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some fixes of old bugs

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This commit is contained in:
Edward Emelianov
2025-02-05 17:49:07 +03:00
parent a22776d487
commit 6eb0662f69
28 changed files with 1467 additions and 566 deletions
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152
F3:F303/Multistepper/commonproto.c
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@@ -25,7 +25,7 @@
#include "pdnuart.h"
#include "proto.h"
#include "steppers.h"
#include "usb.h"
#include "usb_dev.h"
#define NOPARCHK(par) do{if(PARBASE(par) != CANMESG_NOPAR) return ERR_BADPAR;}while(0)
@@ -36,10 +36,10 @@
extern volatile uint32_t Tms;
// common functions for CAN and USB (or CAN only functions)
/*
static errcodes cu_nosuchfn(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
}*/
errcodes cu_abspos(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
@@ -87,8 +87,23 @@ errcodes cu_button(uint8_t par, int32_t *val){
return (uint8_t) keystate(n, (uint32_t*)val);
}
errcodes cu_diagn(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
errcodes cu_diagn(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
#if MOTORSNO > 8
#error "Change this code!"
#endif
if(n == CANMESG_NOPAR){ // all motors
n = 0;
for(int i = MOTORSNO-1; i > -1; --i){
n <<= 1;
n |= motdiagn(i);
}
*val = n;
return ERR_OK;
}
CHECKN(n, par);
*val = motdiagn(n);
return ERR_OK;
}
errcodes cu_drvtype(uint8_t par, int32_t *val){
@@ -102,17 +117,18 @@ errcodes cu_drvtype(uint8_t par, int32_t *val){
return ERR_OK;
}
errcodes cu_emstop(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
errcodes cu_emstop(uint8_t par, int32_t _U_ *val){
uint8_t n = PARBASE(par);
if(n == CANMESG_NOPAR){
for(int i = 0; i < MOTORSNO; ++i)
emstopmotor(i);
return ERR_OK;
}
CHECKN(n, par);
emstopmotor(n);
return ERR_OK;
}
errcodes cu_emstopall(uint8_t _U_ par, int32_t _U_ *val){
for(int i = 0; i < MOTORSNO; ++i) emstopmotor(i);
return ERR_OK;
}
errcodes cu_eraseflash(uint8_t _U_ par, int32_t _U_ *val){
NOPARCHK(par);
if(ISSETTER(par)){
@@ -168,9 +184,8 @@ TRUE_INLINE void setextpar(uint8_t val, uint8_t i){
}
}
// TODO: do it right
errcodes cu_gpio(uint8_t _U_ par, int32_t _U_ *val){
#if EXTNO > 4
errcodes cu_gpio(uint8_t par, int32_t *val){
#if EXTNO > 8
#error "change the code!!!"
#endif
uint8_t n = PARBASE(par);
@@ -182,16 +197,22 @@ errcodes cu_gpio(uint8_t _U_ par, int32_t _U_ *val){
#ifdef EBUG
USND("ALL\n");
#endif
uint8_t *arr = (uint8_t*)val;
uint8_t g = (uint8_t)*val;
if(ISSETTER(par)){
for(int i = 0; i < EXTNO; ++i)
setextpar(arr[i], i);
for(int i = 0; i < EXTNO; ++i){
setextpar(g & 1, i);
g >>= 1;
}
}
for(int i = 0; i < EXTNO; ++i){
arr[i] = EXT_CHK(i);
g = 0;
for(int i = EXTNO-1; i > -1; --i){
g <<= 1;
g |= EXT_CHK(i);
}
*val = g;
return ERR_OK;
}else if(n > EXTNO-1) return ERR_BADPAR;
// single channel setter/getter
if(ISSETTER(par))
setextpar((uint8_t)*val, n);
*val = (int32_t) EXT_CHK(n);
@@ -302,7 +323,7 @@ errcodes cu_motcurrent(uint8_t par, int32_t *val){
motflags_t *f = the_conf.motflags;
if(f->drvtype == DRVTYPE_UART){
if(!pdnuart_setcurrent(n, *val)) return ERR_CANTRUN;
}
} else return ERR_BADCMD;
}
*val = the_conf.motcurrent[n];
return ERR_OK;
@@ -435,8 +456,6 @@ errcodes cu_vfive(uint8_t par, int32_t *val){
const fpointer cancmdlist[CCMD_AMOUNT] = {
// different commands
[CCMD_PING] = cu_ping,
[CCMD_RELAY] = cu_nosuchfn,
[CCMD_BUZZER] = cu_nosuchfn,
