eddy/stm32samples
1
0
Fork 0
mirror of https://github.com/eddyem/stm32samples.git synced 2026-02-28 11:54:30 +03:00
Code Issues Packages Projects Releases Wiki Activity

some fixes of old bugs

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

54
F3:F303/Multistepper/steppers.c
View File

@@ -18,11 +18,13 @@
#include "flash.h"
#include "hardware.h"
#include "hdr.h"
#include "pdnuart.h"
#include "proto.h"
#include "steppers.h"
#include "strfunc.h"
#include "usb.h"
#include "tmc2209.h"
#include "usb_dev.h"
// goto zero stages
typedef enum{
@@ -174,10 +176,13 @@ static int esw_block(uint8_t i){
uint8_t s = ESW_state(i);
if(s){ // ESW active
switch(ESW_reaction[i]){
case ESW_IGNORE1:
if(motdir[i] == -1 && (s & 1)) ret = TRUE; // stop @ESW0
break;
case ESW_ANYSTOP: // stop motor in any direction
ret = TRUE;
break;
case ESW_STOPMINUS: // stop only @ given direction
case ESW_STOPDIR: // stop only @ given direction
if(motdir[i] == -1 && (s & 1)) ret = TRUE; // stop @ESW0
if(motdir[i] == 1 && (s & 2)) ret = TRUE; // stop @ESW1
break;
@@ -262,6 +267,15 @@ stp_state getmotstate(uint8_t i){
return state[i];
}
// get DIAGN input
uint8_t motdiagn(uint8_t i){
if(i > MOTORSNO-1) return 0;
DIAGMUL(i);
// small stupid pause
for(int _ = 0; _ < 1000; ++_) nop();
return DIAG();
}
// count steps @tim 14/15/16
void addmicrostep(uint8_t i){
static volatile uint16_t microsteps[MOTORSNO] = {0}; // current microsteps position
@@ -310,7 +324,34 @@ void addmicrostep(uint8_t i){
// check state of i`th stepper
static void chkstepper(int i){
int32_t i32;
uint32_t u32;
static uint8_t stopctr[MOTORSNO] = {0}; // counters for encoders/position zeroing after stopping @ esw
// check DIAGN only for UART/SPI
if(the_conf.motflags[i].drvtype == DRVTYPE_UART || the_conf.motflags[i].drvtype == DRVTYPE_SPI){
if(motdiagn(i) && state[i] != STP_ERR){ // error occured - DIAGN is low
DBG("Oldstate: "); USB_putbyte('0' + state[i]); newline();
char Nm = '0'+i;
USB_sendstr(STR_STATE); USB_putbyte(Nm); USB_sendstr("=6\n");
switch(the_conf.motflags[i].drvtype){
case DRVTYPE_UART:
pdnuart_setmotno(i);
if(pdnuart_readreg(TMC2209Reg_GSTAT, &u32)){
USB_sendstr("GSTAT"); USB_putbyte(Nm); USB_putbyte('=');
USB_sendstr(u2str(u32)); newline();
}
if(pdnuart_readreg(TMC2209Reg_DRV_STATUS, &u32)){
USB_sendstr("DRV_STATUS"); USB_putbyte(Nm); USB_putbyte('=');
USB_sendstr(u2str(u32)); newline();
}
break;
default:
break;
}
emstopmotor(i);
state[i] = STP_ERR;
return;
}
}
#ifdef EBUG
if(stp[i]){
stp[i] = 0;
@@ -391,13 +432,14 @@ static void chkstepper(int i){
mvzerostate[i] = M0RELAX;
ESW_reaction[i] = the_conf.ESW_reaction[i];
}else{
DBG("->SLOW+");
mvzerostate[i] = M0SLOW;
stopctr[i] = 0;
}
}
break;
case M0SLOW:
if(0 == ESW_state(i)){ // moved out of limit switch - can stop
if(0 == (ESW_state(i) & 1)){ // moved out of limit switch - can stop
emstopmotor(i);
}
if((state[i] == STP_RELAX || state[i] == STP_STALL) && ++stopctr[i] > 5){ // wait at least 50ms
@@ -417,8 +459,8 @@ static void chkstepper(int i){
errcodes motor_goto0(uint8_t i){
errcodes e = motor_absmove(i, -the_conf.maxsteps[i]);
if(ERR_OK != e){
if(!ESW_state(i)) return e; // not @ limit switch -> error
}else ESW_reaction[i] = ESW_STOPMINUS;
if(!esw_block(i)) return e; // limit switch not block -> error
}else ESW_reaction[i] = ESW_IGNORE1;
mvzerostate[i] = M0FAST;
return e;
}
@@ -452,6 +494,8 @@ void process_steppers(){
static uint32_t Tlast = 0;
if(Tms - Tlast < MOTCHKINTERVAL) return; // hit every 10ms
Tlast = Tms;
static int firstrun = 1;
if(firstrun){ firstrun = 0; init_steppers(); return; }
for(int i = 0; i < MOTORSNO; ++i){
chkstepper(i);
}