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/*
* config_app.cpp - application-specific part of configuration data
* This file is part of the g2core project
*
* Copyright (c) 2013 - 2017 Alden S. Hart, Jr.
* Copyright (c) 2016 - 2017 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.
*
* - 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
*
* - Unit conversions are now conditional, and handled by convert_incoming_float()
* and convert_outgoing_float(). Apply conversion flags to all axes, not just linear,
* as rotary axes may be treated as linear if in radius mode, so the flag is needed.
*/
const cfgItem_t cfgArray[] = {
// group token flags p, print_func, get_func, set_func, get/set target, default value
{ "sys", "fb", _fn, 2, hw_print_fb, hw_get_fb, set_ro, (float *)&cs.null, 0 }, // MUST BE FIRST for persistence checking!
{ "sys", "fv", _fn, 2, hw_print_fv, hw_get_fv, set_ro, (float *)&cs.null, 0 },
{ "sys", "fbs",_sn, 0, hw_print_fbs, hw_get_fbs, set_ro, (float *)&cs.null, 0 },
{ "sys", "fbc",_sn, 0, hw_print_fbc, hw_get_fbc, set_ro, (float *)&cs.null, 0 },
{ "sys", "hp", _sn, 0, hw_print_hp, hw_get_hp, set_ro, (float *)&cs.null, 0 },
{ "sys", "hv", _sn, 0, hw_print_hv, hw_get_hv, set_ro, (float *)&cs.null, 0 },
{ "sys", "id", _sn, 0, hw_print_id, hw_get_id, set_ro, (float *)&cs.null, 0 }, // device ID (ASCII signature)
// dynamic model attributes for reporting purposes (up front for speed)
{ "", "stat",_i0, 0, cm_print_stat, cm_get_stat, set_ro, (float *)&cs.null, 0 }, // combined machine state
{ "","stat2",_i0, 0, cm_print_stat, cm_get_stat2,set_ro, (float *)&cs.null, 0 }, // combined machine state
{ "", "n", _ii, 0, cm_print_line, cm_get_mline,set_noop,(float *)&cs.null,0 }, // Model line number
{ "", "line",_ii, 0, cm_print_line, cm_get_line, set_ro, (float *)&cs.null, 0 }, // Active line number - model or runtime line number
{ "", "vel", _f0, 2, cm_print_vel, cm_get_vel, set_ro, (float *)&cs.null, 0 }, // current velocity
{ "", "feed",_f0, 2, cm_print_feed, cm_get_feed, set_ro, (float *)&cs.null, 0 }, // feed rate
{ "", "macs",_i0, 0, cm_print_macs, cm_get_macs, set_ro, (float *)&cs.null, 0 }, // raw machine state
{ "", "cycs",_i0, 0, cm_print_cycs, cm_get_cycs, set_ro, (float *)&cs.null, 0 }, // cycle state
{ "", "mots",_i0, 0, cm_print_mots, cm_get_mots, set_ro, (float *)&cs.null, 0 }, // motion state
{ "", "hold",_i0, 0, cm_print_hold, cm_get_hold, set_ro, (float *)&cs.null, 0 }, // feedhold state
{ "", "unit",_i0, 0, cm_print_unit, cm_get_unit, set_ro, (float *)&cs.null, 0 }, // units mode
{ "", "coor",_i0, 0, cm_print_coor, cm_get_coor, set_ro, (float *)&cs.null, 0 }, // coordinate system
{ "", "momo",_i0, 0, cm_print_momo, cm_get_momo, set_ro, (float *)&cs.null, 0 }, // motion mode
{ "", "plan",_i0, 0, cm_print_plan, cm_get_plan, set_ro, (float *)&cs.null, 0 }, // plane select
{ "", "path",_i0, 0, cm_print_path, cm_get_path, set_ro, (float *)&cs.null, 0 }, // path control mode
{ "", "dist",_i0, 0, cm_print_dist, cm_get_dist, set_ro, (float *)&cs.null, 0 }, // distance mode
{ "", "admo",_i0, 0, cm_print_admo, cm_get_admo, set_ro, (float *)&cs.null, 0 }, // arc distance mode
{ "", "frmo",_i0, 0, cm_print_frmo, cm_get_frmo, set_ro, (float *)&cs.null, 0 }, // feed rate mode
{ "", "tool",_i0, 0, cm_print_tool, cm_get_toolv,set_ro, (float *)&cs.null, 0 }, // active tool
{ "", "g92e",_i0, 0, cm_print_g92e, cm_get_g92e, set_ro, nullptr, 0 }, // G92 enable state
// { "", "g92e",_i0, 0, cm_print_g92e, get_ui8, set_ro, (float *)&cm->gmx.origin_offset_enable, 0 }, // G92 enabled
#ifdef TEMPORARY_HAS_LEDS
{ "", "_leds",_i0, 0, tx_print_nul, _get_leds,_set_leds, (float *)&cs.null, 0 }, // TEMPORARY - change LEDs
#endif
{ "mpo","mpox",_f0, 5, cm_print_mpo, cm_get_mpo, set_ro, (float *)&cs.null, 0 }, // X machine position
{ "mpo","mpoy",_f0, 5, cm_print_mpo, cm_get_mpo, set_ro, (float *)&cs.null, 0 }, // Y machine position
{ "mpo","mpoz",_f0, 5, cm_print_mpo, cm_get_mpo, set_ro, (float *)&cs.null, 0 }, // Z machine position
{ "mpo","mpoa",_f0, 5, cm_print_mpo, cm_get_mpo, set_ro, (float *)&cs.null, 0 }, // A machine position
{ "mpo","mpob",_f0, 5, cm_print_mpo, cm_get_mpo, set_ro, (float *)&cs.null, 0 }, // B machine position
{ "mpo","mpoc",_f0, 5, cm_print_mpo, cm_get_mpo, set_ro, (float *)&cs.null, 0 }, // C machine position
{ "pos","posx",_f0, 5, cm_print_pos, cm_get_pos, set_ro, (float *)&cs.null, 0 }, // X work position
{ "pos","posy",_f0, 5, cm_print_pos, cm_get_pos, set_ro, (float *)&cs.null, 0 }, // Y work position
{ "pos","posz",_f0, 5, cm_print_pos, cm_get_pos, set_ro, (float *)&cs.null, 0 }, // Z work position
{ "pos","posa",_f0, 5, cm_print_pos, cm_get_pos, set_ro, (float *)&cs.null, 0 }, // A work position
{ "pos","posb",_f0, 5, cm_print_pos, cm_get_pos, set_ro, (float *)&cs.null, 0 }, // B work position
{ "pos","posc",_f0, 5, cm_print_pos, cm_get_pos, set_ro, (float *)&cs.null, 0 }, // C work position
{ "ofs","ofsx",_f0, 5, cm_print_ofs, cm_get_ofs, set_ro, (float *)&cs.null, 0 }, // X work offset
{ "ofs","ofsy",_f0, 5, cm_print_ofs, cm_get_ofs, set_ro, (float *)&cs.null, 0 }, // Y work offset
{ "ofs","ofsz",_f0, 5, cm_print_ofs, cm_get_ofs, set_ro, (float *)&cs.null, 0 }, // Z work offset
{ "ofs","ofsa",_f0, 5, cm_print_ofs, cm_get_ofs, set_ro, (float *)&cs.null, 0 }, // A work offset
{ "ofs","ofsb",_f0, 5, cm_print_ofs, cm_get_ofs, set_ro, (float *)&cs.null, 0 }, // B work offset
{ "ofs","ofsc",_f0, 5, cm_print_ofs, cm_get_ofs, set_ro, (float *)&cs.null, 0 }, // C work offset
{ "hom","home",_i0, 0, cm_print_home,cm_get_home,cm_set_home,(float *)&cs.null,0 }, // homing state, invoke homing cycle
{ "hom","homx",_i0, 0, cm_print_hom, cm_get_hom, set_ro, (float *)&cs.null, 0 }, // X homed - Homing status group
{ "hom","homy",_i0, 0, cm_print_hom, cm_get_hom, set_ro, (float *)&cs.null, 0 }, // Y homed
{ "hom","homz",_i0, 0, cm_print_hom, cm_get_hom, set_ro, (float *)&cs.null, 0 }, // Z homed
{ "hom","homa",_i0, 0, cm_print_hom, cm_get_hom, set_ro, (float *)&cs.null, 0 }, // A homed
{ "hom","homb",_i0, 0, cm_print_hom, cm_get_hom, set_ro, (float *)&cs.null, 0 }, // B homed
{ "hom","homc",_i0, 0, cm_print_hom, cm_get_hom, set_ro, (float *)&cs.null, 0 }, // C homed
{ "prb","prbe",_i0, 0, tx_print_nul, cm_get_prob,set_ro, (float *)&cs.null, 0 }, // probing state
{ "prb","prbx",_f0, 5, tx_print_nul, cm_get_prb, set_ro, (float *)&cs.null, 0 }, // X probe results
{ "prb","prby",_f0, 5, tx_print_nul, cm_get_prb, set_ro, (float *)&cs.null, 0 }, // Y probe results
{ "prb","prbz",_f0, 5, tx_print_nul, cm_get_prb, set_ro, (float *)&cs.null, 0 }, // Z probe results
{ "prb","prba",_f0, 5, tx_print_nul, cm_get_prb, set_ro, (float *)&cs.null, 0 }, // A probe results
{ "prb","prbb",_f0, 5, tx_print_nul, cm_get_prb, set_ro, (float *)&cs.null, 0 }, // B probe results
{ "prb","prbc",_f0, 5, tx_print_nul, cm_get_prb, set_ro, (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_ro, (float *)&cs.null, 0}, // motor power readouts
{ "pwr","pwr2",_f0, 3, st_print_pwr, st_get_pwr, set_ro, (float *)&cs.null, 0},
#if (MOTORS > 2)
{ "pwr","pwr3",_f0, 3, st_print_pwr, st_get_pwr, set_ro, (float *)&cs.null, 0},
#endif
#if (MOTORS > 3)
{ "pwr","pwr4",_f0, 3, st_print_pwr, st_get_pwr, set_ro, (float *)&cs.null, 0},
#endif
#if (MOTORS > 4)
{ "pwr","pwr5",_f0, 3, st_print_pwr, st_get_pwr, set_ro, (float *)&cs.null, 0},
#endif
#if (MOTORS > 5)
{ "pwr","pwr6",_f0, 3, st_print_pwr, st_get_pwr, set_ro, (float *)&cs.null, 0},
#endif
// Motor parameters
{ "1","1ma",_iip, 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,5, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M1_TRAVEL_PER_REV },
{ "1","1su",_fipi,5, st_print_su, st_get_su, st_set_su, (float *)&cs.null, M1_STEPS_PER_UNIT },
{ "1","1mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M1_MICROSTEPS },
{ "1","1po",_iip, 0, st_print_po, st_get_po, st_set_po, (float *)&cs.null, M1_POLARITY },
{ "1","1pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M1_POWER_MODE },
{ "1","1pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, (float *)&cs.null, M1_POWER_LEVEL },
// { "1","1pi",_fip, 3, st_print_pi, st_get_pi, st_set_pi, (float *)&st_cfg.mot[MOTOR_1].power_idle, M1_POWER_IDLE },
// { "1","1mt",_fip, 2, st_print_mt, st_get_mt, st_set_mt, (float *)&st_cfg.mot[MOTOR_1].motor_timeout, M1_MOTOR_TIMEOUT },
#if (MOTORS >= 2)
{ "2","2ma",_iip, 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,5, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M2_TRAVEL_PER_REV },
{ "2","2su",_fipi,5, st_print_su, st_get_su, st_set_su, (float *)&cs.null, M2_STEPS_PER_UNIT },
{ "2","2mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M2_MICROSTEPS },
{ "2","2po",_iip, 0, st_print_po, st_get_po, st_set_po, (float *)&cs.null, M2_POLARITY },
{ "2","2pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M2_POWER_MODE },
{ "2","2pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, (float *)&cs.null, M2_POWER_LEVEL},
// { "2","2pi",_fip, 3, st_print_pi, st_get_pi, st_set_pi, (float *)&st_cfg.mot[MOTOR_2].power_idle, M2_POWER_IDLE },
// { "2","2mt",_fip, 2, st_print_mt, st_get_mt, st_set_mt, float *)&st_cfg.mot[MOTOR_2].motor_timeout, M2_MOTOR_TIMEOUT },
#endif
#if (MOTORS >= 3)
{ "3","3ma",_iip, 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,5, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M3_TRAVEL_PER_REV },
{ "3","3su",_fipi,5, st_print_su, st_get_su, st_set_su, (float *)&cs.null, M3_STEPS_PER_UNIT },
{ "3","3mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M3_MICROSTEPS },
{ "3","3po",_iip, 0, st_print_po, st_get_po, st_set_po, (float *)&cs.null, M3_POLARITY },
{ "3","3pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M3_POWER_MODE },
