From 3087001faa45e78572389d233ba92dfa27404002 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Sun, 18 Sep 2022 11:31:44 -0400
Subject: [PATCH] towards new-queue tests
---
firmware/axl-stepper/src/axl | 2 +-
firmware/axl-stepper/src/main.cpp | 85 ++++++++++++++++---------------
2 files changed, 46 insertions(+), 41 deletions(-)
diff --git a/firmware/axl-stepper/src/axl b/firmware/axl-stepper/src/axl
index 2715834..be9a5a9 160000
--- a/firmware/axl-stepper/src/axl
+++ b/firmware/axl-stepper/src/axl
@@ -1 +1 @@
-Subproject commit 2715834fbc79e77f061f0812234ab3a8eeb14f27
+Subproject commit be9a5a919bc9c6324f4ce6dcdfccac6837b659df
diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp
index 6d03ad5..3736b2c 100644
--- a/firmware/axl-stepper/src/main.cpp
+++ b/firmware/axl-stepper/src/main.cpp
@@ -24,11 +24,35 @@ OSAP osap("axl-stepper_z");
//OSAP osap("axl-stepper_rl");
//OSAP osap("axl-stepper_rr");
+// -------------------------------------------------------- 0: USB Serial
+
VPort_ArduinoSerial vpUSBSerial(&osap, "arduinoUSBSerial", &Serial);
-VBus_UCBusDrop vbUCBusDrop(&osap, "ucBusDrop");
+// -------------------------------------------------------- 1: Bus Drop
+
+VBus_UCBusDrop vbUCBusDrop(&osap, "ucBusDrop");
+
+// -------------------------------------------------------- 2: AXL Settings
+
+EP_ONDATA_RESPONSES onAXLSettingsData(uint8_t* data, uint16_t len){
+ // jd, then pairs of accel & vel limits,
+ axlSettings_t settings;
+ uint16_t rptr = 0;
+ for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
+ settings.accelLimits.axis[a] = ts_readFloat32(data, &rptr);
+ settings.velocityLimits.axis[a] = ts_readFloat32(data, &rptr);
+ }
+ settings.queueStartDelayMS = ts_readUint32(data, &rptr);
+ settings.ourActuatorID = ts_readUint8(data, &rptr);
+ // ship em...
+ axl_setSettings(settings);
+ // don't stash data,
+ return EP_ONDATA_ACCEPT;
+}
+
+Endpoint axlSettingsEP(&osap, "axlSettings", onAXLSettingsData);
-// -------------------------------------------------------- 2: States
+// -------------------------------------------------------- 3: Axl Modal Requests
EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
/*
@@ -79,39 +103,9 @@ EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
Endpoint statesEP(&osap, "states", onStateData);
-// -------------------------------------------------------- 3: Halt
-
-EP_ONDATA_RESPONSES onHaltData(uint8_t* data, uint16_t len){
- axl_halt(AXL_HALT_REQUEST);
- return EP_ONDATA_REJECT;
-}
-
-Endpoint haltInEP(&osap, "haltInput", onHaltData);
-Endpoint haltOutEP(&osap, "haltOutput");
-
-// -------------------------------------------------------- 5: AXL Settings
+// -------------------------------------------------------- 4: Axl Queue Addition
-EP_ONDATA_RESPONSES onAXLSettingsData(uint8_t* data, uint16_t len){
- // jd, then pairs of accel & vel limits,
- axlSettings_t settings;
- uint16_t rptr = 0;
- for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
- settings.accelLimits.axis[a] = ts_readFloat32(data, &rptr);
- settings.velocityLimits.axis[a] = ts_readFloat32(data, &rptr);
- }
- settings.queueStartDelayMS = ts_readUint32(data, &rptr);
- settings.outActuatorID = ts_readUint8(data, &rptr);
- // ship em...
- axl_setSettings(settings);
- // don't stash data,
- return EP_ONDATA_ACCEPT;
-}
-
-Endpoint axlSettingsEP(&osap, "axlSettings", onAXLSettingsData);
-
-// -------------------------------------------------------- 8: Precalcd-move-adder;
-
-EP_ONDATA_RESPONSES onPrecalculatedMoveData(uint8_t* data, uint16_t len){
+EP_ONDATA_RESPONSES onPlannedMoveData(uint8_t* data, uint16_t len){
axlPlannedSegment_t move;
uint16_t rptr = 0;
// location of move-in-sequence, to count continuity,
@@ -134,10 +128,23 @@ EP_ONDATA_RESPONSES onPrecalculatedMoveData(uint8_t* data, uint16_t len){
return EP_ONDATA_REJECT;
}
-Endpoint precalculatedMoveEP(&osap, "plannedMovesIn", onPrecalculatedMoveData);
+Endpoint precalculatedMoveEP(&osap, "plannedMovesIn", onPlannedMoveData);
+
+// -------------------------------------------------------- 5: Halt Input
+
+EP_ONDATA_RESPONSES onHaltInData(uint8_t* data, uint16_t len){
+ axl_halt(AXL_HALT_REQUEST);
+ return EP_ONDATA_REJECT;
+}
+
+Endpoint haltInEP(&osap, "haltIn", onHaltInData);
+
+// -------------------------------------------------------- 6, 7: Outputs
+Endpoint queueAckOutEP(&osap, "queueAckOut");
+Endpoint haltOutEP(&osap, "haltOut");
-// -------------------------------------------------------- 6: Motor Settings
+// -------------------------------------------------------- 8: Motor Settings
uint8_t axisPick = 0;
boolean invert = false;
@@ -196,14 +203,12 @@ void loop() {
// check for halt info...
axlDataLen = axl_getHaltPacket(axlData);
if(axlDataLen){
- #warning here - ibid, stick in endpoint,
+ haltOutEP.write(axlData, axlDataLen);
}
// check for on-queue-completion info...
axlDataLen = axl_getQueueAck(axlData);
if(axlDataLen){
- #warning here - if we have an ack, stick it in the endpoint...
- // and if that endpoint isn't clear to write, we're fukd, halt!
- // and add an axl_halt(<string>) option to print those messages
+ queueAckOutEP.write(axlData, axlDataLen);
}
// refresh stepper hw,
stepper_hw->dacRefresh();
--
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