466 lines
30 KiB
C++
466 lines
30 KiB
C++
#ifndef UNITTEST
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#include <avr/pgmspace.h>
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#else
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#define PROGMEM /* */
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#endif
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#include "registers.h"
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#include "application.h"
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#include "version.hpp"
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#include "modules/finda.h"
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#include "modules/fsensor.h"
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#include "modules/globals.h"
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#include "modules/idler.h"
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#include "modules/motion.h"
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#include "modules/pulley.h"
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#include "modules/selector.h"
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#include "modules/permanent_storage.h"
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/** @defgroup register_table Register Table
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*
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---------------------------------------------------------------------------------
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Register 8-bit Empty value = 0xFFh 255
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Register 16-bit Empty value = 0xFFFFh 65535
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_Italic = unused or default_
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__Bold = Status__
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---------------------------------------------------------------------------------
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Access type:
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- Read: the register can be only read
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- Write: the register can be read and written to. The written change is not persistent (applies only until reset of the MMU)
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- Write Persistent: the register can be read and written to and the written values is stored in EEPROM (persistent across restarts)
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---------------------------------------------------------------------------------
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How can you use the M707/M708 gcodes?
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- Serial terminal like Putty.
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### !!! Gcodes are case sensitive so please don't use upper case A or X in the address you want to read !!!
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#### Useful tools/links:
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To convert hex to ascii https://www.rapidtables.com/convert/number/hex-to-ascii.html
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To convert hex to dec https://www.rapidtables.com/convert/number/hex-to-decimal.html
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Version: 0.0.1
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---------------------------------------------------------------------------------
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| Address | Bit/Type | Name | Valid values | Default | Description | Read / Write | Gcode Read | Gcode Write
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| :-- | :-- | :-- | :--: | :--: | :-- | :--: | :--: | :--:
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| 0x00h 00 | uint8 | project_major | 00h 0 | ffh 255 | Project Major Version | Read only | M707 A0x00 | N/A
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| 0x01h 01 | uint8 | project_minor | 00h 0 | ffh 255 | Project Minor Version | Read only | M707 A0x01 | N/A
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| 0x02h 02 | uint8 | project_revision | 00h 0 | ffh 255 | Project Revision | Read only | M707 A0x02 | N/A
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| 0x03h 03 | uint8 | project_build_number | 00h 0 | ffh 255 | Project Build Number | Read only | M707 A0x03 | N/A
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| 0x04h 04 | uint16 | MMU_errors | 0000h 0 | ffffh 65535 | MMU Errors | Read / Write Persistent | M707 A0x04 | M708 A0x04 Xnnnn
