Buildbotics CNC Controller Firmware Changelog
==============================================
+## v0.3.22
+ - Fix position loss after program pause. #130
+ - Correctly handle disabled axes.
+ - Fixed config checkbox not displaying defaulted enabled correctly.
+ - Added Custom Modbus VFD programming.
+
## v0.3.21
- Implemented M70-M73 modal state save/restore.
- Added support for modbus VFDs.
- Start Huanyang spindle with out first pressing Start button on VFD.
- Faster switching of large GCode files in Web.
- Fixed reported gcode line off by one.
- - Disable MDI while running.
+ - Disable MDI input while running.
- Stablized direction pin output during slow moves.
## v0.3.20
.PHONY: $(AVR_FIRMWARE)
$(AVR_FIRMWARE):
- $(MAKE) -C src/avr $(shell basename $@)
+ $(MAKE) -C src/avr
publish: pkg
echo -n $(VERSION) > dist/latest.txt
{
"name": "bbctrl",
- "version": "0.3.21.1",
+ "version": "0.3.22",
"homepage": "http://buildbotics.com/",
"repository": "https://github.com/buildbotics/bbctrl-firmware",
"license": "GPL-3.0+",
JSON = vars command messages
JSON := $(patsubst %,build/%.json,$(JSON))
+all: $(PROJECT).hex $(JSON) size
+
include Makefile.common
CFLAGS += -Isrc
# Build
-all: $(PROJECT).hex $(JSON) size
-
$(PROJECT).elf: $(OBJ)
$(CC) $(LDFLAGS) $(OBJ) $(LIBS) -o $@
#include "usart.h"
#include "hardware.h"
-#include "report.h"
#include "vars.h"
#include "estop.h"
#include "i2c.h"
// Define command callbacks
-#define CMD(CODE, NAME, SYNC, ...) \
+#define CMD(CODE, NAME, SYNC) \
stat_t command_##NAME(char *); \
IF(SYNC)(unsigned command_##NAME##_size();) \
IF(SYNC)(void command_##NAME##_exec(void *);)
#undef CMD
-// Help & name
-#define CMD(CODE, NAME, SYNC, HELP) \
- static const char command_##NAME##_name[] PROGMEM = #NAME; \
- static const char command_##NAME##_help[] PROGMEM = HELP;
+// Name
+#define CMD(CODE, NAME, SYNC) \
+ static const char command_##NAME##_name[] PROGMEM = #NAME;
#include "command.def"
#undef CMD
}
-static void _i2c_cb(uint8_t *data, uint8_t length) {_dispatch((char *)data);}
+static void _i2c_cb(uint8_t *data, uint8_t length) {
+ stat_t status = _dispatch((char *)data);
+ if (status) STATUS_ERROR(status, "i2c: %s", data);
+}
void command_init() {i2c_set_read_callback(_i2c_cb);}
void command_print_json() {
bool first = true;
- static const char fmt[] PROGMEM =
- "\"%c\":{\"name\":\"%" PRPSTR "\",\"help\":\"%" PRPSTR "\"}";
+ static const char fmt[] PROGMEM = "\"%c\":{\"name\":\"%" PRPSTR "\"}";
-#define CMD(CODE, NAME, SYNC, HELP) \
+#define CMD(CODE, NAME, SYNC) \
if (first) first = false; else putchar(','); \
- printf_P(fmt, CODE, command_##NAME##_name, command_##NAME##_help);
+ printf_P(fmt, CODE, command_##NAME##_name);
#include "command.def"
#undef CMD
block = 0; // Command consumed
- // Reporting
- report_request();
-
switch (status) {
case STAT_OK: break;
case STAT_NOP: break;
if (!exec_get_velocity() && cmd.count < EXEC_FILL_TARGET &&
!rtc_expired(cmd.last_empty + EXEC_DELAY)) return false;
- if (state_get() == STATE_HOLDING) return false;
-
char code = (char)sync_q_next();
unsigned size = _size(code);
state_running();
_exec_cb(code, data);
- report_request();
return true;
}
\******************************************************************************/
-CMD('$', var, 0, "Set or get variable")
-CMD('#', sync_var, 1, "Set variable synchronous")
-CMD('s', seek, 1, "[switch][flags:active|error]")
-CMD('a', set_axis, 1, "[axis][position] Set axis position")
-CMD('l', line, 1, "[targetVel][maxJerk][axes][times]")
-CMD('I', input, 1, "[a|d][port][mode][timeout] Read input")
-CMD('d', dwell, 1, "[seconds]")
-CMD('P', pause, 1, "[type] Pause control")
-CMD('S', stop, 0, "Stop move, spindle and load outputs")
-CMD('U', unpause, 0, "Unpause")
-CMD('j', jog, 0, "[axes]")
-CMD('r', report, 0, "<0|1>[var] Enable or disable var reporting")
-CMD('R', reboot, 0, "Reboot the controller")
-CMD('c', resume, 0, "Continue processing after a flush")
-CMD('E', estop, 0, "Emergency stop")
-CMD('C', clear, 0, "Clear estop")
-CMD('F', flush, 0, "Flush command queue")
-CMD('D', dump, 0, "Report all variables")
-CMD('h', help, 0, "Print this help screen")
+//(CODE, NAME, SYNC)
+CMD('$', var, 0) // Set or get variable
+CMD('#', sync_var, 1) // Set variable synchronous
+CMD('m', modbus_read, 1) // [addr]
+CMD('M', modbus_write, 1) // [addr][value]
+CMD('s', seek, 1) // [switch][flags:active|error]
+CMD('a', set_axis, 1) // [axis][position] Set axis position
+CMD('l', line, 1) // [targetVel][maxJerk][axes][times]
+CMD('I', input, 1) // [a|d][port][mode][timeout] Read input
+CMD('d', dwell, 1) // [seconds]
+CMD('P', pause, 1) // [type] Pause control
+CMD('S', stop, 0) // Stop move, spindle and load outputs
+CMD('U', unpause, 0) // Unpause
+CMD('j', jog, 0) // [axes]
+CMD('r', report, 0) // <0|1>[var] Enable or disable var reporting
+CMD('R', reboot, 0) // Reboot the controller
+CMD('c', resume, 0) // Continue processing after a flush
+CMD('E', estop, 0) // Emergency stop
+CMD('C', clear, 0) // Clear estop
+CMD('F', flush, 0) // Flush command queue
+CMD('D', dump, 0) // Report all variables
+CMD('h', help, 0) // Print this help screen
#include "cpp_magic.h"
{
-#define CMD(CODE, NAME, SYNC, HELP) \
+#define CMD(CODE, NAME, SYNC) \
#NAME: { \
"code": CODE, \
- "sync": IF_ELSE(SYNC)(true, false), \
- "help": HELP \
+ "sync": IF_ELSE(SYNC)(true, false) \
},
#include "command.def"
#undef CMD
PROBE_PIN,
};
-#define SPI_SS_PIN SERIAL_CTS_PIN // Needed for SPI configuration
+#define SPI_SS_PIN SERIAL_CTS_PIN // Needed for SPI configuration
#define AXES 6 // number of axes
#define MOTORS 4 // number of motors on the board
#define OUTS 5 // number of supported pin outputs
#define ANALOG 2 // number of supported analog inputs
-
+#define VFDREG 32 // number of supported VFD modbus registers
// Switch settings. See switch.c
-#define SWITCH_DEBOUNCE 5 // ms
+#define SWITCH_DEBOUNCE 5 // ms
// Motor ISRs
-#define STALL_ISR_vect PORTA_INT1_vect
-#define FAULT_ISR_vect PORTF_INT1_vect
+#define STALL_ISR_vect PORTA_INT1_vect
+#define FAULT_ISR_vect PORTF_INT1_vect
/* Interrupt usage:
* in a permanent loop call in usart_putc() (usart.c).
*/
-// Timer assignments - see specific modules for details
-// TCC1 free
-#define TIMER_STEP TCC0 // Step timer (see stepper.h)
-#define TIMER_PWM TCD1 // PWM timer (see pwm_spindle.c)
+// Timer assignments
+// NOTE, TCC1 free
+#define TIMER_STEP TCC0 // Step timer (see stepper.h)
+#define TIMER_PWM TCD1 // PWM timer (see pwm_spindle.c)
-#define M1_TIMER TCD0
-#define M2_TIMER TCE0
-#define M3_TIMER TCF0
-#define M4_TIMER TCE1
+#define M1_TIMER TCD0
+#define M2_TIMER TCE0
+#define M3_TIMER TCF0
+#define M4_TIMER TCE1
-#define M1_DMA_CH DMA.CH0
-#define M2_DMA_CH DMA.CH1
-#define M3_DMA_CH DMA.CH2
-#define M4_DMA_CH DMA.CH3
+#define M1_DMA_CH DMA.CH0
+#define M2_DMA_CH DMA.CH1
+#define M3_DMA_CH DMA.CH2
+#define M4_DMA_CH DMA.CH3
-#define M1_DMA_TRIGGER DMA_CH_TRIGSRC_TCD0_CCA_gc
-#define M2_DMA_TRIGGER DMA_CH_TRIGSRC_TCE0_CCA_gc
-#define M3_DMA_TRIGGER DMA_CH_TRIGSRC_TCF0_CCA_gc
-#define M4_DMA_TRIGGER DMA_CH_TRIGSRC_TCE1_CCA_gc
+#define M1_DMA_TRIGGER DMA_CH_TRIGSRC_TCD0_CCA_gc
+#define M2_DMA_TRIGGER DMA_CH_TRIGSRC_TCE0_CCA_gc
+#define M3_DMA_TRIGGER DMA_CH_TRIGSRC_TCF0_CCA_gc
+#define M4_DMA_TRIGGER DMA_CH_TRIGSRC_TCE1_CCA_gc
// Timer setup for stepper and dwells
-#define STEP_TIMER_ENABLE TC_CLKSEL_DIV8_gc
-#define STEP_TIMER_DIV 8
-#define STEP_TIMER_FREQ (F_CPU / STEP_TIMER_DIV)
-#define STEP_TIMER_POLL ((uint16_t)(STEP_TIMER_FREQ * 0.001)) // 1ms
-#define STEP_TIMER_WGMODE TC_WGMODE_NORMAL_gc // count to TOP & rollover
-#define STEP_TIMER_ISR TCC0_OVF_vect
-#define STEP_TIMER_INTLVL TC_OVFINTLVL_HI_gc
-#define STEP_LOW_LEVEL_ISR ADCB_CH0_vect
-#define STEP_PULSE_WIDTH (F_CPU * 0.000002 / 2) // 2uS w/ clk/2
-
-#define SEGMENT_TIME (0.004 / 60.0) // mins
+#define STEP_TIMER_ENABLE TC_CLKSEL_DIV8_gc
+#define STEP_TIMER_DIV 8
+#define STEP_TIMER_FREQ (F_CPU / STEP_TIMER_DIV)
+#define STEP_TIMER_POLL ((uint16_t)(STEP_TIMER_FREQ * 0.001)) // 1ms
+#define STEP_TIMER_WGMODE TC_WGMODE_NORMAL_gc // count to TOP & rollover
+#define STEP_TIMER_ISR TCC0_OVF_vect
+#define STEP_TIMER_INTLVL TC_OVFINTLVL_HI_gc
+#define STEP_LOW_LEVEL_ISR ADCB_CH0_vect
+#define STEP_PULSE_WIDTH (F_CPU * 0.000002 / 2) // 2uS w/ clk/2
+#define SEGMENT_TIME (0.004 / 60.0) // mins
// DRV8711 settings
-#define DRV8711_OFF 12
-#define DRV8711_BLANK (0x32 | DRV8711_BLANK_ABT_bm)
-#define DRV8711_DECAY (DRV8711_DECAY_DECMOD_MIXED | 16)
-
-#define DRV8711_STALL (DRV8711_STALL_SDCNT_2 | DRV8711_STALL_VDIV_4 | 200)
-#define DRV8711_DRIVE (DRV8711_DRIVE_IDRIVEP_50 | \
- DRV8711_DRIVE_IDRIVEN_100 | DRV8711_DRIVE_TDRIVEP_250 | \
- DRV8711_DRIVE_TDRIVEN_250 | DRV8711_DRIVE_OCPDEG_1 | \
- DRV8711_DRIVE_OCPTH_250)
-#define DRV8711_TORQUE DRV8711_TORQUE_SMPLTH_200
-#define DRV8711_CTRL (DRV8711_CTRL_ISGAIN_10 | DRV8711_CTRL_DTIME_450 | \
- DRV8711_CTRL_EXSTALL_bm)
+#define DRV8711_OFF 12
+#define DRV8711_BLANK (0x32 | DRV8711_BLANK_ABT_bm)
+#define DRV8711_DECAY (DRV8711_DECAY_DECMOD_MIXED | 16)
+
+#define DRV8711_STALL (DRV8711_STALL_SDCNT_2 | \
+ DRV8711_STALL_VDIV_4 | 200)
+#define DRV8711_DRIVE (DRV8711_DRIVE_IDRIVEP_50 | \
+ DRV8711_DRIVE_IDRIVEN_100 | \
+ DRV8711_DRIVE_TDRIVEP_250 | \
+ DRV8711_DRIVE_TDRIVEN_250 | \
+ DRV8711_DRIVE_OCPDEG_1 | \
+ DRV8711_DRIVE_OCPTH_250)
+#define DRV8711_TORQUE DRV8711_TORQUE_SMPLTH_200
+#define DRV8711_CTRL (DRV8711_CTRL_ISGAIN_10 | \
+ DRV8711_CTRL_DTIME_450 | \
+ DRV8711_CTRL_EXSTALL_bm)
// RS485 settings
-#define RS485_PORT USARTD1
-#define RS485_DRE_vect USARTD1_DRE_vect
-#define RS485_TXC_vect USARTD1_TXC_vect
-#define RS485_RXC_vect USARTD1_RXC_vect
+#define RS485_PORT USARTD1
+#define RS485_DRE_vect USARTD1_DRE_vect
+#define RS485_TXC_vect USARTD1_TXC_vect
+#define RS485_RXC_vect USARTD1_RXC_vect
// Modbus settings
-#define MODBUS_TIMEOUT 50 // ms. response timeout
-#define MODBUS_RETRIES 4 // Number of retries before failure
-#define MODBUS_BUF_SIZE 64 // Max bytes in rx/tx buffers
-
+#define MODBUS_TIMEOUT 50 // ms. response timeout
+#define MODBUS_RETRIES 4 // Number of retries before failure
+#define MODBUS_BUF_SIZE 8 // Max bytes in rx/tx buffers
+#define VFD_QUERY_DELAY 100 // ms
// Serial settings
-#define SERIAL_BAUD USART_BAUD_115200
-#define SERIAL_PORT USARTC0
-#define SERIAL_DRE_vect USARTC0_DRE_vect
-#define SERIAL_RXC_vect USARTC0_RXC_vect
-#define SERIAL_CTS_THRESH 4
+#define SERIAL_BAUD USART_BAUD_115200
+#define SERIAL_PORT USARTC0
+#define SERIAL_DRE_vect USARTC0_DRE_vect
+#define SERIAL_RXC_vect USARTC0_RXC_vect
+#define SERIAL_CTS_THRESH 4
// Input
-#define INPUT_BUFFER_LEN 128 // text buffer size (255 max)
+#define INPUT_BUFFER_LEN 128 // text buffer size (255 max)
-// I2C
-#define I2C_DEV TWIC
-#define I2C_ISR TWIC_TWIS_vect
-#define I2C_ADDR 0x2b
-#define I2C_MAX_DATA 8
+// Report
+#define REPORT_RATE 250 // ms
+// I2C
+#define I2C_DEV TWIC
+#define I2C_ISR TWIC_TWIS_vect
+#define I2C_ADDR 0x2b
+#define I2C_MAX_DATA 8
-// Settings ********************************************************************
-// Motor settings. See motor.c
+// Motor
#define MOTOR_IDLE_TIMEOUT 0.25 // secs, motor off after this time
#define MIN_STEP_CORRECTION 2
#include "status.h"
#include "stepper.h"
#include "switch.h"
-#include "report.h"
#include <avr/interrupt.h>
#include <util/delay.h>
case DRV8711_STATUS_REG:
drv->status = spi.responses[driver];
- if ((drv->status & drv->flags) != drv->status) {
+ if ((drv->status & drv->flags) != drv->status)
drv->flags |= drv->status;
- report_request();
- }
break;
case DRV8711_OFF_REG:
int driver = atoi(argv[1]);
if (driver < DRIVERS) drivers[driver].flags = 0;
}
-
- report_request();
}
#include "stepper.h"
#include "spindle.h"
#include "switch.h"
-#include "report.h"
#include "hardware.h"
#include "config.h"
#include "state.h"
// Save reason
_set_reason(reason);
-
- report_request();
}
#include "axis.h"
#include "util.h"
#include "command.h"
-#include "report.h"
#include "switch.h"
#include "seek.h"
#include "estop.h"
#include "state.h"
#include "config.h"
+#include "SCurve.h"
static struct {
float peak_accel;
float feed_override;
- float spindle_override;
+
+ struct {
+ float target[AXES];
+ float time;
+ float vel;
+ float accel;
+ float max_vel;
+ float max_accel;
+ float max_jerk;
+ exec_cb_t cb;
+ } seg;
} ex;
void exec_init() {
memset(&ex, 0, sizeof(ex));
- ex.feed_override = 1;
- ex.spindle_override = 1;
- // TODO implement overrides
+ ex.feed_override = 1; // TODO implement feed override
// Set callback for limit switches
for (int sw = SW_MIN_X; sw <= SW_MAX_A; sw++)
void exec_set_cb(exec_cb_t cb) {ex.cb = cb;}
-void exec_move_to_target(float time, const float target[]) {
- ASSERT(isfinite(time));
+void exec_move_to_target(const float target[]) {
ASSERT(isfinite(target[AXIS_X]) && isfinite(target[AXIS_Y]) &&
isfinite(target[AXIS_Z]) && isfinite(target[AXIS_A]) &&
isfinite(target[AXIS_B]) && isfinite(target[AXIS_C]));
copy_vector(ex.position, target);
// Call the stepper prep function
- st_prep_line(time, target);
+ st_prep_line(target);
+}
+
+
+stat_t _segment_exec() {
+ float t = ex.seg.time;
+ float v = ex.seg.vel;
+ float a = ex.seg.accel;
+
+ // Handle pause
+ if (state_get() == STATE_STOPPING) {
+ a = SCurve::nextAccel(SEGMENT_TIME, 0, ex.velocity, ex.accel,
+ ex.seg.max_accel, ex.seg.max_jerk);
+ v = ex.velocity + SEGMENT_TIME * a;
+ t *= ex.seg.vel / v;
+ if (v <= 0) t = v = 0;
+
+ if (v < MIN_VELOCITY) {
+ t = v = 0;
+ ex.seg.cb = 0;
+ command_reset_position();
+ state_holding();
+ seek_end();
+ }
+ }
+
+ // Wait for next seg if time is too short and we are still moving
+ if (t < SEGMENT_TIME && (!t || v)) {
+ if (!v) ex.velocity = ex.accel = ex.jerk = 0;
+ ex.cb = ex.seg.cb;
+ return STAT_AGAIN;
+ }
+
+ // Update velocity and accel
+ ex.velocity = v;
+ ex.accel = a;
+
+ if (t <= SEGMENT_TIME) {
+ // Move
+ exec_move_to_target(ex.seg.target);
+ ex.seg.time = 0;
+
+ } else {
+ // Compute next target
+ float ratio = SEGMENT_TIME / t;
+ float target[AXES];
+ for (int axis = 0; axis < AXES; axis++) {
+ float diff = ex.seg.target[axis] - ex.position[axis];
+ target[axis] = ex.position[axis] + ratio * diff;
+ }
+
+ // Move
+ exec_move_to_target(target);
+
+ // Update time
+ if (t == ex.seg.time) ex.seg.time -= SEGMENT_TIME;
+ else ex.seg.time -= SEGMENT_TIME * v / ex.seg.vel;
+ }
+
+ // Check switch
+ if (seek_switch_found()) state_seek_hold();
+
+ return STAT_OK;
+}
+
+
+stat_t exec_segment(float time, const float target[], float vel, float accel,
+ float maxVel, float maxAccel, float maxJerk) {
+ ASSERT(time <= SEGMENT_TIME);
+
+ copy_vector(ex.seg.target, target);
+ ex.seg.time += time;
+ ex.seg.vel = vel;
+ ex.seg.accel = accel;
+ ex.seg.max_vel = maxVel;
+ ex.seg.max_accel = maxAccel;
+ ex.seg.max_jerk = maxJerk;
+ ex.seg.cb = ex.cb;
+ ex.cb = _segment_exec;
+
+ if (!ex.seg.cb) seek_end();
+
+ return _segment_exec();
}
stat_t exec_next() {
- // Hold if we've reached zero velocity between commands an stopping
+ // Hold if we've reached zero velocity between commands and stopping
if (!ex.cb && !exec_get_velocity() && state_get() == STATE_STOPPING)
state_holding();
+ if (state_get() == STATE_HOLDING) return STAT_NOP;
if (!ex.cb && !command_exec()) return STAT_NOP; // Queue empty
if (!ex.cb) return STAT_AGAIN; // Non-exec command
return ex.cb(); // Exec
void set_peak_vel(float x) {ex.peak_vel = 0;}
float get_peak_accel() {return ex.peak_accel / ACCEL_MULTIPLIER;}
void set_peak_accel(float x) {ex.peak_accel = 0;}
-float get_feed_override() {return ex.feed_override;}
-void set_feed_override(float value) {ex.feed_override = value;}
-float get_speed_override() {return ex.spindle_override;}
-void set_speed_override(float value) {ex.spindle_override = value;}
+uint16_t get_feed_override() {return ex.feed_override * 1000;}
+void set_feed_override(uint16_t value) {ex.feed_override = value / 1000.0;}
// Command callbacks
// Update motors
int motor = axis_get_motor(cmd->axis);
if (0 <= motor) motor_set_position(motor, cmd->position);
-
- // Report
- report_request();
}
void exec_set_cb(exec_cb_t cb);
-void exec_move_to_target(float time, const float target[]);
+void exec_move_to_target(const float target[]);
+stat_t exec_segment(float time, const float target[], float vel, float accel,
+ float maxVel, float maxAccel, float maxJerk);
stat_t exec_next();
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ 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; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#include "huanyang.h"
+#include "config.h"
+#include "modbus.h"
+
+#include <string.h>
+#include <math.h>
+
+
+/*
+ Huanyang is not quite Modbus compliant.
