stm32samples/F0-nolib/3steppersLB/commonproto.c

/*
 * This file is part of the 3steppers project.
 * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "adc.h"
#include "buttons.h"
#include "can.h"
#include "commonproto.h"
#include "flash.h"
#include "hardware.h"
#include "steppers.h"
#ifdef EBUG
#include "strfunct.h"
#endif

/******* All functions from cmdlist[i].function *******/

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 par, int32_t *val){
    if(ISSETTER(par)){
        if(*val) ON(RELAY);
        else OFF(RELAY);
    }
    *val = CHK(RELAY);
    return ERR_OK;
}

static errcodes buzzerparser(uint8_t par, int32_t *val){
    if(ISSETTER(par)){
        if(*val) ON(BUZZER);
        else OFF(BUZZER);
    }
    *val = CHK(BUZZER);
    return ERR_OK;
}

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;
}

// NON-STANDARD COMMAND!!!!!!!
// errcode == keystate, value = last time!!!!
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);
}

// 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 *val){
    *val = getMCUtemp();
    return ERR_OK;
}

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){
    NVIC_SystemReset();
    return ERR_OK;
}

static errcodes timeparser(uint8_t _U_ par, int32_t *val){
    *val = Tms;
    return ERR_OK;
}

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(*val < 0 || *val > PWMMAX) return ERR_BADVAL;
        PWMset((uint32_t)*val);
    }
    *val = (int32_t) PWMget();
    return ERR_OK;
}


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;
}

/******************* START of config parsers *******************/
static errcodes ustepsparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    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;
}

static errcodes encstepsminparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    if(ISSETTER(par)){
        if(*val < 1 || *val > MAXENCTICKSPERSTEP - 1) return ERR_BADVAL;
        the_conf.encperstepmin[n] = *val;
    }
    *val = the_conf.encperstepmin[n];
    return ERR_OK;
}

static errcodes encstepsmaxparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    if(ISSETTER(par)){
        if(*val < 1 || *val > MAXENCTICKSPERSTEP) return ERR_BADVAL;
        the_conf.encperstepmax[n] = *val;
    }
    *val = the_conf.encperstepmax[n];
    return ERR_OK;
}

static errcodes accparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    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;
}

// 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;
}

static errcodes maxspdparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    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;
}

static errcodes minspdparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    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;
}

static errcodes spdlimparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    *val = getSPD(n, 0xffff);
    return ERR_OK;
}

static errcodes maxstepsparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    if(ISSETTER(par)){
        if(*val < 1) return ERR_BADVAL;
        the_conf.maxsteps[n] = *val;
    }
    *val = the_conf.maxsteps[n];
    return ERR_OK;
}

static errcodes encrevparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    if(ISSETTER(par)){
        if(*val < 1 || *val > MAXENCREV) return ERR_BADVAL;
        the_conf.encrev[n] = *val;
        enctimers[n]->ARR = *val;
    }
    *val = the_conf.encrev[n];
    return ERR_OK;
}

static errcodes motflagsparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    if(ISSETTER(par)){
        the_conf.motflags[n] = *((motflags_t*)val);
    }
    *(motflags_t*)val = the_conf.motflags[n];
    return ERR_OK;
}

static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
    if(store_userconf()) return ERR_CANTRUN;
    return ERR_OK;
}
/******************* END of config parsers *******************/


/******************* START of motors' parsers *******************/
static errcodes reinitmparser(uint8_t _U_ par, int32_t _U_ *val){
    init_steppers();
    return ERR_OK;
}

static errcodes mstopparser(uint8_t par, int32_t _U_ *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    stopmotor(n);
    return ERR_OK;
}

static errcodes curposparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    if(ISSETTER(par)) return motor_absmove(n, *val);
    return getpos(n, val);
}

static errcodes relstepsparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    if(ISSETTER(par)) return motor_relmove(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;
    *val = getmotstate(n);
    return ERR_OK;
}

static errcodes encposparser(uint8_t par, int32_t *val){
    uint8_t n = PARBASE(par);
    if(n > MOTORSNO-1) return ERR_BADPAR;
    errcodes ret = ERR_OK;
    if(ISSETTER(par)){
        if(!setencpos(n, *val)) ret = ERR_CANTRUN;
    }
    *val = encoder_position(n);
    return ret;
}
/******************* END of motors' parsers *******************/

/*
static errcodes parser(uint8_t _U_ par, int32_t _U_ *val){
    return ERR_OK;
}
*/

// the main commands list, index is CAN command code
const commands 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"},
    // 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"},
    // 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"},
};