Big/Data/00__Electronics/STM32/F303-nolib/blink</value> <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/ELECTRONICS/STM32/F3-srcs/Multistepper</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0"> <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0"> <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets"> <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@ -102,7 +105,7 @@
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value> <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
</valuemap> </valuemap>
<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value> <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
@ -115,7 +118,7 @@
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value> <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
</valuemap> </valuemap>
<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value> <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
@ -125,13 +128,13 @@
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/> <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value> <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/> <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
</valuemap> </valuemap>
<value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">1</value> <value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0"> <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0"> <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value> <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
@ -141,24 +144,31 @@
<value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value> <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
</valuemap> </valuemap>
<value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value> <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0"> <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
<value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
<value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
<valuelist type="QVariantList" key="CustomOutputParsers"/> <valuelist type="QVariantList" key="CustomOutputParsers"/>
<value type="int" key="PE.EnvironmentAspect.Base">2</value> <value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/> <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
<value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value> <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
<value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value> <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
<value type="bool" key="RunConfiguration.UseCppDebugger">false</value> <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
<value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value> <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
</valuemap> </valuemap>
<value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value> <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap> </valuemap>
</data> </data>
<data> <data>
<variable>ProjectExplorer.Project.TargetCount</variable> <variable>ProjectExplorer.Project.TargetCount</variable>
<value type="int">1</value> <value type="qlonglong">1</value>
</data> </data>
<data> <data>
<variable>ProjectExplorer.Project.Updater.FileVersion</variable> <variable>ProjectExplorer.Project.Updater.FileVersion</variable>

2
F3:F303/Multistepper/pdnuart.c
View File

@ -169,7 +169,7 @@ int pdnuart_microsteps(uint8_t no, uint32_t val){
return writeregister(no, TMC2209Reg_CHOPCONF, regval.value); return writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
} }
// init driver number `no` // init driver number `no`, return FALSE if failed
int pdnuart_init(uint8_t no){ int pdnuart_init(uint8_t no){
TMC2209_gconf_reg_t gconf; TMC2209_gconf_reg_t gconf;
if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)) return FALSE; if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)) return FALSE;