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| 0x05h 05 | uint8 | Current_Progress_Code | ffh 255 | ffh 255 | Emtpy | Read only | M707 A0x05 | N/A
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| ^ | ^ | ^ | 00h 0 | ^ | OK | ^ | ^ | ^
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| ^ | ^ | ^ | 01h 1 | ^ | EngagingIdler | ^ | ^ | ^
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| ^ | ^ | ^ | 02h 2 | ^ | DisengagingIdler | ^ | ^ | ^
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| ^ | ^ | ^ | 03h 3 | ^ | UnloadingToFinda | ^ | ^ | ^
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| ^ | ^ | ^ | 04h 4 | ^ | UnloadingToPulley | ^ | ^ | ^
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| ^ | ^ | ^ | 05h 5 | ^ | FeedingToFinda | ^ | ^ | ^
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| ^ | ^ | ^ | 06h 6 | ^ | FeedingToBondtech | ^ | ^ | ^
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| ^ | ^ | ^ | 07h 7 | ^ | FeedingToNozzle | ^ | ^ | ^
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| ^ | ^ | ^ | 08h 8 | ^ | AvoidingGrind | ^ | ^ | ^
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| ^ | ^ | ^ | 09h 9 | ^ | FinishingMoves | ^ | ^ | ^
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| ^ | ^ | ^ | 0ah 10 | ^ | ERRDisengagingIdler | ^ | ^ | ^
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| ^ | ^ | ^ | 0bh 11 | ^ | ERREngagingIdler | ^ | ^ | ^
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| ^ | ^ | ^ | 0ch 12 | ^ | ERRWaitingForUser | ^ | ^ | ^
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| ^ | ^ | ^ | 0dh 13 | ^ | ERRInternal | ^ | ^ | ^
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| ^ | ^ | ^ | 0eh 14 | ^ | ERRHelpingFilament | ^ | ^ | ^
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| ^ | ^ | ^ | 0fh 15 | ^ | ERRTMCFailed | ^ | ^ | ^
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| ^ | ^ | ^ | 10h 16 | ^ | UnloadingFilament | ^ | ^ | ^
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| ^ | ^ | ^ | 11h 17 | ^ | LoadingFilament | ^ | ^ | ^
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| ^ | ^ | ^ | 11h 18 | ^ | SelectingFilamentSlot | ^ | ^ | ^
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| ^ | ^ | ^ | 12h 19 | ^ | PreparingBlade | ^ | ^ | ^
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| ^ | ^ | ^ | 13h 20 | ^ | PushingFilament | ^ | ^ | ^
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| ^ | ^ | ^ | 14h 21 | ^ | PerformingCut | ^ | ^ | ^
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| ^ | ^ | ^ | 15h 22 | ^ | ReturningSelector | ^ | ^ | ^
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| ^ | ^ | ^ | 16h 23 | ^ | ParkingSelector | ^ | ^ | ^
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| ^ | ^ | ^ | 17h 24 | ^ | EjectingFilament | ^ | ^ | ^
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| ^ | ^ | ^ | 18h 25 | ^ | RetractingFromFinda | ^ | ^ | ^
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| ^ | ^ | ^ | 19h 26 | ^ | Homing | ^ | ^ | ^
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| ^ | ^ | ^ | 1ah 27 | ^ | MovingSelector | ^ | ^ | ^
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| ^ | ^ | ^ | 1bh 28 | ^ | FeedingToFSensor | ^ | ^ | ^
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| 0x06h 06 | uint16 | Current_Error_Code | 0000h 0 | ffffh 65535 | RUNNING | Read only | M707 A0x06 | N/A
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| ^ | ^ | ^ | 0001h 1 | ^ | OK | ^ | ^ | ^
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| ^ | ^ | ^ | 8001h 32769 | ^ | FSENSOR_DIDNT_SWITCH_ON | ^ | ^ | ^
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| ^ | ^ | ^ | 8002h 32770 | ^ | FINDA_DIDNT_SWITCH_OFF | ^ | ^ | ^
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| ^ | ^ | ^ | 8003h 32771 | ^ | FSENSOR_DIDNT_SWITCH_ON | ^ | ^ | ^
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| ^ | ^ | ^ | 8004h 32772 | ^ | FSENSOR_DIDNT_SWITCH_OFF | ^ | ^ | ^
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| ^ | ^ | ^ | 8005h 32773 | ^ | FILAMENT_ALREADY_LOADED | ^ | ^ | ^
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| ^ | ^ | ^ | 8006h 32774 | ^ | INVALID_TOOL | ^ | ^ | ^
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| ^ | ^ | ^ | 8007h 32775 | ^ | Homing_FAILED | ^ | ^ | ^
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| ^ | ^ | ^ | 8008h 32776 | ^ | FINDA_VS_EEPROM_DISREPANCY | ^ | ^ | ^
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| ^ | ^ | ^ | 8009h 32777 | ^ | FSENSOR_TOO_EARLY | ^ | ^ | ^
