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Refactoring motor settings - tr, mi (mi is incomplete)

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This commit is contained in:
Alden Hart
2016-12-13 08:21:50 -05:00
parent 56b17d7b04
commit 4af4aa7fed
3 changed files with 32 additions and 20 deletions
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g2core/config_app.cpp
+12 -12
View File
@@ -198,8 +198,8 @@ const cfgItem_t cfgArray[] = {
// Motor parameters
{ "1","1ma",_fip, 0, st_print_ma, st_get_ma, st_set_ma, (float *)&cs.null, M1_MOTOR_MAP },
{ "1","1sa",_fip, 3, st_print_sa, st_get_sa, st_set_sa, (float *)&cs.null, M1_STEP_ANGLE },
{ "1","1tr",_fipc,4, st_print_tr, get_flt, st_set_tr, (float *)&st_cfg.mot[MOTOR_1].travel_rev, M1_TRAVEL_PER_REV },
{ "1","1mi",_fip, 0, st_print_mi, get_ui8, st_set_mi, (float *)&st_cfg.mot[MOTOR_1].microsteps, M1_MICROSTEPS },
{ "1","1tr",_fipc,4, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M1_TRAVEL_PER_REV },
{ "1","1mi",_fip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M1_MICROSTEPS },
{ "1","1su",_fipi,5, st_print_su, get_flt, st_set_su, (float *)&st_cfg.mot[MOTOR_1].steps_per_unit, M1_STEPS_PER_UNIT },
{ "1","1po",_fip, 0, st_print_po, get_ui8, set_01, (float *)&st_cfg.mot[MOTOR_1].polarity, M1_POLARITY },
{ "1","1pm",_fip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M1_POWER_MODE },
@@ -209,8 +209,8 @@ const cfgItem_t cfgArray[] = {
#if (MOTORS >= 2)
{ "2","2ma",_fip, 0, st_print_ma, st_get_ma, st_set_ma, (float *)&cs.null, M2_MOTOR_MAP },
{ "2","2sa",_fip, 3, st_print_sa, st_get_sa, st_set_sa, (float *)&cs.null, M2_STEP_ANGLE },
{ "2","2tr",_fipc,4, st_print_tr, get_flt, st_set_tr, (float *)&st_cfg.mot[MOTOR_2].travel_rev, M2_TRAVEL_PER_REV },
{ "2","2mi",_fip, 0, st_print_mi, get_ui8, st_set_mi, (float *)&st_cfg.mot[MOTOR_2].microsteps, M2_MICROSTEPS },
{ "2","2tr",_fipc,4, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M2_TRAVEL_PER_REV },
{ "2","2mi",_fip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M2_MICROSTEPS },
{ "2","2su",_fipi,5, st_print_su, get_flt, st_set_su, (float *)&st_cfg.mot[MOTOR_2].steps_per_unit, M2_STEPS_PER_UNIT },
{ "2","2po",_fip, 0, st_print_po, get_ui8, set_01, (float *)&st_cfg.mot[MOTOR_2].polarity, M2_POLARITY },
{ "2","2pm",_fip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M2_POWER_MODE },
@@ -221,8 +221,8 @@ const cfgItem_t cfgArray[] = {
#if (MOTORS >= 3)
{ "3","3ma",_fip, 0, st_print_ma, st_get_ma, st_set_ma, (float *)&cs.null, M3_MOTOR_MAP },
{ "3","3sa",_fip, 3, st_print_sa, st_get_sa, st_set_sa, (float *)&cs.null, M3_STEP_ANGLE },
{ "3","3tr",_fipc,4, st_print_tr, get_flt, st_set_tr, (float *)&st_cfg.mot[MOTOR_3].travel_rev, M3_TRAVEL_PER_REV },
{ "3","3mi",_fip, 0, st_print_mi, get_ui8, st_set_mi, (float *)&st_cfg.mot[MOTOR_3].microsteps, M3_MICROSTEPS },
{ "3","3tr",_fipc,4, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M3_TRAVEL_PER_REV },
