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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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219
F3:F303/Multistepper/proto.c
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@@ -22,11 +22,12 @@
#include "adc.h"
#include "buttons.h"
#include "can.h"
#include "commonproto.h"
#include "flash.h"
#include "hardware.h"
#include "hdr.h"
#include "proto.h"
#include "commonproto.h"
#include "steppers.h"
#include "version.inc"
// software ignore buffer size
@@ -90,7 +91,7 @@ const char *helpstring =
#include "hashgen/helpcmds.in"
;
int fn_canignore(_U_ uint32_t hash, char *args){
int fn_canignore(uint32_t _U_ hash, char *args){
if(!*args){
if(IgnSz == 0){
USND("Ignore buffer is empty");
@@ -131,7 +132,7 @@ int fn_canignore(_U_ uint32_t hash, char *args){
return RET_GOOD;
}
int fn_canreinit(_U_ uint32_t hash, _U_ char *args){
int fn_canreinit(uint32_t _U_ hash, char _U_ *args){
CAN_reinit(0);
USND("OK");
return RET_GOOD;
@@ -279,18 +280,18 @@ static void add_filter(const char *str){
printu(nfilt); USB_sendstr(" parameters");
}
int fn_canfilter(_U_ uint32_t hash, char *args){
int fn_canfilter(uint32_t _U_ hash, char *args){
if(*args) add_filter(args);
else list_filters();
return RET_GOOD;
}
int fn_canflood(_U_ uint32_t hash, char *args){
int fn_canflood(uint32_t _U_ hash, char *args){
CAN_flood(parseCANmsg(args), 0);
return RET_GOOD;
}
int fn_cansend(_U_ uint32_t hash, char *args){
int fn_cansend(uint32_t _U_ hash, char *args){
if(CAN->MSR & CAN_MSR_INAK){
USB_sendstr("CAN bus is off, try to restart it\n");
return RET_GOOD;
@@ -305,7 +306,7 @@ int fn_cansend(_U_ uint32_t hash, char *args){
return RET_GOOD;
}
int fn_canfloodt(_U_ uint32_t hash, char *args){
int fn_canfloodt(uint32_t _U_ hash, char *args){
uint32_t N;
const char *n = getnum(args, &N);
if(args == n){
@@ -316,7 +317,7 @@ int fn_canfloodt(_U_ uint32_t hash, char *args){
return RET_GOOD;
}
int fn_canstat(_U_ uint32_t hash, _U_ char *args){
int fn_canstat(uint32_t _U_ hash, char _U_ *args){
USB_sendstr("CAN_MSR=");
printuhex(CAN->MSR);
USB_sendstr("\nCAN_TSR=");
@@ -329,18 +330,18 @@ int fn_canstat(_U_ uint32_t hash, _U_ char *args){
return RET_GOOD;
}
int fn_canerrcodes(_U_ uint32_t hash, _U_ char *args){
int fn_canerrcodes(uint32_t _U_ hash, char _U_ *args){
CAN_printerr();
return RET_GOOD;
}
int fn_canincrflood(_U_ uint32_t hash, _U_ char *args){
int fn_canincrflood(uint32_t _U_ hash, char _U_ *args){
CAN_flood(NULL, 1);
USB_sendstr("Incremental flooding is ON ('F' to off)\n");
return RET_GOOD;
}
int fn_canspeed(_U_ uint32_t hash, _U_ char *args){
int fn_canspeed(uint32_t _U_ hash, char _U_ *args){
uint32_t N;
const char *n = getnum(args, &N);
if(args == n){
@@ -363,20 +364,20 @@ int fn_canspeed(_U_ uint32_t hash, _U_ char *args){
return RET_GOOD;
}
int fn_canpause(_U_ uint32_t hash, _U_ char *args){
int fn_canpause(uint32_t _U_ hash, char _U_ *args){
ShowMsgs = TRUE;
USND("Pause CAN messages");
return RET_GOOD;
}
int fn_canresume(_U_ uint32_t hash, _U_ char *args){
int fn_canresume(uint32_t _U_ hash, char _U_ *args){
ShowMsgs = FALSE;
USND("RESUME CAN messages");
return RET_GOOD;
}
// dump base commands codes (for CAN protocol)
int fn_dumpcmd(_U_ uint32_t hash, _U_ char *args){ // "dumpcmd" (1223955823)
int fn_dumpcmd(uint32_t _U_ hash, char _U_ *args){ // "dumpcmd" (1223955823)
