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g2/g2core/config_app.cpp
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/*
* config_app.cpp - application-specific part of configuration data
* This file is part of the g2core project
*
* Copyright (c) 2013 - 2016 Alden S. Hart, Jr.
* Copyright (c) 2016 Robert Giseburt
*
* This file ("the software") is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License, version 2 as published by the
* Free Software Foundation. You should have received a copy of the GNU General Public
* License, version 2 along with the software. If not, see <http://www.gnu.org/licenses/>.
*
* THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT WITHOUT ANY
* WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
* SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/* This file contains application specific data for the config system:
* - application-specific functions and function prototypes
* - application-specific message and print format strings
* - application-specific config array
* - any other application-specific data or functions
*
* See config_app.h for a detailed description of config objects and the config table
*/
#include "g2core.h" // #1
#include "config.h" // #2
#include "controller.h"
#include "canonical_machine.h"
#include "gcode.h"
#include "json_parser.h"
#include "text_parser.h"
#include "settings.h"
#include "planner.h"
#include "plan_arc.h"
#include "stepper.h"
#include "gpio.h"
#include "spindle.h"
#include "temperature.h"
#include "coolant.h"
#include "pwm.h"
#include "report.h"
#include "hardware.h"
#include "util.h"
#include "help.h"
#include "xio.h"
/*** structures ***/
cfgParameters_t cfg; // application specific configuration parameters
/***********************************************************************************
**** application-specific internal functions **************************************
***********************************************************************************/
// See config.cpp/.h for generic variables and functions that are not specific to
// g2core or the motion control application domain
// helpers (most helpers are defined immediately above their usage so they don't need prototypes here)
static stat_t _do_motors(nvObj_t *nv); // print parameters for all motor groups
static stat_t _do_axes(nvObj_t *nv); // print parameters for all axis groups
static stat_t _do_offsets(nvObj_t *nv); // print offset parameters for G54-G59,G92, G28, G30
static stat_t _do_inputs(nvObj_t *nv); // print parameters for all input groups
static stat_t _do_outputs(nvObj_t *nv); // print parameters for all output groups
static stat_t _do_all(nvObj_t *nv); // print all parameters
// communications settings and functions
static stat_t get_rx(nvObj_t *nv); // get bytes in RX buffer
static stat_t get_tick(nvObj_t *nv); // get system tick count
/***********************************************************************************
**** CONFIG TABLE ****************************************************************
***********************************************************************************
*
* Read the notes in config.h first
*
* NOTES AND CAVEATS
*
* - Token matching occurs from the most specific to the least specific. This means
* that if shorter tokens overlap longer ones the longer one must precede the
* shorter one. E.g. "gco" needs to come before "gc"
*
* - Mark group strings for entries that have no group as nul --> "".
* This is important for group expansion.
*
* - Groups do not have groups. Neither do uber-groups, e.g.
* 'x' is --> { "", "x", and 'm' is --> { "", "m",
*
* - Be careful not to define groups longer than GROUP_LEN [4] and tokens longer
* than TOKEN_LEN [6]. (See config.h for lengths). The combined group + token
* cannot exceed TOKEN_LEN. String functions working on the table assume these
* rules are followed and do not check lengths or perform other validation.
*
* - If the count of lines in cfgArray exceeds 255 (which it does) you need to
* ensure index_t is uint16_t in the config.h file (and not uint8_t).
*
* - The precision value 'p' only affects JSON responses. You need to also set
* the %f in the corresponding format string to set text mode display precision
*/
const cfgItem_t cfgArray[] = {
// group token flags p, print_func, get_func, set_func, target for get/set, default value
{ "sys", "fb", _fipn,2, hw_print_fb, get_flt, set_nul, (float *)&cs.fw_build, G2CORE_FIRMWARE_BUILD }, // MUST BE FIRST!
{ "sys", "fbs",_fn, 2, hw_print_fbs,hw_get_fbs,set_nul, (float *)&cs.null, 0 },
{ "sys", "fbc",_fn, 2, hw_print_fbc,hw_get_fbc,set_nul, (float *)&cs.null, 0 },
{ "sys", "fv", _fipn,2, hw_print_fv, get_flt, set_nul, (float *)&cs.fw_version, G2CORE_FIRMWARE_VERSION },
{ "sys", "hp", _fipn,0, hw_print_hp, get_flt, set_flt, (float *)&cs.hw_platform, G2CORE_HARDWARE_PLATFORM },
{ "sys", "hv", _fipn,0, hw_print_hv, get_flt, hw_set_hv,(float *)&cs.hw_version, G2CORE_HARDWARE_VERSION },
{ "sys", "id", _fn, 0, hw_print_id, hw_get_id, set_nul, (float *)&cs.null, 0 }, // device ID (ASCII signature)
// dynamic model attributes for reporting purposes (up front for speed)
{ "", "stat",_f0, 0, cm_print_stat, cm_get_stat, set_nul,(float *)&cs.null, 0 }, // combined machine state
{ "", "n", _fi, 0, cm_print_line, cm_get_mline,set_nul,(float *)&cs.null, 0 }, // Model line number
{ "", "line",_fi, 0, cm_print_line, cm_get_line, set_nul,(float *)&cs.null, 0 }, // Active line number - model or runtime line number
{ "", "vel", _f0, 2, cm_print_vel, cm_get_vel, set_nul,(float *)&cs.null, 0 }, // current velocity
{ "", "feed",_f0, 2, cm_print_feed, cm_get_feed, set_nul,(float *)&cs.null, 0 }, // feed rate
{ "", "macs",_f0, 0, cm_print_macs, cm_get_macs, set_nul,(float *)&cs.null, 0 }, // raw machine state
{ "", "cycs",_f0, 0, cm_print_cycs, cm_get_cycs, set_nul,(float *)&cs.null, 0 }, // cycle state
{ "", "mots",_f0, 0, cm_print_mots, cm_get_mots, set_nul,(float *)&cs.null, 0 }, // motion state
{ "", "hold",_f0, 0, cm_print_hold, cm_get_hold, set_nul,(float *)&cs.null, 0 }, // feedhold state
{ "", "unit",_f0, 0, cm_print_unit, cm_get_unit, set_nul,(float *)&cs.null, 0 }, // units mode
{ "", "coor",_f0, 0, cm_print_coor, cm_get_coor, set_nul,(float *)&cs.null, 0 }, // coordinate system
{ "", "momo",_f0, 0, cm_print_momo, cm_get_momo, set_nul,(float *)&cs.null, 0 }, // motion mode
{ "", "plan",_f0, 0, cm_print_plan, cm_get_plan, set_nul,(float *)&cs.null, 0 }, // plane select
{ "", "path",_f0, 0, cm_print_path, cm_get_path, set_nul,(float *)&cs.null, 0 }, // path control mode
{ "", "dist",_f0, 0, cm_print_dist, cm_get_dist, set_nul,(float *)&cs.null, 0 }, // distance mode
{ "", "admo",_f0, 0, cm_print_admo, cm_get_admo, set_nul,(float *)&cs.null, 0 }, // arc distance mode
{ "", "frmo",_f0, 0, cm_print_frmo, cm_get_frmo, set_nul,(float *)&cs.null, 0 }, // feed rate mode
{ "", "tool",_f0, 0, cm_print_tool, cm_get_toolv,set_nul,(float *)&cs.null, 0 }, // active tool
{ "", "g92e",_f0, 0, cm_print_g92e, get_ui8, set_nul,(float *)&cm->gmx.origin_offset_enable, 0 }, // G92 enabled
#ifdef TEMPORARY_HAS_LEDS
{ "", "_leds",_f0, 0, tx_print_nul, _get_leds,_set_leds,(float *)&cs.null, 0 }, // TEMPORARY - change LEDs
#endif
{ "mpo","mpox",_f0, 3, cm_print_mpo, cm_get_mpo, set_nul, (float *)&cs.null, 0 }, // X machine position
{ "mpo","mpoy",_f0, 3, cm_print_mpo, cm_get_mpo, set_nul, (float *)&cs.null, 0 }, // Y machine position
{ "mpo","mpoz",_f0, 3, cm_print_mpo, cm_get_mpo, set_nul, (float *)&cs.null, 0 }, // Z machine position
{ "mpo","mpoa",_f0, 3, cm_print_mpo, cm_get_mpo, set_nul, (float *)&cs.null, 0 }, // A machine position
{ "mpo","mpob",_f0, 3, cm_print_mpo, cm_get_mpo, set_nul, (float *)&cs.null, 0 }, // B machine position
{ "mpo","mpoc",_f0, 3, cm_print_mpo, cm_get_mpo, set_nul, (float *)&cs.null, 0 }, // C machine position
{ "pos","posx",_f0, 3, cm_print_pos, cm_get_pos, set_nul, (float *)&cs.null, 0 }, // X work position
{ "pos","posy",_f0, 3, cm_print_pos, cm_get_pos, set_nul, (float *)&cs.null, 0 }, // Y work position
{ "pos","posz",_f0, 3, cm_print_pos, cm_get_pos, set_nul, (float *)&cs.null, 0 }, // Z work position
{ "pos","posa",_f0, 3, cm_print_pos, cm_get_pos, set_nul, (float *)&cs.null, 0 }, // A work position
{ "pos","posb",_f0, 3, cm_print_pos, cm_get_pos, set_nul, (float *)&cs.null, 0 }, // B work position
{ "pos","posc",_f0, 3, cm_print_pos, cm_get_pos, set_nul, (float *)&cs.null, 0 }, // C work position
{ "ofs","ofsx",_f0, 3, cm_print_ofs, cm_get_ofs, set_nul, (float *)&cs.null, 0 }, // X work offset
{ "ofs","ofsy",_f0, 3, cm_print_ofs, cm_get_ofs, set_nul, (float *)&cs.null, 0 }, // Y work offset
{ "ofs","ofsz",_f0, 3, cm_print_ofs, cm_get_ofs, set_nul, (float *)&cs.null, 0 }, // Z work offset
{ "ofs","ofsa",_f0, 3, cm_print_ofs, cm_get_ofs, set_nul, (float *)&cs.null, 0 }, // A work offset
{ "ofs","ofsb",_f0, 3, cm_print_ofs, cm_get_ofs, set_nul, (float *)&cs.null, 0 }, // B work offset
{ "ofs","ofsc",_f0, 3, cm_print_ofs, cm_get_ofs, set_nul, (float *)&cs.null, 0 }, // C work offset
{ "hom","home",_f0, 0, cm_print_home,cm_get_home,cm_set_home,(float *)&cs.null,0 },// homing state, invoke homing cycle
{ "hom","homx",_f0, 0, cm_print_hom, cm_get_hom, set_nul, (float *)&cs.null, 0 }, // X homed - Homing status group
{ "hom","homy",_f0, 0, cm_print_hom, cm_get_hom, set_nul, (float *)&cs.null, 0 }, // Y homed
{ "hom","homz",_f0, 0, cm_print_hom, cm_get_hom, set_nul, (float *)&cs.null, 0 }, // Z homed
{ "hom","homa",_f0, 0, cm_print_hom, cm_get_hom, set_nul, (float *)&cs.null, 0 }, // A homed
