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add nocheck flags

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This commit is contained in:
Edward Emelianov
2026-01-16 15:04:03 +03:00
parent 9c0152d08f
commit 3697adba41
10 changed files with 97 additions and 44 deletions
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61
F3:F303/Multistepper/steppers.c
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@@ -325,38 +325,48 @@ void addmicrostep(uint8_t i){
static void chkstepper(int i){
int32_t i32;
static uint8_t stopctr[MOTORSNO] = {0}; // counters for encoders/position zeroing after stopping @ esw
// check DIAGN only for UART/SPI
if(the_conf.motflags[i].drvtype == DRVTYPE_UART || the_conf.motflags[i].drvtype == DRVTYPE_SPI){
if(motdiagn(i) && state[i] != STP_ERR){ // error occured - DIAGN is low
//DBG("Oldstate: "); USB_putbyte('0' + state[i]); newline();
/*char Nm = '0'+i;
USB_sendstr(STR_STATE); USB_putbyte(Nm); USB_sendstr("=6\n");
char Nch = '0' + i;
// check driver status only for UART/SPI
if(!the_conf.motflags[i].nocheck){
if(state[i] != STP_ERR && (the_conf.motflags[i].drvtype == DRVTYPE_UART || the_conf.motflags[i].drvtype == DRVTYPE_SPI)){
if(the_conf.motflags[i].nodiag){ // check by pdn-uart
uint32_t u32;
switch(the_conf.motflags[i].drvtype){
case DRVTYPE_UART:
pdnuart_setmotno(i);
if(pdnuart_readreg(TMC2209Reg_GSTAT, &u32)){
USB_sendstr("GSTAT"); USB_putbyte(Nm); USB_putbyte('=');
USB_sendstr(u2str(u32)); newline();
}
if(pdnuart_readreg(TMC2209Reg_DRV_STATUS, &u32)){
USB_sendstr("DRV_STATUS"); USB_putbyte(Nm); USB_putbyte('=');
USB_sendstr(u2str(u32)); newline();
TMC2209_gstat_reg_t s;
s.value = u32;
if(s.drv_err || s.uv_cp){
if(pdnuart_readreg(TMC2209Reg_DRV_STATUS, &u32)){
//TMC2209_drv_status_reg_t d;
//d.value = u32;
USB_sendstr("DRV_STATUS"); USB_putbyte(Nch);
USB_putbyte('='); USB_sendstr(u2str(u32));
newline();
}
USB_sendstr("state"); USB_putbyte(Nch);
USB_sendstr("=6\n");
emstopmotor(i);
state[i] = STP_ERR;
}
}
break;
default:
break;
}*/
}
}else if(DIAG()){ // error occured - DIAGN is low
emstopmotor(i);
state[i] = STP_ERR;
return;
}
}
}}
#ifdef EBUG
if(stp[i]){
stp[i] = 0;
// motor state could be changed outside of interrupt, so return it to relax
state[i] = STP_RELAX;
USB_sendstr("MOTOR"); USB_putbyte('0'+i); USB_sendstr(" stop @"); printi(stppos[i]);
USB_sendstr("MOTOR"); USB_putbyte(Nch); USB_sendstr(" stop @"); printi(stppos[i]);
USB_sendstr(", V="); printu(curspeed[i]);
USB_sendstr(", curstate="); printu(state[i]); newline();
}
@@ -368,7 +378,7 @@ static void chkstepper(int i){
curspeed[i] = the_conf.maxspd[i];
state[i] = STP_MOVE;
#ifdef EBUG
USB_sendstr("MOTOR"); USB_putbyte('0'+i);
USB_sendstr("MOTOR"); USB_putbyte(Nch);
USB_sendstr(" -> MOVE@"); printi(stppos[i]); USB_sendstr(", V="); printu(curspeed[i]); newline();
#endif
}else{ // increase speed
@@ -407,7 +417,7 @@ static void chkstepper(int i){
curspeed[i] = the_conf.minspd[i];
state[i] = STP_MVSLOW;
#ifdef EBUG
USB_sendstr("MOTOR"); USB_putbyte('0'+i);
USB_sendstr("MOTOR"); USB_putbyte(Nch);
USB_sendstr(" -> MVSLOW@"); printi(stppos[i]); newline();
#endif
}
@@ -420,7 +430,7 @@ static void chkstepper(int i){
case M0FAST:
if(state[i] == STP_RELAX || state[i] == STP_STALL){ // stopped -> move to +
#ifdef EBUG
USB_putbyte('M'); USB_putbyte('0'+i); USB_sendstr("FAST: motor stopped\n");
USB_putbyte('M'); USB_putbyte(Nch); USB_sendstr("FAST: motor stopped\n");
#endif
if(ERR_OK != motor_relslow(i, 1000)){
#ifdef EBUG
@@ -443,7 +453,7 @@ static void chkstepper(int i){
}
if((state[i] == STP_RELAX || state[i] == STP_STALL) && ++stopctr[i] > 5){ // wait at least 50ms
#ifdef EBUG
USB_putbyte('M'); USB_putbyte('0'+i); USND("SLOW: motor stopped");
USB_putbyte('M'); USB_putbyte(Nch); USND("SLOW: motor stopped");
#endif
ESW_reaction[i] = the_conf.ESW_reaction[i];
prevstppos[i] = targstppos[i] = stppos[i] = 0;
@@ -489,15 +499,20 @@ void stopmotor(uint8_t i){
TODECEL();
}
// process only one stepper per run
void process_steppers(){
static uint32_t Tlast = 0;
if(Tms - Tlast < MOTCHKINTERVAL) return; // hit every 10ms
if(Tms - Tlast < MOTCHKINTERVAL / MOTORSNO) return; // hit every ~10ms for full circle
Tlast = Tms;
static int firstrun = 1;
if(firstrun){ firstrun = 0; init_steppers(); return; }
for(int i = 0; i < MOTORSNO; ++i){
if(firstrun){ firstrun = 0; init_steppers(); DIAGMUL(0); return; }
static int curmotno = 0;
chkstepper(curmotno++);
if(curmotno == MOTORSNO) curmotno = 0;
DIAGMUL(curmotno);
/*for(int i = 0; i < MOTORSNO; ++i){
chkstepper(i);
}
}*/
}
uint8_t geteswreact(uint8_t i){