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add some more, need a lot of tests

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This commit is contained in:
Edward Emelianov
2023-02-20 21:07:47 +03:00
parent 61c2d0ce41
commit f880421d9e
16 changed files with 1034 additions and 241 deletions
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326
F3:F303/Multistepper/commonproto.c
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@@ -19,53 +19,50 @@
#include "adc.h"
#include "buttons.h"
#include "commonproto.h"
#include "flash.h"
#include "hardware.h"
#include "hdr.h"
#include "proto.h"
#include "steppers.h"
#include "usb.h"
#define NOPARCHK(par) do{if(PARBASE(par) != CANMESG_NOPAR) return ERR_BADPAR;}while(0)
#define CHECKN(val, par) do{val = PARBASE(par); \
if(val > MOTORSNO-1) return ERR_BADPAR;}while(0)
extern volatile uint32_t Tms;
// common functions for CAN and USB (or CAN only functions)
static errcodes cu_nosuchfn(_U_ uint8_t par, _U_ int32_t *val){ return ERR_BADCMD; }
static errcodes cu_nosuchfn(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
errcodes cu_ping(_U_ uint8_t par, _U_ int32_t *val){
errcodes cu_abspos(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
stopmotor(n);
return ERR_OK;
}
static errcodes cu_reset(uint8_t par, _U_ int32_t *val){
NOPARCHK(par);
NVIC_SystemReset();
return ERR_OK;
}
static errcodes cu_time(uint8_t par, int32_t *val){
NOPARCHK(par);
*val = Tms;
errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)){
if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
the_conf.accel[n] = *val;
}
*val = the_conf.accel[n];
return ERR_OK;
}
errcodes cu_mcut(uint8_t par, int32_t *val){
NOPARCHK(par);
float f = getMCUtemp();
*val = (uint32_t)(f*10.f);
return ERR_OK;
}
errcodes cu_mcuvdd(uint8_t par, int32_t *val){
NOPARCHK(par);
float f = getVdd();
*val = (uint32_t)(f*10.f);
return ERR_OK;
}
errcodes cu_adc(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > NUMBER_OF_ADC_CHANNELS-1) return ERR_BADPAR;
*val = getADCval(n);
return ERR_OK;
}
// NON-STANDARD COMMAND!!!!!!!
// errcode == keystate, value = last time!!!!
errcodes cu_button(uint8_t par, int32_t *val){
@@ -77,44 +74,259 @@ errcodes cu_button(uint8_t par, int32_t *val){
return (uint8_t) keystate(n, (uint32_t*)val);
}
// par - motor number, val - 0/1 for ESW0/1
errcodes cu_esw(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par), l = *val;
if(n >= MOTORSNO || l > 1){
*val = CANMESG_NOPAR; // the only chance to understand error
return ERR_BADPAR;
}
*val = ESW_state(n, l);
errcodes cu_diagn(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
errcodes cu_emstop(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
emstopmotor(n);
return ERR_OK;
}
errcodes cu_abspos(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_accel(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_diagn(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_emstop(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_eraseflash(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_eswreact(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_goto(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_gotoz(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_gpio(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_gpioconf(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_maxspeed(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_maxsteps(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_microsteps(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_minspeed(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_motflags(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_motmul(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_motreinit(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_relpos(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_relslow(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_saveconf(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_screen(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_speedlimit(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_state(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_stop(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_tmcbus(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_udata(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_usartstatus(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_eraseflash(uint8_t _U_ par, int32_t _U_ *val){
NOPARCHK(par);
if(erase_storage()) return ERR_CANTRUN;
return ERR_OK;
}
// par - motor number
errcodes cu_esw(uint8_t par, int32_t *val){
uint8_t n; CHECKN(n, par);
*val = ESW_state(n);
return ERR_OK;
}
errcodes cu_eswreact(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)){
if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
the_conf.ESW_reaction[n] = *val;
}
*val = geteswreact(n);
return ERR_OK;
}
errcodes cu_goto(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
errcodes ret = ERR_OK;
if(ISSETTER(par)){
ret = setmotpos(n, *val);
}
getpos(n, val);
return ret;
}
errcodes cu_gotoz(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
return motor_goto0(n);
}
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);
}
}
// TODO: do it right
errcodes cu_gpio(uint8_t _U_ par, int32_t _U_ *val){
#if EXTNO > 4
#error "change the code!!!"