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| ^ | ^ | ^ | 802bh 32811 | ^ | QUEUE_FULL | ^ | ^ | ^
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| ^ | ^ | ^ | 802ch 32812 | ^ | VERSION_MISMATCH | ^ | ^ | ^
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| ^ | ^ | ^ | 802dh 32813 | ^ | PROTOCOL_ERROR | ^ | ^ | ^
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| ^ | ^ | ^ | 802eh 32814 | ^ | MMU_NOT_RESPONDING | ^ | ^ | ^
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| ^ | ^ | ^ | 802fh 32815 | ^ | INTERNAL | ^ | ^ | ^
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| ^ | ^ | ^ | 8200h 33280 | ^ | TMC_IOIN_MISMATCH | ^ | ^ | ^
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| ^ | ^ | ^ | 8240h 33344 | ^ | TMC_IOIN_MISMATCH PULLEY | ^ | ^ | ^
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| ^ | ^ | ^ | 8280h 33408 | ^ | TMC_IOIN_MISMATCH SELECTOR | ^ | ^ | ^
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| ^ | ^ | ^ | 8300h 33536 | ^ | TMC_IOIN_MISMATCH IDLER | ^ | ^ | ^
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| ^ | ^ | ^ | 83C0h 33728 | ^ | TMC_IOIN_MISMATCH All 3 | ^ | ^ | ^
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| ^ | ^ | ^ | 8400h 33792 | ^ | TMC_RESET | ^ | ^ | ^
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| ^ | ^ | ^ | 8440h 33856 | ^ | TMC_RESET PULLEY | ^ | ^ | ^
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| ^ | ^ | ^ | 8480h 33920 | ^ | TMC_RESET SELECTOR | ^ | ^ | ^
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| ^ | ^ | ^ | 8500h 34048 | ^ | TMC_RESET IDLER | ^ | ^ | ^
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| ^ | ^ | ^ | 85C0h 34240 | ^ | TMC_RESET All 3 | ^ | ^ | ^
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| ^ | ^ | ^ | 8800h 34816 | ^ | TMC_UNDERVOLTAGE_ON_CHARGE_PUMP | ^ | ^ | ^
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| ^ | ^ | ^ | 8840h 34880 | ^ | TMC_UNDERVOLTAGE_ON_CHARGE_PUMP PULLEY | ^ | ^ | ^
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| ^ | ^ | ^ | 8880h 34944 | ^ | TMC_UNDERVOLTAGE_ON_CHARGE_PUMP SELECTOR | ^ | ^ | ^
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| ^ | ^ | ^ | 8900h 35072 | ^ | TMC_UNDERVOLTAGE_ON_CHARGE_PUMP IDLER | ^ | ^ | ^
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| ^ | ^ | ^ | 89C0h 35264 | ^ | TMC_UNDERVOLTAGE_ON_CHARGE_PUMP All 3 | ^ | ^ | ^
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| ^ | ^ | ^ | 9000h 36864 | ^ | TMC_SHORT_TO_GROUND | ^ | ^ | ^
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| ^ | ^ | ^ | 9040h 36928 | ^ | TMC_SHORT_TO_GROUND PULLEY | ^ | ^ | ^
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| ^ | ^ | ^ | 9080h 36992 | ^ | TMC_SHORT_TO_GROUND SELECTOR | ^ | ^ | ^
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| ^ | ^ | ^ | 9100h 37120 | ^ | TMC_SHORT_TO_GROUND IDLER | ^ | ^ | ^
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| ^ | ^ | ^ | 91C0h 37312 | ^ | TMC_SHORT_TO_GROUND All 3 | ^ | ^ | ^
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| ^ | ^ | ^ | A000h 40960 | ^ | TMC_OVER_TEMPERATURE_WARN | ^ | ^ | ^
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| ^ | ^ | ^ | A040h 41024 | ^ | TMC_OVER_TEMPERATURE_WARN PULLEY | ^ | ^ | ^
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| ^ | ^ | ^ | A080h 41088 | ^ | TMC_OVER_TEMPERATURE_WARN SELECTOR | ^ | ^ | ^
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| ^ | ^ | ^ | A100h 41216 | ^ | TMC_OVER_TEMPERATURE_WARN IDLER | ^ | ^ | ^
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| ^ | ^ | ^ | A1C0h 41408 | ^ | TMC_OVER_TEMPERATURE_WARN All 3 | ^ | ^ | ^
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| ^ | ^ | ^ | C000h 49152 | ^ | TMC_OVER_TEMPERATURE_ERROR | ^ | ^ | ^
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| ^ | ^ | ^ | C040h 49216 | ^ | TMC_OVER_TEMPERATURE_ERROR PULLEY | ^ | ^ | ^
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| ^ | ^ | ^ | C080h 49280 | ^ | TMC_OVER_TEMPERATURE_ERROR SELECTOR | ^ | ^ | ^
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| ^ | ^ | ^ | C100h 49408 | ^ | TMC_OVER_TEMPERATURE_ERROR IDLER | ^ | ^ | ^
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| ^ | ^ | ^ | C1C0h 49600 | ^ | TMC_OVER_TEMPERATURE_ERROR All 3 | ^ | ^ | ^
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| 0x07h 07 | uint8 | Filament_State | 00h 0 | ffh 255 | Filament State | Read / Write | M707 A0x07 | M708 A0x07 Xnn
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| 0x08h 08 | uint8 | FINDA_State | 00h 0 | ffh 255 | not triggered | Read only | M707 A0x08 | N/A
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| ^ | ^ | ^ | 01h 1 | ^ | triggered | ^ | ^ | ^
