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Readme.md finished for current protocol
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Edward Emelianov
@@ -420,42 +420,157 @@ Dump motors' state codes (for getter `stateN`):
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### emstop[N] (29 with `N` and 31 without)
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Emergency stop Nth motor or all (if `N` absent). Returns `OK` or error text.
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### eraseflash [=N] (38)
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Erase flash data storage (full or only N'th page of it). Use this option only if you have problems
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when try to save current configuration.
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### eswN (6) G
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Get end-switches state. Return two bits (for limit switches 0 and 1): 1 means "active", 0 - "passive".
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If you use SPI-based driver, only one switch available, so return will be 1-bit.
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### eswreactN (24) GS
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End-switches reaction: 0 - ignore, 1 - stop on any limit switch (both 0 and 1; moving will be available only backwards),
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2 - stop only on switch 0. You can modify this values on-the-fly (but only when steppers aren't moving). This can be usefull,
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for example, to rotate filter turret into given position using switch 1 to both as limit switch and position stopper.
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But even in state 0 (ignore) active state of both switches estimates as error and you won't be able to move motor.
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### gotoN (26) GS
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Move motor to given absolute position.
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### gotozN (32)
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Find zero position & refresh counters. The motor would rotate in reverse direction until limit switch 0 acts or amount of
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steps (parameter `maxsteps` of configuration) is exhausted.
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### gpioconfN* GS
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GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2.
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### gpio[N]* (12) GS
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GPIO values, N=0..2. Without `N` run for all GPIOs (each byte is state: 0/1).
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By default GPIOs are pulled up inputs.
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### help
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Show this help.
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### maxspeedN (18) GS
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Maximal motor speed (steps per sec). Depends on current microstep configuration. As speed depends on Nth motor's timer settings,
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you can't give any value you want. Speed recalculated through ARR value:
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"eraseflash [=N] (38) erase flash data storage (full or only N'th page of it)\n"
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"esw[N] (6) G end-switches state\n"
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"eswreactN (24) GS end-switches reaction (0 - ignore, 1 - stop@any, 2 - stop@zero)\n"
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"gotoN (26) GS move motor to given absolute position\n"
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"gotozN (32) find zero position & refresh counters\n"
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"gpioconfN* - GS GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2\n"
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"gpioN* (12) GS GPIO values, N=0..2\n"
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help
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"maxspeedN (18) GS max speed (steps per sec)\n"
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"maxstepsN (21) GS max steps (from zero ESW)\n"
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"mcut (7) G MCU T\n"
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"mcuvdd (8) G MCU Vdd\n"
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"microstepsN (16) GS microsteps settings (2^0..2^9)\n"
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"minspeedN (19) min speed (steps per sec)\n"
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"motcurrentN (46) GS motor current (1..32 for 1/32..32/32 of max current)\n"
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"motflagsN (23) motorN flags\n"
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"motmul* (36) GS external multiplexer status (<0 - disable, 0..7 - enable and set address)\n"
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"motno (44) GS motor number for next `pdn` commands\n"
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"motreinit (25) re-init motors after configuration changed\n"
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"pdnN (43) GS read/write TMC2209 registers over uart @ motor0\n"
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"ping (1)- echo given command back\n"
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"relposN (27) GS relative move (get remaining)\n"
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"relslowN (28) GS like 'relpos' but with slowest speed\n"
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"reset (9) software reset\n"
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"saveconf (13) save current configuration\n"
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"screen* - GS screen enable (1) or disable (0)\n"
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"speedlimit (20) G limiting speed for current microsteps setting\n"
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"stateN (33) G motor state (0-relax, 1-accel, 2-move, 3-mvslow, 4-decel, 5-stall, 6-err)\n"
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"stopN (30) stop motor with deceleration\n"
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"time (10) G time from start (ms)\n"
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"tmcbus* - GS TMC control bus (0 - USART, 1 - SPI)\n"
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"udata* (39) GS data by usart in slave mode (text strings, '\\n'-terminated)\n"
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"usartstatus* (40) GS status of USART1 (0 - off, 1 - master, 2 - slave)\n"
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"vdrive (41) G approx voltage on Vdrive\n"
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"vfive (42) G approx voltage on 5V bus\n"
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ARR = 26MHz / microsteps / (speed - 1).
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Minimal value of ARR is 99 (260kHz), maximal is 0xffff (600Hz). And after that actual speed value calculated:
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speed = 26MHz / microsteps / (ARR + 1).