+
+ Message format is:
+
+ [id][func][length][data][checksum]
+
+ Where:
+
+ id - 1-byte Peer ID
+ func - 1-byte One of hy_func_t
+ length - 1-byte Length data in bytes
+ data - length bytes - Command arguments
+ checksum - 16-bit CRC: x^16 + x^15 + x^2 + 1 (0xa001) initial: 0xffff
+*/
+
+
+// See VFD manual pg56 3.1.3
+typedef enum {
+ HUANYANG_FUNC_READ = 1, // [len=1][hy_addr_t]
+ HUANYANG_FUNC_WRITE, // [len=3][hy_addr_t][data]
+ HUANYANG_CTRL_WRITE, // [len=1][hy_ctrl_state_t]
+ HUANYANG_CTRL_READ, // [len=1][hy_ctrl_addr_t]
+ HUANYANG_FREQ_WRITE, // [len=2][freq]
+ HUANYANG_RESERVED_1,
+ HUANYANG_RESERVED_2,
+ HUANYANG_LOOP_TEST,
+} hy_func_t;
+
+
+// Sent in HUANYANG_CTRL_WRITE
+// See VFD manual pg57 3.1.3.c
+typedef enum {
+ HUANYANG_RUN = 1 << 0,
+ HUANYANG_FORWARD = 1 << 1,
+ HUANYANG_REVERSE = 1 << 2,
+ HUANYANG_STOP = 1 << 3,
+ HUANYANG_REV_FWD = 1 << 4,
+ HUANYANG_JOG = 1 << 5,
+ HUANYANG_JOG_FORWARD = 1 << 6,
+ HUANYANG_JOG_REVERSE = 1 << 7,
+} hy_ctrl_state_t;
+
+
+// Returned by HUANYANG_CTRL_WRITE
+// See VFD manual pg57 3.1.3.c
+typedef enum {
+ HUANYANG_STATUS_RUN = 1 << 0,
+ HUANYANG_STATUS_JOG = 1 << 1,
+ HUANYANG_STATUS_COMMAND_REV = 1 << 2,
+ HUANYANG_STATUS_RUNNING = 1 << 3,
+ HUANYANG_STATUS_JOGGING = 1 << 4,
+ HUANYANG_STATUS_JOGGING_REV = 1 << 5,
+ HUANYANG_STATUS_BRAKING = 1 << 6,
+ HUANYANG_STATUS_TRACK_START = 1 << 7,
+} hy_ctrl_status_t;
+
+
+// Sent in HUANYANG_CTRL_READ
+// See VFD manual pg57 3.1.3.d
+typedef enum {
+ HUANYANG_TARGET_FREQ,
+ HUANYANG_ACTUAL_FREQ,
+ HUANYANG_ACTUAL_CURRENT,
+ HUANYANG_ACTUAL_RPM,
+ HUANYANG_DCV,
+ HUANYANG_ACV,
+ HUANYANG_COUNTER,
+ HUANYANG_TEMPERATURE,
+} hy_ctrl_addr_t;
+
+
+static struct {
+ uint8_t state;
+
+ deinit_cb_t deinit_cb;
+ bool shutdown;
+ bool changed;
+ float speed;
+
+ float actual_freq;
+ float actual_current;
+ uint16_t actual_rpm;
+ uint16_t temperature;
+
+ float max_freq;
+ float min_freq;
+ uint16_t rated_rpm;
+
+ uint8_t status;
+} hy;
+
+
+static void _func_read_response(hy_addr_t addr, uint16_t value) {
+ switch (addr) {
+ case HY_PD005_MAX_FREQUENCY: hy.max_freq = value * 0.01; break;
+ case HY_PD011_FREQUENCY_LOWER_LIMIT: hy.min_freq = value * 0.01; break;
+ case HY_PD144_RATED_MOTOR_RPM: hy.rated_rpm = value; break;
+ default: break;
+ }
+}
+
+
+static void _ctrl_read_response(hy_ctrl_addr_t addr, uint16_t value) {
+ switch (addr) {
+ case HUANYANG_ACTUAL_FREQ: hy.actual_freq = value * 0.01; break;
+ case HUANYANG_ACTUAL_CURRENT: hy.actual_current = value * 0.01; break;
+ case HUANYANG_ACTUAL_RPM: hy.actual_rpm = value; break;
+ case HUANYANG_TEMPERATURE: hy.temperature = value; break;
+ default: break;
+ }
+}
+
+
+static uint16_t _read_word(const uint8_t *data) {
+ return (uint16_t)data[0] << 8 | data[1];
+}
+
+
+static void _handle_response(hy_func_t func, const uint8_t *data) {
+ switch (func) {
+ case HUANYANG_FUNC_READ:
+ _func_read_response((hy_addr_t)*data, _read_word(data + 1));
+ break;
+
+ case HUANYANG_FUNC_WRITE: break;
+ case HUANYANG_CTRL_WRITE: hy.status = *data; break;
+
+ case HUANYANG_CTRL_READ:
+ _ctrl_read_response((hy_ctrl_addr_t)*data, _read_word(data + 1));
+ break;
+
+ case HUANYANG_FREQ_WRITE: break;
+ default: break;
+ }
+}
+
+
+static void _next_command();
+
+
+static bool _shutdown() {
+ if (!hy.shutdown) return false;
+ modbus_deinit();
+ if (hy.deinit_cb) hy.deinit_cb();
+ return true;
+}
+
+
+static void _modbus_cb(uint8_t func, uint8_t bytes, const uint8_t *data) {
+ if (!data) { // Modbus command failed
+ if (_shutdown()) return;
+ hy.state = 0;
+
+ } else if (bytes == *data + 1) {
+ _handle_response((hy_func_t)func, data + 1);
+
+ if (func == HUANYANG_CTRL_WRITE && _shutdown()) return;
+
+ // Next command
+ if (++hy.state == 9) {
+ if (hy.shutdown || hy.changed) hy.state = 0;
+ else hy.state = 5;
+ hy.changed = false;
+ }
+ }
+
+ _next_command();
+}
+
+
+static void _func_read(hy_addr_t addr) {
+ uint8_t data[2] = {1, addr};
+ modbus_func(HUANYANG_FUNC_READ, 2, data, 4, _modbus_cb);
+}
+
+
+static void _ctrl_write(hy_ctrl_state_t state) {
+ uint8_t data[2] = {1, state};
+ modbus_func(HUANYANG_CTRL_WRITE, 2, data, 2, _modbus_cb);
+}
+
+
+static void _ctrl_read(hy_ctrl_addr_t addr) {
+ uint8_t data[2] = {1, addr};
+ modbus_func(HUANYANG_CTRL_READ, 2, data, 4, _modbus_cb);
+}
+
+
+static void _freq_write(uint16_t freq) {
+ uint8_t data[3] = {2, (uint8_t)(freq >> 8), (uint8_t)freq};
+ modbus_func(HUANYANG_FREQ_WRITE, 3, data, 3, _modbus_cb);
+}
+
+
+static void _next_command() {
+ switch (hy.state) {
+ case 0: { // Update direction
+ hy_ctrl_state_t state = HUANYANG_STOP;
+ if (!hy.shutdown) {
+ if (0 < hy.speed)
+ state = (hy_ctrl_state_t)(HUANYANG_RUN | HUANYANG_FORWARD);
+ else if (hy.speed < 0)
+ state = (hy_ctrl_state_t)(HUANYANG_RUN | HUANYANG_REV_FWD);
+ }
+
+ _ctrl_write(state);
+ break;
+ }
+
+ case 1: _func_read(HY_PD005_MAX_FREQUENCY); break;
+ case 2: _func_read(HY_PD011_FREQUENCY_LOWER_LIMIT); break;
+ case 3: _func_read(HY_PD144_RATED_MOTOR_RPM); break;
+
+ case 4: { // Update freqency
+ // Compute frequency in Hz
+ float freq = fabs(hy.speed * hy.max_freq);
+
+ // Frequency write command
+ _freq_write(freq * 100);
+ break;
+ }
+
+ case 5: _ctrl_read(HUANYANG_ACTUAL_FREQ); break;
+ case 6: _ctrl_read(HUANYANG_ACTUAL_CURRENT); break;
+ case 7: _ctrl_read(HUANYANG_ACTUAL_RPM); break;
+ case 8: _ctrl_read(HUANYANG_TEMPERATURE); break;
+ }
+}
+
+
+void huanyang_init() {
+ modbus_init();
+ memset(&hy, 0, sizeof(hy));
+ _next_command();
+}
+
+
+void huanyang_deinit(deinit_cb_t cb) {
+ hy.deinit_cb = cb;
+ hy.shutdown = true;
+}
+
+
+void huanyang_set(float speed) {
+ if (hy.speed != speed && !hy.shutdown) {
+ hy.speed = speed;
+ hy.changed = true;
+ }
+}
+
+
+float huanyang_get() {return hy.actual_freq / hy.max_freq;}
+
+
+void huanyang_stop() {
+ huanyang_set(0);
+ hy.shutdown = true;
+}
+
+
+float get_hy_freq() {return hy.actual_freq;}
+float get_hy_current() {return hy.actual_current;}
+uint16_t get_hy_temp() {return hy.temperature;}
+float get_hy_max_freq() {return hy.max_freq;}
+float get_hy_min_freq() {return hy.min_freq;}
+uint16_t get_hy_rated_rpm() {return hy.rated_rpm;}
+float get_hy_status() {return hy.status;}
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ 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; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#include "spindle.h"
+
+
+void huanyang_init();
+void huanyang_deinit(deinit_cb_t cb);
+void huanyang_set(float speed);
+float huanyang_get();
+void huanyang_stop();
+
+
+/// See Huanyang VFD user manual
+typedef enum {
+ HY_PD000_PARAMETER_LOCK,
+ HY_PD001_SOURCE_OF_OPERATION_COMMANDS,
+ HY_PD002_SOURCE_OF_OPERATING_FREQUENCY,
+ HY_PD003_MAIN_FREQUENCY,
+ HY_PD004_BASE_FREQUENCY,
+ HY_PD005_MAX_FREQUENCY,
+ HY_PD006_INTERMEDIATE_FREQUENCY,
+ HY_PD007_MIN_FREQUENCY,
+ HY_PD008_MAX_VOLTAGE,
+ HY_PD009_INTERMEDIATE_VOLTAGE,
+ HY_PD010_MIN_VOLTAGE,
+ HY_PD011_FREQUENCY_LOWER_LIMIT,
+ HY_PD012_RESERVED,
+ HY_PD013_PARAMETER_RESET,
+ HY_PD014_ACCEL_TIME_1,
+ HY_PD015_DECEL_TIME_1,
+ HY_PD016_ACCEL_TIME_2,
+ HY_PD017_DECEL_TIME_2,
+ HY_PD018_ACCEL_TIME_3,
+ HY_PD019_DECEL_TIME_3,
+ HY_PD020_ACCEL_TIME_4,
+ HY_PD021_DECEL_TIME_4,
+ HY_PD022_FACTORY_RESERVED,
+ HY_PD023_REV_ROTATION_SELECT,
+ HY_PD024_STOP_KEY,
+ HY_PD025_STARTING_MODE,
+ HY_PD026_STOPPING_MODE,
+ HY_PD027_STARTING_FREQUENCY,
+ HY_PD028_STOPPING_FREQUENCY,
+ HY_PD029_DC_BRAKING_TIME_AT_START,
+ HY_PD030_DC_BRAKING_TIME_AT_STOP,
+ HY_PD031_DC_BRAKING_VOLTAGE_LEVEL,
+ HY_PD032_FREQUENCY_TRACK_TIME,
+ HY_PD033_CURRENT_LEVEL_FOR_FREQUENCY_TRACK,
+ HY_PD034_VOLTAGE_RISE_TIME_FOR_FREQUENCY_TRACK,
+ HY_PD035_FREQUENCY_STEP_LENGTH,
+ HY_PD036,
+ HY_PD037,
+ HY_PD038,
+ HY_PD039,
+ HY_PD040,
+ HY_PD041_CARRIER_FREQUENCY,
+ HY_PD042_JOGGING_FREQUENCY,
+ HY_PD043_S_CURVE_TIME,
+ HY_PD044_MULTI_INPUT_FOR,
+ HY_PD045_MULTI_INPUT_REV,
+ HY_PD046_MULTI_INPUT_RST,
+ HY_PD047_MULTI_INPUT_SPH,
+ HY_PD048_MULTI_INPUT_SPM,
+ HY_PD049_MULTI_INPUT_SPL,
+ HY_PD050_MULTI_OUTPUT_DRV,
+ HY_PD051_MULTI_OUTPUT_UPF,
+ HY_PD052_MULTI_OUTPUT_FA_FB_FC,
+ HY_PD053_MULTI_OUTPUT_KA_KB,
+ HY_PD054_MULTI_OUTPUT_AM,
+ HY_PD055_AM_ANALOG_OUTPUT_GAIN,
+ HY_PD056_SKIP_FREQUENCY_1,
+ HY_PD057_SKIP_FREQUENCY_2,
+ HY_PD058_SKIP_FREQUENCY_3,
+ HY_PD059_SKIP_FREQUENCY_RANGE,
+ HY_PD060_UNIFORM_FREQUENCY_1,
+ HY_PD061_UNIFORM_FREQUENCY_2,
+ HY_PD062_UNIFORM_FREQUENCY_RANGE,
+ HY_PD063_TIMER_1_TIME,
+ HY_PD064_TIMER_2_TIME,
+ HY_PD065_COUNTING_VALUE,
+ HY_PD066_INTERMEDIATE_COUNTER,
+ HY_PD067,
+ HY_PD068,
+ HY_PD069,
+ HY_PD070_ANALOG_INPUT,
+ HY_PD071_ANALOG_FILTERING_CONSTANT,
+ HY_PD072_HIGHER_ANALOG_FREQUENCY,
+ HY_PD073_LOWER_ANALOG_FREQUENCY,
+ HY_PD074_BIAS_DIRECTION_AT_HIGHER_FREQUENCY,
+ HY_PD075_BIAS_DIRECTION_AT_LOWER_FREQUENCY,
+ HY_PD076_ANALOG_NEGATIVE_BIAS_REVERSE,
+ HY_PD077_UP_DOWN_FUNCTION,
+ HY_PD078_UP_DOWN_SPEED,
+ HY_PD079,
+ HY_PD080_PLC_OPERATION,
+ HY_PD081_AUTO_PLC,
+ HY_PD082_PLC_RUNNING_DIRECTION,
+ HY_PD083,
+ HY_PD084_PLC_RAMP_TIME,
+ HY_PD085,
+ HY_PD086_FREQUENCY_2,
+ HY_PD087_FREQUENCY_3,
+ HY_PD088_FREQUENCY_4,
+ HY_PD089_FREQUENCY_5,
+ HY_PD090_FREQUENCY_6,
+ HY_PD091_FREQUENCY_7,
+ HY_PD092_FREQUENCY_8,
+ HY_PD093,
+ HY_PD094,
+ HY_PD095,
+ HY_PD096,
+ HY_PD097,
+ HY_PD098,
+ HY_PD099,
+ HY_PD100,
+ HY_PD101_TIMER_1,
+ HY_PD102_TIMER_2,
+ HY_PD103_TIMER_3,
+ HY_PD104_TIMER_4,
+ HY_PD105_TIMER_5,
+ HY_PD106_TIMER_6,
+ HY_PD107_TIMER_7,
+ HY_PD108_TIMER_8,
+ HY_PD109,
+ HY_PD110,
+ HY_PD111,
+ HY_PD112,
+ HY_PD113,
+ HY_PD114,
+ HY_PD115,
+ HY_PD116,
+ HY_PD117_AUTOPLC_MEMORY_FUNCTION,
+ HY_PD118_OVER_VOLTAGE_STALL_PREVENTION,
+ HY_PD119_STALL_PREVENTION_LEVEL_AT_RAMP_UP,
+ HY_PD120_STALL_PREVENTION_LEVEL_AT_CONSTANT_SPEED,
+ HY_PD121_DECEL_TIME_FOR_STALL_PREVENTION_AT_CONSTANT_SPEED,
+ HY_PD122_STALL_PREVENTION_LEVEL_AT_DECELERATION,
+ HY_PD123_OVER_TORQUE_DETECT_MODE,
+ HY_PD124_OVER_TORQUE_DETECT_LEVEL,
+ HY_PD125_OVER_TORQUE_DETECT_TIME,
+ HY_PD126,
+ HY_PD127,
+ HY_PD128,
+ HY_PD129,
+ HY_PD130_NUMBER_OF_AUXILIARY_PUMP,
+ HY_PD131_CONTINUOUS_RUNNING_TIME_OF_AUXILIARY_PUMPS,
+ HY_PD132_INTERLOCKING_TIME_OF_AUXILIARY_PUMP,
+ HY_PD133_HIGH_SPEED_RUNNING_TIME,
+ HY_PD134_LOW_SPEED_RUNNING_TIME,
+ HY_PD135_STOPPING_VOLTAGE_LEVEL,
+ HY_PD136_LASTING_TIME_OF_STOPPING_VOLTAGE_LEVEL,
+ HY_PD137_WAKEUP_VOLTAGE_LEVEL,
+ HY_PD138_SLEEP_FREQUENCY,
+ HY_PD139_LASTING_TIME_OF_SLEEP_FREQUENCY,
+ HY_PD140,
+ HY_PD141_RATED_MOTOR_VOLTAGE,
+ HY_PD142_RATED_MOTOR_CURRENT,
+ HY_PD143_MOTOR_POLE_NUMBER,
+ HY_PD144_RATED_MOTOR_RPM,
+ HY_PD145_AUTO_TORQUE_COMPENSATION,
+ HY_PD146_MOTOR_NO_LOAD_CURRENT,
+ HY_PD147_MOTOR_SLIP_COMPENSATION,
+ HY_PD148,
+ HY_PD149,
+ HY_PD150_AUTO_VOLTAGE_REGULATION,
+ HY_PD151_AUTO_ENERGY_SAVING,
+ HY_PD152_FAULT_RESTART_TIME,
+ HY_PD153_RESTART_AFTER_INSTANTANEOUS_STOP,
+ HY_PD154_ALLOWABLE_POWER_BREAKDOWN_TIME,
+ HY_PD155_NUMBER_OF_ABNORMAL_RESTART,
+ HY_PD156_PROPORTIONAL_CONSTANT,
+ HY_PD157_INTEGRAL_TIME,
+ HY_PD158_DIFFERENTIAL_TIME,
+ HY_PD159_TARGET_VALUE,
+ HY_PD160_PID_TARGET_VALUE,
+ HY_PD161_PID_UPPER_LIMIT,
+ HY_PD162_PID_LOWER_LIMIT,
+ HY_PD163_COMMUNICATION_ADDRESSES,
+ HY_PD164_COMMUNICATION_BAUD_RATE,
+ HY_PD165_COMMUNICATION_DATA_METHOD,
+ HY_PD166,
+ HY_PD167,
+ HY_PD168,
+ HY_PD169,
+ HY_PD170_DISPLAY_ITEMS,
+ HY_PD171_DISPLAY_ITEMS_OPEN,
+ HY_PD172_FAULT_CLEAR,
+ HY_PD173,
+ HY_PD174_RATED_CURRENT_OF_INVERTER,
+ HY_PD175_INVERTER_MODEL,
+ HY_PD176_INVERTER_FREQUENCY_STANDARD,
+ HY_PD177_FAULT_RECORD_1,
+ HY_PD178_FAULT_RECORD_2,
+ HY_PD179_FAULT_RECORD_3,
+ HY_PD180_FAULT_RECORD_4,
+ HY_PD181_SOFTWARE_VERSION,
+ HY_PD182_MANUFACTURE_DATE,
+ HY_PD183_SERIAL_NO,
+} hy_addr_t;
// Set velocity and target
exec_set_velocity(sqrt(velocity_sqr));
- exec_move_to_target(SEGMENT_TIME, target);
+ exec_move_to_target(target);
return STAT_OK;
}
#include "exec.h"
#include "axis.h"
#include "command.h"
-#include "state.h"
-#include "seek.h"
#include "util.h"
#include "SCurve.h"
#include <math.h>
+#include <float.h>
#include <string.h>
-#include <stdio.h>
typedef struct {
float target[AXES];
float times[7];
float target_vel;
+ float max_vel;
float max_accel;
float max_jerk;
static struct {
- float current_time;
+ line_t line;
+
int section;
- bool stop_section;
- float offset_time;
int seg;
- line_t line;
-
float iD; // Initial section distance
float iV; // Initial section velocity
float iA; // Initial section acceleration
float jerk;
- float dist;
-} l = {.current_time = SEGMENT_TIME};
+ float lV; // Last velocity
+} l;
static void _segment_target(float target[AXES], float d) {
- for (int i = 0; i < AXES; i++)
- target[i] = l.line.start[i] + l.line.unit[i] * d;
+ for (int axis = 0; axis < AXES; axis++)
+ target[axis] = l.line.start[axis] + l.line.unit[axis] * d;
}
static bool _section_next() {
while (++l.section < 7) {
- float section_time = l.line.times[l.section];
- if (!section_time) continue;
-
- // Check if last section
- bool last_section = true;
- for (int i = l.section + 1; i < 7; i++)
- if (l.line.times[i]) last_section = false;
-
- // Check if stop section
- l.stop_section = last_section && !l.line.target_vel;
+ if (!l.line.times[l.section]) continue;
// Jerk
switch (l.section) {
case 5: case 6: l.iA = -l.line.max_jerk * l.line.times[4]; break;
default: l.iA = 0;
}
- exec_set_acceleration(l.iA);
-
- // Skip sections which do not land on a SEGMENT_TIME
- if (section_time < l.current_time && !l.stop_section) {
- l.current_time -= l.line.times[l.section];
- l.iD = _segment_distance(section_time);
- l.iV = _segment_velocity(section_time);
- continue;
- }
-
- // Setup section time offset and segment counter
- l.offset_time = l.current_time;
- l.seg = 0;
return true;
}
}
-static void _done() {
- seek_end();
- exec_set_cb(0);
-}
-
-
-static void _move(float t, float target[AXES], float v, float a) {
- exec_set_velocity(v);
- exec_set_acceleration(a);
-
- if (seek_switch_found()) state_seek_hold();
-
- exec_move_to_target(t, target);
-}
-
-
-static stat_t _pause() {
- float t = SEGMENT_TIME - l.current_time;
- float v = exec_get_velocity();
- float a = exec_get_acceleration();
- float j = l.line.max_jerk;
-
- if (v < MIN_VELOCITY) {
- command_reset_position();
- exec_set_velocity(0);
- exec_set_acceleration(0);
- exec_set_jerk(0);
- state_holding();
- _done();
-
- return STAT_NOP;
- }
-
- // Compute new velocity, acceleration and travel distance
- a = SCurve::nextAccel(t, 0, v, a, l.line.max_accel, j);
- v += a * t;
- l.dist += v * t;
-
- // Target end of line exactly if we are close
- if (l.dist - 0.001 < l.line.length && l.line.length < l.dist + 0.001)
- l.dist = l.line.length;
-
- if (l.line.length < l.dist) {
- // Compute time left in current section
- l.current_time = t - (l.dist - l.line.length) / v;
- _done();
-
- return STAT_AGAIN;
- }
-
- // Compute target position from distance
- float target[AXES];
- _segment_target(target, l.dist);
-
- l.current_time = 0;
-
- // Compute jerk
- float oldAccel = exec_get_acceleration();
- exec_set_jerk(oldAccel == a ? 0 : (oldAccel < a ? j : -j));
-
- _move(SEGMENT_TIME, target, v, a);
- return STAT_OK;
-}
-
-
static stat_t _line_exec() {
- // Pause if requested.
- if (state_get() == STATE_STOPPING) {
- if (SEGMENT_TIME < l.current_time) l.current_time = 0;
- exec_set_cb(_pause);
- return _pause();
- }
-
+ // Compute times
float section_time = l.line.times[l.section];
-
- // Adjust segment time if near a stopping point
float seg_time = SEGMENT_TIME;
- if (l.stop_section && section_time - l.current_time < SEGMENT_TIME) {
- // TODO Instead of adjusting seg_time either absorb the next partial segment
- // or expand it to a full segment so that we only have SEGMENT_TIME length
- // segments.
- seg_time += section_time - l.current_time;
- l.offset_time += section_time - l.current_time;
- l.current_time = section_time;
- }
-
- // Compute distance and velocity. Must be computed before advancing time.
- float d = _segment_distance(l.current_time);
- float v = _segment_velocity(l.current_time);
- float a = _segment_accel(l.current_time);
-
- // Advance time. This is the start time for the next segment.