{ "hom","homb",_f0, 0, cm_print_hom, cm_get_hom, set_nul, (float *)&cs.null, 0 }, // B homed
{ "hom","homc",_f0, 0, cm_print_hom, cm_get_hom, set_nul, (float *)&cs.null, 0 }, // C homed
{ "prb","prbe",_f0, 0, tx_print_nul, cm_get_prob,set_nul, (float *)&cs.null, 0 }, // probing state
{ "prb","prbx",_f0, 3, tx_print_nul, cm_get_prb, set_nul, (float *)&cs.null, 0 }, // X probe results
{ "prb","prby",_f0, 3, tx_print_nul, cm_get_prb, set_nul, (float *)&cs.null, 0 }, // Y probe results
{ "prb","prbz",_f0, 3, tx_print_nul, cm_get_prb, set_nul, (float *)&cs.null, 0 }, // Z probe results
{ "prb","prba",_f0, 3, tx_print_nul, cm_get_prb, set_nul, (float *)&cs.null, 0 }, // A probe results
{ "prb","prbb",_f0, 3, tx_print_nul, cm_get_prb, set_nul, (float *)&cs.null, 0 }, // B probe results
{ "prb","prbc",_f0, 3, tx_print_nul, cm_get_prb, set_nul, (float *)&cs.null, 0 }, // C probe results
{ "jog","jogx",_f0, 0, tx_print_nul, get_nul, cm_run_jog, (float *)&cs.null, 0}, // jog in X axis
{ "jog","jogy",_f0, 0, tx_print_nul, get_nul, cm_run_jog, (float *)&cs.null, 0}, // jog in Y axis
{ "jog","jogz",_f0, 0, tx_print_nul, get_nul, cm_run_jog, (float *)&cs.null, 0}, // jog in Z axis
{ "jog","joga",_f0, 0, tx_print_nul, get_nul, cm_run_jog, (float *)&cs.null, 0}, // jog in A axis
{ "jog","jogb",_f0, 0, tx_print_nul, get_nul, cm_run_jog, (float *)&cs.null, 0}, // jog in B axis
{ "jog","jogc",_f0, 0, tx_print_nul, get_nul, cm_run_jog, (float *)&cs.null, 0}, // jog in C axis
{ "pwr","pwr1",_f0, 3, st_print_pwr, st_get_pwr, set_nul, (float *)&cs.null, 0}, // motor power readouts
{ "pwr","pwr2",_f0, 3, st_print_pwr, st_get_pwr, set_nul, (float *)&cs.null, 0},
#if (MOTORS > 2)
{ "pwr","pwr3",_f0, 3, st_print_pwr, st_get_pwr, set_nul, (float *)&cs.null, 0},
#endif
#if (MOTORS > 3)
{ "pwr","pwr4",_f0, 3, st_print_pwr, st_get_pwr, set_nul, (float *)&cs.null, 0},
#endif
#if (MOTORS > 4)
{ "pwr","pwr5",_f0, 3, st_print_pwr, st_get_pwr, set_nul, (float *)&cs.null, 0},
#endif
#if (MOTORS > 5)
{ "pwr","pwr6",_f0, 3, st_print_pwr, st_get_pwr, set_nul, (float *)&cs.null, 0},
#endif
// Motor parameters
{ "1","1ma",_fip, 0, st_print_ma, get_ui8, set_ui8, (float *)&st_cfg.mot[MOTOR_1].motor_map, M1_MOTOR_MAP },
{ "1","1sa",_fip, 3, st_print_sa, get_flt, st_set_sa, (float *)&st_cfg.mot[MOTOR_1].step_angle, 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","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 },
{ "1","1pl",_fip, 3, st_print_pl, get_flt, st_set_pl, (float *)&st_cfg.mot[MOTOR_1].power_level, M1_POWER_LEVEL },
// { "1","1pi",_fip, 3, st_print_pi, get_flt, st_set_pi, (float *)&st_cfg.mot[MOTOR_1].power_idle, M1_POWER_IDLE },
// { "1","1mt",_fip, 2, st_print_mt, get_flt, st_set_mt, (float *)&st_cfg.mot[MOTOR_1].motor_timeout, M1_MOTOR_TIMEOUT },
#if (MOTORS >= 2)
{ "2","2ma",_fip, 0, st_print_ma, get_ui8, set_ui8, (float *)&st_cfg.mot[MOTOR_2].motor_map, M2_MOTOR_MAP },
{ "2","2sa",_fip, 3, st_print_sa, get_flt, st_set_sa, (float *)&st_cfg.mot[MOTOR_2].step_angle, 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","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 },
{ "2","2pl",_fip, 3, st_print_pl, get_flt, st_set_pl, (float *)&st_cfg.mot[MOTOR_2].power_level, M2_POWER_LEVEL},
// { "2","2pi",_fip, 3, st_print_pi, get_flt, st_set_pi, (float *)&st_cfg.mot[MOTOR_2].power_idle, M2_POWER_IDLE },
// { "2","2mt",_fip, 2, st_print_mt, get_flt, st_set_mt, (float *)&st_cfg.mot[MOTOR_2].motor_timeout, M2_MOTOR_TIMEOUT },
#endif
#if (MOTORS >= 3)
{ "3","3ma",_fip, 0, st_print_ma, get_ui8, set_ui8, (float *)&st_cfg.mot[MOTOR_3].motor_map, M3_MOTOR_MAP },
{ "3","3sa",_fip, 3, st_print_sa, get_flt, st_set_sa, (float *)&st_cfg.mot[MOTOR_3].step_angle, 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","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 },
{ "3","3pl",_fip, 3, st_print_pl, get_flt, st_set_pl, (float *)&st_cfg.mot[MOTOR_3].power_level, M3_POWER_LEVEL },
// { "3","3pi",_fip, 3, st_print_pi, get_flt, st_set_pi, (float *)&st_cfg.mot[MOTOR_3].power_idle, M3_POWER_IDLE },
// { "3","3mt",_fip, 2, st_print_mt, get_flt, st_set_mt, (float *)&st_cfg.mot[MOTOR_3].motor_timeout, M3_MOTOR_TIMEOUT },
#endif
#if (MOTORS >= 4)
{ "4","4ma",_fip, 0, st_print_ma, get_ui8, set_ui8, (float *)&st_cfg.mot[MOTOR_4].motor_map, M4_MOTOR_MAP },
{ "4","4sa",_fip, 3, st_print_sa, get_flt, st_set_sa, (float *)&st_cfg.mot[MOTOR_4].step_angle, 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","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 },
{ "4","4pl",_fip, 3, st_print_pl, get_flt, st_set_pl, (float *)&st_cfg.mot[MOTOR_4].power_level, M4_POWER_LEVEL },
// { "4","4pi",_fip, 3, st_print_pi, get_flt, st_set_pi, (float *)&st_cfg.mot[MOTOR_4].power_idle, M4_POWER_IDLE },
// { "4","4mt",_fip, 2, st_print_mt, get_flt, st_set_mt, (float *)&st_cfg.mot[MOTOR_4].motor_timeout, M4_MOTOR_TIMEOUT },
#endif
#if (MOTORS >= 5)
{ "5","5ma",_fip, 0, st_print_ma, get_ui8, set_ui8, (float *)&st_cfg.mot[MOTOR_5].motor_map, M5_MOTOR_MAP },
{ "5","5sa",_fip, 3, st_print_sa, get_flt, st_set_sa, (float *)&st_cfg.mot[MOTOR_5].step_angle, 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","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 },
{ "5","5pl",_fip, 3, st_print_pl, get_flt, st_set_pl, (float *)&st_cfg.mot[MOTOR_5].power_level, M5_POWER_LEVEL },
// { "5","5pi",_fip, 3, st_print_pi, get_flt, st_set_pi, (float *)&st_cfg.mot[MOTOR_5].power_idle, M5_POWER_IDLE },
// { "5","5mt",_fip, 2, st_print_mt, get_flt, st_set_mt, (float *)&st_cfg.mot[MOTOR_5].motor_timeout, M5_MOTOR_TIMEOUT },
#endif
#if (MOTORS >= 6)
{ "6","6ma",_fip, 0, st_print_ma, get_ui8, set_ui8, (float *)&st_cfg.mot[MOTOR_6].motor_map, M6_MOTOR_MAP },
{ "6","6sa",_fip, 3, st_print_sa, get_flt, st_set_sa, (float *)&st_cfg.mot[MOTOR_6].step_angle, 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","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 },
{ "6","6pl",_fip, 3, st_print_pl, get_flt, st_set_pl, (float *)&st_cfg.mot[MOTOR_6].power_level, M6_POWER_LEVEL },
// { "6","6pi",_fip, 3, st_print_pi, get_flt, st_set_pi, (float *)&st_cfg.mot[MOTOR_6].power_idle, M6_POWER_IDLE },
// { "6","6mt",_fip, 2, st_print_mt, get_flt, st_set_mt, (float *)&st_cfg.mot[MOTOR_6].motor_timeout, M6_MOTOR_TIMEOUT },
#endif
// Axis parameters
{ "x","xam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, X_AXIS_MODE },
{ "x","xvm",_fipc, 0, cm_print_vm, cm_get_vm, cm_set_vm, (float *)&cs.null, X_VELOCITY_MAX },
{ "x","xfr",_fipc, 0, cm_print_fr, cm_get_fr, cm_set_fr, (float *)&cs.null, X_FEEDRATE_MAX },
{ "x","xtn",_fipc, 3, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, X_TRAVEL_MIN },
{ "x","xtm",_fipc, 3, cm_print_tm, cm_get_tm, cm_set_tm, (float *)&cs.null, X_TRAVEL_MAX },
{ "x","xjm",_fipc, 0, cm_print_jm, cm_get_jm, cm_set_jm, (float *)&cs.null, X_JERK_MAX },
{ "x","xjh",_fipc, 0, cm_print_jh, cm_get_jh, cm_set_jh, (float *)&cs.null, X_JERK_HIGH_SPEED },
{ "x","xhi",_fip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, X_HOMING_INPUT },
{ "x","xhd",_fip, 0, cm_print_hd, cm_get_hd, cm_set_hd, (float *)&cs.null, X_HOMING_DIRECTION },
{ "x","xsv",_fipc, 0, cm_print_sv, cm_get_sv, cm_set_sv, (float *)&cs.null, X_SEARCH_VELOCITY },
{ "x","xlv",_fipc, 2, cm_print_lv, cm_get_lv, cm_set_lv, (float *)&cs.null, X_LATCH_VELOCITY },
{ "x","xlb",_fipc, 3, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, X_LATCH_BACKOFF },
{ "x","xzb",_fipc, 3, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, X_ZERO_BACKOFF },
{ "y","yam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, Y_AXIS_MODE },
{ "y","yvm",_fipc, 0, cm_print_vm, cm_get_vm, cm_set_vm, (float *)&cs.null, Y_VELOCITY_MAX },
{ "y","yfr",_fipc, 0, cm_print_fr, cm_get_fr, cm_set_fr, (float *)&cs.null, Y_FEEDRATE_MAX },
{ "y","ytn",_fipc, 3, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, Y_TRAVEL_MIN },
{ "y","ytm",_fipc, 3, cm_print_tm, cm_get_tm, cm_set_tm, (float *)&cs.null, Y_TRAVEL_MAX },
{ "y","yjm",_fipc, 0, cm_print_jm, cm_get_jm, cm_set_jm, (float *)&cs.null, Y_JERK_MAX },
{ "y","yjh",_fipc, 0, cm_print_jh, cm_get_jh, cm_set_jh, (float *)&cs.null, Y_JERK_HIGH_SPEED },
{ "y","yhi",_fip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, Y_HOMING_INPUT },
{ "y","yhd",_fip, 0, cm_print_hd, cm_get_hd, cm_set_hd, (float *)&cs.null, Y_HOMING_DIRECTION },
{ "y","ysv",_fipc, 0, cm_print_sv, cm_get_sv, cm_set_sv, (float *)&cs.null, Y_SEARCH_VELOCITY },
{ "y","ylv",_fipc, 2, cm_print_lv, cm_get_lv, cm_set_lv, (float *)&cs.null, Y_LATCH_VELOCITY },
{ "y","ylb",_fipc, 3, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, Y_LATCH_BACKOFF },
{ "y","yzb",_fipc, 3, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, Y_ZERO_BACKOFF },
{ "z","zam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, Z_AXIS_MODE },
{ "z","zvm",_fipc, 0, cm_print_vm, cm_get_vm, cm_set_vm, (float *)&cs.null, Z_VELOCITY_MAX },
{ "z","zfr",_fipc, 0, cm_print_fr, cm_get_fr, cm_set_fr, (float *)&cs.null, Z_FEEDRATE_MAX },
{ "z","ztn",_fipc, 3, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, Z_TRAVEL_MIN },
{ "z","ztm",_fipc, 3, cm_print_tm, cm_get_tm, cm_set_tm, (float *)&cs.null, Z_TRAVEL_MAX },
{ "z","zjm",_fipc, 0, cm_print_jm, cm_get_jm, cm_set_jm, (float *)&cs.null, Z_JERK_MAX },
{ "z","zjh",_fipc, 0, cm_print_jh, cm_get_jm, cm_set_jh, (float *)&cs.null, Z_JERK_HIGH_SPEED },
{ "z","zhi",_fip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, Z_HOMING_INPUT },
{ "z","zhd",_fip, 0, cm_print_hd, cm_get_hd, cm_set_hd, (float *)&cs.null, Z_HOMING_DIRECTION },
