From 9d2a4f8bc22e833a947c2bdd454d6669fe1ae9e0 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Mon, 19 Sep 2022 16:31:58 -0400
Subject: [PATCH] statewise control back online
---
firmware/axl-stepper/src/axl | 2 +-
firmware/axl-stepper/src/main.cpp | 44 +++++++++++++++----------------
2 files changed, 22 insertions(+), 24 deletions(-)
diff --git a/firmware/axl-stepper/src/axl b/firmware/axl-stepper/src/axl
index 0b8fc43..bda32c5 160000
--- a/firmware/axl-stepper/src/axl
+++ b/firmware/axl-stepper/src/axl
@@ -1 +1 @@
-Subproject commit 0b8fc43e4c0ac860abc96a51eccc5d222ed11bb6
+Subproject commit bda32c5b94c68a6f674d8ccac94a9abf4524e9d5
diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp
index baa4db0..6882870 100644
--- a/firmware/axl-stepper/src/main.cpp
+++ b/firmware/axl-stepper/src/main.cpp
@@ -20,9 +20,9 @@
//OSAP osap("axl-stepper_y-right");
//OSAP osap("axl-stepper_x");
//OSAP osap("axl-stepper_e");
-OSAP osap("axl-stepper_z");
-//OSAP osap("axl-stepper_rl");
-//OSAP osap("axl-stepper_rr");
+// OSAP osap("axl-stepper_z");
+OSAP osap("axl-stepper_rl");
+// OSAP osap("axl-stepper_rr");
// -------------------------------------------------------- 0: USB Serial
@@ -54,8 +54,7 @@ Endpoint axlSettingsEP(&osap, "axlSettings", onAXLSettingsData);
// -------------------------------------------------------- 3: Axl Modal Requests
-EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
- /*
+EP_ONDATA_RESPONSES onStateRequestData(uint8_t* data, uint16_t len){
// check for partner-config badness,
if(len != AXL_NUM_DOF * 4 + 2){ OSAP::error("state req has bad DOF count"); return EP_ONDATA_REJECT; }
// we have accel, rate, posn data,
@@ -96,44 +95,43 @@ EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
break;
}
}
- */
// since we routinely update it w/ actual states (not requests)
return EP_ONDATA_REJECT;
}
-Endpoint statesEP(&osap, "states", onStateData);
+Endpoint stateRequestsEP(&osap, "stateRequests", onStateRequestData);
// -------------------------------------------------------- 4: Axl Queue Addition
EP_ONDATA_RESPONSES onSegmentData(uint8_t* data, uint16_t len){
// careful, if you add a new field in axlPlannedSegment_t, recall you have to copy
// it manually into the buffer (!)
- axlPlannedSegment_t move;
+ axlPlannedSegment_t segment;
uint16_t rptr = 0;
- // location of move-in-sequence, to count continuity,
- move.segmentNumber = ts_readUint32(data, &rptr);
+ // location of segment-in-sequence, to count continuity,
+ segment.segmentNumber = ts_readUint32(data, &rptr);
// which actuator is requested to ack this mfer,
- move.returnActuator = ts_readUint8(data, &rptr);
+ segment.returnActuator = ts_readUint8(data, &rptr);
// is it the end of this stream ?
- move.isLastSegment = ts_readBoolean(data, &rptr);
- OSAP::debug("segnum, isLast " + String(move.segmentNumber) + ", " + String(move.isLastSegment));
- // unit vector describing move's direction,
+ segment.isLastSegment = ts_readBoolean(data, &rptr);
+ OSAP::debug("segnum, isLast " + String(segment.segmentNumber) + ", " + String(segment.isLastSegment));
+ // unit vector describing segment's direction,
for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
- move.unitVector.axis[a] = ts_readFloat32(data, &rptr);
+ segment.unitVector.axis[a] = ts_readFloat32(data, &rptr);
}
// start vel, accel-rate (up, and down), max velocity, final velocity, distance (all +ve)
- move.vi = ts_readFloat32(data, &rptr);
- move.accel = ts_readFloat32(data, &rptr);
- move.vmax = ts_readFloat32(data, &rptr);
- move.vf = ts_readFloat32(data, &rptr);
- move.distance = ts_readFloat32(data, &rptr);
+ segment.vi = ts_readFloat32(data, &rptr);
+ segment.accel = ts_readFloat32(data, &rptr);
+ segment.vmax = ts_readFloat32(data, &rptr);
+ segment.vf = ts_readFloat32(data, &rptr);
+ segment.distance = ts_readFloat32(data, &rptr);
// and send it...
- axl_addMoveToQueue(move);
+ axl_addSegmentToQueue(segment);
// don't write to endpoint...
return EP_ONDATA_REJECT;
}
-Endpoint precalculatedMoveEP(&osap, "segmentsIn", onSegmentData);
+Endpoint precalculatedSegmentEP(&osap, "segmentsIn", onSegmentData);
// -------------------------------------------------------- 5: Halt Input
@@ -216,7 +214,7 @@ void loop() {
if(axlDataLen){
segmentAckOutEP.write(axlData, axlDataLen);
}
- // check for queueMoveComplete
+ // check for queueSegmentComplete
axlDataLen = axl_getSegmentCompleteMsg(axlData);
if(axlDataLen){
segmentCompleteOutEP.write(axlData, axlDataLen);
--
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