Final fix, all works pretty

STM8/2stepper4reductor/Readme

@@ -0,0 +1,70 @@
+Rotation direction as seems from back side of motor!
+
+Command protocol: [ addr command data ]
+         broadcast addr: b
+commands:
+0/1 - command for given motor:
+        E - get end-switches
+        L - move CCW
+        M - get motor state (RELAX, INFMV+/-, STOP, MVSTP+/-, OFFSW+/-, UNDEF)
+        N - go for N st./get rest
+        O - pull off the switch
+        P - get current position
+        R - move CW
+        S - get/set speed
+        X - stop motor
+        Z - stop and zero position
+r - reset MCU
+G - get board address
+L 0/1 - LED on/off
+P ch val - PWM on channel ch
+T - time counter value
+
+examples:
+[00E] -> [ 0 0 E 0 ]   (no esw)
+[01E] -> [ 0 1 E 3 ]   (both - bad situation)
+[00L] -> [ 0 0 L  ]    (all OK)
+[01L] -> [ 0 1 L E 1 ] (on left endswitch)
+[00R] -> [ 0 0 R E 2 ] (on right endswitch)
+[01R][01M] -> [ 0 1 M INFMV+ ]
+[01N400] -> [ 0 1 N 400 ] (start moving)
+[01N] -> [ 0 1 N 46 ] (steps left)
+[00N-300] -> [ 0 0 N err ] (on endswitch)
+[00O-100] -> [ 0 0 O err ] (on left endswitch)
+[00O100] -> [ 0 0 O 100 ] (on rigth endswitch or out of them)
+[01P] -> [ 0 1 P 1903 ] (current position in full steps)
+[00S] -> [ 0 0 S 2500 ] (get speed value)
+[01S1500] -> [ 0 1 S 1500 ] (set speed value)
+[01X] -> [ 0 1 X ]
+[01Z] -> [ 0 1 Z ]
+
+[0r] ->
+
+Hello! My address is 0
+
+
+Command protocol: [ addr command data ]
+         broadcast addr: b
+commands:
+0/1 - command for given motor:
+        E - get end-switches
+        L - move CCW
+        M - get motor state
+        N - go for N st./get rest
+        O - pull off the switch
+        P - get current position
+        R - move CW
+        S - get/set speed
+        X - stop motor
+        Z - stop and zero position
+r - reset MCU
+G - get board address
+L 0/1 - LED on/off
+P ch val - PWM on channel ch
+T - time counter value
+
+
+[0G] -> [ 0 G 0 ]
+[0L] -> [ 0 L 0 ], [0L1] -> [ 0 L 1 ], [0L] -> [ 0 L 1 ]
+[0P] -> [ 0 P 0 0 ], [0P0100] -> [ 0 P 0 100 ], [0P0] -> [ 0 P 0 100 ], [0P510] -> [ 0 P -1 ], [0P0500] -> [ 0 P 0 -1 ]
+[0T] -> [ 0 T 191593 ]

STM8/2stepper4reductor/motors.c

@@ -122,7 +122,6 @@ static void stop_motor(U8 motorNum){
         default: return;
     }
     Steps_left[motorNum] = 0;
-    Ustep[motorNum] = 0;
     Dir[motorNum] = DIR_STOP;
 }
 