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| 0x09h 09 | uint8 | FSensor_State | 00h 0 | ffh 255 | not triggered | Read / Write | M707 A0x09 | M708 A0x09 Xnn
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| ^ | ^ | ^ | 01h 1 | ^ | triggered | ^ | ^ | ^
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| 0x0ah 10 | uint8 | Motor_Mode | 00h 0 | 00h 0 | normal | Read only | M707 A0x0a | N/A
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| ^ | ^ | ^ | 01h 1 | ^ | stealth | ^ | ^ | ^
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| 0x0bh 11 | uint8 | extra_load_distance | 00h 0 | 1eh 30 | unit mm | Read / Write | M707 A0x0b | M708 A0x0b Xnn
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| 0x0ch 12 | uint8 | FSensor_unload_check_dist. | 00h 0 | 28h 30 | unit mm | Read / Write | M707 A0x0c | M708 A0x0c Xnn
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| 0x0dh 13 | uint16 | Pulley_unload_feedrate | 0000h 0 | 0078h 120 | unit mm/s | Read / Write | M707 A0x0d | M708 A0x0d Xnnnn
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| 0x0eh 14 | uint16 | Pulley_acceleration | 0000h 0 | 320h 800.0 | unit mm/s² | Read (Write) | M707 A0x0e | (M708 A0x0e Xnnnn)
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| 0x0fh 15 | uint16 | Selector_acceleration | 0000h 0 | 00c8h 200.0 | unit mm/s² | Read (Write) | M707 A0x0f | (M708 A0x0f Xnnnn)
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| 0x10h 16 | uint16 | Idler_acceleration | 0000h 0 | 01f4h 500.0 | unit deg/s² | Read (Write) | M707 A0x10 | (M708 A0x10 Xnnnn)
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| 0x11h 17 | uint16 | Pulley_load_feedrate | 0000h 0 | 0050h 80 | unit mm/s | Read / Write | M707 A0x11 | M708 A0x11 Xnnnn
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| 0x12h 18 | uint16 | Selector_nominal_feedrate | 0000h 0 | 002dh 45 | unit mm/s | Read / Write | M707 A0x12 | M708 A0x12 Xnnnn
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| 0x13h 19 | uint16 | Idler_nominal_feedrate | 0000h 0 | 012ch 300 | unit deg/s | Read / Write | M707 A0x13 | M708 A0x13 Xnnnn
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| 0x14h 20 | uint16 | Pulley_slow_feedrate | 0000h 0 | 0014h 20 | unit mm/s | Read / Write | M707 A0x14 | M708 A0x14 Xnnnn
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| 0x15h 21 | uint16 | Selector_homing_feedrate | 0000h 0 | 001eh 30 | unit mm/s | Read / Write | M707 A0x15 | (M708 A0x15 Xnnnn)
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| 0x16h 22 | uint16 | Idler_homing_feedrate | 0000h 0 | 0109h 265 | unit deg/s | Read / Write | M707 A0x16 | (M708 A0x16 Xnnnn)
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| 0x17h 23 | uint8 | Pulley_sg_thrs__R | 00h 0 | 08h 8 | | Read / Write Persistent | M707 A0x17 | M708 A0x17 Xnn
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| 0x18h 24 | uint8 | Selector_sg_thrs_R | 00h 0 | 03h 3 | | Read / Write Persistent | M707 A0x18 | M708 A0x18 Xnn
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| 0x19h 25 | uint8 | Idler_sg_thrs_R | 00h 0 | 06h 6 | | Read / Write Persistent | M707 A0x19 | M708 A0x19 Xnn
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| 0x1ah 26 | uint16 | Get Pulley position | 0000h 0 | ffffh 65535 | unit mm | Read only | M707 A0x1a | N/A
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| 0x1bh 27 | uint16 | Set/Get_Selector_slot | 0000h 0 | ffffh 65535 | unit slot [0-4/5] 5=park pos | Read / Write | M707 A0x1b | M708 A0x1b Xn
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| 0x1ch 28 | uint16 | Set/Get_Idler_slot | 0000h 0 | ffffh 65535 | unit slot [0-4/5] 5=disengaged | Read / Write | M707 A0x1c | M708 A0x1c Xn
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| 0x1dh 29 | uint8 | Set/Get Selector cut iRun current | 0 to 63 (aka 0-1024mA)| 31 (530mA) | | Read / Write | M707 A0x1d | M708 A0x1d Xn
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| 0x1eh 30 | uint16 | Set/Get Pulley iRun current| 0-31 | 14h 20 | 20->350mA: see TMC2130 current conversion| Read / Write | M707 A0x1e | M708 A0x1e Xn
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| 0x1fh 31 | uint16 |Set/Get Selector iRun current| 0-31 | 1fh 31 | 31->530mA: see TMC2130 current conversion| Read / Write | M707 A0x1f | M708 A0x1f Xn
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| 0x20h 32 | uint16 | Set/Get Idler iRun current | 0-31 | 1fh 31 | 31->530mA: see TMC2130 current conversion| Read / Write | M707 A0x20 | M708 A0x20 Xn
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*/
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struct RegisterFlags {