- l.current_time = l.offset_time + ++l.seg * SEGMENT_TIME;
+ float t = ++l.seg * SEGMENT_TIME;
- // Check if section complete
- bool lastSection = false;
- if (section_time < l.current_time) {
- l.current_time -= section_time;
- l.iD = _segment_distance(section_time);
- l.iV = _segment_velocity(section_time);
-
- // Next section
- lastSection = !_section_next();
+ // Don't exceed section time
+ if (section_time < t) {
+ seg_time = section_time - (l.seg - 1) * SEGMENT_TIME;
+ t = section_time;
}
- // Do move & update exec
- if (lastSection && l.stop_section)
- // Stop exactly on target to correct for floating-point errors
- _move(seg_time, l.line.target, 0, 0);
-
- else {
- // Compute target position from distance
- float target[AXES];
- _segment_target(target, d);
+ // Compute distance and velocity
+ float d = _segment_distance(t);
+ float v = _segment_velocity(t);
+ float a = _segment_accel(t);
- _move(seg_time, target, v, a);
- l.dist = d;
- }
+ // Don't allow overshoot
+ if (l.line.length < d) d = l.line.length;
- // Release exec if we are done
- if (lastSection) {
- exec_set_velocity(l.line.target_vel);
- _done();
+ // Check if section complete
+ if (t == section_time) {
+ if (_section_next()) {
+ // Setup next section
+ l.seg = 0;
+ l.iD = d;
+ l.iV = v;
+
+ } else {
+ exec_set_cb(0);
+
+ // Last segment of last section
+ // Use exact target values to correct for floating-point errors
+ return exec_segment(seg_time, l.line.target, l.line.target_vel, a,
+ l.line.max_vel, l.line.max_accel, l.line.max_jerk);
+ }
}
- return STAT_OK;
-}
-
+ // Compute target position from distance
+ float target[AXES];
+ _segment_target(target, d);
-void _print_vector(const char *name, float v[4]) {
- printf_P(PSTR("%s %f %f %f %f\n"),
- name, (double)v[0], (double)v[1], (double)v[2], (double)v[3]);
+ // Segment move
+ return exec_segment
+ (seg_time, target, v, a, l.line.max_vel, l.line.max_accel, l.line.max_jerk);
}
command_set_position(line.target);
// Compute direction vector
- for (int i = 0; i < AXES; i++)
- if (axis_is_enabled(i)) {
- line.unit[i] = line.target[i] - line.start[i];
- line.length += line.unit[i] * line.unit[i];
-
- } else line.unit[i] = 0;
+ for (int axis = 0; axis < AXES; axis++) {
+ line.unit[axis] = line.target[axis] - line.start[axis];
+ line.length += line.unit[axis] * line.unit[axis];
+ }
line.length = sqrt(line.length);
- for (int i = 0; i < AXES; i++)
- if (line.unit[i]) line.unit[i] /= line.length;
+ for (int axis = 0; axis < AXES; axis++)
+ if (line.unit[axis]) line.unit[axis] /= line.length;
+
+ // Compute max velocity
+ line.max_vel = FLT_MAX;
+ for (int axis = 0; axis < AXES; axis++)
+ if (line.unit[axis]) {
+ float axis_max_vel = axis_get_velocity_max(axis) / fabs(line.unit[axis]);
+ if (axis_max_vel < line.max_vel) line.max_vel = axis_max_vel;
+ }
// Queue
command_push(COMMAND_line, &line);
void command_line_exec(void *data) {
l.line = *(line_t *)data;
- // Init dist & velocity
- l.iD = l.dist = 0;
- l.iV = exec_get_velocity();
+ // Setup first section
+ l.seg = 0;
+ l.iD = 0;
+ // If current velocity is non-zero use last target velocity
+ l.iV = exec_get_velocity() ? l.lV : 0;
+ l.lV = l.line.target_vel;
// Find first section
l.section = -1;
STAT_MSG(OK, "OK")
STAT_MSG(AGAIN, "Run command again")
STAT_MSG(NOP, "No op")
-STAT_MSG(PAUSE, "Pause")
STAT_MSG(INTERNAL_ERROR, "Internal error")
STAT_MSG(ESTOP_USER, "User triggered EStop")
STAT_MSG(ESTOP_SWITCH, "Switch triggered EStop")
STAT_MSG(UNRECOGNIZED_NAME, "Unrecognized command or variable name")
STAT_MSG(INVALID_COMMAND, "Invalid command")
-STAT_MSG(INVALID_ARGUMENTS, "Invalid argument(s) to command")
-STAT_MSG(TOO_MANY_ARGUMENTS, "Too many arguments to command")
-STAT_MSG(TOO_FEW_ARGUMENTS, "Too few arguments to command")
-STAT_MSG(COMMAND_NOT_ACCEPTED, "Command not accepted at this time")
+STAT_MSG(INVALID_ARGUMENTS, "Invalid arguments")
+STAT_MSG(TOO_MANY_ARGUMENTS, "Too many arguments")
+STAT_MSG(TOO_FEW_ARGUMENTS, "Too few arguments")
STAT_MSG(MACHINE_ALARMED, "Machine alarmed - Command not processed")
-STAT_MSG(EXPECTED_MOVE, "A move was expected but none was queued")
-STAT_MSG(QUEUE_FULL, "Queue full")
-STAT_MSG(QUEUE_EMPTY, "Queue empty")
+STAT_MSG(EXPECTED_MOVE, "A move expected but none queued")
STAT_MSG(BAD_FLOAT, "Failed to parse float")
-STAT_MSG(INVALID_VARIABLE, "Invalid variable")
+STAT_MSG(BAD_INT, "Failed to parse integer")
STAT_MSG(INVALID_VALUE, "Invalid value")
+STAT_MSG(INVALID_TYPE, "Invalid type")
STAT_MSG(READ_ONLY, "Variable is read only")
-STAT_MSG(BUFFER_OVERFLOW, "Buffer overflow")
STAT_MSG(ALL_ZERO_SCURVE_TIMES, "All zero s-curve times")
STAT_MSG(NEGATIVE_SCURVE_TIME, "Negative s-curve time")
STAT_MSG(SEEK_NOT_ENABLED, "Switch not enabled")
#include <stdio.h>
+typedef enum {
+ MODBUS_DISCONNECTED,
+ MODBUS_OK,
+ MODBUS_CRC,
+ MODBUS_INVALID,
+ MODBUS_TIMEDOUT,
+} modbus_status_t;
+
+
static struct {
bool debug;
uint8_t id;
baud_t baud;
parity_t parity;
- stop_t stop;
+} cfg = {false, 1, USART_BAUD_9600, USART_NONE};
+
+static struct {
uint8_t bytes;
uint8_t command[MODBUS_BUF_SIZE];
uint8_t command_length;
uint8_t response[MODBUS_BUF_SIZE];
uint8_t response_length;
- modbus_cb_t receive_cb;
-
uint16_t addr;
- modbus_read_cb_t read_cb;
- modbus_write_cb_t write_cb;
+ modbus_rw_cb_t rw_cb;
+ modbus_cb_t receive_cb;
- uint32_t last;
+ uint32_t last_write;
+ uint32_t last_read;
uint8_t retry;
- bool connected;
+ uint8_t status;
+ bool write_ready;
bool busy;
-} mb = {false, 1, USART_BAUD_9600, USART_NONE, USART_1STOP};
+} state = {0};
static uint16_t _crc16(const uint8_t *buffer, unsigned length) {
}
+static void _write_word(uint8_t *dst, uint16_t value, bool little_endian) {
+ dst[!little_endian] = value;
+ dst[little_endian] = value >> 8;
+}
+
+
+static uint16_t _read_word(const uint8_t *data, bool little_endian) {
+ return (uint16_t)data[little_endian] << 8 | data[!little_endian];
+}
+
+
static bool _check_response() {
// Check CRC
- uint16_t computed = _crc16(mb.response, mb.response_length - 2);
- uint16_t expected = (mb.response[mb.response_length - 1] << 8) |
- mb.response[mb.response_length - 2];
+ uint16_t computed = _crc16(state.response, state.response_length - 2);
+ uint16_t expected =
+ _read_word(state.response + state.response_length - 2, true);
if (computed != expected) {
- char sent[mb.command_length * 2 + 1];
- char response[mb.response_length * 2 + 1];
- format_hex_buf(sent, mb.command, mb.command_length);
- format_hex_buf(response, mb.response, mb.response_length);
+ char sent[state.command_length * 2 + 1];
+ char response[state.response_length * 2 + 1];
+ format_hex_buf(sent, state.command, state.command_length);
+ format_hex_buf(response, state.response, state.response_length);
- STATUS_WARNING(STAT_OK, "modbus: invalid CRC, expected=0x%04x got=0x%04x "
- "sent=0x%s received=0x%s",
+ STATUS_WARNING(STAT_OK, "modbus: invalid CRC, received=0x%04x "
+ "computed=0x%04x sent=0x%s received=0x%s",
expected, computed, sent, response);
+ state.status = MODBUS_CRC;
return false;
}
// Check that slave id matches
- if (mb.command[0] != mb.response[0]) {
+ if (state.command[0] != state.response[0]) {
STATUS_WARNING(STAT_OK, "modbus: unexpected slave id, expected=%u got=%u",
- mb.command[0], mb.response[0]);
+ state.command[0], state.response[0]);
+ state.status = MODBUS_INVALID;
return false;
}
// Check that function code matches
- if (mb.command[1] != mb.response[1]) {
+ if (state.command[1] != state.response[1]) {
STATUS_WARNING(STAT_OK, "modbus: invalid function code, expected=%u got=%u",
- mb.command[1], mb.response[1]);
+ state.command[1], state.response[1]);
+ state.status = MODBUS_INVALID;
return false;
}
}
+static void _notify(uint8_t func, uint8_t bytes, const uint8_t *data) {
+ if (!state.receive_cb) return;
+
+ modbus_cb_t cb = state.receive_cb;
+ state.receive_cb = 0; // May be set in callback
+
+ cb(func, bytes, data);
+}
+
+
static void _handle_response() {
if (!_check_response()) return;
- mb.last = 0; // Clear timeout timer
- mb.retry = 0; // Reset retry counter
- mb.connected = true;
- mb.busy = false;
+ state.last_write = 0; // Clear timeout timer
+ state.last_read = rtc_get_time(); // Set delay timer
+ state.retry = 0; // Reset retry counter
+ state.status = MODBUS_OK;
+ state.busy = false;
- if (mb.receive_cb)
- mb.receive_cb(mb.response[1], mb.response_length - 4, mb.response + 2);
+ _notify(state.response[1], state.response_length - 4, state.response + 2);
}
/// Data register empty interrupt
ISR(RS485_DRE_vect) {
- RS485_PORT.DATA = mb.command[mb.bytes++];
+ RS485_PORT.DATA = state.command[state.bytes++];
- if (mb.bytes == mb.command_length) {
+ if (state.bytes == state.command_length) {
_set_dre_interrupt(false);
_set_txc_interrupt(true);
- mb.bytes = 0;
+ state.bytes = 0;
}
}
ISR(RS485_TXC_vect) {
_set_txc_interrupt(false);
_set_rxc_interrupt(true);
- _set_write(false); // Switch to read mode
- mb.last = rtc_get_time(); // Set timeout timer
+ _set_write(false); // Switch to read mode
+ state.last_write = rtc_get_time(); // Set timeout timer
}
/// Data received interrupt
ISR(RS485_RXC_vect) {
- mb.response[mb.bytes++] = RS485_PORT.DATA;
+ state.response[state.bytes++] = RS485_PORT.DATA;
- if (mb.bytes == mb.response_length) {
+ if (state.bytes == state.response_length) {
_set_rxc_interrupt(false);
_set_write(true); // Back to write mode
- mb.bytes = 0;
+ state.bytes = 0;
_handle_response();
}
}
-void _read_cb(uint8_t func, uint8_t bytes, const uint8_t *data) {
+static void _read_cb(uint8_t func, uint8_t bytes, const uint8_t *data) {
if (func == MODBUS_READ_OUTPUT_REG && bytes == 3 && data[0] == 2) {
- uint16_t value = (uint16_t)data[1] << 8 | data[2];
- if (mb.read_cb) mb.read_cb(true, mb.addr, value);
+ if (state.rw_cb) state.rw_cb(true, state.addr, _read_word(data, false));
return;
}
- if (mb.read_cb) mb.read_cb(false, mb.addr, 0);
+ if (state.rw_cb) state.rw_cb(false, state.addr, 0);
}
-void _write_cb(uint8_t func, uint8_t bytes, const uint8_t *data) {
- if (func == MODBUS_WRITE_OUTPUT_REG && bytes == 4) {
- uint16_t addr = (uint16_t)data[0] << 8 | data[1];
-
- if (addr == mb.addr) {
- if (mb.write_cb) mb.write_cb(true, mb.addr);
- return;
- }
+static void _write_cb(uint8_t func, uint8_t bytes, const uint8_t *data) {
+ if (func == MODBUS_WRITE_OUTPUT_REG && bytes == 4 &&
+ _read_word(data, false) == state.addr) {
+ if (state.rw_cb)
+ state.rw_cb(true, state.addr, _read_word(state.command + 4, false));
+ return;
}
- if (mb.write_cb) mb.write_cb(false, mb.addr);
+ if (state.rw_cb) state.rw_cb(false, state.addr, 0);
}
x = RS485_PORT.STATUS;
x = x;
- // Save settings
- bool debug = mb.debug;
- uint8_t id = mb.id;
- baud_t baud = mb.baud;
- parity_t parity = mb.parity;
- stop_t stop = mb.stop;
-
// Clear state
- memset(&mb, 0, sizeof(mb));
-
- // Restore settings
- mb.debug = debug;
- mb.id = id;
- mb.baud = baud;
- mb.parity = parity;
- mb.stop = stop;
+ state.write_ready = false;
+ state.busy = false;
}
static void _retry() {
- mb.last = 0;
- mb.bytes = 0;
- mb.retry++;
+ state.last_write = 0;
+ state.bytes = 0;
+ state.retry++;
_set_write(true); // RS485 write mode
_set_dre_interrupt(true);
// Try changing pin polarity
- if (mb.retry == MODBUS_RETRIES) {
+ if (state.retry == MODBUS_RETRIES) {
PINCTRL_PIN(RS485_RO_PIN) ^= PORT_INVEN_bm;
PINCTRL_PIN(RS485_DI_PIN) ^= PORT_INVEN_bm;
}
- if (mb.debug) STATUS_DEBUG("modbus: retry %d", mb.retry);
+ if (cfg.debug) STATUS_DEBUG("modbus: retry %d", state.retry);
}
static void _timeout() {
- if (mb.debug) STATUS_DEBUG("modbus: timedout");
+ if (cfg.debug) STATUS_DEBUG("modbus: timedout");
- modbus_cb_t cb = mb.receive_cb;
- uint8_t func = mb.command[1];
+ if (state.status == MODBUS_OK || state.status == MODBUS_DISCONNECTED)
+ state.status = MODBUS_TIMEDOUT;
_reset();
+ _notify(state.command[1], 0, 0);
+}
+
- // Notify caller
- if (cb) cb(func, 0, 0);
+static stop_t _get_stop() {
+ // RTU mode characters must always be 11-bits long
+ return cfg.parity == USART_NONE ? USART_2STOP : USART_1STOP;
}
OUTSET_PIN(RS485_RW_PIN); // High
DIRSET_PIN(RS485_RW_PIN); // Output
- usart_init_port(&RS485_PORT, mb.baud, mb.parity, USART_8BITS, mb.stop);
-
_reset();
+ memset(&state, 0, sizeof(state));
+ state.status = MODBUS_DISCONNECTED;
+
+ usart_init_port(&RS485_PORT, cfg.baud, cfg.parity, USART_8BITS, _get_stop());
}
void modbus_deinit() {
_reset();
+ memset(&state, 0, sizeof(state));
+ state.status = MODBUS_DISCONNECTED;
// Disable USART
RS485_PORT.CTRLB &= ~(USART_RXEN_bm | USART_TXEN_bm);
}
-bool modbus_busy() {return mb.busy;}
+bool modbus_busy() {return state.busy;}
-void modbus_func(uint8_t func, uint8_t send, const uint8_t *data,
- uint8_t receive, modbus_cb_t receive_cb) {
- ASSERT(send + 4 <= MODBUS_BUF_SIZE);
- ASSERT(receive + 4 <= MODBUS_BUF_SIZE);
-
- mb.command[0] = mb.id;
- mb.command[1] = func;
- memcpy(mb.command + 2, data, send);
- uint16_t crc = _crc16(mb.command, send + 2);
- mb.command[send + 2] = crc;
- mb.command[send + 3] = crc >> 8;
-
- mb.bytes = 0;
- mb.command_length = send + 4;
- mb.response_length = receive + 4;
- mb.receive_cb = receive_cb;
- mb.last = 0;
- mb.retry = 0;
+static void _start_write() {
+ if (!state.write_ready) return;
+ // The minimum delay between modbus messages is 3.5 characters. There are
+ // 11-bits per character in RTU mode. Character time is calculated as
+ // follows:
+ //
+ // char time = 11-bits / baud * 3.5
+ //
+ // At 9600 baud the minimum delay is 4.01ms. At 19200 it's 2.005ms. All
+ // supported higher baud rates require the 1.75ms minimum delay. We round up
+ // and add 1ms to ensure the delay is never less than the required minimum
+ // using our 1ms RTC clock callback.
+ if (state.last_read &&
+ !rtc_expired(state.last_read + (cfg.baud == USART_BAUD_9600 ? 5 : 3)))
+ return;
+ state.last_read = 0;
+
+ state.write_ready = false;
_set_dre_interrupt(true);
}
-void modbus_read(uint16_t addr, modbus_read_cb_t cb) {
- mb.read_cb = cb;
- mb.addr = addr;
- uint8_t cmd[4] = {(uint8_t)(addr >> 8), (uint8_t)addr, 0, 1};
+void modbus_func(uint8_t func, uint8_t send, const uint8_t *data,
+ uint8_t receive, modbus_cb_t receive_cb) {
+ state.bytes = 0;
+ state.command_length = send + 4;
+ state.response_length = receive + 4;
+ state.receive_cb = receive_cb;
+ state.last_write = 0;
+ state.retry = 0;
+
+ ASSERT(state.command_length <= MODBUS_BUF_SIZE);
+ ASSERT(state.response_length <= MODBUS_BUF_SIZE);
+
+ state.command[0] = cfg.id;
+ state.command[1] = func;
+ memcpy(state.command + 2, data, send);
+ _write_word(state.command + send + 2, _crc16(state.command, send + 2), true);
+
+ state.busy = true;
+ state.write_ready = true;
+ _start_write();
+}
+
+
+void modbus_read(uint16_t addr, modbus_rw_cb_t cb) {
+ state.rw_cb = cb;
+ state.addr = addr;
+ uint8_t cmd[4] = {0, 0, 0, 1};
+ _write_word(cmd, addr, false);
modbus_func(MODBUS_READ_OUTPUT_REG, 4, cmd, 3, _read_cb);
}
-void modbus_write(uint16_t addr, uint16_t value, modbus_write_cb_t cb) {
- mb.write_cb = cb;
- mb.addr = addr;
- uint8_t cmd[4] = {(uint8_t)(addr >> 8), (uint8_t)addr, (uint8_t)(value >> 8),
- (uint8_t)value};
+void modbus_write(uint16_t addr, uint16_t value, modbus_rw_cb_t cb) {
+ state.rw_cb = cb;
+ state.addr = addr;
+ uint8_t cmd[4];
+ _write_word(cmd, addr, false);
+ _write_word(cmd + 2, value, false);
modbus_func(MODBUS_WRITE_OUTPUT_REG, 4, cmd, 4, _write_cb);
}
void modbus_rtc_callback() {
- if (!mb.last || !rtc_expired(mb.last + MODBUS_TIMEOUT)) return;
+ _start_write();
+ if (!state.last_write || !rtc_expired(state.last_write + MODBUS_TIMEOUT))
+ return;
+ state.last_write = 0;
- if (mb.debug && mb.bytes) {
+ if (cfg.debug && state.bytes) {
const uint8_t buf_len = 8 * 2 + 1;
char sent[buf_len];
char received[buf_len];
- format_hex_buf(sent, mb.command, mb.command_length);
- format_hex_buf(received, mb.response, mb.bytes);
+ format_hex_buf(sent, state.command, state.command_length);
+ format_hex_buf(received, state.response, state.bytes);
STATUS_DEBUG("modbus: sent 0x%s received 0x%s expected %u bytes",
- sent, received, mb.response_length);
+ sent, received, state.response_length);
}
- if (mb.retry < 2 * MODBUS_RETRIES) _retry();
+ if (state.retry < 2 * MODBUS_RETRIES) _retry();
else _timeout();
}
// Variable callbacks
-bool get_modbus_debug() {return mb.debug;}
-void set_modbus_debug(bool value) {mb.debug = value;}
-uint8_t get_modbus_id() {return mb.id;}
-void set_modbus_id(uint8_t id) {mb.id = id;}
-uint8_t get_modbus_baud() {return mb.baud;}
+bool get_modbus_debug() {return cfg.debug;}
+void set_modbus_debug(bool value) {cfg.debug = value;}
+uint8_t get_modbus_id() {return cfg.id;}
+void set_modbus_id(uint8_t id) {cfg.id = id;}
+uint8_t get_modbus_baud() {return cfg.baud;}
void set_modbus_baud(uint8_t baud) {
- mb.baud = (baud_t)baud;
- usart_set_baud(&RS485_PORT, mb.baud);
+ cfg.baud = (baud_t)baud;
+ usart_set_baud(&RS485_PORT, cfg.baud);
}
-uint8_t get_modbus_parity() {return mb.parity;}
+uint8_t get_modbus_parity() {return cfg.parity;}
void set_modbus_parity(uint8_t parity) {
- mb.parity = (parity_t)parity;
- usart_set_parity(&RS485_PORT, mb.parity);
-}
-
-
-uint8_t get_modbus_stop() {return mb.stop;}
-
-
-void set_modbus_stop(uint8_t stop) {
- mb.stop = (stop_t)stop;
- usart_set_stop(&RS485_PORT, mb.stop);
+ cfg.parity = (parity_t)parity;
+ usart_set_parity(&RS485_PORT, cfg.parity);
+ usart_set_stop(&RS485_PORT, _get_stop());
}
-bool get_modbus_connected() {return mb.connected;}
+uint8_t get_modbus_status() {return state.status;}
typedef void (*modbus_cb_t)(uint8_t func, uint8_t bytes, const uint8_t *data);
-typedef void (*modbus_read_cb_t)(bool ok, uint16_t addr, uint16_t value);
-typedef void (*modbus_write_cb_t)(bool ok, uint16_t addr);
+typedef void (*modbus_rw_cb_t)(bool ok, uint16_t addr, uint16_t value);
void modbus_init();
void modbus_deinit();
bool modbus_busy();
void modbus_func(uint8_t func, uint8_t send, const uint8_t *data,
uint8_t receive, modbus_cb_t cb);
-void modbus_read(uint16_t addr, modbus_read_cb_t cb);
-void modbus_write(uint16_t addr, uint16_t value, modbus_write_cb_t cb);
+void modbus_read(uint16_t addr, modbus_rw_cb_t cb);
+void modbus_write(uint16_t addr, uint16_t value, modbus_rw_cb_t cb);
void modbus_rtc_callback();
TC0_t *timer;
DMA_CH_t *dma;
uint8_t dma_trigger;
+
bool slave;
uint16_t microsteps; // microsteps per full step
bool reverse;
}
-void motor_prep_move(int motor, float time, float target) {
+void motor_prep_move(int motor, float target) {
// Validate input
ASSERT(0 <= motor && motor < MOTORS);
ASSERT(isfinite(target));
if (m->negative) steps = -steps;
// We use clock / 2
- float seg_clocks = time * (F_CPU * 60 / 2);
+ float seg_clocks = SEGMENT_TIME * (F_CPU * 60 / 2);
float ticks_per_step = round(seg_clocks / steps);
// Limit clock if step rate is too fast, disable if too slow
m->power_timeout = rtc_get_time() + MOTOR_IDLE_TIMEOUT * 1000;
break;
- default: break;
+ default: // Disabled
+ m->timer_period = 0;
+ m->encoder = m->commanded = m->position;
+ m->error = 0;
+ break;
}
_update_power(motor);
void motor_end_move(int motor);
void motor_load_move(int motor);
-void motor_prep_move(int motor, float time, float target);
+void motor_prep_move(int motor, float target);
}
-void pwm_spindle_deinit() {
+void pwm_spindle_deinit(deinit_cb_t cb) {
_set_enable(false);
// Float PWM output pin
// Disable clock
TIMER_PWM.CTRLA = 0;
+
+ cb();
}
#pragma once
+#include "spindle.h"
+
void pwm_spindle_init();
-void pwm_spindle_deinit();
+void pwm_spindle_deinit(deinit_cb_t cb);
void pwm_spindle_set(float speed);
float pwm_spindle_get();
void pwm_spindle_stop();
#include "usart.h"
#include "rtc.h"
#include "vars.h"
-#include "pgmspace.h"
-#include <stdio.h>
-#include <stdbool.h>
-
-static bool _requested = false;
static bool _full = false;
static uint32_t _last = 0;
-void report_request() {_requested = true;}
-void report_request_full() {_requested = _full = true;}
+void report_request_full() {_full = true;}
void report_callback() {
- if (_requested && usart_tx_empty()) {
- uint32_t now = rtc_get_time();
- if (now - _last < 250) return;
- _last = now;
-
- vars_report(_full);
- _requested = _full = false;
- }
+ // Wait until output buffer is empty
+ if (!usart_tx_empty()) return;
+
+ // Limit frequency
+ uint32_t now = rtc_get_time();
+ if (now - _last < REPORT_RATE) return;
+ _last = now;
+
+ // Report vars
+ vars_report(_full);
+ _full = false;
}
#include "status.h"
-void report_request();
void report_request_full();
void report_callback();
#include "modbus.h"
#include "motor.h"
#include "lcd.h"
+#include "vfd_spindle.h"
#include <avr/io.h>
#include <avr/interrupt.h>
analog_rtc_callback();
io_rtc_callback();
modbus_rtc_callback();
+ vfd_spindle_rtc_callback();
if (!(ticks & 255)) motor_rtc_callback();
wdt_reset();
}
\******************************************************************************/
#include "spindle.h"
-
+#include "pwm_spindle.h"
+#include "huanyang.h"
+#include "vfd_spindle.h"
+#include "vfd_test.h"
#include "config.h"
#include "pgmspace.h"
#include <math.h>
-typedef enum {
- SPINDLE_TYPE_DISABLED,
-#define SPINDLE(NAME) SPINDLE_TYPE_##NAME,
-#include "spindle.def"
-#undef SPINDLE
-} spindle_type_t;
-
-
-// Function decls
-#define SPINDLE(NAME) \
- void NAME##_init(); \
- void NAME##_deinit(); \
- void NAME##_set(float speed); \
- float NAME##_get(); \
- void NAME##_stop();
-#include "spindle.def"
-#undef SPINDLE
-
-
-typedef struct {
+static struct {
spindle_type_t type;
+ float override;
float speed;
bool reversed;
float min_rpm;
float max_rpm;
-} spindle_t;
+
+ spindle_type_t next_type;
+} spindle = {SPINDLE_TYPE_DISABLED, 1};
-static spindle_t spindle = {SPINDLE_TYPE_DISABLED,};
+spindle_type_t spindle_get_type() {return spindle.type;}
void spindle_set_speed(float speed) {
spindle.speed = speed;
+ speed *= spindle.override;
+
bool negative = speed < 0;
if (spindle.max_rpm <= fabs(speed)) speed = negative ? -1 : 1;
else if (fabs(speed) < spindle.min_rpm) speed = 0;
switch (spindle.type) {
case SPINDLE_TYPE_DISABLED: break;
-#define SPINDLE(NAME) case SPINDLE_TYPE_##NAME: NAME##_set(speed); break;
-#include "spindle.def"
-#undef SPINDLE
+ case SPINDLE_TYPE_PWM: pwm_spindle_set(speed); break;
+ case SPINDLE_TYPE_HUANYANG: huanyang_set(speed); break;
+ case SPINDLE_TYPE_TEST: vfd_test_set(speed); break;
+ default: vfd_spindle_set(speed); break;
}
}
switch (spindle.type) {
case SPINDLE_TYPE_DISABLED: break;
-#define SPINDLE(NAME) case SPINDLE_TYPE_##NAME: speed = NAME##_get(); break;
-#include "spindle.def"
-#undef SPINDLE
+ case SPINDLE_TYPE_PWM: speed = pwm_spindle_get(); break;
+ case SPINDLE_TYPE_HUANYANG: speed = huanyang_get(); break;
+ case SPINDLE_TYPE_TEST: speed = vfd_test_get(); break;
+ default: speed = vfd_spindle_get(); break;
}
return speed * spindle.max_rpm;
void spindle_stop() {
switch (spindle.type) {
case SPINDLE_TYPE_DISABLED: break;
-#define SPINDLE(NAME) case SPINDLE_TYPE_##NAME: NAME##_stop(); break;
-#include "spindle.def"
-#undef SPINDLE
+ case SPINDLE_TYPE_PWM: pwm_spindle_stop(); break;
+ case SPINDLE_TYPE_HUANYANG: huanyang_stop(); break;
+ case SPINDLE_TYPE_TEST: vfd_test_stop(); break;
+ default: vfd_spindle_stop(); break;
}
}
// Var callbacks
-uint8_t get_spindle_type() {return spindle.type;}
+uint8_t get_tool_type() {return spindle.type;}
+
+static void _deinit_cb() {
+ spindle.type = spindle.next_type;
+ spindle.next_type = SPINDLE_TYPE_DISABLED;
-void set_spindle_type(uint8_t value) {
- if (value != spindle.type) {
- float speed = spindle.speed;
+ switch (spindle.type) {
+ case SPINDLE_TYPE_DISABLED: break;
+ case SPINDLE_TYPE_PWM: pwm_spindle_init(); break;
+ case SPINDLE_TYPE_HUANYANG: huanyang_init(); break;
+ case SPINDLE_TYPE_TEST: vfd_test_init(); break;
+ default: vfd_spindle_init(); break;
+ }
+
+ spindle_set_speed(spindle.speed);
+}
- switch (spindle.type) {
- case SPINDLE_TYPE_DISABLED: break;
-#define SPINDLE(NAME) case SPINDLE_TYPE_##NAME: NAME##_deinit(); break;
-#include "spindle.def"
-#undef SPINDLE
- }
- spindle.type = (spindle_type_t)value;
+void set_tool_type(uint8_t value) {
+ if (value == spindle.type) return;
- switch (spindle.type) {
- case SPINDLE_TYPE_DISABLED: break;
-#define SPINDLE(NAME) case SPINDLE_TYPE_##NAME: NAME##_init(); break;
-#include "spindle.def"
-#undef SPINDLE
- }
+ spindle_type_t old_type = spindle.type;
+ spindle.next_type = (spindle_type_t)value;
+ spindle.type = SPINDLE_TYPE_DISABLED;
- spindle_set_speed(speed);
+ switch (old_type) {
+ case SPINDLE_TYPE_DISABLED: _deinit_cb(); break;
+ case SPINDLE_TYPE_PWM: pwm_spindle_deinit(_deinit_cb); break;
+ case SPINDLE_TYPE_HUANYANG: huanyang_deinit(_deinit_cb); break;
+ case SPINDLE_TYPE_TEST: vfd_test_deinit(_deinit_cb); break;
+ default: vfd_spindle_deinit(_deinit_cb); break;
}
}
void set_speed(float speed) {spindle_set_speed(speed);}
float get_speed() {return spindle_get_speed();}
-bool get_spin_reversed() {return spindle.reversed;}
+bool get_tool_reversed() {return spindle.reversed;}
-void set_spin_reversed(bool reversed) {
+void set_tool_reversed(bool reversed) {
if (spindle.reversed != reversed) {
spindle.reversed = reversed;
- spindle_set_speed(spindle.speed);
+ _update_speed();
}
}
void set_max_spin(float value) {spindle.max_rpm = value; _update_speed();}
float get_min_spin() {return spindle.min_rpm;}
void set_min_spin(float value) {spindle.min_rpm = value; _update_speed();}
+uint16_t get_speed_override() {return spindle.override * 1000;}
+
+
+void set_speed_override(uint16_t value) {
+ spindle.override = value / 1000.0;
+ _update_speed();
+}
+++ /dev/null
-/******************************************************************************\
-
- This file is part of the Buildbotics firmware.