{ "3","3pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, (float *)&cs.null, M3_POWER_LEVEL },
// { "3","3pi",_fip, 3, st_print_pi, st_get_pi, st_set_pi, (float *)&st_cfg.mot[MOTOR_3].power_idle, M3_POWER_IDLE },
// { "3","3mt",_fip, 2, st_print_mt, st_get_mt, st_set_mt, (float *)&st_cfg.mot[MOTOR_3].motor_timeout, M3_MOTOR_TIMEOUT },
#endif
#if (MOTORS >= 4)
{ "4","4ma",_iip, 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,5, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M4_TRAVEL_PER_REV },
{ "4","4su",_fipi,5, st_print_su, st_get_su, st_set_su, (float *)&cs.null, M4_STEPS_PER_UNIT },
{ "4","4mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M4_MICROSTEPS },
{ "4","4po",_iip, 0, st_print_po, st_get_po, st_set_po, (float *)&cs.null, M4_POLARITY },
{ "4","4pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M4_POWER_MODE },
{ "4","4pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, (float *)&cs.null, M4_POWER_LEVEL },
// { "4","4pi",_fip, 3, st_print_pi, st_get_pi, st_set_pi, (float *)&st_cfg.mot[MOTOR_4].power_idle, M4_POWER_IDLE },
// { "4","4mt",_fip, 2, st_print_mt, st_get_mt, st_set_mt, (float *)&st_cfg.mot[MOTOR_4].motor_timeout, M4_MOTOR_TIMEOUT },
#endif
#if (MOTORS >= 5)
{ "5","5ma",_iip, 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,5, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M5_TRAVEL_PER_REV },
{ "5","5su",_fipi,5, st_print_su, st_get_su, st_set_su, (float *)&cs.null, M5_STEPS_PER_UNIT },
{ "5","5mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M5_MICROSTEPS },
{ "5","5po",_iip, 0, st_print_po, st_get_po, st_set_po, (float *)&cs.null, M5_POLARITY },
{ "5","5pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M5_POWER_MODE },
{ "5","5pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, (float *)&cs.null, M5_POWER_LEVEL },
// { "5","5pi",_fip, 3, st_print_pi, st_get_pi, 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",_iip, 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,5, st_print_tr, st_get_tr, st_set_tr, (float *)&cs.null, M6_TRAVEL_PER_REV },
{ "6","6su",_fipi,5, st_print_su, st_get_su, st_set_su, (float *)&cs.null, M6_STEPS_PER_UNIT },
{ "6","6mi",_iip, 0, st_print_mi, st_get_mi, st_set_mi, (float *)&cs.null, M6_MICROSTEPS },
{ "6","6po",_iip, 0, st_print_po, st_get_po, st_set_po, (float *)&cs.null, M6_POLARITY },
{ "6","6pm",_iip, 0, st_print_pm, st_get_pm, st_set_pm, (float *)&cs.null, M6_POWER_MODE },
{ "6","6pl",_fip, 3, st_print_pl, st_get_pl, st_set_pl, (float *)&cs.null, M6_POWER_LEVEL },
// { "6","6pi",_fip, 3, st_print_pi, st_get_pi, st_set_pi, (float *)&st_cfg.mot[MOTOR_6].power_idle, M6_POWER_IDLE },
// { "6","6mt",_fip, 2, st_print_mt, st_get_mt, st_set_mt, (float *)&st_cfg.mot[MOTOR_6].motor_timeout, M6_MOTOR_TIMEOUT },
#endif
// Axis parameters
{ "x","xam",_iip, 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, 5, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, X_TRAVEL_MIN },
{ "x","xtm",_fipc, 5, 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",_iip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, X_HOMING_INPUT },
{ "x","xhd",_iip, 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, 5, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, X_LATCH_BACKOFF },
{ "x","xzb",_fipc, 5, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, X_ZERO_BACKOFF },
{ "y","yam",_iip, 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, 5, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, Y_TRAVEL_MIN },
{ "y","ytm",_fipc, 5, 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",_iip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, Y_HOMING_INPUT },
{ "y","yhd",_iip, 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, 5, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, Y_LATCH_BACKOFF },
{ "y","yzb",_fipc, 5, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, Y_ZERO_BACKOFF },
{ "z","zam",_iip, 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, 5, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, Z_TRAVEL_MIN },
{ "z","ztm",_fipc, 5, 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",_iip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, Z_HOMING_INPUT },
{ "z","zhd",_iip, 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, 5, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, Z_LATCH_BACKOFF },
{ "z","zzb",_fipc, 5, cm_print_zb, cm_get_lb, cm_set_zb, (float *)&cs.null, Z_ZERO_BACKOFF },
{ "a","aam",_iip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, A_AXIS_MODE },
{ "a","avm",_fipc, 0, cm_print_vm, cm_get_vm, cm_set_vm, (float *)&cs.null, A_VELOCITY_MAX },
{ "a","afr",_fipc, 0, cm_print_fr, cm_get_fr, cm_set_fr, (float *)&cs.null, A_FEEDRATE_MAX },
{ "a","atn",_fipc, 5, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, A_TRAVEL_MIN },
{ "a","atm",_fipc, 5, cm_print_tm, cm_get_tm, cm_set_tm, (float *)&cs.null, A_TRAVEL_MAX },
{ "a","ajm",_fipc, 0, cm_print_jm, cm_get_jm, cm_set_jm, (float *)&cs.null, A_JERK_MAX },
{ "a","ajh",_fipc, 0, cm_print_jh, cm_get_jh, cm_set_jh, (float *)&cs.null, A_JERK_HIGH_SPEED },
{ "a","ara",_fipc, 5, cm_print_ra, cm_get_ra, cm_set_ra, (float *)&cs.null, A_RADIUS},
{ "a","ahi",_iip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, A_HOMING_INPUT },
{ "a","ahd",_iip, 0, cm_print_hd, cm_get_hd, cm_set_hd, (float *)&cs.null, A_HOMING_DIRECTION },
{ "a","asv",_fipc, 0, cm_print_sv, cm_get_sv, cm_set_sv, (float *)&cs.null, A_SEARCH_VELOCITY },
{ "a","alv",_fipc, 2, cm_print_lv, cm_get_lv, cm_set_lv, (float *)&cs.null, A_LATCH_VELOCITY },
{ "a","alb",_fipc, 5, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, A_LATCH_BACKOFF },
{ "a","azb",_fipc, 5, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, A_ZERO_BACKOFF },
{ "b","bam",_iip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, B_AXIS_MODE },
{ "b","bvm",_fipc, 0, cm_print_vm, cm_get_vm, cm_set_vm, (float *)&cs.null, B_VELOCITY_MAX },
{ "b","bfr",_fipc, 0, cm_print_fr, cm_get_fr, cm_set_fr, (float *)&cs.null, B_FEEDRATE_MAX },
{ "b","btn",_fipc, 5, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, B_TRAVEL_MIN },
{ "b","btm",_fipc, 5, cm_print_tm, cm_get_tm, cm_set_tm, (float *)&cs.null, B_TRAVEL_MAX },
{ "b","bjm",_fipc, 0, cm_print_jm, cm_get_jm, cm_set_jm, (float *)&cs.null, B_JERK_MAX },
{ "b","bjh",_fipc, 0, cm_print_jh, cm_get_jh, cm_set_jh, (float *)&cs.null, B_JERK_HIGH_SPEED },
{ "b","bra",_fipc, 5, cm_print_ra, cm_get_ra, cm_set_ra, (float *)&cs.null, B_RADIUS },
{ "b","bhi",_iip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, B_HOMING_INPUT },
{ "b","bhd",_iip, 0, cm_print_hd, cm_get_hd, cm_set_hd, (float *)&cs.null, B_HOMING_DIRECTION },
{ "b","bsv",_fipc, 0, cm_print_sv, cm_get_sv, cm_set_sv, (float *)&cs.null, B_SEARCH_VELOCITY },
{ "b","blv",_fipc, 2, cm_print_lv, cm_get_lv, cm_set_lv, (float *)&cs.null, B_LATCH_VELOCITY },
{ "b","blb",_fipc, 5, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, B_LATCH_BACKOFF },
{ "b","bzb",_fipc, 5, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, B_ZERO_BACKOFF },
{ "c","cam",_iip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, C_AXIS_MODE },
{ "c","cvm",_fipc, 0, cm_print_vm, cm_get_vm, cm_set_vm, (float *)&cs.null, C_VELOCITY_MAX },
{ "c","cfr",_fipc, 0, cm_print_fr, cm_get_fr, cm_set_fr, (float *)&cs.null, C_FEEDRATE_MAX },
{ "c","ctn",_fipc, 5, cm_print_tn, cm_get_tn, cm_set_tn, (float *)&cs.null, C_TRAVEL_MIN },
{ "c","ctm",_fipc, 5, cm_print_tm, cm_get_tm, cm_set_tm, (float *)&cs.null, C_TRAVEL_MAX },
{ "c","cjm",_fipc, 0, cm_print_jm, cm_get_jm, cm_set_jm, (float *)&cs.null, C_JERK_MAX },
{ "c","cjh",_fipc, 0, cm_print_jh, cm_get_jh, cm_set_jh, (float *)&cs.null, C_JERK_HIGH_SPEED },
{ "c","cra",_fipc, 5, cm_print_ra, cm_get_ra, cm_set_ra, (float *)&cs.null, C_RADIUS },
{ "c","chi",_iip, 0, cm_print_hi, cm_get_hi, cm_set_hi, (float *)&cs.null, C_HOMING_INPUT },
{ "c","chd",_iip, 0, cm_print_hd, cm_get_hd, cm_set_hd, (float *)&cs.null, C_HOMING_DIRECTION },
{ "c","csv",_fipc, 0, cm_print_sv, cm_get_sv, cm_set_sv, (float *)&cs.null, C_SEARCH_VELOCITY },
{ "c","clv",_fipc, 2, cm_print_lv, cm_get_lv, cm_set_lv, (float *)&cs.null, C_LATCH_VELOCITY },
{ "c","clb",_fipc, 5, cm_print_lb, cm_get_lb, cm_set_lb, (float *)&cs.null, C_LATCH_BACKOFF },
{ "c","czb",_fipc, 5, cm_print_zb, cm_get_zb, cm_set_zb, (float *)&cs.null, C_ZERO_BACKOFF },
// Digital input configs
{ "di1","di1mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI1_MODE },
{ "di1","di1ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI1_ACTION },
{ "di1","di1fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI1_FUNCTION },
{ "di2","di2mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI2_MODE },
{ "di2","di2ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI2_ACTION },
{ "di2","di2fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI2_FUNCTION },
{ "di3","di3mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI3_MODE },
{ "di3","di3ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI3_ACTION },
{ "di3","di3fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI3_FUNCTION },
{ "di4","di4mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI4_MODE },
{ "di4","di4ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI4_ACTION },
{ "di4","di4fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI4_FUNCTION },
{ "di5","di5mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI5_MODE },
{ "di5","di5ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI5_ACTION },
{ "di5","di5fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI5_FUNCTION },
{ "di6","di6mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI6_MODE },
