From 64aac0d9fa85e873a4b6ca8b6d0dcd6e53ef06cd Mon Sep 17 00:00:00 2001 From: Edward Emelianov Date: Thu, 2 Mar 2023 21:49:32 +0300 Subject: [PATCH] Oh, fucking shit! It's seems like it's works!!! --- F3:F303/Multistepper/commonproto.c | 3 ++- F3:F303/Multistepper/main.c | 4 ---- F3:F303/Multistepper/multistepper.bin | Bin 30300 -> 30316 bytes F3:F303/Multistepper/pdnuart.c | 4 ++-- F3:F303/Multistepper/steppers.c | 8 ++++++++ F3:F303/Multistepper/version.inc | 4 ++-- 6 files changed, 14 insertions(+), 9 deletions(-) diff --git a/F3:F303/Multistepper/commonproto.c b/F3:F303/Multistepper/commonproto.c index 169c51c..562dfae 100644 --- a/F3:F303/Multistepper/commonproto.c +++ b/F3:F303/Multistepper/commonproto.c @@ -236,6 +236,7 @@ errcodes cu_mcuvdd(uint8_t par, int32_t *val){ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){ uint8_t n; CHECKN(n, par); + USB_sendstr("===> val="); printi(*val); newline(); if(ISSETTER(par)){ #if MICROSTEPSMAX > 512 #error "Change the code anywhere!" @@ -270,7 +271,7 @@ errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){ errcodes cu_motcurrent(uint8_t par, int32_t *val){ uint8_t n; CHECKN(n, par); if(ISSETTER(par)){ - if(*val < 1 || *val > 32) return ERR_BADVAL; + if(*val < 0 || *val > 31) return ERR_BADVAL; the_conf.motcurrent[n] = *val; motflags_t *f = the_conf.motflags; if(f->drvtype == DRVTYPE_UART){ diff --git a/F3:F303/Multistepper/main.c b/F3:F303/Multistepper/main.c index 86aaa0c..6fa117f 100644 --- a/F3:F303/Multistepper/main.c +++ b/F3:F303/Multistepper/main.c @@ -51,10 +51,6 @@ int main(void){ adc_setup(); pdnuart_setup(); USBPU_ON(); - for(int i = 0; i < MOTORSNO; ++i){ - motflags_t flag = the_conf.motflags[i]; - if(flag.drvtype == DRVTYPE_UART) pdnuart_init(i); - } uint32_t ctr = 0; CAN_message *can_mesg; while(1){ diff --git a/F3:F303/Multistepper/multistepper.bin b/F3:F303/Multistepper/multistepper.bin index 0fc5ae46b0a1c8d60759fe89198b196403d00c5e..5ed070ab15ac08c889d13ebfc9a4a1f116d5c128 100755 GIT binary patch delta 8205 zcmbtZ33OCNx~{snJLznsvyp^=bVvfh5Xq`+fhL5eA%UQvMnDMy8gL;H#DGgDEE;7I zEm2fZFpSFbBoH#ANDQ*f;0QCF0WpXUK}lL=t3X0-@9(Rd>vN8C&YSbjej7%cZFWLLT!XlQ`ddO&;eZi9mwzg2^#^S7UkC||K8^JKK_Gj`?sJwdlAEz zz|VkaoZFumCISxv&9@Ol8{h=OApZyF|7(4s+TQm6bMk*p;MCo}i)TO&RVVdps6)zK z?+rHT_&l%4qT_ik9bco$vmgi7@y2!eSN_r05@Km{5r2D+|`~Kv?