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add some features to 3steppersLB

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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
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8
F0:F030,F042,F072/3steppersLB/commonproto.c
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@ -188,6 +188,7 @@ static errcodes ustepsparser(uint8_t par, int32_t *val){
if(m != 1<<MSB(m)) return ERR_BADVAL; if(m != 1<<MSB(m)) return ERR_BADVAL;
if(the_conf.maxspd[n] * m > PCLK/(MOTORTIM_PSC+1)/(MOTORTIM_ARRMIN+1)) return ERR_BADVAL; if(the_conf.maxspd[n] * m > PCLK/(MOTORTIM_PSC+1)/(MOTORTIM_ARRMIN+1)) return ERR_BADVAL;
the_conf.microsteps[n] = m; the_conf.microsteps[n] = m;
update_stepper(n);
} }
*val = the_conf.microsteps[n]; *val = the_conf.microsteps[n];
return ERR_OK; return ERR_OK;
@ -218,6 +219,7 @@ static errcodes accparser(uint8_t par, int32_t *val){
if(ISSETTER(par)){ if(ISSETTER(par)){
if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL; if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
the_conf.accel[n] = *val; the_conf.accel[n] = *val;
update_stepper(n);
} }
*val = the_conf.accel[n]; *val = the_conf.accel[n];
return ERR_OK; return ERR_OK;
@ -238,6 +240,7 @@ static errcodes maxspdparser(uint8_t par, int32_t *val){
if(ISSETTER(par)){ if(ISSETTER(par)){
if(*val <= the_conf.minspd[n]) return ERR_BADVAL; if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
the_conf.maxspd[n] = getSPD(n, *val); the_conf.maxspd[n] = getSPD(n, *val);
update_stepper(n);
} }
*val = the_conf.maxspd[n]; *val = the_conf.maxspd[n];
return ERR_OK; return ERR_OK;
@ -248,6 +251,7 @@ static errcodes minspdparser(uint8_t par, int32_t *val){
if(ISSETTER(par)){ if(ISSETTER(par)){
if(*val >= the_conf.maxspd[n]) return ERR_BADVAL; if(*val >= the_conf.maxspd[n]) return ERR_BADVAL;
the_conf.minspd[n] = getSPD(n, *val); the_conf.minspd[n] = getSPD(n, *val);
update_stepper(n);
} }
*val = the_conf.minspd[n]; *val = the_conf.minspd[n];
return ERR_OK; return ERR_OK;
@ -274,7 +278,7 @@ static errcodes encrevparser(uint8_t par, int32_t *val){
if(ISSETTER(par)){ if(ISSETTER(par)){
if(*val < 1 || *val > MAXENCREV) return ERR_BADVAL; if(*val < 1 || *val > MAXENCREV) return ERR_BADVAL;
the_conf.encrev[n] = *val; the_conf.encrev[n] = *val;
enctimers[n]->ARR = *val; update_stepper(n);
} }
*val = the_conf.encrev[n]; *val = the_conf.encrev[n];
return ERR_OK; return ERR_OK;
@ -284,6 +288,7 @@ static errcodes motflagsparser(uint8_t par, int32_t *val){
uint8_t n; CHECKN(n, par); uint8_t n; CHECKN(n, par);
if(ISSETTER(par)){ if(ISSETTER(par)){
the_conf.motflags[n] = *((motflags_t*)val); the_conf.motflags[n] = *((motflags_t*)val);
update_stepper(n);
} }
*(motflags_t*)val = the_conf.motflags[n]; *(motflags_t*)val = the_conf.motflags[n];
return ERR_OK; return ERR_OK;
@ -295,6 +300,7 @@ static errcodes eswreactparser(uint8_t par, int32_t *val){
if(ISSETTER(par)){ if(ISSETTER(par)){
if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL; if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
the_conf.ESW_reaction[n] = *val; the_conf.ESW_reaction[n] = *val;
update_stepper(n);
} }
// *val = the_conf.ESW_reaction[n]; // *val = the_conf.ESW_reaction[n];
*val = geteswreact(n); *val = geteswreact(n);

