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Prusa-Firmware-MMU
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Change layout of registers - avoid empty registers

pull/196/head
D.R.racer 2022-08-16 09:26:42 +02:00
parent 74160c6c81
commit a649de24b9
1 changed files with 66 additions and 71 deletions
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137
src/registers.cpp
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@ -12,6 +12,7 @@
#include "modules/fsensor.h"
#include "modules/globals.h"
#include "modules/idler.h"
#include "modules/pulley.h"
#include "modules/selector.h"
struct RegisterFlags {
@ -94,14 +95,6 @@ struct RegisterRec {
// Data: 1531 bytes (59.8% Full)
// But it would be nice to fix that in the future - might be hard to push the compiler to such a construct
static const RegisterRec registers[] /*PROGMEM*/ = {
// 0x00
// RegisterRec([]()->uint16_t { return PROJECT_VERSION_MAJOR; }, 1),
// // 0x01
// RegisterRec([]()->uint16_t { return PROJECT_VERSION_MINOR; }, 1),
// // 0x02
// RegisterRec([]()->uint16_t { return PROJECT_VERSION_REV; }, 2),
// // 0x03
// RegisterRec([]()->uint16_t { return PROJECT_BUILD_NUMBER; }, 2),
// 0x00
RegisterRec(false, &project_major),
// 0x01
@ -113,7 +106,7 @@ static const RegisterRec registers[] /*PROGMEM*/ = {
// 0x04
RegisterRec( // MMU errors
[]() -> uint16_t { return mg::globals.DriveErrors(); },
[](uint16_t) {}, // @@TODO think about setting/clearing the error counter from the outside
// [](uint16_t) {}, // @@TODO think about setting/clearing the error counter from the outside
2),
// 0x05
RegisterRec([]() -> uint16_t { return application.CurrentProgressCode(); }, 1),
@ -135,100 +128,102 @@ static const RegisterRec registers[] /*PROGMEM*/ = {
1),
// 0xa motor mode (stealth = 1/normal = 0)
RegisterRec([]() -> uint16_t { return static_cast<uint16_t>(mg::globals.MotorsStealth()); }, 1),
// 0xb extra load distance after fsensor triggered (30mm default)
// 0xb extra load distance after fsensor triggered (30mm default) [mm] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.FSensorToNozzle_mm().v; },
[](uint16_t d) { mg::globals.SetFSensorToNozzle_mm(d); },
1),
// 0x0c fsensor unload check distance (40mm default)
// 0x0c fsensor unload check distance (40mm default) [mm] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.FSensorUnloadCheck_mm().v; },
[](uint16_t d) { mg::globals.SetFSensorUnloadCheck_mm(d); },
1),
// 0xd empty register - one empty register takes 5 bytes of code
RegisterRec(),
// 0xe
RegisterRec(),
// 0xf
RegisterRec(),
// Pulley
// 0x10 Pulley acceleration RW
RegisterRec(
[]() -> uint16_t { return config::pulleyLimits.accel.v; },
//@@TODO
1),
// 0x11 2 Pulley fast load feedrate RW
RegisterRec(
[]() -> uint16_t { return mg::globals.PulleyLoadFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetPulleyLoadFeedrate_mm_s(d); },
2),
// 0x12 2 Pulley slow load to fsensor feedrate RW
RegisterRec(
[]() -> uint16_t { return mg::globals.PulleySlowFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetPulleySlowFeedrate_mm_s(d); },
2),
// 0x13 2 Pulley unload feedrate RW
// 0xd 2 Pulley unload feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.PulleyUnloadFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetPulleyUnloadFeedrate_mm_s(d); },
2),
RegisterRec(), // 14
RegisterRec(), // 15
RegisterRec(), // 16
RegisterRec(), // 17
RegisterRec(), // 18
RegisterRec(), // 19
RegisterRec(), // 1a
RegisterRec(), // 1b
RegisterRec(), // 1c
RegisterRec(), // 1d
RegisterRec(), // 1e
RegisterRec(), // 1f
// Selector
//20 2 Selector acceleration RW
// 0xe Pulley acceleration [mm/s2] RW
RegisterRec(
[]() -> uint16_t { return config::pulleyLimits.accel.v; },
//@@TODO
2),
// 0xf Selector acceleration [mm/s2] RW
RegisterRec(
[]() -> uint16_t { return config::selectorLimits.accel.v; },
//@@TODO
1),
//21 2 Selector nominal speed RW
2),
// 0x10 Idler acceleration [deg/s2] RW
RegisterRec(
[]() -> uint16_t { return config::idlerLimits.accel.v; },
//@@TODO
2),
// 0x11 Pulley load feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.PulleyLoadFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetPulleyLoadFeedrate_mm_s(d); },
2),
// 0x12 Selector nominal feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.SelectorFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetSelectorFeedrate_mm_s(d); },
2),
//22 2 Selector sg_thrs RW
// 0x13 Idler nominal feedrate [deg/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.IdlerFeedrate_deg_s().v; },
[](uint16_t d) { mg::globals.SetIdlerFeedrate_deg_s(d); },
2),
// 0x14 Pulley slow load to fsensor feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.PulleySlowFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetPulleySlowFeedrate_mm_s(d); },
2),
// 0x15 Selector homing feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return config::selectorHomingFeedrate.v; },
//@@TODO
2),
// 0x16 Idler homing feedrate [deg/s] RW
RegisterRec(
[]() -> uint16_t { return config::idlerHomingFeedrate.v; },
//@@TODO
2),
// 0x17 Pulley sg_thrs threshold R
RegisterRec(
[]() -> uint16_t { return config::pulley.sg_thrs; },
//@@TODO
2),
// 0x18 Selector sg_thrs R
RegisterRec(
[]() -> uint16_t { return config::selector.sg_thrs; },
//@@TODO
1),
//23 1 Set/Get Selector slot RW
2),
// 0x19 Idler sg_thrs R
RegisterRec(
[]() -> uint16_t { return config::idler.sg_thrs; },
//@@TODO
2),
// 0x1a Get Pulley position [mm] R
RegisterRec(
[]() -> uint16_t { return mpu::pulley.CurrentPosition_mm(); },
2),
// 0x1b Set/Get Selector slot RW
RegisterRec(
[]() -> uint16_t { return ms::selector.Slot(); },
[](uint16_t d) { ms::selector.MoveToSlot(d); },
1),
// Idler
//30 2 Idler acceleration RW
RegisterRec(
[]() -> uint16_t { return config::idlerLimits.accel.v; },
//@@TODO
1),
//31 2 Idler nominal speed RW
RegisterRec(
[]() -> uint16_t { return mg::globals.IdlerFeedrate_deg_s().v; },
[](uint16_t d) { mg::globals.SetIdlerFeedrate_deg_s(d); },
1),
//32 2 Idler sg_thrs RW
RegisterRec(
[]() -> uint16_t { return config::idler.sg_thrs; },
//@@TODO
1),
//33 1 Set/Get Idler slot RW
// 0x1c Set/Get Idler slot RW
RegisterRec(
[]() -> uint16_t { return mi::idler.Slot(); },
// [](uint16_t d) { mi::idler.MoveToSlot(d); }, // @@TODO can be theoretically done as well
1),
};
static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);