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some bugs fixed, but found new (e.g. ADC always give 4095)

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This commit is contained in:
Edward Emelianov
2023-02-21 23:01:43 +03:00
parent ab5f7bc87b
commit 1a8345d4f0
14 changed files with 161 additions and 70 deletions
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53
F3:F303/Multistepper/commonproto.c
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@@ -42,8 +42,12 @@ static errcodes cu_nosuchfn(uint8_t _U_ par, int32_t _U_ *val){
errcodes cu_abspos(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
stopmotor(n);
return ERR_OK;
errcodes ret = ERR_OK;
if(ISSETTER(par)){
ret = setmotpos(n, *val);
}
getpos(n, val);
return ret;
}
errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
@@ -56,10 +60,13 @@ errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
return ERR_OK;
}
static const uint8_t extADCchnl[NUMBER_OF_EXT_ADC_CHANNELS] = {ADC_AIN0, ADC_AIN1, ADC_AIN2, ADC_AIN3};
// V*10
errcodes cu_adc(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > NUMBER_OF_ADC_CHANNELS-1) return ERR_BADPAR;
*val = getADCval(n);
if(n > NUMBER_OF_EXT_ADC_CHANNELS - 1) return ERR_BADPAR;
float v = getADCvoltage(extADCchnl[n])*10.f;
*val = (int32_t)v;
return ERR_OK;
}
@@ -109,12 +116,8 @@ errcodes cu_eswreact(uint8_t _U_ par, int32_t _U_ *val){
errcodes cu_goto(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){
ret = setmotpos(n, *val);
}
getpos(n, val);
return ret;
if(ISSETTER(par)) return motor_absmove(n, *val);
return getpos(n, val);
}
errcodes cu_gotoz(uint8_t _U_ par, int32_t _U_ *val){
@@ -328,6 +331,20 @@ errcodes cu_usartstatus(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
// V*10
errcodes cu_vdrive(uint8_t par, int32_t _U_ *val){
NOPARCHK(par);
float v = getADCvoltage(ADC_VDRIVE)*100.f;
*val = (int32_t)v;
return ERR_OK;
}
errcodes cu_vfive(uint8_t par, int32_t *val){
NOPARCHK(par);
float v = getADCvoltage(ADC_VFIVE)*20.f;
*val = (int32_t)v;
return ERR_OK;
}
const fpointer cancmdlist[CCMD_AMOUNT] = {
// different commands
@@ -368,6 +385,13 @@ const fpointer cancmdlist[CCMD_AMOUNT] = {
[CCMD_ENCPOS] = cu_nosuchfn,
[CCMD_SETPOS] = cu_abspos,
[CCMD_GOTOZERO] = cu_gotoz,
[CCMD_MOTMUL] = cu_motmul,
[CCMD_DIAGN] = cu_diagn,
[CCMD_ERASEFLASH] = cu_eraseflash,
[CCMD_UDATA] = cu_udata,
[CCMD_USARTSTATUS] = cu_usartstatus,
[CCMD_VDRIVE] = cu_vdrive,
[CCMD_VFIVE] = cu_vfive
// Leave all commands upper for back-compatability with 3steppers
};
@@ -399,5 +423,12 @@ const char* cancmds[CCMD_AMOUNT] = {
[CCMD_REINITMOTORS] = "motreinit",
[CCMD_MOTORSTATE] = "state",
[CCMD_SETPOS] = "abspos",
[CCMD_GOTOZERO] = "gotoz"
[CCMD_GOTOZERO] = "gotoz",
[CCMD_MOTMUL] = "motmul",
[CCMD_DIAGN] = "diagn",
[CCMD_ERASEFLASH] = "eraseflash",
[CCMD_UDATA] = "udata",
[CCMD_USARTSTATUS] = "usartstatus",
[CCMD_VDRIVE] = "vdrive",
[CCMD_VFIVE] = "vfive"
};