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fixed bugs in multistepper: eeprom in flash + adc, tested on TMC2130, but don't work on TMC2230

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This commit is contained in:
Edward Emelianov
2023-02-24 23:29:34 +03:00
parent 1a8345d4f0
commit 59d8f8f515
18 changed files with 172 additions and 130 deletions
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27
F3:F303/Multistepper/hardware.c
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@@ -18,6 +18,7 @@
#include "flash.h"
#include "hardware.h"
#include "steppers.h"
// Buttons: PA9, PA10, PF6, PD3, PD4, PD5, pullup (active - 0)
volatile GPIO_TypeDef* const BTNports[BTNSNO] = {GPIOA, GPIOA, GPIOF, GPIOD, GPIOD, GPIOD};
@@ -76,11 +77,11 @@ static IRQn_Type motirqs[MOTORSNO] = {
uint8_t ESW_state(uint8_t MOTno){
uint8_t val = 0;
if(the_conf.isSPI){ // only ESW0 used
val = ((ESWports[MOTno][0]->IDR & ESWpins[MOTno][0]) ? 0 : 1);
val = ((ESWports[MOTno][0]->IDR & ESWpins[MOTno][0]) ? 1 : 0);
if(the_conf.motflags[MOTno].eswinv) val ^= 1;
return val;
}else for(int i = 0; i < 2; ++i){
val |= ((ESWports[MOTno][i]->IDR & ESWpins[MOTno][i]) ? 0 : 1) << i;
val |= ((ESWports[MOTno][i]->IDR & ESWpins[MOTno][i]) ? 1 : 0) << i;
}
if(the_conf.motflags[MOTno].eswinv) val ^= 3;
return val;
@@ -221,9 +222,13 @@ static void setup_mpwm(int i){
}
void mottimers_setup(){
for(int i = 0; i < MOTORSNO; ++i) setup_mpwm(i);
}
void hw_setup(){
gpio_setup();
for(int i = 0; i < MOTORSNO; ++i) setup_mpwm(i);
mottimers_setup();
#ifndef EBUG
iwdg_setup();
#endif
@@ -232,34 +237,34 @@ void hw_setup(){
// timers for motors: 0:t15c1, 1:t16c1, 2:t17c1, 3:t2ch1, 4:t8ch1, 5:t4c1, 6:t1c1, 7:t3c3
void tim1_cc_isr(){
// addmicrostep(6);
addmicrostep(6);
TIM1->SR = 0;
}
void tim2_isr(){
// addmicrostep(3);
addmicrostep(3);
TIM2->SR = 0;
}
void tim3_isr(){
// addmicrostep(7);
addmicrostep(7);
TIM3->SR = 0;
}
void tim4_isr(){
// addmicrostep(5);
addmicrostep(5);
TIM4->SR = 0;
}
void tim8_cc_isr(){
// addmicrostep(4);
addmicrostep(4);
TIM8->SR = 0;
}
void tim1_brk_tim15_isr(){
// addmicrostep(0);
addmicrostep(0);
TIM15->SR = 0;
}
void tim1_up_tim16_isr(){
// addmicrostep(1);
addmicrostep(1);
TIM16->SR = 0;
}
void tim1_trg_com_tim17_isr(){
// addmicrostep(2);
addmicrostep(2);
TIM17->SR = 0;
}