-
- Copyright (c) 2015 - 2018, Buildbotics LLC
- All rights reserved.
-
- 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; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with the software. If not, see
- <http://www.gnu.org/licenses/>.
-
- For information regarding this software email:
- "Joseph Coffland" <joseph@buildbotics.com>
-
-\******************************************************************************/
-
-SPINDLE(pwm_spindle)
-SPINDLE(huanyang)
-SPINDLE(yl600)
#include <stdbool.h>
+typedef enum {
+ SPINDLE_TYPE_DISABLED,
+ SPINDLE_TYPE_PWM,
+ SPINDLE_TYPE_HUANYANG,
+ SPINDLE_TYPE_TEST,
+ SPINDLE_TYPE_CUSTOM,
+ SPINDLE_TYPE_YL600,
+ SPINDLE_TYPE_AC_TECH,
+} spindle_type_t;
+
+
+typedef void (*deinit_cb_t)();
+
+
+spindle_type_t spindle_get_type();
void spindle_set_speed(float speed);
float spindle_get_speed();
void spindle_stop();
#include "jog.h"
#include "estop.h"
#include "seek.h"
-#include "report.h"
#include <stdio.h>
if (s.state == state) return; // No change
if (s.state == STATE_ESTOPPED) return; // Can't leave EStop state
s.state = state;
- report_request();
}
static void _set_hold_reason(hold_reason_t reason) {
if (s.hold_reason == reason) return; // No change
s.hold_reason = reason;
- report_request();
}
// Message
if (msg && pgm_read_byte(msg)) {
+ // TODO escape invalid chars
va_start(args, msg);
vfprintf_P(stdout, msg, args);
va_end(args);
#include "estop.h"
#include "util.h"
#include "cpp_magic.h"
-#include "report.h"
#include "exec.h"
#include "drv8711.h"
void st_enable() {
if (!estop_triggered()) OUTSET_PIN(MOTOR_ENABLE_PIN); // Active high
- report_request();
}
ISR(STEP_TIMER_ISR) {_load_move();}
-void st_prep_line(float time, const float target[]) {
+void st_prep_line(const float target[]) {
// Trap conditions that would prevent queuing the line
ASSERT(!st.move_ready);
- ASSERT(isfinite(time));
- ASSERT(time * STEP_TIMER_FREQ * 60 <= 0xffff);
// Setup segment parameters
st.move_type = MOVE_TYPE_LINE;
- st.clock_period = round(time * STEP_TIMER_FREQ * 60);
+ st.clock_period = SEGMENT_TIME * 60 * STEP_TIMER_FREQ;
// Prepare motor moves
for (int motor = 0; motor < MOTORS; motor++)
- motor_prep_move(motor, time, target[motor_get_axis(motor)]);
+ motor_prep_move(motor, target[motor_get_axis(motor)]);
st.move_queued = true; // signal prep buffer ready (do this last)
}
void st_shutdown();
void st_enable();
bool st_is_busy();
-void st_prep_line(float time, const float target[]);
+void st_prep_line(const float target[]);
void st_prep_dwell(float seconds);
// String
bool type_eq_str(str a, str b) {return a == b;}
void type_print_str(str s) {printf_P(PSTR("\"%s\""), s);}
-float type_str_to_float(str s) {return 0;}
-str type_parse_str(const char *s) {return s;}
+str type_parse_str(const char *s, stat_t *) {return s;}
// Program string
bool type_eq_pstr(pstr a, pstr b) {return a == b;}
void type_print_pstr(pstr s) {printf_P(PSTR("\"%" PRPSTR "\""), s);}
-const char *type_parse_pstr(const char *value) {return value;}
-float type_pstr_to_float(pstr s) {return 0;}
+const char *type_parse_pstr(const char *value, stat_t *) {return value;}
// Flags
bool type_eq_flags(flags a, flags b) {return a == b;}
-float type_flags_to_float(flags x) {return x;}
void type_print_flags(flags x) {
print_status_flags(x);
}
-flags type_parse_flags(const char *s) {return 0;} // Not used
+flags type_parse_flags(const char *s, stat_t *) {return 0;} // Not used
// Float
bool type_eq_f32(float a, float b) {return a == b || (isnan(a) && isnan(b));}
-float type_f32_to_float(float x) {return x;}
void type_print_f32(float x) {
}
-float type_parse_f32(const char *value) {
+float type_parse_f32(const char *value, stat_t *status) {
while (*value && isspace(*value)) value++;
if (*value == ':') {
value++;
- if (strnlen(value, 6) != 6) return NAN;
+ if (strnlen(value, 6) != 6) {
+ if (status) *status = STAT_INVALID_VALUE;
+ return NAN;
+ }
float f;
- return b64_decode_float(value, &f) ? f : NAN;
+ if (b64_decode_float(value, &f)) return f;
+ else {
+ if (status) *status = STAT_BAD_FLOAT;
+ return NAN;
+ }
}
- return strtod(value, 0);
+ char *endptr = 0;
+ float x = strtod(value, &endptr);
+
+ if (endptr == value) {
+ if (status) *status = STAT_BAD_FLOAT;
+ return NAN;
+ }
+
+ return x;
}
// bool
bool type_eq_b8(bool a, bool b) {return a == b;}
-float type_b8_to_float(bool x) {return x;}
void type_print_b8(bool x) {printf_P(x ? PSTR("true") : PSTR("false"));}
-bool type_parse_b8(const char *value) {
- return !strcasecmp(value, "true") || type_parse_f32(value);
+bool type_parse_b8(const char *value, stat_t *status) {
+ return !strcasecmp(value, "true") || type_parse_f32(value, status);
}
// s8
bool type_eq_s8(s8 a, s8 b) {return a == b;}
-float type_s8_to_float(s8 x) {return x;}
void type_print_s8(s8 x) {printf_P(PSTR("%" PRIi8), x);}
-s8 type_parse_s8(const char *value) {return strtol(value, 0, 0);}
+
+
+s8 type_parse_s8(const char *value, stat_t *status) {
+ char *endptr = 0;
+ s8 x = strtol(value, &endptr, 0);
+ if (endptr == value && status) *status = STAT_BAD_INT;
+ return x;
+}
// u8
bool type_eq_u8(u8 a, u8 b) {return a == b;}
-float type_u8_to_float(u8 x) {return x;}
void type_print_u8(u8 x) {printf_P(PSTR("%" PRIu8), x);}
-u8 type_parse_u8(const char *value) {return strtol(value, 0, 0);}
+
+
+u8 type_parse_u8(const char *value, stat_t *status) {
+ char *endptr = 0;
+ u8 x = strtoul(value, &endptr, 0);
+ if (endptr == value && status) *status = STAT_BAD_INT;
+ return x;
+}
// u16
bool type_eq_u16(u16 a, u16 b) {return a == b;}
-float type_u16_to_float(u16 x) {return x;}
void type_print_u16(u16 x) {printf_P(PSTR("%" PRIu16), x);}
-u16 type_parse_u16(const char *value) {return strtoul(value, 0, 0);}
+
+
+u16 type_parse_u16(const char *value, stat_t *status) {
+ char *endptr = 0;
+ u16 x = strtoul(value, &endptr, 0);
+ if (endptr == value && status) *status = STAT_BAD_INT;
+ return x;
+}
// s32
bool type_eq_s32(s32 a, s32 b) {return a == b;}
-float type_s32_to_float(s32 x) {return x;}
void type_print_s32(s32 x) {printf_P(PSTR("%" PRIi32), x);}
-s32 type_parse_s32(const char *value) {return strtol(value, 0, 0);}
+
+
+s32 type_parse_s32(const char *value, stat_t *status) {
+ char *endptr = 0;
+ s32 x = strtol(value, &endptr, 0);
+ if (endptr == value && status) *status = STAT_BAD_INT;
+ return x;
+}
// u32
bool type_eq_u32(u32 a, u32 b) {return a == b;}
-float type_u32_to_float(u32 x) {return x;}
void type_print_u32(u32 x) {printf_P(PSTR("%" PRIu32), x);}
-u32 type_parse_u32(const char *value) {return strtol(value, 0, 0);}
-type_u type_parse(type_t type, const char *s) {
+u32 type_parse_u32(const char *value, stat_t *status) {
+ char *endptr = 0;
+ u32 x = strtoul(value, &endptr, 0);
+ if (endptr == value && status) *status = STAT_BAD_INT;
+ return x;
+}
+
+
+type_u type_parse(type_t type, const char *s, stat_t *status) {
type_u value;
+ if (status) *status = STAT_OK;
+
switch (type) {
#define TYPEDEF(TYPE, ...) \
- case TYPE_##TYPE: value._##TYPE = type_parse_##TYPE(s); break;
+ case TYPE_##TYPE: value._##TYPE = type_parse_##TYPE(s, status); break;
#include "type.def"
#undef TYPEDEF
+ default: if (status) *status = STAT_INVALID_TYPE;
}
return value;
#undef TYPEDEF
}
}
-
-
-float type_to_float(type_t type, type_u value) {
- switch (type) {
-#define TYPEDEF(TYPE, ...) \
- case TYPE_##TYPE: return type_##TYPE##_to_float(value._##TYPE);
-#include "type.def"
-#undef TYPEDEF
- }
- return 0;
-}
#pragma once
#include "pgmspace.h"
+#include "status.h"
#include <stdint.h>
#include <stdbool.h>
// Define functions
-#define TYPEDEF(TYPE, DEF) \
- pstr type_get_##TYPE##_name_pgm(); \
- bool type_eq_##TYPE(TYPE a, TYPE b); \
- TYPE type_parse_##TYPE(const char *s); \
- void type_print_##TYPE(TYPE x); \
- float type_##TYPE##_to_float(TYPE x);
+#define TYPEDEF(TYPE, DEF) \
+ pstr type_get_##TYPE##_name_pgm(); \
+ bool type_eq_##TYPE(TYPE a, TYPE b); \
+ TYPE type_parse_##TYPE(const char *s, stat_t *status); \
+ void type_print_##TYPE(TYPE x);
#include "type.def"
#undef TYPEDEF
-type_u type_parse(type_t type, const char *s);
+type_u type_parse(type_t type, const char *s, stat_t *status);
void type_print(type_t type, type_u value);
-float type_to_float(type_t type, type_u value);
buf[i * 2] = 0;
}
+
+
+void print_vector(float v[4]) {
+ printf_P(PSTR("%f %f %f %f\n"),
+ (double)v[0], (double)v[1], (double)v[2], (double)v[3]);
+}
bool decode_float(char **s, float *f);
stat_t decode_axes(char **cmd, float axes[AXES]);
void format_hex_buf(char *buf, const uint8_t *data, unsigned len);
+void print_vector(float v[4]);
// Constants
#define MM_PER_INCH 25.4
} var_info_t;
-// Var names & help
-#define VAR(NAME, CODE, TYPE, INDEX, SET, REPORT, HELP) \
- static const char NAME##_name[] PROGMEM = #NAME; \
- static const char NAME##_help[] PROGMEM = HELP;
+// Var names
+#define VAR(NAME, CODE, TYPE, INDEX, SET, REPORT) \
+ static const char NAME##_name[] PROGMEM = #NAME;
#include "vars.def"
#undef VAR
if (!_find_var(name, &info)) return STAT_UNRECOGNIZED_NAME;
if (!info.set.ptr) return STAT_READ_ONLY;
- _set(info.type, info.index, info.set, type_parse(info.type, value));
+ stat_t status;
+ type_u x = type_parse(info.type, value, &status);
+ if (status == STAT_OK) _set(info.type, info.index, info.set, x);
- return STAT_OK;
-}
-
-
-float vars_get_number(const char *name) {
- var_info_t info;
- if (!_find_var(name, &info)) return 0;
- return type_to_float(info.type, _get(info.type, info.index, info.get));
+ return status;
}
void vars_print_json() {
bool first = true;
static const char fmt[] PROGMEM =
- "\"%s\":{\"name\":\"%" PRPSTR "\",\"type\":\"%" PRPSTR "\","
- "\"help\":\"%" PRPSTR "\"";
+ "\"%s\":{\"name\":\"%" PRPSTR "\",\"type\":\"%" PRPSTR "\"";
static const char index_fmt[] PROGMEM = ",\"index\":\"%s\"";
#define VAR(NAME, CODE, TYPE, INDEX, ...) \
if (first) first = false; else putchar(','); \
- printf_P(fmt, #CODE, NAME##_name, type_get_##TYPE##_name_pgm(), \
- NAME##_help); \
+ printf_P(fmt, #CODE, NAME##_name, type_get_##TYPE##_name_pgm()); \
IF(INDEX)(printf_P(index_fmt, INDEX##_LABEL)); \
putchar('}');
#include "vars.def"
char *value = strchr(cmd, '=');
if (value) {
*value++ = 0;
- return vars_set(cmd, value);
+ stat_t status = vars_set(cmd, value);
+ value[-1] = '='; // For error reporting
+ return status;
}
return vars_print(cmd);
if (!_find_var(cmd + 1, &info)) return STAT_UNRECOGNIZED_NAME;
if (!info.set.ptr) return STAT_READ_ONLY;
+ stat_t status;
var_cmd_t buffer;
buffer.type = info.type;
buffer.index = info.index;
buffer.set = info.set;
- buffer.value = type_parse(info.type, value);
+ buffer.value = type_parse(info.type, value, &status);
- command_push(*cmd, &buffer);
+ if (status == STAT_OK) command_push(*cmd, &buffer);
- return STAT_OK;
+ return status;
}
#define MOTORS_LABEL "0123"
#define OUTS_LABEL "ed12f"
#define ANALOG_LABEL "12"
+#define VFDREG_LABEL "0123456789abcdefghijklmnopqrstuv"
-// VAR(name, code, type, index, settable, report, help)
+// VAR(name, code, type, index, settable, report)
// Motor
-VAR(motor_axis, an, u8, MOTORS, 1, 1, "Maps motor to axis")
+VAR(motor_axis, an, u8, MOTORS, 1, 1) // Maps motor to axis
-VAR(power_mode, pm, u8, MOTORS, 1, 1, "Motor power mode")
-VAR(drive_current, dc, f32, MOTORS, 1, 1, "Max motor drive current")
-VAR(idle_current, ic, f32, MOTORS, 1, 1, "Motor idle current")
+VAR(power_mode, pm, u8, MOTORS, 1, 1) // Motor power mode
+VAR(drive_current, dc, f32, MOTORS, 1, 1) // Max motor drive current
+VAR(idle_current, ic, f32, MOTORS, 1, 1) // Motor idle current
-VAR(reverse, rv, b8, MOTORS, 1, 1, "Reverse motor polarity")
-VAR(microstep, mi, u16, MOTORS, 1, 1, "Microsteps per full step")
-VAR(velocity_max, vm, f32, MOTORS, 1, 1, "Maxium vel in mm/min")
-VAR(accel_max, am, f32, MOTORS, 1, 1, "Maxium accel in mm/min^2")
-VAR(jerk_max, jm, f32, MOTORS, 1, 1, "Maxium jerk in mm/min^3")
-VAR(step_angle, sa, f32, MOTORS, 1, 1, "In degrees per full step")
-VAR(travel, tr, f32, MOTORS, 1, 1, "Travel in mm/rev")
+VAR(reverse, rv, b8, MOTORS, 1, 1) // Reverse motor polarity
+VAR(microstep, mi, u16, MOTORS, 1, 1) // Microsteps per full step
+VAR(velocity_max, vm, f32, MOTORS, 1, 1) // Maxium vel in mm/min
+VAR(accel_max, am, f32, MOTORS, 1, 1) // Maxium accel in mm/min^2
+VAR(jerk_max, jm, f32, MOTORS, 1, 1) // Maxium jerk in mm/min^3
+VAR(step_angle, sa, f32, MOTORS, 1, 1) // In degrees per full step
+VAR(travel, tr, f32, MOTORS, 1, 1) // Travel in mm/rev
-VAR(min_soft_limit, tn, f32, MOTORS, 1, 1, "Min soft limit")
-VAR(max_soft_limit, tm, f32, MOTORS, 1, 1, "Max soft limit")
-VAR(homed, h, b8, MOTORS, 1, 1, "Motor homed status")
+VAR(min_soft_limit, tn, f32, MOTORS, 1, 1) // Min soft limit
+VAR(max_soft_limit, tm, f32, MOTORS, 1, 1) // Max soft limit
+VAR(homed, h, b8, MOTORS, 1, 1) // Motor homed status
-VAR(active_current, ac, f32, MOTORS, 0, 1, "Motor current now")
-VAR(driver_flags, df, u16, MOTORS, 0, 1, "Motor driver flags")
-VAR(status_strings, ds, flags, MOTORS, 0, 1, "Motor driver status")
-VAR(driver_stalled, sl, b8, MOTORS, 0, 1, "Motor driver status")
-VAR(encoder, en, s32, MOTORS, 0, 0, "Motor encoder")
-VAR(error, ee, s32, MOTORS, 0, 0, "Motor position error")
+VAR(active_current, ac, f32, MOTORS, 0, 1) // Motor current now
+VAR(driver_flags, df, u16, MOTORS, 0, 1) // Motor driver flags
+VAR(status_strings, ds, flags, MOTORS, 0, 1) // Motor driver status
+VAR(driver_stalled, sl, b8, MOTORS, 0, 1) // Motor driver status
+VAR(encoder, en, s32, MOTORS, 0, 0) // Motor encoder
+VAR(error, ee, s32, MOTORS, 0, 0) // Motor position error
-VAR(motor_fault, fa, b8, 0, 0, 1, "Motor fault status")
+VAR(motor_fault, fa, b8, 0, 0, 1) // Motor fault status
// Switches
-VAR(min_sw_mode, ls, u8, MOTORS, 1, 1, "Minimum switch mode")
-VAR(max_sw_mode, xs, u8, MOTORS, 1, 1, "Maximum switch mode")
-VAR(estop_mode, et, u8, 0, 1, 1, "Estop switch mode")
-VAR(probe_mode, pt, u8, 0, 1, 1, "Probe switch mode")
-VAR(min_switch, lw, u8, MOTORS, 0, 1, "Minimum switch state")
-VAR(max_switch, xw, u8, MOTORS, 0, 1, "Maximum switch state")
-VAR(estop_switch, ew, u8, 0, 0, 1, "Estop switch state")
-VAR(probe_switch, pw, u8, 0, 0, 1, "Probe switch state")
