eddy/stm32samples
1
0
Fork 0
mirror of https://github.com/eddyem/stm32samples.git synced 2026-03-22 09:41:00 +03:00
Code Issues Packages Projects Releases Wiki Activity

First approximation to steppers run

Browse Source
This commit is contained in:
Edward Emelianov
2021-11-16 00:28:20 +03:00
parent bac9912056
commit 4b50e95838
12 changed files with 257 additions and 123 deletions
Download Patch File Download Diff File Expand all files Collapse all files

60
F0-nolib/3steppersLB/commonproto.c
View File

@@ -171,6 +171,7 @@ static errcodes ustepsparser(uint8_t par, int32_t *val){
if(m < 1 || m > MICROSTEPSMAX) return ERR_BADVAL;
// find most significant bit
if(m != 1<<MSB(m)) return ERR_BADVAL;
if(the_conf.maxspd[n] * m > PCLK/(MOTORTIM_PSC+1)/(MOTORTIM_ARRMIN+1)) return ERR_BADVAL;
the_conf.microsteps[n] = m;
}
*val = the_conf.microsteps[n];
@@ -210,21 +211,42 @@ static errcodes accparser(uint8_t par, int32_t *val){
return ERR_OK;
}
// calculate ARR value for given speed, return nearest possible speed
static uint16_t getSPD(uint8_t n, int32_t speed){
uint32_t ARR = PCLK/(MOTORTIM_PSC+1) / the_conf.microsteps[n] / speed - 1;
if(ARR < MOTORTIM_ARRMIN) ARR = MOTORTIM_ARRMIN;
else if(ARR > 0xffff) ARR = 0xffff;
speed = PCLK/(MOTORTIM_PSC+1) / the_conf.microsteps[n] / (ARR + 1);
if(speed > 0xffff) speed = 0xffff;
return (uint16_t)speed;
}
static errcodes maxspdparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
if(*val/the_conf.microsteps[n] > MAXMAXSPD || *val < 1) return ERR_BADVAL;
the_conf.maxspd[n] = *val;
if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
the_conf.maxspd[n] = getSPD(n, *val);
}
*val = the_conf.maxspd[n];
return ERR_OK;
}
static errcodes minspdparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
if(*val >= the_conf.maxspd[n]) return ERR_BADVAL;
the_conf.minspd[n] = getSPD(n, *val);
}
*val = the_conf.minspd[n];
return ERR_OK;
}
static errcodes spdlimparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
*val = MOTORFREQ / the_conf.microsteps[n];
*val = getSPD(n, 0xffff);
return ERR_OK;
}
@@ -251,6 +273,16 @@ static errcodes encrevparser(uint8_t par, int32_t *val){
return ERR_OK;
}
static errcodes motflagsparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
if(ISSETTER(par)){
the_conf.motflags[n] = *((motflags_t*)val);
}
*(motflags_t*)val = the_conf.motflags[n];
return ERR_OK;
}
static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
if(store_userconf()) return ERR_CANTRUN;
return ERR_OK;
@@ -284,6 +316,24 @@ static errcodes relstepsparser(uint8_t par, int32_t *val){
if(ISSETTER(par)) return motor_relmove(n, *val);
return getremainsteps(n, val);
}
static errcodes motstateparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
*val = getmotstate(n);
return ERR_OK;
}
static errcodes encposparser(uint8_t par, int32_t *val){
uint8_t n = PARBASE(par);
if(n > MOTORSNO-1) return ERR_BADPAR;
errcodes ret = ERR_OK;
if(ISSETTER(par)){
if(!setencpos(n, *val)) ret = ERR_CANTRUN;
}
*val = encoder_position(n);
return ret;
}
/******************* END of motors' parsers *******************/
/*
@@ -314,13 +364,17 @@ const commands cmdlist[CMD_AMOUNT] = {
[CMD_MICROSTEPS] = {"microsteps", ustepsparser, "set/get microsteps settings"},
[CMD_ACCEL] = {"accel", accparser, "set/get accel/decel (steps/s^2)"},
[CMD_MAXSPEED] = {"maxspeed", maxspdparser, "set/get max speed (steps per sec)"},
[CMD_MINSPEED] = {"minspeed", minspdparser, "set/get min speed (steps per sec)"},
[CMD_SPEEDLIMIT] = {"speedlimit", spdlimparser, "get limiting speed for current microsteps"},
[CMD_MAXSTEPS] = {"maxsteps", maxstepsparser, "set/get max steps (from zero)"},
[CMD_ENCREV] = {"encrev", encrevparser, "set/get max encoder's pulses per revolution"},
[CMD_MOTFLAGS] = {"motflags", motflagsparser, "set/get motorN flags"},
// motor's commands
[CMD_ABSPOS] = {"abspos", curposparser, "set/get position (in steps)"},
[CMD_RELPOS] = {"relpos", relstepsparser, "set relative steps, get remaining"},
[CMD_STOPMOTOR] = {"stop", mstopparser, "stop motor now"},
[CMD_REINITMOTORS] = {"motreinit", reinitmparser, "re-init motors after configuration changed"},
[CMD_MOTORSTATE] = {"state", motstateparser, "get motor state"},
[CMD_ENCPOS] = {"encpos", encposparser, "set/get encoder's position"},
};