[CCMD_ADC] = cu_adc,
[CCMD_BUTTONS] = cu_button,
[CCMD_ESWSTATE] = cu_esw,
@@ -444,19 +463,15 @@ const fpointer cancmdlist[CCMD_AMOUNT] = {
[CCMD_MCUVDD] = cu_mcuvdd,
[CCMD_RESET] = cu_reset,
[CCMD_TIMEFROMSTART] = cu_time,
[CCMD_PWM] = cu_nosuchfn,
[CCMD_EXT] = cu_gpio,
// configuration
[CCMD_SAVECONF] = cu_saveconf,
[CCMD_ENCSTEPMIN] = cu_nosuchfn,
[CCMD_ENCSTEPMAX] = cu_nosuchfn,
[CCMD_MICROSTEPS] = cu_microsteps,
[CCMD_ACCEL] = cu_accel,
[CCMD_MAXSPEED] = cu_maxspeed,
[CCMD_MINSPEED] = cu_minspeed,
[CCMD_SPEEDLIMIT] = cu_speedlimit,
[CCMD_MAXSTEPS] = cu_maxsteps,
[CCMD_ENCREV] = cu_nosuchfn,
[CCMD_MOTFLAGS] = cu_motflags,
[CCMD_ESWREACT] = cu_eswreact,
// motor's commands
@@ -464,61 +479,58 @@ const fpointer cancmdlist[CCMD_AMOUNT] = {
[CCMD_RELPOS] = cu_relpos,
[CCMD_RELSLOW] = cu_relslow,
[CCMD_EMERGSTOP] = cu_emstop,
[CCMD_EMERGSTOPALL] = cu_emstop, // without args
[CCMD_STOP] = cu_stop,
[CCMD_REINITMOTORS] = cu_motreinit,
[CCMD_MOTORSTATE] = cu_state,
[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_UDATA] = cu_udata,
// [CCMD_USARTSTATUS] = cu_usartstatus,
[CCMD_VDRIVE] = cu_vdrive,
[CCMD_VFIVE] = cu_vfive
// Leave all commands upper for back-compatability with 3steppers
};
const char* cancmds[CCMD_AMOUNT] = {
[CCMD_PING] = "ping",
[CCMD_ADC] = "adc",
[CCMD_BUTTONS] = "button",
[CCMD_ESWSTATE] = "esw",
[CCMD_MCUT] = "mcut",
[CCMD_MCUVDD] = "mcuvdd",
[CCMD_RESET] = "reset",
[CCMD_TIMEFROMSTART] = "time",
[CCMD_EXT] = "gpio",
[CCMD_SAVECONF] = "saveconf",
[CCMD_MICROSTEPS] = "microsteps",
[CCMD_ACCEL] = "accel",
[CCMD_MAXSPEED] = "maxspeed",
[CCMD_MINSPEED] = "minspeed",
[CCMD_SPEEDLIMIT] = "speedlimit",
[CCMD_MAXSTEPS] = "maxsteps",
[CCMD_MOTFLAGS] = "motflags",
[CCMD_ESWREACT] = "eswreact",
[CCMD_ABSPOS] = "goto",
[CCMD_RELPOS] = "relpos",
[CCMD_RELSLOW] = "relslow",
[CCMD_EMERGSTOP] = "emstop N",
[CCMD_EMERGSTOPALL] = "emstop all",
[CCMD_STOP] = "stop",
[CCMD_REINITMOTORS] = "motreinit",
[CCMD_MOTORSTATE] = "state",
[CCMD_SETPOS] = "abspos",
[CCMD_GOTOZERO] = "gotoz",
[CCMD_MOTMUL] = "motmul",
[CCMD_DIAGN] = "diagn",
[CCMD_ERASEFLASH] = "eraseflash",
[CCMD_UDATA] = "udata",
[CCMD_USARTSTATUS] = "usartstatus",
[CCMD_VDRIVE] = "vdrive",
[CCMD_VFIVE] = "vfive",
[CCMD_PDN] = "pdn",
[CCMD_MOTNO] = "motno",
[CCMD_DRVTYPE] = "drvtype",
[CCMD_MOTCURRENT] = "motcurrent",
[CCMD_PING] = STR_PING,
[CCMD_ADC] = STR_ADC,
[CCMD_BUTTONS] = STR_BUTTON,
[CCMD_ESWSTATE] = STR_ESW,
[CCMD_MCUT] = STR_MCUT,
[CCMD_MCUVDD] = STR_MCUVDD,
[CCMD_RESET] = STR_RESET,
[CCMD_TIMEFROMSTART] = STR_TIME,
[CCMD_EXT] = STR_GPIO,
[CCMD_SAVECONF] = STR_SAVECONF,
[CCMD_MICROSTEPS] = STR_MICROSTEPS,
[CCMD_ACCEL] = STR_ACCEL,
[CCMD_MAXSPEED] = STR_MAXSPEED,
[CCMD_MINSPEED] = STR_MINSPEED,
[CCMD_SPEEDLIMIT] = STR_SPEEDLIMIT,
[CCMD_MAXSTEPS] = STR_MAXSTEPS,
[CCMD_MOTFLAGS] = STR_MOTFLAGS,
[CCMD_ESWREACT] = STR_ESWREACT,
[CCMD_ABSPOS] = STR_GOTO,
[CCMD_RELPOS] = STR_RELPOS,
[CCMD_RELSLOW] = STR_RELSLOW,
[CCMD_EMERGSTOP] = STR_EMSTOP,
[CCMD_STOP] = STR_STOP,
[CCMD_REINITMOTORS] = STR_MOTREINIT,
[CCMD_MOTORSTATE] = STR_STATE,
[CCMD_SETPOS] = STR_ABSPOS,
[CCMD_GOTOZERO] = STR_GOTOZ,
[CCMD_MOTMUL] = STR_MOTMUL,
[CCMD_DIAGN] = STR_DIAGN,
[CCMD_ERASEFLASH] = STR_ERASEFLASH,
// [CCMD_UDATA] = STR_UDATA,
// [CCMD_USARTSTATUS] = STR_USARTSTATUS,
[CCMD_VDRIVE] = STR_VDRIVE,
[CCMD_VFIVE] = STR_VFIVE,
[CCMD_PDN] = STR_PDN,
[CCMD_MOTNO] = STR_MOTNO,
[CCMD_DRVTYPE] = STR_DRVTYPE,
[CCMD_MOTCURRENT] = STR_MOTCURRENT,
};