USB_sendstr("CANbus commands list:\n");
for(uint16_t i = 1; i < CCMD_AMOUNT; ++i){
if(!cancmds[i]) continue;
@@ -388,20 +389,48 @@ int fn_dumpcmd(_U_ uint32_t hash, _U_ char *args){ // "dumpcmd" (1223955823)
return RET_GOOD;
}
int fn_reset(_U_ uint32_t hash, _U_ char *args){ // "reset" (1907803304)
int fn_reset(uint32_t _U_ hash, char _U_ *args){ // "reset" (1907803304)
USB_sendstr("Soft reset\n");
USB_sendall(); // wait until everything will gone
NVIC_SystemReset();
return RET_GOOD;
}
int fn_time(_U_ uint32_t hash, _U_ char *args){ // "time" (19148340)
int fn_time(uint32_t _U_ hash, char _U_ *args){ // "time" (19148340)
USB_sendstr("Time (ms): ");
printu(Tms);
USB_putbyte('\n');
return RET_GOOD;
}
static const char* motfl[MOTFLAGS_AMOUNT] = {
"reverse - invert motor's rotation",
"[reserved]",
"[reserved]",
"donthold - clear motor's power after stop",
"eswinv - inverse end-switches (1->0 instead of 0->1)",
"[reserved]"
};
static const char *eswfl[ESW_AMOUNT] = {
[ESW_IGNORE] = "ignore end-switches",
[ESW_ANYSTOP] = "stop @ esw in any moving direction",
[ESW_STOPMINUS] = "stop only when moving in given direction (e.g. to minus @ESW0)"
};
int fn_dumpmotflags(uint32_t _U_ hash, char _U_ *args){ // "dumpmotflags" (36159640)
USB_sendstr("Motor flags:");
for(int i = 0; i < MOTFLAGS_AMOUNT; ++i){
USB_sendstr("\nbit"); printu(i); USB_sendstr(" - ");
USB_sendstr(motfl[i]);
}
USND("\nEnd-switches reaction:");
for(int i = 0; i < ESW_AMOUNT; ++i){
printu(i); USB_sendstr(" - ");
USB_sendstr(eswfl[i]); newline();
}
return RET_GOOD;
}
static const char* errtxt[ERR_AMOUNT] = {
[ERR_OK] = "all OK",
[ERR_BADPAR] = "wrong parameter's value",
@@ -410,7 +439,7 @@ static const char* errtxt[ERR_AMOUNT] = {
[ERR_BADCMD] = "unknown command",
[ERR_CANTRUN] = "temporary can't run given command",
};
int fn_dumperr(_U_ uint32_t hash, _U_ char *args){ // "dumperr" (1223989764)
int fn_dumperr(uint32_t _U_ hash, char _U_ *args){ // "dumperr" (1223989764)
USND("Error codes:");
for(int i = 0; i < ERR_AMOUNT; ++i){
printu(i); USB_sendstr(" - ");
@@ -419,7 +448,7 @@ int fn_dumperr(_U_ uint32_t hash, _U_ char *args){ // "dumperr" (1223989764)
return RET_GOOD;
}
int fn_canid(_U_ uint32_t hash, char *args){ // "canid" (2040257924)
int fn_canid(uint32_t _U_ hash, char *args){ // "canid" (2040257924)
if(args && *args){
int good = FALSE;
uint32_t N;
@@ -442,6 +471,8 @@ static int canusb_function(uint32_t hash, char *args){
int32_t val = 0;
uint8_t par = CANMESG_NOPAR;
float f;
USB_sendstr("CMD: hash="); printu(hash); USB_sendstr(", args=");
USND(args);
if(*args){
const char *n = getnum(args, &N);
if(n != args){ // get parameter
@@ -452,7 +483,7 @@ static int canusb_function(uint32_t hash, char *args){
par = (uint8_t) N;
n = strchr(n, '=');
if(n){
const char *nxt = getnum(n, &N);
const char *nxt = getnum(n+1, &N);
if(nxt != n){ // give flag issetter
val = (int32_t) N;
par |= SETTERFLAG;
@@ -460,6 +491,8 @@ static int canusb_function(uint32_t hash, char *args){
}
}
}
USB_sendstr("par="); printuhex(par);
USB_sendstr(", val="); printi(val); newline();
switch(hash){
case CMD_PING:
e = cu_ping(par, &val);
@@ -521,7 +554,89 @@ static int canusb_function(uint32_t hash, char *args){
case CMD_ESW:
e = cu_esw(par, &val);
break;
case CMD_ERASEFLASH:
e = cu_eraseflash(par, &val);
break;
case CMD_ACCEL:
e = cu_accel(par, &val);
break;
case CMD_ABSPOS:
