mirror of
https://github.com/eddyem/stm32samples.git
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98 lines
3.8 KiB
C
98 lines
3.8 KiB
C
/*
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* This file is part of the 3steppers project.
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* Copyright 2021 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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#pragma once
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#ifndef COMMONPROTO_H__
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#define COMMONPROTO_H__
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#include <stm32f0.h>
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#include "can.h"
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#ifndef _U_
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#define _U_ __attribute__((unused))
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#endif
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// message have no parameter
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#define CANMESG_NOPAR (127)
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// message is setter (have value)
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#define ISSETTER(x) ((x & 0x80) ? 1 : 0)
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// base value of parameter (even if it is a setter)
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#define PARBASE(x) (x & 0x7f)
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// error codes for answer message
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typedef enum{
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ERR_OK, // 0 - all OK
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ERR_BADPAR, // 1 - parameter's value is wrong
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ERR_BADVAL, // 2 - wrong parameter's value
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ERR_WRONGLEN, // 3 - wrong message length
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ERR_BADCMD, // 4 - unknown command
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ERR_CANTRUN, // 5 - can't run given command due to bad parameters or other
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} errcodes;
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// pointer to function for command execution, both should be non-NULL for common cases
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// if(par &0x80) it is setter, if not - getter
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// if par == 0x127 it means absense of parameter!!!
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// @return CANERR_OK (0) if OK or error code
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typedef errcodes (*fpointer)(uint8_t par, int32_t *val);
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enum{
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CMD_PING // ping device
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,CMD_RELAY // relay on/off
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,CMD_BUZZER // buzzer on/off
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,CMD_ADC // ADC ch#
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,CMD_BUTTONS // buttons
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,CMD_ESWSTATE // end-switches state
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,CMD_MCUT // MCU temperature
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,CMD_MCUVDD // MCU Vdd
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,CMD_RESET // software reset
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,CMD_TIMEFROMSTART // get time from start
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,CMD_PWM // PWM value
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,CMD_EXT // value on EXTx outputs
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,CMD_SAVECONF // save configuration
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,CMD_ENCSTEPMIN // min ticks of encoder per one step
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,CMD_ENCSTEPMAX // max ticks of encoder per one step
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,CMD_MICROSTEPS // get/set microsteps
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,CMD_ACCEL // set/get acceleration/deceleration
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,CMD_MAXSPEED // set/get maximal speed
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,CMD_MINSPEED // set/get minimal speed
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,CMD_SPEEDLIMIT // get limit of speed for current microsteps settings
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,CMD_MAXSTEPS // max steps (-max..+max)
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,CMD_ENCREV // encoder's pulses per revolution
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,CMD_MOTFLAGS // motor flags
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,CMD_ESWREACT // ESW reaction flags
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,CMD_REINITMOTORS // re-init motors after configuration changing
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,CMD_ABSPOS // current position (set/get)
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,CMD_RELPOS // set relative steps or get steps left
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,CMD_RELSLOW // change relative position at lowest speed
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,CMD_EMERGSTOP // stop moving NOW
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,CMD_STOP // smooth motor stop
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,CMD_EMERGSTOPALL // emergency stop for all motors
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,CMD_GOTOZERO // go to zero's ESW
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,CMD_MOTORSTATE // motor state
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,CMD_ENCPOS // position of encoder (independing on settings)
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//,CMD_STOPDECEL
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//,CMD_FINDZERO
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// should be the last:
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,CMD_AMOUNT // amount of common commands
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};
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extern const fpointer cmdlist[CMD_AMOUNT];
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#endif // COMMONPROTO_H__
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