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some fixes of old bugs

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This commit is contained in:
Edward Emelianov
2025-02-05 17:49:07 +03:00
parent a22776d487
commit 6eb0662f69
28 changed files with 1467 additions and 566 deletions
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39
F3:F303/Multistepper/pdnuart.c
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@@ -70,7 +70,10 @@ void pdnuart_setup(){
}
static int rwreg(uint8_t reg, uint32_t data, int w){
if(motorno >= MOTORSNO || reg & 0x80) return FALSE;
if(motorno >= MOTORSNO || reg & 0x80){
DBG("Wrong motno or reg");
return FALSE;
}
uint32_t x = Tms;
while(Tms - x < 1);
int no = motorno >> 2;
@@ -90,13 +93,24 @@ static int rwreg(uint8_t reg, uint32_t data, int w){
calcCRC(outbuf, nbytes);
++nbytes;
for(int i = 0; i < nbytes; ++i){
IWDG->KR = IWDG_REFRESH;
/*
#ifdef EBUG
USB_sendstr("Send byte "); USB_putbyte('0'+i); USB_sendstr(": "); printuhex(outbuf[i]); newline();
#endif
*/
USART[no]->TDR = outbuf[i]; // transmit
while(!(USART[no]->ISR & USART_ISR_TXE));
int l = 0;
for(; l < 10000; ++l) if(USART[no]->ISR & USART_ISR_RXNE) break;
// clear Rx
(void) USART[no]->RDR;
/*
#ifdef EBUG
if(l == 10000) USND("Nothing received");
else {USB_sendstr("Rcv: "); printuhex(USART[no]->RDR); newline();}
#endif
*/
}
return TRUE;
}
@@ -113,10 +127,18 @@ int pdnuart_readreg(uint8_t reg, uint32_t *data){
uint8_t buf[8];
int no = motorno >> 2;
for(int i = 0; i < 8; ++i){
IWDG->KR = IWDG_REFRESH;
while(!(USART[no]->ISR & USART_ISR_RXNE))
if(Tms - Tstart > PDNU_TMOUT) return FALSE;
if(Tms - Tstart > PDNU_TMOUT){
DBG("Read timeout");
return FALSE;
}
buf[i] = USART[no]->RDR;
USB_sendstr("byte: "); printuhex(buf[i]); newline();
/*
#ifdef EBUG
USB_sendstr("Read byte: "); printuhex(buf[i]); newline();
#endif
*/
}
uint32_t o = 0;
for(int i = 3; i < 7; ++i){
@@ -153,9 +175,12 @@ int pdnuart_setmotno(uint8_t no){
// write val into IHOLD_IRUN over UART to n'th motor
int pdnuart_setcurrent(uint8_t no, uint8_t val){
TMC2209_ihold_irun_reg_t regval;
if(!readregister(no, TMC2209Reg_IHOLD_IRUN, &regval.value)) return FALSE;
TMC2209_ihold_irun_reg_t regval = {0};
// IHOLD_IRUN is write-only register, so we should write all values!!!
//if(!readregister(no, TMC2209Reg_IHOLD_IRUN, &regval.value)) return FALSE;
if(the_conf.motflags[no].donthold == 0) regval.ihold = (1+val)/2; // hold current
regval.irun = val;
regval.iholddelay = 1; // 2^18 clock delay before power down motor
return writeregister(no, TMC2209Reg_IHOLD_IRUN, regval.value);
}
@@ -172,12 +197,12 @@ int pdnuart_microsteps(uint8_t no, uint32_t val){
// init driver number `no`, return FALSE if failed
int pdnuart_init(uint8_t no){
TMC2209_gconf_reg_t gconf;
if(!pdnuart_microsteps(no, the_conf.microsteps[no])) return FALSE;
if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])) return FALSE;
if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)) return FALSE;
gconf.pdn_disable = 1; // PDN now is UART
gconf.mstep_reg_select = 1; // microsteps are by MSTEP
if(!writeregister(no, TMC2209Reg_GCONF, gconf.value)) return FALSE;
if(!pdnuart_microsteps(no, the_conf.microsteps[no])) return FALSE;
if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])) return FALSE;
return TRUE;
}