mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-06 10:45:11 +03:00
192 lines
6.7 KiB
C
192 lines
6.7 KiB
C
/*
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* This file is part of the multistepper project.
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* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "adc.h"
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#include "buttons.h"
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#include "commonproto.h"
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#include "hardware.h"
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#include "hdr.h"
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#include "proto.h"
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#include "usb.h"
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#define NOPARCHK(par) do{if(PARBASE(par) != CANMESG_NOPAR) return ERR_BADPAR;}while(0)
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extern volatile uint32_t Tms;
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// common functions for CAN and USB (or CAN only functions)
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static errcodes cu_nosuchfn(_U_ uint8_t par, _U_ int32_t *val){ return ERR_BADCMD; }
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errcodes cu_ping(_U_ uint8_t par, _U_ int32_t *val){
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return ERR_OK;
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}
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static errcodes cu_reset(uint8_t par, _U_ int32_t *val){
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NOPARCHK(par);
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NVIC_SystemReset();
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return ERR_OK;
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}
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static errcodes cu_time(uint8_t par, int32_t *val){
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NOPARCHK(par);
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*val = Tms;
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return ERR_OK;
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}
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errcodes cu_mcut(uint8_t par, int32_t *val){
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NOPARCHK(par);
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float f = getMCUtemp();
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*val = (uint32_t)(f*10.f);
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return ERR_OK;
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}
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errcodes cu_mcuvdd(uint8_t par, int32_t *val){
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NOPARCHK(par);
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float f = getVdd();
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*val = (uint32_t)(f*10.f);
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return ERR_OK;
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}
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errcodes cu_adc(uint8_t par, int32_t *val){
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uint8_t n = PARBASE(par);
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if(n > NUMBER_OF_ADC_CHANNELS-1) return ERR_BADPAR;
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*val = getADCval(n);
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return ERR_OK;
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}
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// NON-STANDARD COMMAND!!!!!!!
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// errcode == keystate, value = last time!!!!
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errcodes cu_button(uint8_t par, int32_t *val){
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uint8_t n = PARBASE(par);
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if(n > BTNSNO-1){
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*val = CANMESG_NOPAR; // the only chance to understand error
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return ERR_BADPAR;
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}
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return (uint8_t) keystate(n, (uint32_t*)val);
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}
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// par - motor number, val - 0/1 for ESW0/1
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errcodes cu_esw(uint8_t par, int32_t *val){
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uint8_t n = PARBASE(par), l = *val;
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if(n >= MOTORSNO || l > 1){
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*val = CANMESG_NOPAR; // the only chance to understand error
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return ERR_BADPAR;
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}
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*val = ESW_state(n, l);
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return ERR_OK;
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}
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errcodes cu_abspos(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_accel(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_diagn(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_emstop(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_eraseflash(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_eswreact(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_goto(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_gotoz(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_gpio(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_gpioconf(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_maxspeed(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_maxsteps(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_microsteps(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_minspeed(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_motflags(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_motmul(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_motreinit(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_relpos(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_relslow(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_saveconf(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_screen(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_speedlimit(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_state(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_stop(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_tmcbus(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_udata(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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errcodes cu_usartstatus(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
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const fpointer cancmdlist[CCMD_AMOUNT] = {
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// different commands
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[CCMD_PING] = cu_ping,
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[CCMD_RELAY] = cu_nosuchfn,
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[CCMD_BUZZER] = cu_nosuchfn,
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[CCMD_ADC] = cu_adc,
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[CCMD_BUTTONS] = cu_button,
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[CCMD_ESWSTATE] = cu_esw,
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[CCMD_MCUT] = cu_mcut,
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[CCMD_MCUVDD] = cu_mcuvdd,
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[CCMD_RESET] = cu_reset,
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[CCMD_TIMEFROMSTART] = cu_time,
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[CCMD_PWM] = cu_nosuchfn,
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[CCMD_EXT] = cu_gpio,
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// configuration
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[CCMD_SAVECONF] = cu_saveconf,
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[CCMD_ENCSTEPMIN] = cu_nosuchfn,
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[CCMD_ENCSTEPMAX] = cu_nosuchfn,
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[CCMD_MICROSTEPS] = cu_microsteps,
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[CCMD_ACCEL] = cu_accel,
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[CCMD_MAXSPEED] = cu_maxspeed,
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[CCMD_MINSPEED] = cu_minspeed,
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[CCMD_SPEEDLIMIT] = cu_speedlimit,
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[CCMD_MAXSTEPS] = cu_maxsteps,
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[CCMD_ENCREV] = cu_nosuchfn,
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[CCMD_MOTFLAGS] = cu_motflags,
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[CCMD_ESWREACT] = cu_eswreact,
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// motor's commands
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[CCMD_ABSPOS] = cu_goto,
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[CCMD_RELPOS] = cu_relpos,
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[CCMD_RELSLOW] = cu_relslow,
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[CCMD_EMERGSTOP] = cu_emstop,
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[CCMD_EMERGSTOPALL] = cu_emstop, // without args
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[CCMD_STOP] = cu_stop,
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[CCMD_REINITMOTORS] = cu_motreinit,
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[CCMD_MOTORSTATE] = cu_state,
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[CCMD_ENCPOS] = cu_nosuchfn,
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[CCMD_SETPOS] = cu_abspos,
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[CCMD_GOTOZERO] = cu_gotoz,
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// Leave all commands upper for back-compatability with 3steppers
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};
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const char* cancmds[CCMD_AMOUNT] = {
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[CCMD_PING] = "ping",
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[CCMD_ADC] = "adc",
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[CCMD_BUTTONS] = "button",
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[CCMD_ESWSTATE] = "esw",
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[CCMD_MCUT] = "mcut",
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[CCMD_MCUVDD] = "mcuvdd",
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[CCMD_RESET] = "reset",
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[CCMD_TIMEFROMSTART] = "time",
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[CCMD_EXT] = "gpio",
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[CCMD_SAVECONF] = "saveconf",
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[CCMD_MICROSTEPS] = "microsteps",
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[CCMD_ACCEL] = "accel",
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[CCMD_MAXSPEED] = "maxspeed",
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[CCMD_MINSPEED] = "minspeed",
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[CCMD_SPEEDLIMIT] = "speedlimit",
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[CCMD_MAXSTEPS] = "maxsteps",
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[CCMD_MOTFLAGS] = "motflags",
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[CCMD_ESWREACT] = "eswreact",
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[CCMD_ABSPOS] = "goto",
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[CCMD_RELPOS] = "relpos",
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[CCMD_RELSLOW] = "relslow",
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[CCMD_EMERGSTOP] = "emstop N",
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[CCMD_EMERGSTOPALL] = "emstop",
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[CCMD_STOP] = "stop",
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[CCMD_REINITMOTORS] = "motreinit",
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[CCMD_MOTORSTATE] = "state",
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[CCMD_SETPOS] = "abspos",
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[CCMD_GOTOZERO] = "gotoz"
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};
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