+VAR(min_sw_mode, ls, u8, MOTORS, 1, 1) // Minimum switch mode
+VAR(max_sw_mode, xs, u8, MOTORS, 1, 1) // Maximum switch mode
+VAR(estop_mode, et, u8, 0, 1, 1) // Estop switch mode
+VAR(probe_mode, pt, u8, 0, 1, 1) // Probe switch mode
+VAR(min_switch, lw, u8, MOTORS, 0, 1) // Minimum switch state
+VAR(max_switch, xw, u8, MOTORS, 0, 1) // Maximum switch state
+VAR(estop_switch, ew, u8, 0, 0, 1) // Estop switch state
+VAR(probe_switch, pw, u8, 0, 0, 1) // Probe switch state
// Axis
-VAR(axis_position, p, f32, AXES, 0, 1, "Axis position")
+VAR(axis_position, p, f32, AXES, 0, 1) // Axis position
// Outputs
-VAR(output_active, oa, b8, OUTS, 1, 1, "Output pin active")
-VAR(output_state, os, u8, OUTS, 0, 1, "Output pin state")
-VAR(output_mode, om, u8, OUTS, 1, 1, "Output pin mode")
+VAR(output_active, oa, b8, OUTS, 1, 1) // Output pin active
+VAR(output_state, os, u8, OUTS, 0, 1) // Output pin state
+VAR(output_mode, om, u8, OUTS, 1, 1) // Output pin mode
// Analog
-VAR(analog_input, ai, f32, ANALOG, 0, 0, "Analog input pins")
+VAR(analog_input, ai, f32, ANALOG, 0, 0) // Analog input pins
// Spindle
-VAR(spindle_type, st, u8, 0, 1, 1, "DISABLED=0, PWM=1 or HUANYANG=2")
-VAR(speed, s, f32, 0, 1, 1, "Current spindle speed")
-VAR(spin_reversed, sr, b8, 0, 1, 1, "Reverse spin")
-VAR(max_spin, sx, f32, 0, 1, 1, "Maximum spindle speed")
-VAR(min_spin, sm, f32, 0, 1, 1, "Minimum spindle speed")
+VAR(tool_type, st, u8, 0, 1, 1) // See spindle.c
+VAR(speed, s, f32, 0, 1, 1) // Current spindle speed
+VAR(tool_reversed, sr, b8, 0, 1, 1) // Reverse tool
+VAR(max_spin, sx, f32, 0, 1, 1) // Maximum spindle speed
+VAR(min_spin, sm, f32, 0, 1, 1) // Minimum spindle speed
// PWM spindle
-VAR(pwm_invert, pi, b8, 0, 1, 1, "Inverted spindle PWM")
-VAR(pwm_min_duty, nd, f32, 0, 1, 1, "Minimum PWM duty cycle")
-VAR(pwm_max_duty, md, f32, 0, 1, 1, "Maximum PWM duty cycle")
-VAR(pwm_duty, pd, f32, 0, 0, 1, "Current PWM duty cycle")
-VAR(pwm_freq, sf, u16, 0, 1, 1, "Spindle PWM frequency in Hz")
+VAR(pwm_invert, pi, b8, 0, 1, 1) // Inverted spindle PWM
+VAR(pwm_min_duty, nd, f32, 0, 1, 1) // Minimum PWM duty cycle
+VAR(pwm_max_duty, md, f32, 0, 1, 1) // Maximum PWM duty cycle
+VAR(pwm_duty, pd, f32, 0, 0, 1) // Current PWM duty cycle
+VAR(pwm_freq, sf, u16, 0, 1, 1) // Spindle PWM frequency in Hz
// Modbus spindle
-VAR(modbus_debug, hb, b8, 0, 1, 1, "Modbus debugging")
-VAR(modbus_id, hi, u8, 0, 1, 1, "Modbus ID")
-VAR(modbus_baud, mb, u8, 0, 1, 1, "Modbus BAUD rate")
-VAR(modbus_parity, ma, u8, 0, 1, 1, "Modbus parity")
-VAR(modbus_stop, ms, u8, 0, 1, 1, "Modbus stop bits")
-VAR(modbus_connected, he, b8, 0, 0, 1, "Modbus connected")
+VAR(modbus_debug, hb, b8, 0, 1, 1) // Modbus debugging
+VAR(modbus_id, hi, u8, 0, 1, 1) // Modbus ID
+VAR(modbus_baud, mb, u8, 0, 1, 1) // Modbus BAUD rate
+VAR(modbus_parity, ma, u8, 0, 1, 1) // Modbus parity
+VAR(modbus_status, mx, u8, 0, 0, 1) // Modbus status
+VAR(modbus_response, mr, u16, 0, 0, 1) // Modbus read response
+
+// VFD spindle
+VAR(vfd_max_freq, vf, u16, 0, 1, 1) // VFD maximum frequency
+VAR(vfd_reg_type, vt, u8, VFDREG, 1, 1) // VFD register type
+VAR(vfd_reg_addr, va, u16, VFDREG, 1, 1) // VFD register address
+VAR(vfd_reg_val, vv, u16, VFDREG, 1, 1) // VFD register value
// Huanyang spindle
-VAR(hy_freq, hz, f32, 0, 0, 1, "Huanyang actual freq")
-VAR(hy_current, hc, f32, 0, 0, 1, "Huanyang actual current")
-VAR(hy_temp, ht, u16, 0, 0, 1, "Huanyang temperature")
-VAR(hy_max_freq, hx, f32, 0, 0, 1, "Huanyang max freq")
-VAR(hy_min_freq, hm, f32, 0, 0, 1, "Huanyang min freq")
-VAR(hy_rated_rpm, hq, u16, 0, 0, 1, "Huanyang rated RPM")
-VAR(hy_status, hs, u8, 0, 0, 1, "Huanyang status flags")
+VAR(hy_freq, hz, f32, 0, 0, 1) // Huanyang actual freq
+VAR(hy_current, hc, f32, 0, 0, 1) // Huanyang actual current
+VAR(hy_temp, ht, u16, 0, 0, 1) // Huanyang temperature
+VAR(hy_max_freq, hx, f32, 0, 0, 1) // Huanyang max freq
+VAR(hy_min_freq, hm, f32, 0, 0, 1) // Huanyang min freq
+VAR(hy_rated_rpm, hq, u16, 0, 0, 1) // Huanyang rated RPM
+VAR(hy_status, hs, u8, 0, 0, 1) // Huanyang status flags
// Machine state
-VAR(id, id, u32, 0, 1, 1, "Last executed command ID")
-VAR(feed_override, fo, f32, 0, 1, 1, "Feed rate override")
-VAR(speed_override, so, f32, 0, 1, 1, "Spindle speed override")
-VAR(optional_pause, op, b8, 0, 1, 1, "Optional pause state")
+VAR(id, id, u32, 0, 1, 1) // Last executed command ID
+VAR(feed_override, fo, u16, 0, 1, 1) // Feed rate override
+VAR(speed_override, so, u16, 0, 1, 1) // Spindle speed override
+VAR(optional_pause, op, b8, 0, 1, 1) // Optional pause state
// System
-VAR(velocity, v, f32, 0, 0, 1, "Current velocity")
-VAR(acceleration, ax, f32, 0, 0, 1, "Current acceleration")
-VAR(jerk, j, f32, 0, 0, 1, "Current jerk")
-VAR(peak_vel, pv, f32, 0, 1, 1, "Peak velocity, set to clear")
-VAR(peak_accel, pa, f32, 0, 1, 1, "Peak acceleration, set to clear")
-VAR(hw_id, hid, str, 0, 0, 1, "Hardware ID")
-VAR(estop, es, b8, 0, 1, 1, "Emergency stop")
-VAR(estop_reason, er, pstr, 0, 0, 1, "Emergency stop reason")
-VAR(state, xx, pstr, 0, 0, 1, "Machine state")
-VAR(hold_reason, pr, pstr, 0, 0, 1, "Machine pause reason")
-VAR(underflow, un, u32, 0, 0, 1, "Stepper underflow count")
-VAR(dwell_time, dt, f32, 0, 0, 1, "Dwell timer")
+VAR(velocity, v, f32, 0, 0, 1) // Current velocity
+VAR(acceleration, ax, f32, 0, 0, 1) // Current acceleration
+VAR(jerk, j, f32, 0, 0, 1) // Current jerk
+VAR(peak_vel, pv, f32, 0, 1, 1) // Peak velocity, set to clear
+VAR(peak_accel, pa, f32, 0, 1, 1) // Peak accel, set to clear
+VAR(hw_id, hid, str, 0, 0, 1) // Hardware ID
+VAR(estop, es, b8, 0, 1, 1) // Emergency stop
+VAR(estop_reason, er, pstr, 0, 0, 1) // Emergency stop reason
+VAR(state, xx, pstr, 0, 0, 1) // Machine state
+VAR(hold_reason, pr, pstr, 0, 0, 1) // Machine pause reason
+VAR(underflow, un, u32, 0, 0, 1) // Stepper underflow count
+VAR(dwell_time, dt, f32, 0, 0, 1) // Dwell timer
void vars_report_var(const char *code, bool enable);
stat_t vars_print(const char *name);
stat_t vars_set(const char *name, const char *value);
-float vars_get_number(const char *name);
void vars_print_json();
#include "cpp_magic.h"
{
-#define VAR(NAME, CODE, TYPE, INDEX, SET, REPORT, HELP) \
+#define VAR(NAME, CODE, TYPE, INDEX, SET, REPORT) \
#CODE: { \
"name": #NAME, \
"type": #TYPE, \
"index": IF_ELSE(INDEX)(true, false), \
"setable": IF_ELSE(SET)(true, false), \
- "report": IF_ELSE(REPORT)(true, false), \
- "help": HELP \
+ "report": IF_ELSE(REPORT)(true, false) \
},
#include "vars.def"
#undef VAR
+++ /dev/null
-/******************************************************************************\
-
- This file is part of the Buildbotics firmware.
-
- Copyright (c) 2015 - 2018, Buildbotics LLC
- All rights reserved.
-
- 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; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with the software. If not, see
- <http://www.gnu.org/licenses/>.
-
- For information regarding this software email:
- "Joseph Coffland" <joseph@buildbotics.com>
-
-\******************************************************************************/
-
-#include "huanyang.h"
-#include "config.h"
-#include "modbus.h"
-#include "report.h"
-
-#include <string.h>
-#include <math.h>
-
-
-/*
- Huanyang is not quite Modbus compliant.
-
- Message format is:
-
- [id][func][length][data][checksum]
-
- Where:
-
- id - 1-byte Peer ID
- func - 1-byte One of hy_func_t
- length - 1-byte Length data in bytes
- data - length bytes - Command arguments
- checksum - 16-bit CRC: x^16 + x^15 + x^2 + 1 (0xa001) initial: 0xffff
-*/
-
-
-// See VFD manual pg56 3.1.3
-typedef enum {
- HUANYANG_FUNC_READ = 1, // [len=1][hy_addr_t]
- HUANYANG_FUNC_WRITE, // [len=3][hy_addr_t][data]
- HUANYANG_CTRL_WRITE, // [len=1][hy_ctrl_state_t]
- HUANYANG_CTRL_READ, // [len=1][hy_ctrl_addr_t]
- HUANYANG_FREQ_WRITE, // [len=2][freq]
- HUANYANG_RESERVED_1,
- HUANYANG_RESERVED_2,
- HUANYANG_LOOP_TEST,
-} hy_func_t;
-
-
-// Sent in HUANYANG_CTRL_WRITE
-// See VFD manual pg57 3.1.3.c
-typedef enum {
- HUANYANG_RUN = 1 << 0,
- HUANYANG_FORWARD = 1 << 1,
- HUANYANG_REVERSE = 1 << 2,
- HUANYANG_STOP = 1 << 3,
- HUANYANG_REV_FWD = 1 << 4,
- HUANYANG_JOG = 1 << 5,
- HUANYANG_JOG_FORWARD = 1 << 6,
- HUANYANG_JOG_REVERSE = 1 << 7,
-} hy_ctrl_state_t;
-
-
-// Returned by HUANYANG_CTRL_WRITE
-// See VFD manual pg57 3.1.3.c
-typedef enum {
- HUANYANG_STATUS_RUN = 1 << 0,
- HUANYANG_STATUS_JOG = 1 << 1,
- HUANYANG_STATUS_COMMAND_REV = 1 << 2,
- HUANYANG_STATUS_RUNNING = 1 << 3,
- HUANYANG_STATUS_JOGGING = 1 << 4,
- HUANYANG_STATUS_JOGGING_REV = 1 << 5,
- HUANYANG_STATUS_BRAKING = 1 << 6,
- HUANYANG_STATUS_TRACK_START = 1 << 7,
-} hy_ctrl_status_t;
-
-
-// Sent in HUANYANG_CTRL_READ
-// See VFD manual pg57 3.1.3.d
-typedef enum {
- HUANYANG_TARGET_FREQ,
- HUANYANG_ACTUAL_FREQ,
- HUANYANG_ACTUAL_CURRENT,
- HUANYANG_ACTUAL_RPM,
- HUANYANG_DCV,
- HUANYANG_ACV,
- HUANYANG_COUNTER,
- HUANYANG_TEMPERATURE,
-} hy_ctrl_addr_t;
-
-
-static struct {
- uint8_t state;
- hy_func_t func;
- uint8_t data[4];
- uint8_t bytes;
- uint8_t response;
-
- bool shutdown;
- bool changed;
- float speed;
-
- float actual_freq;
- float actual_current;
- uint16_t actual_rpm;
- uint16_t temperature;
-
- float max_freq;
- float min_freq;
- uint16_t rated_rpm;
-
- uint8_t status;
-} hy = {0};
-
-
-static void _func_read(hy_addr_t addr) {
- hy.func = HUANYANG_FUNC_READ;
- hy.bytes = 2;
- hy.response = 4;
- hy.data[0] = 1;
- hy.data[1] = addr;
-}
-
-
-static void _ctrl_write(hy_ctrl_state_t state) {
- hy.func = HUANYANG_CTRL_WRITE;
- hy.bytes = 2;
- hy.response = 2;
- hy.data[0] = 1;
- hy.data[1] = state;
-}
-
-
-static void _ctrl_read(hy_ctrl_addr_t addr) {
- hy.func = HUANYANG_CTRL_READ;
- hy.bytes = 2;
- hy.response = 4;
- hy.data[0] = 1;
- hy.data[1] = addr;
-}
-
-
-static void _freq_write(uint16_t freq) {
- hy.func = HUANYANG_FREQ_WRITE;
- hy.bytes = 3;
- hy.response = 3;
- hy.data[0] = 2;
- hy.data[1] = freq >> 8;
- hy.data[2] = freq;
-}
-
-
-static void _func_read_response(hy_addr_t addr, uint16_t value) {
- switch (addr) {
- case HY_PD005_MAX_FREQUENCY: hy.max_freq = value * 0.01; break;
- case HY_PD011_FREQUENCY_LOWER_LIMIT: hy.min_freq = value * 0.01; break;
- case HY_PD144_RATED_MOTOR_RPM: hy.rated_rpm = value; break;
- default: break;
- }
-}
-
-
-static void _ctrl_read_response(hy_ctrl_addr_t addr, uint16_t value) {
- switch (addr) {
- case HUANYANG_ACTUAL_FREQ: hy.actual_freq = value * 0.01; break;
- case HUANYANG_ACTUAL_CURRENT: hy.actual_current = value * 0.01; break;
- case HUANYANG_ACTUAL_RPM: hy.actual_rpm = value; break;
- case HUANYANG_TEMPERATURE: hy.temperature = value; break;
- default: break;
- }
-}
-
-
-static uint16_t _read_word(const uint8_t *data) {
- return (uint16_t)data[0] << 8 | data[1];
-}
-
-
-static void _handle_response(hy_func_t func, const uint8_t *data) {
- switch (func) {
- case HUANYANG_FUNC_READ:
- _func_read_response((hy_addr_t)*data, _read_word(data + 1));
- break;
-
- case HUANYANG_FUNC_WRITE: break;
- case HUANYANG_CTRL_WRITE: hy.status = *data; break;
-
- case HUANYANG_CTRL_READ:
- _ctrl_read_response((hy_ctrl_addr_t)*data, _read_word(data + 1));
- break;
-
- case HUANYANG_FREQ_WRITE: break;
- default: break;
- }
-}
-
-
-static void _next_command();
-
-
-static void _reset(bool halt) {
- // Save settings
- float speed = hy.speed;
-
- // Clear state
- memset(&hy, 0, sizeof(hy));
-
- // Restore settings
- hy.speed = speed;
- hy.changed = true;
-
- if (!halt) _next_command();
-}
-
-
-static void _modbus_cb(uint8_t func, uint8_t bytes, const uint8_t *data) {
- if (!data) _reset(true);
-
- else if (bytes == *data + 1) {
- _handle_response((hy_func_t)func, data + 1);
-
- if (func == HUANYANG_CTRL_WRITE && hy.shutdown) {
- _reset(true);
- modbus_deinit();
- return;
- }
-
- // Next command
- if (++hy.state == 9) {
- hy.state = 5;
- report_request();
- }
-
- // Update freq
- if (hy.shutdown || (hy.changed && 4 < hy.state)) hy.state = 0;
- }
-
- _next_command();
-}
-
-
-static void _next_command() {
- switch (hy.state) {
- case 0: { // Update direction
- hy_ctrl_state_t state = HUANYANG_STOP;
- if (!hy.shutdown) {
- if (0 < hy.speed)
- state = (hy_ctrl_state_t)(HUANYANG_RUN | HUANYANG_FORWARD);
- else if (hy.speed < 0)
- state = (hy_ctrl_state_t)(HUANYANG_RUN | HUANYANG_REV_FWD);
- }
-
- _ctrl_write(state);
- break;
- }
-
- case 1: _func_read(HY_PD005_MAX_FREQUENCY); break;
- case 2: _func_read(HY_PD011_FREQUENCY_LOWER_LIMIT); break;
- case 3: _func_read(HY_PD144_RATED_MOTOR_RPM); break;
-
- case 4: { // Update freqency
- // Compute frequency in Hz
- float freq = fabs(hy.speed * hy.max_freq);
-
- // Frequency write command
- _freq_write(freq * 100);
- hy.changed = false;
- break;
- }
-
- case 5: _ctrl_read(HUANYANG_ACTUAL_FREQ); break;
- case 6: _ctrl_read(HUANYANG_ACTUAL_CURRENT); break;
- case 7: _ctrl_read(HUANYANG_ACTUAL_RPM); break;
- case 8: _ctrl_read(HUANYANG_TEMPERATURE); break;
- }
-
- // Send command
- modbus_func(hy.func, hy.bytes, hy.data, hy.response, _modbus_cb);
-}
-
-
-void huanyang_init() {
- modbus_init();
- _reset(false);
-}
-
-
-void huanyang_deinit() {hy.shutdown = true;}
-
-
-void huanyang_set(float speed) {
- if (hy.speed != speed) {
- hy.speed = speed;
- hy.changed = true;
- }
-}
-
-
-float huanyang_get() {return hy.actual_freq / hy.max_freq;}
-
-
-void huanyang_stop() {
- huanyang_set(0);
- _reset(false);
-}
-
-
-float get_hy_freq() {return hy.actual_freq;}
-float get_hy_current() {return hy.actual_current;}
-uint16_t get_hy_temp() {return hy.temperature;}
-float get_hy_max_freq() {return hy.max_freq;}
-float get_hy_min_freq() {return hy.min_freq;}
-uint16_t get_hy_rated_rpm() {return hy.rated_rpm;}
-float get_hy_status() {return hy.status;}
+++ /dev/null
-/******************************************************************************\
-
- This file is part of the Buildbotics firmware.
-
- Copyright (c) 2015 - 2018, Buildbotics LLC
- All rights reserved.
-
- 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; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with the software. If not, see
- <http://www.gnu.org/licenses/>.
