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3steppers: fix some bugs, add commands eraseflash and setpos

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This commit is contained in:
Edward Emelianov
2022-06-17 12:12:47 +03:00
parent 16f72f6801
commit 6f29257a28
10 changed files with 195 additions and 125 deletions
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63
F0:F030,F042,F072/3steppersLB/commonproto.c
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@@ -27,6 +27,11 @@
#include "strfunct.h"
#endif
#define NOPARCHK() do{uint8_t n = PARBASE(par); if(n != CANMESG_NOPAR) return ERR_BADPAR;}while(0)
#define CHECKN(val, par) do{val = PARBASE(par); \
if(val > MOTORSNO-1) return ERR_BADPAR;}while(0)
/******* All functions from cmdlist[i].function *******/
static errcodes pingparser(uint8_t _U_ par, int32_t _U_ *val){
@@ -34,6 +39,7 @@ static errcodes pingparser(uint8_t _U_ par, int32_t _U_ *val){
}
static errcodes relayparser(uint8_t par, int32_t *val){
NOPARCHK();
if(ISSETTER(par)){
if(*val) ON(RELAY);
else OFF(RELAY);
@@ -43,6 +49,7 @@ static errcodes relayparser(uint8_t par, int32_t *val){
}
static errcodes buzzerparser(uint8_t par, int32_t *val){
NOPARCHK();
if(ISSETTER(par)){
if(*val) ON(BUZZER);
else OFF(BUZZER);
@@ -63,7 +70,7 @@ static errcodes adcparser(uint8_t par, int32_t *val){
static errcodes buttonsparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > BTNSNO-1){
par = CANMESG_NOPAR; // the only chance to understand error
*val = CANMESG_NOPAR; // the only chance to understand error
return ERR_BADPAR;
}
return (uint8_t) keystate(n, (uint32_t*)val);
@@ -75,39 +82,43 @@ static errcodes eswparser(uint8_t par, int32_t *val){
#error "change the code!!!"
#endif
uint8_t n = PARBASE(par);
if(n > ESWNO-1){ // all
if(n == CANMESG_NOPAR){ // all
*val = 0;
uint8_t *arr = (uint8_t*)val;
for(int i = 0; i < ESWNO; ++i)
*arr++ = ESW_state(i);
return ERR_OK;
}
}else if(n > ESWNO - 1) return ERR_BADPAR;
*val = (int32_t)ESW_state(n);
return ERR_OK;
}
static errcodes mcutparser(uint8_t _U_ par, int32_t *val){
NOPARCHK();
*val = getMCUtemp();
return ERR_OK;
}
static errcodes mcuvddparser(uint8_t _U_ par, int32_t *val){
NOPARCHK();
*val = getVdd();
return ERR_OK;
}
static errcodes resetparser(uint8_t _U_ par, int32_t _U_ *val){
NOPARCHK();
NVIC_SystemReset();
return ERR_OK;
}
static errcodes timeparser(uint8_t _U_ par, int32_t *val){
NOPARCHK();
*val = Tms;
return ERR_OK;
}
static errcodes pwmparser(uint8_t par, int32_t *val){
if(PARBASE(par) > PWMCHMAX && par != CANMESG_NOPAR) return ERR_BADPAR;
NOPARCHK();
#if PWMCHMAX != 0
#error "change the code!!!"
#endif
@@ -144,7 +155,7 @@ static errcodes extparser(uint8_t par, int32_t *val){
SEND("par="); printu(par);
SEND(", n="); bufputchar('0'+n); newline();
#endif
if(n > EXTNO-1){ // all
if(n == CANMESG_NOPAR){ // all
#ifdef EBUG
SEND("ALL\n");
#endif
@@ -157,7 +168,7 @@ static errcodes extparser(uint8_t par, int32_t *val){
arr[i] = EXT_CHK(i);
}
return ERR_OK;
}
}else if(n > EXTNO-1) return ERR_BADPAR;
if(ISSETTER(par))
setextpar((uint8_t)*val, n);
*val = (int32_t) EXT_CHK(n);
@@ -166,8 +177,7 @@ static errcodes extparser(uint8_t par, int32_t *val){
/******************* START of config parsers *******************/
static errcodes ustepsparser(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)){
#if MICROSTEPSMAX > 512
#error "Change the code anywhere!"