{ "di6","di6ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI6_ACTION },
{ "di6","di6fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI6_FUNCTION },
{ "di7","di7mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI7_MODE },
{ "di7","di7ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI7_ACTION },
{ "di7","di7fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI7_FUNCTION },
{ "di8","di8mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI8_MODE },
{ "di8","di8ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI8_ACTION },
{ "di8","di8fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI8_FUNCTION },
#if (D_IN_CHANNELS >= 9)
{ "di9","di9mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI9_MODE },
{ "di9","di9ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI9_ACTION },
{ "di9","di9fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI9_FUNCTION },
#endif
#if (D_IN_CHANNELS >= 10)
{ "di10","di10mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI10_MODE },
{ "di10","di10ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI10_ACTION },
{ "di10","di10fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI10_FUNCTION },
#endif
#if (D_IN_CHANNELS >= 11)
{ "di11","di11mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI1_MODE },
{ "di11","di11ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI11_ACTION },
{ "di11","di11fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI11_FUNCTION },
#endif
#if (D_IN_CHANNELS >= 12)
{ "di12","di12mo",_iip, 0, io_print_mo, io_get_mo, io_set_mo, nullptr, DI12_MODE },
{ "di12","di12ac",_iip, 0, io_print_ac, io_get_ac, io_set_ac, nullptr, DI12_ACTION },
{ "di12","di12fn",_iip, 0, io_print_fn, io_get_fn, io_set_fn, nullptr, DI12_FUNCTION },
#endif
// Digital input state readers
{ "in","in1", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
{ "in","in2", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
{ "in","in3", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
{ "in","in4", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
{ "in","in5", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
{ "in","in6", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
{ "in","in7", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
{ "in","in8", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
#if (D_IN_CHANNELS >= 9)
{ "in","in9", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
#endif
#if (D_IN_CHANNELS >= 10)
{ "in","in10", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
#endif
#if (D_IN_CHANNELS >= 11)
{ "in","in11", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
#endif
#if (D_IN_CHANNELS >= 12)
{ "in","in12", _i0, 0, io_print_in, io_get_input, set_ro, (float *)&cs.null, 0 },
#endif
// digital output configs
{ "do1", "do1mo", _iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO1_MODE },
{ "do2", "do2mo", _iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO2_MODE },
{ "do3", "do3mo", _iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO3_MODE },
{ "do4", "do4mo", _iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO4_MODE },
{ "do5", "do5mo", _iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO5_MODE },
{ "do6", "do6mo", _iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO6_MODE },
{ "do7", "do7mo", _iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO7_MODE },
{ "do8", "do8mo", _iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO8_MODE },
{ "do9", "do9mo", _iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO9_MODE },
{ "do10","do10mo",_iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO10_MODE },
{ "do11","do11mo",_iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO11_MODE },
{ "do12","do12mo",_iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO12_MODE },
{ "do13","do13mo",_iip, 0, io_print_domode, io_get_domode, io_set_domode, nullptr, DO13_MODE },
// Digital output state readers (default to non-active)
{ "out","out1", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out2", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out3", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out4", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out5", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out6", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out7", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out8", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out9", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out10", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out11", _i0, 2, io_print_out, io_get_output, io_set_output, (float *)&cs.null, 0 },
{ "out","out12", _i0, 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",_fip, 3, tx_print_nul, cm_get_pid_p, set_ro, (float *)&cs.null, 0 },
{ "pid1","pid1i",_fip, 5, tx_print_nul, cm_get_pid_i, set_ro, (float *)&cs.null, 0 },
{ "pid1","pid1d",_fip, 5, tx_print_nul, cm_get_pid_d, set_ro, (float *)&cs.null, 0 },
{ "pid2","pid2p",_fip, 3, tx_print_nul, cm_get_pid_p, set_ro, (float *)&cs.null, 0 },
{ "pid2","pid2i",_fip, 5, tx_print_nul, cm_get_pid_i, set_ro, (float *)&cs.null, 0 },
{ "pid2","pid2d",_fip, 5, tx_print_nul, cm_get_pid_d, set_ro, (float *)&cs.null, 0 },
{ "pid3","pid3p",_fip, 3, tx_print_nul, cm_get_pid_p, set_ro, (float *)&cs.null, 0 },
{ "pid3","pid3i",_fip, 5, tx_print_nul, cm_get_pid_i, set_ro, (float *)&cs.null, 0 },
{ "pid3","pid3d",_fip, 5, tx_print_nul, cm_get_pid_d, set_ro, (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", _bip, 0, tx_print_nul, cm_get_heater_enable, cm_set_heater_enable, (float *)&cs.null, H1_DEFAULT_ENABLE },
{ "he1","he1at",_b0, 0, tx_print_nul, cm_get_at_temperature, set_ro, (float *)&cs.null, 0 },
{ "he1","he1p", _fip, 3, tx_print_nul, cm_get_heater_p, cm_set_heater_p, (float *)&cs.null, H1_DEFAULT_P },
{ "he1","he1i", _fip, 5, tx_print_nul, cm_get_heater_i, cm_set_heater_i, (float *)&cs.null, H1_DEFAULT_I },
{ "he1","he1d", _fip, 5, tx_print_nul, cm_get_heater_d, cm_set_heater_d, (float *)&cs.null, H1_DEFAULT_D },
{ "he1","he1st",_fi, 1, tx_print_nul, cm_get_set_temperature, cm_set_set_temperature, (float *)&cs.null, 0 },
{ "he1","he1t", _fi, 1, tx_print_nul, cm_get_temperature, set_ro, (float *)&cs.null, 0 },
{ "he1","he1op",_fi, 3, tx_print_nul, cm_get_heater_output, set_ro, (float *)&cs.null, 0 },
{ "he1","he1tr",_fi, 3, tx_print_nul, cm_get_thermistor_resistance, set_ro, (float *)&cs.null, 0 },
{ "he1","he1an",_fi, 0, tx_print_nul, cm_get_heater_adc, set_ro, (float *)&cs.null, 0 },
{ "he1","he1fp",_fi, 1, tx_print_nul, cm_get_fan_power, cm_set_fan_power, (float *)&cs.null, 0 },
{ "he1","he1fm",_fi, 1, tx_print_nul, cm_get_fan_min_power, cm_set_fan_min_power, (float *)&cs.null, 0 },
{ "he1","he1fl",_fi, 1, tx_print_nul, cm_get_fan_low_temp, cm_set_fan_low_temp, (float *)&cs.null, 0 },
{ "he1","he1fh",_fi, 1, tx_print_nul, cm_get_fan_high_temp, cm_set_fan_high_temp, (float *)&cs.null, 0 },
{ "he2","he2e", _iip, 0, tx_print_nul, cm_get_heater_enable, cm_set_heater_enable, (float *)&cs.null, H2_DEFAULT_ENABLE },
{ "he2","he2at",_b0, 0, tx_print_nul, cm_get_at_temperature, set_ro, (float *)&cs.null, 0 },
{ "he2","he2p", _fip, 3, tx_print_nul, cm_get_heater_p, cm_set_heater_p, (float *)&cs.null, H2_DEFAULT_P },
{ "he2","he2i", _fip, 5, tx_print_nul, cm_get_heater_i, cm_set_heater_i, (float *)&cs.null, H2_DEFAULT_I },
{ "he2","he2d", _fip, 5, tx_print_nul, cm_get_heater_d, cm_set_heater_d, (float *)&cs.null, H2_DEFAULT_D },
{ "he2","he2st",_fi, 0, tx_print_nul, cm_get_set_temperature, cm_set_set_temperature, (float *)&cs.null, 0 },
{ "he2","he2t", _fi, 1, tx_print_nul, cm_get_temperature, set_ro, (float *)&cs.null, 0 },
{ "he2","he2op",_fi, 3, tx_print_nul, cm_get_heater_output, set_ro, (float *)&cs.null, 0 },
{ "he2","he2tr",_fi, 3, tx_print_nul, cm_get_thermistor_resistance, set_ro, (float *)&cs.null, 0 },
{ "he2","he2an",_fi, 0, tx_print_nul, cm_get_heater_adc, set_ro, (float *)&cs.null, 0 },
{ "he2","he2fp",_fi, 1, tx_print_nul, cm_get_fan_power, cm_set_fan_power, (float *)&cs.null, 0 },
{ "he2","he2fm",_fi, 1, tx_print_nul, cm_get_fan_min_power, cm_set_fan_min_power, (float *)&cs.null, 0 },
{ "he2","he2fl",_fi, 1, tx_print_nul, cm_get_fan_low_temp, cm_set_fan_low_temp, (float *)&cs.null, 0 },
{ "he2","he2fh",_fi, 1, tx_print_nul, cm_get_fan_high_temp, cm_set_fan_high_temp, (float *)&cs.null, 0 },
{ "he3","he3e", _iip, 0, tx_print_nul, cm_get_heater_enable, cm_set_heater_enable, (float *)&cs.null, H3_DEFAULT_ENABLE },
{ "he3","he3at",_b0, 0, tx_print_nul, cm_get_at_temperature, set_ro, (float *)&cs.null, 0 },
{ "he3","he3p", _fip, 3, tx_print_nul, cm_get_heater_p, cm_set_heater_p, (float *)&cs.null, H3_DEFAULT_P },
{ "he3","he3i", _fip, 5, tx_print_nul, cm_get_heater_i, cm_set_heater_i, (float *)&cs.null, H3_DEFAULT_I },
{ "he3","he3d", _fip, 5, tx_print_nul, cm_get_heater_d, cm_set_heater_d, (float *)&cs.null, H3_DEFAULT_D },
{ "he3","he3st",_fi, 0, tx_print_nul, cm_get_set_temperature, cm_set_set_temperature, (float *)&cs.null, 0 },
{ "he3","he3t", _fi, 1, tx_print_nul, cm_get_temperature, set_ro, (float *)&cs.null, 0 },
{ "he3","he3op",_fi, 3, tx_print_nul, cm_get_heater_output, set_ro, (float *)&cs.null, 0 },
{ "he3","he3tr",_fi, 3, tx_print_nul, cm_get_thermistor_resistance, set_ro, (float *)&cs.null, 0 },
{ "he3","he3an",_fi, 0, tx_print_nul, cm_get_heater_adc, set_ro, (float *)&cs.null, 0 },
{ "he3","he3fp",_fi, 1, tx_print_nul, cm_get_fan_power, cm_set_fan_power, (float *)&cs.null, 0 },
{ "he3","he3fm",_fi, 1, tx_print_nul, cm_get_fan_min_power, cm_set_fan_min_power, (float *)&cs.null, 0 },
{ "he3","he3fl",_fi, 1, tx_print_nul, cm_get_fan_low_temp, cm_set_fan_low_temp, (float *)&cs.null, 0 },