{ "z","zsv",_fipc, 0, cm_print_sv, cm_get_sv, cm_set_sv, (float *)&cs.null, Z_SEARCH_VELOCITY },
{ "z","zlv",_fipc, 2, cm_print_lv, cm_get_lv, cm_set_lv, (float *)&cs.null, Z_LATCH_VELOCITY },
{ "z","zlb",_fipc, 3, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, Z_LATCH_BACKOFF },
{ "z","zzb",_fipc, 3, cm_print_zb, cm_get_lb, cm_set_zb, (float *)&cs.null, Z_ZERO_BACKOFF },
{ "a","aam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, A_AXIS_MODE },
{ "a","avm",_fip, 0, cm_print_vm, cm_get_vm, cm_set_vm, (float *)&cs.null, A_VELOCITY_MAX },
{ "a","afr",_fip, 0, cm_print_fr, cm_get_fr, cm_set_fr, (float *)&cs.null, A_FEEDRATE_MAX },
{ "a","atn",_fip, 3, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, A_TRAVEL_MIN },
{ "a","atm",_fip, 3, cm_print_tm, cm_get_tm, cm_set_tm, (float *)&cs.null, A_TRAVEL_MAX },
{ "a","ajm",_fip, 0, cm_print_jm, cm_get_jm, cm_set_jm, (float *)&cs.null, A_JERK_MAX },
{ "a","ajh",_fip, 0, cm_print_jh, cm_get_jh, cm_set_jh, (float *)&cs.null, A_JERK_HIGH_SPEED },
{ "a","ara",_fipc, 3, cm_print_ra, cm_get_ra, cm_set_ra, (float *)&cs.null, A_RADIUS},
{ "a","ahi",_fip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, A_HOMING_INPUT },
{ "a","ahd",_fip, 0, cm_print_hd, cm_get_hd, cm_set_hd, (float *)&cs.null, A_HOMING_DIRECTION },
{ "a","asv",_fip, 0, cm_print_sv, cm_get_sv, cm_set_sv, (float *)&cs.null, A_SEARCH_VELOCITY },
{ "a","alv",_fip, 2, cm_print_lv, cm_get_lv, cm_set_lv, (float *)&cs.null, A_LATCH_VELOCITY },
{ "a","alb",_fip, 3, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, A_LATCH_BACKOFF },
{ "a","azb",_fip, 3, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, A_ZERO_BACKOFF },
{ "b","bam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, B_AXIS_MODE },
{ "b","bvm",_fip, 0, cm_print_vm, cm_get_vm, cm_set_vm, (float *)&cs.null, B_VELOCITY_MAX },
{ "b","bfr",_fip, 0, cm_print_fr, cm_get_fr, cm_set_fr, (float *)&cs.null, B_FEEDRATE_MAX },
{ "b","btn",_fip, 3, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, B_TRAVEL_MIN },
{ "b","btm",_fip, 3, cm_print_tm, cm_get_tm, cm_set_tm, (float *)&cs.null, B_TRAVEL_MAX },
{ "b","bjm",_fip, 0, cm_print_jm, cm_get_jm, cm_set_jm, (float *)&cs.null, B_JERK_MAX },
{ "b","bjh",_fip, 0, cm_print_jh, cm_get_jh, cm_set_jh, (float *)&cs.null, B_JERK_HIGH_SPEED },
{ "b","bra",_fipc, 3, cm_print_ra, cm_get_ra, cm_set_ra, (float *)&cs.null, B_RADIUS },
{ "b","bhi",_fip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, B_HOMING_INPUT },
{ "b","bhd",_fip, 0, cm_print_hd, cm_get_hd, cm_set_hd, (float *)&cs.null, B_HOMING_DIRECTION },
{ "b","bsv",_fip, 0, cm_print_sv, cm_get_sv, cm_set_sv, (float *)&cs.null, B_SEARCH_VELOCITY },
{ "b","blv",_fip, 2, cm_print_lv, cm_get_lv, cm_set_lv, (float *)&cs.null, B_LATCH_VELOCITY },
{ "b","blb",_fip, 3, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, B_LATCH_BACKOFF },
{ "b","bzb",_fip, 3, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, B_ZERO_BACKOFF },
{ "c","cam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, C_AXIS_MODE },
{ "c","cvm",_fip, 0, cm_print_vm, cm_get_vm, cm_set_vm, (float *)&cs.null, C_VELOCITY_MAX },
{ "c","cfr",_fip, 0, cm_print_fr, cm_get_fr, cm_set_fr, (float *)&cs.null, C_FEEDRATE_MAX },
{ "c","ctn",_fip, 3, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, C_TRAVEL_MIN },
{ "c","ctm",_fip, 3, cm_print_tm, cm_get_tm, cm_set_tm, (float *)&cs.null, C_TRAVEL_MAX },
{ "c","cjm",_fip, 0, cm_print_jm, cm_get_jm, cm_set_jm, (float *)&cs.null, C_JERK_MAX },
{ "c","cjh",_fip, 0, cm_print_jh, cm_get_jh, cm_set_jh, (float *)&cs.null, C_JERK_HIGH_SPEED },
{ "c","cra",_fipc, 3, cm_print_ra, cm_get_ra, cm_set_ra, (float *)&cs.null, C_RADIUS },
{ "c","chi",_fip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, C_HOMING_INPUT },
{ "c","chd",_fip, 0, cm_print_hd, cm_get_hd, cm_set_hd, (float *)&cs.null, C_HOMING_DIRECTION },
{ "c","csv",_fip, 0, cm_print_sv, cm_get_sv, cm_set_sv, (float *)&cs.null, C_SEARCH_VELOCITY },
{ "c","clv",_fip, 2, cm_print_lv, cm_get_lv, cm_set_lv, (float *)&cs.null, C_LATCH_VELOCITY },
{ "c","clb",_fip, 3, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, C_LATCH_BACKOFF },
{ "c","czb",_fip, 3, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, C_ZERO_BACKOFF },
// Digital input configs
{ "di1","di1mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[0].mode, DI1_MODE },
{ "di1","di1ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[0].action, DI1_ACTION },
{ "di1","di1fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[0].function, DI1_FUNCTION },
{ "di2","di2mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[1].mode, DI2_MODE },
{ "di2","di2ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[1].action, DI2_ACTION },
{ "di2","di2fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[1].function, DI2_FUNCTION },
{ "di3","di3mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[2].mode, DI3_MODE },
{ "di3","di3ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[2].action, DI3_ACTION },
{ "di3","di3fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[2].function, DI3_FUNCTION },
{ "di4","di4mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[3].mode, DI4_MODE },
{ "di4","di4ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[3].action, DI4_ACTION },
{ "di4","di4fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[3].function, DI4_FUNCTION },
{ "di5","di5mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[4].mode, DI5_MODE },
{ "di5","di5ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[4].action, DI5_ACTION },
{ "di5","di5fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[4].function, DI5_FUNCTION },
{ "di6","di6mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[5].mode, DI6_MODE },
{ "di6","di6ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[5].action, DI6_ACTION },
{ "di6","di6fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[5].function, DI6_FUNCTION },
{ "di7","di7mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[6].mode, DI7_MODE },
{ "di7","di7ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[6].action, DI7_ACTION },
{ "di7","di7fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[6].function, DI7_FUNCTION },
{ "di8","di8mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[7].mode, DI8_MODE },
{ "di8","di8ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[7].action, DI8_ACTION },
{ "di8","di8fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[7].function, DI8_FUNCTION },
#if (D_IN_CHANNELS >= 9)
{ "di9","di9mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[8].mode, DI9_MODE },
{ "di9","di9ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[8].action, DI9_ACTION },
{ "di9","di9fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[8].function, DI9_FUNCTION },
#endif
#if (D_IN_CHANNELS >= 10)
{ "di10","di10mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[9].mode, DI10_MODE },
{ "di10","di10ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[9].action, DI10_ACTION },
{ "di10","di10fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[9].function, DI10_FUNCTION },
#endif
#if (D_IN_CHANNELS >= 11)
{ "di11","di11mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[10].mode, DI11_MODE },
{ "di11","di11ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[10].action, DI11_ACTION },
{ "di11","di11fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[10].function, DI11_FUNCTION },
#endif
#if (D_IN_CHANNELS >= 12)
{ "di12","di12mo",_fip, 0, io_print_mo, get_int8,io_set_mo, (float *)&d_in[11].mode, DI12_MODE },
{ "di12","di12ac",_fip, 0, io_print_ac, get_ui8, io_set_ac, (float *)&d_in[11].action, DI12_ACTION },
{ "di12","di12fn",_fip, 0, io_print_fn, get_ui8, io_set_fn, (float *)&d_in[11].function, DI12_FUNCTION },
#endif
// Digital input state readers
{ "in","in1", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
{ "in","in2", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
{ "in","in3", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
{ "in","in4", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
{ "in","in5", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
{ "in","in6", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
{ "in","in7", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
{ "in","in8", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
#if (D_IN_CHANNELS >= 9)
{ "in","in9", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
#endif
#if (D_IN_CHANNELS >= 10)
{ "in","in10", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
#endif
#if (D_IN_CHANNELS >= 11)
{ "in","in11", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
#endif
#if (D_IN_CHANNELS >= 12)
{ "in","in12", _f0, 0, io_print_in, io_get_input, set_nul, (float *)&cs.null, 0 },
#endif
// digital output configs
{ "do1", "do1mo", _fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[0].mode, DO1_MODE },
{ "do2", "do2mo", _fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[1].mode, DO2_MODE },
{ "do3", "do3mo", _fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[2].mode, DO3_MODE },
{ "do4", "do4mo", _fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[3].mode, DO4_MODE },
{ "do5", "do5mo", _fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[4].mode, DO5_MODE },
{ "do6", "do6mo", _fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[5].mode, DO6_MODE },
{ "do7", "do7mo", _fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[6].mode, DO7_MODE },
{ "do8", "do8mo", _fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[7].mode, DO8_MODE },