-
- For information regarding this software email:
- "Joseph Coffland" <joseph@buildbotics.com>
-
-\******************************************************************************/
-
-#pragma once
-
-
-void huanyang_init();
-void huanyang_deinit();
-void huanyang_set(float speed);
-float huanyang_get();
-void huanyang_stop();
-
-
-/// See Huanyang VFD user manual
-typedef enum {
- HY_PD000_PARAMETER_LOCK,
- HY_PD001_SOURCE_OF_OPERATION_COMMANDS,
- HY_PD002_SOURCE_OF_OPERATING_FREQUENCY,
- HY_PD003_MAIN_FREQUENCY,
- HY_PD004_BASE_FREQUENCY,
- HY_PD005_MAX_FREQUENCY,
- HY_PD006_INTERMEDIATE_FREQUENCY,
- HY_PD007_MIN_FREQUENCY,
- HY_PD008_MAX_VOLTAGE,
- HY_PD009_INTERMEDIATE_VOLTAGE,
- HY_PD010_MIN_VOLTAGE,
- HY_PD011_FREQUENCY_LOWER_LIMIT,
- HY_PD012_RESERVED,
- HY_PD013_PARAMETER_RESET,
- HY_PD014_ACCEL_TIME_1,
- HY_PD015_DECEL_TIME_1,
- HY_PD016_ACCEL_TIME_2,
- HY_PD017_DECEL_TIME_2,
- HY_PD018_ACCEL_TIME_3,
- HY_PD019_DECEL_TIME_3,
- HY_PD020_ACCEL_TIME_4,
- HY_PD021_DECEL_TIME_4,
- HY_PD022_FACTORY_RESERVED,
- HY_PD023_REV_ROTATION_SELECT,
- HY_PD024_STOP_KEY,
- HY_PD025_STARTING_MODE,
- HY_PD026_STOPPING_MODE,
- HY_PD027_STARTING_FREQUENCY,
- HY_PD028_STOPPING_FREQUENCY,
- HY_PD029_DC_BRAKING_TIME_AT_START,
- HY_PD030_DC_BRAKING_TIME_AT_STOP,
- HY_PD031_DC_BRAKING_VOLTAGE_LEVEL,
- HY_PD032_FREQUENCY_TRACK_TIME,
- HY_PD033_CURRENT_LEVEL_FOR_FREQUENCY_TRACK,
- HY_PD034_VOLTAGE_RISE_TIME_FOR_FREQUENCY_TRACK,
- HY_PD035_FREQUENCY_STEP_LENGTH,
- HY_PD036,
- HY_PD037,
- HY_PD038,
- HY_PD039,
- HY_PD040,
- HY_PD041_CARRIER_FREQUENCY,
- HY_PD042_JOGGING_FREQUENCY,
- HY_PD043_S_CURVE_TIME,
- HY_PD044_MULTI_INPUT_FOR,
- HY_PD045_MULTI_INPUT_REV,
- HY_PD046_MULTI_INPUT_RST,
- HY_PD047_MULTI_INPUT_SPH,
- HY_PD048_MULTI_INPUT_SPM,
- HY_PD049_MULTI_INPUT_SPL,
- HY_PD050_MULTI_OUTPUT_DRV,
- HY_PD051_MULTI_OUTPUT_UPF,
- HY_PD052_MULTI_OUTPUT_FA_FB_FC,
- HY_PD053_MULTI_OUTPUT_KA_KB,
- HY_PD054_MULTI_OUTPUT_AM,
- HY_PD055_AM_ANALOG_OUTPUT_GAIN,
- HY_PD056_SKIP_FREQUENCY_1,
- HY_PD057_SKIP_FREQUENCY_2,
- HY_PD058_SKIP_FREQUENCY_3,
- HY_PD059_SKIP_FREQUENCY_RANGE,
- HY_PD060_UNIFORM_FREQUENCY_1,
- HY_PD061_UNIFORM_FREQUENCY_2,
- HY_PD062_UNIFORM_FREQUENCY_RANGE,
- HY_PD063_TIMER_1_TIME,
- HY_PD064_TIMER_2_TIME,
- HY_PD065_COUNTING_VALUE,
- HY_PD066_INTERMEDIATE_COUNTER,
- HY_PD067,
- HY_PD068,
- HY_PD069,
- HY_PD070_ANALOG_INPUT,
- HY_PD071_ANALOG_FILTERING_CONSTANT,
- HY_PD072_HIGHER_ANALOG_FREQUENCY,
- HY_PD073_LOWER_ANALOG_FREQUENCY,
- HY_PD074_BIAS_DIRECTION_AT_HIGHER_FREQUENCY,
- HY_PD075_BIAS_DIRECTION_AT_LOWER_FREQUENCY,
- HY_PD076_ANALOG_NEGATIVE_BIAS_REVERSE,
- HY_PD077_UP_DOWN_FUNCTION,
- HY_PD078_UP_DOWN_SPEED,
- HY_PD079,
- HY_PD080_PLC_OPERATION,
- HY_PD081_AUTO_PLC,
- HY_PD082_PLC_RUNNING_DIRECTION,
- HY_PD083,
- HY_PD084_PLC_RAMP_TIME,
- HY_PD085,
- HY_PD086_FREQUENCY_2,
- HY_PD087_FREQUENCY_3,
- HY_PD088_FREQUENCY_4,
- HY_PD089_FREQUENCY_5,
- HY_PD090_FREQUENCY_6,
- HY_PD091_FREQUENCY_7,
- HY_PD092_FREQUENCY_8,
- HY_PD093,
- HY_PD094,
- HY_PD095,
- HY_PD096,
- HY_PD097,
- HY_PD098,
- HY_PD099,
- HY_PD100,
- HY_PD101_TIMER_1,
- HY_PD102_TIMER_2,
- HY_PD103_TIMER_3,
- HY_PD104_TIMER_4,
- HY_PD105_TIMER_5,
- HY_PD106_TIMER_6,
- HY_PD107_TIMER_7,
- HY_PD108_TIMER_8,
- HY_PD109,
- HY_PD110,
- HY_PD111,
- HY_PD112,
- HY_PD113,
- HY_PD114,
- HY_PD115,
- HY_PD116,
- HY_PD117_AUTOPLC_MEMORY_FUNCTION,
- HY_PD118_OVER_VOLTAGE_STALL_PREVENTION,
- HY_PD119_STALL_PREVENTION_LEVEL_AT_RAMP_UP,
- HY_PD120_STALL_PREVENTION_LEVEL_AT_CONSTANT_SPEED,
- HY_PD121_DECEL_TIME_FOR_STALL_PREVENTION_AT_CONSTANT_SPEED,
- HY_PD122_STALL_PREVENTION_LEVEL_AT_DECELERATION,
- HY_PD123_OVER_TORQUE_DETECT_MODE,
- HY_PD124_OVER_TORQUE_DETECT_LEVEL,
- HY_PD125_OVER_TORQUE_DETECT_TIME,
- HY_PD126,
- HY_PD127,
- HY_PD128,
- HY_PD129,
- HY_PD130_NUMBER_OF_AUXILIARY_PUMP,
- HY_PD131_CONTINUOUS_RUNNING_TIME_OF_AUXILIARY_PUMPS,
- HY_PD132_INTERLOCKING_TIME_OF_AUXILIARY_PUMP,
- HY_PD133_HIGH_SPEED_RUNNING_TIME,
- HY_PD134_LOW_SPEED_RUNNING_TIME,
- HY_PD135_STOPPING_VOLTAGE_LEVEL,
- HY_PD136_LASTING_TIME_OF_STOPPING_VOLTAGE_LEVEL,
- HY_PD137_WAKEUP_VOLTAGE_LEVEL,
- HY_PD138_SLEEP_FREQUENCY,
- HY_PD139_LASTING_TIME_OF_SLEEP_FREQUENCY,
- HY_PD140,
- HY_PD141_RATED_MOTOR_VOLTAGE,
- HY_PD142_RATED_MOTOR_CURRENT,
- HY_PD143_MOTOR_POLE_NUMBER,
- HY_PD144_RATED_MOTOR_RPM,
- HY_PD145_AUTO_TORQUE_COMPENSATION,
- HY_PD146_MOTOR_NO_LOAD_CURRENT,
- HY_PD147_MOTOR_SLIP_COMPENSATION,
- HY_PD148,
- HY_PD149,
- HY_PD150_AUTO_VOLTAGE_REGULATION,
- HY_PD151_AUTO_ENERGY_SAVING,
- HY_PD152_FAULT_RESTART_TIME,
- HY_PD153_RESTART_AFTER_INSTANTANEOUS_STOP,
- HY_PD154_ALLOWABLE_POWER_BREAKDOWN_TIME,
- HY_PD155_NUMBER_OF_ABNORMAL_RESTART,
- HY_PD156_PROPORTIONAL_CONSTANT,
- HY_PD157_INTEGRAL_TIME,
- HY_PD158_DIFFERENTIAL_TIME,
- HY_PD159_TARGET_VALUE,
- HY_PD160_PID_TARGET_VALUE,
- HY_PD161_PID_UPPER_LIMIT,
- HY_PD162_PID_LOWER_LIMIT,
- HY_PD163_COMMUNICATION_ADDRESSES,
- HY_PD164_COMMUNICATION_BAUD_RATE,
- HY_PD165_COMMUNICATION_DATA_METHOD,
- HY_PD166,
- HY_PD167,
- HY_PD168,
- HY_PD169,
- HY_PD170_DISPLAY_ITEMS,
- HY_PD171_DISPLAY_ITEMS_OPEN,
- HY_PD172_FAULT_CLEAR,
- HY_PD173,
- HY_PD174_RATED_CURRENT_OF_INVERTER,
- HY_PD175_INVERTER_MODEL,
- HY_PD176_INVERTER_FREQUENCY_STANDARD,
- HY_PD177_FAULT_RECORD_1,
- HY_PD178_FAULT_RECORD_2,
- HY_PD179_FAULT_RECORD_3,
- HY_PD180_FAULT_RECORD_4,
- HY_PD181_SOFTWARE_VERSION,
- HY_PD182_MANUFACTURE_DATE,
- HY_PD183_SERIAL_NO,
-} hy_addr_t;
+++ /dev/null
-/******************************************************************************\
-
- This file is part of the Buildbotics firmware.
-
- Copyright (c) 2015 - 2018, Buildbotics LLC
- All rights reserved.
-
- 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; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with the software. If not, see
- <http://www.gnu.org/licenses/>.
-
- For information regarding this software email:
- "Joseph Coffland" <joseph@buildbotics.com>
-
-\******************************************************************************/
-
-
-#include "modbus.h"
-
-#include <math.h>
-
-
-#define P(H, L) ((H) << 8 | (L))
-
-
-enum {
- P00_00_MAIN_FREQ = P(0, 0),
- P00_01_START_STOP_SOURCE = P(0, 1),
- P00_04_HIGEST_OUTPUT_FREQ = P(0, 4),
- P01_00_DIRECTION = P(1, 0),
- P07_00_FREQ_1 = P(7, 0),
- P07_08_FREQ_SOURCE_1 = P(7, 8),
-};
-
-
-static struct {
- uint8_t state;
- bool changed;
- bool shutdown;
-
- float speed;
- uint16_t max_freq;
- float actual_speed;
-} s = {0};
-
-
-static void _next_command();
-
-
-static uint16_t _speed2freq(float speed) {return fabs(speed) * s.max_freq;}
-static float _freq2speed(uint16_t freq) {return (float)freq / s.max_freq;}
-
-
-static void _next_state(bool ok) {
- if (!ok) s.state = 0;
-
- else if (s.changed) {
- s.changed = false;
- s.state = 0;
-
- } else if (++s.state == 5) s.state = 4;
-
- _next_command();
-}
-
-
-static void _read_cb(bool ok, uint16_t addr, uint16_t value) {
- if (ok)
- switch (addr) {
- case P00_04_HIGEST_OUTPUT_FREQ: s.max_freq = value; break;
- case P07_00_FREQ_1: s.actual_speed = _freq2speed(value); break;
- }
-
- _next_state(ok);
-}
-
-
-static void _write_cb(bool ok, uint16_t addr) {_next_state(ok);}
-
-
-static void _next_command() {
- if (s.shutdown) {
- modbus_deinit();
- return;
- }
-
- // TODO spin direction
- switch (s.state) {
- case 0: modbus_read(P00_04_HIGEST_OUTPUT_FREQ, _read_cb); break;
- case 1: modbus_write(P00_01_START_STOP_SOURCE, 1, _write_cb); break;
- case 2: modbus_write(P07_08_FREQ_SOURCE_1, 1, _write_cb); break;
- case 3: modbus_write(P07_00_FREQ_1, _speed2freq(s.speed), _write_cb); break;
- case 4: modbus_read(P07_00_FREQ_1, _read_cb); break;
- }
-}
-
-
-void yl600_init() {
- modbus_init();
- s.shutdown = false;
- _next_command();
-}
-
-
-void yl600_deinit() {s.shutdown = true;}
-
-
-void yl600_set(float speed) {
- if (s.speed != speed) {
- s.speed = speed;
- s.changed = true;
- }
-}
-
-
-float yl600_get() {return s.actual_speed;}
-void yl600_stop() {yl600_set(0);}
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ 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; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#include "vfd_spindle.h"
+#include "modbus.h"
+#include "rtc.h"
+#include "config.h"
+#include "pgmspace.h"
+
+#include <string.h>
+#include <math.h>
+#include <stdint.h>
+
+
+typedef enum {
+ REG_DISABLED,
+
+ REG_CONNECT_WRITE,
+
+ REG_MAX_FREQ_READ,
+ REG_MAX_FREQ_FIXED,
+
+ REG_FREQ_SET,
+ REG_FREQ_SIGN_SET,
+
+ REG_STOP_WRITE,
+ REG_FWD_WRITE,
+ REG_REV_WRITE,
+
+ REG_FREQ_READ,
+ REG_FREQ_SIGN_READ,
+
+ REG_DISCONNECT_WRITE,
+} vfd_reg_type_t;
+
+
+typedef struct {
+ vfd_reg_type_t type;
+ uint16_t addr;
+ uint16_t value;
+} vfd_reg_t;
+
+
+#define P(H, L) ((H) << 8 | (L))
+
+
+const vfd_reg_t yl600_regs[] PROGMEM = {
+ {REG_CONNECT_WRITE, P(7, 8), 1}, // P07_08_FREQ_SOURCE_1
+ {REG_CONNECT_WRITE, P(0, 1), 1}, // P00_01_START_STOP_SOURCE
+ {REG_MAX_FREQ_READ, P(0, 4), 0}, // P00_04_HIGEST_OUTPUT_FREQ
+ {REG_FREQ_SET, P(7, 0), 0}, // P07_00_FREQ_1
+// {REG_STOP_WRITE, P(?, ?), ?}, //
+// {REG_FWD_WRITE, P(1, 0), ?}, // P01_00_DIRECTION
+// {REG_REV_WRITE, P(?, ?), ?}, //
+ {REG_FREQ_READ, P(0, 0), 0}, // P00_00_MAIN_FREQ
+ {REG_DISCONNECT_WRITE, P(0, 1), 0}, // P00_01_START_STOP_SOURCE
+ {REG_DISCONNECT_WRITE, P(7, 8), 0}, // P07_08_FREQ_SOURCE_1
+ {REG_DISABLED},
+};
+
+
+// NOTE, Modbus reg = AC Tech reg + 1
+const vfd_reg_t ac_tech_regs[] PROGMEM = {
+ {REG_CONNECT_WRITE, 49, 19}, // Password unlock
+ {REG_CONNECT_WRITE, 2, 512}, // Manual mode
+ {REG_MAX_FREQ_READ, 63, 0}, // Max frequency
+ {REG_FREQ_SET, 41, 0}, // Frequency
+ {REG_STOP_WRITE, 2, 4}, // Stop drive
+ {REG_FWD_WRITE, 2, 128}, // Forward
+ {REG_FWD_WRITE, 2, 8}, // Start drive
+ {REG_REV_WRITE, 2, 64}, // Reverse
+ {REG_REV_WRITE, 2, 8}, // Start drive
+ {REG_FREQ_READ, 26, 0}, // Actual speed
+ {REG_DISCONNECT_WRITE, 2, 2}, // Lock controls and parameters
+ {REG_DISABLED},
+};
+
+
+static vfd_reg_t regs[VFDREG];
+static vfd_reg_t custom_regs[VFDREG];
+
+static struct {
+ vfd_reg_type_t state;
+ int8_t reg;
+ bool changed;
+ bool shutdown;
+
+ float speed;
+ uint16_t max_freq;
+ float actual_speed;
+
+ uint32_t wait;
+ deinit_cb_t deinit_cb;
+} vfd;
+
+
+static void _disconnected() {
+ modbus_deinit();
+ if (vfd.deinit_cb) vfd.deinit_cb();
+ vfd.deinit_cb = 0;
+}
+
+
+static bool _next_state() {
+ switch (vfd.state) {
+ case REG_FREQ_SIGN_SET:
+ if (vfd.speed < 0) vfd.state = REG_REV_WRITE;
+ else if (0 < vfd.speed) vfd.state = REG_FWD_WRITE;
+ else vfd.state = REG_STOP_WRITE;
+ break;
+
+ case REG_STOP_WRITE: case REG_FWD_WRITE: case REG_REV_WRITE:
+ vfd.state = REG_FREQ_READ;
+ break;
+
+ case REG_FREQ_SIGN_READ:
+ if (vfd.shutdown) vfd.state = REG_DISCONNECT_WRITE;
+
+ else if (vfd.changed) {
+ // Update frequency and state
+ vfd.changed = false;
+ vfd.state = REG_MAX_FREQ_READ;
+
+ } else {
+ // Continue querying after delay
+ vfd.state = REG_FREQ_READ;
+ vfd.wait = rtc_get_time() + VFD_QUERY_DELAY;
+ return false;
+ }
+ break;
+
+ case REG_DISCONNECT_WRITE:
+ _disconnected();
+ return false;
+
+ default:
+ vfd.state = (vfd_reg_type_t)(vfd.state + 1);
+ }
+
+ return true;
+}
+
+
+static bool _exec_command();
+
+
+static void _next_reg() {
+ while (true) {
+ vfd.reg++;
+
+ if (vfd.reg == VFDREG) {
+ vfd.reg = -1;
+ if (!_next_state()) break;
+
+ } else if (regs[vfd.reg].type == vfd.state && _exec_command()) break;
+ }
+}
+
+
+static void _connect() {
+ vfd.state = REG_CONNECT_WRITE;
+ vfd.reg = -1;
+ _next_reg();
+}
+
+
+static void _modbus_cb(bool ok, uint16_t addr, uint16_t value) {
+ // Handle error
+ if (!ok) {
+ if (vfd.shutdown) _disconnected();
+ else _connect();
+ return;
+ }
+
+ // Handle read result
+ switch (regs[vfd.reg].type) {
+ case REG_MAX_FREQ_READ: vfd.max_freq = value; break;
+ case REG_FREQ_READ: vfd.actual_speed = value / (float)vfd.max_freq; break;
+
+ case REG_FREQ_SIGN_READ:
+ vfd.actual_speed = (int16_t)value / (float)vfd.max_freq;
+ break;
+
+ default: break;
+ }
+
+ // Next
+ _next_reg();
+}
+
+
+static bool _exec_command() {
+ if (vfd.wait) return true;
+
+ vfd_reg_t reg = regs[vfd.reg];
+ bool read = false;
+ bool write = false;
+
+ switch (reg.type) {
+ case REG_DISABLED: break;
+
+ case REG_MAX_FREQ_FIXED: vfd.max_freq = reg.value; break;
+
+ case REG_FREQ_SET:
+ write = true;
+ reg.value = fabs(vfd.speed) * vfd.max_freq;
+ break;
+
+ case REG_FREQ_SIGN_SET:
+ write = true;
+ reg.value = vfd.speed * vfd.max_freq;
+ break;
+
+ case REG_CONNECT_WRITE:
+ case REG_STOP_WRITE:
+ case REG_FWD_WRITE:
+ case REG_REV_WRITE:
+ case REG_DISCONNECT_WRITE:
+ write = true;
+ break;
+
+ case REG_FREQ_READ:
+ case REG_FREQ_SIGN_READ:
+ case REG_MAX_FREQ_READ:
+ read = true;
+ break;
+ }
+
+ if (read) modbus_read(reg.addr, _modbus_cb);
+ else if (write) modbus_write(reg.addr, reg.value, _modbus_cb);
+ else return false;
+
+ return true;
+}
+
+
+static void _load(const vfd_reg_t *_regs) {
+ memset(®s, 0, sizeof(regs));
+
+ for (int i = 0; i < VFDREG; i++) {
+ regs[i].type = (vfd_reg_type_t)pgm_read_byte(&_regs[i].type);
+ if (!regs[i].type) break;
+ regs[i].addr = pgm_read_word(&_regs[i].addr);
+ regs[i].value = pgm_read_word(&_regs[i].value);
+ }
+}
+
+
+void vfd_spindle_init() {
+ memset(&vfd, 0, sizeof(vfd));
+ modbus_init();
+
+ switch (spindle_get_type()) {
+ case SPINDLE_TYPE_CUSTOM: memcpy(regs, custom_regs, sizeof(regs)); break;
+ case SPINDLE_TYPE_YL600: _load(yl600_regs); break;
+ case SPINDLE_TYPE_AC_TECH: _load(ac_tech_regs); break;
+ default: break;
+ }
+
+ _connect();
+}
+
+
+void vfd_spindle_deinit(deinit_cb_t cb) {
+ vfd.shutdown = true;
+ vfd.deinit_cb = cb;
+}
+
+
+void vfd_spindle_set(float speed) {
+ if (vfd.speed != speed) {
+ vfd.speed = speed;
+ vfd.changed = true;
+ }
+}
+
+
+float vfd_spindle_get() {return vfd.actual_speed;}
+void vfd_spindle_stop() {vfd_spindle_set(0);}
+
+
+void vfd_spindle_rtc_callback() {
+ if (!vfd.wait || !rtc_expired(vfd.wait)) return;
+ vfd.wait = 0;
+ _next_reg();
+}
+
+
+// Variable callbacks
+uint16_t get_vfd_max_freq() {return vfd.max_freq;}
+void set_vfd_max_freq(uint16_t max_freq) {vfd.max_freq = max_freq;}
+uint8_t get_vfd_reg_type(int reg) {return regs[reg].type;}
+
+
+void set_vfd_reg_type(int reg, uint8_t type) {
+ custom_regs[reg].type = (vfd_reg_type_t)type;
+ if (spindle_get_type() == SPINDLE_TYPE_CUSTOM)
+ regs[reg].type = custom_regs[reg].type;
+ vfd.changed = true;
+}
+
+
+uint16_t get_vfd_reg_addr(int reg) {return regs[reg].addr;}
+
+
+void set_vfd_reg_addr(int reg, uint16_t addr) {
+ custom_regs[reg].addr = addr;
+ if (spindle_get_type() == SPINDLE_TYPE_CUSTOM)
+ regs[reg].addr = custom_regs[reg].addr;
+ vfd.changed = true;
+}
+
+
+uint16_t get_vfd_reg_val(int reg) {return regs[reg].value;}
+
+
+void set_vfd_reg_val(int reg, uint16_t value) {
+ custom_regs[reg].value = value;
+ if (spindle_get_type() == SPINDLE_TYPE_CUSTOM)
+ regs[reg].value = custom_regs[reg].value;
+ vfd.changed = true;
+}
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ 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; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#include "spindle.h"
+
+
+void vfd_spindle_init();
+void vfd_spindle_deinit(deinit_cb_t cb);
+void vfd_spindle_set(float speed);
+float vfd_spindle_get();
+void vfd_spindle_stop();
+void vfd_spindle_rtc_callback();
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ 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; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#include "vfd_test.h"
+#include "modbus.h"
+#include "status.h"
+#include "command.h"
+#include "type.h"
+#include "exec.h"
+
+#include <string.h>
+
+
+static struct {
+ bool enabled;
+ bool waiting;
+ uint16_t read_response;
+ deinit_cb_t deinit_cb;
+} vt;
+
+
+static void _shutdown() {
+ if (vt.waiting || vt.enabled) return;
+ modbus_deinit();
+ if (vt.deinit_cb) vt.deinit_cb();
+}
+
+
+void vfd_test_init() {
+ modbus_init();
+ vt.enabled = true;
+ vt.waiting = false;
+}
+
+
+void vfd_test_deinit(deinit_cb_t cb) {
+ vt.enabled = false;
+ vt.deinit_cb = cb;
+ _shutdown();
+}
+
+
+void vfd_test_set(float speed) {}
+float vfd_test_get() {return 0;}
+void vfd_test_stop() {}
+
+
+// Variable callbacks
+uint16_t get_modbus_response() {return vt.read_response;}
+
+
+// Command callbacks
+static stat_t _modbus_cmd_exec() {
+ if (vt.waiting) return STAT_NOP;
+ exec_set_cb(0);
+ return STAT_AGAIN;
+}
+
+
+static void _modbus_rw_cb(bool ok, uint16_t addr, uint16_t value) {
+ vt.read_response = value; // Always zero on error
+ vt.waiting = false;
+ _shutdown();
+}
+
+
+stat_t command_modbus_read(char *cmd) {
+ stat_t status = STAT_OK;
+ uint16_t addr = type_parse_u16(cmd + 1, &status);
+ if (status == STAT_OK) command_push(*cmd, &addr);
+
+ return status;
+}
+
+
+unsigned command_modbus_read_size() {return sizeof(uint16_t);}
+
+
+void command_modbus_read_exec(void *data) {
+ if (!vt.enabled) return;
+
+ uint16_t addr = *(uint16_t *)data;
+
+ vt.waiting = true;
+ modbus_read(addr, _modbus_rw_cb);
+ exec_set_cb(_modbus_cmd_exec);
+}
+
+
+
+stat_t command_modbus_write(char *cmd) {
+ // Get value
+ char *value = strchr(cmd + 1, '=');
+ if (!value) return STAT_INVALID_COMMAND;
+ *value++ = 0;
+
+ stat_t status = STAT_OK;
+ uint16_t buffer[2];
+ buffer[0] = type_parse_u16(cmd + 1, &status);
+ if (status == STAT_OK) buffer[1] = type_parse_u16(value, &status);
+
+ if (status == STAT_OK) command_push(*cmd, buffer);
+
+ return status;
+}
+
+
+unsigned command_modbus_write_size() {return 2 * sizeof(uint16_t);}
+
+
+void command_modbus_write_exec(void *data) {
+ if (!vt.enabled) return;
+
+ uint16_t addr = ((uint16_t *)data)[0];
+ uint16_t value = ((uint16_t *)data)[1];
+
+ vt.waiting = true;
+ modbus_write(addr, value, _modbus_rw_cb);
+ exec_set_cb(_modbus_cmd_exec);
+}
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ 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; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#include "spindle.h"
+
+
+void vfd_test_init();
+void vfd_test_deinit(deinit_cb_t cb);
+void vfd_test_set(float speed);
+float vfd_test_get();
+void vfd_test_stop();
th(colspan='3') Flow-control Codes
tr
td
- a(target="_blank", href="#{base}/o-code.html#ocode:subroutines") o sub
+ a(target="_blank", href="#{base}/o-code.html#ocode:subroutines")
+ | o sub/endsub/call
td
td Subroutines, sub/endsub call
tr
a(target="_blank", href="#{base}/o-code.html#ocode:calling-files")
| o call
td
- td Call named file
+ td Call named or numbered file
- tr.spacer-row.unimplemented(v-if="showUnimplemented"): th
- tr.header-row.unimplemented(v-if="showUnimplemented")
+ tr.spacer-row: th
+ tr.header-row
th(colspan='3') Modal State
- tr.unimplemented(v-if="showUnimplemented")
+ tr
td
a(target="_blank", href="#{base}/m-code.html#mcode:m70") M70
td
td Save modal state
- tr.unimplemented(v-if="showUnimplemented")
+ tr
td
a(target="_blank", href="#{base}/m-code.html#mcode:m71") M71
td
td Invalidate stored state
- tr.unimplemented(v-if="showUnimplemented")
+ tr
td
a(target="_blank", href="#{base}/m-code.html#mcode:m72") M72
td
td Restore modal state
- tr.unimplemented(v-if="showUnimplemented")
+ tr
td
a(target="_blank", href="#{base}/m-code.html#mcode:m73") M73
td
form.pure-form.pure-form-aligned
fieldset
templated-input(v-for="templ in template.gcode", :name="$key",
- :model.sync="gcode[$key]", :template="templ")
+ :model.sync="config.gcode[$key]", :template="templ")
th.header(colspan=5) RS485 Spindle
tr
- th(colspan=5) {{state['he'] ? "" : "Not "}}Connected
+ th(colspan=5) {{modbus_status}}
tr
td {{state['hz']}} Hz
form.pure-form.pure-form-aligned
fieldset
templated-input(v-for="templ in template.switches", :name="$key",
- :model.sync="switches[$key]", :template="templ")
+ :model.sync="config.switches[$key]", :template="templ")
h2 Outputs
form.pure-form.pure-form-aligned
fieldset
templated-input(v-for="templ in template.outputs", :name="$key",
- :model.sync="outputs[$key]", :template="templ")
+ :model.sync="config.outputs[$key]", :template="templ")
--- /dev/null
+//-/////////////////////////////////////////////////////////////////////////////
+//- //
+//- This file is part of the Buildbotics firmware. //
+//- //
+//- Copyright (c) 2015 - 2018, Buildbotics LLC //
+//- All rights reserved. //
+//- //
+//- 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; without even the implied warranty of //
+//- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU //
+//- Lesser General Public License for more details. //
+//- //
+//- You should have received a copy of the GNU Lesser General Public //
+//- License along with the software. If not, see //
+//- <http://www.gnu.org/licenses/>. //
+//- //
+//- For information regarding this software email: //
+//- "Joseph Coffland" <joseph@buildbotics.com> //
