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Refactoring motor settings - mt, ma, sa

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This commit is contained in:
Alden Hart
2016-12-13 07:41:32 -05:00
parent d17d59c7bb
commit 56b17d7b04
4 changed files with 71 additions and 52 deletions
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g2core/stepper.cpp
+23 -8
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@@ -815,7 +815,7 @@ static void _set_hw_microsteps(const uint8_t motor, const uint8_t microsteps)
* _get_motor() - helper to return motor number as an index or -1 if na
*/
static int8_t _get_motor(const index_t index)
static int8_t _motor(const index_t index)
{
char *ptr;
char motors[] = {"123456"};
@@ -835,12 +835,16 @@ static int8_t _get_motor(const index_t index)
static void _set_motor_steps_per_unit(nvObj_t *nv)
{
uint8_t m = _get_motor(nv->index);
uint8_t m = _motor(nv->index);
st_cfg.mot[m].units_per_step = (st_cfg.mot[m].travel_rev * st_cfg.mot[m].step_angle) / (360 * st_cfg.mot[m].microsteps);
st_cfg.mot[m].steps_per_unit = 1/st_cfg.mot[m].units_per_step;
}
/* PER-MOTOR FUNCTIONS
*
* st_get_ma() - get motor axis mapping
* st_set_ma() - set motor axis mapping
* st_get_sa() - get motor step angle
* st_set_sa() - set motor step angle
* st_set_tr() - set travel per motor revolution
* st_set_mi() - set motor microsteps
@@ -849,6 +853,11 @@ static void _set_motor_steps_per_unit(nvObj_t *nv)
* st_set_pl() - set motor power level
*/
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
{
set_flt(nv);
@@ -872,13 +881,13 @@ stat_t st_set_mi(nvObj_t *nv) // motor microsteps
}
set_ui8(nv); // set it anyway, even if it's unsupported
_set_motor_steps_per_unit(nv);
_set_hw_microsteps(_get_motor(nv->index), (uint8_t)nv->value);
_set_hw_microsteps(_motor(nv->index), (uint8_t)nv->value);
return (STAT_OK);
}
stat_t st_set_su(nvObj_t *nv) // motor steps per unit (direct)
{
uint8_t m = _get_motor(nv->index);
uint8_t m = _motor(nv->index);
// Do the unit conversion here (rather than using set_flu) because it's a reciprocal value
if ((m <= 3) && (cm_get_units_mode(MODEL) == INCHES)) {
nv->value *= INCHES_PER_MM;
@@ -904,7 +913,7 @@ stat_t st_set_pm(nvObj_t *nv) // set motor power mode
{
if (nv->value >= MOTOR_POWER_MODE_MAX_VALUE) { return (STAT_INPUT_EXCEEDS_MAX_VALUE); }
uint8_t motor = _get_motor(nv->index);
uint8_t motor = _motor(nv->index);
if (motor > MOTORS) { return STAT_INPUT_VALUE_RANGE_ERROR; };
Motors[motor]->setPowerMode((stPowerMode)nv->value);
@@ -917,7 +926,7 @@ stat_t st_get_pm(nvObj_t *nv) // get motor power mode
{
if (nv->value >= MOTOR_POWER_MODE_MAX_VALUE) { return (STAT_INPUT_EXCEEDS_MAX_VALUE); }
uint8_t motor = _get_motor(nv->index);
uint8_t motor = _motor(nv->index);
if (motor > MOTORS) { return STAT_INPUT_VALUE_RANGE_ERROR; };
nv->value = (float)Motors[motor]->getPowerMode();
@@ -939,7 +948,7 @@ stat_t st_set_pl(nvObj_t *nv) // motor power level
}
set_flt(nv); // set power_setting value in the motor config struct (st)
uint8_t motor = _get_motor(nv->index);
uint8_t motor = _motor(nv->index);
st_cfg.mot[motor].power_level_scaled = (nv->value * POWER_LEVEL_SCALE_FACTOR);
st_run.mot[motor].power_level_dynamic = (st_cfg.mot[motor].power_level_scaled);
Motors[motor]->setPowerLevel(st_cfg.mot[motor].power_level_scaled);
@@ -968,6 +977,7 @@ stat_t st_get_pwr(nvObj_t *nv)
/* GLOBAL FUNCTIONS (SYSTEM LEVEL)
*
* st_get_mt() - get motor timeout in seconds
* st_set_mt() - set motor timeout in seconds
* st_set_md() - disable motor power
* st_set_me() - enable motor power
@@ -977,12 +987,17 @@ stat_t st_get_pwr(nvObj_t *nv)
* Setting a value from 1 to MOTORS will enable or disable that motor only
*/
stat_t st_get_mt(nvObj_t *nv) { return(get_float(nv, st_cfg.motor_power_timeout)); }
stat_t st_set_mt(nvObj_t *nv) { return(set_float_range(nv, st_cfg.motor_power_timeout,
MOTOR_TIMEOUT_SECONDS_MAX,
MOTOR_TIMEOUT_SECONDS_MIN)); }
/*
stat_t st_set_mt(nvObj_t *nv)
{
st_cfg.motor_power_timeout = min(MOTOR_TIMEOUT_SECONDS_MAX, max(nv->value, MOTOR_TIMEOUT_SECONDS_MIN));
return (STAT_OK);
}
*/
stat_t st_set_me(nvObj_t *nv) // Make sure this function is not part of initialization --> f00
{
for (uint8_t motor = MOTOR_1; motor < MOTORS; motor++) {