{ "do9", "do9mo", _fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[8].mode, DO9_MODE },
{ "do10","do10mo",_fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[9].mode, DO10_MODE },
{ "do11","do11mo",_fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[10].mode, DO11_MODE },
{ "do12","do12mo",_fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[11].mode, DO12_MODE },
{ "do13","do13mo",_fip, 0, io_print_domode, get_int8, io_set_domode, (float *)&d_out[12].mode, DO13_MODE },
// Digital output state readers (default to non-active)
{ "out","out1", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out2", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out3", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out4", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out5", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out6", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out7", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out8", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out9", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out10", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out11", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out12", _f0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
// PWM settings
{ "p1","p1frq",_fip, 0, pwm_print_p1frq, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].frequency, P1_PWM_FREQUENCY },
{ "p1","p1csl",_fip, 0, pwm_print_p1csl, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].cw_speed_lo, P1_CW_SPEED_LO },
{ "p1","p1csh",_fip, 0, pwm_print_p1csh, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].cw_speed_hi, P1_CW_SPEED_HI },
{ "p1","p1cpl",_fip, 3, pwm_print_p1cpl, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].cw_phase_lo, P1_CW_PHASE_LO },
{ "p1","p1cph",_fip, 3, pwm_print_p1cph, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].cw_phase_hi, P1_CW_PHASE_HI },
{ "p1","p1wsl",_fip, 0, pwm_print_p1wsl, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].ccw_speed_lo, P1_CCW_SPEED_LO },
{ "p1","p1wsh",_fip, 0, pwm_print_p1wsh, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].ccw_speed_hi, P1_CCW_SPEED_HI },
{ "p1","p1wpl",_fip, 3, pwm_print_p1wpl, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].ccw_phase_lo, P1_CCW_PHASE_LO },
{ "p1","p1wph",_fip, 3, pwm_print_p1wph, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].ccw_phase_hi, P1_CCW_PHASE_HI },
{ "p1","p1pof",_fip, 3, pwm_print_p1pof, get_flt, pwm_set_pwm,(float *)&pwm.c[PWM_1].phase_off, P1_PWM_PHASE_OFF },
// temperature configs - pid active values (read-only)
// NOTICE: If you change these PID group keys, you MUST change the get/set functions too!!
{ "pid1","pid1p",_f0, 3, tx_print_nul, cm_get_pid_p, set_nul, (float *)&cs.null, 0 },
{ "pid1","pid1i",_f0, 5, tx_print_nul, cm_get_pid_i, set_nul, (float *)&cs.null, 0 },
{ "pid1","pid1d",_f0, 5, tx_print_nul, cm_get_pid_d, set_nul, (float *)&cs.null, 0 },
{ "pid2","pid2p",_f0, 3, tx_print_nul, cm_get_pid_p, set_nul, (float *)&cs.null, 0 },
{ "pid2","pid2i",_f0, 5, tx_print_nul, cm_get_pid_i, set_nul, (float *)&cs.null, 0 },
{ "pid2","pid2d",_f0, 5, tx_print_nul, cm_get_pid_d, set_nul, (float *)&cs.null, 0 },
{ "pid3","pid3p",_f0, 3, tx_print_nul, cm_get_pid_p, set_nul, (float *)&cs.null, 0 },
{ "pid3","pid3i",_f0, 5, tx_print_nul, cm_get_pid_i, set_nul, (float *)&cs.null, 0 },
{ "pid3","pid3d",_f0, 5, tx_print_nul, cm_get_pid_d, set_nul, (float *)&cs.null, 0 },
// temperature configs - heater set values (read-write)
// NOTICE: If you change these heater group keys, you MUST change the get/set functions too!!
{ "he1","he1e", _fip, 0, tx_print_nul, cm_get_heater_enable, cm_set_heater_enable, (float *)&cs.null, H1_DEFAULT_ENABLE },
{ "he1","he1p", _fi, 3, tx_print_nul, cm_get_heater_p, cm_set_heater_p, (float *)&cs.null, H1_DEFAULT_P },
{ "he1","he1i", _fi, 5, tx_print_nul, cm_get_heater_i, cm_set_heater_i, (float *)&cs.null, H1_DEFAULT_I },
{ "he1","he1d", _fi, 5, tx_print_nul, cm_get_heater_d, cm_set_heater_d, (float *)&cs.null, H1_DEFAULT_D },
{ "he1","he1st",_f0, 1, tx_print_nul, cm_get_set_temperature, cm_set_set_temperature, (float *)&cs.null, 0 },
{ "he1","he1t", _f0, 1, tx_print_nul, cm_get_temperature, set_nul, (float *)&cs.null, 0 },
{ "he1","he1op",_f0, 3, tx_print_nul, cm_get_heater_output, set_nul, (float *)&cs.null, 0 },
{ "he1","he1tr",_f0, 3, tx_print_nul, cm_get_thermistor_resistance, set_nul, (float *)&cs.null, 0 },
{ "he1","he1at",_f0, 0, tx_print_nul, cm_get_at_temperature, set_nul, (float *)&cs.null, 0 },
{ "he1","he1an",_f0, 0, tx_print_nul, cm_get_heater_adc, set_nul, (float *)&cs.null, 0 },
{ "he1","he1fp",_f0, 1, tx_print_nul, cm_get_fan_power, cm_set_fan_power, (float *)&cs.null, 0 },
{ "he1","he1fm",_f0, 1, tx_print_nul, cm_get_fan_min_power, cm_set_fan_min_power, (float *)&cs.null, 0 },
{ "he1","he1fl",_f0, 1, tx_print_nul, cm_get_fan_low_temp, cm_set_fan_low_temp, (float *)&cs.null, 0 },
{ "he1","he1fh",_f0, 1, tx_print_nul, cm_get_fan_high_temp, cm_set_fan_high_temp, (float *)&cs.null, 0 },
{ "he2","he2e", _fip, 0, tx_print_nul, cm_get_heater_enable, cm_set_heater_enable, (float *)&cs.null, H2_DEFAULT_ENABLE },
{ "he2","he2p", _fi, 3, tx_print_nul, cm_get_heater_p, cm_set_heater_p, (float *)&cs.null, H2_DEFAULT_P },
{ "he2","he2i", _fi, 5, tx_print_nul, cm_get_heater_i, cm_set_heater_i, (float *)&cs.null, H2_DEFAULT_I },
{ "he2","he2d", _fi, 5, tx_print_nul, cm_get_heater_d, cm_set_heater_d, (float *)&cs.null, H2_DEFAULT_D },
{ "he2","he2st",_f0, 0, tx_print_nul, cm_get_set_temperature, cm_set_set_temperature, (float *)&cs.null, 0 },
{ "he2","he2t", _f0, 1, tx_print_nul, cm_get_temperature, set_nul, (float *)&cs.null, 0 },
{ "he2","he2op",_f0, 3, tx_print_nul, cm_get_heater_output, set_nul, (float *)&cs.null, 0 },
{ "he2","he2tr",_f0, 3, tx_print_nul, cm_get_thermistor_resistance, set_nul, (float *)&cs.null, 0 },
{ "he2","he2at",_f0, 0, tx_print_nul, cm_get_at_temperature, set_nul, (float *)&cs.null, 0 },
{ "he2","he2an",_f0, 0, tx_print_nul, cm_get_heater_adc, set_nul, (float *)&cs.null, 0 },
{ "he2","he2fp",_f0, 1, tx_print_nul, cm_get_fan_power, cm_set_fan_power, (float *)&cs.null, 0 },
{ "he2","he2fm",_f0, 1, tx_print_nul, cm_get_fan_min_power, cm_set_fan_min_power, (float *)&cs.null, 0 },
{ "he2","he2fl",_f0, 1, tx_print_nul, cm_get_fan_low_temp, cm_set_fan_low_temp, (float *)&cs.null, 0 },
{ "he2","he2fh",_f0, 1, tx_print_nul, cm_get_fan_high_temp, cm_set_fan_high_temp, (float *)&cs.null, 0 },
{ "he3","he3e", _fip, 0, tx_print_nul, cm_get_heater_enable, cm_set_heater_enable, (float *)&cs.null, H3_DEFAULT_ENABLE },
{ "he3","he3p", _fi, 3, tx_print_nul, cm_get_heater_p, cm_set_heater_p, (float *)&cs.null, H3_DEFAULT_P },
{ "he3","he3i", _fi, 5, tx_print_nul, cm_get_heater_i, cm_set_heater_i, (float *)&cs.null, H3_DEFAULT_I },
{ "he3","he3d", _fi, 5, tx_print_nul, cm_get_heater_d, cm_set_heater_d, (float *)&cs.null, H3_DEFAULT_D },
{ "he3","he3st",_f0, 0, tx_print_nul, cm_get_set_temperature, cm_set_set_temperature, (float *)&cs.null, 0 },
{ "he3","he3t", _f0, 1, tx_print_nul, cm_get_temperature, set_nul, (float *)&cs.null, 0 },
{ "he3","he3op",_f0, 3, tx_print_nul, cm_get_heater_output, set_nul, (float *)&cs.null, 0 },
{ "he3","he3tr",_f0, 3, tx_print_nul, cm_get_thermistor_resistance, set_nul, (float *)&cs.null, 0 },
{ "he3","he3at",_f0, 0, tx_print_nul, cm_get_at_temperature, set_nul, (float *)&cs.null, 0 },
{ "he3","he3an",_f0, 0, tx_print_nul, cm_get_heater_adc, set_nul, (float *)&cs.null, 0 },
{ "he3","he3fp",_f0, 1, tx_print_nul, cm_get_fan_power, cm_set_fan_power, (float *)&cs.null, 0 },
{ "he3","he3fm",_f0, 1, tx_print_nul, cm_get_fan_min_power, cm_set_fan_min_power, (float *)&cs.null, 0 },
{ "he3","he3fl",_f0, 1, tx_print_nul, cm_get_fan_low_temp, cm_set_fan_low_temp, (float *)&cs.null, 0 },
{ "he3","he3fh",_f0, 1, tx_print_nul, cm_get_fan_high_temp, cm_set_fan_high_temp, (float *)&cs.null, 0 },
// Coordinate system offsets (G54-G59 and G92)
{ "g54","g54x",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_X_OFFSET },
{ "g54","g54y",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_Y_OFFSET },
{ "g54","g54z",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_Z_OFFSET },
{ "g54","g54a",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_A_OFFSET },
{ "g54","g54b",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_B_OFFSET },
{ "g54","g54c",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_C_OFFSET },
{ "g55","g55x",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_X_OFFSET },
{ "g55","g55y",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_Y_OFFSET },
{ "g55","g55z",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_Z_OFFSET },
{ "g55","g55a",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_A_OFFSET },
{ "g55","g55b",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_B_OFFSET },
{ "g55","g55c",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_C_OFFSET },
{ "g56","g56x",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_X_OFFSET },
{ "g56","g56y",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_Y_OFFSET },
{ "g56","g56z",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_Z_OFFSET },
{ "g56","g56a",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_A_OFFSET },
{ "g56","g56b",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_B_OFFSET },
{ "g56","g56c",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_C_OFFSET },
{ "g57","g57x",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_X_OFFSET },
{ "g57","g57y",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_Y_OFFSET },