{ "3","3mi",_fip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M3_MICROSTEPS },
{ "3","3su",_fipi,5, st_print_su, get_flt, st_set_su, (float *)&st_cfg.mot[MOTOR_3].steps_per_unit, M3_STEPS_PER_UNIT },
{ "3","3po",_fip, 0, st_print_po, get_ui8, set_01, (float *)&st_cfg.mot[MOTOR_3].polarity, M3_POLARITY },
{ "3","3pm",_fip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M3_POWER_MODE },
@@ -233,8 +233,8 @@ const cfgItem_t cfgArray[] = {
#if (MOTORS >= 4)
{ "4","4ma",_fip, 0, st_print_ma, st_get_ma, st_set_ma, (float *)&cs.null, M4_MOTOR_MAP },
{ "4","4sa",_fip, 3, st_print_sa, st_get_sa, st_set_sa, (float *)&cs.null, M4_STEP_ANGLE },
{ "4","4tr",_fipc,4, st_print_tr, get_flt, st_set_tr, (float *)&st_cfg.mot[MOTOR_4].travel_rev, M4_TRAVEL_PER_REV },
{ "4","4mi",_fip, 0, st_print_mi, get_ui8, st_set_mi, (float *)&st_cfg.mot[MOTOR_4].microsteps, M4_MICROSTEPS },
{ "4","4tr",_fipc,4, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M4_TRAVEL_PER_REV },
{ "4","4mi",_fip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M4_MICROSTEPS },
{ "4","4su",_fipi,5, st_print_su, get_flt, st_set_su, (float *)&st_cfg.mot[MOTOR_4].steps_per_unit, M4_STEPS_PER_UNIT },
{ "4","4po",_fip, 0, st_print_po, get_ui8, set_01, (float *)&st_cfg.mot[MOTOR_4].polarity, M4_POLARITY },
{ "4","4pm",_fip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M4_POWER_MODE },
@@ -245,8 +245,8 @@ const cfgItem_t cfgArray[] = {
#if (MOTORS >= 5)
{ "5","5ma",_fip, 0, st_print_ma, st_get_ma, st_set_ma, (float *)&cs.null, M5_MOTOR_MAP },
{ "5","5sa",_fip, 3, st_print_sa, st_get_sa, st_set_sa, (float *)&cs.null, M5_STEP_ANGLE },
{ "5","5tr",_fipc,4, st_print_tr, get_flt, st_set_tr, (float *)&st_cfg.mot[MOTOR_5].travel_rev, M5_TRAVEL_PER_REV },
{ "5","5mi",_fip, 0, st_print_mi, get_ui8, st_set_mi, (float *)&st_cfg.mot[MOTOR_5].microsteps, M5_MICROSTEPS },
{ "5","5tr",_fipc,4, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M5_TRAVEL_PER_REV },
{ "5","5mi",_fip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M5_MICROSTEPS },
{ "5","5su",_fipi,5, st_print_su, get_flt, st_set_su, (float *)&st_cfg.mot[MOTOR_5].steps_per_unit, M5_STEPS_PER_UNIT },
{ "5","5po",_fip, 0, st_print_po, get_ui8, set_01, (float *)&st_cfg.mot[MOTOR_5].polarity, M5_POLARITY },
{ "5","5pm",_fip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M5_POWER_MODE },
@@ -257,8 +257,8 @@ const cfgItem_t cfgArray[] = {
#if (MOTORS >= 6)
{ "6","6ma",_fip, 0, st_print_ma, st_get_ma, st_set_ma, (float *)&cs.null, M6_MOTOR_MAP },
{ "6","6sa",_fip, 3, st_print_sa, st_get_sa, st_set_sa, (float *)&cs.null, M6_STEP_ANGLE },
{ "6","6tr",_fipc,4, st_print_tr, get_flt, st_set_tr, (float *)&st_cfg.mot[MOTOR_6].travel_rev, M6_TRAVEL_PER_REV },
{ "6","6mi",_fip, 0, st_print_mi, get_ui8, st_set_mi, (float *)&st_cfg.mot[MOTOR_6].microsteps, M6_MICROSTEPS },
{ "6","6tr",_fipc,4, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M6_TRAVEL_PER_REV },
{ "6","6mi",_fip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M6_MICROSTEPS },