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uint8_t writable : 1;
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uint8_t rwfuncs : 1; // 1: register needs special read and write functions
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uint8_t size : 2; // 0: 1 bit, 1: 1 byte, 2: 2 bytes
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constexpr RegisterFlags(bool writable, uint8_t size)
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: writable(writable)
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, rwfuncs(0)
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, size(size) {}
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constexpr RegisterFlags(bool writable, bool rwfuncs, uint8_t size)
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: writable(writable)
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, rwfuncs(rwfuncs)
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, size(size) {}
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};
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using TReadFunc = uint16_t (*)();
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using TWriteFunc = void (*)(uint16_t);
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// dummy zero register common to all empty registers
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static constexpr uint16_t dummyZero = 0;
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struct RegisterRec {
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RegisterFlags flags;
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union U1 {
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void *addr;
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TReadFunc readFunc;
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constexpr explicit U1(const TReadFunc &r)
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: readFunc(r) {}
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constexpr explicit U1(void *a)
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: addr(a) {}
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} A1;
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union U2 {
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void *addr;
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TWriteFunc writeFunc;
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constexpr explicit U2(const TWriteFunc &w)
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: writeFunc(w) {}
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constexpr explicit U2(void *a)
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: addr(a) {}
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} A2;
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template <typename T>
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constexpr RegisterRec(bool writable, T *address)
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: flags(RegisterFlags(writable, sizeof(T)))
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, A1((void *)address)
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, A2((void *)nullptr) {}
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constexpr RegisterRec(const TReadFunc &readFunc, uint8_t bytes)
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: flags(RegisterFlags(false, true, bytes))
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, A1(readFunc)
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, A2((void *)nullptr) {}
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constexpr RegisterRec(const TReadFunc &readFunc, const TWriteFunc &writeFunc, uint8_t bytes)
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: flags(RegisterFlags(true, true, bytes))
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, A1(readFunc)
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, A2(writeFunc) {}
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constexpr RegisterRec()
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: flags(RegisterFlags(false, false, 1))
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, A1((void *)&dummyZero)
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, A2((void *)nullptr) {}
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};
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// @@TODO it is nice to see all the supported registers at one spot,
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// however it requires including all bunch of dependencies
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// which makes unit testing and separation of modules much harder.
