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add some code to 3steppersLB

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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
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13
F0-nolib/3steppersLB/hardware.c
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@@ -85,8 +85,8 @@ static IRQn_Type motirqs[MOTORSNO] = {TIM15_IRQn, TIM14_IRQn, TIM16_IRQn};
// motor's PWM
static void setup_mpwm(int i){
TIM_TypeDef *TIM = mottimers[i];
TIM->PSC = 999; // 48kHz
TIM->ARR = 1000; // starting ARR value
TIM->CR1 = 0;
TIM->PSC = MOTORTIM_PSC - 1; // 64kHz
// PWM mode 1 (OCxM = 110), preload enable
TIM->CCMR1 = TIM_CCMR1_OC1M_2; // Force inactive
TIM->CCER = TIM_CCER_CC1E; // turn it on, active high
@@ -178,6 +178,15 @@ void Jump2Boot(){ // for STM32F072
SysMemBootJump();
}
// calculate MSB position of value `val`
// 0 1 2 3 4 5 6 7 8 9 a b c d e f
static const uint8_t bval[] = {0,0,1,1,2,2,2,2,3,3,3,3,3,3,3,3};
uint8_t MSB(uint16_t val){
register uint8_t r = 0;
if(val & 0xff00){r += 8; val >>= 8;}
if(val & 0x00f0){r += 4; val >>= 4;}
return ((uint8_t)r + bval[val]);
}
void tim14_isr(){
addmicrostep(0);