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fix problems with CANbus, add USB-dump of error & command codes for CAN

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This commit is contained in:
Edward Emelianov
2021-12-02 17:46:26 +03:00
parent b24111f884
commit 867abe359a
8 changed files with 123 additions and 64 deletions
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120
F0-nolib/3steppersLB/strfunct.c
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@@ -356,6 +356,7 @@ void canid(char *txt){
int32_t N;
if(eq != getnum(eq, &N) && N > -1 && N < 0xfff){
the_conf.CANID = (uint16_t)N;
CAN_reinit(the_conf.CANspeed);
good = TRUE;
}
}
@@ -396,27 +397,38 @@ void getcounter(_U_ char *txt){
void wdcheck(_U_ char *txt){
while(1){nop();}
}
/*
void stp_check(char *txt){
uint8_t N = *txt - '0';
if(N < 3){
MOTOR_EN(N);
MOTOR_CW(N);
mottimers[N]->ARR = 300;
mottimers[N]->CR1 |= TIM_CR1_CEN;
}else{
for(N = 0; N < 3; ++N){
MOTOR_DIS(N);
MOTOR_CCW(N);
mottimers[N]->CR1 &= ~TIM_CR1_CEN;
}
}
}*/
typedef struct{
errcodes code;
const char *descr;
} codetext;
static const codetext errtxt[] = {
{ERR_OK, "all OK"},
{ERR_BADPAR, "wrong parameter's value"},
{ERR_BADVAL, "wrong setter of parameter"},
{ERR_WRONGLEN, "bad message length"},
{ERR_BADCMD, "unknown command"},
{ERR_CANTRUN, "temporary can't run given command"},
{-1, NULL}
};
void dumperrcodes(_U_ char *txt){
const codetext *c = errtxt;
SEND("Error codes:\n");
while(c->descr){
printu(c->code);
SEND(" - ");
SEND(c->descr);
newline();
++c;
}
sendbuf();
}
typedef void(*specfpointer)(char *arg);
enum{
SCMD_NONE, // omit zero
SCMD_IGNORE,
SCMD_DELIGNLIST,
SCMD_DFU,
@@ -431,16 +443,39 @@ enum{
SCMD_DUMPCONF,
SCMD_GETCTR,
SCMD_WD,
SCMD_DUMPERR,
SCMD_DUMPCMD,
//SCMD_ST,
SCMD_AMOUNT
};
void dumpcmdcodes(_U_ char *txt);
static specfpointer speccmdlist[SCMD_AMOUNT] = {
[SCMD_IGNORE] = addIGN,
[SCMD_DELIGNLIST] = delignlist,
[SCMD_DFU] = bootldr,
[SCMD_FILTER] = add_filter,
[SCMD_CANSPEED] = CANini,
[SCMD_CANID] = canid,
[SCMD_LISTFILTERS] = list_filters,
[SCMD_IGNBUF] = print_ign_buf,
[SCMD_PAUSE] = inpause,
[SCMD_RESUME] = inresume,
[SCMD_SEND] = sendCANcommand,
[SCMD_DUMPCONF] = dump_userconf,
[SCMD_GETCTR] = getcounter,
[SCMD_WD] = wdcheck,
[SCMD_DUMPCMD] = dumpcmdcodes,
[SCMD_DUMPERR] = dumperrcodes,
//[SCMD_ST] = stp_check,
};
typedef struct{
int cmd_code; // CMD_... or <0 for usb-only commands
const char *command; // text command (up to 65536 commands)
const char *help; // help message for text protocol
} commands;
// the main commands list, index is CAN command code
static const commands textcommands[] = {
// different commands
@@ -489,6 +524,8 @@ static const commands textcommands[] = {
{-SCMD_CANSPEED, "canspeed", "CAN bus speed"},
{-SCMD_DELIGNLIST, "delignlist", "delete ignore list"},
{-SCMD_DFU, "dfu", "activate DFU mode"},
{-SCMD_DUMPERR, "dumperr", "dump error codes"},
{-SCMD_DUMPCMD, "dumpcmd", "dump command codes"},
{-SCMD_DUMPCONF, "dumpconf", "dump current configuration"},
{-SCMD_FILTER, "filter", "add/modify filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]"},
{-SCMD_GETCTR, "getctr", "get TIM1/2/3 counters"},
@@ -503,24 +540,39 @@ static const commands textcommands[] = {
{0, NULL, NULL}
};
void dumpcmdcodes(_U_ char *txt){
SEND("Commands list:\n");
for(uint16_t i = 0; i < CMD_AMOUNT; ++i){
printu(i);
SEND(" - ");
const commands *c = textcommands;
while(c->command){
if(c->cmd_code == i && *c->command){
SEND(c->help); break;
}
++c;
}
newline();
}
sendbuf();
}
static specfpointer speccmdlist[SCMD_AMOUNT] = {
[SCMD_IGNORE] = addIGN,
[SCMD_DELIGNLIST] = delignlist,
[SCMD_DFU] = bootldr,
[SCMD_FILTER] = add_filter,
[SCMD_CANSPEED] = CANini,
[SCMD_CANID] = canid,
[SCMD_LISTFILTERS] = list_filters,
[SCMD_IGNBUF] = print_ign_buf,
[SCMD_PAUSE] = inpause,
[SCMD_RESUME] = inresume,
[SCMD_SEND] = sendCANcommand,
[SCMD_DUMPCONF] = dump_userconf,
[SCMD_GETCTR] = getcounter,
[SCMD_WD] = wdcheck,
//[SCMD_ST] = stp_check,
};
/*
void stp_check(char *txt){
uint8_t N = *txt - '0';
if(N < 3){
MOTOR_EN(N);
MOTOR_CW(N);
mottimers[N]->ARR = 300;
mottimers[N]->CR1 |= TIM_CR1_CEN;
}else{
for(N = 0; N < 3; ++N){
MOTOR_DIS(N);
MOTOR_CCW(N);
mottimers[N]->CR1 &= ~TIM_CR1_CEN;
}
}
}*/
static void showHelp(){
SEND("https://github.com/eddyem/stm32samples/tree/master/F0-nolib/3steppersLB build#" BUILD_NUMBER " @ " BUILD_DATE "\n");