56
F0:F030,F042,F072/3steppersLB/flash.c
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@ -123,10 +123,7 @@ static int write2flash(const void *start, const void *wrdata, uint32_t stor_size
FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY1;
FLASH->KEYR = FLASH_KEY2; FLASH->KEYR = FLASH_KEY2;
} }
while (FLASH->SR & FLASH_SR_BSY); while (FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
if(FLASH->SR & FLASH_SR_WRPRTERR){
return 1; // write protection
}
FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR; // clear all flags FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR; // clear all flags
FLASH->CR |= FLASH_CR_PG; FLASH->CR |= FLASH_CR_PG;
const uint16_t *data = (const uint16_t*) wrdata; const uint16_t *data = (const uint16_t*) wrdata;
@ -135,14 +132,14 @@ static int write2flash(const void *start, const void *wrdata, uint32_t stor_size
for (i = 0; i < count; ++i){ for (i = 0; i < count; ++i){
IWDG->KR = IWDG_REFRESH; IWDG->KR = IWDG_REFRESH;
*(volatile uint16_t*)(address + i) = data[i]; *(volatile uint16_t*)(address + i) = data[i];
while (FLASH->SR & FLASH_SR_BSY); while (FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
if(FLASH->SR & FLASH_SR_PGERR){ if(FLASH->SR & FLASH_SR_PGERR){
SEND("Prog err\n");
ret = 1; // program error - meet not 0xffff ret = 1; // program error - meet not 0xffff
break; break;
}else while (!(FLASH->SR & FLASH_SR_EOP)); }
FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR; FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR;
} }
FLASH->CR |= FLASH_CR_LOCK; // lock it back
FLASH->CR &= ~(FLASH_CR_PG); FLASH->CR &= ~(FLASH_CR_PG);
return ret; return ret;
} }
@ -166,39 +163,26 @@ static int erase_flash(const void *start, const void *end){
} }
nblocks = flsz / blocksize; nblocks = flsz / blocksize;
if(nblocks == 0 || nblocks >= FLASH_SIZE) return 1; if(nblocks == 0 || nblocks >= FLASH_SIZE) return 1;
if((FLASH->CR & FLASH_CR_LOCK) != 0){
FLASH->KEYR = FLASH_KEY1;
FLASH->KEYR = FLASH_KEY2;
}
while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR;
FLASH->CR |= FLASH_CR_PER;
for(uint32_t i = 0; i < nblocks; ++i){ for(uint32_t i = 0; i < nblocks; ++i){
IWDG->KR = IWDG_REFRESH; SEND("Erase block #"); printu(i); newline();
/* (1) Wait till no operation is on going */ FLASH->AR = (uint32_t)Flash_Data + i * blocksize;
/* (2) Clear error & EOP bits */ FLASH->CR |= FLASH_CR_STRT;
/* (3) Check that the Flash is unlocked */ while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
/* (4) Perform unlock sequence */ FLASH->SR |= FLASH_SR_EOP;
while ((FLASH->SR & FLASH_SR_BSY) != 0){} /* (1) */ if(FLASH->SR & FLASH_SR_WRPRTERR){
FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR; /* (2) */
/* if (FLASH->SR & FLASH_SR_EOP){
FLASH->SR |= FLASH_SR_EOP;
}*/
if ((FLASH->CR & FLASH_CR_LOCK) != 0){ /* (3) */
FLASH->KEYR = FLASH_KEY1; /* (4) */
FLASH->KEYR = FLASH_KEY2;
}
/* (1) Set the PER bit in the FLASH_CR register to enable page erasing */
/* (2) Program the FLASH_AR register to select a page to erase */
/* (3) Set the STRT bit in the FLASH_CR register to start the erasing */
/* (4) Wait until the EOP flag in the FLASH_SR register set */
/* (5) Clear EOP flag by software by writing EOP at 1 */
/* (6) Reset the PER Bit to disable the page erase */
FLASH->CR |= FLASH_CR_PER; /* (1) */
FLASH->AR = (uint32_t)Flash_Data + i*blocksize; /* (2) */
FLASH->CR |= FLASH_CR_STRT; /* (3) */
while(!(FLASH->SR & FLASH_SR_EOP));
FLASH->SR |= FLASH_SR_EOP; /* (5)*/
if(FLASH->SR & FLASH_SR_WRPRTERR){ /* Check Write protection error */
ret = 1; ret = 1;
FLASH->SR |= FLASH_SR_WRPRTERR; /* Clear the flag by software by writing it at 1*/ FLASH->SR |= FLASH_SR_WRPRTERR;
break; break;
} }
FLASH->CR &= ~FLASH_CR_PER; /* (6) */
} }
FLASH->CR &= ~FLASH_CR_PER;
return ret; return ret;
} }

