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3steppers next stage

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This commit is contained in:
Edward Emelianov
2021-10-24 22:29:43 +03:00
parent 9ece1bd91e
commit 9b4bb6c02f
49 changed files with 466 additions and 107 deletions
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117
F0-nolib/3steppersLB/commonproto.c
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@@ -20,16 +20,20 @@
#include "buttons.h"
#include "can.h"
#include "commonproto.h"
#include "flash.h"
#include "hardware.h"
#ifdef EBUG
#include "strfunct.h"
#endif
/******* All functions from cmdlist[i].function *******/
static errcodes pingparser(uint8_t _U_ *par, int32_t _U_ *val){
static errcodes pingparser(uint8_t _U_ par, int32_t _U_ *val){
return ERR_OK; // just echo all input data over CAN (or return OK to USB)
}
static errcodes relayparser(uint8_t _U_ *par, int32_t _U_ *val){
if(ISSETTER(*par)){
static errcodes relayparser(uint8_t par, int32_t *val){
if(ISSETTER(par)){
if(*val) ON(RELAY);
else OFF(RELAY);
}
@@ -37,8 +41,8 @@ static errcodes relayparser(uint8_t _U_ *par, int32_t _U_ *val){
return ERR_OK;
}
static errcodes buzzerparser(uint8_t _U_ *par, int32_t _U_ *val){
if(ISSETTER(*par)){
static errcodes buzzerparser(uint8_t par, int32_t *val){
if(ISSETTER(par)){
if(*val) ON(BUZZER);
else OFF(BUZZER);
}
@@ -46,8 +50,8 @@ static errcodes buzzerparser(uint8_t _U_ *par, int32_t _U_ *val){
return ERR_OK;
}
static errcodes adcparser(uint8_t _U_ *par, int32_t _U_ *val){
uint8_t n = PARBASE(*par);
static errcodes adcparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > NUMBER_OF_ADC_CHANNELS) return ERR_BADPAR;
*val = (int32_t) getADCval(n);
return ERR_OK;
@@ -55,51 +59,57 @@ static errcodes adcparser(uint8_t _U_ *par, int32_t _U_ *val){
// NON-STANDARD COMMAND!!!!!!!
// errcode == keystate, value = last time!!!!
static errcodes buttonsparser(uint8_t _U_ *par, int32_t _U_ *val){
#if BTNSNO > 4
#error "change the code!!!"
#endif
uint8_t n = PARBASE(*par);
if(n >= BTNSNO){
*par = CANMESG_NOPAR; // the only chance to understand error
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
return ERR_BADPAR;
}
return (uint8_t) keystate(n, (uint32_t*)val);
}
static errcodes eswparser(uint8_t _U_ *par, int32_t _U_ *val){
uint8_t n = PARBASE(*par);
if(n > ESWNO-1) return ERR_BADPAR;
// if N > amount of esw, return all (by bytes)
static errcodes eswparser(uint8_t par, int32_t *val){
#if ESWNO > 4
#error "change the code!!!"
#endif
uint8_t n = PARBASE(par);
if(n > ESWNO-1){ // all
uint8_t *arr = (uint8_t*)val;
for(int i = 0; i < ESWNO; ++i)
*arr++ = ESW_state(i);
return ERR_OK;
}
*val = (int32_t)ESW_state(n);
return ERR_OK;
}
static errcodes mcutparser(uint8_t _U_ *par, int32_t _U_ *val){
static errcodes mcutparser(uint8_t _U_ par, int32_t *val){
*val = getMCUtemp();
return ERR_OK;
}
static errcodes mcuvddparser(uint8_t _U_ *par, int32_t _U_ *val){
static errcodes mcuvddparser(uint8_t _U_ par, int32_t *val){
*val = getVdd();
return ERR_OK;
}
static errcodes resetparser(uint8_t _U_ *par, int32_t _U_ *val){
static errcodes resetparser(uint8_t _U_ par, int32_t _U_ *val){
NVIC_SystemReset();
return ERR_OK;
}
static errcodes timeparser(uint8_t _U_ *par, int32_t _U_ *val){
static errcodes timeparser(uint8_t _U_ par, int32_t *val){
*val = Tms;
return ERR_OK;
}
static errcodes pwmparser(uint8_t _U_ *par, int32_t _U_ *val){
if(PARBASE(*par) > PWMCHMAX && *par != CANMESG_NOPAR) return ERR_BADPAR;
static errcodes pwmparser(uint8_t par, int32_t *val){
if(PARBASE(par) > PWMCHMAX && par != CANMESG_NOPAR) return ERR_BADPAR;
#if PWMCHMAX != 0
#error "change the code!!!"
#endif
if(ISSETTER(*par)){
if(ISSETTER(par)){
if(*val < 0 || *val > PWMMAX) return ERR_BADVAL;
PWMset((uint32_t)*val);
}
@@ -107,12 +117,65 @@ static errcodes pwmparser(uint8_t _U_ *par, int32_t _U_ *val){
return ERR_OK;
}
static errcodes extparser(uint8_t _U_ *par, int32_t _U_ *val){
TRUE_INLINE void setextpar(uint8_t val, uint8_t i){
switch(val){
case 0:
EXT_CLEAR(i);
break;
case 1:
EXT_SET(i);
break;
default:
EXT_TOGGLE(i);
}
}
// if `par` is absent, set/get all values in subsequent bytes
// 1 - external signal high, 0 - low
// commands: 0 - reset, 1 - set, !!!!other - toggle!!!!
static errcodes extparser(uint8_t par, int32_t *val){
#if EXTNO > 4
#error "change the code!!!"
#endif
uint8_t n = PARBASE(par);
SEND("par="); printu(par);
SEND(", n="); bufputchar('0'+n); newline();
if(n > EXTNO-1){ // all
SEND("ALL\n");
uint8_t *arr = (uint8_t*)val;
if(ISSETTER(par)){
for(int i = 0; i < EXTNO; ++i)
setextpar(arr[i], i);
}
for(int i = 0; i < EXTNO; ++i){
arr[i] = EXT_CHK(i);
}
return ERR_OK;
}
if(ISSETTER(par))
setextpar((uint8_t)*val, n);
*val = (int32_t) EXT_CHK(n);
return ERR_OK;
}
static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
if(store_userconf()) return ERR_CANTRUN;
return ERR_OK;
}
#if 0
typedef struct __attribute__((packed, aligned(4))){
uint16_t microsteps; // microsteps amount per step
uint16_t accdecsteps; // amount of steps need for full acceleration/deceleration cycle
uint16_t motspd; // max motor speed (steps per second)
uint32_t maxsteps; // maximal amount of steps from ESW0 to EWS3
defflags_t defflags; // default flags
} user_conf;
#endif
/*
static CAN_errcodes parser(const uint8_t _U_ *par, const int32_t _U_ *val){
static CAN_errcodes parser(const uint8_t _U_ par, const int32_t _U_ *val){
return CANERR_OK;
}*/
@@ -130,4 +193,6 @@ 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"},
[CMD_SAVECONF] = {"saveconf", saveconfparser, "save current configuration"},
};