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fixed some bugs

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This commit is contained in:
Edward Emelianov
2026-01-20 16:35:21 +03:00
parent 3697adba41
commit 87683a12e6
10 changed files with 148 additions and 28 deletions
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36
F3:F303/Multistepper/steppers.c
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@@ -75,8 +75,21 @@ TRUE_INLINE void recalcARR(int i){
uint32_t ARR = (((PCLK/(MOTORTIM_PSC+1)) / curspeed[i]) >> ustepsshift[i]) - 1;
if(ARR < MOTORTIM_ARRMIN) ARR = MOTORTIM_ARRMIN;
else if(ARR > 0xffff) ARR = 0xffff;
/*
#ifdef EBUG
USB_sendstr("motor"); USB_putbyte('0'+i); USB_sendstr(", ARR=");
USB_sendstr(u2str(ARR)); USB_sendstr(", curspeed=");
USB_sendstr(u2str(curspeed[i]));
#endif
*/
mottimers[i]->ARR = ARR;
curspeed[i] = (((PCLK/(MOTORTIM_PSC+1)) / (ARR+1)) >> ustepsshift[i]); // recalculate speed due to new val
/*
#ifdef EBUG
USB_sendstr(", curspeedNEW=");
USB_sendstr(u2str(curspeed[i])); newline();
#endif
*/
}
// update stepper's settings
@@ -103,10 +116,9 @@ void init_steppers(){
stopflag[i] = 0;
motdir[i] = 0;
curspeed[i] = 0;
state[i] = STP_RELAX;
if(!the_conf.motflags[i].donthold) MOTOR_EN(i);
else MOTOR_DIS(i);
update_stepper(i);
state[i] = update_stepper(i) ? STP_RELAX : STP_ERR;
}
}
@@ -148,8 +160,13 @@ static void calcacceleration(uint8_t i){
}else{ // triangle speed profile
decelstartpos[i] = stppos[i] + delta/2;
}
if(the_conf.motflags[i].reverse) MOTOR_CCW(i);
else MOTOR_CW(i);
if(the_conf.motflags[i].reverse){
DBG("positive - CCW (r)");
MOTOR_CCW(i);
}else{
DBG("positive - CW");
MOTOR_CW(i);
}
}else{ // negative direction
delta = -delta;
if(delta > 2*(int32_t)accdecsteps[i]){ // can move by trapezoid
@@ -157,8 +174,13 @@ static void calcacceleration(uint8_t i){
}else{ // triangle speed profile
decelstartpos[i] = stppos[i] - delta/2;
}
if(the_conf.motflags[i].reverse) MOTOR_CW(i);
else MOTOR_CCW(i);
if(the_conf.motflags[i].reverse){
DBG("negative - CW (r)");
MOTOR_CW(i);
}else{
DBG("negative - CCW");
MOTOR_CCW(i);
}
}
if(state[i] != STP_MVSLOW){
DBG("->accel");
@@ -365,7 +387,7 @@ static void chkstepper(int i){
if(stp[i]){
stp[i] = 0;
// motor state could be changed outside of interrupt, so return it to relax
state[i] = STP_RELAX;
//state[i] = STP_RELAX;
USB_sendstr("MOTOR"); USB_putbyte(Nch); USB_sendstr(" stop @"); printi(stppos[i]);
USB_sendstr(", V="); printu(curspeed[i]);
USB_sendstr(", curstate="); printu(state[i]); newline();