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3steppersLB: seems like independent moving is OK

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This commit is contained in:
Edward Emelianov
2021-12-01 17:56:19 +03:00
parent d0ecad3877
commit b24111f884
90 changed files with 377 additions and 1349 deletions
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109
F0-nolib/3steppersLB/commonproto.c
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@@ -76,6 +76,7 @@ static errcodes eswparser(uint8_t par, int32_t *val){
#endif
uint8_t n = PARBASE(par);
if(n > ESWNO-1){ // all
*val = 0;
uint8_t *arr = (uint8_t*)val;
for(int i = 0; i < ESWNO; ++i)
*arr++ = ESW_state(i);
@@ -283,6 +284,19 @@ static errcodes motflagsparser(uint8_t par, int32_t *val){
return ERR_OK;
}
// 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;
if(ISSETTER(par)){
if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
the_conf.ESW_reaction[n] = *val;
}
// *val = the_conf.ESW_reaction[n];
*val = geteswreact(n);
return ERR_OK;
}
static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
if(store_userconf()) return ERR_CANTRUN;
return ERR_OK;
@@ -296,7 +310,20 @@ static errcodes reinitmparser(uint8_t _U_ par, int32_t _U_ *val){
return ERR_OK;
}
static errcodes mstopparser(uint8_t par, int32_t _U_ *val){
static errcodes emstopparser(uint8_t par, int32_t _U_ *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
emstopmotor(n);
return ERR_OK;
}
static errcodes emstopallparser(uint8_t _U_ par, int32_t _U_ *val){
for(int i = 0; i < MOTORSNO; ++i)
emstopmotor(i);
return ERR_OK;
}
static errcodes stopparser(uint8_t par, int32_t _U_ *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
stopmotor(n);
@@ -317,6 +344,13 @@ static errcodes relstepsparser(uint8_t par, int32_t *val){
return getremainsteps(n, val);
}
static errcodes relslowparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)) return motor_relslow(n, *val);
return getremainsteps(n, val);
}
static errcodes motstateparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
@@ -334,6 +368,12 @@ static errcodes encposparser(uint8_t par, int32_t *val){
*val = encoder_position(n);
return ret;
}
static errcodes gotozeroparser(uint8_t par, _U_ int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
return motor_goto0(n);
}
/******************* END of motors' parsers *******************/
/*
@@ -342,39 +382,44 @@ 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] = {
const fpointer 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)"},
[CMD_ADC] = {"adc", adcparser, "get ADC values"},
[CMD_BUTTONS] = {"button", buttonsparser, "get buttons state"},
[CMD_ESWSTATE] = {"esw", eswparser, "get end switches state"},
[CMD_MCUT] = {"mcut", mcutparser, "get MCU T"},
[CMD_MCUVDD] = {"mcuvdd", mcuvddparser, "get MCU Vdd"},
[CMD_RESET] = {"reset", resetparser, "reset MCU"},
[CMD_TIMEFROMSTART] = {"time", timeparser, "get time from start"},
[CMD_PWM] = {"pwm", pwmparser, "pwm value"},
[CMD_EXT] = {"ext", extparser, "external outputs"},
[CMD_PING] = pingparser,
[CMD_RELAY] = relayparser,
[CMD_BUZZER] = buzzerparser,
[CMD_ADC] = adcparser,
[CMD_BUTTONS] = buttonsparser,
[CMD_ESWSTATE] = eswparser,
[CMD_MCUT] = mcutparser,
[CMD_MCUVDD] = mcuvddparser,
[CMD_RESET] = resetparser,
[CMD_TIMEFROMSTART] = timeparser,
[CMD_PWM] = pwmparser,
[CMD_EXT] = extparser,
// configuration
[CMD_SAVECONF] = {"saveconf", saveconfparser, "save current configuration"},
[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_ACCEL] = {"accel", accparser, "set/get accel/decel (steps/s^2)"},
[CMD_MAXSPEED] = {"maxspeed", maxspdparser, "set/get max speed (steps per sec)"},
[CMD_MINSPEED] = {"minspeed", minspdparser, "set/get min 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"},
[CMD_MOTFLAGS] = {"motflags", motflagsparser, "set/get motorN flags"},
[CMD_SAVECONF] = saveconfparser,
[CMD_ENCSTEPMIN] = encstepsminparser,
[CMD_ENCSTEPMAX] = encstepsmaxparser,
[CMD_MICROSTEPS] = ustepsparser,
[CMD_ACCEL] = accparser,
[CMD_MAXSPEED] = maxspdparser,
[CMD_MINSPEED] = minspdparser,
[CMD_SPEEDLIMIT] = spdlimparser,
[CMD_MAXSTEPS] = maxstepsparser,
[CMD_ENCREV] = encrevparser,
[CMD_MOTFLAGS] = motflagsparser,
[CMD_ESWREACT] = eswreactparser,
// 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"},
[CMD_MOTORSTATE] = {"state", motstateparser, "get motor state"},
[CMD_ENCPOS] = {"encpos", encposparser, "set/get encoder's position"},
[CMD_ABSPOS] = curposparser,
[CMD_RELPOS] = relstepsparser,
[CMD_RELSLOW] = relslowparser,
[CMD_EMERGSTOP] = emstopparser,
[CMD_EMERGSTOPALL] = emstopallparser,
[CMD_STOP] = stopparser,
[CMD_REINITMOTORS] = reinitmparser,
[CMD_MOTORSTATE] = motstateparser,
[CMD_ENCPOS] = encposparser,
[CMD_GOTOZERO] = gotozeroparser,
};