{ "g57","g57z",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_Z_OFFSET },
{ "g57","g57a",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_A_OFFSET },
{ "g57","g57b",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_B_OFFSET },
{ "g57","g57c",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_C_OFFSET },
{ "g58","g58x",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_X_OFFSET },
{ "g58","g58y",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_Y_OFFSET },
{ "g58","g58z",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_Z_OFFSET },
{ "g58","g58a",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_A_OFFSET },
{ "g58","g58b",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_B_OFFSET },
{ "g58","g58c",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_C_OFFSET },
{ "g59","g59x",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_X_OFFSET },
{ "g59","g59y",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_Y_OFFSET },
{ "g59","g59z",_fipc, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_Z_OFFSET },
{ "g59","g59a",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_A_OFFSET },
{ "g59","g59b",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_B_OFFSET },
{ "g59","g59c",_fip, 3, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_C_OFFSET },
{ "g92","g92x",_fic, 3, cm_print_cofs, cm_get_g92, set_nul, (float *)&cs.null, 0 },// G92 handled differently
{ "g92","g92y",_fic, 3, cm_print_cofs, cm_get_g92, set_nul, (float *)&cs.null, 0 },
{ "g92","g92z",_fic, 3, cm_print_cofs, cm_get_g92, set_nul, (float *)&cs.null, 0 },
{ "g92","g92a",_fi, 3, cm_print_cofs, cm_get_g92, set_nul, (float *)&cs.null, 0 },
{ "g92","g92b",_fi, 3, cm_print_cofs, cm_get_g92, set_nul, (float *)&cs.null, 0 },
{ "g92","g92c",_fi, 3, cm_print_cofs, cm_get_g92, set_nul, (float *)&cs.null, 0 },
// Coordinate positions (G28, G30)
{ "g28","g28x",_fic, 3, cm_print_cpos, cm_get_g28, set_nul, (float *)&cs.null, 0 },// g28 handled differently
{ "g28","g28y",_fic, 3, cm_print_cpos, cm_get_g28, set_nul, (float *)&cs.null, 0 },
{ "g28","g28z",_fic, 3, cm_print_cpos, cm_get_g28, set_nul, (float *)&cs.null, 0 },
{ "g28","g28a",_fi, 3, cm_print_cpos, cm_get_g28, set_nul, (float *)&cs.null, 0 },
{ "g28","g28b",_fi, 3, cm_print_cpos, cm_get_g28, set_nul, (float *)&cs.null, 0 },
{ "g28","g28c",_fi, 3, cm_print_cpos, cm_get_g28, set_nul, (float *)&cs.null, 0 },
{ "g30","g30x",_fic, 3, cm_print_cpos, cm_get_g30, set_nul, (float *)&cs.null, 0 },// g30 handled differently
{ "g30","g30y",_fic, 3, cm_print_cpos, cm_get_g30, set_nul, (float *)&cs.null, 0 },
{ "g30","g30z",_fic, 3, cm_print_cpos, cm_get_g30, set_nul, (float *)&cs.null, 0 },
{ "g30","g30a",_fi, 3, cm_print_cpos, cm_get_g30, set_nul, (float *)&cs.null, 0 },
{ "g30","g30b",_fi, 3, cm_print_cpos, cm_get_g30, set_nul, (float *)&cs.null, 0 },
{ "g30","g30c",_fi, 3, cm_print_cpos, cm_get_g30, set_nul, (float *)&cs.null, 0 },
// this is a 128bit UUID for identifying a previously committed job state
{ "jid","jida",_f0, 0, tx_print_nul, get_data, set_data, (float *)&cfg.job_id[0], 0},
{ "jid","jidb",_f0, 0, tx_print_nul, get_data, set_data, (float *)&cfg.job_id[1], 0},
{ "jid","jidc",_f0, 0, tx_print_nul, get_data, set_data, (float *)&cfg.job_id[2], 0},
{ "jid","jidd",_f0, 0, tx_print_nul, get_data, set_data, (float *)&cfg.job_id[3], 0},
// General system parameters
{ "sys","jt", _fipn, 2, cm_print_jt, cm_get_jt, cm_set_jt, (float *)&cs.null, JUNCTION_INTEGRATION_TIME },
{ "sys","ct", _fipnc,4, cm_print_ct, cm_get_ct, cm_set_ct, (float *)&cs.null, CHORDAL_TOLERANCE },
{ "sys","sl", _fipn, 0, cm_print_sl, get_ui8, set_01, (float *)&cm->soft_limit_enable, SOFT_LIMIT_ENABLE },
{ "sys","lim", _fipn,0, cm_print_lim, get_ui8, set_01, (float *)&cm->limit_enable, HARD_LIMIT_ENABLE },
{ "sys","saf", _fipn,0, cm_print_saf, get_ui8, set_01, (float *)&cm->safety_interlock_enable, SAFETY_INTERLOCK_ENABLE },
{ "sys","m48e",_fipn,0, cm_print_m48e,get_ui8, set_01, (float *)&cm->gmx.m48_enable, 0 }, // M48/M49 feedrate & spindle override enable
{ "sys","mfoe",_fipn,0, cm_print_mfoe,get_ui8, set_01, (float *)&cm->gmx.mfo_enable, FEED_OVERRIDE_ENABLE},
{ "sys","mfo", _fipn,3, cm_print_mfo, get_flt,cm_set_mfo,(float *)&cm->gmx.mfo_factor, FEED_OVERRIDE_FACTOR},
{ "sys","mtoe",_fipn,0, cm_print_mtoe,get_ui8, set_01, (float *)&cm->gmx.mto_enable, TRAVERSE_OVERRIDE_ENABLE},
{ "sys","mto", _fipn,3, cm_print_mto, get_flt,cm_set_mto,(float *)&cm->gmx.mto_factor, TRAVERSE_OVERRIDE_FACTOR},
{ "sys","mt", _fipn,2, st_print_mt, get_flt, st_set_mt,(float *)&st_cfg.motor_power_timeout, MOTOR_POWER_TIMEOUT},
{ "", "me", _f0, 0, st_print_me, get_nul, st_set_me,(float *)&cs.null, 0 }, // GET or SET to enable motors
{ "", "md", _f0, 0, st_print_md, get_nul, st_set_md,(float *)&cs.null, 0 }, // GET or SET to disable motors
// Spindle functions
{ "sys","spep",_fipn,0, cm_print_spep,get_ui8, set_01, (float *)&spindle.enable_polarity, SPINDLE_ENABLE_POLARITY },
{ "sys","spdp",_fipn,0, cm_print_spdp,get_ui8, set_01, (float *)&spindle.dir_polarity, SPINDLE_DIR_POLARITY },
{ "sys","spph",_fipn,0, cm_print_spph,get_ui8, set_01, (float *)&spindle.pause_on_hold, SPINDLE_PAUSE_ON_HOLD },
{ "sys","spdw",_fipn,2, cm_print_spdw,get_flt, set_flt, (float *)&spindle.dwell_seconds, SPINDLE_DWELL_TIME },
{ "sys","ssoe",_fipn,0, cm_print_ssoe,get_ui8, set_01, (float *)&spindle.sso_enable, SPINDLE_OVERRIDE_ENABLE},
{ "sys","sso", _fipn,3, cm_print_sso, get_flt,cm_set_sso,(float *)&spindle.sso_factor, SPINDLE_OVERRIDE_FACTOR},
{ "", "spe", _f0, 0, cm_print_spe, get_ui8, set_nul, (float *)&spindle.enable, 0 }, // get spindle enable
{ "", "spd", _f0, 0, cm_print_spd, get_ui8,cm_set_dir,(float *)&spindle.direction, 0 }, // get spindle direction
{ "", "sps", _f0, 0, cm_print_sps, get_flt, set_nul, (float *)&spindle.speed, 0 }, // get spindle speed
// Coolant functions
{ "sys","cofp",_fipn,0, cm_print_cofp,get_ui8, set_01, (float *)&coolant.flood_polarity, COOLANT_FLOOD_POLARITY },
{ "sys","comp",_fipn,0, cm_print_comp,get_ui8, set_01, (float *)&coolant.mist_polarity, COOLANT_MIST_POLARITY },
{ "sys","coph",_fipn,0, cm_print_coph,get_ui8, set_01, (float *)&coolant.pause_on_hold, COOLANT_PAUSE_ON_HOLD },
{ "", "com", _f0, 0, cm_print_com, get_ui8, set_nul, (float *)&coolant.mist_enable, 0 }, // get mist coolant enable
{ "", "cof", _f0, 0, cm_print_cof, get_ui8, set_nul, (float *)&coolant.flood_enable, 0 }, // get flood coolant enable
// Communications and reporting parameters
#ifdef __TEXT_MODE
{ "sys","tv", _fipn, 0, tx_print_tv, get_ui8, set_01, (float *)&txt.text_verbosity, TEXT_VERBOSITY },
#endif
{ "sys","ej", _fipn, 0, js_print_ej, get_ui8, json_set_ej,(float *)&cs.comm_mode, COMM_MODE },
{ "sys","jv", _fipn, 0, js_print_jv, get_ui8, json_set_jv,(float *)&js.json_verbosity, JSON_VERBOSITY },
{ "sys","qv", _fipn, 0, qr_print_qv, get_ui8, set_0123, (float *)&qr.queue_report_verbosity, QUEUE_REPORT_VERBOSITY },
{ "sys","sv", _fipn, 0, sr_print_sv, get_ui8, set_012, (float *)&sr.status_report_verbosity,STATUS_REPORT_VERBOSITY },
{ "sys","si", _fipn, 0, sr_print_si, get_int32, sr_set_si, (float *)&sr.status_report_interval, STATUS_REPORT_INTERVAL_MS },
// Gcode defaults
// NOTE: The ordering within the gcode defaults is important for token resolution. gc must follow gco
{ "sys","gpl", _fipn, 0, cm_print_gpl, get_ui8, set_012, (float *)&gc.default_select_plane, GCODE_DEFAULT_PLANE },
{ "sys","gun", _fipn, 0, cm_print_gun, get_ui8, set_01, (float *)&gc.default_units_mode, GCODE_DEFAULT_UNITS },
{ "sys","gco", _fipn, 0, cm_print_gco, get_ui8, set_ui8, (float *)&gc.default_coord_system, GCODE_DEFAULT_COORD_SYSTEM },
{ "sys","gpa", _fipn, 0, cm_print_gpa, get_ui8, set_012, (float *)&gc.default_path_control, GCODE_DEFAULT_PATH_CONTROL },
{ "sys","gdi", _fipn, 0, cm_print_gdi, get_ui8, set_01, (float *)&gc.default_distance_mode, GCODE_DEFAULT_DISTANCE_MODE },
{ "", "gc", _f0, 0, tx_print_nul, gc_get_gc,gc_run_gc,(float *)&cs.null, 0 }, // gcode block - must be last in this group
// Actions and Reports
{ "", "sr", _f0, 0, sr_print_sr, sr_get, sr_set, (float *)&cs.null, 0 }, // request and set status reports
{ "", "qr", _f0, 0, qr_print_qr, qr_get, set_nul, (float *)&cs.null, 0 }, // get queue value - planner buffers available
{ "", "qi", _f0, 0, qr_print_qi, qi_get, set_nul, (float *)&cs.null, 0 }, // get queue value - buffers added to queue
{ "", "qo", _f0, 0, qr_print_qo, qo_get, set_nul, (float *)&cs.null, 0 }, // get queue value - buffers removed from queue
{ "", "er", _f0, 0, tx_print_nul, rpt_er, set_nul, (float *)&cs.null, 0 }, // get bogus exception report for testing
{ "", "qf", _f0, 0, tx_print_nul, get_nul, cm_run_qf, (float *)&cs.null, 0 }, // SET to invoke queue flush
{ "", "rx", _f0, 0, tx_print_int, get_rx, set_nul, (float *)&cs.null, 0 }, // get RX buffer bytes or packets
{ "", "msg", _f0, 0, tx_print_str, get_nul, set_nul, (float *)&cs.null, 0 }, // string for generic messages
{ "", "alarm",_f0,0, tx_print_nul, cm_alrm, cm_alrm, (float *)&cs.null, 0 }, // trigger alarm
{ "", "panic",_f0,0, tx_print_nul, cm_pnic, cm_pnic, (float *)&cs.null, 0 }, // trigger panic
{ "", "shutd",_f0,0, tx_print_nul, cm_shutd, cm_shutd, (float *)&cs.null, 0 }, // trigger shutdown
{ "", "clear",_f0,0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // GET "clear" to clear alarm state
{ "", "clr", _f0,0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // synonym for "clear"
{ "", "tick", _f0,0, tx_print_int, get_tick, set_nul, (float *)&cs.null, 0 }, // get system time tic