#endif
uint8_t n = PARBASE(par);
#ifdef EBUG
USND("par="); printu(par);
USND(", n="); USB_putbyte('0'+n); newline();
#endif
if(n == CANMESG_NOPAR){ // all
#ifdef EBUG
USND("ALL\n");
#endif
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;
}else if(n > EXTNO-1) return ERR_BADPAR;
if(ISSETTER(par))
setextpar((uint8_t)*val, n);
*val = (int32_t) EXT_CHK(n);
return ERR_OK;
}
// TODO: configure PU/PD, IN/OUT
errcodes cu_gpioconf(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
// calculate ARR value for given speed, return nearest possible speed
static uint16_t getSPD(uint8_t n, int32_t speed){
uint32_t ARR = PCLK/(MOTORTIM_PSC+1) / the_conf.microsteps[n] / speed - 1;
if(ARR < MOTORTIM_ARRMIN) ARR = MOTORTIM_ARRMIN;
else if(ARR > 0xffff) ARR = 0xffff;
speed = PCLK/(MOTORTIM_PSC+1) / the_conf.microsteps[n] / (ARR + 1);
if(speed > 0xffff) speed = 0xffff;
return (uint16_t)speed;
}
errcodes cu_maxspeed(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)){
if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
the_conf.maxspd[n] = getSPD(n, *val);
}
*val = the_conf.maxspd[n];
return ERR_OK;
}
errcodes cu_maxsteps(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)){
if(*val < 1) return ERR_BADVAL;
the_conf.maxsteps[n] = *val;
}
*val = the_conf.maxsteps[n];
return ERR_OK;
}
errcodes cu_mcut(uint8_t par, int32_t *val){
NOPARCHK(par);
float f = getMCUtemp();
*val = (uint32_t)(f*10.f);
return ERR_OK;
}
errcodes cu_mcuvdd(uint8_t par, int32_t *val){
NOPARCHK(par);
float f = getVdd();
*val = (uint32_t)(f*10.f);
return ERR_OK;
}
errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)){
#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
if(m != 1<<MSB(m)) return ERR_BADVAL;
if(the_conf.maxspd[n] * m > PCLK/(MOTORTIM_PSC+1)/(MOTORTIM_ARRMIN+1)) return ERR_BADVAL;
the_conf.microsteps[n] = m;
}
*val = the_conf.microsteps[n];
return ERR_OK;
}
errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)){
if(*val >= the_conf.maxspd[n]) return ERR_BADVAL;
the_conf.minspd[n] = getSPD(n, *val);
}
*val = the_conf.minspd[n];
return ERR_OK;
}
errcodes cu_motflags(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)){
the_conf.motflags[n] = *((motflags_t*)val);
}
*(motflags_t*)val = the_conf.motflags[n];
return ERR_OK;
}
errcodes cu_motmul(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
errcodes cu_motreinit(uint8_t _U_ par, int32_t _U_ *val){
NOPARCHK(par);
init_steppers();
return ERR_OK;
}
errcodes cu_ping(uint8_t _U_ par, int32_t _U_ *val){
return ERR_OK;
}
errcodes cu_relpos(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)) return motor_relmove(n, *val);
return getremainsteps(n, val);
}
errcodes cu_relslow(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
if(ISSETTER(par)) return motor_relslow(n, *val);
return getremainsteps(n, val);
}
static errcodes cu_reset(uint8_t par, int32_t _U_ *val){
NOPARCHK(par);
NVIC_SystemReset();
return ERR_OK;
}
errcodes cu_saveconf(uint8_t _U_ par, int32_t _U_ *val){
NOPARCHK(par);
if(store_userconf()) return ERR_CANTRUN;
return ERR_OK;
}
errcodes cu_screen(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
errcodes cu_speedlimit(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
*val = getSPD(n, 0xffff);
return ERR_OK;
}
errcodes cu_state(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
*val = getmotstate(n);
return ERR_OK;
}
errcodes cu_stop(uint8_t _U_ par, int32_t _U_ *val){
uint8_t n; CHECKN(n, par);
stopmotor(n);
return ERR_OK;
}
static errcodes cu_time(uint8_t par, int32_t *val){
NOPARCHK(par);
*val = Tms;
return ERR_OK;
}
errcodes cu_tmcbus(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
errcodes cu_udata(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
errcodes cu_usartstatus(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
const fpointer cancmdlist[CCMD_AMOUNT] = {