+//- //
+//-/////////////////////////////////////////////////////////////////////////////
+
+script#modbus-reg-view-template(type="text/x-template")
+ tr.modbus-reg
+ td.reg-index {{index}}
+ td.reg-type
+ select(v-model="model['reg-type']", @change="change")
+ option(v-for="opt in template['reg-type']['values']", :value="opt")
+ | {{opt}}
+
+ td.reg-addr
+ input(v-model="model['reg-addr']", @change="change", type="text",
+ :min="template['reg-addr'].min", :max="template['reg-addr'].max",
+ pattern="[0-9]*", :disabled="model['reg-type'] == 'disabled'",
+ number)
+
+ td.reg-value
+ input(v-model="model['reg-value']", @change="change", type="text",
+ :min="template['reg-value'].min", :max="template['reg-value'].max",
+ pattern="[0-9]*", :disabled="!has_user_value", number)
//-/////////////////////////////////////////////////////////////////////////////
script#motor-view-template(type="text/x-template")
- #motor
+ .motor(:class="{slave: is_slave}")
h1 Motor {{index}} Configuration
form.pure-form.pure-form-aligned
- fieldset(v-for="category in template.motors", :class="$key")
+ fieldset(v-for="category in template.motors.template", :class="$key")
h2 {{$key}}
templated-input(v-for="templ in category", :name="$key",
:model.sync="motor[$key]", :template="templ")
label.extra(v-if="$key == 'max-velocity'", slot="extra",
- title="Revolutions Per Minute")
- | ({{1000 * motor[$key] / motor['travel-per-rev'] | fixed 0}} RPM)
+ title="Revolutions Per Minute") ({{rpm | fixed 0}} RPM)
label.extra(v-if="$key == 'max-accel'", slot="extra",
- title="G-force")
- | ({{motor[$key] * 0.0283254504 | fixed 3}} g)
+ title="G-force") ({{gForce | fixed 3}} g)
label.extra(v-if="$key == 'max-jerk'", slot="extra",
- title="G-force per minute")
- | ({{motor[$key] * 0.0283254504 | fixed 2}} g/min)
+ title="G-force per minute") ({{gForcePerMin | fixed 2}} g/min)
label.extra(v-if="$key == 'step-angle'", slot="extra",
- title="Steps per revolution")
- | ({{360 / motor[$key] | fixed 0}} steps/rev)
+ title="Steps per revolution") ({{stepsPerRev | fixed 0}} steps/rev)
label.extra(v-if="$key == 'travel-per-rev'", slot="extra",
- title="Micrometers per step")
- | ({{motor[$key] * motor['step-angle'] / 0.36 | fixed 1}}
- | µm/step)
+ title="Micrometers per step") ({{umPerStep | fixed 1}} µm/step)
label(:for="name") {{name}}
select(v-if="template.type == 'enum' || template.values", v-model="model",
- :id="name", @change="change")
+ :name="name", @change="change")
option(v-for="opt in template.values", :value="opt") {{opt}}
input(v-if="template.type == 'bool'", type="checkbox",
- v-model="model", :id="name", @change="change")
+ v-model="model", :name="name", @change="change")
input(v-if="template.type == 'float'", v-model="model", number,
:min="template.min", :max="template.max", :step="template.step || 'any'",
- type="number", :id="name", @change="change")
+ type="number", :name="name", @change="change")
input(v-if="template.type == 'int' && !template.values", v-model="model",
number, :min="template.min", :max="template.max", type="number",
- :id="name", @change="change")
+ :name="name", @change="change")
input(v-if="template.type == 'string'", v-model="model",
- type="text", :id="name", @change="change")
+ type="text", :name="name", @change="change")
textarea(v-if="template.type == 'text'", v-model="model",
- :id="name", @change="change")
+ :name="name", @change="change")
span.range(v-if="template.type == 'percent'")
- input(type="range", v-model="model", :id="name", number, min="0",
+ input(type="range", v-model="model", :name="name", number, min="0",
max="100", step="1", @change="change")
| {{model}}
form.pure-form.pure-form-aligned
fieldset
templated-input(v-for="templ in template.tool", :name="$key",
- :model.sync="tool[$key]", :template="templ")
+ :model.sync="config.tool[$key]", :template="templ",
+ v-if="tool_type != 'DISABLED' || $key == 'tool-type'")
- div(v-if="get_type() == 'PWM'")
+ div(v-if="tool_type == 'PWM SPINDLE'")
h2 PWM Spindle
form.pure-form.pure-form-aligned
fieldset
templated-input(v-for="templ in template['pwm-spindle']",
- :name="$key", :model.sync="pwmSpindle[$key]", :template="templ")
+ :name="$key", :model.sync="config['pwm-spindle'][$key]",
+ :template="templ")
- div(v-if="get_type() != 'DISABLED' && get_type() != 'PWM'")
+ div(v-if="is_modbus")
h2 Modbus Configuration
form.pure-form.pure-form-aligned
fieldset
templated-input(v-for="templ in template['modbus-spindle']",
- :name="$key", :model.sync="modbusSpindle[$key]",
- :template="templ")
+ :name="$key", :model.sync="config['modbus-spindle'][$key]",
+ :template="templ", v-if="$key != 'regs'")
+
+ div(v-if="tool_type == 'VFD TEST'")
+ h2 Modbus Test
+ form.pure-form
+ table.modbus-regs
+ tr
+ th Address
+ th Value
+ th Action
+ th Status
+ tr
+ td: input(name="address", type="text", v-model="address", number)
+ td: input(name="value", type="text", v-model="value", number)
+ td
+ button.pure-button(@click="read") Read
+ button.pure-button(@click="write") Write
+ td.modbus-status {{modbus_status}}
+
+ div.modbus-program(v-if="is_modbus && this.tool_type != 'HUANYANG VFD'")
+ h2 Active Modbus Program
+ form.pure-form
+ table.modbus-regs.fixed-regs
+ tr
+ th Index
+ th Command
+ th Address
+ th Value
+
+ tr(v-for="(index, reg) in regs_tmpl.index", v-if="state[reg + 'vt']")
+ td.reg-index {{index}}
+ td.reg-type {{get_reg_type(reg)}}
+ td.reg-addr {{get_reg_addr(reg)}}
+ td.reg-value {{get_reg_value(reg)}}
+
+ button.pure-button-secondary(@click="customize") Customize
+ button.pure-button-secondary(@click="clear") Clear
+
+ div(v-if="tool_type == 'CUSTOM MODBUS VFD'")
+ h2 Edit Modbus Program
+ form.pure-form
+ table.modbus-regs
+ tr
+ th Index
+ th Command
+ th Address
+ th Value
+
+ tr(v-for="(index, reg) in config['modbus-spindle'].regs",
+ is="modbus-reg", :index="index", :model.sync="reg",
+ :template="template['modbus-spindle'].regs.template",
+ v-if="!index || reg['reg-type'] != 'disabled' || " +
+ "config['modbus-spindle'].regs[index - 1]['reg-type'] != " +
+ "'disabled'")
currentView: 'loading',
index: -1,
modified: false,
- template: {motors: {}, axes: {}},
- config: {motors: [{}, {}, {}, {}], admin: {}, version: '<loading>'},
+ template: {motors: {template: {}}},
+ config: {motors: [{}, {}, {}, {}], version: '<loading>'},
state: {},
messages: [],
errorTimeout: 30,
get_axis_motor_param: function (axis, name) {
var motor = this.get_axis_motor(axis);
- if (typeof motor == 'undefined') return;
- if (typeof motor[name] != 'undefined') return motor[name];
-
- for (var section in this.template.motors) {
- var sec = this.template.motors[section];
- if (typeof sec[name] != 'undefined') return sec[name]['default'];
- }
+ if (typeof motor != 'undefined') return motor[name];
},
+++ /dev/null
-/******************************************************************************\
-
- This file is part of the Buildbotics firmware.
-
- Copyright (c) 2015 - 2018, Buildbotics LLC
- All rights reserved.
-
- 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; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with the software. If not, see
- <http://www.gnu.org/licenses/>.
-
- For information regarding this software email:
- "Joseph Coffland" <joseph@buildbotics.com>
-
-\******************************************************************************/
-
-'use strict';
-
-
-module.exports = Vue.extend({
- template: '<div class="gauge"><canvas></canvas><span></span></div>',
-
-
- props: {
- value: {tupe: Number, required: true},
- lines: {type: Number, default: 1},
- angle: {type: Number, default: 0.1},
- lineWidth: {type: Number, default: 0.25},
- ptrLength: {type: Number, default: 0.85},
- ptrStrokeWidth: {type: Number, default: 0.054},
- ptrColor: {type: String, default: '#666'},
- limitMax: {type: Boolean, default: true},
- colorStart: {type: String, default: '#6FADCF'},
- colorStop: {type: String, default: '#8FC0DA'},
- strokeColor: String,
- min: {type: Number, default: 0},
- max: {type: Number, default: 100}
- },
-
-
- data: function () {
- return {
- }
- },
-
-
- watch: {
- value: function (value) {this.set(value)}
- },
-
-
- compiled: function () {
- this.gauge = new Gauge(this.$el.children[0]).setOptions({
- lines: this.lines,
- angle: this.angle,
- lineWidth: this.lineWidth,
- pointer: {
- length: this.ptrLength,
- strokeWidth: this.ptrStrokeWidth,
- color: this.ptrColor
- },
- limitMax: this.limitMax,
- colorStart: this.colorStart,
- colorStop: this.colorStop,
- strokeColor: this.strokeColor,
- minValue: this.min,
- maxValue: this.max
- });
-
- this.gauge.minValue = parseInt(this.min);
- this.gauge.maxValue = parseInt(this.max);
- this.set(this.value);
-
- this.gauge.setTextField(this.$el.children[1]);
- },
-
-
- methods: {
- set: function (value) {
- if (typeof value == 'number') this.gauge.set(value);
- }
- }
-})
props: ['config', 'template'],
- data: function () {
- return {
- gcode: {}
- }
- },
-
-
events: {
'input-changed': function() {
this.$dispatch('config-changed');
return false;
}
- },
-
-
- ready: function () {this.update()},
-
-
- methods: {
- update: function () {
- Vue.nextTick(function () {
- if (this.config.hasOwnProperty('gcode'))
- this.gcode = this.config.gcode;
-
- var template = this.template.gcode;
- for (var key in template)
- if (!this.gcode.hasOwnProperty(key))
- this.$set('gcode["' + key + '"]', template[key].default);
- }.bind(this));
- }
}
}
'use strict'
+var modbus = require('./modbus.js');
+
module.exports = {
template: '#indicators-template',
props: ['state'],
+ computed: {
+ modbus_status: function () {return modbus.status_to_string(this.state.mx)}
+ },
+
+
methods: {
is_motor_enabled: function (motor) {
return typeof this.state[motor + 'pm'] != 'undefined' &&
props: ['config', 'template'],
- data: function () {
- return {
- switches: {},
- outputs: {}
- }
- },
-
-
events: {
'input-changed': function() {
this.$dispatch('config-changed');
return false;
}
- },
-
-
- ready: function () {this.update()},
-
-
- methods: {
- update: function () {
- Vue.nextTick(function () {
- // Switches
- if (this.config.hasOwnProperty('switches'))
- this.switches = this.config.switches;
- else this.switches = {};
-
- var template = this.template.switches;
- for (var key in template)
- if (!this.switches.hasOwnProperty(key))
- this.$set('switches["' + key + '"]', template[key].default);
-
- // Outputs
- if (this.config.hasOwnProperty('outputs'))
- this.outputs = this.config.outputs;
- else this.outputs = {};
-
- template = this.template.outputs;
- for (key in template)
- if (!this.outputs.hasOwnProperty(key))
- this.$set('outputs["' + key + '"]', template[key].default);
- }.bind(this));
- }
}
}
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ This file ("the software") is free software: you can redistribute it
+ and/or modify it under the terms of the GNU General Public License,
+ version 2 as published by the Free Software Foundation. You should
+ have received a copy of the GNU General Public License, version 2
+ along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+ The software is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+'use strict'
+
+
+module.exports = {
+ replace: true,
+ template: '#modbus-reg-view-template',
+ props: ['index', 'model', 'template', 'enable'],
+
+
+ computed: {
+ has_user_value: function () {
+ var type = this.model['reg-type'];
+ return type.indexOf('write') != -1 || type.indexOf('fixed') != -1;
+ }
+ },
+
+
+ methods: {
+ change: function () {this.$dispatch('input-changed')}
+ }
+}
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ 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; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+'use strict'
+
+
+// Must match modbus.c
+var exports = {
+ DISCONNECTED: 0,
+ OK: 1,
+ CRC: 2,
+ INVALID: 3,
+ TIMEDOUT: 4
+};
+
+
+exports.status_to_string =
+ function (status) {
+ if (status == exports.OK) return 'Ok';
+ if (status == exports.CRC) return 'CRC error';
+ if (status == exports.INVALID) return 'Invalid response';
+ if (status == exports.TIMEDOUT) return 'Timedout';
+ return 'Disconnected';
+ }
+
+
+module.exports = exports;
props: ['index', 'config', 'template'],
- data: function () {
- return {
- active: false,
- motor: {}
- }
- },
-
-
- watch: {
- index: function() {this.update()}
- },
-
+ computed: {
+ is_slave: function () {
+ for (var i = 0; i < this.index; i++)
+ if (this.motor.axis == this.config.motors[i].axis)
+ return true;
- events: {
- 'input-changed': function() {
- this.slave_update();
- this.$dispatch('config-changed');
return false;
- }
- },
-
+ },
- attached: function () {this.active = true; this.update()},
- detached: function () {this.active = false},
+ motor: function () {return this.config.motors[this.index]},
- methods: {
- slave_update: function () {
- var slave = false;
- for (var i = 0; i < this.index; i++)
- if (this.motor.axis == this.config.motors[i].axis)
- slave = true;
- var el = $(this.$el);
-
- if (slave) {
- el.find('.axis .units').text('(slave motor)');
- el.find('.limits, .homing, .motion').find('input, select')
- .attr('disabled', 1);
- el.find('.power-mode select').attr('disabled', 1);
- el.find('.motion .reverse input').removeAttr('disabled');
-
- } else {
- el.find('.axis .units').text('');
- el.find('input,select').removeAttr('disabled');
- }
+ rpm: function () {
+ return 1000 * this.motor['max-velocity'] / this.motor['travel-per-rev'];
},
- update: function () {
- if (!this.active) return;
+ gForce: function () {return this.motor['max-accel'] * 0.0283254504},
+ gForcePerMin: function () {return this.motor['max-jerk'] * 0.0283254504},
+ stepsPerRev: function () {return 360 / this.motor['step-angle']},
- Vue.nextTick(function () {
- if (this.config.hasOwnProperty('motors'))
- this.motor = this.config.motors[this.index];
- else this.motor = {};
- var template = this.template.motors;
- for (var category in template)
- for (var key in template[category])
- if (!this.motor.hasOwnProperty(key))
- this.$set('motor["' + key + '"]',
- template[category][key].default);
+ umPerStep: function () {
+ return this.motor['travel-per-rev'] * this.motor['step-angle'] / 0.36
+ }
+ },
+
- this.slave_update();
- }.bind(this));
+ events: {
+ 'input-changed': function() {
+ this.$dispatch('config-changed');
+ return false;
}
}
}
'use strict';
+var api = require('./api');
+var modbus = require('./modbus.js');
+
module.exports = {
template: '#tool-view-template',
- props: ['config', 'template'],
+ props: ['config', 'template', 'state'],
data: function () {
return {
- tool: {},
- pwmSpindle: {},
- modbusSpindle: {}
+ address: 0,
+ value: 0
}
},
+ components: {'modbus-reg': require('./modbus-reg.js')},
+
+
+ watch: {
+ 'state.mr': function () {this.value = this.state.mr}
+ },
+
+
events: {
'input-changed': function() {
this.$dispatch('config-changed');
},
- ready: function () {this.update()},
+ ready: function () {this.value = this.state.mr},
+
+
+ computed: {
+ regs_tmpl: function () {return this.template['modbus-spindle'].regs},
+ tool_type: function () {return this.config.tool['tool-type'].toUpperCase()},
+
+
+ is_modbus: function () {
+ return this.tool_type != 'DISABLED' && this.tool_type != 'PWM SPINDLE'
+ },
+
+
+ modbus_status: function () {return modbus.status_to_string(this.state.mx)}
+ },
methods: {
- get_type: function () {
- return (this.tool['spindle-type'] || 'Disabled').toUpperCase();
+ get_reg_type: function (reg) {
+ return this.regs_tmpl.template['reg-type'].values[this.state[reg + 'vt']]
+ },
+
+
+ get_reg_addr: function (reg) {return this.state[reg + 'va']},
+ get_reg_value: function (reg) {return this.state[reg + 'vv']},
+
+
+ read: function (e) {
+ e.preventDefault();
+ api.put('modbus/read', {address: this.address});
},
- update_tool: function (type) {
- if (this.config.hasOwnProperty(type + '-spindle'))
- this[type + 'Spindle'] = this.config[type + '-spindle'];
+ write: function (e) {
+ e.preventDefault();
+ api.put('modbus/write', {address: this.address, value: this.value});
+ },
+
+
+ customize: function (e) {
+ e.preventDefault();
+ this.config.tool['tool-type'] = 'Custom Modbus VFD';
- var template = this.template[type + '-spindle'];
- for (var key in template)
- if (!this[type + 'Spindle'].hasOwnProperty(key))
- this.$set(type + 'Spindle["' + key + '"]', template[key].default);
+ var regs = this.config['modbus-spindle'].regs;
+ for (var i = 0; i < regs.length; i++) {
+ var reg = this.regs_tmpl.index[i];
+ regs[i]['reg-type'] = this.get_reg_type(reg);
+ regs[i]['reg-addr'] = this.get_reg_addr(reg);
+ regs[i]['reg-value'] = this.get_reg_value(reg);
+ }
+
+ this.$dispatch('config-changed');
},
- update: function () {
- Vue.nextTick(function () {
- if (this.config.hasOwnProperty('tool'))
- this.tool = this.config.tool;
+ clear: function (e) {
+ e.preventDefault();
+ this.config.tool['tool-type'] = 'Custom Modbus VFD';
- var template = this.template.tool;
- for (var key in template)
- if (!this.tool.hasOwnProperty(key))
- this.$set('tool["' + key + '"]', template[key].default);
+ var regs = this.config['modbus-spindle'].regs;
+ for (var i = 0; i < regs.length; i++) {
+ regs[i]['reg-type'] = 'disabled';
+ regs[i]['reg-addr'] = 0;
+ regs[i]['reg-value'] = 0;
+ }
- this.update_tool('pwm');
- this.update_tool('modbus');
- }.bind(this));
+ this.$dispatch('config-changed');
}
}
}
log = logging.getLogger('Cmd')
# Keep this in sync with AVR code command.def
-SET = '$'
-SET_SYNC = '#'
-SEEK = 's'
-SET_AXIS = 'a'
-LINE = 'l'
-INPUT = 'I'
-DWELL = 'd'
-PAUSE = 'P'
-STOP = 'S'
-UNPAUSE = 'U'
-JOG = 'j'
-REPORT = 'r'
-REBOOT = 'R'
-RESUME = 'c'
-ESTOP = 'E'
-CLEAR = 'C'
-FLUSH = 'F'
-DUMP = 'D'
-HELP = 'h'
+SET = '$'
+SET_SYNC = '#'
+MODBUS_READ = 'm'
+MODBUS_WRITE = 'M'
+SEEK = 's'
+SET_AXIS = 'a'
+LINE = 'l'
+INPUT = 'I'
+DWELL = 'd'
+PAUSE = 'P'
+STOP = 'S'
+UNPAUSE = 'U'
+JOG = 'j'
+REPORT = 'r'
+REBOOT = 'R'
+RESUME = 'c'
+ESTOP = 'E'
+CLEAR = 'C'
+FLUSH = 'F'
+DUMP = 'D'
+HELP = 'h'
SEEK_ACTIVE = 1 << 0
SEEK_ERROR = 1 << 1
return data
-def set(name, value): return '#%s=%s' % (name, value)
+def set_sync(name, value):
+ if isinstance(value, float): return set_float(name, value)
+ else: return SET_SYNC + '%s=%s' % (name, value)
+
+
+def set(name, value):
+ if isinstance(value, float): return set_float(name, value)
+ else: return SET + '%s=%s' % (name, value)
+
+
+def set_float(name, value):
+ return SET_SYNC + '%s=:%s' % (name, encode_float(value))
+
+
+def modbus_read(addr): return MODBUS_READ + '%d' % addr
+def modbus_write(addr, value): return MODBUS_WRITE + '%d=%d' % (addr, value)
def set_axis(axis, position): return SET_AXIS + axis + encode_float(position)
return len(self.queue) or self.command is not None
- def i2c_command(self, cmd, byte = None, word = None):
- log.info('I2C: ' + cmd)
+ def i2c_command(self, cmd, byte = None, word = None, block = None):
+ log.info('I2C: %s b=%s w=%s d=%s' % (cmd, byte, word, block))
retry = 5
cmd = ord(cmd[0])
while True:
try:
- self.ctrl.i2c.write(self.i2c_addr, cmd, byte, word)
+ self.ctrl.i2c.write(self.i2c_addr, cmd, byte, word, block)
break
except Exception as e:
self.q.clear()
- def _flush_cb(self, cb, *args, **kwargs):
- self.clear()
- cb(*args, **kwargs)
-
-
- def flush(self, cb, *args, **kwargs):
- id = self.lastEnqueueID + 1
- self.enqueue(id, False, self._flush_cb, cb, args, kwargs)
- return id
-
-
- def enqueue(self, id, synchronized, cb, *args, **kwargs):
- log.info('add(#%d, %s) releaseID=%d', id, synchronized, self.releaseID)
+ def enqueue(self, id, cb, *args, **kwargs):
+ log.info('add(#%d) releaseID=%d', id, self.releaseID)
self.lastEnqueueID = id
- self.q.append([id, synchronized, False, cb, args, kwargs])
+ self.q.append([id, cb, args, kwargs])
self._release()
def _release(self):
while len(self.q):
- id, synchronized, immediate, cb, args, kwargs = self.q[0]
+ id, cb, args, kwargs = self.q[0]
- # Execute commands <= releaseID and consecutive immediate commands
- if not immediate and self.releaseID < id: return
+ # Execute commands <= releaseID
+ if self.releaseID < id: return
log.info('releasing id=%d' % id)
self.q.popleft()
self.releaseID = id
self._release()
-
-
- def finalize(self):
- # Mark trailing non-synchronized commands immediate
- i = len(self.q)
-
- while i:
- i -= 1
- id, synchronized, immediate, cb, args, kwargs = self.q[i]
- if synchronized: break
- self.q[i][2] = True
-
- self._release()
import pkg_resources
import subprocess
import copy
-
-import bbctrl
+from pkg_resources import Requirement, resource_filename
log = logging.getLogger('Config')
-default_config = {
- "motors": [
- {"axis": "X"},
- {"axis": "Y"},
- {"axis": "Z"},
- {"axis": "A", "power-mode" : "disabled"},
- ]
- }
+
+def get_resource(path):