75
F3:F303/Multistepper/proto.c
View File

@ -309,11 +309,8 @@ int fn_cansend(uint32_t _U_ hash, char *args){
int fn_canfloodt(uint32_t _U_ hash, char *args){ int fn_canfloodt(uint32_t _U_ hash, char *args){
uint32_t N; uint32_t N;
const char *n = getnum(args, &N); const char *n = getnum(args, &N);
if(args == n){ if(args != n) floodT = N;
USB_sendstr("floodT="); printu(floodT); USB_putbyte('\n'); USB_sendstr("canfloodT="); printu(floodT); USB_putbyte('\n');
return RET_GOOD;
}
floodT = N;
return RET_GOOD; return RET_GOOD;
} }
@ -396,14 +393,6 @@ int fn_reset(uint32_t _U_ hash, char _U_ *args){ // "reset" (1907803304)
return RET_GOOD; return RET_GOOD;
} }
int fn_time(uint32_t _U_ hash, char _U_ *args){ // "time" (19148340)
USB_sendstr("Time (ms): ");
printu(Tms);
USB_putbyte('\n');
return RET_GOOD;
}
static const char* motfl[MOTFLAGS_AMOUNT] = { static const char* motfl[MOTFLAGS_AMOUNT] = {
"0: reverse - invert motor's rotation", "0: reverse - invert motor's rotation",
"1: [reserved]", "1: [reserved]",
@ -433,12 +422,12 @@ int fn_dumpmotflags(uint32_t _U_ hash, char _U_ *args){ // "dumpmotflags" (3615
} }
static const char* errtxt[ERR_AMOUNT] = { static const char* errtxt[ERR_AMOUNT] = {
[ERR_OK] = "all OK", [ERR_OK] = "OK",
[ERR_BADPAR] = "wrong parameter's value", [ERR_BADPAR] = "BADPAR",
[ERR_BADVAL] = "wrong setter of parameter", [ERR_BADVAL] = "BADVAL",
[ERR_WRONGLEN] = "bad message length", [ERR_WRONGLEN] = "WRONGLEN",
[ERR_BADCMD] = "unknown command", [ERR_BADCMD] = "BADCMD",
[ERR_CANTRUN] = "temporary can't run given command", [ERR_CANTRUN] = "CANTRUN",
}; };
int fn_dumperr(uint32_t _U_ hash, char _U_ *args){ // "dumperr" (1223989764) int fn_dumperr(uint32_t _U_ hash, char _U_ *args){ // "dumperr" (1223989764)
USND("Error codes:"); USND("Error codes:");
@ -490,9 +479,11 @@ static int canusb_function(uint32_t hash, char *args){
uint32_t N; uint32_t N;
int32_t val = 0; int32_t val = 0;
uint8_t par = CANMESG_NOPAR; uint8_t par = CANMESG_NOPAR;
float f; DBG("CMD: hash=");
USB_sendstr("CMD: hash="); printu(hash); USB_sendstr(", args="); #ifdef EBUG
printu(hash); USB_sendstr(", args=");
USND(args); USND(args);
#endif
if(*args){ if(*args){
const char *n = getnum(args, &N); const char *n = getnum(args, &N);
if(n != args){ // get parameter if(n != args){ // get parameter
@ -511,29 +502,17 @@ static int canusb_function(uint32_t hash, char *args){
} }
} }
} }
#ifdef EBUG
USB_sendstr("par="); printuhex(par); USB_sendstr("par="); printuhex(par);
USB_sendstr(", val="); printi(val); newline(); USB_sendstr(", val="); printi(val); newline();
#endif
switch(hash){ switch(hash){
case CMD_ADC: case CMD_ADC:
par = PARBASE(par); e = cu_adc(par, &val);
if(par >= NUMBER_OF_ADC_CHANNELS){
USB_sendstr("Wrong channel number\n");
return RET_BAD;
}
USB_sendstr("ADC"); USB_putbyte('0'+par);
USB_putbyte('='); USB_sendstr(u2str(getADCval(par)));
f = getADCvoltage(par);
USB_sendstr("\nADCv");USB_putbyte('0'+par);
USB_putbyte('='); USB_sendstr(float2str(f, 2));
newline();
return RET_GOOD;
break; break;
case CMD_BUTTON: case CMD_BUTTON:
e = cu_button(par, &val); e = cu_button(par, &val);
if(val == CANMESG_NOPAR){ if(val == CANMESG_NOPAR) break; // no button number
USB_sendstr("Wrong button number\n");
return RET_BAD;
}
const char *kstate = "none"; const char *kstate = "none";
switch(e){ switch(e){
case EVT_PRESS: case EVT_PRESS:
@ -548,9 +527,9 @@ static int canusb_function(uint32_t hash, char *args){
default: default:
break; break;
} }
USB_sendstr("KEY"); USB_putbyte('0'+PARBASE(par)); USB_sendstr("button"); USB_putbyte('0'+PARBASE(par));
USB_putbyte('='); USB_sendstr(kstate); USB_putbyte('='); USB_sendstr(kstate);
USB_sendstr("\nKEYTIME="); USB_sendstr(u2str(val)); USB_sendstr("\nbuttontm="); USB_sendstr(u2str(val));
newline(); newline();
return RET_GOOD; return RET_GOOD;
break; break;
@ -597,18 +576,10 @@ static int canusb_function(uint32_t hash, char *args){
e = cu_maxsteps(par, &val); e = cu_maxsteps(par, &val);
break; break;
case CMD_MCUT: case CMD_MCUT:
f = getMCUtemp(); e = cu_mcut(par, &val);
USB_sendstr("T=");
USB_sendstr(float2str(f, 1));
newline();
return RET_GOOD;
break; break;
case CMD_MCUVDD: case CMD_MCUVDD:
f = getVdd(); e = cu_mcuvdd(par, &val);
USB_sendstr("VDD=");
USB_sendstr(float2str(f, 1));
newline();
return RET_GOOD;
break; break;
case CMD_MICROSTEPS: case CMD_MICROSTEPS:
e = cu_microsteps(par, &val); e = cu_microsteps(par, &val);
@ -658,6 +629,9 @@ static int canusb_function(uint32_t hash, char *args){
case CMD_STOP: case CMD_STOP:
e = cu_stop(par, &val); e = cu_stop(par, &val);
break; break;
case CMD_TIME:
e = cu_time(par, &val);
break;
case CMD_TMCBUS: case CMD_TMCBUS:
e = cu_tmcbus(par, &val); e = cu_tmcbus(par, &val);
break; break;
@ -683,7 +657,7 @@ static int canusb_function(uint32_t hash, char *args){
if(ERR_OK != e){ if(ERR_OK != e){
USB_sendstr(errtxt[e]); newline(); USB_sendstr(errtxt[e]); newline();
}else{ }else{
USB_sendstr("OK par"); USB_sendstr(lastcmd);
if(PARBASE(par) != CANMESG_NOPAR) printu(PARBASE(par)); if(PARBASE(par) != CANMESG_NOPAR) printu(PARBASE(par));
USB_putbyte('='); printi(val); USB_putbyte('='); printi(val);
newline(); newline();
@ -728,6 +702,7 @@ int fn_screen(uint32_t _U_ hash, char _U_ *args) AL; //* "screen" (2100809349)
int fn_speedlimit(uint32_t _U_ hash, char _U_ *args) AL; //* "speedlimit" (1654184245) int fn_speedlimit(uint32_t _U_ hash, char _U_ *args) AL; //* "speedlimit" (1654184245)
int fn_state(uint32_t _U_ hash, char _U_ *args) AL; //* "state" (2216628902) int fn_state(uint32_t _U_ hash, char _U_ *args) AL; //* "state" (2216628902)
int fn_stop(uint32_t _U_ hash, char _U_ *args) AL; //* "stop" (17184971) int fn_stop(uint32_t _U_ hash, char _U_ *args) AL; //* "stop" (17184971)
int fn_time(uint32_t _U_ hash, char _U_ *args) AL; // "time" (19148340)
int fn_tmcbus(uint32_t _U_ hash, char _U_ *args) AL; //* "tmcbus" (1906135955) int fn_tmcbus(uint32_t _U_ hash, char _U_ *args) AL; //* "tmcbus" (1906135955)
int fn_udata(uint32_t _U_ hash, char _U_ *args) AL; //* "udata" (2736127636) int fn_udata(uint32_t _U_ hash, char _U_ *args) AL; //* "udata" (2736127636)
int fn_usartstatus(uint32_t _U_ hash, char _U_ *args) AL; //* "usartstatus" (4007098968) int fn_usartstatus(uint32_t _U_ hash, char _U_ *args) AL; //* "usartstatus" (4007098968)

