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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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9
F3:F303/Multistepper/commonproto.c
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@ -359,9 +359,14 @@ errcodes cu_motmul(uint8_t _U_ par, int32_t _U_ *val){
return ERR_BADCMD;
}
// witout parameter - reinit all steppers; with parameter - just update current
errcodes cu_motreinit(uint8_t _U_ par, int32_t _U_ *val){
NOPARCHK(par);
init_steppers();
uint8_t n = PARBASE(par);
if(n == CANMESG_NOPAR) init_steppers();
else{
if(n > MOTORSNO - 1) return ERR_BADPAR;
if(!update_stepper(n)) return ERR_CANTRUN;
}
return ERR_OK;
}

66
F3:F303/Multistepper/esprif.conf Normal file
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@ -0,0 +1,66 @@
canspeed=100
canid=1
microsteps0=32
accel0=3000
maxspeed0=2000
minspeed0=20
maxsteps0=500000
motcurrent0=31
motflags0=0x69
eswreact0=1
microsteps1=32
accel1=3000
maxspeed1=2000
minspeed1=20
maxsteps1=500000
motcurrent1=31
motflags1=0x69
eswreact1=1
microsteps2=32
accel2=2000
maxspeed2=1000
minspeed2=20
maxsteps2=500000
motcurrent2=31
motflags2=0x69
eswreact2=1
microsteps3=32
accel3=2000
maxspeed3=1000
minspeed3=20
maxsteps3=500000
motcurrent3=31
motflags3=0x78
eswreact3=0
microsteps4=32
accel4=2000
maxspeed4=2000
minspeed4=20
maxsteps4=500000
motcurrent4=31
motflags4=0x68
eswreact4=0
microsteps5=32
accel5=500
maxspeed5=2000
minspeed5=20
maxsteps5=500000
motcurrent5=31
motflags5=0x68
eswreact5=0
microsteps6=32
accel6=500
maxspeed6=2000
minspeed6=20
maxsteps6=500000
motcurrent6=31
motflags6=0x68
eswreact6=0
microsteps7=32
accel7=500
maxspeed7=2000
minspeed7=20
maxsteps7=500000
motcurrent7=31
motflags7=0x68
eswreact7=0

17
F3:F303/Multistepper/hardware.c
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@ -103,8 +103,8 @@ TRUE_INLINE void gpio_setup(){
RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOCEN | RCC_AHBENR_GPIODEN
| RCC_AHBENR_GPIOEEN | RCC_AHBENR_GPIOFEN;
// enable timers: 1,2,3,4,8,15,16,17
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN | RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM4EN;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN | RCC_APB2ENR_TIM8EN | RCC_APB2ENR_TIM15EN | RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN;
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN | RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM4EN; // 36MHz
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN | RCC_APB2ENR_TIM8EN | RCC_APB2ENR_TIM15EN | RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN; // 72MHz
for(int i = 0; i < 10000; ++i) nop();
GPIOA->ODR = 0;
GPIOA->AFR[0] = AFRf(5, 5) | AFRf(5, 6) | AFRf(5, 7);
@ -194,28 +194,33 @@ TRUE_INLINE void iwdg_setup(){
static void setup_mpwm(int i){
volatile TIM_TypeDef *TIM = mottimers[i];
TIM->CR1 = TIM_CR1_ARPE; // buffered ARR
TIM->PSC = MOTORTIM_PSC; // 26MHz
TIM->PSC = MOTORTIM_PSC; // 24MHz
// PWM mode 1 (active -> inactive)
uint8_t n = mottchannels[i];
volatile uint32_t *CCRx = &TIM->CCR1;
switch(n){
case 1:
TIM->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
//CCRx = &TIM->CCR1;
break;
case 2:
TIM->CCMR1 = TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1;
//CCRx = &TIM->CCR2;
break;
case 3:
TIM->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
//CCRx = &TIM->CCR3;
break;
default:
TIM->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
//CCRx = &TIM->CCR4;
}
#if MOTORTIM_ARRMIN < 5
#error "change the code!"
#endif
TIM->CCR1 = MOTORTIM_ARRMIN - 3; // ~10us for pulse duration
TIM->ARR = 0xffff;
// TIM->EGR = TIM_EGR_UG; // generate update to refresh ARR
CCRx[n-1] = MOTORTIM_ARRMIN - 3; // ~10us for pulse duration
TIM->ARR = MOTORTIM_ARRMIN * 2;
TIM->EGR = TIM_EGR_UG; // generate update to refresh ARR
TIM->BDTR |= TIM_BDTR_MOE; // enable main output
TIM->CCER = 1<<((n-1)*4); // turn it on, active high
TIM->DIER = 1<<n; // allow CC interrupt (we should count steps)

BIN
F3:F303/Multistepper/multistepper.bin
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Binary file not shown.

2
F3:F303/Multistepper/multistepper.creator.user
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@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 18.0.1, 2026-01-16T15:01:28. -->
<!-- Written by QtCreator 18.0.1, 2026-01-20T16:33:49. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>

34
F3:F303/Multistepper/pdnuart.c
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@ -184,25 +184,47 @@ int pdnuart_setcurrent(uint8_t no, uint8_t val){
return writeregister(no, TMC2209Reg_IHOLD_IRUN, regval.value);
}
// set microsteps over UART
// set microsteps over UART && clear error flags
int pdnuart_microsteps(uint8_t no, uint32_t val){
if(val > 256) return FALSE;
TMC2209_chopconf_reg_t regval;
if(!readregister(no, TMC2209Reg_CHOPCONF, &regval.value)) return FALSE;
if(val == 256) regval.mres = 0;
else regval.mres = 8 - MSB(val);
return writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
uint32_t toff = regval.toff;
if(toff == 0) toff = 1;
regval.toff = 0; // disable drive to clear errors
int e = writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
TMC2209_gstat_reg_t stat = {.value = 0};
stat.drv_err = 1;
// clear error flags
if(!writeregister(no, TMC2209Reg_GSTAT, stat.value)) e = FALSE;
regval.toff = toff; // now enable drive
if(!writeregister(no, TMC2209Reg_CHOPCONF, regval.value)) e = FALSE;
return e;
}
// 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;
if(!pdnuart_microsteps(no, the_conf.microsteps[no])){
USB_sendstr("No usteps\n");
return FALSE;
}
if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])){
USB_sendstr("No current\n");
return FALSE;
}
if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)){
USB_sendstr("Can't read GCONF\n");
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(!writeregister(no, TMC2209Reg_GCONF, gconf.value)){
USB_sendstr("Can't write GCONF\n");
return FALSE;
}
return TRUE;
}

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();

4
F3:F303/Multistepper/stty Executable file
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@ -0,0 +1,4 @@
#!/bin/bash
stty -F /dev/multistepper0 -brkint -icrnl -imaxbel -opost -onlcr -isig -icanon -iexten -echo -echoe -echok -echoctl -echoke min 0 time 5
while read x; do echo $x > /dev/multistepper0; cat /dev/multistepper0; done < esprif.conf

4
F3:F303/Multistepper/version.inc
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@ -1,2 +1,2 @@
#define BUILD_NUMBER "205"
#define BUILD_DATE "2026-01-16"
#define BUILD_NUMBER "212"
#define BUILD_DATE "2026-01-20"

4
F3:F303/inc/Fx/common_macros.h
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@ -44,10 +44,6 @@
#define NULL (0)
#endif
#ifndef _U_
#define _U_ __attribute__((__unused__))
#endif
// some good things from CMSIS
#define nop() __NOP()