@@ -161,13 +160,21 @@ static void get_motor_state(U8 nmotor, char **buff){
 
 // turn on motor's timer starting from the lowest speed
 static void turnontimer(U8 motorNum){
+    U8 tmp;
     switch(motorNum){
         case 0:
+            // turn on power
+            tmp = PORT(STP0_PORT, ODR) & ~STP_PINS;
+            PORT(STP0_PORT, ODR) = tmp | usteps[Ustep[0]];
+            // start from the slowest speed
             TIM2_ARRH = MAX_USTEP_PERIOD >> 8;
             TIM2_ARRL = MAX_USTEP_PERIOD & 0xff;
+            // run timer
             TIM2_CR1 |= TIM_CR1_CEN;
         break;
         case 1:
+            tmp = PORT(STP1_PORT, ODR) & ~STP_PINS;
+            PORT(STP1_PORT, ODR) = tmp | usteps[Ustep[1]];
             TIM3_ARRH = MAX_USTEP_PERIOD >> 8;
             TIM3_ARRL = MAX_USTEP_PERIOD & 0xff;
             TIM3_CR1 |= TIM_CR1_CEN;
@@ -189,7 +196,6 @@ static int moveNsteps(U8 motorNum, long nsteps){
         if(sw) return 0; // on zero end-switch: no moving backward, on positive - no moving at all!
         Dir[motorNum] = DIR_CCW;
         nsteps = -nsteps;
-        Ustep[motorNum] = 7;
         state[motorNum] = MOTOR_MOVENSTEPS;
     }else{
         if(sw & 2) return 0; // for positive direction no moving to any side when on end-switch 2!
@@ -216,7 +222,6 @@ static int pullofftheswitch(U8 motorNum, long nsteps){
         if(sw & 1) return 0; // on zero end-switch: no moving backward
         Dir[motorNum] = DIR_CCW;
         nsteps = -nsteps;
-        Ustep[motorNum] = 7;
     }else{
         Dir[motorNum] = DIR_CW;
     }
@@ -236,26 +241,27 @@ void motor_command(const char *cmd, char **buff){
     *((*buff)++) = '0' + motorNum;
     *((*buff)++) = ' ';
     c = *cmd++;
-    *((*buff)++) = c; *((*buff)++) = ' ';
+    *((*buff)++) = c;
     switch(c){
         case 'E': // check endswitches state
+             *((*buff)++) = ' ';
             *((*buff)++) = '0' + check_endsw(motorNum);
         break;
         case 'L': // infinite move left
-            if(1 == check_endsw(motorNum)){
-                *((*buff)++) = 'E'; *((*buff)++) = ' ';
-                *((*buff)++) = '1';
+            if(check_endsw(motorNum) & 1){
+                strtobuf(" E 1", buff);
             }else{
                 state[motorNum] = MOTOR_INFMOVE;
                 Dir[motorNum] = DIR_CCW;
-                Ustep[motorNum] = 7;
                 turnontimer(motorNum);
             }
         break;
         case 'M': // get motor state
+             *((*buff)++) = ' ';
             get_motor_state(motorNum, buff);
         break;
         case 'N': // go for N steps or get steps left
+            *((*buff)++) = ' ';
             if(!readLong(cmd, &l)){ // get
                 long2buf(Steps_left[motorNum], buff);
             }else{
@@ -264,6 +270,7 @@ void motor_command(const char *cmd, char **buff){
             }
         break;
         case 'O': // pull off the switch (if no steps given, go for PULLOFFTHESW_STEPS)
+             *((*buff)++) = ' ';
             if(!readLong(cmd, &l)){ // get
                 l = PULLOFFTHESW_STEPS;
             }
@@ -271,12 +278,12 @@ void motor_command(const char *cmd, char **buff){
             else long2buf(l, buff);
         break;
         case 'P': // get current position
+            *((*buff)++) = ' ';
             long2buf(Current_pos[motorNum], buff);
         break;
         case 'R': // infinite move right
-            if(2 == check_endsw(motorNum)){
-                *((*buff)++) = 'E'; *((*buff)++) = ' ';
-                *((*buff)++) = '2';
+            if(check_endsw(motorNum) & 2){
+                strtobuf(" E 2", buff);
             }else{
                 state[motorNum] = MOTOR_INFMOVE;
                 Dir[motorNum] = DIR_CW;
@@ -284,6 +291,7 @@ void motor_command(const char *cmd, char **buff){
             }
         break;
         case 'S': // change speed
+             *((*buff)++) = ' ';
             if(!readLong(cmd, &l) || l < MIN_USTEP_PERIOD || l > MAX_USTEP_PERIOD){ // get speed
                 if(motorNum == 0) spd = TIM2_ARRH << 8 | TIM2_ARRL;
                 else spd = TIM3_ARRH << 8 | TIM3_ARRL;
@@ -358,27 +366,21 @@ void stepper_interrupt(U8 motor_num){
         break;
         default: return;
     }
-    if(Dir[motor_num] == DIR_CCW){ // counter-clockwise
-        if(Ustep[motor_num] == 0){
-            --Steps_left[motor_num];
-            --Current_pos[motor_num];
-            if(state[motor_num] == MOTOR_STOP || state[motor_num] == MOTOR_ZEROSTOP){
-                stop_motor(motor_num);
-                return;
-            }
-            Ustep[motor_num] = 7;
-        }else --Ustep[motor_num];
-    }else{ // clockwise
-        if(++Ustep[motor_num] > 7){
-            --Steps_left[motor_num];
-            ++Current_pos[motor_num];
-            if(state[motor_num] == MOTOR_STOP || state[motor_num] == MOTOR_ZEROSTOP){
-                stop_motor(motor_num);
-                return;
-            }
-            Ustep[motor_num] = 0;
+    if(Ustep[motor_num] % 2 == 0){ // full amount of half-steps - increment step counters & check for stop
+        --Steps_left[motor_num];
+        if(Dir[motor_num] == DIR_CCW) --Current_pos[motor_num];
+        else ++Current_pos[motor_num];
+        if(state[motor_num] == MOTOR_STOP || state[motor_num] == MOTOR_ZEROSTOP){
+            stop_motor(motor_num);
+            return;
         }
     }
+    if(Dir[motor_num] == DIR_CCW){ // counter-clockwise
+        if(Ustep[motor_num] == 0) Ustep[motor_num] = 7;
+        else --Ustep[motor_num];
+    }else{ // clockwise
+        if(++Ustep[motor_num] > 7) Ustep[motor_num] = 0;
+    }
 }
 