{ "", "tram", _f0,0, cm_print_tram, cm_get_tram,cm_set_tram, (float *)&cs.null, 0 },// SET to attempt setting rotation matrix from probes
{ "", "defa",_f0, 0, tx_print_nul, help_defa, set_defaults,(float *)&cs.null,0 }, // set/print defaults / help screen
{ "", "flash",_f0,0, tx_print_nul, help_flash,hw_flash, (float *)&cs.null,0 },
{ "", "switch",_f0,0, tx_print_nul, get_nul, mp_switch_q, (float *)&cs.null,0 },
{ "", "return",_f0,0, tx_print_nul, get_nul, mp_return_q, (float *)&cs.null,0 },
#ifdef __HELP_SCREENS
{ "", "help",_f0, 0, tx_print_nul, help_config, set_nul, (float *)&cs.null,0 }, // prints config help screen
{ "", "h", _f0, 0, tx_print_nul, help_config, set_nul, (float *)&cs.null,0 }, // alias for "help"
#endif
#ifdef __USER_DATA
// User defined data groups
{ "uda","uda0", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_a[0], USER_DATA_A0 },
{ "uda","uda1", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_a[1], USER_DATA_A1 },
{ "uda","uda2", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_a[2], USER_DATA_A2 },
{ "uda","uda3", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_a[3], USER_DATA_A3 },
{ "udb","udb0", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_b[0], USER_DATA_B0 },
{ "udb","udb1", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_b[1], USER_DATA_B1 },
{ "udb","udb2", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_b[2], USER_DATA_B2 },
{ "udb","udb3", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_b[3], USER_DATA_B3 },
{ "udc","udc0", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_c[0], USER_DATA_C0 },
{ "udc","udc1", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_c[1], USER_DATA_C1 },
{ "udc","udc2", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_c[2], USER_DATA_C2 },
{ "udc","udc3", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_c[3], USER_DATA_C3 },
{ "udd","udd0", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_d[0], USER_DATA_D0 },
{ "udd","udd1", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_d[1], USER_DATA_D1 },
{ "udd","udd2", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_d[2], USER_DATA_D2 },
{ "udd","udd3", _fip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_d[3], USER_DATA_D3 },
#endif
// Diagnostic parameters
#ifdef __DIAGNOSTIC_PARAMETERS
{ "", "clc",_f0, 0, tx_print_nul, st_clc, st_clc, (float *)&cs.null, 0 }, // clear diagnostic step counters
{ "", "_dam",_f0, 0, tx_print_nul, cm_dam, cm_dam, (float *)&cs.null, 0 }, // dump active model
{ "_te","_tex",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target[AXIS_X], 0 }, // X target endpoint
{ "_te","_tey",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target[AXIS_Y], 0 },
{ "_te","_tez",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target[AXIS_Z], 0 },
{ "_te","_tea",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target[AXIS_A], 0 },
{ "_te","_teb",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target[AXIS_B], 0 },
{ "_te","_tec",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target[AXIS_C], 0 },
{ "_tr","_trx",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.gm.target[AXIS_X], 0 }, // X target runtime
{ "_tr","_try",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.gm.target[AXIS_Y], 0 },
{ "_tr","_trz",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.gm.target[AXIS_Z], 0 },
{ "_tr","_tra",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.gm.target[AXIS_A], 0 },
{ "_tr","_trb",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.gm.target[AXIS_B], 0 },
{ "_tr","_trc",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.gm.target[AXIS_C], 0 },
#if (MOTORS >= 1)
{ "_ts","_ts1",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target_steps[MOTOR_1], 0 }, // Motor 1 target steps
{ "_ps","_ps1",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.position_steps[MOTOR_1], 0 }, // Motor 1 position steps
{ "_cs","_cs1",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.commanded_steps[MOTOR_1], 0 }, // Motor 1 commanded steps (delayed steps)
{ "_es","_es1",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.encoder_steps[MOTOR_1], 0 }, // Motor 1 encoder steps
{ "_xs","_xs1",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&st_pre.mot[MOTOR_1].corrected_steps, 0 }, // Motor 1 correction steps applied
{ "_fe","_fe1",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.following_error[MOTOR_1], 0 }, // Motor 1 following error in steps
#endif
#if (MOTORS >= 2)
{ "_ts","_ts2",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target_steps[MOTOR_2], 0 },
{ "_ps","_ps2",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.position_steps[MOTOR_2], 0 },
{ "_cs","_cs2",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.commanded_steps[MOTOR_2], 0 },
{ "_es","_es2",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.encoder_steps[MOTOR_2], 0 },
{ "_xs","_xs2",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&st_pre.mot[MOTOR_2].corrected_steps, 0 },
{ "_fe","_fe2",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.following_error[MOTOR_2], 0 },
#endif
#if (MOTORS >= 3)
{ "_ts","_ts3",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target_steps[MOTOR_3], 0 },
{ "_ps","_ps3",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.position_steps[MOTOR_3], 0 },
{ "_cs","_cs3",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.commanded_steps[MOTOR_3], 0 },
{ "_es","_es3",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.encoder_steps[MOTOR_3], 0 },
{ "_xs","_xs3",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&st_pre.mot[MOTOR_3].corrected_steps, 0 },
{ "_fe","_fe3",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.following_error[MOTOR_3], 0 },
#endif
#if (MOTORS >= 4)
{ "_ts","_ts4",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target_steps[MOTOR_4], 0 },
{ "_ps","_ps4",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.position_steps[MOTOR_4], 0 },
{ "_cs","_cs4",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.commanded_steps[MOTOR_4], 0 },
{ "_es","_es4",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.encoder_steps[MOTOR_4], 0 },
{ "_xs","_xs4",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&st_pre.mot[MOTOR_4].corrected_steps, 0 },
{ "_fe","_fe4",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.following_error[MOTOR_4], 0 },
#endif
#if (MOTORS >= 5)
{ "_ts","_ts5",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target_steps[MOTOR_5], 0 },
{ "_ps","_ps5",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.position_steps[MOTOR_5], 0 },
{ "_cs","_cs5",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.commanded_steps[MOTOR_5], 0 },
{ "_es","_es5",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.encoder_steps[MOTOR_5], 0 },
{ "_xs","_xs6",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&st_pre.mot[MOTOR_5].corrected_steps, 0 },
{ "_fe","_fe5",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.following_error[MOTOR_5], 0 },
#endif
#if (MOTORS >= 6)
{ "_ts","_ts6",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.target_steps[MOTOR_6], 0 },
{ "_ps","_ps6",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.position_steps[MOTOR_6], 0 },
{ "_cs","_cs6",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.commanded_steps[MOTOR_6], 0 },
{ "_es","_es6",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.encoder_steps[MOTOR_6], 0 },
{ "_xs","_xs5",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&st_pre.mot[MOTOR_6].corrected_steps, 0 },
{ "_fe","_fe6",_f0, 2, tx_print_flt, get_flt, set_nul,(float *)&mr.following_error[MOTOR_6], 0 },
#endif
#endif // __DIAGNOSTIC_PARAMETERS
// Persistence for status report - must be in sequence
// *** Count must agree with NV_STATUS_REPORT_LEN in report.h ***
{ "","se00",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[0],0 },
{ "","se01",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[1],0 },
{ "","se02",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[2],0 },
{ "","se03",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[3],0 },
{ "","se04",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[4],0 },
{ "","se05",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[5],0 },
{ "","se06",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[6],0 },
{ "","se07",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[7],0 },
{ "","se08",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[8],0 },
{ "","se09",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[9],0 },
{ "","se10",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[10],0 },
{ "","se11",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[11],0 },
{ "","se12",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[12],0 },
{ "","se13",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[13],0 },
{ "","se14",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[14],0 },
{ "","se15",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[15],0 },
{ "","se16",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[16],0 },
{ "","se17",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[17],0 },
{ "","se18",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[18],0 },
{ "","se19",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[19],0 },
{ "","se20",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[20],0 },
{ "","se21",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[21],0 },
{ "","se22",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[22],0 },
{ "","se23",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[23],0 },
