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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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54
F0-nolib/3steppersLB/hardware.c
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@@ -86,16 +86,21 @@ static IRQn_Type motirqs[MOTORSNO] = {TIM15_IRQn, TIM14_IRQn, TIM16_IRQn};
// motor's PWM
static void setup_mpwm(int i){
volatile TIM_TypeDef *TIM = mottimers[i];
TIM->CR1 = 0;
TIM->PSC = MOTORTIM_PSC - 1; // 64kHz
// PWM mode 1 (OCxM = 110), preload enable
TIM->CCMR1 = TIM_CCMR1_OC1M_2; // Force inactive
TIM->CCER = TIM_CCER_CC1E; // turn it on, active high
TIM->CCR1 = 1; // 20.8us for pulse duration, according to datasheet 1.9us is enough
TIM->BDTR |= TIM_BDTR_MOE; // enable main output
TIM->EGR |= TIM_EGR_UG; // force update generation
TIM->DIER = TIM_DIER_CC1IE; // allow CC interrupt (we should count steps)
TIM->CR1 = TIM_CR1_ARPE; // buffered ARR
TIM->PSC = MOTORTIM_PSC; // 64kHz
// PWM mode 1 (active -> inactive)
TIM->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
#if MOTORTIM_ARRMIN < 5
#error "change the code!"
#endif
TIM->CCR1 = MOTORTIM_ARRMIN - 3; // ~10us for pulse duration
TIM->CNT = 0;
TIM->ARR = 0xffff;
// TIM->EGR = TIM_EGR_UG; // generate update to refresh ARR
TIM->BDTR |= TIM_BDTR_MOE; // enable main output
TIM->CCER = TIM_CCER_CC1E; // turn it on, active high
TIM->DIER = TIM_DIER_CC1IE; // allow CC interrupt (we should count steps)
//TIM->CR1 = TIM_CR1_CEN;
NVIC_EnableIRQ(motirqs[i]);
}
@@ -128,17 +133,20 @@ void timers_setup(){
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN | RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM14EN;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN | RCC_APB2ENR_TIM15EN | RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN; // enable clocking
// setup PWM @ TIM17 - single PWM channel
// PWM mode 1 (active -> inactive)
TIM17->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
TIM17->PSC = 5; // 8MHz for 31kHz PWM
TIM17->ARR = 254; // ARR for 8-bit PWM
TIM17->CCR1 = 0; // level=0
TIM17->BDTR |= TIM_BDTR_MOE; // enable main output
TIM17->CCER = TIM_CCER_CC1E; // enable PWM output
TIM17->CR1 |= TIM_CR1_CEN; // enable timer
TIM17->CR1 = TIM_CR1_CEN; // enable timer
for(int i = 0; i < MOTORSNO; ++i)
setup_mpwm(i);
for(int i = 0; i < MOTORSNO; ++i){
if(the_conf.motflags[i].haveencoder){ // motor have the encoder
//if(the_conf.motflags[i].haveencoder){ // motor have the encoder
setup_enc(i);
}
//}
}
}
@@ -189,23 +197,27 @@ uint8_t MSB(uint16_t val){
return ((uint8_t)r + bval[val]);
}
// state 1 - pressed, 0 - released (pin active is zero)
uint8_t ESW_state(uint8_t x){
uint8_t val = ((ESWports[x]->IDR & ESWpins[x]) ? 0 : 1);
if(the_conf.motflags[x].eswinv) val = !val;
return val;
}
void tim14_isr(){
//TIM14->CR1 &= ~TIM_CR1_CEN;
addmicrostep(1);
TIM14->SR = 0;
TIM14->CR1 &= TIM_CR1_CEN;
DBG("UP1");
//addmicrostep(1);
}
void tim15_isr(){
//TIM15->CR1 &= ~TIM_CR1_CEN;
addmicrostep(0);
TIM15->SR = 0;
TIM15->CR1 &= TIM_CR1_CEN;
DBG("UP0");
//addmicrostep(0);
}
void tim16_isr(){
//TIM16->CR1 &= ~TIM_CR1_CEN;
addmicrostep(2);
TIM16->SR = 0;
TIM16->CR1 &= TIM_CR1_CEN;
DBG("UP2");
//addmicrostep(2);
}