4
F0:F030,F042,F072/3steppersLB/hardware.c
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@ -24,7 +24,7 @@
// Buttons: PA10, PA13, PA14, PA15, pullup (0 active) // Buttons: PA10, PA13, PA14, PA15, pullup (0 active)
volatile GPIO_TypeDef *BTNports[BTNSNO] = {GPIOA, GPIOA, GPIOA, GPIOA}; volatile GPIO_TypeDef *BTNports[BTNSNO] = {GPIOA, GPIOA, GPIOA, GPIOA};
const uint32_t BTNpins[BTNSNO] = {1<<10, 1<<13, 1<<14, 1<<15}; const uint32_t BTNpins[BTNSNO] = {1<<10, 1<<13, 1<<14, 1<<15};
// Limit switches: PC13, PC14, PC15, pulldown (0 active) // Limit switches: PC13, PC14, PC15, pullup (0 active)
volatile GPIO_TypeDef *ESWports[ESWNO] = {GPIOC, GPIOC, GPIOC}; volatile GPIO_TypeDef *ESWports[ESWNO] = {GPIOC, GPIOC, GPIOC};
const uint32_t ESWpins[ESWNO] = {1<<13, 1<<14, 1<<15}; const uint32_t ESWpins[ESWNO] = {1<<13, 1<<14, 1<<15};
// external GPIO // external GPIO
@ -55,7 +55,7 @@ void gpio_setup(void){
GPIO_MODER_MODER10_O | GPIO_MODER_MODER11_O | GPIO_MODER_MODER12_O | GPIO_MODER_MODER13_O | GPIO_MODER_MODER10_O | GPIO_MODER_MODER11_O | GPIO_MODER_MODER12_O | GPIO_MODER_MODER13_O |
GPIO_MODER_MODER14_O | GPIO_MODER_MODER15_O ; GPIO_MODER_MODER14_O | GPIO_MODER_MODER15_O ;
GPIOB->AFR[0] = (1 << (4*4)) | (1 << (5*4)) | (1 << (6*4)) | (1 << (7*4)); GPIOB->AFR[0] = (1 << (4*4)) | (1 << (5*4)) | (1 << (6*4)) | (1 << (7*4));
GPIOC->PUPDR = GPIO_PUPDR13_PD | GPIO_PUPDR14_PD | GPIO_PUPDR15_PD; GPIOC->PUPDR = GPIO_PUPDR13_PU | GPIO_PUPDR14_PU | GPIO_PUPDR15_PU;
GPIOF->MODER = GPIO_MODER_MODER0_O; GPIOF->MODER = GPIO_MODER_MODER0_O;
} }

8
F0:F030,F042,F072/3steppersLB/hardware.h
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@ -22,6 +22,14 @@
#include <stm32f0.h> #include <stm32f0.h>
#ifndef FALSE
#define FALSE (0)
#endif
#ifndef TRUE
#define TRUE (1)
#endif
// PCLK frequency // PCLK frequency
#ifndef PCLK #ifndef PCLK
#define PCLK (48000000) #define PCLK (48000000)

1
F0:F030,F042,F072/3steppersLB/main.c
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@ -25,7 +25,6 @@
#include "steppers.h" #include "steppers.h"
#include "strfunct.h" #include "strfunct.h"
#include "usb.h" #include "usb.h"
#include "usb_lib.h"
volatile uint32_t Tms = 0; volatile uint32_t Tms = 0;

BIN
F0:F030,F042,F072/3steppersLB/steppers.bin
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Binary file not shown.

15
F0:F030,F042,F072/3steppersLB/steppers.c
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@ -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 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 // run this function after each steppers parameters changing
void init_steppers(){ void init_steppers(){
timers_setup(); // reinit timers & stop them timers_setup(); // reinit timers & stop them
@ -101,13 +111,10 @@ void init_steppers(){
stopflag[i] = 0; stopflag[i] = 0;
motdir[i] = 0; motdir[i] = 0;
curspeed[i] = 0; curspeed[i] = 0;
accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
state[i] = STP_RELAX; 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); if(!the_conf.motflags[i].donthold) MOTOR_EN(i);
else MOTOR_DIS(i); else MOTOR_DIS(i);
ESW_reaction[i] = the_conf.ESW_reaction[i]; update_stepper(i);
} }
} }

1
F0:F030,F042,F072/3steppersLB/steppers.cflags Normal file
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@ -0,0 +1 @@
-std=c17

5
F0:F030,F042,F072/3steppersLB/steppers.config Normal file
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@ -0,0 +1,5 @@
// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42
#define EBUG
#define STM32F0
#define STM32F072xB

1
F0:F030,F042,F072/3steppersLB/steppers.creator Normal file
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@ -0,0 +1 @@
[General]

160
F0:F030,F042,F072/3steppersLB/steppers.creator.user Normal file
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@ -0,0 +1,160 @@
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<value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
</valuemap>
</data>
<data>
<variable>ProjectExplorer.Project.TargetCount</variable>
<value type="int">1</value>
</data>
<data>
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
<value type="int">22</value>
</data>
<data>
<variable>Version</variable>
<value type="int">22</value>
</data>
</qtcreator>