{ "he3","he3fh",_fi, 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, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_X_OFFSET },
{ "g54","g54y",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_Y_OFFSET },
{ "g54","g54z",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_Z_OFFSET },
{ "g54","g54a",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_A_OFFSET },
{ "g54","g54b",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_B_OFFSET },
{ "g54","g54c",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G54_C_OFFSET },
{ "g55","g55x",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_X_OFFSET },
{ "g55","g55y",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_Y_OFFSET },
{ "g55","g55z",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_Z_OFFSET },
{ "g55","g55a",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_A_OFFSET },
{ "g55","g55b",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_B_OFFSET },
{ "g55","g55c",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G55_C_OFFSET },
{ "g56","g56x",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_X_OFFSET },
{ "g56","g56y",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_Y_OFFSET },
{ "g56","g56z",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_Z_OFFSET },
{ "g56","g56a",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_A_OFFSET },
{ "g56","g56b",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_B_OFFSET },
{ "g56","g56c",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G56_C_OFFSET },
{ "g57","g57x",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_X_OFFSET },
{ "g57","g57y",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_Y_OFFSET },
{ "g57","g57z",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_Z_OFFSET },
{ "g57","g57a",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_A_OFFSET },
{ "g57","g57b",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_B_OFFSET },
{ "g57","g57c",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G57_C_OFFSET },
{ "g58","g58x",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_X_OFFSET },
{ "g58","g58y",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_Y_OFFSET },
{ "g58","g58z",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_Z_OFFSET },
{ "g58","g58a",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_A_OFFSET },
{ "g58","g58b",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_B_OFFSET },
{ "g58","g58c",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G58_C_OFFSET },
{ "g59","g59x",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_X_OFFSET },
{ "g59","g59y",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_Y_OFFSET },
{ "g59","g59z",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_Z_OFFSET },
{ "g59","g59a",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_A_OFFSET },
{ "g59","g59b",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_B_OFFSET },
{ "g59","g59c",_fipc, 5, cm_print_cofs, cm_get_coord, cm_set_coord, (float *)&cs.null, G59_C_OFFSET },
{ "g92","g92x",_fic, 5, cm_print_cofs, cm_get_g92, set_ro, (float *)&cs.null, 0 },// G92 handled differently
{ "g92","g92y",_fic, 5, cm_print_cofs, cm_get_g92, set_ro, (float *)&cs.null, 0 },
{ "g92","g92z",_fic, 5, cm_print_cofs, cm_get_g92, set_ro, (float *)&cs.null, 0 },
{ "g92","g92a",_fic, 5, cm_print_cofs, cm_get_g92, set_ro, (float *)&cs.null, 0 },
{ "g92","g92b",_fic, 5, cm_print_cofs, cm_get_g92, set_ro, (float *)&cs.null, 0 },
{ "g92","g92c",_fic, 5, cm_print_cofs, cm_get_g92, set_ro, (float *)&cs.null, 0 },
// Coordinate positions (G28, G30)
{ "g28","g28x",_fic, 5, cm_print_cpos, cm_get_g28, set_ro, (float *)&cs.null, 0 },// g28 handled differently
{ "g28","g28y",_fic, 5, cm_print_cpos, cm_get_g28, set_ro, (float *)&cs.null, 0 },
{ "g28","g28z",_fic, 5, cm_print_cpos, cm_get_g28, set_ro, (float *)&cs.null, 0 },
{ "g28","g28a",_fic, 5, cm_print_cpos, cm_get_g28, set_ro, (float *)&cs.null, 0 },
{ "g28","g28b",_fic, 5, cm_print_cpos, cm_get_g28, set_ro, (float *)&cs.null, 0 },
{ "g28","g28c",_fic, 5, cm_print_cpos, cm_get_g28, set_ro, (float *)&cs.null, 0 },
{ "g30","g30x",_fic, 5, cm_print_cpos, cm_get_g30, set_ro, (float *)&cs.null, 0 },// g30 handled differently
{ "g30","g30y",_fic, 5, cm_print_cpos, cm_get_g30, set_ro, (float *)&cs.null, 0 },
{ "g30","g30z",_fic, 5, cm_print_cpos, cm_get_g30, set_ro, (float *)&cs.null, 0 },
{ "g30","g30a",_fic, 5, cm_print_cpos, cm_get_g30, set_ro, (float *)&cs.null, 0 },
{ "g30","g30b",_fic, 5, cm_print_cpos, cm_get_g30, set_ro, (float *)&cs.null, 0 },
{ "g30","g30c",_fic, 5, cm_print_cpos, cm_get_g30, set_ro, (float *)&cs.null, 0 },
// this is a 128bit UUID for identifying a previously committed job state
{ "jid","jida",_d0, 0, tx_print_nul, get_data, set_data, (float *)&cfg.job_id[0], 0},
{ "jid","jidb",_d0, 0, tx_print_nul, get_data, set_data, (float *)&cfg.job_id[1], 0},
{ "jid","jidc",_d0, 0, tx_print_nul, get_data, set_data, (float *)&cfg.job_id[2], 0},
{ "jid","jidd",_d0, 0, tx_print_nul, get_data, set_data, (float *)&cfg.job_id[3], 0},
// Spindle functions
{ "sp","spmo", _iip, 0, sp_print_spmo, sp_get_spmo, sp_set_spmo, (float *)&cs.null, SPINDLE_MODE },
{ "sp","spph", _bip, 0, sp_print_spph, sp_get_spph, sp_set_spph, (float *)&cs.null, SPINDLE_PAUSE_ON_HOLD },
{ "sp","spde", _fip, 2, sp_print_spde, sp_get_spde, sp_set_spde, (float *)&cs.null, SPINDLE_SPINUP_DELAY },
{ "sp","spsn", _fip, 2, sp_print_spsn, sp_get_spsn, sp_set_spsn, (float *)&cs.null, SPINDLE_SPEED_MIN},
{ "sp","spsm", _fip, 2, sp_print_spsm, sp_get_spsm, sp_set_spsm, (float *)&cs.null, SPINDLE_SPEED_MAX},
{ "sp","spep", _iip, 0, sp_print_spep, sp_get_spep, sp_set_spep, (float *)&cs.null, SPINDLE_ENABLE_POLARITY },
{ "sp","spdp", _iip, 0, sp_print_spdp, sp_get_spdp, sp_set_spdp, (float *)&cs.null, SPINDLE_DIR_POLARITY },
{ "sp","spoe", _bip, 0, sp_print_spoe, sp_get_spoe, sp_set_spoe, (float *)&cs.null, SPINDLE_OVERRIDE_ENABLE},
{ "sp","spo", _fip, 3, sp_print_spo, sp_get_spo, sp_set_spo, (float *)&cs.null, SPINDLE_OVERRIDE_FACTOR},
{ "sp","spc", _i0, 0, sp_print_spc, sp_get_spc, sp_set_spc, (float *)&cs.null, 0 }, // spindle state
{ "sp","sps", _f0, 0, sp_print_sps, sp_get_sps, sp_set_sps, (float *)&cs.null, 0 }, // spindle speed
// Coolant functions
{ "co","coph", _bip, 0, co_print_coph, co_get_coph, co_set_coph, (float *)&cs.null, COOLANT_PAUSE_ON_HOLD },
{ "co","comp", _iip, 0, co_print_comp, co_get_comp, co_set_comp, (float *)&cs.null, COOLANT_MIST_POLARITY },
{ "co","cofp", _iip, 0, co_print_cofp, co_get_cofp, co_set_cofp, (float *)&cs.null, COOLANT_FLOOD_POLARITY },
{ "co","com", _i0, 0, co_print_com, co_get_com, co_set_com, (float *)&cs.null, 0 }, // mist coolant enable
{ "co","cof", _i0, 0, co_print_cof, co_get_cof, co_set_cof, (float *)&cs.null, 0 }, // flood coolant enable
// 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","zl", _fipnc,3, cm_print_zl, cm_get_zl, cm_set_zl, (float *)&cs.null, FEEDHOLD_Z_LIFT },
{ "sys","sl", _bipn, 0, cm_print_sl, cm_get_sl, cm_set_sl, (float *)&cs.null, SOFT_LIMIT_ENABLE },
{ "sys","lim", _bipn, 0, cm_print_lim, cm_get_lim, cm_set_lim, (float *)&cs.null, HARD_LIMIT_ENABLE },
{ "sys","saf", _bipn, 0, cm_print_saf, cm_get_saf, cm_set_saf, (float *)&cs.null, SAFETY_INTERLOCK_ENABLE },
{ "sys","m48", _bin, 0, cm_print_m48, cm_get_m48, cm_get_m48, (float *)&cs.null, 1 }, // M48/M49 feedrate & spindle override enable
{ "sys","froe",_bin, 0, cm_print_froe, cm_get_froe,cm_get_froe,(float *)&cs.null, FEED_OVERRIDE_ENABLE},
{ "sys","fro", _fin, 3, cm_print_fro, cm_get_fro, cm_set_fro, (float *)&cs.null, FEED_OVERRIDE_FACTOR},
{ "sys","troe",_bin, 0, cm_print_troe, cm_get_troe,cm_get_troe,(float *)&cs.null, TRAVERSE_OVERRIDE_ENABLE},
{ "sys","tro", _fin, 3, cm_print_tro, cm_get_tro, cm_set_tro, (float *)&cs.null, TRAVERSE_OVERRIDE_FACTOR},
{ "sys","mt", _fipn, 2, st_print_mt, st_get_mt, st_set_mt, (float *)&cs.null, MOTOR_POWER_TIMEOUT}, // N is seconds of timeout
{ "", "me", _f0, 0, st_print_me, get_nul, st_set_me, (float *)&cs.null, 0 }, // SET to enable motors
{ "", "md", _f0, 0, st_print_md, get_nul, st_set_md, (float *)&cs.null, 0 }, // SET to disable motors
// Communications and reporting parameters
#ifdef __TEXT_MODE
{ "sys","tv", _iipn, 0, tx_print_tv, txt_get_tv, txt_set_tv, (float *)&cs.null, TEXT_VERBOSITY },
#endif
{ "sys","ej", _iipn, 0, js_print_ej, js_get_ej, js_set_ej, (float *)&cs.null, COMM_MODE },
{ "sys","jv", _iipn, 0, js_print_jv, js_get_jv, js_set_jv, (float *)&cs.null, JSON_VERBOSITY },
{ "sys","qv", _iipn, 0, qr_print_qv, qr_get_qv, qr_set_qv, (float *)&cs.null, QUEUE_REPORT_VERBOSITY },
{ "sys","sv", _iipn, 0, sr_print_sv, sr_get_sv, sr_set_sv, (float *)&cs.null, STATUS_REPORT_VERBOSITY },
{ "sys","si", _iipn, 0, sr_print_si, sr_get_si, sr_set_si, (float *)&cs.null, STATUS_REPORT_INTERVAL_MS },
// Gcode defaults
// NOTE: The ordering within the gcode defaults is important for token resolution. gc must follow gco
{ "sys","gpl", _iipn, 0, cm_print_gpl, cm_get_gpl, cm_set_gpl, (float *)&cs.null, GCODE_DEFAULT_PLANE },
{ "sys","gun", _iipn, 0, cm_print_gun, cm_get_gun, cm_set_gun, (float *)&cs.null, GCODE_DEFAULT_UNITS },
{ "sys","gco", _iipn, 0, cm_print_gco, cm_get_gco, cm_set_gco, (float *)&cs.null, GCODE_DEFAULT_COORD_SYSTEM },
{ "sys","gpa", _iipn, 0, cm_print_gpa, cm_get_gpa, cm_set_gpa, (float *)&cs.null, GCODE_DEFAULT_PATH_CONTROL },
{ "sys","gdi", _iipn, 0, cm_print_gdi, cm_get_gdi, cm_set_gdi, (float *)&cs.null, GCODE_DEFAULT_DISTANCE_MODE },
{ "", "gc2", _s0, 0, tx_print_nul, gc_get_gc, gc_run_gc, (float *)&cs.null, 0 }, // send gcode to secondary planner
{ "", "gc", _s0, 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", _n0, 0, sr_print_sr, sr_get, sr_set, (float *)&cs.null, 0 }, // request and set status reports
