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

add some features to 3steppersLB

Browse Source
This commit is contained in:
Edward Emelianov
2023-02-21 11:55:42 +03:00
parent f880421d9e
commit ab5f7bc87b
19 changed files with 261 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
F0:F030,F042,F072/3steppersLB/steppers.c
View File

@@ -92,6 +92,16 @@ TRUE_INLINE void recalcARR(int i){
curspeed[i] = (((PCLK/(MOTORTIM_PSC+1)) / (ARR+1)) >> ustepsshift[i]); // recalculate speed due to new val
}
// update stepper's settings
void update_stepper(uint8_t i){
if(i >= MOTORSNO) return;
accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
ustepsshift[i] = MSB(the_conf.microsteps[i]);
encperstep[i] = the_conf.encrev[i] / STEPSPERREV;
enctimers[i]->ARR = the_conf.encrev[i];
ESW_reaction[i] = the_conf.ESW_reaction[i];
}
// run this function after each steppers parameters changing
void init_steppers(){
timers_setup(); // reinit timers & stop them
@@ -101,13 +111,10 @@ void init_steppers(){
stopflag[i] = 0;
motdir[i] = 0;
curspeed[i] = 0;
accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
state[i] = STP_RELAX;
ustepsshift[i] = MSB(the_conf.microsteps[i]);
encperstep[i] = the_conf.encrev[i] / STEPSPERREV;
if(!the_conf.motflags[i].donthold) MOTOR_EN(i);
else MOTOR_DIS(i);
ESW_reaction[i] = the_conf.ESW_reaction[i];
update_stepper(i);
}
}