+ return resource_filename(Requirement.parse('bbctrl'), 'bbctrl/' + path)
class Config(object):
def __init__(self, ctrl):
self.ctrl = ctrl
- self.config_vars = {}
+ self.values = {}
try:
self.version = pkg_resources.require('bbctrl')[0].version
- default_config['version'] = self.version
# Load config template
- with open(bbctrl.get_resource('http/config-template.json'), 'r',
+ with open(get_resource('http/config-template.json'), 'r',
encoding = 'utf-8') as f:
self.template = json.load(f)
- # Add all sections from template to default config
- for section in self.template:
- if not section in default_config:
- default_config[section] = {}
-
except Exception as e: log.exception(e)
def get(self, name, default = None):
- return self.config_vars.get(name, default)
+ return self.values.get(name, default)
def get_index(self, name, index, default = None):
- return self.config_vars.get(name, {}).get(str(index), None)
+ return self.values.get(name, {}).get(str(index), None)
def load_path(self, path):
return json.load(f)
- def load(self):
+ def load(self, path = 'config.json'):
try:
- if os.path.exists('config.json'):
- config = self.load_path('config.json')
- else: config = copy.deepcopy(default_config)
+ if os.path.exists(path): config = self.load_path(path)
+ else: config = {'version': self.version}
try:
self.upgrade(config)
except Exception as e: log.exception(e)
- # Add missing sections
- for key, value in default_config.items():
- if not key in config: config[key] = value
-
- return config
-
except Exception as e:
log.warning('%s', e)
- return default_config
+ config = {'version': self.version}
+
+ self._defaults(config)
+ return config
+
+
+ def _valid_value(self, template, value):
+ type = template['type']
+
+ try:
+ if type == 'int': value = int(value)
+ if type == 'float': value = float(value)
+ if type == 'text': value = str(value)
+ if type == 'bool': value = bool(value)
+ except:
+ return False
+
+ if (('min' in template and value < template['min']) or
+ ('max' in template and template['max'] < value) or
+ ('values' in template and value not in template['values'])):
+ return False
+
+ return True
+
+
+ def __defaults(self, config, name, template):
+ if 'type' in template:
+ if (not name in config or
+ not self._valid_value(template, config[name])):
+ config[name] = template['default']
+
+ if template['type'] == 'list':
+ config = config[name]
+
+ for i in range(len(template['index'])):
+ if len(config) <= i: config.append({})
+
+ for name, tmpl in template['template'].items():
+ self.__defaults(config[i], name, tmpl)
+
+ else:
+ for name, tmpl in template.items():
+ self.__defaults(config, name, tmpl)
+
+
+ def _defaults(self, config):
+ for name, tmpl in self.template.items():
+ if not 'type' in tmpl:
+ if not name in config: config[name] = {}
+ conf = config[name]
+ else: conf = config
+
+ self.__defaults(conf, name, tmpl)
def upgrade(self, config):
for key in 'max-accel latch-velocity search-velocity'.split():
if key in motor: motor[key] /= 1000
+ if version <= (0, 3, 22):
+ if 'tool' in config:
+ if 'spindle-type' in config['tool']:
+ type = config['tool']['spindle-type']
+ if type == 'PWM': type = 'PWM Spindle'
+ if type == 'Huanyang': type = 'Huanyang VFD'
+ config['tool']['tool-type'] = type
+ del config['tool']['spindle-type']
+
+ if 'spin-reversed' in config['tool']:
+ reversed = config['tool']['spin-reversed']
+ config['tool']['tool-reversed'] = reversed
+ del config['tool']['spin-reversed']
+
config['version'] = self.version
def save(self, config):
self.upgrade(config)
- self.update(config)
+ self._update(config, False)
with open('config.json', 'w') as f:
json.dump(config, f)
def reset(self): os.unlink('config.json')
- def _encode_cmd(self, name, index, value, spec):
- if str(index):
- if not name in self.config_vars: self.config_vars[name] = {}
- self.config_vars[name][str(index)] = value
+ def _encode(self, name, index, config, tmpl, with_defaults):
+ # Handle category
+ if not 'type' in tmpl:
+ for name, entry in tmpl.items():
+ if 'type' in entry and config is not None:
+ conf = config.get(name, None)
+ else: conf = config
+ self._encode(name, index, conf, entry, with_defaults)
+ return
+
+ # Handle defaults
+ if config is not None: value = config
+ elif with_defaults: value = tmpl['default']
+ else: return
- else: self.config_vars[name] = value
+ # Handle list
+ if tmpl['type'] == 'list':
+ for i in range(len(tmpl['index'])):
+ if config is not None and i < len(config): conf = config[i]
+ else: conf = None
+ self._encode(name, index + tmpl['index'][i], conf,
+ tmpl['template'], with_defaults)
+ return
- if not 'code' in spec: return
+ # Update config values
+ if index:
+ if not name in self.values: self.values[name] = {}
+ self.values[name][index] = value
- if spec['type'] == 'enum':
- if value in spec['values']:
- value = spec['values'].index(value)
- else: value = spec['default']
+ else: self.values[name] = value
- elif spec['type'] == 'bool': value = 1 if value else 0
- elif spec['type'] == 'percent': value /= 100.0
+ # Update state variable
+ if not 'code' in tmpl: return
- self.ctrl.state.config(str(index) + spec['code'], value)
+ if tmpl['type'] == 'enum':
+ if value in tmpl['values']:
+ value = tmpl['values'].index(value)
+ else: value = tmpl['default']
+ elif tmpl['type'] == 'bool': value = 1 if value else 0
+ elif tmpl['type'] == 'percent': value /= 100.0
- def _encode_category(self, index, config, category, with_defaults):
- for key, spec in category.items():
- if key in config: value = config[key]
- elif with_defaults: value = spec['default']
- else: continue
+ self.ctrl.state.config(index + tmpl['code'], value)
- self._encode_cmd(key, index, value, spec)
+ def _update(self, config, with_defaults):
+ for name, tmpl in self.template.items():
+ conf = config.get(name, None)
+ self._encode(name, '', conf, tmpl, with_defaults)
- def _encode(self, index, config, tmpl, with_defaults):
- for category in tmpl.values():
- self._encode_category(index, config, category, with_defaults)
+ def reload(self): self._update(self.load(), True)
- def update(self, config, with_defaults = False):
- for name, tmpl in self.template.items():
- if name == 'motors':
- for index in range(len(config['motors'])):
- self._encode(index, config['motors'][index], tmpl,
- with_defaults)
- else: self._encode_category('', config.get(name, {}), tmpl,
- with_defaults)
+if __name__ == "__main__":
+ import sys
+ import argparse
+
+ class State(object):
+ def config(self, name, value): print('config(%s, %s)' % (name, value))
+
+
+ class Ctrl(object):
+ def __init__(self):
+ self.state = State()
+
+ parser = argparse.ArgumentParser(description = 'Buildbotics Config Test')
+
+ parser.add_argument('configs', metavar = 'CONFIG', nargs = '*',
+ help = 'Configuration file')
+ parser.add_argument('-u', '--update', action = 'store_true',
+ help = 'Update config')
+ args = parser.parse_args()
+
+ config = Config(Ctrl())
+
+ def do_cfg(path):
+ cfg = config.load(path)
+ if args.update: config._update(cfg, True)
+ else: print(json.dumps(cfg, sort_keys = True, indent = 2))
+
+ if len(args.configs):
+ for path in args.configs: do_cfg(path)
- def reload(self): self.update(self.load(), True)
+ else: do_cfg('')
raise e
- def write(self, addr, cmd, byte = None, word = None):
+ def write(self, addr, cmd, byte = None, word = None, block = None):
self.connect()
try:
elif word is not None:
self.i2c_bus.write_word_data(addr, cmd, word)
+ elif block is not None:
+ if isinstance(block, str): block = list(map(ord, block))
+ self.i2c_bus.write_i2c_block_data(addr, cmd, block)
+
else: self.i2c_bus.write_byte(addr, cmd)
except IOError as e:
if (('xx' in update or 'pr' in update) and
self.ctrl.state.get('xx', '') == 'HOLDING'):
+ pause_reason = self.ctrl.state.get('pr', '')
+
# Continue after seek hold
- if (self.ctrl.state.get('pr', '') == 'Switch found' and
+ if (pause_reason == 'Switch found' and
self.planner.is_synchronizing()):
self._unpause()
# Continue after stop hold
- if self.ctrl.state.get('pr', '') == 'User stop':
+ if pause_reason == 'User stop':
self.planner.stop()
self.planner.update_position()
self.ctrl.state.set('line', 0)
def _unpause(self):
pause_reason = self.ctrl.state.get('pr', '')
+ log.info('Unpause: ' + pause_reason)
+
if pause_reason in ['User pause', 'Switch found']:
self.planner.restart()
self.ctrl.state.reset()
+ def _i2c_block(self, block):
+ super().i2c_command(block[0], block = block[1:])
+
+
+ def _i2c_set(self, name, value): self._i2c_block(Cmd.set(name, value))
+
+
@overrides(Comm)
def comm_next(self):
if self.planner.is_running(): return self.planner.next()
self._begin_cycle('mdi')
self.planner.set_position({axis: position})
super().queue_command(Cmd.set_axis(axis, position))
+
+
+ def override_feed(self, override):
+ self._i2c_set('fo', int(1000 * override))
+
+
+ def override_speed(self, override):
+ self._i2c_set('so', int(1000 * override))
+
+
+ def modbus_read(self, addr): self._i2c_block(Cmd.modbus_read(addr))
+
+
+ def modbus_write(self, addr, value):
+ self._i2c_block(Cmd.modbus_write(addr, value))
def is_busy(self): return self.is_running() or self.cmdq.is_active()
def is_running(self): return self.planner.is_running()
def is_synchronizing(self): return self.planner.is_synchronizing()
-
-
- def set_position(self, position):
- self.planner.set_position(position)
+ def set_position(self, position): self.planner.set_position(position)
def update_position(self):
def _enqueue_set_cmd(self, id, name, value):
log.info('set(#%d, %s, %s)', id, name, value)
- self.cmdq.enqueue(id, False, self.ctrl.state.set, name, value)
+ self.cmdq.enqueue(id, self.ctrl.state.set, name, value)
def __encode(self, block):
if name == 'message':
self.cmdq.enqueue(
- id, False, self.ctrl.msgs.broadcast, {'message': value})
+ id, self.ctrl.msgs.broadcast, {'message': value})
if name in ['line', 'tool']:
self._enqueue_set_cmd(id, name, value)
if name == 'speed': return Cmd.speed(value)
if len(name) and name[0] == '_':
- self._enqueue_set_cmd(id, name[1:], value)
+ # Don't queue axis positions, can be triggered by set_position()
+ if len(name) != 2 or name[1] not in 'xyzabc':
+ self._enqueue_set_cmd(id, name[1:], value)
if name[0:1] == '_' and name[1:2] in 'xyzabc':
if name[2:] == '_home': return Cmd.set_axis(name[1], value)
if name[2:] == '_homed':
motor = self.ctrl.state.find_motor(name[1])
- if motor is not None: return Cmd.set('%dh' % motor, value)
+ if motor is not None:
+ return Cmd.set_sync('%dh' % motor, value)
return
if type == 'pause': return Cmd.pause(block['pause-type'])
if type == 'seek':
return Cmd.seek(block['switch'], block['active'], block['error'])
+ if type == 'end': return '' # Sends id
raise Exception('Unknown planner command "%s"' % type)
cmd = self.__encode(block)
if cmd is not None:
- self.cmdq.enqueue(block['id'], True, None)
- return Cmd.set('id', block['id']) + '\n' + cmd
+ self.cmdq.enqueue(block['id'], None)
+ return Cmd.set_sync('id', block['id']) + '\n' + cmd
def reset(self):
log.info('Planner restart: %d %s' % (id, json.dumps(position)))
self.planner.restart(id, position)
- if self.planner.is_synchronizing(): self.planner.synchronize(1)
+
+ if self.planner.is_synchronizing():
+ # TODO pass actual probed position
+ self.planner.synchronize(1) # Indicate successful probe
except Exception as e:
log.exception(e)
while self.planner.has_more():
cmd = self.planner.next()
cmd = self._encode(cmd)
- if not self.planner.is_running(): self.cmdq.finalize()
if cmd is not None: return cmd
- self.cmdq.finalize()
-
except Exception as e:
log.exception(e)
self.reset()
def put_ok(self, value): self.ctrl.mach.override_speed(float(value))
+class ModbusReadHandler(bbctrl.APIHandler):
+ def put_ok(self): self.ctrl.mach.modbus_read(int(self.json['address']))
+
+
+class ModbusWriteHandler(bbctrl.APIHandler):
+ def put_ok(self):
+ self.ctrl.mach.modbus_write(int(self.json['address']),
+ int(self.json['value']))
+
+
class JogHandler(bbctrl.APIHandler):
def put_ok(self): self.ctrl.mach.jog(self.json)
(r'/api/position/([xyzabcXYZABC])', PositionHandler),
(r'/api/override/feed/([\d.]+)', OverrideFeedHandler),
(r'/api/override/speed/([\d.]+)', OverrideSpeedHandler),
+ (r'/api/modbus/read', ModbusReadHandler),
+ (r'/api/modbus/write', ModbusWriteHandler),
(r'/api/jog', JogHandler),
(r'/api/video/reload', VideoReloadHandler),
(r'/(.*)', StaticFileHandler,
{
"motors": {
- "general": {
- "axis": {
- "type": "enum",
- "values": ["X", "Y", "Z", "A", "B", "C"],
- "default": "X",
- "code": "an"
- }
- },
-
- "power": {
- "power-mode": {
- "type": "enum",
- "values": ["disabled", "always-on", "in-cycle", "when-moving"],
- "default": "when-moving",
- "code": "pm"
- },
- "drive-current": {
- "type": "float",
- "min": 0,
- "max": 8,
- "unit": "amps",
- "default": 1.5,
- "code": "dc"
+ "type": "list",
+ "index": "0123",
+ "default": [
+ {"axis": "X"},
+ {"axis": "Y"},
+ {"axis": "Z"},
+ {"axis": "A", "power-mode" : "disabled"}
+ ],
+ "template": {
+ "general": {
+ "axis": {
+ "type": "enum",
+ "values": ["X", "Y", "Z", "A", "B", "C"],
+ "default": "X",
+ "code": "an"
+ }
},
- "idle-current": {
- "type": "float",
- "min": 0,
- "max": 8,
- "unit": "amps",
- "default": 0,
- "code": "ic"
- }
- },
- "motion": {
- "reverse": {
- "type": "bool",
- "default": false,
- "code": "rv"
- },
- "microsteps": {
- "type": "int",
- "values": [1, 2, 4, 8, 16, 32, 64, 128],
- "unit": "per full step",
- "default": 32,
- "code": "mi"
+ "power": {
+ "power-mode": {
+ "type": "enum",
+ "values": ["disabled", "always-on", "in-cycle", "when-moving"],
+ "default": "when-moving",
+ "code": "pm"
+ },
+ "drive-current": {
+ "type": "float",
+ "min": 0,
+ "max": 8,
+ "unit": "amps",
+ "default": 1.5,
+ "code": "dc"
+ },
+ "idle-current": {
+ "type": "float",
+ "min": 0,
+ "max": 8,
+ "unit": "amps",
+ "default": 0,
+ "code": "ic"
+ }
},
- "max-velocity": {
- "type": "float",
- "min": 0,
- "unit": "m/min",
- "default": 5,
- "code": "vm"
- },
- "max-accel": {
- "type": "float",
- "min": 0,
- "unit": "km/min²",
- "default": 10,
- "code": "am"
- },
- "max-jerk": {
- "type": "float",
- "min": 0,
- "unit": "km/min³",
- "default": 50,
- "code": "jm"
- },
- "step-angle": {
- "type": "float",
- "min": 0,
- "max": 360,
- "step": 0.1,
- "unit": "degrees",
- "default": 1.8,
- "code": "sa"
- },
- "travel-per-rev": {
- "type": "float",
- "unit": "mm",
- "default": 5,
- "code": "tr"
- }
- },
- "limits": {
- "min-soft-limit": {
- "type": "float",
- "unit": "mm",
- "default": 0,
- "code": "tn"
+ "motion": {
+ "reverse": {
+ "type": "bool",
+ "default": false,
+ "code": "rv"
+ },
+ "microsteps": {
+ "type": "int",
+ "values": [1, 2, 4, 8, 16, 32, 64, 128],
+ "unit": "per full step",
+ "default": 32,
+ "code": "mi"
+ },
+ "max-velocity": {
+ "type": "float",
+ "min": 0,
+ "unit": "m/min",
+ "default": 5,
+ "code": "vm"
+ },
+ "max-accel": {
+ "type": "float",
+ "min": 0,
+ "unit": "km/min²",
+ "default": 10,
+ "code": "am"
+ },
+ "max-jerk": {
+ "type": "float",
+ "min": 0,
+ "unit": "km/min³",
+ "default": 50,
+ "code": "jm"
+ },
+ "step-angle": {
+ "type": "float",
+ "min": 0,
+ "max": 360,
+ "step": 0.1,
+ "unit": "degrees",
+ "default": 1.8,
+ "code": "sa"
+ },
+ "travel-per-rev": {
+ "type": "float",
+ "unit": "mm",
+ "default": 5,
+ "code": "tr"
+ }
},
- "max-soft-limit": {
- "type": "float",
- "unit": "mm",
- "default": 0,
- "code": "tm"
- },
- "min-switch": {
- "type": "enum",
- "values": ["disabled", "normally-open", "normally-closed"],
- "default": "disabled",
- "code": "ls"
- },
- "max-switch": {
- "type": "enum",
- "values": ["disabled", "normally-open", "normally-closed"],
- "default": "disabled",
- "code": "xs"
- }
- },
- "homing": {
- "homing-mode": {
- "type": "enum",
- "values": ["manual", "switch-min", "switch-max"],
- "default": "manual",
- "code": "ho"
- },
- "search-velocity": {
- "type": "float",
- "min": 0,
- "unit": "m/min",
- "default": 0.5,
- "code": "sv"
- },
- "latch-velocity": {
- "type": "float",
- "min": 0,
- "unit": "m/min",
- "default": 0.1,
- "code": "lv"
+ "limits": {
+ "min-soft-limit": {
+ "type": "float",
+ "unit": "mm",
+ "default": 0,
+ "code": "tn"
+ },
+ "max-soft-limit": {
+ "type": "float",
+ "unit": "mm",
+ "default": 0,
+ "code": "tm"
+ },
+ "min-switch": {
+ "type": "enum",
+ "values": ["disabled", "normally-open", "normally-closed"],
+ "default": "disabled",
+ "code": "ls"
+ },
+ "max-switch": {
+ "type": "enum",
+ "values": ["disabled", "normally-open", "normally-closed"],
+ "default": "disabled",
+ "code": "xs"
+ }
},
- "latch-backoff": {
- "type": "float",
- "min": 0,
- "unit": "mm",
- "default": 5,
- "code": "lb"
- },
- "zero-backoff": {
- "type": "float",
- "min": 0,
- "unit": "mm",
- "default": 1,
- "code": "zb"
+
+ "homing": {
+ "homing-mode": {
+ "type": "enum",
+ "values": ["manual", "switch-min", "switch-max"],
+ "default": "manual",
+ "code": "ho"
+ },
+ "search-velocity": {
+ "type": "float",
+ "min": 0,
+ "unit": "m/min",
+ "default": 0.5,
+ "code": "sv"
+ },
+ "latch-velocity": {
+ "type": "float",
+ "min": 0,
+ "unit": "m/min",
+ "default": 0.1,
+ "code": "lv"
+ },
+ "latch-backoff": {
+ "type": "float",
+ "min": 0,
+ "unit": "mm",
+ "default": 5,
+ "code": "lb"
+ },
+ "zero-backoff": {
+ "type": "float",
+ "min": 0,
+ "unit": "mm",
+ "default": 1,
+ "code": "zb"
+ }
}
}
},
"tool": {
- "spindle-type": {
+ "tool-type": {
"type": "enum",
- "values": ["Disabled", "PWM", "Huanyang", "YL600"],
+ "values": ["Disabled", "PWM Spindle", "Huanyang VFD", "VFD Test",
+ "Custom Modbus VFD", "YL600 VFD", "AC-Tech VFD"],
"default": "Disabled",
"code": "st"
},
- "spin-reversed": {
+ "tool-reversed": {
"type": "bool",
- "default": "false",
+ "default": false,
"code": "sr"
},
"max-spin": {
"default": "None",
"code": "ma"
},
- "stop-bits": {
- "type": "enum",
- "values": ["1", "2"],
- "default": "1",
- "code": "ms"
+ "regs": {
+ "type": "list",
+ "index": "0123456789abcdefghijklmnopqrstuv",
+ "default": [],
+ "template": {
+ "reg-type": {
+ "type": "enum",
+ "values": [
+ "disabled",
+ "connect-write",
+ "max-freq-read", "max-freq-fixed",
+ "freq-set", "freq-signed-set",
+ "stop-write", "forward-write", "reverse-write",
+ "freq-read", "freq-signed-read",
+ "disconnect-write"],
+ "default": "disabled",
+ "code": "vt"
+ },
+ "reg-addr": {
+ "type": "int",
+ "min": 0,
+ "max": 65535,
+ "default": 0,
+ "code": "va"
+ },
+ "reg-value": {
+ "type": "int",
+ "min": 0,
+ "max": 65535,
+ "default": 0,
+ "code": "vv"
+ }
+ }
}
},
"pwm-spindle": {
"pwm-inverted": {
"type": "bool",
- "default": "false",
+ "default": false,
"code": "pi"
},
"pwm-min-duty": {
"estop": {
"type": "enum",
"values": ["disabled", "normally-open", "normally-closed"],
- "default": "normally-open",
+ "default": "disabled",
"code": "et"
},
"probe": {
+++ /dev/null
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null==a&&(a=null),p(this.options,a),this.length=this.canvas.height*this.options.length,this.strokeWidth=this.canvas.height*this.options.strokeWidth,this.maxValue=this.gauge.maxValue,this.minValue=this.gauge.minValue,this.animationSpeed=this.gauge.animationSpeed,this.options.angle=this.gauge.options.angle},b.prototype.render=function(){var a,b,c,d,e,f,g,h,i;return 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a?cancelAnimationFrame(AnimationUpdater.animId):AnimationUpdater.animId=requestAnimationFrame(AnimationUpdater.run)}},"function"==typeof window.define&&null!=window.define.amd?define(function(){return{Gauge:g,Donut:f,BaseDonut:d,TextRenderer:i}}):"undefined"!=typeof module&&null!=module.exports?module.exports={Gauge:g,Donut:f,BaseDonut:d,TextRenderer:i}:(window.Gauge=g,window.Donut=f,window.BaseDonut=d,window.TextRenderer=i)}).call(this);
\ No newline at end of file
&:hover
opacity 0.5
+.modbus-program button
+ margin 0.25em 0
+
+.pure-form .modbus-regs
+ input, select
+ border none
+ box-shadow none
+ border-radius 0
+ background transparent
+ padding 0 0.5em
+ height 1.75em
+ line-height 1.75em
+
+ input
+ text-align right
+ width 6em
+
+ button
+ margin 2px
+
+ th, td
+ border 1px solid #ccc
+ line-height 1.75em
+
+ th
+ padding 0.5em
+
+ &.fixed-regs td, td.reg-index, td.modbus-status
+ padding 0 0.5em
+
+ td.reg-index, td.reg-addr, td.reg-value
+ text-align right
+
+ tr:nth-child(even)
+ background-color #f3f3f3
+
+
.tabs
clear both
padding 0.5em
+.motor.slave
+ .tmpl-input-axis .units::after
+ content "(slave motor)"
+ white-space nowrap
+
+ fieldset.limits, fieldset.homing, fieldset.motion .pure-control-group,
+ fieldset.power .pure-control-group.tmpl-input-power-mode
+ display none
+
+ fieldset.motion .pure-control-group.tmpl-input-reverse
+ display inherit
+
+
.admin-general-view, .admin-network-view
h2:not(:first-of-type)
margin-top 2em
projects / bbctrl-firmware / commitdiff