{ "", "qr", _n0, 0, qr_print_qr, qr_get, set_nul, (float *)&cs.null, 0 }, // get queue value - planner buffers available
{ "", "qi", _n0, 0, qr_print_qi, qi_get, set_nul, (float *)&cs.null, 0 }, // get queue value - buffers added to queue
{ "", "qo", _n0, 0, qr_print_qo, qo_get, set_nul, (float *)&cs.null, 0 }, // get queue value - buffers removed from queue
{ "", "er", _n0, 0, tx_print_nul, rpt_er, set_nul, (float *)&cs.null, 0 }, // get bogus exception report for testing
{ "", "rx", _n0, 0, tx_print_int, get_rx, set_nul, (float *)&cs.null, 0 }, // get RX buffer bytes or packets
{ "", "dw", _i0, 0, tx_print_int, st_get_dw, set_noop, (float *)&cs.null, 0 }, // get dwell time remaining
{ "", "msg", _s0, 0, tx_print_str, get_nul, set_noop, (float *)&cs.null, 0 }, // no operation on messages
{ "", "alarm",_n0, 0, tx_print_nul, cm_alrm, cm_alrm, (float *)&cs.null, 0 }, // trigger alarm
{ "", "panic",_n0, 0, tx_print_nul, cm_pnic, cm_pnic, (float *)&cs.null, 0 }, // trigger panic
{ "", "shutd",_n0, 0, tx_print_nul, cm_shutd, cm_shutd, (float *)&cs.null, 0 }, // trigger shutdown
{ "", "clear",_n0, 0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // GET "clear" to clear alarm state
{ "", "clr", _n0, 0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // synonym for "clear"
{ "", "tick", _n0, 0, tx_print_int, get_tick, set_nul, (float *)&cs.null, 0 }, // get system time tic
{ "", "tram", _b0, 0, cm_print_tram,cm_get_tram,cm_set_tram,(float *)&cs.null, 0 }, // SET to attempt setting rotation matrix from probes
{ "", "defa", _b0, 0, tx_print_nul, help_defa,set_defaults,(float *)&cs.null,0 }, // set/print defaults / help screen
{ "", "flash",_b0, 0, tx_print_nul, help_flash,hw_flash, (float *)&cs.null,0 },
#ifdef __HELP_SCREENS
{ "", "help",_b0, 0, tx_print_nul, help_config, set_nul, (float *)&cs.null,0 }, // prints config help screen
{ "", "h", _b0, 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", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_a[0], USER_DATA_A0 },
{ "uda","uda1", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_a[1], USER_DATA_A1 },
{ "uda","uda2", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_a[2], USER_DATA_A2 },
{ "uda","uda3", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_a[3], USER_DATA_A3 },
{ "udb","udb0", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_b[0], USER_DATA_B0 },
{ "udb","udb1", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_b[1], USER_DATA_B1 },
{ "udb","udb2", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_b[2], USER_DATA_B2 },
{ "udb","udb3", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_b[3], USER_DATA_B3 },
{ "udc","udc0", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_c[0], USER_DATA_C0 },
{ "udc","udc1", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_c[1], USER_DATA_C1 },
{ "udc","udc2", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_c[2], USER_DATA_C2 },
{ "udc","udc3", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_c[3], USER_DATA_C3 },
{ "udd","udd0", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_d[0], USER_DATA_D0 },
{ "udd","udd1", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_d[1], USER_DATA_D1 },
{ "udd","udd2", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_d[2], USER_DATA_D2 },
{ "udd","udd3", _dip, 0, tx_print_int, get_data, set_data,(float *)&cfg.user_data_d[3], USER_DATA_D3 },
#endif
// Tool table offsets
{ "tof","tofx",_fipc, 5, cm_print_cofs, cm_get_tof, cm_set_tof, (float *)&cs.null, 0 },
{ "tof","tofy",_fipc, 5, cm_print_cofs, cm_get_tof, cm_set_tof, (float *)&cs.null, 0 },
{ "tof","tofz",_fipc, 5, cm_print_cofs, cm_get_tof, cm_set_tof, (float *)&cs.null, 0 },
{ "tof","tofa",_fipc, 5, cm_print_cofs, cm_get_tof, cm_set_tof, (float *)&cs.null, 0 },
{ "tof","tofb",_fipc, 5, cm_print_cofs, cm_get_tof, cm_set_tof, (float *)&cs.null, 0 },
{ "tof","tofc",_fipc, 5, cm_print_cofs, cm_get_tof, cm_set_tof, (float *)&cs.null, 0 },
// Tool table
{ "tt1","tt1x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT1_X_OFFSET },
{ "tt1","tt1y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT1_Y_OFFSET },
{ "tt1","tt1z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT1_Z_OFFSET },
{ "tt1","tt1a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT1_A_OFFSET },
{ "tt1","tt1b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT1_B_OFFSET },
{ "tt1","tt1c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT1_C_OFFSET },
{ "tt2","tt2x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT2_X_OFFSET },
{ "tt2","tt2y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT2_Y_OFFSET },
{ "tt2","tt2z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT2_Z_OFFSET },
{ "tt2","tt2a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT2_A_OFFSET },
{ "tt2","tt2b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT2_B_OFFSET },
{ "tt2","tt2c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT2_C_OFFSET },
{ "tt3","tt3x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT3_X_OFFSET },
{ "tt3","tt3y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT3_Y_OFFSET },
{ "tt3","tt3z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT3_Z_OFFSET },
{ "tt3","tt3a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT3_A_OFFSET },
{ "tt3","tt3b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT3_B_OFFSET },
{ "tt3","tt3c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT1_C_OFFSET },
{ "tt4","tt4x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT4_X_OFFSET },
{ "tt4","tt4y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT4_Y_OFFSET },
{ "tt4","tt4z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT4_Z_OFFSET },
{ "tt4","tt4a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT4_A_OFFSET },
{ "tt4","tt4b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT4_B_OFFSET },
{ "tt4","tt4c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT4_C_OFFSET },
{ "tt5","tt5x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT5_X_OFFSET },
{ "tt5","tt5y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT5_Y_OFFSET },
{ "tt5","tt5z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT5_Z_OFFSET },
{ "tt5","tt5a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT5_A_OFFSET },
{ "tt5","tt5b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT5_B_OFFSET },
{ "tt5","tt5c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT5_C_OFFSET },
{ "tt6","tt6x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT6_X_OFFSET },
{ "tt6","tt6y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT6_Y_OFFSET },
{ "tt6","tt6z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT6_Z_OFFSET },
{ "tt6","tt6a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT6_A_OFFSET },
{ "tt6","tt6b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT6_B_OFFSET },
{ "tt6","tt6c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT6_C_OFFSET },
{ "tt7","tt7x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT7_X_OFFSET },
{ "tt7","tt7y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT7_Y_OFFSET },
{ "tt7","tt7z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT7_Z_OFFSET },
{ "tt7","tt7a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT7_A_OFFSET },
{ "tt7","tt7b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT7_B_OFFSET },
{ "tt7","tt7c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT7_C_OFFSET },
{ "tt8","tt8x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT8_X_OFFSET },
{ "tt8","tt8y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT8_Y_OFFSET },
{ "tt8","tt8z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT8_Z_OFFSET },
{ "tt8","tt8a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT8_A_OFFSET },
{ "tt8","tt8b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT8_B_OFFSET },
{ "tt8","tt8c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT8_C_OFFSET },
{ "tt9","tt9x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT9_X_OFFSET },
{ "tt9","tt9y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT9_Y_OFFSET },
{ "tt9","tt9z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT9_Z_OFFSET },
{ "tt9","tt9a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT9_A_OFFSET },
{ "tt9","tt9b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT9_B_OFFSET },
{ "tt9","tt9c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT9_C_OFFSET },
{ "tt10","tt10x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT10_X_OFFSET },
{ "tt10","tt10y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT10_Y_OFFSET },
{ "tt10","tt10z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT10_Z_OFFSET },
{ "tt10","tt10a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT10_A_OFFSET },
{ "tt10","tt10b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT10_B_OFFSET },
{ "tt10","tt10c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT10_C_OFFSET },
{ "tt11","tt11x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT11_X_OFFSET },
{ "tt11","tt11y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT11_Y_OFFSET },
{ "tt11","tt11z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT11_Z_OFFSET },
{ "tt11","tt11a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT11_A_OFFSET },
{ "tt11","tt11b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT11_B_OFFSET },
{ "tt11","tt11c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT11_C_OFFSET },
{ "tt12","tt12x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT12_X_OFFSET },
{ "tt12","tt12y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT12_Y_OFFSET },
{ "tt12","tt12z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT12_Z_OFFSET },