~#>JFl1S#XbM(sZ!f-(UDY#=h78s6RA|7b z^MLz3N03#=pHZcI+zse49zGK>N@g;Tn8`)b8Y&Z$QbG)^tidp0{P@q3VW01At(19} zA7kiFggnB%4f0jUx$fH_XStKgj^31_=*WPyH=6oPO0eFeBoQ4S=#EEi5*r(oaPRel zk>HW;PDcdFUTASX@Y>g%j$V)gA-x^g_H_sHF(JOl<mfqcr91^KV8Pdi9>FMGz6QI?>~f%*(Q3x{3N z7(1EUVRg{;hy2cFF+Q)be!(g9eKs!miHMKj{}bRC@EziwWM2d)B?Q90*tH&Bi(Do| z@%waqf=jf$jroI@X9v2rD$yBiUsy+oUfxrNQHn$hk5kOfY3J^~s5K=dyq&M_p!)0T zES+GxLmtTd!WmfC_!EDn1i5|Y6#iaw3Qr{M3Hxupjv(3|)z>PP8#9#9T^2b{sohl$ZfX=M|`Drg&P3>y=1 zTrri&ywZzNQbZvW3#B)+v|3I%MN~hPy8$)PVf4|96-WXJtVUhSvmKiaD zu4T(3UZfKkja(~HAKMUFLeDTqx&L?*X)^N4aB8Qf@(Jlb^RZzToh8{S^F!WLB*$Db{}UFL%r|&{4AOC1 zfT6ixQSmPpLqP#C{aBM$iovWNQug8g6}Rp0BDVhj7-k{-Wi~WAGcUj{k`3^lc1R{+ zm0_X$9XCn6*{nC6!UMQ@M$gbx?UV`OHeyTd$->Ye@eZ~%IzDKsmh0QBDLOXDtVyr2 z3(*PmbLNgtNSK6SF*g2dYhy!zDb(WY-pw*&hEm4n#H2^{ah7~aOom1Z6mx$D;Sp?m zOd{RDF2^JW8XJWDLGTp%D2wR5D04vbu!f^Sq3DTCim`{3^-oJ^37@z=?)?5W%Cd}C zl}C(}AExHPA>7HE?TxLC*x(j(G**%MOV~7IUdraiJtvV_?1#9Lh(2zy2GUR& zqgGyFh4GnDPS>4^6e{x|=x<_e$o#MDmH2TXe{)e&n}VpnB>L$1 z-7j4~^(^Ggz&arPXJuUF`KK~oBi4w^`4X1EL;0Re`N`GF)w-;tpUHeK2;^TFz7)U!Dx zscD(SaD+%)@yXn*CKc-{f-l<$bq9%1je5EGOA>d$WTwb||*wnE}7U~$B0NVjz^+$*BJ;k=t-`6;VN(@DJNjF@wA4(f~Y1fGc@ zC{Lmsg|Y}J0mw|e4S;B12+#=(14>aRo}*4Sv9B$t@56z0->}2W~U>t(?j>?-*g6{(?NIW zH(ieKN1)sPo6anB6uOUkbiG920-=^)CFi^C zS(8})<96|D>wM#5YKg;=evWkvXtqT=2e(tp6IQ}6`;x&Pw^H7s^aooArg!!M6V}8T zqcOK))YvU0L}MLFfXWEJ<)a#F^n2PwTf#^CyH!T{_sR{8wJ28wv%&Rgj=22HnAc?oO~ zbdUL0Yr2JsO=I(w6)GeATmMsFw^{w&i(TcK?rfI(G0;8;a<}q`s-(O~nFH1vx(UiG zO_#6S4;G0akFv!na}(Y!B#GqJ8D#^wEX^ntERu(Y8|~z+P3(F~f4Yu^4~(HNviAnY zCv2d%&e#h3l##^z&Z?|Fu7`zzk=C@8>?hbd*V~ z95>Ex*mTaI?sNAZ_3S2b=Js~m{5lIsJ=I*?Nfy(OBz_97b@_a7v$y-K?;S_9RpKAG z6-N}x_uU5^^drg-I!WqvyTspiU%{)Num!0@BX(d1sRBp_PQ;dQl zUE=Uya>pyQsRV2&a)@{LcdfoHQgRRcDAbo>!;i= z;msqQX1Y#{|EW2wLzc;aD1{~zjvxDrG{D)MRr+fX()2oxcf$2Xl&vg2ZG3M7j+KEK zDV2vi45aj?EU$<3vx6;7Q*iowVn`A_&0ZZ6Wn1oyu;wh0>dG7GJM~>;k^GN}YLcwS zmr@uqU+BbEhq@5(c^VG_e@Nqj;3eQ!9D5M>z+7S&1S3}53<1~cB* zpYjItMSPvVKHt-@xeCrAN)R+($S^fGa=?a1s!24{!HquZ%#os*@E6WN0j658jbC=y@d-JZ@$pmabbN%9F zQ0gD#DDDiGbZ_PVGB)z4QZPV%`yT!Gjttb@md|4oWjn0F=%qhE$*x=me$$ zIY1n+4yXeN>>Jj}Yi^z(yJ&UKy z*s!uL)MBvEog(Me`FeX$A$_|Kb_J=<*cb@g4}3bDeJL-&?!683P5INl>kb``P(_Gl zY=|m~f)(?X!e$3-Hu#K?*ZQ_W-U9grUl`<7zE;SuLw?>D4EY(KX~qJ|*FmvNbvoHc zP520E62sv^Vupt?B!CGpGslV&UR_4u$wViXt zz+$vdtm_UJ<->iEkndEZg`u73U@vIWH698+2=AG_UdqqGK2fz)ygilysEzaeh<(2W z(K>-cKpn6RFgEB5F|f&f%W*PN+kI!lwGldmE28Nzz_}0xI61M0$J?S(l zY)($RZG)F2)7JYG-AprrzKE_+J_5EY)g)|Qnj;p*Gv2@Us4Rku>)CQk0?t2WeQe*)oV`Adql5$oSuQBWMqC)b1Ifo#J-TqP)o(9k?O+u z#j~x3ayNXn;nt4wL!O@JiS86J(%8k^7@OU5(IFR=*3?