e = cu_abspos(par, &val);
break;
case CMD_DIAGN:
e = cu_diagn(par, &val);
break;
case CMD_EMSTOP:
e = cu_emstop(par, &val);
break;
case CMD_ESWREACT:
e = cu_eswreact(par, &val);
break;
case CMD_GOTO:
e = cu_goto(par, &val);
break;
case CMD_GOTOZ:
e = cu_gotoz(par, &val);
break;
case CMD_GPIO:
e = cu_gpio(par, &val);
break;
case CMD_GPIOCONF:
e = cu_gpioconf(par, &val);
break;
case CMD_MAXSPEED:
e = cu_maxspeed(par, &val);
break;
case CMD_MAXSTEPS:
e = cu_maxsteps(par, &val);
break;
case CMD_MICROSTEPS:
e = cu_microsteps(par, &val);
break;
case CMD_MINSPEED:
e = cu_minspeed(par, &val);
break;
case CMD_MOTFLAGS:
e = cu_motflags(par, &val);
break;
case CMD_MOTMUL:
e = cu_motmul(par, &val);
break;
case CMD_MOTREINIT:
e = cu_motreinit(par, &val);
break;
case CMD_RELPOS:
e = cu_relpos(par, &val);
break;
case CMD_RELSLOW:
e = cu_relslow(par, &val);
break;
case CMD_SAVECONF:
e = cu_saveconf(par, &val);
break;
case CMD_SCREEN:
e = cu_screen(par, &val);
break;
case CMD_SPEEDLIMIT:
e = cu_speedlimit(par, &val);
break;
case CMD_STATE:
e = cu_state(par, &val);
break;
case CMD_STOP:
e = cu_stop(par, &val);
break;
case CMD_TMCBUS:
e = cu_tmcbus(par, &val);
break;
case CMD_UDATA:
e = cu_udata(par, &val);
break;
case CMD_USARTSTATUS:
e = cu_usartstatus(par, &val);
break;
default:
e = ERR_BADCMD;
break;
}
@@ -541,40 +656,40 @@ static int canusb_function(uint32_t hash, char *args){
#define AL __attribute__ ((alias ("canusb_function")))
// COMMON with CAN
int fn_ping(_U_ uint32_t hash, _U_ char *args) AL; // "ping" (10561715)
int fn_ping(uint32_t _U_ hash, char _U_ *args) AL; // "ping" (10561715)
// not realized yet
int fn_abspos(_U_ uint32_t hash, _U_ char *args) AL; //* "abspos" (3056382221)
int fn_accel(_U_ uint32_t hash, _U_ char *args) AL; //* "accel" (1490521981)
int fn_adc(_U_ uint32_t hash, _U_ char *args) AL; // "adc" (2963026093)
int fn_button(_U_ uint32_t hash, _U_ char *args) AL; // "button" (1093508897)
int fn_diagn(_U_ uint32_t hash, _U_ char *args) AL; //* "diagn" (2334137736)
int fn_emstop(_U_ uint32_t hash, _U_ char *args) AL; //* "emstop" (2965919005)
int fn_eraseflash(_U_ uint32_t hash, _U_ char *args) AL; //* "eraseflash" (3177247267)
int fn_esw(_U_ uint32_t hash, _U_ char *args) AL; // "esw" (2963094612)
int fn_eswreact(_U_ uint32_t hash, _U_ char *args) AL; //* "eswreact" (1614224995)
int fn_goto(_U_ uint32_t hash, _U_ char *args) AL; //* "goto" (4286309438)
int fn_gotoz(_U_ uint32_t hash, _U_ char *args) AL; //* "gotoz" (3178103736)
int fn_gpio(_U_ uint32_t hash, _U_ char *args) AL; //* "gpio" (4286324660)
int fn_gpioconf(_U_ uint32_t hash, _U_ char *args) AL; //* "gpioconf" (1309721562)
int fn_maxspeed(_U_ uint32_t hash, _U_ char *args) AL; //* "maxspeed" (1498078812)
int fn_maxsteps(_U_ uint32_t hash, _U_ char *args) AL; //* "maxsteps" (1506667002)
int fn_mcut(_U_ uint32_t hash, _U_ char *args) AL; // "mcut" (4022718)
int fn_mcuvdd(_U_ uint32_t hash, _U_ char *args) AL; // "mcuvdd" (2517587080)
int fn_microsteps(_U_ uint32_t hash, _U_ char *args) AL; //* "microsteps" (3974395854)
int fn_minspeed(_U_ uint32_t hash, _U_ char *args) AL; //* "minspeed" (3234848090)
int fn_motflags(_U_ uint32_t hash, _U_ char *args) AL; //* "motflags" (2153634658)
int fn_motmul(_U_ uint32_t hash, _U_ char *args) AL; //* "motmul" (1543400099)
int fn_motreinit(_U_ uint32_t hash, _U_ char *args) AL; //* "motreinit" (199682784)