1
F0:F030,F042,F072/3steppersLB/steppers.cxxflags Normal file
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@ -0,0 +1 @@
-std=c++17

24
F0:F030,F042,F072/3steppersLB/steppers.files Normal file
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@ -0,0 +1,24 @@
adc.c
adc.h
buttons.c
buttons.h
can.c
can.h
commonproto.c
commonproto.h
custom_buttons.c
custom_buttons.h
flash.c
flash.h
hardware.c
hardware.h
main.c
steppers.c
steppers.h
strfunct.c
strfunct.h
usb.c
usb_defs.h
usb.h
usb_lib.c
usb_lib.h

9
F0:F030,F042,F072/3steppersLB/steppers.h
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@ -23,6 +23,14 @@
#include <stm32f0.h> #include <stm32f0.h>
#include "commonproto.h" #include "commonproto.h"
#ifndef FALSE
#define FALSE (0)
#endif
#ifndef TRUE
#define TRUE (1)
#endif
// amount of tries to detect motor stall // amount of tries to detect motor stall
#define NSTALLEDMAX (5) #define NSTALLEDMAX (5)
// amount of steps to detect stalled state // amount of steps to detect stalled state
@ -55,6 +63,7 @@ void addmicrostep(uint8_t i);
void encoders_UPD(uint8_t i); void encoders_UPD(uint8_t i);
void init_steppers(); void init_steppers();
void update_stepper(uint8_t i);
int32_t encoder_position(uint8_t i); int32_t encoder_position(uint8_t i);
int setencpos(uint8_t i, int32_t position); int setencpos(uint8_t i, int32_t position);
errcodes setmotpos(uint8_t i, int32_t position); errcodes setmotpos(uint8_t i, int32_t position);

6
F0:F030,F042,F072/3steppersLB/steppers.includes Normal file
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@ -0,0 +1,6 @@
.
../inc
../inc/Fx
../inc/cm
../inc/ld
../inc/startup

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

@ -84,7 +84,7 @@ static int usbwr(const uint8_t *buf, uint16_t l){
} }
static uint8_t usbbuff[USB_TXBUFSZ-1]; // temporary buffer (63 - to prevent need of ZLP) static uint8_t usbbuff[USB_TXBUFSZ-1]; // temporary buffer (63 - to prevent need of ZLP)
static uint8_t buflen = 0; // amount of symbols in usbbuff static volatile uint8_t buflen = 0; // amount of symbols in usbbuff
// send next up to 63 bytes of data in usbbuff // send next up to 63 bytes of data in usbbuff
static void send_next(){ static void send_next(){
@ -172,4 +172,3 @@ uint8_t USB_receive(uint8_t *buf){
rxNE = 0; rxNE = 0;
return sz; return sz;
} }

4
F0:F030,F042,F072/3steppersLB/usb_lib.c
View File

@ -22,11 +22,11 @@
ep_t endpoints[STM32ENDPOINTS]; ep_t endpoints[STM32ENDPOINTS];
usb_dev_t USB_Dev; usb_dev_t USB_Dev;
uint8_t usbON = 0; volatile uint8_t usbON = 0;
static usb_LineCoding lineCoding = {115200, 0, 0, 8}; static usb_LineCoding lineCoding = {115200, 0, 0, 8};
static config_pack_t setup_packet; static config_pack_t setup_packet;
static uint8_t ep0databuf[EP0DATABUF_SIZE]; static uint8_t ep0databuf[EP0DATABUF_SIZE];
static uint8_t ep0dbuflen = 0; static volatile uint8_t ep0dbuflen = 0;
usb_LineCoding getLineCoding(){return lineCoding;} usb_LineCoding getLineCoding(){return lineCoding;}

2
F0:F030,F042,F072/3steppersLB/usb_lib.h
View File

@ -166,7 +166,7 @@ typedef struct {
extern ep_t endpoints[]; extern ep_t endpoints[];
extern usb_dev_t USB_Dev; extern usb_dev_t USB_Dev;
extern uint8_t usbON; extern volatile uint8_t usbON;
void USB_Init(); void USB_Init();
uint8_t USB_GetState(); uint8_t USB_GetState();

4
F0:F030,F042,F072/3steppersLB/version.inc
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@ -1,2 +1,2 @@
#define BUILD_NUMBER "169" #define BUILD_NUMBER "173"
#define BUILD_DATE "2023-01-11" #define BUILD_DATE "2023-02-21"