{ "6","6su",_fipi,5, st_print_su, get_flt, st_set_su, (float *)&st_cfg.mot[MOTOR_6].steps_per_unit, M6_STEPS_PER_UNIT },
{ "6","6po",_fip, 0, st_print_po, get_ui8, set_01, (float *)&st_cfg.mot[MOTOR_6].polarity, M6_POLARITY },
{ "6","6pm",_fip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M6_POWER_MODE },
g2core/stepper.cpp
+17 -8
View File
@@ -846,40 +846,49 @@ static void _set_motor_steps_per_unit(nvObj_t *nv)
* st_set_ma() - set motor axis mapping
* st_get_sa() - get motor step angle
* st_set_sa() - set motor step angle
* st_get_tr() - get travel per motor revolution
* st_set_tr() - set travel per motor revolution
* st_get_mi() - get motor microsteps
* st_set_mi() - set motor microsteps
*
* st_set_pm() - set motor power mode
* st_get_pm() - get motor power mode
* st_set_pl() - set motor power level
*/
// motor axis mapping
stat_t st_get_ma(nvObj_t *nv) { return(get_int(nv, st_cfg.mot[_motor(nv->index)].motor_map)); }
stat_t st_set_ma(nvObj_t *nv) { return(set_int(nv, st_cfg.mot[_motor(nv->index)].motor_map, 0, AXES)); }
stat_t st_get_sa(nvObj_t *nv) { return(get_int(nv, st_cfg.mot[_motor(nv->index)].step_angle)); }
stat_t st_set_sa(nvObj_t *nv) // motor step angle
// step angle
stat_t st_get_sa(nvObj_t *nv) { return(get_float(nv, st_cfg.mot[_motor(nv->index)].step_angle)); }
stat_t st_set_sa(nvObj_t *nv)
{
set_flt(nv);
ritorno(set_float_range(nv, st_cfg.mot[_motor(nv->index)].step_angle, 0.001, 360));
_set_motor_steps_per_unit(nv);
return(STAT_OK);
}
stat_t st_set_tr(nvObj_t *nv) // motor travel per revolution
// travel per revolution
stat_t st_get_tr(nvObj_t *nv) { return(get_float(nv, st_cfg.mot[_motor(nv->index)].travel_rev)); }
stat_t st_set_tr(nvObj_t *nv)
{
set_flu(nv);
ritorno(set_float_range(nv, st_cfg.mot[_motor(nv->index)].travel_rev, 0.0001, 1000000));
_set_motor_steps_per_unit(nv);
return(STAT_OK);
}
stat_t st_set_mi(nvObj_t *nv) // motor microsteps
// microsteps
stat_t st_get_mi(nvObj_t *nv) { return(get_int(nv, st_cfg.mot[_motor(nv->index)].microsteps)); }
stat_t st_set_mi(nvObj_t *nv)
{
uint8_t mi = (uint8_t)nv->value;
if ((mi != 1) && (mi != 2) && (mi != 4) && (mi != 8) && (mi != 16) && (mi != 32)) {
nv_add_conditional_message((const char *)"*** WARNING *** Setting non-standard microstep value");
}
set_ui8(nv); // set it anyway, even if it's unsupported
// set it anyway, even if it's unsupported
ritorno(set_int(nv, st_cfg.mot[_motor(nv->index)].microsteps, 1, 255));
_set_motor_steps_per_unit(nv);
_set_hw_microsteps(_motor(nv->index), (uint8_t)nv->value);
return (STAT_OK);
g2core/stepper.h
+3
View File
@@ -583,8 +583,11 @@ stat_t st_get_ma(nvObj_t *nv);
stat_t st_set_ma(nvObj_t *nv);
stat_t st_get_sa(nvObj_t *nv);
stat_t st_set_sa(nvObj_t *nv);
stat_t st_get_tr(nvObj_t *nv);
stat_t st_set_tr(nvObj_t *nv);
stat_t st_get_mi(nvObj_t *nv);
stat_t st_set_mi(nvObj_t *nv);
stat_t st_set_su(nvObj_t *nv);
stat_t st_set_pm(nvObj_t *nv);
stat_t st_get_pm(nvObj_t *nv);