int fn_relpos(_U_ uint32_t hash, _U_ char *args) AL; //* "relpos" (1278646042)
int fn_relslow(_U_ uint32_t hash, _U_ char *args) AL; //* "relslow" (1742971917)
int fn_saveconf(_U_ uint32_t hash, _U_ char *args) AL; //* "saveconf" (141102426)
int fn_screen(_U_ uint32_t hash, _U_ char *args) AL; //* "screen" (2100809349)
int fn_speedlimit(_U_ uint32_t hash, _U_ char *args) AL; //* "speedlimit" (1654184245)
int fn_state(_U_ uint32_t hash, _U_ char *args) AL; //* "state" (2216628902)
int fn_stop(_U_ uint32_t hash, _U_ char *args) AL; //* "stop" (17184971)
int fn_tmcbus(_U_ uint32_t hash, _U_ char *args) AL; //* "tmcbus" (1906135955)
int fn_udata(_U_ uint32_t hash, _U_ char *args) AL; //* "udata" (2736127636)
int fn_usartstatus(_U_ uint32_t hash, _U_ char *args) AL; //* "usartstatus" (4007098968)
int fn_abspos(uint32_t _U_ hash, char _U_ *args) AL; //* "abspos" (3056382221)
int fn_accel(uint32_t _U_ hash, char _U_ *args) AL; //* "accel" (1490521981)
int fn_adc(uint32_t _U_ hash, char _U_ *args) AL; // "adc" (2963026093)
int fn_button(uint32_t _U_ hash, char _U_ *args) AL; // "button" (1093508897)
int fn_diagn(uint32_t _U_ hash, char _U_ *args) AL; //* "diagn" (2334137736)
int fn_emstop(uint32_t _U_ hash, char _U_ *args) AL; //* "emstop" (2965919005)
int fn_eraseflash(uint32_t _U_ hash, char _U_ *args) AL; //* "eraseflash" (3177247267)
int fn_esw(uint32_t _U_ hash, char _U_ *args) AL; // "esw" (2963094612)
int fn_eswreact(uint32_t _U_ hash, char _U_ *args) AL; //* "eswreact" (1614224995)
int fn_goto(uint32_t _U_ hash, char _U_ *args) AL; //* "goto" (4286309438)
int fn_gotoz(uint32_t _U_ hash, char _U_ *args) AL; //* "gotoz" (3178103736)
int fn_gpio(uint32_t _U_ hash, char _U_ *args) AL; //* "gpio" (4286324660)
int fn_gpioconf(uint32_t _U_ hash, char _U_ *args) AL; //* "gpioconf" (1309721562)
int fn_maxspeed(uint32_t _U_ hash, char _U_ *args) AL; //* "maxspeed" (1498078812)
int fn_maxsteps(uint32_t _U_ hash, char _U_ *args) AL; //* "maxsteps" (1506667002)
int fn_mcut(uint32_t _U_ hash, char _U_ *args) AL; // "mcut" (4022718)
int fn_mcuvdd(uint32_t _U_ hash, char _U_ *args) AL; // "mcuvdd" (2517587080)
int fn_microsteps(uint32_t _U_ hash, char _U_ *args) AL; //* "microsteps" (3974395854)
int fn_minspeed(uint32_t _U_ hash, char _U_ *args) AL; //* "minspeed" (3234848090)
int fn_motflags(uint32_t _U_ hash, char _U_ *args) AL; //* "motflags" (2153634658)
int fn_motmul(uint32_t _U_ hash, char _U_ *args) AL; //* "motmul" (1543400099)
int fn_motreinit(uint32_t _U_ hash, char _U_ *args) AL; //* "motreinit" (199682784)
int fn_relpos(uint32_t _U_ hash, char _U_ *args) AL; //* "relpos" (1278646042)
int fn_relslow(uint32_t _U_ hash, char _U_ *args) AL; //* "relslow" (1742971917)
int fn_saveconf(uint32_t _U_ hash, char _U_ *args) AL; //* "saveconf" (141102426)
int fn_screen(uint32_t _U_ hash, char _U_ *args) AL; //* "screen" (2100809349)
int fn_speedlimit(uint32_t _U_ hash, char _U_ *args) AL; //* "speedlimit" (1654184245)
int fn_state(uint32_t _U_ hash, char _U_ *args) AL; //* "state" (2216628902)
int fn_stop(uint32_t _U_ hash, char _U_ *args) AL; //* "stop" (17184971)
int fn_tmcbus(uint32_t _U_ hash, char _U_ *args) AL; //* "tmcbus" (1906135955)
int fn_udata(uint32_t _U_ hash, char _U_ *args) AL; //* "udata" (2736127636)
int fn_usartstatus(uint32_t _U_ hash, char _U_ *args) AL; //* "usartstatus" (4007098968)
/**