void Commands_init(unsigned long _eVal, byte _gVal){
cmd.aVal[RA] = EEPROM_readLong(aVal1_Address); //steps/axis
cmd.aVal[DC] = EEPROM_readLong(aVal2_Address); //steps/axis
cmd.bVal[RA] = EEPROM_readLong(bVal1_Address); //sidereal rate
cmd.bVal[DC] = EEPROM_readLong(bVal2_Address); //sidereal rate
cmd.sVal[RA] = EEPROM_readLong(sVal1_Address); //steps/worm rotation
cmd.sVal[DC] = EEPROM_readLong(sVal2_Address); //steps/worm rotation
cmd.siderealIVal[RA] = EEPROM_readInt(IVal1_Address); //steps/worm rotation
cmd.siderealIVal[DC] = EEPROM_readInt(IVal2_Address); //steps/worm rotation
cmd.normalGotoSpeed[RA] = EEPROM_readByte(RAGoto_Address); //IVal for normal goto speed
cmd.normalGotoSpeed[DC] = EEPROM_readByte(DECGoto_Address); //IVal for normal goto speed
for(byte i = 0;i < 2;i++){
cmd.dir[i] = 0;
cmd.stepDir[i] = 1; //1-dir*2
cmd.stopped[i] = 1;
cmd.gotoEn[i] = 0;
cmd.FVal[i] = 0;
cmd.jVal[i] = 0x800000; //Current position, 0x800000 is the centre
cmd.IVal[i] = cmd.siderealIVal[i]; //Recieved Speed will be set by :I command.
cmd.GVal[i] = 0; //Mode recieved from :G command
cmd.HVal[i] = 0; //Value recieved from :H command
cmd.eVal[i] = _eVal; //version number
cmd.gVal[i] = _gVal; //High speed scalar
cmd.minSpeed[i] = cmd.siderealIVal[i]>>1;//2x sidereal rate. [minspeed is the point at which acceleration curves are enabled]
cmd.stopSpeed[i] = cmd.minSpeed[i];
cmd.currentIVal[i] = cmd.stopSpeed[i]+1; //just slower than stop speed as axes are stopped.
cmd.motorSpeed[i] = cmd.stopSpeed[i]+1; //same as above.
cmd.stepRepeat[i] = 0;//siderealIVal[i]/75;//((aVal[i] < 5600000UL) ? ((aVal[i] < 2800000UL) ? 16 : 8) : 4);
}
}
char getReg(uint16_t reg, int* val) {
if (reg >= REG_RELAY0 && reg < REG_RELAY0 + REG_RELAY_CNT) {
*val = getOutput(reg - REG_RELAY0) ? 1 : 0;
} else if (reg >= REG_PWM0 && reg < REG_PWM0 + REG_RELAY_CNT) {
*val = getPWM(reg - REG_PWM0);
} else if (reg == REG_TEMP) {
*val = w1_temp(0);
if (*val == TEMPERATURE_INVALID)
return 0;
} else if (reg == REG_ADC_CONF) {
*val = EEPROM_readByte(&eeData.adcconf);
} else if (reg == REG_RESET_BY_WD) {
*val = EEPROM_readByte(&eeData.resetByWd);
} else if (reg == REG_WD_ON_RECEIVE) {
*val = EEPROM_readByte(&eeData.wdOnReceive);
} else if (reg == REG_TIME_CORR_EN) {
*val = EEPROM_readByte(&eeData.timeCorrEn);
} else if (reg == REG_TIME_CORR) {
*val = getCorr1();
} else if (reg == REG_TIME_HI) {
timeBuffer = getTime();
*val = timeBuffer >> 16;
} else if (reg == REG_TIME_LO) {
static __attribute__ ((noinline)) uint8_t get(uint8_t off) {
return EEPROM_readByte(eeData.rules + off);
}
unsigned int EEPROM_readInt(unsigned int address) {
TwoBytes fetcher;
fetcher.array[0] = EEPROM_readByte(address);
fetcher.array[1] = EEPROM_readByte(address+1);
return fetcher.integer;
}
void EEPROM_readString(char* string, byte len, unsigned int address) {
for(byte i = 0; i < len; i++) {
string[i] = EEPROM_readByte(address++);
}
}