{ "","se24",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[24],0 },
{ "","se25",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[25],0 },
{ "","se26",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[26],0 },
{ "","se27",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[27],0 },
{ "","se28",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[28],0 },
{ "","se29",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[29],0 },
{ "","se30",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[30],0 },
{ "","se31",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[31],0 },
{ "","se32",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[32],0 },
{ "","se33",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[33],0 },
{ "","se34",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[34],0 },
{ "","se35",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[35],0 },
{ "","se36",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[36],0 },
{ "","se37",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[37],0 },
{ "","se38",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[38],0 },
{ "","se39",_fp, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[39],0 },
// Count is 40, since se00 counts as one.
// Group lookups - must follow the single-valued entries for proper sub-string matching
// *** Must agree with NV_COUNT_GROUPS below ***
// *** START COUNTING FROM HERE ***
// *** Do not count:
// - Optional motors (5 and 6)
// - Optional USER_DATA
// - Optional DIAGNOSTIC_PARAMETERS
// - Uber groups (count these separately)
{ "","sys",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // system group
{ "","p1", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // PWM 1 group
// 2
{ "","1", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // motor groups
{ "","2", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","3", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","4", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
#if (MOTORS >= 5)
{ "","5", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
#endif
#if (MOTORS >= 6)
{ "","6", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
#endif
// +4 = 6
{ "","x", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // axis groups
{ "","y", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","z", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","a", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","b", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","c", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
// +6 = 12
{ "","in", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // input state
{ "","di1", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // input configs
{ "","di2", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","di3", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","di4", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","di5", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","di6", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","di7", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","di8", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","di9", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
// +10 = 22
{ "","out", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // output state
{ "","do1", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // output configs
{ "","do2", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do3", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do4", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do5", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do6", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do7", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do8", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do9", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do10", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do11", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do12", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","do13", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
// +14 = 36
{ "","g54",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // coord offset groups
{ "","g55",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","g56",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","g57",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","g58",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","g59",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
{ "","g92",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // origin offsets
{ "","g28",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // g28 home position
{ "","g30",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // g30 home position
// +9 = 45
{ "","mpo",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // machine position group
{ "","pos",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // work position group
{ "","ofs",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // work offset group
{ "","hom",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // axis homing state group
{ "","prb",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // probing state group
{ "","pwr",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // motor power readout group
{ "","jog",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // axis jogging state group
{ "","jid",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // job ID group
// +8 = 53
{ "","he1", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // heater 1 group
{ "","he2", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // heater 2 group
{ "","he3", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // heater 3 group
{ "","pid1",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // PID 1 group
{ "","pid2",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // PID 2 group
{ "","pid3",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // PID 3 group
// +6 = 59
#ifdef __USER_DATA
{ "","uda", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // user data group
{ "","udb", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // user data group
{ "","udc", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // user data group
{ "","udd", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // user data group
#endif
#ifdef __DIAGNOSTIC_PARAMETERS
{ "","_te",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // target axis endpoint group
{ "","_tr",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // target axis runtime group
{ "","_ts",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // target motor steps group
{ "","_ps",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // position motor steps group
{ "","_cs",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // commanded motor steps group
{ "","_es",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // encoder steps group
{ "","_xs",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // correction steps group
{ "","_fe",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // following error group
#endif
// Uber-group (groups of groups, for text-mode displays only)
// *** Must agree with NV_COUNT_UBER_GROUPS below ****
{ "", "m", _f0, 0, tx_print_nul, _do_motors, set_nul,(float *)&cs.null,0 },
{ "", "q", _f0, 0, tx_print_nul, _do_axes, set_nul,(float *)&cs.null,0 },
{ "", "o", _f0, 0, tx_print_nul, _do_offsets,set_nul,(float *)&cs.null,0 },
{ "", "di", _f0, 0, tx_print_nul,_do_inputs, set_nul,(float *)&cs.null,0 },
{ "", "do", _f0, 0, tx_print_nul,_do_outputs,set_nul,(float *)&cs.null,0 },
{ "", "$", _f0, 0, tx_print_nul, _do_all, set_nul,(float *)&cs.null,0 }
};
/***** Make sure these defines line up with any changes in the above table *****/
#define NV_COUNT_UBER_GROUPS 6 // count of uber-groups, above
#define FIXED_GROUPS 59 // count of fixed groups, excluding optional groups
#if (MOTORS >= 5)
#define MOTOR_GROUP_5 1
#else
#define MOTOR_GROUP_5 0
#endif
#if (MOTORS >= 6)
#define MOTOR_GROUP_6 1
#else
#define MOTOR_GROUP_6 0
#endif
#ifdef __USER_DATA
#define USER_DATA_GROUPS 4 // count of user data groups only
#else
#define USER_DATA_GROUPS 0
#endif
#ifdef __DIAGNOSTIC_PARAMETERS
#define DIAGNOSTIC_GROUPS 8 // count of diagnostic groups only
#else
#define DIAGNOSTIC_GROUPS 0
#endif
#define TEMPERATURE_GROUPS 6
#define NV_COUNT_GROUPS (FIXED_GROUPS + MOTOR_GROUP_5 + MOTOR_GROUP_6 + USER_DATA_GROUPS + DIAGNOSTIC_GROUPS + TEMPERATURE_GROUPS)
/* <DO NOT MESS WITH THESE DEFINES> */
#define NV_INDEX_MAX (sizeof(cfgArray) / sizeof(cfgItem_t))
#define NV_INDEX_END_SINGLES (NV_INDEX_MAX - NV_COUNT_UBER_GROUPS - NV_COUNT_GROUPS - NV_STATUS_REPORT_LEN)
#define NV_INDEX_START_GROUPS (NV_INDEX_MAX - NV_COUNT_UBER_GROUPS - NV_COUNT_GROUPS)
#define NV_INDEX_START_UBER_GROUPS (NV_INDEX_MAX - NV_COUNT_UBER_GROUPS)
/* </DO NOT MESS WITH THESE DEFINES> */
index_t nv_index_max() { return ( NV_INDEX_MAX );}
bool nv_index_is_single(index_t index) { return ((index <= NV_INDEX_END_SINGLES) ? true : false);}
bool nv_index_is_group(index_t index) { return (((index >= NV_INDEX_START_GROUPS) && (index < NV_INDEX_START_UBER_GROUPS)) ? true : false);}
bool nv_index_lt_groups(index_t index) { return ((index <= NV_INDEX_START_GROUPS) ? true : false);}
/***** APPLICATION SPECIFIC CONFIGS AND EXTENSIONS TO GENERIC FUNCTIONS *****/
/*
* set_flu() - set floating point number with G20/G21 units conversion
*
* The number 'setted' will have been delivered in external units (inches or mm).