@@ -184,8 +194,7 @@ static errcodes ustepsparser(uint8_t par, int32_t *val){
}
static errcodes encstepsminparser(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)){
if(*val < 1 || *val > MAXENCTICKSPERSTEP - 1) return ERR_BADVAL;
the_conf.encperstepmin[n] = *val;
@@ -195,8 +204,7 @@ static errcodes encstepsminparser(uint8_t par, int32_t *val){
}
static errcodes encstepsmaxparser(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)){
if(*val < 1 || *val > MAXENCTICKSPERSTEP) return ERR_BADVAL;
the_conf.encperstepmax[n] = *val;
@@ -206,8 +214,7 @@ static errcodes encstepsmaxparser(uint8_t par, int32_t *val){
}
static errcodes accparser(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)){
if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
the_conf.accel[n] = *val;
@@ -227,8 +234,7 @@ static uint16_t getSPD(uint8_t n, int32_t speed){
}
static errcodes maxspdparser(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)){
if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
the_conf.maxspd[n] = getSPD(n, *val);
@@ -238,8 +244,7 @@ static errcodes maxspdparser(uint8_t par, int32_t *val){
}
static errcodes minspdparser(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)){
if(*val >= the_conf.maxspd[n]) return ERR_BADVAL;
the_conf.minspd[n] = getSPD(n, *val);
@@ -249,15 +254,13 @@ static errcodes minspdparser(uint8_t par, int32_t *val){
}
static errcodes spdlimparser(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 = getSPD(n, 0xffff);
return ERR_OK;
}
static errcodes maxstepsparser(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)){
if(*val < 1) return ERR_BADVAL;
the_conf.maxsteps[n] = *val;
@@ -267,8 +270,7 @@ static errcodes maxstepsparser(uint8_t par, int32_t *val){
}
static errcodes encrevparser(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)){
if(*val < 1 || *val > MAXENCREV) return ERR_BADVAL;
the_conf.encrev[n] = *val;
@@ -279,8 +281,7 @@ static errcodes encrevparser(uint8_t par, int32_t *val){
}
static errcodes motflagsparser(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)){
the_conf.motflags[n] = *((motflags_t*)val);
}
@@ -290,8 +291,7 @@ static errcodes motflagsparser(uint8_t par, int32_t *val){
// setter of GLOBAL reaction, getter of LOCAL!
static errcodes eswreactparser(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)){
if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
the_conf.ESW_reaction[n] = *val;
@@ -302,6 +302,7 @@ static errcodes eswreactparser(uint8_t par, int32_t *val){
}
static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
NOPARCHK();
if(store_userconf()) return ERR_CANTRUN;
return ERR_OK;
}
@@ -310,13 +311,11 @@ static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
/******************* START of motors' parsers *******************/
static errcodes reinitmparser(uint8_t _U_ par, int32_t _U_ *val){
NOPARCHK();
init_steppers();
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; CHECKN(n, par);
emstopmotor(n);
@@ -324,6 +323,7 @@ static errcodes emstopparser(uint8_t par, int32_t _U_ *val){
}
static errcodes emstopallparser(uint8_t _U_ par, int32_t _U_ *val){
NOPARCHK();
for(int i = 0; i < MOTORSNO; ++i)
emstopmotor(i);
return ERR_OK;
@@ -384,7 +384,6 @@ static errcodes gotozeroparser(uint8_t par, _U_ int32_t *val){
return motor_goto0(n);
}
#undef CHECKN
/******************* END of motors' parsers *******************/
/*