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fix some bugs in 3steppers

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This commit is contained in:
Edward Emelianov
2022-06-10 20:07:41 +03:00
parent 80726e1c2b
commit 16f72f6801
13 changed files with 276 additions and 88 deletions
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44
F0:F030,F042,F072/3steppersLB/commonproto.c
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@@ -140,10 +140,14 @@ static errcodes extparser(uint8_t par, int32_t *val){
#error "change the code!!!"
#endif
uint8_t n = PARBASE(par);
#ifdef EBUG
SEND("par="); printu(par);
SEND(", n="); bufputchar('0'+n); newline();
#endif
if(n > EXTNO-1){ // all
#ifdef EBUG
SEND("ALL\n");
#endif
uint8_t *arr = (uint8_t*)val;
if(ISSETTER(par)){
for(int i = 0; i < EXTNO; ++i)
@@ -310,9 +314,11 @@ static errcodes reinitmparser(uint8_t _U_ par, int32_t _U_ *val){
return ERR_OK;
}
#define CHECKN(val, par) do{val = PARBASE(par); \
if(val > MOTORSNO-1) return ERR_BADPAR;}while(0)
static errcodes emstopparser(uint8_t par, int32_t _U_ *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
uint8_t n; CHECKN(n, par);
emstopmotor(n);
return ERR_OK;
}
@@ -324,43 +330,37 @@ static errcodes emstopallparser(uint8_t _U_ par, int32_t _U_ *val){
}
static errcodes stopparser(uint8_t par, int32_t _U_ *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
uint8_t n; CHECKN(n, par);
stopmotor(n);
return ERR_OK;
}
static errcodes curposparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)) return motor_absmove(n, *val);
return getpos(n, val);
}
static errcodes relstepsparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)) return motor_relmove(n, *val);
return getremainsteps(n, val);
}
static errcodes relslowparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)) return motor_relslow(n, *val);
return getremainsteps(n, val);
}
static errcodes motstateparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
uint8_t n; CHECKN(n, par);
*val = getmotstate(n);
return ERR_OK;
}
static errcodes encposparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){
if(!setencpos(n, *val)) ret = ERR_CANTRUN;
@@ -369,11 +369,22 @@ static errcodes encposparser(uint8_t par, int32_t *val){
return ret;
}
static errcodes setposparser(uint8_t par, int32_t *val){
uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){
ret = setmotpos(n, *val);
}
getpos(n, val);
return ret;
}
static errcodes gotozeroparser(uint8_t par, _U_ int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
uint8_t n; CHECKN(n, par);
return motor_goto0(n);
}
#undef CHECKN
/******************* END of motors' parsers *******************/
/*
@@ -419,6 +430,7 @@ const fpointer cmdlist[CMD_AMOUNT] = {
[CMD_REINITMOTORS] = reinitmparser,
[CMD_MOTORSTATE] = motstateparser,
[CMD_ENCPOS] = encposparser,
[CMD_SETPOS] = setposparser,
[CMD_GOTOZERO] = gotozeroparser,
};