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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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19
F0-nolib/3steppersLB/hardware.h
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@@ -26,12 +26,10 @@
#ifndef PCLK
#define PCLK (48000000)
#endif
// motor frequency in mictosteps - 96kHz
#ifndef MOTORFREQ
#define MOTORFREQ (96000)
#endif
// motors' timer PSC
#define MOTORTIM_PSC (PCLK/MOTORFREQ)
// motors' timer PSC = PCLK/Tfreq - 1, Tfreq=16MHz
#define MOTORTIM_PSC (2)
// minimal ARR value - 99 for 5000 steps per second @ 32 microsteps/step
#define MOTORTIM_ARRMIN (99)
// default CAN bus speed in kbaud
#define DEFAULT_CAN_SPEED (250)
@@ -168,8 +166,6 @@ extern const uint32_t BTNpins[BTNSNO];
// ESW ports & pins
extern volatile GPIO_TypeDef *ESWports[ESWNO];
extern const uint32_t ESWpins[ESWNO];
// state 1 - pressed, 0 - released (pin active is zero)
#define ESW_state(x) ((ESWports[x]->IDR & ESWpins[x]) ? 0 : 1)
// motors
#define MOTORSNO (3)
@@ -181,12 +177,12 @@ extern volatile GPIO_TypeDef *DIRports[MOTORSNO];
extern const uint32_t DIRpins[MOTORSNO];
#define MOTOR_CW(x) do{ pin_set(DIRports[x], DIRpins[x]); }while(0)
#define MOTOR_CCW(x) do{ pin_clear(DIRports[x], DIRpins[x]); }while(0)
// minimal motor speed - steps per second
#define MOTORMINSPEED (10)
// interval of velocity checking (10ms)
#define MOTCHKINTERVAL (10)
// maximal ticks of encoder per step
#define MAXENCTICKSPERSTEP (100)
#define MAXENCTICKSPERSTEP (100)
// amount of full steps per revolution
#define STEPSPERREV (200)
extern volatile uint32_t Tms;
@@ -195,6 +191,7 @@ extern volatile TIM_TypeDef *mottimers[];
// timers for encoders
extern volatile TIM_TypeDef *enctimers[];
uint8_t ESW_state(uint8_t x);
void gpio_setup();
void iwdg_setup();
void timers_setup();