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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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75
F3:F303/Multistepper/steppers.c
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@@ -30,22 +30,12 @@ typedef enum{
M0SLOW // slowest move from ESW
} mvto0state;
typedef enum{
STALL_NO, // moving OK
STALL_ONCE, // Nstalled < limit
STALL_STOP // Nstalled >= limit
} t_stalled;
#ifdef EBUG
static uint8_t stp[MOTORSNO] = {0};
#endif
static t_stalled stallflags[MOTORSNO];
// motors' direction: 1 for positive, -1 for negative (we need it as could be reverse)
static int8_t motdir[MOTORSNO];
// direction of moving when stalled (forbid moving in that direction before go out of position)
static int8_t stalleddir[MOTORSNO] = {0};
// current position (in steps) by STP counter
static volatile int32_t stppos[MOTORSNO] = {0};
// previous position when check (set to current in start of moving)
@@ -67,8 +57,6 @@ static stp_state state[MOTORSNO];
// move to zero state
static mvto0state mvzerostate[MOTORSNO];
static int8_t Nstalled[MOTORSNO] = {0}; // counter of STALL
// lowest ARR value (highest speed), highest (lowest speed)
//static uint16_t stphighARR[MOTORSNO];
// microsteps=1<<ustepsshift
@@ -88,20 +76,26 @@ TRUE_INLINE void recalcARR(int i){
curspeed[i] = (((PCLK/(MOTORTIM_PSC+1)) / (ARR+1)) >> ustepsshift[i]); // recalculate speed due to new val
}
// update stepper's settings
void update_stepper(uint8_t i){
if(i >= MOTORSNO) return;
accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
ustepsshift[i] = MSB(the_conf.microsteps[i]);
ESW_reaction[i] = the_conf.ESW_reaction[i];
}
// run this function after each steppers parameters changing
void init_steppers(){
mottimers_setup(); // reinit timers
// init variables
for(int i = 0; i < MOTORSNO; ++i){
stalleddir[i] = 0; // clear old stall direction
stopflag[i] = 0;
motdir[i] = 0;
curspeed[i] = 0;
accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
state[i] = STP_RELAX;
ustepsshift[i] = MSB(the_conf.microsteps[i]);
if(!the_conf.motflags[i].donthold) MOTOR_EN(i);
else MOTOR_DIS(i);
ESW_reaction[i] = the_conf.ESW_reaction[i];
update_stepper(i);
}
}
@@ -176,7 +170,7 @@ static int esw_block(uint8_t i){
break;
case ESW_STOPMINUS: // stop only @ given direction
if(motdir[i] == -1 && (s & 1)) ret = TRUE; // stop @ESW0
if(motdir[i] == 1 && (s & 3)) ret = TRUE; // stop @ESW1
if(motdir[i] == 1 && (s & 2)) ret = TRUE; // stop @ESW1
break;
default: // ESW_IGNORE
break;
@@ -194,11 +188,6 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
case STP_RELAX:
break;
case STP_STALL:
DBG("Move from STALL");
if(dir == stalleddir[i]){
DBG("Move to stalled direction!");
return ERR_CANTRUN; // can't run into stalled direction
}
break;
default: // moving state
DBG("Is moving");
@@ -213,7 +202,6 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
DBG("Block by ESW");
return ERR_CANTRUN; // on end-switch
}
Nstalled[i] = (state[i] == STP_STALL) ? -(NSTALLEDMAX*4) : 0; // give some more chances to go out of stall state
stopflag[i] = 0;
targstppos[i] = newpos;
prevstppos[i] = stppos[i];
@@ -221,10 +209,10 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
state[i] = STP_ACCEL;
calcacceleration(i);
#ifdef EBUG
USND("MOTOR"); USB_putbyte('0'+i);
USND(" targstppos="); printi(targstppos[i]);
USND(", decelstart="); printi(decelstartpos[i]);
USND(", accdecsteps="); printu(accdecsteps[i]); newline();