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// @@TODO clang complains that we are initializing this array with an uninitialized referenced variables (e.g. mg::globals)
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// Imo that should be safe as long as we don't call anything from this array before the FW init is completed (which we don't).
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// Otherwise all the addresses of global variables should be known at compile time and the registers array should be consistent.
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//
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// Note:
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// The lambas seem to be pretty cheap:
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// void SetFSensorToNozzleFeedrate(uint8_t fs2NozzleFeedrate) { fsensorToNozzleFeedrate = fs2NozzleFeedrate; }
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// compiles to:
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// sts <modules::globals::globals+0x4>, r24
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// ret
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//
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// @@TODO at the moment we are having problems compiling this array statically into PROGMEM.
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// In this project that's really not an issue since we have half of the RAM empty:
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// Data: 1531 bytes (59.8% Full)
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// But it would be nice to fix that in the future - might be hard to push the compiler to such a construct
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static const RegisterRec registers[] /*PROGMEM*/ = {
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// 0x00
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RegisterRec(false, &project_major),
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// 0x01
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RegisterRec(false, &project_minor),
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// 0x02
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RegisterRec(false, &project_revision),
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// 0x03
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RegisterRec(false, &project_build_number),
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// 0x04
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RegisterRec( // MMU errors
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[]() -> uint16_t { return mg::globals.DriveErrors(); },
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// [](uint16_t) {}, // @@TODO think about setting/clearing the error counter from the outside
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2),
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// 0x05
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RegisterRec([]() -> uint16_t { return application.CurrentProgressCode(); }, 1),
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// 0x06
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RegisterRec([]() -> uint16_t { return application.CurrentErrorCode(); }, 2),
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// 0x07 filamentState
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RegisterRec(
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[]() -> uint16_t { return mg::globals.FilamentLoaded(); },
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[](uint16_t v) { return mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), static_cast<mg::FilamentLoadState>(v)); },
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1),
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// 0x08 FINDA
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RegisterRec(
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[]() -> uint16_t { return static_cast<uint16_t>(mf::finda.Pressed()); },
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1),
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// 09 fsensor
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RegisterRec(
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[]() -> uint16_t { return static_cast<uint16_t>(mfs::fsensor.Pressed()); },
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[](uint16_t v) { return mfs::fsensor.ProcessMessage(v != 0); },
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1),
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// 0xa motor mode (stealth = 1/normal = 0)
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RegisterRec([]() -> uint16_t { return static_cast<uint16_t>(mg::globals.MotorsStealth()); }, 1),
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// 0xb extra load distance after fsensor triggered (30mm default) [mm] RW
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RegisterRec(
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[]() -> uint16_t { return mg::globals.FSensorToNozzle_mm().v; },
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[](uint16_t d) { mg::globals.SetFSensorToNozzle_mm(d); },
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1),
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// 0x0c fsensor unload check distance (40mm default) [mm] RW
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RegisterRec(
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[]() -> uint16_t { return mg::globals.FSensorUnloadCheck_mm().v; },
