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stm32samples/F3:F303/Multistepper/proto.c
Edward Emelianov f880421d9e add some more, need a lot of tests
2023-02-20 21:07:47 +03:00

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/*
* This file is part of the multistepper project.
* Copyright 2023 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 <stm32f3.h>
#include <string.h>
#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 "steppers.h"
#include "version.inc"
// software ignore buffer size
#define IGN_SIZE 10
extern volatile uint32_t Tms;
uint8_t ShowMsgs = 1;
// software ignore buffers
static uint16_t Ignore_IDs[IGN_SIZE];
static uint8_t IgnSz = 0;
// parse `txt` to CAN_message
static CAN_message *parseCANmsg(const char *txt){
static CAN_message canmsg;
uint32_t N;
int ctr = -1;
canmsg.ID = 0xffff;
do{
const char *n = getnum(txt, &N);
if(txt == n) break;
txt = n;
if(ctr == -1){
if(N > 0x7ff){
USB_sendstr("ID should be 11-bit number!\n");
return NULL;
}
canmsg.ID = (uint16_t)(N&0x7ff);
ctr = 0;
continue;
}
if(ctr > 7){
USB_sendstr("ONLY 8 data bytes allowed!\n");
return NULL;
}
if(N > 0xff){
USB_sendstr("Every data portion is a byte!\n");
return NULL;
}
canmsg.data[ctr++] = (uint8_t)(N&0xff);
}while(1);
if(canmsg.ID == 0xffff){
USB_sendstr("NO ID given, send nothing!\n");
return NULL;
}
USB_sendstr("Message parsed OK\n");
canmsg.length = (uint8_t) ctr;
return &canmsg;
}
// print ID/mask of CAN->sFilterRegister[x] half
static void printID(uint16_t FRn){
if(FRn & 0x1f) return; // trash
printuhex(FRn >> 5);
}
const char *helpstring =
"https://github.com/eddyem/stm32samples/tree/master/F3:F303/Multistepper build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
"Format: cmd [N] - getter, cmd [N] = val - setter; N - optional index\n"
"* - command not supported yet, G - getter, S - setter\n\n"
#include "hashgen/helpcmds.in"
;
int fn_canignore(uint32_t _U_ hash, char *args){
if(!*args){
if(IgnSz == 0){
USND("Ignore buffer is empty");
return RET_GOOD;
}
USND("Ignored IDs:");
for(int i = 0; i < IgnSz; ++i){
printu(i);
USB_sendstr(": ");
printuhex(Ignore_IDs[i]);
USB_putbyte('\n');
}
return RET_GOOD;
}
if(IgnSz == IGN_SIZE){
USND("Ignore buffer is full");
return RET_GOOD;
}
int32_t N;
const char *n = getint(args, &N);
if(args == n){
USND("No ID given");
return RET_GOOD;
}
if(N < 0){
IgnSz = 0;
USND("Ignore list cleared");
return RET_GOOD;
}
if(N > 0x7ff){
USND("ID should be 11-bit number!");
return RET_GOOD;
}
Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
USB_sendstr("Added ID "); printu(N);
USB_sendstr("\nIgn buffer size: "); printu(IgnSz);
newline();
return RET_GOOD;
}
int fn_canreinit(uint32_t _U_ hash, char _U_ *args){
CAN_reinit(0);
USND("OK");
return RET_GOOD;
}
/*
Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers
CAN->FMR = (sb)<<8 | FINIT - init filter in starting bank sb
CAN->FFA1R FFAx = 1 -> FIFO1, 0 -> FIFO0
CAN->FA1R FACTx=1 - filter active
MASK: FBMx=0 (CAN->FM1R), two filters (n in FR1 and n+1 in FR2)
ID: CAN->sFilterRegister[x].FRn[0..15]
MASK: CAN->sFilterRegister[x].FRn[16..31]
FR bits: STID[10:0] RTR IDE EXID[17:15]
LIST: FBMx=1, four filters (n&n+1 in FR1, n+2&n+3 in FR2)
IDn: CAN->sFilterRegister[x].FRn[0..15]
IDn+1: CAN->sFilterRegister[x].FRn[16..31]
*/
TRUE_INLINE void list_filters(){
uint32_t fa = CAN->FA1R, ctr = 0, mask = 1;
while(fa){
if(fa & 1){
USB_sendstr("Filter "); printu(ctr); USB_sendstr(", FIFO");
if(CAN->FFA1R & mask) USB_sendstr("1");
else USB_sendstr("0");
USB_sendstr(" in ");
if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
USB_sendstr("LIST mode, IDs: ");
printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
USB_sendstr(" ");
printID(CAN->sFilterRegister[ctr].FR1 >> 16);
USB_sendstr(" ");
printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
USB_sendstr(" ");
printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}else{ // up to 2 filters in MASK mode
USB_sendstr("MASK mode: ");
if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
USB_sendstr("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
