eddy/stm32samples
1
0
Fork 0
mirror of https://github.com/eddyem/stm32samples.git synced 2026-03-22 01:31:21 +03:00
Code Issues Packages Projects Releases Wiki Activity

add some code to 3steppersLB

Browse Source
This commit is contained in:
Edward Emelianov
2021-11-04 02:03:33 +03:00
parent 263d805bf6
commit 8741e2e428
10 changed files with 435 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
F0-nolib/3steppersLB/flash.h
View File

@@ -32,8 +32,8 @@
// limiting values
#define MICROSTEPSMAX (512)
// (STEPS per second per 10ms)
#define ACCELMAXSTEPS (100)
// (STEPS per second^2)
#define ACCELMAXSTEPS (1000)
// max speed IN STEPS!
#define MAXMAXSPD (10000)
// max encoder steps per rev
@@ -49,8 +49,9 @@ blocksizeASH_SIZE_REG ((uint32_t)0x1FFFF7CC)
// motor flags
typedef struct{
uint8_t reverse : 1; // reversing motor rotation
uint8_t encreverse : 1; // reversing encoder rotation
uint8_t encreverse : 1; // reversing encoder rotation TODO: configure encoder's timer to downcounting
uint8_t haveencoder : 1; // have encoder
uint8_t donthold : 1; // clear power @ stop (don't hold motor when stopped)
} motflags_t;
/*
@@ -61,11 +62,14 @@ typedef struct __attribute__((packed, aligned(4))){
uint16_t CANspeed; // default CAN speed
uint16_t CANID; // identifier
uint16_t microsteps[MOTORSNO]; // microsteps amount per step
uint16_t accel[MOTORSNO]; // acceleration/deceleration (dv microsteps/s per 10ms)
uint16_t maxspd[MOTORSNO]; // max motor speed (microsteps per second)
uint16_t accel[MOTORSNO]; // acceleration/deceleration (steps/s^2)
uint16_t maxspd[MOTORSNO]; // max motor speed (steps per second)
uint32_t maxsteps[MOTORSNO]; // maximal amount of steps
uint16_t encrev[MOTORSNO]; // encoders' counts per revolution
uint16_t encperstepmin[MOTORSNO]; // min amount of encoder ticks per one step
uint16_t encperstepmax[MOTORSNO]; // max amount of encoder ticks per one step
motflags_t motflags[MOTORSNO]; // motor's flags
uint8_t ESW_reaction[MOTORSNO]; // end-switches reaction (esw_react)
} user_conf;
extern user_conf the_conf; // global user config (read from FLASH to RAM)