 /**

STM8/2stepper4reductor/motors.h

@@ -24,17 +24,17 @@
 #ifndef __MOTORS_H__
 #define __MOTORS_H__
 
-// default speed @ start - 50 steps per second
+// default speed @ start - 200 steps per second
 #define DEFAULT_USTEP_PERIOD    (2500)
-// max speed == 1/(625us*8) = 200 steps per second
-#define MIN_USTEP_PERIOD        (625)
-// min speed as 16-bit timer can - 65535 - near 1.9 steps per second
-// default min speed - 10 steps per second
-#define MAX_USTEP_PERIOD        (12500)
+// max speed == 1/(800us*2) = 625 steps per second
+#define MIN_USTEP_PERIOD        (800)
+// min speed as 16-bit timer can - 65535 - near 7.6 steps per second
+// default min speed - 25 steps per second
+#define MAX_USTEP_PERIOD        (20000)
 // amount of steps to pull off the switch
 #define PULLOFFTHESW_STEPS      (100)
-// amount of microsteps for acceleration calculation
-#define ACCEL_USTEPS             (200)
+// amount of microsteps for acceleration calculation (50 full steps)
+#define ACCEL_USTEPS             (100)
 
 //extern unsigned char irq_flag;
 

STM8/2stepper4reductor/proto.c

@@ -43,8 +43,7 @@ void show_help(){
     uart_write("G - get board address\n");
     uart_write("L 0/1 - LED on/off\n");
     uart_write("P ch val - PWM on channel ch\n");
-    uart_write("T - time counter value\n");
-    uart_write("\n\n");
+    uart_write("T - time counter value\n\n");
 }
 
