restructuring

F0:F030,F042,F072/3steppersLB/commonproto.h

@@ -0,0 +1,97 @@
+/*
+ * This file is part of the 3steppers project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#ifndef COMMONPROTO_H__
+#define COMMONPROTO_H__
+
+#include <stm32f0.h>
+
+#include "can.h"
+
+#ifndef _U_
+#define _U_         __attribute__((unused))
+#endif
+
+// message have no parameter
+#define CANMESG_NOPAR       (127)
+// message is setter (have value)
+#define ISSETTER(x)     ((x & 0x80) ? 1 : 0)
+// base value of parameter (even if it is a setter)
+#define PARBASE(x)      (x & 0x7f)
+
+// error codes for answer message
+typedef enum{
+    ERR_OK,         // 0 - all OK
+    ERR_BADPAR,     // 1 - parameter's value is wrong
+    ERR_BADVAL,     // 2 - wrong parameter's value
+    ERR_WRONGLEN,   // 3 - wrong message length
+    ERR_BADCMD,     // 4 - unknown command
+    ERR_CANTRUN,    // 5 - can't run given command due to bad parameters or other
+} errcodes;
+
+// pointer to function for command execution, both should be non-NULL for common cases
+// if(par &0x80) it is setter, if not - getter
+// if par == 0x127 it means absense of parameter!!!
+// @return CANERR_OK (0) if OK or error code
+typedef errcodes (*fpointer)(uint8_t par, int32_t *val);
+
+enum{
+     CMD_PING               // ping device
+    ,CMD_RELAY              // relay on/off
+    ,CMD_BUZZER             // buzzer on/off
+    ,CMD_ADC                // ADC ch#
+    ,CMD_BUTTONS            // buttons
+    ,CMD_ESWSTATE           // end-switches state
+    ,CMD_MCUT               // MCU temperature
+    ,CMD_MCUVDD             // MCU Vdd
+    ,CMD_RESET              // software reset
+    ,CMD_TIMEFROMSTART      // get time from start
+    ,CMD_PWM                // PWM value
+    ,CMD_EXT                // value on EXTx outputs
+    ,CMD_SAVECONF           // save configuration
+    ,CMD_ENCSTEPMIN         // min ticks of encoder per one step
+    ,CMD_ENCSTEPMAX         // max ticks of encoder per one step
+    ,CMD_MICROSTEPS         // get/set microsteps
+    ,CMD_ACCEL              // set/get acceleration/deceleration
+    ,CMD_MAXSPEED           // set/get maximal speed
+    ,CMD_MINSPEED           // set/get minimal speed
+    ,CMD_SPEEDLIMIT         // get limit of speed for current microsteps settings
+    ,CMD_MAXSTEPS           // max steps (-max..+max)
+    ,CMD_ENCREV             // encoder's pulses per revolution
+    ,CMD_MOTFLAGS           // motor flags
+    ,CMD_ESWREACT           // ESW reaction flags
+    ,CMD_REINITMOTORS       // re-init motors after configuration changing
+    ,CMD_ABSPOS             // current position (set/get)
+    ,CMD_RELPOS             // set relative steps or get steps left
+    ,CMD_RELSLOW            // change relative position at lowest speed
+    ,CMD_EMERGSTOP          // stop moving NOW
+    ,CMD_STOP               // smooth motor stop
+    ,CMD_EMERGSTOPALL       // emergency stop for all motors
+    ,CMD_GOTOZERO           // go to zero's ESW
+    ,CMD_MOTORSTATE         // motor state
+    ,CMD_ENCPOS             // position of encoder (independing on settings)
+    //,CMD_STOPDECEL
+    //,CMD_FINDZERO
+    // should be the last:
+    ,CMD_AMOUNT             // amount of common commands
+};
+
+extern const fpointer cmdlist[CMD_AMOUNT];
+
+#endif // COMMONPROTO_H__