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And it can't be greater than 0xffff. So if your motor really can make, let's say, 32000 steps per second, you can run it only
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for microstepping not more than 2.
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### maxstepsN (21) GS
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Maximal steps amount (from zero ESW) for given motor. This is limiting positive position and amount of steps to make when
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searching of zero limit switch.
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### mcut (7) G
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Temperature of MCU in thousandths of degC.
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### mcuvdd (8) G
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MCU Vdd value.
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### microstepsN (16) GS
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Microsteps settings (2^0..2^9). Read `maxspeed` about relationship of maximal speed and microsteppings.
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### minspeedN (19) GS
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Minimal motor speed (steps per sec), this is the starting speed of motor's ramp and default speed for `relslow` command,
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so don't try to make it too large.
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### motcurrentN (46) GS
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Maximal motor current (1..32 for 1/32..32/32 of max current) for TMC drivers. In case of simplest drivers like DRV8825
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you should set current using varistor on driver's board.
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### motflagsN (23) GS
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Nth motor flags. To understand bit fields of these flags use `dumpmotflags`.
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### motmul * (36) GS
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external multiplexer status (<0 - disable, 0..7 - enable and set address).
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### motno (44) GS
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Motor number for next `pdn` commands (if you want to run custom commands by hands or in a batch).
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### motreinit (25)
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Re-init motors after configuration changed. Some changes will run this automatically.
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### pdnN (43) GS
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Read/write TMC2209 (and other UART-based drivers) registers over uart @ motor number `motno`.
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For `pdnN=X` `N` is register number, `X` is data to write into it. Due to protocol's particulars
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you can't work with registers with address more than 126 (0x7e).
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### ping (1)
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Echo given command back. For CAN bus return original packet, for USB - given argumemt and parameter (but checking parameter).
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### relposN (27) GS
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Relative (with ramp) move for given amount of steps (get remaining steps for getter).
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### relslowN (28) GS
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Like `relpos` but with constant slowest speed (you can change it with `minspeed`).
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### reset (9)
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Software reset.
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### saveconf (13)
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Save current configuration into MCU flash memory.
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### screen* GS
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Enable (1) or disable (0) screen.
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### speedlimit (20) G
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Get limiting speed for current microsteps setting.
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### stateN (33) G
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Get Nth motor state (`dumpstates`: 0-relax, 1-accel, 2-move, 3-mvslow, 4-decel, 5-stall, 6-err).
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### stopN (30)
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Stop Nth motor with deceleration (moving by ramp).
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### time (10) G
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Get time from start (ms).
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### tmcbus * GS
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TMC control bus (0 - USART, 1 - SPI), unuseful command; use `motflags` instead.
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### udata* (39) GS
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Data by usart in slave mode (text strings, '\\n'-terminated).
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### usartstatus* (40)
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GS status of USART1 (0 - off, 1 - master, 2 - slave).
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### vdrive (41) G
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Approximate voltage on Vdrive input, millivolts.
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### vfive (42) G
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Approximate voltage on 5V bus, millivolts.
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## CAN bus
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Default CAN ID is 1.
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Default CAN ID is 1.
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Protocol use variable length incoming messages: from 2 bytes for simplest commands to all 8 bytes for common.
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Bytes (in time order):
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- **0**, **1** - little-endian command code.
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- **2** - parameter number (0..126), 127 means "no parameter", elder bit (0x80) is a setter flag (without it
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all rest part of message ignored).
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- **3** - (only in packets from controller) error code.
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- **4**...**8** - little-endian data.
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Command codes described in USB answer for `dumpcmd`:
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1 - ping
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4 - adc
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5 - button
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6 - esw
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7 - mcut
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8 - mcuvdd
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9 - reset
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10 - time
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12 - gpio
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13 - saveconf
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16 - microsteps
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17 - accel
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18 - maxspeed
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19 - minspeed
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20 - speedlimit
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21 - maxsteps
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23 - motflags
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24 - eswreact
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25 - motreinit
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26 - goto
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27 - relpos
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28 - relslow
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29 - emstop N
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30 - stop
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31 - emstop all
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32 - gotoz
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33 - state
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35 - abspos
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36 - motmul
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37 - diagn
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38 - eraseflash
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39 - udata
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40 - usartstatus
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41 - vdrive
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42 - vfive
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43 - pdn
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44 - motno
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45 - drvtype
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Error codes (`dumperr`):
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0 - OK
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1 - BADPAR
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2 - BADVAL
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3 - WRONGLEN
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4 - BADCMD
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5 - CANTRUN
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