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[](uint16_t d) { mg::globals.SetFSensorUnloadCheck_mm(d); },
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1),
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// 0xd 2 Pulley unload feedrate [mm/s] RW
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RegisterRec(
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[]() -> uint16_t { return mg::globals.PulleyUnloadFeedrate_mm_s().v; },
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[](uint16_t d) { mg::globals.SetPulleyUnloadFeedrate_mm_s(d); },
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2),
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// 0xe Pulley acceleration [mm/s2] RW
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RegisterRec(
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[]() -> uint16_t { return config::pulleyLimits.accel.v; },
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//@@TODO please update documentation as well
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2),
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// 0xf Selector acceleration [mm/s2] RW
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RegisterRec(
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[]() -> uint16_t { return config::selectorLimits.accel.v; },
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//@@TODO please update documentation as well
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2),
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|
// 0x10 Idler acceleration [deg/s2] RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return config::idlerLimits.accel.v; },
|
|
//@@TODO please update documentation as well
|
|
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),
|
|
// 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 mg::globals.SelectorHomingFeedrate_mm_s().v; },
|
|
[](uint16_t d) { mg::globals.SetSelectorHomingFeedrate_mm_s(d); },
|
|
2),
|
|
// 0x16 Idler homing feedrate [deg/s] RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return mg::globals.IdlerHomingFeedrate_deg_s().v; },
|
|
[](uint16_t d) { mg::globals.SetIdlerHomingFeedrate_deg_s(d); },
|
|
2),
|
|
|
|
// 0x17 Pulley sg_thrs threshold RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return mg::globals.StallGuardThreshold(config::Pulley); },
|
|
[](uint16_t d) { mg::globals.SetStallGuardThreshold(config::Pulley, d); },
|
|
1),
|
|
// 0x18 Selector sg_thrs RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return mg::globals.StallGuardThreshold(mm::Axis::Selector); },
|
|
[](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Selector, d); },
|
|
1),
|
|
// 0x19 Idler sg_thrs RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return mg::globals.StallGuardThreshold(mm::Axis::Idler); },
|
|
[](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Idler, d); },
|
|
1),
|
|
|
|
// 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),
|
|
// 0x1c Set/Get Idler slot RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return mi::idler.Slot(); },
|
|
[](uint16_t d) { d >= config::toolCount ? mi::idler.Disengage() : mi::idler.Engage(d); },
|
|
1),
|
|
// 0x1d Set/Get Selector cut iRun current level RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return mg::globals.CutIRunCurrent(); },
|
|
[](uint16_t d) { mg::globals.SetCutIRunCurrent(d); },
|
|
1),
|
|
|
|
// 0x1e Get/Set Pulley iRun current RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return mm::motion.CurrentsForAxis(config::Pulley).iRun; },
|
|
[](uint16_t d) { mm::motion.SetIRunForAxis(config::Pulley, d); },
|
|
1),
|
|
// 0x1f Set/Get Selector iRun current RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return mm::motion.CurrentsForAxis(config::Selector).iRun; },
|
|
[](uint16_t d) { mm::motion.SetIRunForAxis(config::Selector, d); },
|
|
1),
|
|
// 0x20 Set/Get Idler iRun current RW
|
|
RegisterRec(
|
|
[]() -> uint16_t { return mm::motion.CurrentsForAxis(config::Idler).iRun; },
|
|
[](uint16_t d) { mm::motion.SetIRunForAxis(config::Idler, d); },
|
|
1),
|
|
};
|
|
|
|
static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);
|
|
|
|
bool ReadRegister(uint8_t address, uint16_t &value) {
|
|
if (address >= registersSize) {
|
|
return false;
|
|
}
|
|
value = 0;
|
|
if (!registers[address].flags.rwfuncs) {
|
|
switch (registers[address].flags.size) {
|
|
case 0:
|
|
case 1:
|
|
value = *static_cast<uint8_t *>(registers[address].A1.addr);
|
|
break;
|
|
case 2:
|
|
value = *static_cast<uint16_t *>(registers[address].A1.addr);
|
|
break;
|
|
default:
|
|
return false;
|
|
}
|
|
return true;
|
|
} else {
|
|
switch (registers[address].flags.size) {
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
value = registers[address].A1.readFunc();
|
|
break;
|
|
default:
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
}
|
|
|
|
bool WriteRegister(uint8_t address, uint16_t value) {
|
|
if (address >= registersSize) {
|
|
return false;
|
|
}
|
|
if (!registers[address].flags.writable) {
|
|
return false;
|
|
}
|
|
if (!registers[address].flags.rwfuncs) {
|
|
switch (registers[address].flags.size) {
|
|
case 0:
|
|
case 1:
|
|
*static_cast<uint8_t *>(registers[address].A1.addr) = value;
|
|
break;
|
|
case 2:
|
|
*static_cast<uint16_t *>(registers[address].A1.addr) = value;
|
|
break;
|
|
default:
|
|
return false;
|
|
}
|
|
return true;
|
|
} else {
|
|
switch (registers[address].flags.size) {
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
registers[address].A2.writeFunc(value);
|
|
break;
|
|
default:
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
}
|