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add some code to 3steppersLB

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This commit is contained in:
Edward Emelianov
2021-11-04 02:03:33 +03:00
parent 263d805bf6
commit 8741e2e428
10 changed files with 435 additions and 71 deletions
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71
F0-nolib/3steppersLB/commonproto.c
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@@ -160,29 +160,45 @@ static errcodes extparser(uint8_t par, int32_t *val){
}
/******************* START of config parsers *******************/
static const uint8_t bval[] = {0,1,2,2,3,3,3,3,4,4,4,4,4,4,4,4};
static errcodes ustepsparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
#if MICROSTEPSMAX > 32768
#error "Change the code here!"
#if MICROSTEPSMAX > 512
#error "Change the code anywhere!"
#endif
uint16_t m = (uint16_t)*val;
if(m < 1 || m > MICROSTEPSMAX) return ERR_BADVAL;
// find most significant bit
uint8_t r = 0;
uint16_t x = m;
if(x & 0xff00){r += 8; x >>= 8;}
if(x & 0x00f0){r += 4; x >>= 4;}
uint8_t mostbit = (uint8_t)r + bval[x];
if(m != 1<<mostbit) return ERR_BADVAL;
if(m != 1<<MSB(m)) return ERR_BADVAL;
the_conf.microsteps[n] = m;
}
*val = the_conf.microsteps[n];
return ERR_OK;
}
static errcodes encstepsminparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
if(*val < 1 || *val > MAXENCTICKSPERSTEP - 1) return ERR_BADVAL;
the_conf.encperstepmin[n] = *val;
}
*val = the_conf.encperstepmin[n];
return ERR_OK;
}
static errcodes encstepsmaxparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
if(*val < 1 || *val > MAXENCTICKSPERSTEP) return ERR_BADVAL;
the_conf.encperstepmax[n] = *val;
}
*val = the_conf.encperstepmax[n];
return ERR_OK;
}
static errcodes accparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
@@ -205,6 +221,13 @@ static errcodes maxspdparser(uint8_t par, int32_t *val){
return ERR_OK;
}
static errcodes spdlimparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
*val = MOTORFREQ / the_conf.microsteps[n];
return ERR_OK;
}
static errcodes maxstepsparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
@@ -236,6 +259,11 @@ 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){
init_steppers();
return ERR_OK;
}
static errcodes mstopparser(uint8_t par, int32_t _U_ *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
@@ -246,9 +274,16 @@ static errcodes mstopparser(uint8_t par, int32_t _U_ *val){
static errcodes curposparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)) return setpos(n, *val);
if(ISSETTER(par)) return motor_absmove(n, *val);
return getpos(n, val);
}
static errcodes relstepsparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)) return motor_relmove(n, *val);
return getremainsteps(n, val);
}
/******************* END of motors' parsers *******************/
/*
@@ -259,6 +294,7 @@ static errcodes parser(uint8_t _U_ par, int32_t _U_ *val){
// the main commands list, index is CAN command code
const commands cmdlist[CMD_AMOUNT] = {
// different commands
[CMD_PING] = {"ping", pingparser, "echo given command back"},
[CMD_RELAY] = {"relay", relayparser, "change relay state (1/0)"},
[CMD_BUZZER] = {"buzzer", buzzerparser, "change buzzer state (1/0)"},
@@ -271,13 +307,20 @@ const commands cmdlist[CMD_AMOUNT] = {
[CMD_TIMEFROMSTART] = {"time", timeparser, "get time from start"},
[CMD_PWM] = {"pwm", pwmparser, "pwm value"},
[CMD_EXT] = {"ext", extparser, "external outputs"},
// configuration
[CMD_SAVECONF] = {"saveconf", saveconfparser, "save current configuration"},
[CMD_CURPOS] = {"position", curposparser, "set/get position (in steps)"},
[CMD_ENCSTEPMIN] = {"encstepmin", encstepsminparser, "minimal encoder ticks per step"},
[CMD_ENCSTEPMAX] = {"encstepmax", encstepsmaxparser, "maximal encoder ticks per step"},
[CMD_MICROSTEPS] = {"microsteps", ustepsparser, "set/get microsteps settings"},
[CMD_STOPMOTOR] = {"stop", mstopparser, "stop motor now"},
[CMD_ACCEL] = {"accel", accparser, "set/get accel/decel (usteps/s per 10ms)"},
[CMD_MAXSPEED] = {"maxspeed", maxspdparser, "set/get max speed (usteps per sec)"},
[CMD_ACCEL] = {"accel", accparser, "set/get accel/decel (steps/s^2)"},
[CMD_MAXSPEED] = {"maxspeed", maxspdparser, "set/get max speed (steps per sec)"},
[CMD_SPEEDLIMIT] = {"speedlimit", spdlimparser, "get limiting speed for current microsteps"},
[CMD_MAXSTEPS] = {"maxsteps", maxstepsparser, "set/get max steps (from zero)"},
[CMD_ENCREV] = {"encrev", encrevparser, "set/get max encoder's pulses per revolution"},
// motor's commands
[CMD_ABSPOS] = {"abspos", curposparser, "set/get position (in steps)"},
[CMD_RELPOS] = {"relpos", relstepsparser, "set relative steps, get remaining"},
[CMD_STOPMOTOR] = {"stop", mstopparser, "stop motor now"},
[CMD_REINITMOTORS] = {"motreinit", reinitmparser, "re-init motors after configuration changed"},
};