#cyB~I*$1^6rP*!7kO$W*w z(yvNuSJsgvo#jg_WnpOdCy!{o5MK9tj$=Oedc+9tQ6sGKq*b2Yx4m<*w!mk>7O9;dJj_hukq|oZJ#mt!#(T>xE_Nxx>aY-6apc3aVH0DH$JJK5s^eQ0s?1hVZ8^6< zrGKb?@Z6&+%R)L=kxuqB;W}JPWt@MZqg1Vbp*rH+Y?VD*z3AM7DjQHe3#FMWRXqb+ z^&E}|Ypu?hSj#PQNhp@fFVkh?XM+9-g;M!zDd&;dpHXp9zXb^_lNe{jzJZ*U2kSbjNFpHqPeG2)OWT$2kY1j zlmcb!?%}a1Vr8?&{9j5|d~HB)@HY;#^~3M79YRf3 z_|vApJ$>m)ZP%LYMV+UYL=|kwPi>CD9pb!ZJTiK5L-Pb4pk`c$V6()P3gv%rrCL1Q zM?8c->!doXspPWrm+t_12y)VC$W7j z{Fl3k=~vx-p4fIIGof`9bu4`<( z_ZN-X-EA6+^|fm3fa|=*=K8FKy{=J z`fxl`N9mlCni|?dP~*b)LS0)8rg9yS3|N73zzFOC`T}*p>wuxb*Zs9~T;D)DO_l9Z zhTg8T;?;}Sugorw4AR?S(^Bso879$ZS>Wj5w(^Fk$x)M{r|2)6Wt}D7f|8tH_vOon zYf=hiw|ukS-EniKF<(i}@OD@GHz|)~1W($eJZT)LM3Z-dXj;U*#9rQLvNZlwZuWKW z`CM%0mvF8>rX!|LPzI)wbLA8K-CyD68kd*F-tKZgNxqeqcXH>GRD8c321=kW1hodvP|-qw>_nK^G?zL;MtC_@e%~sbeIXUf+06g&e;PehvV~fWtr~ zpa98i;(cvVC4Qgyw#R8n{H3D+$FtP>vG;#P<2T}uAe(`0zz*O5a11!XQXcrsHnul0 z2zVp$H`6F$m;;=OA%-qsz7c=81w{SCaAN4E*$UYSySxZu*bbzl?Izgu(`-M5T#fpj z(Zp~Zlp#HZ7a; 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for(int i = 3; i < 7; ++i){ - o |= buf[i]; o <<= 8; + o |= buf[i]; } *data = o; return TRUE; @@ -165,7 +165,7 @@ int pdnuart_microsteps(uint8_t no, uint32_t val){ TMC2209_chopconf_reg_t regval; if(!readregister(no, TMC2209Reg_CHOPCONF, ®val.value)) return FALSE; if(val == 256) regval.mres = 0; - else regval.mres = MSB(val) + 1; + else regval.mres = 8 - MSB(val); return writeregister(no, TMC2209Reg_CHOPCONF, regval.value); } diff --git a/F3:F303/Multistepper/steppers.c b/F3:F303/Multistepper/steppers.c index 53a9487..da82221 100644 --- a/F3:F303/Multistepper/steppers.c +++ b/F3:F303/Multistepper/steppers.c @@ -18,6 +18,7 @@ #include "flash.h" #include "hardware.h" +#include "pdnuart.h" #include "proto.h" #include "steppers.h" #include "strfunc.h" @@ -82,6 +83,13 @@ void update_stepper(uint8_t i){ 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]; + switch(the_conf.motflags[i].drvtype){ + case DRVTYPE_UART: + pdnuart_init(i); + break; + default: + break; + } } // run this function after each steppers parameters changing diff --git a/F3:F303/Multistepper/version.inc b/F3:F303/Multistepper/version.inc index 29c91ef..79833d0 100644 --- a/F3:F303/Multistepper/version.inc +++ b/F3:F303/Multistepper/version.inc @@ -1,2 +1,2 @@ -#define BUILD_NUMBER "95" -#define BUILD_DATE "2023-03-01" +#define BUILD_NUMBER "104" +#define BUILD_DATE "2023-03-02"