{ "tt12","tt12a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT12_A_OFFSET },
{ "tt12","tt12b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT12_B_OFFSET },
{ "tt12","tt12c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT12_C_OFFSET },
{ "tt13","tt13x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT13_X_OFFSET },
{ "tt13","tt13y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT13_Y_OFFSET },
{ "tt13","tt13z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT13_Z_OFFSET },
{ "tt13","tt13a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT13_A_OFFSET },
{ "tt13","tt13b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT13_B_OFFSET },
{ "tt13","tt13c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT13_C_OFFSET },
{ "tt14","tt14x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT14_X_OFFSET },
{ "tt14","tt14y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT14_Y_OFFSET },
{ "tt14","tt14z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT14_Z_OFFSET },
{ "tt14","tt14a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT14_A_OFFSET },
{ "tt14","tt14b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT14_B_OFFSET },
{ "tt14","tt14c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT14_C_OFFSET },
{ "tt15","tt15x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT15_X_OFFSET },
{ "tt15","tt15y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT15_Y_OFFSET },
{ "tt15","tt15z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT15_Z_OFFSET },
{ "tt15","tt15a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT15_A_OFFSET },
{ "tt15","tt15b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT15_B_OFFSET },
{ "tt15","tt15c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT15_C_OFFSET },
{ "tt16","tt16x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT16_X_OFFSET },
{ "tt16","tt16y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT16_Y_OFFSET },
{ "tt16","tt16z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT16_Z_OFFSET },
{ "tt16","tt16a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT16_A_OFFSET },
{ "tt16","tt16b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT16_B_OFFSET },
{ "tt16","tt16c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT16_C_OFFSET },
{ "tt17","tt17x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT17_X_OFFSET },
{ "tt17","tt17y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT17_Y_OFFSET },
{ "tt17","tt17z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT17_Z_OFFSET },
{ "tt17","tt17a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT17_A_OFFSET },
{ "tt17","tt17b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT17_B_OFFSET },
{ "tt17","tt17c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT17_C_OFFSET },
{ "tt18","tt18x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT18_X_OFFSET },
{ "tt18","tt18y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT18_Y_OFFSET },
{ "tt18","tt18z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT18_Z_OFFSET },
{ "tt18","tt18a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT18_A_OFFSET },
{ "tt18","tt18b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT18_B_OFFSET },
{ "tt18","tt18c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT18_C_OFFSET },
{ "tt19","tt19x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT19_X_OFFSET },
{ "tt19","tt19y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT19_Y_OFFSET },
{ "tt19","tt19z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT19_Z_OFFSET },
{ "tt19","tt19a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT19_A_OFFSET },
{ "tt19","tt19b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT19_B_OFFSET },
{ "tt19","tt19c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT19_C_OFFSET },
{ "tt20","tt20x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT20_X_OFFSET },
{ "tt20","tt20y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT20_Y_OFFSET },
{ "tt20","tt20z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT20_Z_OFFSET },
{ "tt20","tt20a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT20_A_OFFSET },
{ "tt20","tt20b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT20_B_OFFSET },
{ "tt20","tt20c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT20_C_OFFSET },
{ "tt21","tt21x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT21_X_OFFSET },
{ "tt21","tt21y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT21_Y_OFFSET },
{ "tt21","tt21z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT21_Z_OFFSET },
{ "tt21","tt21a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT21_A_OFFSET },
{ "tt21","tt21b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT21_B_OFFSET },
{ "tt21","tt21c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT21_C_OFFSET },
{ "tt22","tt22x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT22_X_OFFSET },
{ "tt22","tt22y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT22_Y_OFFSET },
{ "tt22","tt22z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT22_Z_OFFSET },
{ "tt22","tt22a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT22_A_OFFSET },
{ "tt22","tt22b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT22_B_OFFSET },
{ "tt22","tt22c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT22_C_OFFSET },
{ "tt23","tt23x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT23_X_OFFSET },
{ "tt23","tt23y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT23_Y_OFFSET },
{ "tt23","tt23z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT23_Z_OFFSET },
{ "tt23","tt23a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT23_A_OFFSET },
{ "tt23","tt23b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT23_B_OFFSET },
{ "tt23","tt23c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT23_C_OFFSET },
{ "tt24","tt24x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT24_X_OFFSET },
{ "tt24","tt24y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT24_Y_OFFSET },
{ "tt24","tt24z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT24_Z_OFFSET },
{ "tt24","tt24a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT24_A_OFFSET },
{ "tt24","tt24b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT24_B_OFFSET },
{ "tt24","tt24c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT24_C_OFFSET },
{ "tt25","tt25x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT25_X_OFFSET },
{ "tt25","tt25y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT25_Y_OFFSET },
{ "tt25","tt25z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT25_Z_OFFSET },
{ "tt25","tt25a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT25_A_OFFSET },
{ "tt25","tt25b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT25_B_OFFSET },
{ "tt25","tt25c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT25_C_OFFSET },
{ "tt26","tt26x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT26_X_OFFSET },
{ "tt26","tt26y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT26_Y_OFFSET },
{ "tt26","tt26z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT26_Z_OFFSET },
{ "tt26","tt26a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT26_A_OFFSET },
{ "tt26","tt26b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT26_B_OFFSET },
{ "tt26","tt26c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT26_C_OFFSET },
{ "tt27","tt27x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT27_X_OFFSET },
{ "tt27","tt27y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT27_Y_OFFSET },
{ "tt27","tt27z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT27_Z_OFFSET },
{ "tt27","tt27a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT27_A_OFFSET },
{ "tt27","tt27b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT27_B_OFFSET },
{ "tt27","tt27c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT27_C_OFFSET },
{ "tt28","tt28x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT28_X_OFFSET },
{ "tt28","tt28y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT28_Y_OFFSET },
{ "tt28","tt28z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT28_Z_OFFSET },
{ "tt28","tt28a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT28_A_OFFSET },
{ "tt28","tt28b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT28_B_OFFSET },
{ "tt28","tt28c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT28_C_OFFSET },
{ "tt29","tt29x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT29_X_OFFSET },
{ "tt29","tt29y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT29_Y_OFFSET },
{ "tt29","tt29z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT29_Z_OFFSET },
{ "tt29","tt29a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT29_A_OFFSET },
{ "tt29","tt29b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT29_B_OFFSET },
{ "tt29","tt29c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT29_C_OFFSET },
{ "tt30","tt30x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT30_X_OFFSET },
{ "tt30","tt30y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT30_Y_OFFSET },
{ "tt30","tt30z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT30_Z_OFFSET },
{ "tt30","tt30a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT30_A_OFFSET },
{ "tt30","tt30b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT30_B_OFFSET },
{ "tt30","tt30c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT30_C_OFFSET },
{ "tt31","tt31x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT31_X_OFFSET },
{ "tt31","tt31y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT31_Y_OFFSET },
{ "tt31","tt31z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT31_Z_OFFSET },
{ "tt31","tt31a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT31_A_OFFSET },