USB_sendstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
USB_sendstr(" ");
}
if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
USB_sendstr("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
USB_sendstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}
}
USB_putbyte('\n');
}
fa >>= 1;
++ctr;
mask <<= 1;
}
}
/**
* @brief add_filter - add/modify filter
* @param str - string in format "bank# FIFO# mode num0 .. num3"
* where bank# - 0..27
* if there's nothing after bank# - delete filter
* FIFO# - 0,1
* mode - 'I' for ID, 'M' for mask
* num0..num3 - IDs in ID mode, ID/MASK for mask mode
*/
static void add_filter(const char *str){
uint32_t N;
str = omit_spaces(str);
const char *n = getnum(str, &N);
if(n == str){
USB_sendstr("No bank# given");
return;
}
if(N > STM32F0FBANKNO-1){
USB_sendstr("bank# > 27");
return;
}
uint8_t bankno = (uint8_t)N;
str = omit_spaces(n);
if(!*str){ // deactivate filter
USB_sendstr("Deactivate filters in bank ");
printu(bankno);
CAN->FMR = CAN_FMR_FINIT;
CAN->FA1R &= ~(1<<bankno);
CAN->FMR &=~ CAN_FMR_FINIT;
return;
}
uint8_t fifono = 0;
if(*str == '1') fifono = 1;
else if(*str != '0'){
USB_sendstr("FIFO# is 0 or 1");
return;
}
str = omit_spaces(str + 1);
const char c = *str;
uint8_t mode = 0; // ID
if(c == 'M' || c == 'm') mode = 1;
else if(c != 'I' && c != 'i'){
USB_sendstr("mode is 'M/m' for MASK and 'I/i' for IDLIST");
return;
}
str = omit_spaces(str + 1);
uint32_t filters[4];
uint32_t nfilt;
for(nfilt = 0; nfilt < 4; ++nfilt){
n = getnum(str, &N);
if(n == str) break;
filters[nfilt] = N;
str = omit_spaces(n);
}
if(nfilt == 0){
USB_sendstr("You should add at least one filter!");
return;
}
if(mode && (nfilt&1)){
USB_sendstr("In MASK mode you should point pairs of ID/MASK");
return;
}
CAN->FMR = CAN_FMR_FINIT;
uint32_t mask = 1<<bankno;
CAN->FA1R |= mask; // activate given filter
if(fifono) CAN->FFA1R |= mask; // set FIFO number
else CAN->FFA1R &= ~mask;
if(mode) CAN->FM1R &= ~mask; // MASK
else CAN->FM1R |= mask; // LIST
uint32_t F1 = (0x8f<<16);
uint32_t F2 = (0x8f<<16);
// reset filter registers to wrong value
CAN->sFilterRegister[bankno].FR1 = (0x8f<<16) | 0x8f;
CAN->sFilterRegister[bankno].FR2 = (0x8f<<16) | 0x8f;
switch(nfilt){
case 4:
F2 = filters[3] << 21;
// fallthrough
case 3:
CAN->sFilterRegister[bankno].FR2 = (F2 & 0xffff0000) | (filters[2] << 5);
// fallthrough
case 2:
F1 = filters[1] << 21;
// fallthrough
case 1:
CAN->sFilterRegister[bankno].FR1 = (F1 & 0xffff0000) | (filters[0] << 5);
}
CAN->FMR &=~ CAN_FMR_FINIT;
USB_sendstr("Added filter with ");
printu(nfilt); USB_sendstr(" parameters");
}
int fn_canfilter(uint32_t _U_ hash, char *args){
if(*args) add_filter(args);
else list_filters();
return RET_GOOD;
}
int fn_canflood(uint32_t _U_ hash, char *args){
CAN_flood(parseCANmsg(args), 0);
return RET_GOOD;
}
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;
}
CAN_message *msg = parseCANmsg(args);
if(!msg) return RET_WRONGCMD;
uint32_t N = 5;
while(CAN_BUSY == CAN_send(msg->data, msg->length, msg->ID)){
if(--N == 0) break;
}
if(N == 0) return RET_BAD;
return RET_GOOD;
}
int fn_canfloodt(uint32_t _U_ hash, char *args){
uint32_t N;
const char *n = getnum(args, &N);
if(args == n){
USB_sendstr("floodT="); printu(floodT); USB_putbyte('\n');
return RET_GOOD;
}
floodT = N;
return RET_GOOD;
}
int fn_canstat(uint32_t _U_ hash, char _U_ *args){
USB_sendstr("CAN_MSR=");
printuhex(CAN->MSR);
USB_sendstr("\nCAN_TSR=");
printuhex(CAN->TSR);
USB_sendstr("\nCAN_RF0R=");
printuhex(CAN->RF0R);
USB_sendstr("\nCAN_RF1R=");
printuhex(CAN->RF1R);
newline();
return RET_GOOD;
}
int fn_canerrcodes(uint32_t _U_ hash, char _U_ *args){
CAN_printerr();
return RET_GOOD;
}
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(uint32_t _U_ hash, char _U_ *args){
uint32_t N;
const char *n = getnum(args, &N);
if(args == n){
USB_sendstr("No speed given");
return RET_GOOD;
}
if(N < 50){
USB_sendstr("canspeed=");
USB_sendstr(u2str(CAN_speed()));
newline();
return RET_GOOD;
}else if(N > 3000){
USB_sendstr("Highest speed is 3000kbps");