USB_sendstr("MOTOR"); USB_putbyte('0'+i);
USB_sendstr(" targstppos="); printi(targstppos[i]);
USB_sendstr(", decelstart="); printi(decelstartpos[i]);
USB_sendstr(", accdecsteps="); printu(accdecsteps[i]); newline();
#endif
MOTOR_EN(i);
mottimers[i]->CR1 |= TIM_CR1_CEN; // start timer
@@ -288,12 +276,7 @@ void addmicrostep(uint8_t i){
stopflag[i] = 0;
if(the_conf.motflags[i].donthold)
MOTOR_DIS(i); // turn off power
if(stallflags[i] == STALL_STOP){
stallflags[i] = STALL_NO;
state[i] = STP_STALL;
}else{
state[i] = STP_RELAX;
}
state[i] = STP_RELAX;
#ifdef EBUG
stp[i] = 1;
#endif
@@ -305,8 +288,8 @@ void addmicrostep(uint8_t i){
#define TODECEL() do{state[i] = STP_DECEL; \
startspeed[i] = curspeed[i]; \
Taccel[i] = Tms; \
USND("MOTOR"); USB_putbyte('0'+i); \
USND(" -> DECEL@"); printi(stppos[i]); USND(", V="); printu(curspeed[i]); newline(); \
USB_sendstr("MOTOR"); USB_putbyte('0'+i); \
USB_sendstr(" -> DECEL@"); printi(stppos[i]); USB_sendstr(", V="); printu(curspeed[i]); newline(); \
}while(0)
#else
#define TODECEL() do{state[i] = STP_DECEL; \
@@ -322,22 +305,22 @@ static void chkstepper(int i){
#ifdef EBUG
if(stp[i]){
stp[i] = 0;
// motor state could be changed outside of interrupt, so return it to relax or leave in STALL
// motor state could be changed outside of interrupt, so return it to relax
state[i] = STP_RELAX;
USND("MOTOR"); USB_putbyte('0'+i); USND(" stop @"); printi(stppos[i]);
USND(", curstate="); printu(state[i]); newline();
USB_sendstr("MOTOR"); USB_putbyte('0'+i); USB_sendstr(" stop @"); printi(stppos[i]);
USB_sendstr(", V="); printu(curspeed[i]);
USB_sendstr(", curstate="); printu(state[i]); newline();
}
#endif
switch(state[i]){
case STP_ACCEL: // acceleration to max speed
//newspeed = curspeed[i] + dV[i];
i32 = the_conf.minspd[i] + (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
if(i32 >= the_conf.maxspd[i]){ // max speed reached -> move with it
curspeed[i] = the_conf.maxspd[i];
state[i] = STP_MOVE;
#ifdef EBUG
USND("MOTOR"); USB_putbyte('0'+i);
USND(" -> MOVE@"); printi(stppos[i]); USND(", V="); printu(curspeed[i]); newline();
USB_sendstr("MOTOR"); USB_putbyte('0'+i);
USB_sendstr(" -> MOVE@"); printi(stppos[i]); USB_sendstr(", V="); printu(curspeed[i]); newline();
#endif
}else{ // increase speed
curspeed[i] = i32;
@@ -375,8 +358,8 @@ static void chkstepper(int i){
curspeed[i] = the_conf.minspd[i];
state[i] = STP_MVSLOW;
#ifdef EBUG
USND("MOTOR"); USB_putbyte('0'+i);
USND(" -> MVSLOW@"); printi(stppos[i]); newline();
USB_sendstr("MOTOR"); USB_putbyte('0'+i);
USB_sendstr(" -> MVSLOW@"); printi(stppos[i]); newline();
#endif
}
recalcARR(i);
@@ -388,11 +371,11 @@ static void chkstepper(int i){
case M0FAST:
if(state[i] == STP_RELAX || state[i] == STP_STALL){ // stopped -> move to +
#ifdef EBUG
USB_putbyte('M'); USB_putbyte('0'+i); USND("FAST: motor stopped\n");
USB_putbyte('M'); USB_putbyte('0'+i); USB_sendstr("FAST: motor stopped\n");
#endif
if(ERR_OK != motor_relslow(i, 1000)){
#ifdef EBUG
USND("Can't move\n");
USND("Can't move");
#endif
DBG("->ERR");
state[i] = STP_ERR;
@@ -410,7 +393,7 @@ static void chkstepper(int i){
}
if((state[i] == STP_RELAX || state[i] == STP_STALL) && ++stopctr[i] > 5){ // wait at least 50ms
#ifdef EBUG
USB_putbyte('M'); USB_putbyte('0'+i); USND("SLOW: motor stopped\n");
USB_putbyte('M'); USB_putbyte('0'+i); USND("SLOW: motor stopped");
#endif
ESW_reaction[i] = the_conf.ESW_reaction[i];
prevstppos[i] = targstppos[i] = stppos[i] = 0;