{ "tt31","tt31b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT31_B_OFFSET },
{ "tt31","tt31c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT31_C_OFFSET },
{ "tt32","tt32x",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT32_X_OFFSET },
{ "tt32","tt32y",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT32_Y_OFFSET },
{ "tt32","tt32z",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT32_Z_OFFSET },
{ "tt32","tt32a",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT32_A_OFFSET },
{ "tt32","tt32b",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT32_B_OFFSET },
{ "tt32","tt32c",_fipc, 5, cm_print_cofs, cm_get_tt, cm_set_tt, (float *)&cs.null, TT32_C_OFFSET },
// 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_ro, (float *)&mr->target[AXIS_X], 0 }, // X target endpoint
{ "_te","_tey",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target[AXIS_Y], 0 },
{ "_te","_tez",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target[AXIS_Z], 0 },
{ "_te","_tea",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target[AXIS_A], 0 },
{ "_te","_teb",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target[AXIS_B], 0 },
{ "_te","_tec",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target[AXIS_C], 0 },
{ "_tr","_trx",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->gm.target[AXIS_X], 0 }, // X target runtime
{ "_tr","_try",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->gm.target[AXIS_Y], 0 },
{ "_tr","_trz",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->gm.target[AXIS_Z], 0 },
{ "_tr","_tra",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->gm.target[AXIS_A], 0 },
{ "_tr","_trb",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->gm.target[AXIS_B], 0 },
{ "_tr","_trc",_f0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->gm.target[AXIS_C], 0 },
#if (MOTORS >= 1)
{ "_ts","_ts1",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target_steps[MOTOR_1], 0 }, // Motor 1 target steps
{ "_ps","_ps1",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->position_steps[MOTOR_1], 0 }, // Motor 1 position steps
{ "_cs","_cs1",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->commanded_steps[MOTOR_1], 0 }, // Motor 1 commanded steps (delayed steps)
{ "_es","_es1",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->encoder_steps[MOTOR_1], 0 }, // Motor 1 encoder steps
{ "_xs","_xs1",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&st_pre.mot[MOTOR_1].corrected_steps, 0 }, // Motor 1 correction steps applied
{ "_fe","_fe1",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->following_error[MOTOR_1], 0 }, // Motor 1 following error in steps
#endif
#if (MOTORS >= 2)
{ "_ts","_ts2",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target_steps[MOTOR_2], 0 },
{ "_ps","_ps2",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->position_steps[MOTOR_2], 0 },
{ "_cs","_cs2",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->commanded_steps[MOTOR_2], 0 },
{ "_es","_es2",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->encoder_steps[MOTOR_2], 0 },
{ "_xs","_xs2",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&st_pre.mot[MOTOR_2].corrected_steps, 0 },
{ "_fe","_fe2",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->following_error[MOTOR_2], 0 },
#endif
#if (MOTORS >= 3)
{ "_ts","_ts3",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target_steps[MOTOR_3], 0 },
{ "_ps","_ps3",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->position_steps[MOTOR_3], 0 },
{ "_cs","_cs3",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->commanded_steps[MOTOR_3], 0 },
{ "_es","_es3",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->encoder_steps[MOTOR_3], 0 },
{ "_xs","_xs3",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&st_pre.mot[MOTOR_3].corrected_steps, 0 },
{ "_fe","_fe3",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->following_error[MOTOR_3], 0 },
#endif
#if (MOTORS >= 4)
{ "_ts","_ts4",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target_steps[MOTOR_4], 0 },
{ "_ps","_ps4",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->position_steps[MOTOR_4], 0 },
{ "_cs","_cs4",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->commanded_steps[MOTOR_4], 0 },
{ "_es","_es4",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->encoder_steps[MOTOR_4], 0 },
{ "_xs","_xs4",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&st_pre.mot[MOTOR_4].corrected_steps, 0 },
{ "_fe","_fe4",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->following_error[MOTOR_4], 0 },
#endif
#if (MOTORS >= 5)
{ "_ts","_ts5",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target_steps[MOTOR_5], 0 },
{ "_ps","_ps5",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->position_steps[MOTOR_5], 0 },
{ "_cs","_cs5",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->commanded_steps[MOTOR_5], 0 },
{ "_es","_es5",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->encoder_steps[MOTOR_5], 0 },
{ "_xs","_xs6",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&st_pre.mot[MOTOR_5].corrected_steps, 0 },
{ "_fe","_fe5",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->following_error[MOTOR_5], 0 },
#endif
#if (MOTORS >= 6)
{ "_ts","_ts6",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->target_steps[MOTOR_6], 0 },
{ "_ps","_ps6",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->position_steps[MOTOR_6], 0 },
{ "_cs","_cs6",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->commanded_steps[MOTOR_6], 0 },
{ "_es","_es6",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&mr->encoder_steps[MOTOR_6], 0 },
{ "_xs","_xs5",_i0, 2, tx_print_flt, get_flt, set_ro, (float *)&st_pre.mot[MOTOR_6].corrected_steps, 0 },
{ "_fe","_fe6",_i0, 2, tx_print_flt, get_flt, set_ro, (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",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[0],0 },
{ "","se01",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[1],0 },
{ "","se02",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[2],0 },
{ "","se03",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[3],0 },
{ "","se04",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[4],0 },
{ "","se05",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[5],0 },
{ "","se06",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[6],0 },
{ "","se07",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[7],0 },
{ "","se08",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[8],0 },
{ "","se09",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[9],0 },
{ "","se10",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[10],0 },
{ "","se11",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[11],0 },
{ "","se12",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[12],0 },
{ "","se13",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[13],0 },
{ "","se14",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[14],0 },
{ "","se15",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[15],0 },
{ "","se16",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[16],0 },
{ "","se17",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[17],0 },
{ "","se18",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[18],0 },
{ "","se19",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[19],0 },
{ "","se20",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[20],0 },
{ "","se21",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[21],0 },
{ "","se22",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[22],0 },
{ "","se23",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[23],0 },
{ "","se24",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[24],0 },
{ "","se25",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[25],0 },
{ "","se26",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[26],0 },
{ "","se27",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[27],0 },
{ "","se28",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[28],0 },
{ "","se29",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[29],0 },
{ "","se30",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[30],0 },
{ "","se31",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[31],0 },
{ "","se32",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[32],0 },
{ "","se33",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[33],0 },
{ "","se34",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[34],0 },
{ "","se35",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[35],0 },
{ "","se36",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[36],0 },
{ "","se37",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[37],0 },
{ "","se38",_ip, 0, tx_print_nul, get_int32, set_int32,(float *)&sr.status_report_list[38],0 },
{ "","se39",_ip, 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)
#define FIXED_GROUPS 4
{ "","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
{ "","sp", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // Spindle group
{ "","co", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // Coolant group
#define AXIS_GROUPS AXES
{ "","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 },
#define MOTOR_GROUPS MOTORS
{ "","1", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // motor groups
#if (MOTORS >= 2)
{ "","2", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
#endif
#if (MOTORS >= 3)
{ "","3", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
#endif
#if (MOTORS >= 4)
{ "","4", _f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 },
#endif
#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
#define DIGITAL_IN_GROUPS 10
{ "","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 },
