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First approximation to steppers run

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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
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12
F0-nolib/3steppersLB/flash.h
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@@ -34,8 +34,6 @@
#define MICROSTEPSMAX (512)
// (STEPS per second^2)
#define ACCELMAXSTEPS (1000)
// max speed IN STEPS!
#define MAXMAXSPD (10000)
// max encoder steps per rev
#define MAXENCREV (100000)
@@ -48,10 +46,11 @@ blocksizeASH_SIZE_REG ((uint32_t)0x1FFFF7CC)
// motor flags
typedef struct{
uint8_t reverse : 1; // reversing motor rotation
uint8_t encreverse : 1; // reversing encoder rotation TODO: configure encoder's timer to downcounting
uint8_t haveencoder : 1; // have encoder
uint8_t donthold : 1; // clear power @ stop (don't hold motor when stopped)
uint8_t reverse : 1; // bit0 - reversing motor rotation
uint8_t encreverse : 1; // bit1 - reversing encoder rotation TODO: configure encoder's timer to downcounting
uint8_t haveencoder : 1; // bit2 - have encoder
uint8_t donthold : 1; // bit3 - clear power @ stop (don't hold motor when stopped)
uint8_t eswinv : 1; // bit4 - invers end-switches
} motflags_t;
/*
@@ -64,6 +63,7 @@ typedef struct __attribute__((packed, aligned(4))){
uint16_t microsteps[MOTORSNO]; // microsteps amount per step
uint16_t accel[MOTORSNO]; // acceleration/deceleration (steps/s^2)
uint16_t maxspd[MOTORSNO]; // max motor speed (steps per second)
uint16_t minspd[MOTORSNO]; // min motor speed (steps per second)
uint32_t maxsteps[MOTORSNO]; // maximal amount of steps
uint16_t encrev[MOTORSNO]; // encoders' counts per revolution
uint16_t encperstepmin[MOTORSNO]; // min amount of encoder ticks per one step