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add some more commands

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This commit is contained in:
Edward Emelianov
2021-10-25 23:52:47 +03:00
parent 9b4bb6c02f
commit 263d805bf6
10 changed files with 276 additions and 54 deletions
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109
F0-nolib/3steppersLB/commonproto.c
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@@ -22,6 +22,7 @@
#include "commonproto.h"
#include "flash.h"
#include "hardware.h"
#include "steppers.h"
#ifdef EBUG
#include "strfunct.h"
#endif
@@ -158,26 +159,103 @@ static errcodes extparser(uint8_t par, int32_t *val){
return ERR_OK;
}
/******************* START of config parsers *******************/
static const uint8_t bval[] = {0,1,2,2,3,3,3,3,4,4,4,4,4,4,4,4};
static errcodes ustepsparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
#if MICROSTEPSMAX > 32768
#error "Change the code here!"
#endif
uint16_t m = (uint16_t)*val;
if(m < 1 || m > MICROSTEPSMAX) return ERR_BADVAL;
// find most significant bit
uint8_t r = 0;
uint16_t x = m;
if(x & 0xff00){r += 8; x >>= 8;}
if(x & 0x00f0){r += 4; x >>= 4;}
uint8_t mostbit = (uint8_t)r + bval[x];
if(m != 1<<mostbit) return ERR_BADVAL;
the_conf.microsteps[n] = m;
}
*val = the_conf.microsteps[n];
return ERR_OK;
}
static errcodes accparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
the_conf.accel[n] = *val;
}
*val = the_conf.accel[n];
return ERR_OK;
}
static errcodes maxspdparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
if(*val/the_conf.microsteps[n] > MAXMAXSPD || *val < 1) return ERR_BADVAL;
the_conf.maxspd[n] = *val;
}
*val = the_conf.maxspd[n];
return ERR_OK;
}
static errcodes maxstepsparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
if(*val < 1) return ERR_BADVAL;
the_conf.maxsteps[n] = *val;
}
*val = the_conf.maxsteps[n];
return ERR_OK;
}
static errcodes encrevparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
if(*val < 1 || *val > MAXENCREV) return ERR_BADVAL;
the_conf.encrev[n] = *val;
enctimers[n]->ARR = *val;
}
*val = the_conf.encrev[n];
return ERR_OK;
}
static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
if(store_userconf()) return ERR_CANTRUN;
return ERR_OK;
}
/******************* END of config parsers *******************/
#if 0
typedef struct __attribute__((packed, aligned(4))){
uint16_t microsteps; // microsteps amount per step
uint16_t accdecsteps; // amount of steps need for full acceleration/deceleration cycle
uint16_t motspd; // max motor speed (steps per second)
uint32_t maxsteps; // maximal amount of steps from ESW0 to EWS3
defflags_t defflags; // default flags
} user_conf;
#endif
/******************* START of motors' parsers *******************/
static errcodes mstopparser(uint8_t par, int32_t _U_ *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
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;
if(ISSETTER(par)) return setpos(n, *val);
return getpos(n, val);
}
/******************* END of motors' parsers *******************/
/*
static CAN_errcodes parser(const uint8_t _U_ par, const int32_t _U_ *val){
return CANERR_OK;
}*/
static errcodes parser(uint8_t _U_ par, int32_t _U_ *val){
return ERR_OK;
}
*/
// the main commands list, index is CAN command code
const commands cmdlist[CMD_AMOUNT] = {
@@ -194,5 +272,12 @@ const commands cmdlist[CMD_AMOUNT] = {
[CMD_PWM] = {"pwm", pwmparser, "pwm value"},
[CMD_EXT] = {"ext", extparser, "external outputs"},
[CMD_SAVECONF] = {"saveconf", saveconfparser, "save current configuration"},
[CMD_CURPOS] = {"position", curposparser, "set/get position (in steps)"},
[CMD_MICROSTEPS] = {"microsteps", ustepsparser, "set/get microsteps settings"},
[CMD_STOPMOTOR] = {"stop", mstopparser, "stop motor now"},
[CMD_ACCEL] = {"accel", accparser, "set/get accel/decel (usteps/s per 10ms)"},
[CMD_MAXSPEED] = {"maxspeed", maxspdparser, "set/get max speed (usteps per sec)"},
[CMD_MAXSTEPS] = {"maxsteps", maxstepsparser, "set/get max steps (from zero)"},
[CMD_ENCREV] = {"encrev", encrevparser, "set/get max encoder's pulses per revolution"},
};