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add some more commands

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This commit is contained in:
Edward Emelianov
2021-10-25 23:52:47 +03:00
parent 9b4bb6c02f
commit 263d805bf6
10 changed files with 276 additions and 54 deletions
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19
F0-nolib/3steppersLB/flash.h
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@@ -30,6 +30,14 @@
#define _U_ __attribute__((unused))
#endif
// limiting values
#define MICROSTEPSMAX (512)
// (STEPS per second per 10ms)
#define ACCELMAXSTEPS (100)
// max speed IN STEPS!
#define MAXMAXSPD (10000)
// max encoder steps per rev
#define MAXENCREV (100000)
// register with flash size (in blocks)
#ifndef FLASH_SIZE_REG
@@ -40,7 +48,9 @@ blocksizeASH_SIZE_REG ((uint32_t)0x1FFFF7CC)
// motor flags
typedef struct{
uint8_t reverse : 1;
uint8_t reverse : 1; // reversing motor rotation
uint8_t encreverse : 1; // reversing encoder rotation
uint8_t haveencoder : 1; // have encoder
} motflags_t;
/*
@@ -51,9 +61,10 @@ typedef struct __attribute__((packed, aligned(4))){
uint16_t CANspeed; // default CAN speed
uint16_t CANID; // identifier
uint16_t microsteps[MOTORSNO]; // microsteps amount per step
uint16_t accdecsteps[MOTORSNO]; // amount of steps need for full acceleration/deceleration cycle
uint16_t maxspd[MOTORSNO]; // max motor speed (steps per second)
uint32_t maxsteps[MOTORSNO]; // maximal amount of steps from ESW0 to EWS3
uint16_t accel[MOTORSNO]; // acceleration/deceleration (dv microsteps/s per 10ms)
uint16_t maxspd[MOTORSNO]; // max motor speed (microsteps per second)
uint32_t maxsteps[MOTORSNO]; // maximal amount of steps
uint16_t encrev[MOTORSNO]; // encoders' counts per revolution
motflags_t motflags[MOTORSNO]; // motor's flags
} user_conf;