* It is written to the target memory location in internal canonical units (mm).
* The original nv->value is also changed so persistence works correctly.
* Displays should convert back from internal canonical form to external form.
*
* !!!! WARNING !!!! set_flu() doesn't care about axes, so make sure you aren't passing it ABC axes
*/
stat_t set_flu(nvObj_t *nv)
{
if (cm_get_units_mode(MODEL) == INCHES) { // if in inches...
nv->value *= MM_PER_INCH; // convert to canonical millimeter units
}
*((float *)GET_TABLE_WORD(target)) = nv->value; // write value as millimeters or degrees
nv->precision = GET_TABLE_WORD(precision);
nv->valuetype = TYPE_FLOAT;
return(STAT_OK);
}
/*
* process_incoming_float() - pre-process an incoming floating point number for canonical units
* process_outgoing_float() - pre-process an outgoing floating point number for units display
* get_float() - boilerplate for retrieving raw floating point value
* set_float() - boilerplate for setting a floating point value with unit conversion
* set_float_range() - set a floating point value with inclusive range check
*
* get_float() returns a raw float value in internal canonical units (e.g. mm, degrees)
* without units conversion. If conversion is required call preprocess_outgoing_float()
* afterwards. The text mode and JSON display routines do this, so you generally don't
* have to worry about this.
*
* set_float() is designed to capture incoming float values, so it performs unit conversion.
* set_float_range() perfoems an inclusive range test on the CONVERTED value
*/
void process_incoming_float(nvObj_t *nv)
{
uint8_t f;
f = GET_TABLE_BYTE(flags);
// if (f & (F_CONVERT | F_ICONVERT)) { // unit conversion required?
if (f & F_CONVERT) { // unit conversion required?
if (cm_get_units_mode(MODEL) == INCHES) { // If inn inches mode
if (cm_get_axis_type(nv->index) == AXIS_TYPE_LINEAR) { // ...and a linear axis...
nv->value *= MM_PER_INCH; // convert to canonical millimeter units
}
}
}
}
void process_outgoing_float(nvObj_t *nv)
{
uint8_t f;
if (isnan((double)nv->value) || isinf((double)nv->value)) return; // illegal float values
f = GET_TABLE_BYTE(flags);
if (f & (F_CONVERT | F_ICONVERT)) { // unit conversion required?
if (cm_get_units_mode(MODEL) == INCHES) {
if(f & F_ICONVERT) {
nv->value *= MM_PER_INCH;
} else {
nv->value *= INCHES_PER_MM;
}
}
}
nv->precision = GET_TABLE_WORD(precision);
nv->valuetype = TYPE_FLOAT;
}
stat_t get_float(nvObj_t *nv, const float value) {
nv->value = value;
nv->valuetype = TYPE_FLOAT;
nv->precision = GET_TABLE_WORD(precision);
return STAT_OK;
}
stat_t set_float(nvObj_t *nv, float &value) {
process_incoming_float(nv);
value = nv->value;
return (STAT_OK);
}
stat_t set_float_range(nvObj_t *nv, float &value, float low, float high) {
process_incoming_float(nv); // conditional unit conversion
if ((nv->value < low) || (nv->value > high)) {
nv->valuetype = TYPE_NULL;
return (STAT_INPUT_VALUE_RANGE_ERROR);
}
value = nv->value;
return (STAT_OK);
}
/*
* get_int() - boilerplate for retrieving an integer value
* set_int() - boilerplate for setting an integer value with range checking
*/
stat_t get_int(nvObj_t *nv, const uint8_t value) {
nv->value = value;
nv->valuetype = TYPE_INT;
return STAT_OK;
}
stat_t set_int(nvObj_t *nv, uint8_t &value, uint8_t low, uint8_t high) {
if ((nv->value < low) || (nv->value > high)) {
return (STAT_INPUT_VALUE_RANGE_ERROR);
}
value = nv->value;
return (STAT_OK);
}
/*
* nv_group_is_prefixed() - hack
*
* This little function deals with the exception cases that some groups don't use
* the parent token as a prefix to the child elements; SYS being a good example.
*/
bool nv_group_is_prefixed(char *group)
{
if (strcmp("sys", group) == 0) {
return (false);
}
if (strcmp("sr", group) == 0) {
return (false);
}
return (true);
}
/**** UberGroup Operations ****************************************************
* Uber groups are groups of groups organized for convenience:
* - motors - group of all motor groups
* - axes - group of all axis groups
* - offsets - group of all offsets and stored positions
* - all - group of all groups
*
* _do_group_list() - get and print all groups in the list (iteration)
* _do_motors() - get and print motor uber group 1-N
* _do_axes() - get and print axis uber group XYZABC
* _do_offsets() - get and print offset uber group G54-G59, G28, G30, G92
* _do_inputs() - get and print inputs uber group di1 - diN
* _do_outputs() - get and print outputs uber group do1 - doN
* _do_all() - get and print all groups uber group
*/
static void _do_group(nvObj_t *nv, char *group) // helper to a group
{
nv_reset_nv_list();
nv = nv_body;
strncpy(nv->token, group, TOKEN_LEN);
nv->index = nv_get_index((const char *)"", nv->token);
nv_get_nvObj(nv);
nv_print_list(STAT_OK, TEXT_MULTILINE_FORMATTED, JSON_RESPONSE_FORMAT);
}
static stat_t _do_group_list(nvObj_t *nv, char list[][TOKEN_LEN+1]) // helper to print multiple groups in a list
{
for (uint8_t i=0; i < NV_MAX_OBJECTS; i++) {
if (list[i][0] == NUL) {
return (STAT_COMPLETE);
}
_do_group(nv, list[i]);
}
return (STAT_COMPLETE);
}
static stat_t _do_motors(nvObj_t *nv) // print parameters for all motor groups
{
char group[GROUP_LEN];
for (uint8_t i=1; i < MOTORS+1; i++) {
sprintf(group, "%d", i);
_do_group(nv, group);
}
return (STAT_COMPLETE);
}
static stat_t _do_axes(nvObj_t *nv) // print parameters for all axis groups
{
char list[][TOKEN_LEN+1] = {"x","y","z","a","b","c",""}; // must have a terminating element
return (_do_group_list(nv, list));
}
static stat_t _do_offsets(nvObj_t *nv) // print offset parameters for G54-G59,G92, G28, G30
{
char list[][TOKEN_LEN+1] = {"g54","g55","g56","g57","g58","g59","g92","g28","g30",""}; // must have a terminating element
return (_do_group_list(nv, list));
}
static stat_t _do_inputs(nvObj_t *nv) // print parameters for all input groups
{
char group[GROUP_LEN];
for (uint8_t i=1; i < D_IN_CHANNELS+1; i++) {
sprintf(group, "di%d", i);
_do_group(nv, group);
}
return (STAT_COMPLETE);
}
static stat_t _do_outputs(nvObj_t *nv) // print parameters for all output groups
{
char group[GROUP_LEN];
for (uint8_t i=1; i < D_OUT_CHANNELS+1; i++) {
sprintf(group, "do%d", i);
_do_group(nv, group);
}
return (STAT_COMPLETE);
}
/*
static stat_t _do_heaters(nvObj_t *nv) // print parameters for all heater groups
{
char group[GROUP_LEN];
for (uint8_t i=1; i < 4; i++) {
sprintf(group, "he%d", i);
_do_group(nv, group);
}
return (STAT_COMPLETE);
}
*/
static stat_t _do_all(nvObj_t *nv) // print all parameters
{
_do_group(nv, (char *)"sys"); // System group
_do_motors(nv);
_do_axes(nv);
_do_inputs(nv);
_do_outputs(nv);
// _do_heaters(nv); // there are no text mode prints for heaters
_do_group(nv, (char *)"p1"); // PWM group
_do_offsets(nv); // coordinate system offsets
return (STAT_OK);
}
/***********************************************************************************
* CONFIGURATION AND INTERFACE FUNCTIONS
* Functions to get and set variables from the cfgArray table
* Most of these can be found in their respective modules.
***********************************************************************************/
/**** COMMUNICATIONS FUNCTIONS ******************************************************
* get_rx() - get bytes available in RX buffer
* get_tick() - get system tick count
*/
static stat_t get_rx(nvObj_t *nv)
{
nv->value = (float)254; // ARM always says the serial buffer is available (max)
nv->valuetype = TYPE_INT;
return (STAT_OK);
}
static stat_t get_tick(nvObj_t *nv)
{
nv->value = (float)SysTickTimer.getValue();
nv->valuetype = TYPE_INT;
return (STAT_OK);
}
/***********************************************************************************
* TEXT MODE SUPPORT
* Functions to print variables from the cfgArray table
***********************************************************************************/
#ifdef __TEXT_MODE
static const char fmt_rx[] = "rx:%d\n";
static const char fmt_ex[] = "[ex] enable flow control%10d [0=off,1=XON/XOFF, 2=RTS/CTS]\n";
//static const char fmt_ec[] = "[ec] expand LF to CRLF on TX%6d [0=off,1=on]\n";
//static const char fmt_ee[] = "[ee] enable echo%18d [0=off,1=on]\n";
//static const char fmt_baud[] = "[baud] USB baud rate%15d [1=9600,2=19200,3=38400,4=57600,5=115200,6=230400]\n";
void cfg_print_rx(nvObj_t *nv) { text_print(nv, fmt_rx);} // TYPE_INT
void cfg_print_ex(nvObj_t *nv) { text_print(nv, fmt_ex);} // TYPE_INT
//void cfg_print_ec(nvObj_t *nv) { text_print(nv, fmt_ec);} // TYPE_INT
//void cfg_print_ee(nvObj_t *nv) { text_print(nv, fmt_ee);} // TYPE_INT
//void cfg_print_baud(nvObj_t *nv) { text_print(nv, fmt_baud);} // TYPE_INT
#endif // __TEXT_MODE
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