 static void set_PWM(char *cmd, char **buff){

STM8/2stepper4reductor/twosteppers.c.tags

@@ -1,4 +1,5 @@
 # format=tagmanager
+ACCEL_USTEPSÌ65536Ö0
 ADC_AWCRHÌ65536Ö0
 ADC_AWCRLÌ65536Ö0
 ADC_AWSRHÌ65536Ö0
@@ -39,7 +40,10 @@ ADDR_MASK
 AWU_APRÌ65536Ö0
 AWU_CSR1Ì65536Ö0
 AWU_TBRÌ65536Ö0
+AccelerationÌ16384Ö0ÏU16
 BEEP_CSRÌ65536Ö0
+BROADCAST_ADDRÌ65536Ö0
+BROADCAST_CHARÌ65536Ö0
 CCRÌ65536Ö0
 CFG_GCRÌ65536Ö0
 CHK_M0E1Ì131072Í()Ö0
@@ -59,6 +63,12 @@ CLK_SWCR
 CLK_SWIMCCRÌ65536Ö0
 CLK_SWRÌ65536Ö0
 CONCATÌ131072Í(a,b)Ö0
+Current_posÌ16384Ö0Ïlong
+DEFAULT_USTEP_PERIODÌ65536Ö0
+DIR_CCWÌ4Îanon_enum_1Ö0
+DIR_CWÌ4Îanon_enum_1Ö0
+DIR_STOPÌ4Îanon_enum_1Ö0
+DirÌ16384Ö0Ïvolatile motor_direction
 EEPROM_KEY1Ì65536Ö0
 EEPROM_KEY2Ì65536Ö0
 EEPROM_START_ADDRÌ65536Ö0
@@ -82,6 +92,7 @@ GPIO_PIN4
 GPIO_PIN5Ì65536Ö0
 GPIO_PIN6Ì65536Ö0
 GPIO_PIN7Ì65536Ö0
+Global_timeÌ16384Ö0Ïvolatile unsigned long
 Global_timeÌ32768Ö0Ïvolatile unsigned long
 I2C_CCRHÌ65536Ö0
 I2C_CCRLÌ65536Ö0
@@ -126,7 +137,16 @@ M1E1_PIN
 M1E1_PORTÌ65536Ö0
 M1E2_PINÌ65536Ö0
 M1E2_PORTÌ65536Ö0
+MAX_USTEP_PERIODÌ65536Ö0
+MCU_noÌ16384Ö0ÏU8
 MCU_noÌ32768Ö0ÏU8
+MIN_USTEP_PERIODÌ65536Ö0
+MOTOR_INFMOVEÌ4Îanon_enum_0Ö0
+MOTOR_MOVENSTEPSÌ4Îanon_enum_0Ö0
+MOTOR_OFFSWITCHÌ4Îanon_enum_0Ö0
+MOTOR_RELAXÌ4Îanon_enum_0Ö0
+MOTOR_STOPÌ4Îanon_enum_0Ö0
+MOTOR_ZEROSTOPÌ4Îanon_enum_0Ö0
 NULLÌ65536Ö0
 PA_CR1Ì65536Ö0
 PA_CR2Ì65536Ö0
@@ -159,6 +179,7 @@ PF_DDR
 PF_IDRÌ65536Ö0
 PF_ODRÌ65536Ö0
 PORTÌ131072Í(a,b)Ö0
+PULLOFFTHESW_STEPSÌ65536Ö0
 PWM_PINSÌ65536Ö0
 RST_SRÌ65536Ö0
 SPI_CR1Ì65536Ö0
@@ -197,6 +218,9 @@ STP0_PORT
 STP1_PORTÌ65536Ö0
 STP_PINSÌ65536Ö0
 SWIM_CSRÌ65536Ö0
+Stepper_speedÌ16384Ö0ÏU16
+Steps_leftÌ16384Ö0Ïlong
+Steps_left_at_eswÌ16384Ö0Ïlong
 TIM1_ARRHÌ65536Ö0
 TIM1_ARRLÌ65536Ö0
 TIM1_BKRÌ65536Ö0
@@ -300,8 +324,11 @@ UART_SR_RXNE
 UART_SR_TCÌ65536Ö0
 UART_SR_TXEÌ65536Ö0
 UART_TX_PINÌ65536Ö0
+UART_rxÌ16384Ö0ÏU8
 UART_rxÌ32768Ö0ÏU8
+UART_txÌ16384Ö0ÏU8
 UART_txÌ32768Ö0ÏU8
+UstepÌ16384Ö0ÏU8
 WWDG_CRÌ65536Ö0
 WWDG_WRÌ65536Ö0
 _FORTIFY_SOURCEÌ65536Ö0
@@ -464,6 +491,7 @@ __LONG_LONG_MAX__
 __LONG_MAX__Ì65536Ö0
 __LP64__Ì65536Ö0
 __MMX__Ì65536Ö0
+__MOTORS_H__Ì65536Ö0
 __NO_INLINE__Ì65536Ö0
 __ORDER_BIG_ENDIAN__Ì65536Ö0
 __ORDER_LITTLE_ENDIAN__Ì65536Ö0
@@ -471,6 +499,7 @@ __ORDER_PDP_ENDIAN__
 __PIC__Ì65536Ö0
 __PIE__Ì65536Ö0
 __PRAGMA_REDEFINE_EXTNAMEÌ65536Ö0
+__PROTO_H__Ì65536Ö0
 __PTRDIFF_MAX__Ì65536Ö0
 __PTRDIFF_TYPE__Ì65536Ö0
 __REGISTER_PREFIX__Ì65536Ö0
@@ -603,27 +632,68 @@ __unix
 __unix__Ì65536Ö0
 __x86_64Ì65536Ö0
 __x86_64__Ì65536Ö0
+anon_enum_0Ì2Ö0
+anon_enum_1Ì2Ö0
+check_endswÌ16Í(U8 motor)Ö0ÏU8
 disableInterruptsÌ131072Í()Ö0
 enableInterruptsÌ131072Í()Ö0
+get_motor_stateÌ16Í(U8 nmotor, char **buff)Ö0Ïvoid