#define DIGITAL_OUT_GROUPS 14
{ "","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 },
#define COORDINATE_OFFSET_GROUPS 9
{ "","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
#define TOOL_OFFSET_GROUPS 33
{ "","tof",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // current tool offsets
{ "","tt1",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt2",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt3",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt4",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt5",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt6",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt7",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt8",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt9",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt10",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt11",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt12",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt13",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt14",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt15",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt16",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt17",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt18",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt19",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt20",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt21",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt22",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt23",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt24",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt25",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt26",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt27",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt28",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt29",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt30",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt31",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
{ "","tt32",_f0, 0, tx_print_nul, get_grp, set_grp,(float *)&cs.null,0 }, // tt offsets
#define MACHINE_STATE_GROUPS 8
{ "","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 enagled 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
#define TEMPERATURE_GROUPS 6
{ "","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
#ifdef __USER_DATA
#define USER_DATA_GROUPS 4
{ "","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
#define DIAGNOSTIC_GROUPS 8
{ "","_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
#define NV_COUNT_UBER_GROUPS 6
// 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_GROUPS (FIXED_GROUPS \
+ AXIS_GROUPS \
+ MOTOR_GROUPS \
+ DIGITAL_IN_GROUPS \
+ DIGITAL_OUT_GROUPS \
+ COORDINATE_OFFSET_GROUPS \
+ TOOL_OFFSET_GROUPS \
+ MACHINE_STATE_GROUPS \
+ TEMPERATURE_GROUPS \
+ USER_DATA_GROUPS \
+ DIAGNOSTIC_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_flt *= MM_PER_INCH; // convert to canonical millimeter units
}
*((float *)GET_TABLE_WORD(target)) = nv->value_flt; // write value as millimeters or degrees
nv->precision = GET_TABLE_WORD(precision);
nv->valuetype = TYPE_FLOAT;
return(STAT_OK);
}
/*
* convert_incoming_float() - pre-process an incoming floating point number for canonical units
* convert_outgoing_float() - pre-process an outgoing floating point number for units display
*
* Incoming floats are destined for SET operations.
* Outgoing floats are the raw values from GET operations, destined for text or JSON display.
*
* Apologies in advance for these twisty little functions. These functions are used to
* convert incoming floats into the native, canonical form of a parameter (mm, or whatever)
* and outgoing floats into a display format appropriate to the units mode in effect.
* They use the flags in the config table and other cues to determine what type of conversion
* to perform.
*
* The conversions are complicated by the fact that only linear axes actually convert -
* rotaries do not - unless they are in radius mode. Plus, determining the axis for a motor
* requires unraveling the motor mapping (handled in cm_get_axis_type()). Also, there are
* global SYS group values that are not associated with any axis. Lastly, the
* steps-per-unit value (1su) is actually kept in inverse conversion form, as its native
* form would be units-per-step.
*/
static void _convert(nvObj_t *nv, float conversion_factor)
{
if (nv->valuetype != TYPE_FLOAT) { return; } // can be called non-destructively for any value type
if (isnan((double)nv->value_flt) || isinf((double)nv->value_flt)) { return; } // trap illegal float values
///+++ transform these checks into NaN or INF strings with an error return?
if (cm_get_units_mode(MODEL) == INCHES) {
cmAxisType axis_type = cm_get_axis_type(nv); // linear, rotary, global or error
if ((axis_type == AXIS_TYPE_LINEAR) || (axis_type == AXIS_TYPE_SYSTEM)) {
if (cfgArray[nv->index].flags & F_CONVERT) { // standard units conversion
nv->value_flt *= conversion_factor;
} else
if (cfgArray[nv->index].flags & F_ICONVERT) { // inverse units conversion
nv->value_flt /= conversion_factor;
}
}
}
nv->precision = GET_TABLE_WORD(precision);
nv->valuetype = TYPE_FLOAT;
}
void convert_incoming_float(nvObj_t *nv) { return(_convert (nv, MM_PER_INCH)); }
void convert_outgoing_float(nvObj_t *nv) { return(_convert (nv, INCHES_PER_MM)); }
/*
* 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() loads nv->value with 'value' in internal canonical units (e.g. mm, degrees)
* without units conversion. If conversion is required call convert_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
*/
stat_t get_float(nvObj_t *nv, const float value) {
nv->value_flt = value;
nv->valuetype = TYPE_FLOAT;
nv->precision = GET_TABLE_WORD(precision);
return STAT_OK;
}
stat_t set_float(nvObj_t *nv, float &value) {
convert_incoming_float(nv);
value = nv->value_flt;
return (STAT_OK);
}
stat_t set_float_range(nvObj_t *nv, float &value, float low, float high) {
char msg[64];
convert_incoming_float(nv); // conditional unit conversion
if (nv->value_flt < low) {
sprintf(msg, "Input is less than minimum value %0.4f", low);
nv_add_conditional_message(msg);
nv->valuetype = TYPE_NULL;
return (STAT_INPUT_LESS_THAN_MIN_VALUE);
}
if (nv->value_flt > high) {
sprintf(msg, "Input is more than maximum value %0.4f", high);
nv_add_conditional_message(msg);
nv->valuetype = TYPE_NULL;
return (STAT_INPUT_EXCEEDS_MAX_VALUE);
}
value = nv->value_flt;
return (STAT_OK);
}
/*
* get_int() - boilerplate for retrieving 8 bit integer value
* set_int() - boilerplate for setting 8 bit integer value with range checking
* get_int32() - boilerplate for retrieving 32 bit integer value
* set_int32() - boilerplate for setting 32 bit integer value with range checking
*/
stat_t get_int(nvObj_t *nv, const uint8_t value) {
nv->value_int = value;
nv->valuetype = TYPE_INTEGER;
return STAT_OK;
}
stat_t set_int(nvObj_t *nv, uint8_t &value, uint8_t low, uint8_t high) {
char msg[64];
if (nv->value_int < low) {
sprintf(msg, "Input is less than minimum value %d", low);
nv_add_conditional_message(msg);
nv->valuetype = TYPE_NULL;
return (STAT_INPUT_LESS_THAN_MIN_VALUE);
}
if (nv->value_int > high) {
sprintf(msg, "Input is more than maximum value %d", high);
nv_add_conditional_message(msg);
nv->valuetype = TYPE_NULL;
return (STAT_INPUT_EXCEEDS_MAX_VALUE);
}
value = nv->value_int;
nv->valuetype = TYPE_INTEGER;
return (STAT_OK);
}
stat_t get_int32(nvObj_t *nv, const int32_t value) {
nv->value_int = value;
nv->valuetype = TYPE_INTEGER;
return STAT_OK;
}
stat_t set_int32(nvObj_t *nv, int32_t &value, int32_t low, int32_t high) {
char msg[64];
if (nv->value_int < low) {
sprintf(msg, "Input is less than minimum value %lu", low);
nv_add_conditional_message(msg);
nv->valuetype = TYPE_NULL;
return (STAT_INPUT_LESS_THAN_MIN_VALUE);
}
if (nv->value_int > high) {
sprintf(msg, "Input is more than maximum value %lu", high);
nv_add_conditional_message(msg);
nv->valuetype = TYPE_NULL;
return (STAT_INPUT_EXCEEDS_MAX_VALUE);
}
value = nv->value_int; // note: valuetype = TYPE_INT already set
nv->valuetype = TYPE_INTEGER;
return (STAT_OK);
}
/*
* get_string() - boilerplate for retrieving a string value
*/
stat_t get_string(nvObj_t *nv, const char *str)
{
nv->valuetype = TYPE_STRING;
return (nv_copy_string(nv, str));
}
/*
* 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) { // =0 means its a match
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); // STAT_COMPLETE suppresses the normal response line
}
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); // STAT_COMPLETE suppresses the normal response line
}
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); // STAT_COMPLETE suppresses the normal response line
}
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); // STAT_COMPLETE suppresses the normal response line
}
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); // STAT_COMPLETE suppresses the normal response line
}
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_COMPLETE); // STAT_COMPLETE suppresses a second JSON write that would cause a fault
}
/***********************************************************************************
* 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_int = (float)254; // ARM always says the serial buffer is available (max)
nv->valuetype = TYPE_INTEGER;
return (STAT_OK);
}
static stat_t get_tick(nvObj_t *nv)
{
nv->value_int = (float)SysTickTimer.getValue();
nv->valuetype = TYPE_INTEGER;
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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