7
F3:F303/Multistepper/steppers.c
View File

@ -78,18 +78,19 @@ TRUE_INLINE void recalcARR(int i){
} }
// update stepper's settings // update stepper's settings
void update_stepper(uint8_t i){ int update_stepper(uint8_t i){
if(i >= MOTORSNO) return; if(i >= MOTORSNO) return FALSE;
accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2; accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
ustepsshift[i] = MSB(the_conf.microsteps[i]); ustepsshift[i] = MSB(the_conf.microsteps[i]);
ESW_reaction[i] = the_conf.ESW_reaction[i]; ESW_reaction[i] = the_conf.ESW_reaction[i];
switch(the_conf.motflags[i].drvtype){ switch(the_conf.motflags[i].drvtype){
case DRVTYPE_UART: case DRVTYPE_UART:
pdnuart_init(i); return pdnuart_init(i);
break; break;
default: default:
break; break;
} }
return TRUE;
} }
// run this function after each steppers parameters changing // run this function after each steppers parameters changing

2
F3:F303/Multistepper/steppers.h
View File

@ -53,7 +53,7 @@ enum{
void addmicrostep(uint8_t i); void addmicrostep(uint8_t i);
void init_steppers(); void init_steppers();
void update_stepper(uint8_t i); int update_stepper(uint8_t i);
errcodes setmotpos(uint8_t i, int32_t position); errcodes setmotpos(uint8_t i, int32_t position);
errcodes getpos(uint8_t i, int32_t *position); errcodes getpos(uint8_t i, int32_t *position);

2
F3:F303/Multistepper/version.inc
View File

@ -1,2 +1,2 @@
#define BUILD_NUMBER "107" #define BUILD_NUMBER "114"
#define BUILD_DATE "2024-08-15" #define BUILD_DATE "2024-08-15"