 haltÌ131072Í()Ö0
+hw_initÌ16Í()Ö0Ïvoid
 hw_initÌ1024Í()Ö0Ïvoid
+ibufÌ16384Ö0Ïchar
 iretÌ131072Í()Ö0
 linuxÌ65536Ö0
+long2bufÌ16Í(long Number, char **buf)Ö0Ïvoid
 long2bufÌ1024Í(long Number, char **buf)Ö0Ïvoid
+motor_commandÌ16Í(const char *cmd, char **buff)Ö0Ïvoid
+motor_commandÌ1024Í(const char *cmd, char **bufptr)Ö0Ïvoid
+motor_directionÌ4096Ö0Ïanon_enum_1
+motor_stateÌ4096Ö0Ïanon_enum_0
+motors_initÌ16Í()Ö0Ïvoid
+motors_initÌ1024Í()Ö0Ïvoid
+moveNstepsÌ16Í(U8 motorNum, long nsteps)Ö0Ïint
 nopÌ131072Í()Ö0
+obufÌ16384Ö0Ïchar
 omit_whitespaceÌ1024Í(char *str)Ö0Ïchar *
 pop_ccrÌ131072Í()Ö0
+printUintÌ16Í(const U8 *val, U8 len)Ö0Ïvoid
 printUintÌ1024Í(const U8 *val, U8 len)Ö0Ïvoid
+process_commandsÌ16Í(char *cmd)Ö0ÏU8
+process_stepperÌ16Í(U8 motor_num)Ö0Ïvoid
+process_stepperÌ1024Í(unsigned char stepno)Ö0Ïvoid
+process_stringÌ16Í()Ö0Ïvoid
+process_stringÌ1024Í()Ö0Ïvoid
+pullofftheswitchÌ16Í(U8 motorNum, long nsteps)Ö0Ïint
 push_ccrÌ131072Í()Ö0
+readLongÌ16Í(const char *buff, long *val)Ö0ÏU8
 readLongÌ1024Í(const char *buff, long *val)Ö0ÏU8
 rimÌ131072Í()Ö0
+rx_idxÌ16384Ö0ÏU8
 rx_idxÌ32768Ö0ÏU8
+set_PWMÌ16Í(char *cmd, char **buff)Ö0Ïvoid
+show_helpÌ16Í()Ö0Ïvoid
+show_helpÌ1024Í()Ö0Ïvoid
+show_motors_helpÌ16Í()Ö0Ïvoid
+show_motors_helpÌ1024Í()Ö0Ïvoid
 simÌ131072Í()Ö0
+stateÌ16384Ö0Ïvolatile motor_state
+stepper_interruptÌ16Í(U8 motor_num)Ö0Ïvoid
+stepper_interruptÌ1024Í(unsigned char motor_num)Ö0Ïvoid
+stop_motorÌ16Í(U8 motorNum)Ö0Ïvoid
+strtobufÌ16Í(const char *str, char **buff)Ö0Ïvoid
 trapÌ131072Í()Ö0
+turnontimerÌ16Í(U8 motorNum)Ö0Ïvoid
+tx_idxÌ16384Ö0ÏU8
 tx_idxÌ32768Ö0ÏU8
+tx_lenÌ16384Ö0ÏU8
 tx_lenÌ32768Ö0ÏU8
+uart_initÌ16Í()Ö0Ïvoid
 uart_initÌ1024Í()Ö0Ïvoid
+uart_rdyÌ16384Ö0ÏU8
 uart_rdyÌ32768Ö0ÏU8
+uart_writeÌ16Í(const char *str)Ö0Ïvoid
 uart_writeÌ1024Í(const char *str)Ö0Ïvoid
 unixÌ65536Ö0
+ustepsÌ16384Ö0Ïconst U8
 wfiÌ131072Í()Ö0

STM8/2stepper4reductor/twosteppers.ihx

@@ -4,10 +4,10 @@
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-:0597E000000000000084
+:05979B000000000000C9
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+:20815E008080808080808080808080AE5302F6A501270CA4FEAE5302F74B00CD8D37848033
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@@ -24,178 +24,176 @@
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 :1E85240012016B01160B17037B0A6B02161717071E071603EF021601FFA6015B128168
-:0497E5000000000080
+:0497A00000000000C5
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 :208020008200816482008165820000008200000082008166820081678200816882008169C3
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 :03808000CC85426A
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