return RET_GOOD;
}
CAN_reinit((uint16_t)N);
// theconf.canspeed = N;
USB_sendstr("Reinit CAN bus with speed ");
printu(N); USB_sendstr("kbps"); newline();
return RET_GOOD;
}
int fn_canpause(uint32_t _U_ hash, char _U_ *args){
ShowMsgs = TRUE;
USND("Pause CAN messages");
return RET_GOOD;
}
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(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;
printu(i);
USB_sendstr(" - ");
USB_sendstr(cancmds[i]);
newline();
}
return RET_GOOD;
}
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(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",
[ERR_BADVAL] = "wrong setter of parameter",
[ERR_WRONGLEN] = "bad message length",
[ERR_BADCMD] = "unknown command",
[ERR_CANTRUN] = "temporary can't run given command",
};
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(" - ");
USB_sendstr(errtxt[i]); newline();
}
return RET_GOOD;
}
int fn_canid(uint32_t _U_ hash, char *args){ // "canid" (2040257924)
if(args && *args){
int good = FALSE;
uint32_t N;
const char *eq = getnum(args, &N);
if(eq != args && N < 0xfff){
the_conf.CANID = (uint16_t)N;
CAN_reinit(the_conf.CANspeed);
good = TRUE;
}
if(!good) USB_sendstr("CANID setter format: `canid=ID`, ID is 11bit\n");
}
USB_sendstr("canid="); USB_sendstr(uhex2str(the_conf.CANID));
newline();
return RET_GOOD;
}
static int canusb_function(uint32_t hash, char *args){
errcodes e = ERR_BADCMD;
uint32_t N;
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
if(N >= CANMESG_NOPAR){
USND("Wrong parameter value");
return RET_GOOD;
}
par = (uint8_t) N;
n = strchr(n, '=');
if(n){
const char *nxt = getnum(n+1, &N);
if(nxt != n){ // give flag issetter
val = (int32_t) N;
par |= SETTERFLAG;
}
}
}
}
USB_sendstr("par="); printuhex(par);
USB_sendstr(", val="); printi(val); newline();
switch(hash){
case CMD_PING:
e = cu_ping(par, &val);
break;
case CMD_MCUT:
f = getMCUtemp();
USB_sendstr("T=");
USB_sendstr(float2str(f, 1));
newline();
return RET_GOOD;
break;
case CMD_MCUVDD:
f = getVdd();
USB_sendstr("VDD=");
USB_sendstr(float2str(f, 1));
newline();
return RET_GOOD;
break;
case CMD_ADC:
par = PARBASE(par);
if(par >= NUMBER_OF_ADC_CHANNELS){
USB_sendstr("Wrong channel number\n");
return RET_BAD;
}
USB_sendstr("ADC"); USB_putbyte('0'+par);
USB_putbyte('='); USB_sendstr(u2str(getADCval(par)));
f = getADCvoltage(par);
USB_sendstr("\nADCv");USB_putbyte('0'+par);
USB_putbyte('='); USB_sendstr(float2str(f, 1));
newline();
return RET_GOOD;
break;
case CMD_BUTTON:
e = cu_button(par, &val);
if(val == CANMESG_NOPAR){
USB_sendstr("Wrong button number\n");
return RET_BAD;
}
const char *kstate = "none";
switch(e){
case EVT_PRESS:
kstate = "press";
break;
case EVT_HOLD:
kstate = "hold";
break;
case EVT_RELEASE:
kstate = "release";
break;
default:
break;
}
USB_sendstr("KEY"); USB_putbyte('0'+PARBASE(par));
USB_putbyte('='); USB_sendstr(kstate);
USB_sendstr("KEYTIME="); USB_sendstr(u2str(val));
newline();
return RET_GOOD;
break;
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;
}
//if(e < ERR_OK || e >= ERR_AMOUNT) USND("Bad return code");
//else
if(ERR_OK != e){
USB_sendstr(errtxt[e]); newline();
}else{
USB_sendstr("OK par");
if(par != CANMESG_NOPAR) printu(PARBASE(par));
USB_putbyte('='); printi(val);
newline();
}
return RET_GOOD;
}
#define AL __attribute__ ((alias ("canusb_function")))
// COMMON with CAN
int fn_ping(uint32_t _U_ hash, char _U_ *args) AL; // "ping" (10561715)
// not realized yet
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)
/**
* @brief cmd_parser - command parsing
* @param txt - buffer with commands & data
*/
const char *cmd_parser(const char *txt){
int ret = parsecmd(txt);
switch(ret){
case RET_CMDNOTFOUND: return helpstring; break;
case RET_WRONGCMD: return "Wrong command parameters\n"; break;
case RET_GOOD: return NULL; break;
default: return "FAIL\n"; break;
}
}
// check Ignore_IDs & return 1 if ID isn't in list
uint8_t isgood(uint16_t ID){
for(int i = 0; i < IgnSz; ++i)
if(Ignore_IDs[i] == ID) return 0;
return 1;
}
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